[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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[2421] | 8 | Version: $Id: clock_orbit_rtcm.h,v 1.7 2010/02/22 13:42:26 stoecker Exp $
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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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| 15 | enum SatelliteReferenceDatum { DATUM_ITRF=0, DATUM_LOCAL=1 };
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[1581] | 16 | enum ClockOrbitType {
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[1840] | 17 | COTYPE_GPSORBIT=1057, COTYPE_GPSCLOCK=1058,
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| 18 | COTYPE_GPSCOMBINED=1060, COTYPE_GPSURA=1061, COTYPE_GPSHR=1062,
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[1581] | 19 |
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[1840] | 20 | COTYPE_GLONASSORBIT=1063, COTYPE_GLONASSCLOCK=1064,
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| 21 | COTYPE_GLONASSCOMBINED=1066, COTYPE_GLONASSURA=1067, COTYPE_GLONASSHR=1068,
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[1581] | 22 |
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[956] | 23 | COTYPE_AUTO=0 };
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[1840] | 24 | enum BiasType { BTYPE_GPS=1059, BTYPE_GLONASS=1065, BTYPE_AUTO = 0 };
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[956] | 25 |
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| 26 | enum COR_CONSTANTS {
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| 27 | CLOCKORBIT_BUFFERSIZE=2048,
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| 28 | CLOCKORBIT_NUMGPS=32,
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| 29 | CLOCKORBIT_NUMGLONASS=24,
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| 30 | CLOCKORBIT_NUMBIAS=10
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| 31 | };
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| 32 |
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| 33 | enum CodeType {
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| 34 | CODETYPEGPS_L1_CA = 0,
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| 35 | CODETYPEGPS_L1_P = 1,
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| 36 | CODETYPEGPS_L1_Z = 2,
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| 37 | /* ... */
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| 38 |
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| 39 | CODETYPEGLONASS_L1_CA = 0,
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| 40 | CODETYPEGLONASS_L1_P = 1,
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| 41 | CODETYPEGLONASS_L2_CA = 2,
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| 42 | CODETYPEGLONASS_L2_P = 3,
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| 43 | };
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| 44 |
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[2421] | 45 | #define SSR_MAXURA 5.5 /* > 5466.5mm in meter */
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| 46 |
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[956] | 47 | /* GLONASS data is stored with offset CLOCKORBIT_NUMGPS in the data structures.
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| 48 | So first GLONASS satellite is at xxx->Sat[CLOCKORBIT_NUMGPS], first
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| 49 | GPS satellite is xxx->Sat[0]. */
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| 50 |
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| 51 | struct ClockOrbit
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| 52 | {
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[2323] | 53 | enum ClockOrbitType messageType;
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[956] | 54 | int GPSEpochTime; /* 0 .. 604799 s */
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| 55 | int GLONASSEpochTime; /* 0 .. 86399 s (86400 for leap second) */
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| 56 | int NumberOfGPSSat; /* 0 .. 32 */
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| 57 | int NumberOfGLONASSSat; /* 0 .. 24 */
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| 58 | int ClockDataSupplied; /* boolean */
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[1581] | 59 | int HRDataSupplied; /* boolean */
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[956] | 60 | int OrbitDataSupplied; /* boolean */
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[1581] | 61 | int URADataSupplied; /* boolean */
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[1238] | 62 | int epochGPS[101]; /* Weber, for latency */
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| 63 | int epochSize; /* Weber, for latency */
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[1581] | 64 | int UpdateInterval;
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[956] | 65 | enum SatelliteReferenceDatum SatRefDatum;
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| 66 | struct SatData {
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| 67 | int ID; /* GPS or GLONASS */
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| 68 | int IOD; /* GPS or GLONASS */
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[2421] | 69 | double UserRangeAccuracy; /* accuracy values in [m] */
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[1581] | 70 | double hrclock;
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[956] | 71 | struct OrbitPart
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| 72 | {
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| 73 | double DeltaRadial; /* m */
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| 74 | double DeltaAlongTrack; /* m */
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| 75 | double DeltaCrossTrack; /* m */
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| 76 | double DotDeltaRadial; /* m/s */
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| 77 | double DotDeltaAlongTrack; /* m/s */
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| 78 | double DotDeltaCrossTrack; /* m/s */
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| 79 | } Orbit;
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| 80 | struct ClockPart
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| 81 | {
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| 82 | double DeltaA0; /* m */
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| 83 | double DeltaA1; /* m/s */
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| 84 | double DeltaA2; /* m/ss */
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| 85 | } Clock;
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| 86 | } Sat[CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS];
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| 87 | };
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| 88 |
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| 89 | struct Bias
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| 90 | {
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[2323] | 91 | enum BiasType messageType;
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[956] | 92 | int GPSEpochTime; /* 0 .. 604799 s */
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| 93 | int GLONASSEpochTime; /* 0 .. 86399 s (86400 for leap second) */
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| 94 | int NumberOfGPSSat; /* 0 .. 32 */
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| 95 | int NumberOfGLONASSSat; /* 0 .. 24 */
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[1581] | 96 | int UpdateInterval;
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[956] | 97 | struct BiasSat
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| 98 | {
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| 99 | int ID; /* GPS or GLONASS */
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| 100 | int NumberOfCodeBiases;
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| 101 | struct CodeBias
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| 102 | {
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| 103 | enum CodeType Type;
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| 104 | float Bias; /* m */
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| 105 | } Biases[CLOCKORBIT_NUMBIAS];
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| 106 | } Sat[CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS];
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| 107 | };
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| 108 |
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| 109 | /* return size of resulting data or 0 in case of an error */
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| 110 | size_t MakeClockOrbit(const struct ClockOrbit *co, enum ClockOrbitType type,
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| 111 | int moremessagesfollow, char *buffer, size_t size);
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| 112 | size_t MakeBias(const struct Bias *b, enum BiasType type,
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| 113 | int moremessagesfollow, char *buffer, size_t size);
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| 114 |
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| 115 | enum GCOB_RETURN {
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| 116 | /* all well */
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| 117 | GCOBR_MESSAGEFOLLOWS = 1,
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| 118 | GCOBR_OK = 0,
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| 119 | /* unknown data, a warning */
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| 120 | GCOBR_UNKNOWNTYPE = -1,
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| 121 | GCOBR_UNKNOWNDATA = -2,
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| 122 | GCOBR_CRCMISMATCH = -3,
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[1842] | 123 | GCOBR_SHORTMESSAGE = -4,
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[956] | 124 | /* failed to do the work */
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| 125 | GCOBR_NOCLOCKORBITPARAMETER = -10,
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| 126 | GCOBR_NOBIASPARAMETER = -11,
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| 127 | /* data mismatch - data in storage does not match new data */
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| 128 | GCOBR_TIMEMISMATCH = -20,
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| 129 | GCOBR_DATAMISMATCH = -21,
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| 130 | /* not enough data - can decode the block completely */
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| 131 | GCOBR_SHORTBUFFER = -30,
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[1842] | 132 | GCOBR_MESSAGEEXCEEDSBUFFER = -31};
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[956] | 133 |
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| 134 | /* 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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| 135 | function to have a clean state. */
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| 136 |
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| 137 | /* buffer should point to a RTCM3 block */
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| 138 | enum GCOB_RETURN GetClockOrbitBias(struct ClockOrbit *co, struct Bias *b,
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| 139 | const char *buffer, size_t size, int *bytesused);
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| 140 |
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| 141 | #endif /* RTCM3_CLOCK_ORBIT_RTCM_H */
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