source: ntrip/trunk/BNC/src/RTCM3/ephEncoder.cpp@ 7844

Last change on this file since 7844 was 7844, checked in by stuerze, 8 years ago

bug fixed in GLONASS ephemeris encoding
File size: 14.3 KB
Line 
1
2#include "ephEncoder.h"
3
4using namespace std;
5
6
7// build up RTCM3 for GPS
8////////////////////////////////////////////////////////////////////////////
9int t_ephEncoder::RTCM3(const t_ephGPS& eph, unsigned char *buffer) {
10
11 unsigned char *startbuffer = buffer;
12 buffer= buffer+3;
13 int size = 0;
14 int numbits = 0;
15 unsigned long long bitbuffer = 0;
16 int ura = indexFromAccuracy(eph._ura, eph.type());
17 if (eph.type() == t_eph::QZSS) {
18 GPSADDBITS(12, 1044)
19 GPSADDBITS(4,eph._prn.number())
20 GPSADDBITS(16, static_cast<int>(eph._TOC.gpssec())>>4)
21 GPSADDBITSFLOAT(8, eph._clock_driftrate, 1.0/static_cast<double>(1<<30)
22 /static_cast<double>(1<<25))
23 GPSADDBITSFLOAT(16, eph._clock_drift, 1.0/static_cast<double>(1<<30)
24 /static_cast<double>(1<<13))
25 GPSADDBITSFLOAT(22, eph._clock_bias, 1.0/static_cast<double>(1<<30)
26 /static_cast<double>(1<<1))
27 GPSADDBITS(8, eph._IODE)
28 GPSADDBITSFLOAT(16, eph._Crs, 1.0/static_cast<double>(1<<5))
29 GPSADDBITSFLOAT(16, eph._Delta_n, M_PI/static_cast<double>(1<<30)
30 /static_cast<double>(1<<13))
31 GPSADDBITSFLOAT(32, eph._M0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
32 GPSADDBITSFLOAT(16, eph._Cuc, 1.0/static_cast<double>(1<<29))
33 GPSADDBITSFLOAT(32, eph._e, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
34 GPSADDBITSFLOAT(16, eph._Cus, 1.0/static_cast<double>(1<<29))
35 GPSADDBITSFLOAT(32, eph._sqrt_A, 1.0/static_cast<double>(1<<19))
36 GPSADDBITS(16, static_cast<int>(eph._TOEsec)>>4)
37 GPSADDBITSFLOAT(16, eph._Cic, 1.0/static_cast<double>(1<<29))
38 GPSADDBITSFLOAT(32, eph._OMEGA0, M_PI/static_cast<double>(1<<30)
39 /static_cast<double>(1<<1))
40 GPSADDBITSFLOAT(16, eph._Cis, 1.0/static_cast<double>(1<<29))
41 GPSADDBITSFLOAT(32, eph._i0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
42 GPSADDBITSFLOAT(16, eph._Crc, 1.0/static_cast<double>(1<<5))
43 GPSADDBITSFLOAT(32, eph._omega, M_PI/static_cast<double>(1<<30)
44 /static_cast<double>(1<<1))
45 GPSADDBITSFLOAT(24, eph._OMEGADOT, M_PI/static_cast<double>(1<<30)
46 /static_cast<double>(1<<13))
47 GPSADDBITSFLOAT(14, eph._IDOT, M_PI/static_cast<double>(1<<30)
48 /static_cast<double>(1<<13))
49 GPSADDBITS(2,eph._L2Codes)
50 GPSADDBITS(10, eph._TOC.gpsw())
51 GPSADDBITS(4, ura)
52 GPSADDBITS(6, eph._health)
53 GPSADDBITSFLOAT(8, eph._TGD, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
54 GPSADDBITS(10, eph._IODC)
55 GPSADDBITS(1, eph._fitInterval)
56 GPSADDBITS(3, 0) /* padding */
57 }
58 else {
59 GPSADDBITS(12, 1019)
60 GPSADDBITS(6,eph._prn.number())
61 GPSADDBITS(10, eph._TOC.gpsw())
62 GPSADDBITS(4, ura)
63 GPSADDBITS(2,eph._L2Codes)
64 GPSADDBITSFLOAT(14, eph._IDOT, M_PI/static_cast<double>(1<<30)
65 /static_cast<double>(1<<13))
66 GPSADDBITS(8, eph._IODE)
67 GPSADDBITS(16, static_cast<int>(eph._TOC.gpssec())>>4)
