Index: trunk/clock_and_orbit/CLCK4_080423 =================================================================== --- trunk/clock_and_orbit/CLCK4_080423 (revision 5663) +++ (revision ) @@ -1,16310 +1,0 @@ -1476 298631.0 G01 51 51 -6.968 0.570 -0.791 0.056 -1476 298631.0 G04 114 114 4.299 1.224 -1.114 -0.399 -1476 298631.0 G11 3 3 4.533 1.530 -0.479 -0.088 -1476 298631.0 G13 56 56 -4.364 1.414 1.432 -1.260 -1476 298631.0 G17 70 70 -1.062 0.029 -1.777 -0.979 -1476 298631.0 G20 84 84 3.043 1.561 0.153 -0.136 -1476 298631.0 G23 24 24 -3.962 0.155 -1.096 0.449 -1476 298631.0 G25 49 49 5.367 1.069 -1.236 -0.805 -1476 298631.0 G31 66 66 1.343 0.055 0.507 0.609 -1476 298631.0 G32 58 58 -6.484 0.966 -0.683 0.383 -1476 298650.0 G01 51 51 -7.001 0.568 -0.788 0.057 -1476 298650.0 G04 114 114 4.320 1.223 -1.111 -0.401 -1476 298650.0 G11 3 3 4.530 1.531 -0.481 -0.085 -1476 298650.0 G13 56 56 -4.361 1.412 1.434 -1.259 -1476 298650.0 G17 70 70 -1.073 0.028 -1.777 -0.979 -1476 298650.0 G20 84 84 3.039 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303906.0 G16 29 29 3.170 1.703 1.071 -0.589 -1476 303906.0 G20 85 85 5.079 1.580 -0.059 0.675 -1476 303906.0 G23 25 25 -2.875 0.118 -1.831 0.402 -1476 303906.0 G25 58 58 6.951 0.903 -0.459 -0.334 -1476 303906.0 G27 90 90 7.527 0.909 -1.462 -0.159 -1476 303907.0 G02 18 18 -6.392 0.054 0.536 -0.690 -1476 303907.0 G04 115 115 6.148 1.191 -1.057 -0.531 -1476 303907.0 G07 24 24 -1.081 -0.081 -0.265 -0.718 -1476 303907.0 G13 57 57 -2.069 1.390 2.057 -0.790 -1476 303907.0 G16 29 29 3.169 1.703 1.072 -0.589 -1476 303907.0 G20 85 85 5.080 1.580 -0.059 0.675 -1476 303907.0 G23 25 25 -2.874 0.119 -1.832 0.402 -1476 303907.0 G25 58 58 6.950 0.904 -0.460 -0.333 -1476 303907.0 G27 90 90 7.527 0.909 -1.462 -0.159 -1476 303908.0 G02 18 18 -6.391 0.054 0.536 -0.690 -1476 303908.0 G04 115 115 6.149 1.192 -1.056 -0.531 -1476 303908.0 G07 24 24 -1.081 -0.081 -0.265 -0.718 -1476 303908.0 G13 57 57 -2.069 1.389 2.057 -0.790 -1476 303908.0 G16 29 29 3.168 1.704 1.071 -0.589 -1476 303908.0 G20 85 85 5.079 1.581 -0.060 0.675 -1476 303908.0 G23 25 25 -2.873 0.119 -1.833 0.403 -1476 303908.0 G25 58 58 6.951 0.903 -0.460 -0.333 -1476 303908.0 G27 90 90 7.527 0.909 -1.461 -0.158 -1476 303947.0 G02 18 18 -6.374 0.054 0.527 -0.687 -1476 303947.0 G04 115 115 6.149 1.191 -1.059 -0.533 -1476 303947.0 G07 24 24 -1.045 -0.082 -0.255 -0.721 -1476 303947.0 G13 57 57 -2.100 1.390 2.061 -0.783 -1476 303947.0 G16 29 29 3.191 1.703 1.071 -0.586 -1476 303947.0 G20 85 85 5.076 1.581 -0.071 0.676 -1476 303947.0 G23 25 25 -2.858 0.120 -1.844 0.400 -1476 303947.0 G25 58 58 6.947 0.903 -0.451 -0.325 -1476 303947.0 G27 90 90 7.505 0.905 -1.460 -0.150 -1476 303948.0 G02 18 18 -6.375 0.054 0.527 -0.686 -1476 303948.0 G04 115 115 6.148 1.191 -1.060 -0.534 -1476 303948.0 G07 24 24 -1.044 -0.082 -0.255 -0.721 -1476 303948.0 G13 57 57 -2.102 1.390 2.061 -0.782 -1476 303948.0 G16 29 29 3.190 1.703 1.070 -0.586 -1476 303948.0 G20 85 85 5.078 1.581 -0.071 0.675 -1476 303948.0 G23 25 25 -2.856 0.119 -1.844 0.399 -1476 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0.904 -1.459 -0.150 -1476 303951.0 G02 18 18 -6.378 0.054 0.527 -0.686 -1476 303951.0 G04 115 115 6.151 1.191 -1.060 -0.534 -1476 303951.0 G07 24 24 -1.046 -0.081 -0.254 -0.722 -1476 303951.0 G13 57 57 -2.106 1.390 2.061 -0.782 -1476 303951.0 G16 29 29 3.192 1.703 1.070 -0.586 -1476 303951.0 G20 85 85 5.081 1.582 -0.072 0.676 -1476 303951.0 G23 25 25 -2.851 0.119 -1.844 0.399 -1476 303951.0 G25 58 58 6.944 0.903 -0.451 -0.323 -1476 303951.0 G27 90 90 7.508 0.904 -1.460 -0.150 -1476 303952.0 G02 18 18 -6.379 0.054 0.526 -0.687 -1476 303952.0 G04 115 115 6.153 1.192 -1.060 -0.534 -1476 303952.0 G07 24 24 -1.045 -0.082 -0.255 -0.722 -1476 303952.0 G13 57 57 -2.107 1.390 2.062 -0.782 -1476 303952.0 G16 29 29 3.192 1.703 1.070 -0.586 -1476 303952.0 G20 85 85 5.081 1.581 -0.072 0.676 -1476 303952.0 G23 25 25 -2.848 0.119 -1.845 0.399 -1476 303952.0 G25 58 58 6.942 0.903 -0.450 -0.324 -1476 303952.0 G27 90 90 7.508 0.904 -1.459 -0.150 Index: trunk/clock_and_orbit/CLCK4_080423.txt =================================================================== --- trunk/clock_and_orbit/CLCK4_080423.txt (revision 5663) +++ (revision ) @@ -1,28 +1,0 @@ -im Anhang finden Sie die Aufzeichnung von www.igs-ip.net/CLCK4 für etwa 1.5 -Stunden. Es handelt sich um den Zeitraum 08-04-23 10:57:20 bis etwa 08-04-23 -12:26:48. In den 9 -Spalten findet sich die Information: - -1. GPS-Woche -2. Sekunde der GPS-Woche -3. PRN -4. IODC -5. IODE -6. clock-Corr[m] -7. radial-Corr[m] -8. along-track-Corr[m] -9. out-of-plane-Corr[m] - -Auszug aus der Datei: - -1476 298631.0 G01 51 51 -6.968 0.570 -0.791 0.056 -1476 298631.0 G04 114 114 4.299 1.224 -1.114 -0.399 -1476 298631.0 G11 3 3 4.533 1.530 -0.479 -0.088 -1476 298631.0 G13 56 56 -4.364 1.414 1.432 -1.260 -1476 298631.0 G17 70 70 -1.062 0.029 -1.777 -0.979 -1476 298631.0 G20 84 84 3.043 1.561 0.153 -0.136 -1476 298631.0 G23 24 24 -3.962 0.155 -1.096 0.449 -1476 298631.0 G25 49 49 5.367 1.069 -1.236 -0.805 -1476 298631.0 G31 66 66 1.343 0.055 0.507 0.609 -1476 298631.0 G32 58 58 -6.484 0.966 -0.683 0.383 -... Index: trunk/clock_and_orbit/lib/clock_orbit_rtcm.c =================================================================== --- trunk/clock_and_orbit/lib/clock_orbit_rtcm.c (revision 5663) +++ trunk/clock_and_orbit/lib/clock_orbit_rtcm.c (revision 5664) @@ -90,13 +90,22 @@ } -#define SCALEADDBITS(a, b, c) ADDBITS(a, (int64_t)(b*c)) - -/* standard values */ -#define T_MESSAGE_NUMBER(a) ADDBITS(12, a) /* DF002 */ -#define T_GPS_SATELLITE_ID(a) ADDBITS(6, a) /* DF068 */ -#define T_GPS_IODE(a) ADDBITS(8, a) /* DF071 */ -#define T_GLONASS_IOD(a) ADDBITS(8, a) /* DF237 */ - -/* defined values */ +#define SCALEADDBITS(a, b, c) ADDBITS(a, (int64_t)(c > 0 ? b*c+0.5 : b*c-0.5)) + +#define MPI 3.141592653589793 + +/* GPS macros also used for other systems when matching! */ +#define T_MESSAGE_NUMBER(a) ADDBITS(12, a) /* DF002 */ +#define T_GPS_SATELLITE_ID(a) ADDBITS(6, a) /* DF068 */ +#define T_QZSS_SATELLITE_ID(a) ADDBITS(4, a) /* DF249 */ +#define T_GLONASS_SATELLITE_ID(a) ADDBITS(5, a) + +#define T_GPS_IODE(a) ADDBITS(8, a) /* DF071 */ +#define T_GLONASS_IOD(a) ADDBITS(8, a) /* DF237 */ +#define T_GALILEO_IOD(a) ADDBITS(10, a) /* DF459 */ +#define T_SBAS_T0MOD(a) ADDBITS(9, (a/16)) /* DF468 */ +#define T_SBAS_IODCRC(a) ADDBITS(24, a) /* DF469 */ +#define T_BDS_TOEMOD(a) ADDBITS(10, (a/8)) /* DF470 */ +#define T_BDS_IODCRC(a) ADDBITS(24, a) /* DF471 */ + #define T_DELTA_RADIAL(a) SCALEADDBITS(22, 10000.0, a) #define T_DELTA_ALONG_TRACK(a) SCALEADDBITS(20, 2500.0, a) @@ -111,8 +120,10 @@ #define T_DELTA_CLOCK_C2(a) SCALEADDBITS(27, 50000000.0, a) #define T_NO_OF_CODE_BIASES(a) ADDBITS(5, a) -#define T_GPS_SIGNAL_IDENTIFIER(a) ADDBITS(5, a) -#define T_GLONASS_SIGNAL_IDENTIFIER(a) ADDBITS(5, a) +#define T_NO_OF_PHASE_BIASES(a) ADDBITS(5, a) +#define T_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) +#define T_YAW_ANGLE(a) SCALEADDBITS(9, 256.0/MPI, a) +#define T_YAW_RATE(a) SCALEADDBITS(8, 8192.0/MPI, a) +#define T_PHASE_BIAS(a) SCALEADDBITS(20, 10000.0, a) #define T_GPS_EPOCH_TIME(a) ADDBITS(20, a) @@ -120,4 +131,9 @@ #define T_NO_OF_SATELLITES(a) ADDBITS(6, a) #define T_MULTIPLE_MESSAGE_INDICATOR(a) ADDBITS(1, a) +#define T_DISPERSIVE_BIAS_INDICATOR(a) ADDBITS(1, a) +#define T_MW_CONSISTENCY_INDICATOR(a) ADDBITS(1, a) +#define T_INTEGER_INDICATOR(a) ADDBITS(1, a) +#define T_WIDE_LANE_INDICATOR(a) ADDBITS(1, a) +#define T_DISCONTINUITY_COUNTER(a) ADDBITS(4, a) #define T_SSR_URA(a) ADDBITS(6, a) #define T_HR_CLOCK_CORRECTION(a) SCALEADDBITS(22, 10000.0, a) @@ -127,4 +143,11 @@ #define T_SSR_PROVIDER_ID(a) ADDBITS(16, a) #define T_SSR_SOLUTION_ID(a) ADDBITS(4, a) + +#define T_NO_IONO_LAYERS(a) ADDBITS(2, a-1) +#define T_VTEC_QUALITY_INDICATOR(a) SCALEADDBITS(9, 20.0, a) +#define T_IONO_COEFF(a) SCALEADDBITS(16, 200.0, a) +#define T_IONO_DEGREE(a) ADDBITS(4, a-1) +#define T_IONO_ORDER(a) ADDBITS(4, a-1) +#define T_IONO_HEIGHT(a) SCALEADDBITS(8, 1/10000.0, a) static double URAToValue(int ura) @@ -152,139 +175,97 @@ } +static const enum ClockOrbitType corbase[CLOCKORBIT_SATNUM] = +{ + COBBASE_GPS, COBBASE_GLONASS, COBBASE_GALILEO, COBBASE_QZSS, COBBASE_SBAS, + COBBASE_BDS +}; +static const enum COR_OFFSETS satoffset[CLOCKORBIT_SATNUM+1] = +{ + CLOCKORBIT_OFFSETGPS, CLOCKORBIT_OFFSETGLONASS, CLOCKORBIT_OFFSETGALILEO, + CLOCKORBIT_OFFSETQZSS, CLOCKORBIT_OFFSETSBAS, CLOCKORBIT_OFFSETBDS, + CLOCKORBIT_COUNTSAT +}; + size_t MakeClockOrbit(const struct ClockOrbit *co, enum ClockOrbitType type, int moremessagesfollow, char *buffer, size_t size) { - int gpshr=0, gpsur=0, gpsor=0, gpscl=0, gpsco=0, glohr=0, glour=0, gloor=0, - glocl=0, gloco=0, mmi, i; - + unsigned int status[CLOCKORBIT_SATNUM][COBOFS_NUM], i, s; + + memset(status, 0, sizeof(status)); STARTDATA - if(co->NumberOfGPSSat && co->HRDataSupplied - && (type == COTYPE_AUTO || type == COTYPE_GPSHR)) - gpshr = 1; - if(co->NumberOfGPSSat && co->URADataSupplied - && (type == COTYPE_AUTO || type == COTYPE_GPSURA)) - gpsur = 1; - if(co->NumberOfGPSSat && co->OrbitDataSupplied - && (type == COTYPE_AUTO || type == COTYPE_GPSORBIT)) - gpsor = 1; - if(co->NumberOfGPSSat && co->ClockDataSupplied - && (type == COTYPE_AUTO || type == COTYPE_GPSCLOCK)) - gpscl = 1; - if(co->NumberOfGPSSat && co->ClockDataSupplied && co->OrbitDataSupplied - && (type == COTYPE_AUTO || type == COTYPE_GPSCOMBINED) - /*&& co->NumberOfGPSSat <= 28*/) + for(s = 0; s < CLOCKORBIT_SATNUM; ++s) { - gpsco = 1; gpsor = 0; gpscl = 0; - } - if(co->NumberOfGLONASSSat && co->HRDataSupplied - && (type == COTYPE_AUTO || type == COTYPE_GLONASSHR)) - glohr = 1; - if(co->NumberOfGLONASSSat && co->URADataSupplied - && (type == COTYPE_AUTO || type == COTYPE_GLONASSURA)) - glour = 1; - if(co->NumberOfGLONASSSat && co->OrbitDataSupplied - && (type == COTYPE_AUTO || type == COTYPE_GLONASSORBIT)) - gloor = 1; - if(co->NumberOfGLONASSSat && co->ClockDataSupplied - && (type == COTYPE_AUTO || type == COTYPE_GLONASSCLOCK)) - glocl = 1; - if(co->NumberOfGLONASSSat && co->ClockDataSupplied && co->OrbitDataSupplied - && (type == COTYPE_AUTO || type == COTYPE_GLONASSCOMBINED)) + for(i = 0; i < COBOFS_NUM; ++i) + { + if(co->NumberOfSat[s] && (type == COTYPE_AUTO + || type == corbase[s]+i) && (co->Supplied[i] || (i <= COBOFS_CLOCK + && co->Supplied[COBOFS_COMBINED]) || (i == COBOFS_COMBINED + && co->Supplied[COBOFS_ORBIT] && co->Supplied[COBOFS_CLOCK]))) + { + status[s][i] = 1; + if(i == COBOFS_COMBINED) + { + status[s][COBOFS_ORBIT] = status[s][COBOFS_CLOCK] = 0; + } /* disable single blocks for combined type */ + } /* check for data */ + } /* iterate over RTCM data types */ + } /* iterate over satellite systems */ + + for(s = 0; s < CLOCKORBIT_SATNUM; ++s) { - gloco = 1; gloor = 0; glocl = 0; - } - - mmi = gpshr+gpsur+gpsor+gpscl+gpsco+glohr+glour+gloor+glocl+gloco; /* required for multimessage */ - if(!moremessagesfollow) --mmi; - - if(gpsor) - { - INITBLOCK - T_MESSAGE_NUMBER(COTYPE_GPSORBIT) - T_GPS_EPOCH_TIME(co->GPSEpochTime) - T_SSR_UPDATE_INTERVAL(co->UpdateInterval) - T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0) - --mmi; - T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) - T_SSR_IOD(co->SSRIOD) - T_SSR_PROVIDER_ID(co->SSRProviderID) - T_SSR_SOLUTION_ID(co->SSRSolutionID) - T_NO_OF_SATELLITES(co->NumberOfGPSSat) - for(i = 0; i < co->NumberOfGPSSat; ++i) - { - T_GPS_SATELLITE_ID(co->Sat[i].ID) - T_GPS_IODE(co->Sat[i].IOD) - T_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial) - T_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack) - T_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack) - T_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial) - T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack) - T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack) - } - ENDBLOCK - } - if(gpscl) - { - INITBLOCK - T_MESSAGE_NUMBER(COTYPE_GPSCLOCK) - T_GPS_EPOCH_TIME(co->GPSEpochTime) - T_SSR_UPDATE_INTERVAL(co->UpdateInterval) - T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0) - --mmi; - T_SSR_IOD(co->SSRIOD) - T_SSR_PROVIDER_ID(co->SSRProviderID) - T_SSR_SOLUTION_ID(co->SSRSolutionID) - T_NO_OF_SATELLITES(co->NumberOfGPSSat) - for(i = 0; i < co->NumberOfGPSSat; ++i) - { - T_GPS_SATELLITE_ID(co->Sat[i].ID) - T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0) - T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1) - T_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2) - } - ENDBLOCK - } - if(gpsco) - { -#ifdef SPLITBLOCK - int nums = co->NumberOfGPSSat; - int left, start = 0; - if(nums > 28) /* split block when more than 28 sats */ - { - left = nums - 28; - nums = 28; - } - else - { - left = 0; - } - while(nums) - { -#endif + if(status[s][COBOFS_ORBIT]) + { INITBLOCK - T_MESSAGE_NUMBER(COTYPE_GPSCOMBINED) - T_GPS_EPOCH_TIME(co->GPSEpochTime) + T_MESSAGE_NUMBER(corbase[s]+COBOFS_ORBIT) + switch(s) + { + case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO: + case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS: + case CLOCKORBIT_SATBDS: + T_GPS_EPOCH_TIME(co->EpochTime[s]) + break; + case CLOCKORBIT_SATGLONASS: + T_GLONASS_EPOCH_TIME(co->EpochTime[s]) + break; + } T_SSR_UPDATE_INTERVAL(co->UpdateInterval) -#ifdef SPLITBLOCK - T_MULTIPLE_MESSAGE_INDICATOR(/*mmi || */ left ? 1 : 0) -#else - T_MULTIPLE_MESSAGE_INDICATOR(/*mmi || */ 0) -#endif - --mmi; + T_MULTIPLE_MESSAGE_INDICATOR(moremessagesfollow ? 