Index: trunk/clock_and_orbit/clock_orbit_rtcm.c =================================================================== --- trunk/clock_and_orbit/clock_orbit_rtcm.c (revision 2420) +++ trunk/clock_and_orbit/clock_orbit_rtcm.c (revision 2421) @@ -3,9 +3,10 @@ Name: clock_orbit_rtcm.c Project: RTCM3 - Version: $Id: clock_orbit_rtcm.c,v 1.8 2009/05/14 13:24:41 stoecker Exp $ + Version: $Id: clock_orbit_rtcm.c,v 1.9 2010/02/22 13:42:26 stoecker Exp $ Authors: Dirk Stöcker Description: state space approach for RTCM3 */ +#include #include #include @@ -93,4 +94,5 @@ /* standard values */ #define T_MESSAGE_NUMBER(a) ADDBITS(12, a) /* DF002 */ +#define T_RESERVED4 ADDBITS(1, 0) /* DF001 */ #define T_RESERVED5 ADDBITS(5, 0) /* DF001 */ #define T_GPS_SATELLITE_ID(a) ADDBITS(6, a) /* DF068 */ @@ -105,8 +107,4 @@ #define T_DELTA_DOT_ALONG_TRACK(a) SCALEADDBITS(19, 250000.0, a) #define T_DELTA_DOT_CROSS_TRACK(a) SCALEADDBITS(19, 250000.0, a) -#define T_DELTA_DOT_DOT_RADIAL(a) SCALEADDBITS(27, 50000000.0, a) -#define T_DELTA_DOT_DOT_ALONG_TRACK(a) SCALEADDBITS(25, 12500000.0, a) -#define T_DELTA_DOT_DOT_CROSS_TRACK(a) SCALEADDBITS(25, 12500000.0, a) -#define T_SATELLITE_REFERENCE_POINT(a) ADDBITS(1, a) #define T_SATELLITE_REFERENCE_DATUM(a) ADDBITS(1, a) @@ -117,5 +115,4 @@ #define T_GPS_SIGNAL_IDENTIFIER(a) ADDBITS(5, a) #define T_GLONASS_SIGNAL_IDENTIFIER(a) ADDBITS(5, a) -#define T_GALILEO_SIGNAL_IDENTIFIER(a) ADDBITS(5, a) #define T_CODE_BIAS(a) SCALEADDBITS(14, 100.0, a) #define T_GLONASS_SATELLITE_ID(a) ADDBITS(5, a) @@ -125,7 +122,31 @@ #define T_NO_OF_SATELLITES(a) ADDBITS(6, a) #define T_MULTIPLE_MESSAGE_INDICATOR(a) ADDBITS(1, a) -#define T_SSR_URA(a) ADDBITS(4, a) +#define T_SSR_URA(a) ADDBITS(6, a) #define T_HR_CLOCK_CORRECTION(a) SCALEADDBITS(22, 10000.0, a) #define T_SSR_UPDATE_INTERVAL(a) ADDBITS(4, a) + +static double URAToValue(int ura) +{ + int urac, urav; + urac = ura >> 3; + urav = ura & 7; + if(!ura) + return 0; + else if(ura == 63) + return SSR_MAXURA; + return (pow(3,urac)*(1.0+urav/4.0)-1.0)/1000.0; +} + +static int ValueToURA(double val) +{ + int ura; + if(!val) + return 0; + else if(val > 5.4665) + return 63; + for(ura = 1; ura < 63 && val > URAToValue(ura); ++ura) + ; + return ura; +} size_t MakeClockOrbit(const struct ClockOrbit *co, enum ClockOrbitType type, @@ -184,5 +205,6 @@ T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0) --mmi; - T_RESERVED5 + T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) + T_RESERVED4 T_NO_OF_SATELLITES(co->NumberOfGPSSat) for(i = 0; i < co->NumberOfGPSSat; ++i) @@ -196,9 +218,4 @@ T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack) T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack) - T_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial) - T_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack) - T_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack) - T_SATELLITE_REFERENCE_POINT(co->SatRefPoint) - T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) } ENDBLOCK @@ -244,5 +261,6 @@ T_MULTIPLE_MESSAGE_INDICATOR(/*mmi || */ left ? 