68 GPSADDBITSFLOAT(8, eph._clock_driftrate, 1.0/static_cast<double>(1<<30)
69 /static_cast<double>(1<<25))
70 GPSADDBITSFLOAT(16, eph._clock_drift, 1.0/static_cast<double>(1<<30)
71 /static_cast<double>(1<<13))
72 GPSADDBITSFLOAT(22, eph._clock_bias, 1.0/static_cast<double>(1<<30)
73 /static_cast<double>(1<<1))
74 GPSADDBITS(10, eph._IODC)
75 GPSADDBITSFLOAT(16, eph._Crs, 1.0/static_cast<double>(1<<5))
76 GPSADDBITSFLOAT(16, eph._Delta_n, M_PI/static_cast<double>(1<<30)
77 /static_cast<double>(1<<13))
78 GPSADDBITSFLOAT(32, eph._M0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
79 GPSADDBITSFLOAT(16, eph._Cuc, 1.0/static_cast<double>(1<<29))
80 GPSADDBITSFLOAT(32, eph._e, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
81 GPSADDBITSFLOAT(16, eph._Cus, 1.0/static_cast<double>(1<<29))
82 GPSADDBITSFLOAT(32, eph._sqrt_A, 1.0/static_cast<double>(1<<19))
83 GPSADDBITS(16, static_cast<int>(eph._TOEsec)>>4)
84 GPSADDBITSFLOAT(16, eph._Cic, 1.0/static_cast<double>(1<<29))
85 GPSADDBITSFLOAT(32, eph._OMEGA0, M_PI/static_cast<double>(1<<30)
86 /static_cast<double>(1<<1))
87 GPSADDBITSFLOAT(16, eph._Cis, 1.0/static_cast<double>(1<<29))
88 GPSADDBITSFLOAT(32, eph._i0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
89 GPSADDBITSFLOAT(16, eph._Crc, 1.0/static_cast<double>(1<<5))
90 GPSADDBITSFLOAT(32, eph._omega, M_PI/static_cast<double>(1<<30)
91 /static_cast<double>(1<<1))
92 GPSADDBITSFLOAT(24, eph._OMEGADOT, M_PI/static_cast<double>(1<<30)
93 /static_cast<double>(1<<13))
94 GPSADDBITSFLOAT(8, eph._TGD, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
95 GPSADDBITS(6, eph._health)
96 GPSADDBITS(1, eph._L2PFlag)
97 GPSADDBITS(1, eph._fitInterval)
98 }
99
100 startbuffer[0]=0xD3;
101 startbuffer[1]=(size >> 8);
102 startbuffer[2]=size;
103 unsigned long i = CRC24(size+3, startbuffer);
104 buffer[size++] = i >> 16;
105 buffer[size++] = i >> 8;
106 buffer[size++] = i;
107 size += 3;
108 return size;
109}
110
111// build up RTCM3 for GLONASS
112////////////////////////////////////////////////////////////////////////////
113int t_ephEncoder::RTCM3(const t_ephGlo& eph, unsigned char *buffer)
114{
115
116 int size = 0;
117 int numbits = 0;
118 long long bitbuffer = 0;
119 unsigned char *startbuffer = buffer;
120 buffer= buffer+3;
121
122 GLONASSADDBITS(12, 1020)
123 GLONASSADDBITS(6, eph._prn.number())
124 GLONASSADDBITS(5, 7+eph._frequency_number)
125 GLONASSADDBITS(1, 0)
126 GLONASSADDBITS(1, 0)
127 GLONASSADDBITS(2, 0)
128 int tki = static_cast<int>(eph._tki)+3*60*60;
129 if (tki > 86400) {tki -= 86400;}
130 GLONASSADDBITS(5, tki/(60*60))
131 GLONASSADDBITS(6, (tki/60)%60)
132 GLONASSADDBITS(1, (tki/30)%30)
133 GLONASSADDBITS(1, eph._health)
134 GLONASSADDBITS(1, 0)
135 unsigned long long timeofday = (static_cast<int>(eph._tt.gpssec()+3*60*60-eph._gps_utc)%86400);
136 GLONASSADDBITS(7, timeofday/60/15)
137 GLONASSADDBITSFLOATM(24, eph._x_velocity*1000, 1000.0/static_cast<double>(1<<20))
138 GLONASSADDBITSFLOATM(27, eph._x_pos*1000, 1000.0/static_cast<double>(1<<11))