1 : 0) T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) T_SSR_IOD(co->SSRIOD) T_SSR_PROVIDER_ID(co->SSRProviderID) T_SSR_SOLUTION_ID(co->SSRSolutionID) -#ifdef SPLITBLOCK - T_NO_OF_SATELLITES(nums) - for(i = start; i < start+nums; ++i) -#else - T_NO_OF_SATELLITES(co->NumberOfGPSSat) - for(i = 0; i < co->NumberOfGPSSat; ++i) -#endif - { - T_GPS_SATELLITE_ID(co->Sat[i].ID) - T_GPS_IODE(co->Sat[i].IOD) + T_NO_OF_SATELLITES(co->NumberOfSat[s]) + for(i = satoffset[s]; i < satoffset[s]+co->NumberOfSat[s]; ++i) + { + switch(s) + { + case CLOCKORBIT_SATGPS: + T_GPS_SATELLITE_ID(co->Sat[i].ID) + T_GPS_IODE(co->Sat[i].IOD) + break; + case CLOCKORBIT_SATGLONASS: + T_GLONASS_SATELLITE_ID(co->Sat[i].ID) + T_GLONASS_IOD(co->Sat[i].IOD) + break; + case CLOCKORBIT_SATGALILEO: + T_GPS_SATELLITE_ID(co->Sat[i].ID) + T_GALILEO_IOD(co->Sat[i].IOD) + break; + case CLOCKORBIT_SATQZSS: + T_QZSS_SATELLITE_ID(co->Sat[i].ID) + T_GPS_IODE(co->Sat[i].IOD) + break; + case CLOCKORBIT_SATSBAS: + T_GPS_SATELLITE_ID(co->Sat[i].ID) + T_SBAS_T0MOD(co->Sat[i].toe) + T_SBAS_IODCRC(co->Sat[i].IOD) + break; + case CLOCKORBIT_SATBDS: + T_GPS_SATELLITE_ID(co->Sat[i].ID) + T_BDS_TOEMOD(co->Sat[i].toe) + T_BDS_IODCRC(co->Sat[i].IOD) + break; + } T_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial) T_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack) @@ -293,4 +274,43 @@ T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack) T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack) + } + ENDBLOCK + } + if(status[s][COBOFS_CLOCK]) + { + INITBLOCK + T_MESSAGE_NUMBER(corbase[s]+COBOFS_CLOCK) + switch(s) + { + case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO: + case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS: + case CLOCKORBIT_SATBDS: + T_GPS_EPOCH_TIME(co->EpochTime[s]) + break; + case CLOCKORBIT_SATGLONASS: + T_GLONASS_EPOCH_TIME(co->EpochTime[s]) + break; + } + T_SSR_UPDATE_INTERVAL(co->UpdateInterval) + T_MULTIPLE_MESSAGE_INDICATOR(moremessagesfollow ? 1 : 0) + T_SSR_IOD(co->SSRIOD) + T_SSR_PROVIDER_ID(co->SSRProviderID) + T_SSR_SOLUTION_ID(co->SSRSolutionID) + T_NO_OF_SATELLITES(co->NumberOfSat[s]) + for(i = satoffset[s]; i < satoffset[s]+co->NumberOfSat[s]; ++i) + { + switch(s) + { + case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO: + case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS: + T_GPS_SATELLITE_ID(co->Sat[i].ID) + break; + case CLOCKORBIT_SATQZSS: + T_QZSS_SATELLITE_ID(co->Sat[i].ID) + break; + case CLOCKORBIT_SATGLONASS: + T_GLONASS_SATELLITE_ID(co->Sat[i].ID) + break; + } T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0) T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1) @@ -298,238 +318,346 @@ } ENDBLOCK + } + if(status[s][COBOFS_COMBINED]) + { #ifdef SPLITBLOCK - start += nums; - nums = left; - left = 0; + int nums = co->NumberOfSat[s]; + int left, start = satoffset[s]; + if(nums > 28) /* split block when more than 28 sats */ + { + left = nums - 28; + nums = 28; + } + else + { + left = 0; + } + while(nums) + { +#endif + INITBLOCK + T_MESSAGE_NUMBER(corbase[s]+COBOFS_COMBINED) + switch(s) + { + case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO: + case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS: + case CLOCKORBIT_SATBDS: + T_GPS_EPOCH_TIME(co->EpochTime[s]) + break; + case CLOCKORBIT_SATGLONASS: + T_GLONASS_EPOCH_TIME(co->EpochTime[s]) + break; + } + T_SSR_UPDATE_INTERVAL(co->UpdateInterval) +#ifdef SPLITBLOCK + T_MULTIPLE_MESSAGE_INDICATOR((moremessagesfollow || left) ? 1 : 0) +#else + T_MULTIPLE_MESSAGE_INDICATOR(moremessagesfollow ? 1 : 0) +#endif + T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) + T_SSR_IOD(co->SSRIOD) + T_SSR_PROVIDER_ID(co->SSRProviderID) + T_SSR_SOLUTION_ID(co->SSRSolutionID) +#ifdef SPLITBLOCK + T_NO_OF_SATELLITES(nums) + for(i = start; i < start+nums; ++i) +#else + T_NO_OF_SATELLITES(co->NumberOfSat[s]) + for(i = satoffset[s]; i < satoffset[s]+co->NumberOfSat[s]; ++i) +#endif + { + switch(s) + { + case CLOCKORBIT_SATGPS: + T_GPS_SATELLITE_ID(co->Sat[i].ID) + T_GPS_IODE(co->Sat[i].IOD) + break; + case CLOCKORBIT_SATGLONASS: + T_GLONASS_SATELLITE_ID(co->Sat[i].ID) + T_GLONASS_IOD(co->Sat[i].IOD) + break; + case CLOCKORBIT_SATGALILEO: + T_GPS_SATELLITE_ID(co->Sat[i].ID) + T_GALILEO_IOD(co->Sat[i].IOD) + break; + case CLOCKORBIT_SATQZSS: + T_QZSS_SATELLITE_ID(co->Sat[i].ID) + T_GPS_IODE(co->Sat[i].IOD) + break; + case CLOCKORBIT_SATSBAS: + T_GPS_SATELLITE_ID(co->Sat[i].ID) + T_SBAS_T0MOD(co->Sat[i].toe) + T_SBAS_IODCRC(co->Sat[i].IOD) + break; + case CLOCKORBIT_SATBDS: + T_GPS_SATELLITE_ID(co->Sat[i].ID) + T_BDS_TOEMOD(co->Sat[i].toe) + T_BDS_IODCRC(co->Sat[i].IOD) + break; + } + T_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial) + T_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack) + T_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack) + T_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial) + T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack) + T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack) + T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0) + T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1) + T_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2) + } + ENDBLOCK +#ifdef SPLITBLOCK + start += nums; + nums = left; + left = 0; + } +#endif } -#endif + if(status[s][COBOFS_HR]) + { + INITBLOCK + T_MESSAGE_NUMBER(corbase[s]+COBOFS_HR) + switch(s) + { + case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO: + case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS: + case CLOCKORBIT_SATBDS: + T_GPS_EPOCH_TIME(co->EpochTime[s]) + break; + case CLOCKORBIT_SATGLONASS: + T_GLONASS_EPOCH_TIME(co->EpochTime[s]) + break; + } + T_SSR_UPDATE_INTERVAL(co->UpdateInterval) + T_MULTIPLE_MESSAGE_INDICATOR(moremessagesfollow ? 1 : 0) + T_SSR_IOD(co->SSRIOD) + T_SSR_PROVIDER_ID(co->SSRProviderID) + T_SSR_SOLUTION_ID(co->SSRSolutionID) + T_NO_OF_SATELLITES(co->NumberOfSat[s]) + for(i = satoffset[s]; i < satoffset[s]+co->NumberOfSat[s]; ++i) + { + switch(s) + { + case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO: + case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS: + T_GPS_SATELLITE_ID(co->Sat[i].ID) + break; + case CLOCKORBIT_SATQZSS: + T_QZSS_SATELLITE_ID(co->Sat[i].ID) + break; + case CLOCKORBIT_SATGLONASS: + T_GLONASS_SATELLITE_ID(co->Sat[i].ID) + break; + } + T_HR_CLOCK_CORRECTION(co->Sat[i].hrclock) + } + ENDBLOCK + } + if(status[s][COBOFS_URA]) + { + INITBLOCK + T_MESSAGE_NUMBER(corbase[s]+COBOFS_URA) + switch(s) + { + case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO: + case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS: + case CLOCKORBIT_SATBDS: + T_GPS_EPOCH_TIME(co->EpochTime[s]) + break; + case CLOCKORBIT_SATGLONASS: + T_GLONASS_EPOCH_TIME(co->EpochTime[s]) + break; + } + T_MULTIPLE_MESSAGE_INDICATOR(moremessagesfollow ? 1 : 0) + T_SSR_IOD(co->SSRIOD) + T_SSR_PROVIDER_ID(co->SSRProviderID) + T_SSR_SOLUTION_ID(co->SSRSolutionID) + T_NO_OF_SATELLITES(co->NumberOfSat[s]) + for(i = satoffset[s]; i < satoffset[s]+co->NumberOfSat[s]; ++i) + { + switch(s) + { + case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO: + case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS: + T_GPS_SATELLITE_ID(co->Sat[i].ID) + break; + case CLOCKORBIT_SATQZSS: + T_QZSS_SATELLITE_ID(co->Sat[i].ID) + break; + case CLOCKORBIT_SATGLONASS: + T_GLONASS_SATELLITE_ID(co->Sat[i].ID) + break; + } + T_SSR_URA(ValueToURA(co->Sat[i].UserRangeAccuracy)) + } + ENDBLOCK + } } - if(gpshr) - { - INITBLOCK - T_MESSAGE_NUMBER(COTYPE_GPSHR) - T_GPS_EPOCH_TIME(co->GPSEpochTime) - T_SSR_UPDATE_INTERVAL(co->UpdateInterval) - T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0) - --mmi; - T_SSR_IOD(co->SSRIOD) - T_SSR_PROVIDER_ID(co->SSRProviderID) - T_SSR_SOLUTION_ID(co->SSRSolutionID) - T_NO_OF_SATELLITES(co->NumberOfGPSSat) - for(i = 0; i < co->NumberOfGPSSat; ++i) - { - T_GPS_SATELLITE_ID(co->Sat[i].ID) - T_HR_CLOCK_CORRECTION(co->Sat[i].hrclock) - } - ENDBLOCK - } - if(gpsur) - { - INITBLOCK - T_MESSAGE_NUMBER(COTYPE_GPSURA) - T_GPS_EPOCH_TIME(co->GPSEpochTime) - T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0) - --mmi; - T_SSR_IOD(co->SSRIOD) - T_SSR_PROVIDER_ID(co->SSRProviderID) - T_SSR_SOLUTION_ID(co->SSRSolutionID) - T_NO_OF_SATELLITES(co->NumberOfGPSSat) - for(i = 0; i < co->NumberOfGPSSat; ++i) - { - T_GPS_SATELLITE_ID(co->Sat[i].ID) - T_SSR_URA(ValueToURA(co->Sat[i].UserRangeAccuracy)) - } - ENDBLOCK - } - if(gloor) - { - INITBLOCK - T_MESSAGE_NUMBER(COTYPE_GLONASSORBIT) - T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime) - T_SSR_UPDATE_INTERVAL(co->UpdateInterval) - T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0) - --mmi; - T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) - T_SSR_IOD(co->SSRIOD) - T_SSR_PROVIDER_ID(co->SSRProviderID) - T_SSR_SOLUTION_ID(co->SSRSolutionID) - T_NO_OF_SATELLITES(co->NumberOfGLONASSSat) - for(i = CLOCKORBIT_NUMGPS; - i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i) - { - T_GLONASS_SATELLITE_ID(co->Sat[i].ID) - T_GLONASS_IOD(co->Sat[i].IOD) - T_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial) - T_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack) - T_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack) - T_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial) - T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack) - T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack) - } - ENDBLOCK - } - if(glocl) - { - INITBLOCK - T_MESSAGE_NUMBER(COTYPE_GLONASSCLOCK) - T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime) - T_SSR_UPDATE_INTERVAL(co->UpdateInterval) - T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0) - --mmi; - T_SSR_IOD(co->SSRIOD) - T_SSR_PROVIDER_ID(co->SSRProviderID) - T_SSR_SOLUTION_ID(co->SSRSolutionID) - T_NO_OF_SATELLITES(co->NumberOfGLONASSSat) - for(i = CLOCKORBIT_NUMGPS; - i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i) - { - T_GLONASS_SATELLITE_ID(co->Sat[i].ID) - T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0) - T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1) - T_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2) - } - ENDBLOCK - } - if(gloco) - { - INITBLOCK - T_MESSAGE_NUMBER(COTYPE_GLONASSCOMBINED) - T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime) - T_SSR_UPDATE_INTERVAL(co->UpdateInterval) - T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0) - --mmi; - T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) - T_SSR_IOD(co->SSRIOD) - T_SSR_PROVIDER_ID(co->SSRProviderID) - T_SSR_SOLUTION_ID(co->SSRSolutionID) - T_NO_OF_SATELLITES(co->NumberOfGLONASSSat) - for(i = CLOCKORBIT_NUMGPS; - i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i) - { - T_GLONASS_SATELLITE_ID(co->Sat[i].ID) - T_GLONASS_IOD(co->Sat[i].IOD) - T_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial) - T_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack) - T_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack) - T_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial) - T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack) - T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack) - T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0) - T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1) - T_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2) - } - ENDBLOCK - } - if(glohr) - { - INITBLOCK - T_MESSAGE_NUMBER(COTYPE_GLONASSHR) - T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime) - T_SSR_UPDATE_INTERVAL(co->UpdateInterval) - T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0) - --mmi; - T_SSR_IOD(co->SSRIOD) - T_SSR_PROVIDER_ID(co->SSRProviderID) - T_SSR_SOLUTION_ID(co->SSRSolutionID) - T_NO_OF_SATELLITES(co->NumberOfGLONASSSat) - for(i = CLOCKORBIT_NUMGPS; - i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i) - { - T_GPS_SATELLITE_ID(co->Sat[i].ID) - T_HR_CLOCK_CORRECTION(co->Sat[i].hrclock) - } - ENDBLOCK - } - if(glour) - { - INITBLOCK - T_MESSAGE_NUMBER(COTYPE_GLONASSURA) - T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime) - T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0) - --mmi; - T_SSR_IOD(co->SSRIOD) - T_SSR_PROVIDER_ID(co->SSRProviderID) - T_SSR_SOLUTION_ID(co->SSRSolutionID) - T_NO_OF_SATELLITES(co->NumberOfGLONASSSat) - for(i = CLOCKORBIT_NUMGPS; - i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i) - { - T_GPS_SATELLITE_ID(co->Sat[i].ID) - T_SSR_URA(ValueToURA(co->Sat[i].UserRangeAccuracy)) - } - ENDBLOCK - } - return ressize; } -size_t MakeBias(const struct Bias *b, enum BiasType type, +size_t MakeCodeBias(const struct CodeBias *b, enum CodeBiasType type, int moremessagesfollow, char *buffer, size_t size) { - int gps=0, glo=0, mmi, i, j; + unsigned int s, i, j; STARTDATA - if(b->NumberOfGPSSat && (type == BTYPE_AUTO || type == BTYPE_GPS)) - gps = 1; - if(b->NumberOfGLONASSSat && (type == BTYPE_AUTO || type == BTYPE_GLONASS)) - glo = 1; - - mmi = gps+glo; /* required for multimessage */ - if(!moremessagesfollow) --mmi; - - if(gps) + for(s = 0; s < CLOCKORBIT_SATNUM; ++s) { - INITBLOCK - T_MESSAGE_NUMBER(BTYPE_GPS) - T_GPS_EPOCH_TIME(b->GPSEpochTime) - T_SSR_UPDATE_INTERVAL(b->UpdateInterval) - T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0) - --mmi; - T_SSR_IOD(b->SSRIOD) - T_SSR_PROVIDER_ID(b->SSRProviderID) - T_SSR_SOLUTION_ID(b->SSRSolutionID) - T_NO_OF_SATELLITES(b->NumberOfGPSSat) - for(i = 0; i < b->NumberOfGPSSat; ++i) - { - T_GPS_SATELLITE_ID(b->Sat[i].ID) - T_NO_OF_CODE_BIASES(b->Sat[i].NumberOfCodeBiases) - for(j = 0; j < b->Sat[i].NumberOfCodeBiases; ++j) - { - T_GPS_SIGNAL_IDENTIFIER(b->Sat[i].Biases[j].Type) - T_CODE_BIAS(b->Sat[i].Biases[j].Bias) - } + if(b->NumberOfSat[s] && (type == BTYPE_AUTO || type == corbase[s]+COBOFS_BIAS)) + { + INITBLOCK + T_MESSAGE_NUMBER(corbase[s]+COBOFS_BIAS) + switch(s) + { + case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO: + case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS: + case CLOCKORBIT_SATBDS: + T_GPS_EPOCH_TIME(b->EpochTime[s]) + break; + case CLOCKORBIT_SATGLONASS: + T_GLONASS_EPOCH_TIME(b->EpochTime[s]) + break; + } + T_SSR_UPDATE_INTERVAL(b->UpdateInterval) + T_MULTIPLE_MESSAGE_INDICATOR(moremessagesfollow ? 