1 : 0) --mmi; - T_RESERVED5 + T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) + T_RESERVED4 T_NO_OF_SATELLITES(nums) for(i = start; i < start+nums; ++i) @@ -256,9 +274,4 @@ T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack) T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack) - T_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial) - T_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack) - T_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack) - T_SATELLITE_REFERENCE_POINT(co->SatRefPoint) - T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0) T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1) @@ -300,5 +313,5 @@ { T_GPS_SATELLITE_ID(co->Sat[i].ID) - T_SSR_URA(co->Sat[i].URA) + T_SSR_URA(ValueToURA(co->Sat[i].UserRangeAccuracy)) } ENDBLOCK @@ -312,5 +325,6 @@ T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0) --mmi; - T_RESERVED5 + T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) + T_RESERVED4 T_NO_OF_SATELLITES(co->NumberOfGLONASSSat) for(i = CLOCKORBIT_NUMGPS; @@ -325,9 +339,4 @@ T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack) T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack) - T_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial) - T_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack) - T_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack) - T_SATELLITE_REFERENCE_POINT(co->SatRefPoint) - T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) } ENDBLOCK @@ -362,5 +371,6 @@ T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0) --mmi; - T_RESERVED5 + T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) + T_RESERVED4 T_NO_OF_SATELLITES(co->NumberOfGLONASSSat) for(i = CLOCKORBIT_NUMGPS; @@ -375,9 +385,4 @@ T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack) T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack) - T_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial) - T_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack) - T_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack) - T_SATELLITE_REFERENCE_POINT(co->SatRefPoint) - T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0) T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1) @@ -417,5 +422,5 @@ { T_GPS_SATELLITE_ID(co->Sat[i].ID) - T_SSR_URA(co->Sat[i].URA) + T_SSR_URA(ValueToURA(co->Sat[i].UserRangeAccuracy)) } ENDBLOCK @@ -532,4 +537,5 @@ #define G_SIZE(a) GETBITS(a, 10) #define G_MESSAGE_NUMBER(a) GETBITS(a, 12) /* DF002 */ +#define G_RESERVED4 SKIPBITS(4) /* DF001 */ #define G_RESERVED5 SKIPBITS(5) /* DF001 */ #define G_GPS_SATELLITE_ID(a) GETBITS(a, 6) /* DF068 */ @@ -544,8 +550,4 @@ #define G_DELTA_DOT_ALONG_TRACK(a) GETFLOATSIGN(a, 19, 1/250000.0) #define G_DELTA_DOT_CROSS_TRACK(a) GETFLOATSIGN(a, 19, 1/250000.0) -#define G_DELTA_DOT_DOT_RADIAL(a) GETFLOATSIGN(a, 27, 1/50000000.0) -#define G_DELTA_DOT_DOT_ALONG_TRACK(a) GETFLOATSIGN(a, 25, 1/12500000.0) -#define G_DELTA_DOT_DOT_CROSS_TRACK(a) GETFLOATSIGN(a, 25, 1/12500000.0) -#define G_SATELLITE_REFERENCE_POINT(a) GETBITS(a, 1) #define G_SATELLITE_REFERENCE_DATUM(a) GETBITS(a, 1) @@ -556,5 +558,4 @@ #define G_GPS_SIGNAL_IDENTIFIER(a) GETBITS(a, 5) #define G_GLONASS_SIGNAL_IDENTIFIER(a) GETBITS(a, 5) -#define G_GALILEO_SIGNAL_IDENTIFIER(a) GETBITS(a, 5) #define G_CODE_BIAS(a) GETFLOATSIGN(a, 14, 1/100.0) #define G_GLONASS_SATELLITE_ID(a) GETBITS(a, 5) @@ -566,5 +567,6 @@ #define G_NO_OF_SATELLITES(a) GETBITS(a, 6) #define G_MULTIPLE_MESSAGE_INDICATOR(a) GETBITS(a, 1) -#define G_SSR_URA(a) GETBITS(a, 4) +#define G_SSR_URA(a) {int temp; GETBITS(temp, 6) \ + (a) = URAToValue(temp);} #define G_HR_CLOCK_CORRECTION(a) GETFLOATSIGN(a, 22, 1/10000.0) #define G_SSR_UPDATE_INTERVAL(a) GETBITS(a, 4) @@ -614,10 +616,11 @@ G_SSR_UPDATE_INTERVAL(co->UpdateInterval) G_MULTIPLE_MESSAGE_INDICATOR(mmi) - G_RESERVED5 + G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) + G_RESERVED4 G_NO_OF_SATELLITES(nums) co->OrbitDataSupplied |= 1; #ifdef DEBUG -fprintf(stderr, "epochtime %d ui %d mmi %d sats %d/%d\n",co->GPSEpochTime, -co->UpdateInterval,mmi,co->NumberOfGPSSat,nums); +fprintf(stderr, "epochtime %d ui %d mmi %d sats %d/%d rd %d\n",co->GPSEpochTime, +co->UpdateInterval,mmi,co->NumberOfGPSSat,nums, co->SatRefDatum); #endif for(i = 0; i < nums; ++i) @@ -637,21 +640,11 @@ G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack) G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack) - G_DELTA_DOT_DOT_RADIAL(co->Sat[pos].Orbit.DotDotDeltaRadial) - G_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDotDeltaAlongTrack) - G_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDotDeltaCrossTrack) - G_SATELLITE_REFERENCE_POINT(co->SatRefPoint) - G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) -#ifdef DEBUG -fprintf(stderr, "id %2d iod %3d dr %8.3f da %8.3f dc %8.3f dr %8.3f da %8.3f dc %8.3f dr %8.3f da %8.3f dc %8.3f rp %d rd %d\n", +#ifdef DEBUG +fprintf(stderr, "id %2d iod %3d dr %8.3f da %8.3f dc %8.3f dr %8.3f da %8.3f dc %8.3f\n", co->Sat[pos].ID,co->Sat[pos].IOD,co->Sat[pos].Orbit.DeltaRadial, co->Sat[pos].Orbit.DeltaAlongTrack,co->Sat[pos].Orbit.DeltaCrossTrack, co->Sat[pos].Orbit.DotDeltaRadial, co->Sat[pos].Orbit.DotDeltaAlongTrack, -co->Sat[pos].Orbit.DotDeltaCrossTrack, -co->Sat[pos].Orbit.DotDotDeltaRadial, -co->Sat[pos].Orbit.DotDotDeltaAlongTrack, -co->Sat[pos].Orbit.DotDotDeltaCrossTrack, -co->SatRefPoint, -co->SatRefDatum); +co->Sat[pos].Orbit.DotDeltaCrossTrack); #endif } @@ -699,5 +692,6 @@ G_SSR_UPDATE_INTERVAL(co->UpdateInterval) G_MULTIPLE_MESSAGE_INDICATOR(mmi) - G_RESERVED5 + G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) + G_RESERVED4 G_NO_OF_SATELLITES(nums) co->OrbitDataSupplied |= 1; @@ -719,9 +713,4 @@ G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack) G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack) - G_DELTA_DOT_DOT_RADIAL(co->Sat[pos].Orbit.DotDotDeltaRadial) - G_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDotDeltaAlongTrack) - G_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDotDeltaCrossTrack) - G_SATELLITE_REFERENCE_POINT(co->SatRefPoint) - G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) G_DELTA_CLOCK_C0(co->Sat[pos].Clock.DeltaA0) G_DELTA_CLOCK_C1(co->Sat[pos].Clock.DeltaA1) @@ -748,5 +737,5 @@ co->Sat[pos].ID = id; - G_SSR_URA(co->Sat[pos].URA) + G_SSR_URA(co->Sat[pos].UserRangeAccuracy) } break; @@ -780,10 +769,11 @@ G_SSR_UPDATE_INTERVAL(co->UpdateInterval) G_MULTIPLE_MESSAGE_INDICATOR(mmi) - G_RESERVED5 + G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) + G_RESERVED4 G_NO_OF_SATELLITES(nums) co->OrbitDataSupplied |= 2; #ifdef DEBUG -fprintf(stderr, "epochtime %d ui %d mmi %d sats %d/%d\n",co->GLONASSEpochTime, -co->UpdateInterval,mmi,co->NumberOfGLONASSSat,nums); +fprintf(stderr, "epochtime %d ui %d mmi %d sats %d/%d rd %d\n",co->GLONASSEpochTime, +co->UpdateInterval,mmi,co->NumberOfGLONASSSat,nums, co->SatRefDatum); #endif for(i = 0; i < nums; ++i) @@ -803,21 +793,11 @@ G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack) G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack) - G_DELTA_DOT_DOT_RADIAL(co->Sat[pos].Orbit.DotDotDeltaRadial) - G_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDotDeltaAlongTrack) - G_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDotDeltaCrossTrack) - G_SATELLITE_REFERENCE_POINT(co->SatRefPoint) - G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) -#ifdef DEBUG -fprintf(stderr, "id %2d iod %3d dr %8.3f da %8.3f dc %8.3f dr %8.3f da %8.3f dc %8.3f dr %8.3f da %8.3f dc %8.3f rp %d rd %d\n", +#ifdef DEBUG +fprintf(stderr, "id %2d iod %3d dr %8.3f da %8.3f dc %8.3f dr %8.3f da %8.3f dc %8.3f\n", co->Sat[pos].ID,co->Sat[pos].IOD,co->Sat[pos].Orbit.DeltaRadial, co->Sat[pos].Orbit.DeltaAlongTrack,co->Sat[pos].Orbit.DeltaCrossTrack, co->Sat[pos].Orbit.DotDeltaRadial, co->Sat[pos].Orbit.DotDeltaAlongTrack, -co->Sat[pos].Orbit.DotDeltaCrossTrack, -co->Sat[pos].Orbit.DotDotDeltaRadial, -co->Sat[pos].Orbit.DotDotDeltaAlongTrack, -co->Sat[pos].Orbit.DotDotDeltaCrossTrack, -co->SatRefPoint, -co->SatRefDatum); +co->Sat[pos].Orbit.DotDeltaCrossTrack); #endif } @@ -861,5 +841,6 @@ G_SSR_UPDATE_INTERVAL(co->UpdateInterval) G_MULTIPLE_MESSAGE_INDICATOR(mmi) - G_RESERVED5 + G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) + G_RESERVED4 G_NO_OF_SATELLITES(nums) co->OrbitDataSupplied |= 2; @@ -881,9 +862,4 @@ G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack) G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack) - G_DELTA_DOT_DOT_RADIAL(co->Sat[pos].Orbit.DotDotDeltaRadial) - G_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDotDeltaAlongTrack) - G_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDotDeltaCrossTrack) - G_SATELLITE_REFERENCE_POINT(co->SatRefPoint) - G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) G_DELTA_CLOCK_C0(co->Sat[pos].Clock.DeltaA0) G_DELTA_CLOCK_C1(co->Sat[pos].Clock.DeltaA1) @@ -908,5 +884,5 @@ co->Sat[pos].ID = id; - G_SSR_URA(co->Sat[pos].URA) + G_SSR_URA(co->Sat[pos].UserRangeAccuracy) } break; Index: trunk/clock_and_orbit/clock_orbit_rtcm.h =================================================================== --- trunk/clock_and_orbit/clock_orbit_rtcm.h (revision 2420) +++ trunk/clock_and_orbit/clock_orbit_rtcm.h (revision 2421) @@ -6,5 +6,5 @@ Name: clock_orbit_rtcm.h Project: RTCM3 - Version: $Id: clock_orbit_rtcm.h,v 1.6 2009/05/14 13:24:41 stoecker Exp $ + Version: $Id: clock_orbit_rtcm.h,v 1.7 2010/02/22 13:42:26 stoecker Exp $ Authors: Dirk Stöcker Description: state space approach for RTCM3 @@ -14,5 +14,4 @@ enum SatelliteReferenceDatum { DATUM_ITRF=0, DATUM_LOCAL=1 }; -enum SatelliteReferencePoint { POINT_IONOFREE=0, POINT_CENTER=1 }; enum ClockOrbitType { COTYPE_GPSORBIT=1057, COTYPE_GPSCLOCK=1058, @@ -44,4 +43,6 @@ }; +#define SSR_MAXURA 5.5 /* > 5466.5mm in meter */ + /* GLONASS data is stored with offset CLOCKORBIT_NUMGPS in the data structures. So first GLONASS satellite is at xxx->Sat[CLOCKORBIT_NUMGPS], first @@ -62,10 +63,9 @@ int epochSize; /* Weber, for latency */ int UpdateInterval; - enum SatelliteReferencePoint SatRefPoint; enum SatelliteReferenceDatum SatRefDatum; struct SatData { int ID; /* GPS or GLONASS */ int IOD; /* GPS or GLONASS */ - int URA; + double UserRangeAccuracy; /* accuracy values in [m] */ double hrclock; struct OrbitPart @@ -77,7 +77,4 @@ double DotDeltaAlongTrack; /* m/s */ double DotDeltaCrossTrack; /* m/s */ - double DotDotDeltaRadial; /* m/ss */ - double DotDotDeltaAlongTrack; /* m/ss */ - double DotDotDeltaCrossTrack; /* m/ss */ } Orbit; struct ClockPart Index: trunk/clock_and_orbit/readco.c =================================================================== --- trunk/clock_and_orbit/readco.c (revision 2420) +++ trunk/clock_and_orbit/readco.c (revision 2421) @@ -60,6 +60,5 @@ co.ClockDataSupplied = 1; co.OrbitDataSupplied = 1; - co.SatRefPoint = DATUM_ITRF; - co.SatRefDatum = POINT_IONOFREE; + co.SatRefDatum = DATUM_ITRF; }