139 GLONASSADDBITSFLOATM(5, eph._x_acceleration*1000, 1000.0/static_cast<double>(1<<30))
140 GLONASSADDBITSFLOATM(24, eph._y_velocity*1000, 1000.0/static_cast<double>(1<<20))
141 GLONASSADDBITSFLOATM(27, eph._y_pos*1000, 1000.0/static_cast<double>(1<<11))
142 GLONASSADDBITSFLOATM(5, eph._y_acceleration*1000, 1000.0/static_cast<double>(1<<30))
143 GLONASSADDBITSFLOATM(24, eph._z_velocity*1000, 1000.0/static_cast<double>(1<<20))
144 GLONASSADDBITSFLOATM(27,eph._z_pos*1000, 1000.0/static_cast<double>(1<<11))
145 GLONASSADDBITSFLOATM(5, eph._z_acceleration*1000, 1000.0/static_cast<double>(1<<30))
146 GLONASSADDBITS(1, 0)
147 GLONASSADDBITSFLOATM(11, eph._gamma, 1.0/static_cast<double>(1<<30)
148 /static_cast<double>(1<<10))
149 GLONASSADDBITS(2, 0) /* GLONASS-M P */
150 GLONASSADDBITS(1, 0) /* GLONASS-M ln(3) */
151 GLONASSADDBITSFLOATM(22, eph._tau, 1.0/static_cast<double>(1<<30))
152 GLONASSADDBITS(5, 0) /* GLONASS-M delta tau */
153 GLONASSADDBITS(5, eph._E)
154 GLONASSADDBITS(1, 0) /* GLONASS-M P4 */
155 GLONASSADDBITS(4, 0) /* GLONASS-M FT */
156 GLONASSADDBITS(11, 0) /* GLONASS-M NT */
157 GLONASSADDBITS(2, 0) /* GLONASS-M active? */
158 GLONASSADDBITS(1, 0) /* GLONASS additional data */
159 GLONASSADDBITS(11, 0) /* GLONASS NA */
160 GLONASSADDBITS(32, 0) /* GLONASS tau C */
161 GLONASSADDBITS(5, 0) /* GLONASS-M N4 */
162 GLONASSADDBITS(22, 0) /* GLONASS-M tau GPS */
163 GLONASSADDBITS(1, 0) /* GLONASS-M ln(5) */
164 GLONASSADDBITS(7, 0) /* Reserved */
165
166 startbuffer[0]=0xD3;
167 startbuffer[1]=(size >> 8);
168 startbuffer[2]=size;
169 unsigned long i = CRC24(size+3, startbuffer);
170 buffer[size++] = i >> 16;
171 buffer[size++] = i >> 8;
172 buffer[size++] = i;
173 size += 3;
174 return size;
175}
176
177// build up RTCM3 for Galileo
178////////////////////////////////////////////////////////////////////////////
179int t_ephEncoder::RTCM3(const t_ephGal& eph, unsigned char *buffer) {
180 int size = 0;
181 int numbits = 0;
182 long long bitbuffer = 0;
183 unsigned char *startbuffer = buffer;
184 buffer= buffer+3;
185
186 int SISA = indexFromAccuracy(eph._SISA, eph.type());
187
188 GALILEOADDBITS(12, eph._inav ? 1046 : 1045)
189 GALILEOADDBITS(6, eph._prn.number())
190 GALILEOADDBITS(12, eph._TOC.galw())
191 GALILEOADDBITS(10, eph._IODnav)
192 GALILEOADDBITS(8, SISA)
193 GALILEOADDBITSFLOAT(14, eph._IDOT, M_PI/static_cast<double>(1<<30)
194 /static_cast<double>(1<<13))
195 GALILEOADDBITS(14, eph._TOC.gpssec()/60)
196 GALILEOADDBITSFLOAT(6, eph._clock_driftrate, 1.0/static_cast<double>(1<<30)
197 /static_cast<double>(1<<29))
198 GALILEOADDBITSFLOAT(21, eph._clock_drift, 1.0/static_cast<double>(1<<30)
199 /static_cast<double>(1<<16))
200 GALILEOADDBITSFLOAT(31, eph._clock_bias, 1.0/static_cast<double>(1<<30)
201 /static_cast<double>(1<<4))
202 GALILEOADDBITSFLOAT(16, eph._Crs, 1.0/static_cast<double>(1<<5))
203 GALILEOADDBITSFLOAT(16, eph._Delta_n, M_PI/static_cast<double>(1<<30)
204 /static_cast<double>(1<<13))
205 GALILEOADDBITSFLOAT(32, eph._M0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