1 : 0) + T_SSR_IOD(b->SSRIOD) + T_SSR_PROVIDER_ID(b->SSRProviderID) + T_SSR_SOLUTION_ID(b->SSRSolutionID) + T_NO_OF_SATELLITES(b->NumberOfSat[s]) + for(i = satoffset[s]; i < satoffset[s]+b->NumberOfSat[s]; ++i) + { + switch(s) + { + case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO: + case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS: + T_GPS_SATELLITE_ID(b->Sat[i].ID) + break; + case CLOCKORBIT_SATQZSS: + T_QZSS_SATELLITE_ID(b->Sat[i].ID) + break; + case CLOCKORBIT_SATGLONASS: + T_GLONASS_SATELLITE_ID(b->Sat[i].ID) + break; + } + T_NO_OF_CODE_BIASES(b->Sat[i].NumberOfCodeBiases) + for(j = 0; j < b->Sat[i].NumberOfCodeBiases; ++j) + { + T_SIGNAL_IDENTIFIER(b->Sat[i].Biases[j].Type) + T_CODE_BIAS(b->Sat[i].Biases[j].Bias) + } + } + ENDBLOCK } - ENDBLOCK } - if(glo) - { - INITBLOCK - T_MESSAGE_NUMBER(BTYPE_GLONASS) - T_GLONASS_EPOCH_TIME(b->GLONASSEpochTime) - T_SSR_UPDATE_INTERVAL(b->UpdateInterval) - T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0) - --mmi; - T_SSR_IOD(b->SSRIOD) - T_SSR_PROVIDER_ID(b->SSRProviderID) - T_SSR_SOLUTION_ID(b->SSRSolutionID) - T_NO_OF_SATELLITES(b->NumberOfGLONASSSat) - for(i = CLOCKORBIT_NUMGPS; - i < CLOCKORBIT_NUMGPS+b->NumberOfGLONASSSat; ++i) - { - T_GLONASS_SATELLITE_ID(b->Sat[i].ID) - T_NO_OF_CODE_BIASES(b->Sat[i].NumberOfCodeBiases) - for(j = 0; j < b->Sat[i].NumberOfCodeBiases; ++j) - { - T_GLONASS_SIGNAL_IDENTIFIER(b->Sat[i].Biases[j].Type) - T_CODE_BIAS(b->Sat[i].Biases[j].Bias) - } - } - ENDBLOCK - } - return ressize; } +size_t MakePhaseBias(const struct PhaseBias *b, enum PhaseBiasType type, +int moremessagesfollow, char *buffer, size_t size) +{ + unsigned int s, i, j; + + STARTDATA + + for(s = 0; s < CLOCKORBIT_SATNUM; ++s) + { + if(b->NumberOfSat[s] && (type == PBTYPE_AUTO || type == corbase[s]+COBOFS_BIAS)) + { + INITBLOCK + T_MESSAGE_NUMBER(corbase[s]+COBOFS_BIAS) + switch(s) + { + case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO: + case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS: + case CLOCKORBIT_SATBDS: + T_GPS_EPOCH_TIME(b->EpochTime[s]) + break; + case CLOCKORBIT_SATGLONASS: + T_GLONASS_EPOCH_TIME(b->EpochTime[s]) + break; + } + T_SSR_UPDATE_INTERVAL(b->UpdateInterval) + T_MULTIPLE_MESSAGE_INDICATOR(moremessagesfollow ? 1 : 0) + T_SSR_IOD(b->SSRIOD) + T_SSR_PROVIDER_ID(b->SSRProviderID) + T_SSR_SOLUTION_ID(b->SSRSolutionID) + T_DISPERSIVE_BIAS_INDICATOR(b->DispersiveBiasConsistencyIndicator ? 1 : 0) + T_MW_CONSISTENCY_INDICATOR(b->MWConsistencyIndicator ? 1 : 0) + T_NO_OF_SATELLITES(b->NumberOfSat[CLOCKORBIT_SATGPS]) + for(i = satoffset[s]; i < satoffset[s]+b->NumberOfSat[s]; ++i) + { + switch(s) + { + case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO: + case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS: + T_GPS_SATELLITE_ID(b->Sat[i].ID) + break; + case CLOCKORBIT_SATQZSS: + T_QZSS_SATELLITE_ID(b->Sat[i].ID) + break; + case CLOCKORBIT_SATGLONASS: + T_GLONASS_SATELLITE_ID(b->Sat[i].ID) + break; + } + T_NO_OF_CODE_BIASES(b->Sat[i].NumberOfPhaseBiases) + T_YAW_ANGLE(b->Sat[i].YawAngle) + T_YAW_RATE(b->Sat[i].YawRate) + for(j = 0; j < b->Sat[i].NumberOfPhaseBiases; ++j) + { + T_SIGNAL_IDENTIFIER(b->Sat[i].Biases[j].Type) + T_INTEGER_INDICATOR(b->Sat[i].Biases[j].SignalIntegerIndicator ? 1 : 0) + T_WIDE_LANE_INDICATOR(b->Sat[i].Biases[j].SignalsWideLaneIntegerIndicator ? 1 : 0) + T_DISCONTINUITY_COUNTER(b->Sat[i].Biases[j].SignalDiscontinuityCounter) + T_PHASE_BIAS(b->Sat[i].Biases[j].Bias) + } + } + ENDBLOCK + } + } + return ressize; +} + +size_t MakeVTEC(const struct VTEC *v, int moremessagesfollow, char *buffer, +size_t size) +{ + unsigned int l, o, d; + + STARTDATA + INITBLOCK + T_MESSAGE_NUMBER(VTEC_BASE) + + T_GPS_EPOCH_TIME(v->EpochTime) + T_SSR_UPDATE_INTERVAL(v->UpdateInterval) + T_MULTIPLE_MESSAGE_INDICATOR(moremessagesfollow ? 