206 GALILEOADDBITSFLOAT(16, eph._Cuc, 1.0/static_cast<double>(1<<29))
207 GALILEOADDBITSFLOAT(32, eph._e, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
208 GALILEOADDBITSFLOAT(16, eph._Cus, 1.0/static_cast<double>(1<<29))
209 GALILEOADDBITSFLOAT(32, eph._sqrt_A, 1.0/static_cast<double>(1<<19))
210 GALILEOADDBITS(14, eph._TOEsec/60)
211 GALILEOADDBITSFLOAT(16, eph._Cic, 1.0/static_cast<double>(1<<29))
212 GALILEOADDBITSFLOAT(32, eph._OMEGA0, M_PI/static_cast<double>(1<<30)
213 /static_cast<double>(1<<1))
214 GALILEOADDBITSFLOAT(16, eph._Cis, 1.0/static_cast<double>(1<<29))
215 GALILEOADDBITSFLOAT(32, eph._i0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
216 GALILEOADDBITSFLOAT(16, eph._Crc, 1.0/static_cast<double>(1<<5))
217 GALILEOADDBITSFLOAT(32, eph._omega, M_PI/static_cast<double>(1<<30)
218 /static_cast<double>(1<<1))
219 GALILEOADDBITSFLOAT(24, eph._OMEGADOT, M_PI/static_cast<double>(1<<30)
220 /static_cast<double>(1<<13))
221 GALILEOADDBITSFLOAT(10, eph._BGD_1_5A, 1.0/static_cast<double>(1<<30)
222 /static_cast<double>(1<<2))
223 if(eph._inav)
224 {
225 GALILEOADDBITSFLOAT(10, eph._BGD_1_5B, 1.0/static_cast<double>(1<<30)
226 /static_cast<double>(1<<2))
227 GALILEOADDBITS(2, static_cast<int>(eph._E5bHS))
228 GALILEOADDBITS(1, eph._e5bDataInValid ? 1 : 0)
229 GALILEOADDBITS(2, static_cast<int>(eph._E1_bHS))
230 GALILEOADDBITS(1, eph._e1DataInValid ? 1 : 0)
231 }
232 else
233 {
234 GALILEOADDBITS(2, static_cast<int>(eph._E5aHS))
235 GALILEOADDBITS(1, eph._e5aDataInValid ? 1 : 0)
236 }
237
238 GALILEOADDBITS((eph._inav ? 2 : 7), 0)
239
240 startbuffer[0]=0xD3;
241 startbuffer[1]=(size >> 8);
242 startbuffer[2]=size;
243 unsigned long i = CRC24(size+3, startbuffer);
244 buffer[size++] = i >> 16;
245 buffer[size++] = i >> 8;
246 buffer[size++] = i;
247 size += 3;
248 return size;
249}
250
251// build up RTCM3 for SBAS
252////////////////////////////////////////////////////////////////////////////
253int t_ephEncoder::RTCM3(const t_ephSBAS& eph, unsigned char* buffer) {
254 int size = 0;
255 int numbits = 0;
256 long long bitbuffer = 0;
257 unsigned char *startbuffer = buffer;
258 buffer= buffer+3;
259
260 int ura = indexFromAccuracy(eph._ura, eph.type());
261 SBASADDBITS(12, 1043)
262 SBASADDBITS(6, eph._prn.number()-20)
263 SBASADDBITS(8, eph._IODN)
264 SBASADDBITS(13, static_cast<int>(eph._TOC.daysec())>>4)
265 SBASADDBITS(4, ura)
266 SBASADDBITSFLOAT(30, eph._x_pos, 0.08)
267 SBASADDBITSFLOAT(30, eph._y_pos, 0.08)
268 SBASADDBITSFLOAT(25, eph._z_pos, 0.4)
269 SBASADDBITSFLOAT(17, eph._x_velocity, 0.000625)
270 SBASADDBITSFLOAT(17, eph._y_velocity, 0.000625)
271 SBASADDBITSFLOAT(18, eph._z_velocity, 0.004)
272 SBASADDBITSFLOAT(10, eph._x_acceleration, 0.0000125)
273 SBASADDBITSFLOAT(10, eph._y_acceleration, 0.0000125)
274 SBASADDBITSFLOAT(10, eph._z_acceleration, 0.0000625)
275 SBASADDBITSFLOAT(12, eph._agf0, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
276 SBASADDBITSFLOAT(8, eph._agf1, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<10))
277 SBASADDBITS(2,0);
278
279 startbuffer[0]=0xD3;
280 startbuffer[1]=(size >> 8);
281 startbuffer[2]=size;
282 unsigned long i = CRC24(size+3, startbuffer);
283 buffer[size++] = i >> 16;
284 buffer[size++] = i >> 8;
285 buffer[size++] = i;
286 size += 3;
287 return size;
288}
289
290// build up RTCM3 for BDS
291////////////////////////////////////////////////////////////////////////////
292int t_ephEncoder::RTCM3(const t_ephBDS& eph, unsigned char* buffer) {
293 int size = 0;
294 int numbits = 0;
295 long long bitbuffer = 0;
296 unsigned char *startbuffer = buffer;
297 buffer= buffer+3;
298
299 int URA = indexFromAccuracy(eph._URA, eph.type());
300 BDSADDBITS(12, RTCM3ID_BDS)
301 BDSADDBITS(6, eph._prn.number())
302 BDSADDBITS(13, eph._TOC.bdsw() - 1356.0)
303 BDSADDBITS(4, URA);
304 BDSADDBITSFLOAT(14, eph._IDOT, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<13))
305 BDSADDBITS(5, eph._AODE)
306 BDSADDBITS(17, static_cast<int>(eph._TOC.bdssec())>>3)
307 BDSADDBITSFLOAT(11, eph._clock_driftrate, 1.0/static_cast<double>(1<<30)
308 /static_cast<double>(1<<30)/static_cast<double>(1<<6))
309 BDSADDBITSFLOAT(22, eph._clock_drift, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<20))
310 BDSADDBITSFLOAT(24, eph._clock_bias, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
311 BDSADDBITS(5, eph._AODC)
312 BDSADDBITSFLOAT(18, eph._Crs, 1.0/static_cast<double>(1<<6))
313 BDSADDBITSFLOAT(16, eph._Delta_n, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<13))
314 BDSADDBITSFLOAT(32, eph._M0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
315 BDSADDBITSFLOAT(18, eph._Cuc, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
316 BDSADDBITSFLOAT(32, eph._e, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
317 BDSADDBITSFLOAT(18, eph._Cus, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
318 BDSADDBITSFLOAT(32, eph._sqrt_A, 1.0/static_cast<double>(1<<19))
319 BDSADDBITS(17, static_cast<int>(eph._TOE.bdssec())>>3)
320 BDSADDBITSFLOAT(18, eph._Cic, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
321 BDSADDBITSFLOAT(32, eph._OMEGA0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
322 BDSADDBITSFLOAT(18, eph._Cis, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
323 BDSADDBITSFLOAT(32, eph._i0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
324 BDSADDBITSFLOAT(18, eph._Crc, 1.0/static_cast<double>(1<<6))
325 BDSADDBITSFLOAT(32, eph._omega, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
326 BDSADDBITSFLOAT(24, eph._OMEGADOT, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<13))
327 BDSADDBITSFLOAT(10, eph._TGD1, 0.0000000001)
328 BDSADDBITSFLOAT(10, eph._TGD2, 0.0000000001)
329 BDSADDBITS(1, eph._SatH1)
330 BDSADDBITS(1, 0) /* reserved bit, fill up 8 bits */
331
332 startbuffer[0]=0xD3;
333 startbuffer[1]=(size >> 8);
334 startbuffer[2]=size;
335 unsigned long i = CRC24(size+3, startbuffer);
336 buffer[size++] = i >> 16;
337 buffer[size++] = i >> 8;
338 buffer[size++] = i;
339 size += 3;
340 return size;
341}
342
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