1 : 0) + T_SSR_IOD(v->SSRIOD) + T_SSR_PROVIDER_ID(v->SSRProviderID) + T_SSR_SOLUTION_ID(v->SSRSolutionID) + T_VTEC_QUALITY_INDICATOR(v->Quality) + T_NO_IONO_LAYERS(v->NumLayers) + for(l = 0; l < v->NumLayers; ++l) + { + T_IONO_HEIGHT(v->Layers[l].Height) + T_IONO_DEGREE(v->Layers[l].Degree) + T_IONO_ORDER(v->Layers[l].Order) + for(o = 0; o <= v->Layers[l].Order; ++o) + { + for(d = o; d <= v->Layers[l].Degree; ++d) + { + T_IONO_COEFF(v->Layers[l].Cosinus[d][o]) + } + } + for(o = 1; o <= v->Layers[l].Order; ++o) + { + for(d = o; d <= v->Layers[l].Degree; ++d) + { + T_IONO_COEFF(v->Layers[l].Sinus[d][o]) + } + } + } + ENDBLOCK + return ressize; +} #endif /* NOENCODE */ @@ -559,4 +687,13 @@ } +/* extract bits from data stream + b = variable to store result, a = number of bits */ +#define GETBITSFACTOR(b, a, c) \ +{ \ + LOADBITS(a) \ + b = ((bitbuffer<<(64-numbits))>>(64-(a)))*(c); \ + numbits -= (a); \ +} + /* extract signed floating value from data stream b = variable to store result, a = number of bits */ @@ -568,14 +705,31 @@ } +/* extract floating value from data stream + b = variable to store result, a = number of bits, c = scale factor */ +#define GETFLOAT(b, a, c) \ +{ \ + LOADBITS(a) \ + b = ((double)((bitbuffer<<(sizeof(bitbuffer)*8-numbits))>>(sizeof(bitbuffer)*8-(a))))*(c); \ + numbits -= (a); \ +} + #define SKIPBITS(b) { LOADBITS(b) numbits -= (b); } -/* standard values */ +/* GPS macros also used for other systems when matching! */ #define G_HEADER(a) GETBITS(a,8) #define G_RESERVEDH(a) GETBITS(a,6) #define G_SIZE(a) GETBITS(a, 10) -#define G_MESSAGE_NUMBER(a) GETBITS(a, 12) /* DF002 */ -#define G_GPS_SATELLITE_ID(a) GETBITS(a, 6) /* DF068 */ -#define G_GPS_IODE(a) GETBITS(a, 8) /* DF071 */ -#define G_GLONASS_IOD(a) GETBITS(a, 8) /* DF237 */ +#define G_MESSAGE_NUMBER(a) GETBITS(a, 12) /* DF002 */ +#define G_GPS_SATELLITE_ID(a) GETBITS(a, 6) /* DF068 */ +#define G_QZSS_SATELLITE_ID(a) GETBITS(a, 4) /* DF249 */ +#define G_GLONASS_SATELLITE_ID(a) GETBITS(a, 5) + +#define G_GPS_IODE(a) GETBITS(a, 8) /* DF071 */ +#define G_GLONASS_IOD(a) GETBITS(a, 8) /* DF237 */ +#define G_GALILEO_IOD(a) GETBITS(a, 10) /* DF459 */ +#define G_SBAS_T0MOD(a) GETBITSFACTOR(a, 9, 16) /* DF468 */ +#define G_SBAS_IODCRC(a) GETBITS(a, 24) /* DF469 */ +#define G_BDS_TOEMOD(a) GETBITSFACTOR(a, 10, 8) /* DF470 */ +#define G_BDS_IODCRC(a) GETBITS(a, 24) /* DF471 */ /* defined values */ @@ -592,15 +746,23 @@ #define G_DELTA_CLOCK_C2(a) GETFLOATSIGN(a, 27, 1/50000000.0) #define G_NO_OF_CODE_BIASES(a) GETBITS(a, 5) -#define G_GPS_SIGNAL_IDENTIFIER(a) GETBITS(a, 5) -#define G_GLONASS_SIGNAL_IDENTIFIER(a) GETBITS(a, 5) +#define G_NO_OF_PHASE_BIASES(a) GETBITS(a, 5) +#define G_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) - -#define G_GPS_EPOCH_TIME(a, b) {int temp; GETBITS(temp, 20) \ +#define G_YAW_ANGLE(a) GETFLOAT(a, 9, MPI/256.0) +#define G_YAW_RATE(a) GETFLOATSIGN(a, 8, MPI/8192.0) +#define G_PHASE_BIAS(a) GETFLOATSIGN(a, 20, 1/10000.0) + +#define G_GPS_EPOCH_TIME(a, b) {unsigned int temp; GETBITS(temp, 20) \ if(b && a != temp) return GCOBR_TIMEMISMATCH; a = temp;} -#define G_GLONASS_EPOCH_TIME(a, b) {int temp; GETBITS(temp, 17) \ +#define G_GLONASS_EPOCH_TIME(a, b) {unsigned int temp; GETBITS(temp, 17) \ if(b && a != temp) return GCOBR_TIMEMISMATCH; a = temp;} +#define G_EPOCH_TIME(a) GETBITS(a, 20) #define G_NO_OF_SATELLITES(a) GETBITS(a, 6) #define G_MULTIPLE_MESSAGE_INDICATOR(a) GETBITS(a, 1) +#define G_DISPERSIVE_BIAS_INDICATOR(a) GETBITS(a, 1) +#define G_MW_CONSISTENCY_INDICATOR(a) GETBITS(a, 1) +#define G_INTEGER_INDICATOR(a) GETBITS(a, 1) +#define G_WIDE_LANE_INDICATOR(a) GETBITS(a, 1) +#define G_DISCONTINUITY_COUNTER(a) GETBITS(a, 4) #define G_SSR_URA(a) {int temp; GETBITS(temp, 6) \ (a) = URAToValue(temp);} @@ -612,8 +774,16 @@ #define G_SSR_SOLUTION_ID(a) GETBITS(a, 4) -enum GCOB_RETURN GetClockOrbitBias(struct ClockOrbit *co, struct Bias *b, -const char *buffer, size_t size, int *bytesused) +#define G_NO_IONO_LAYERS(a) {unsigned int temp; GETBITS(temp, 2) a = temp+1; } +#define G_VTEC_QUALITY_INDICATOR(a) GETFLOAT(a, 9, 1/20.0) +#define G_IONO_COEFF(a) GETFLOATSIGN(a, 16,1/200.0) +#define G_IONO_DEGREE(a) {unsigned int temp; GETBITS(temp, 4) a = temp+1; } +#define G_IONO_ORDER(a) {unsigned int temp; GETBITS(temp, 4) a = temp+1; } +#define G_IONO_HEIGHT(a) GETFLOAT(a, 8 , 10000.0) + +enum GCOB_RETURN GetSSR(struct ClockOrbit *co, struct CodeBias *b, struct VTEC *v, +struct PhaseBias *pb, const char *buffer, size_t size, int *bytesused) { - int type, mmi=0, i, j, h, rs, nums, pos, id; + int mmi=0, h, rs; + unsigned int type, pos, i, j, s, nums, id; size_t sizeofrtcmblock; const char *blockstart = buffer; @@ -624,5 +794,5 @@ #ifdef DEBUG -fprintf(stderr, "GetClockOrbitBias START: size %d, numbits %d\n",size, numbits); + fprintf(stderr, "GetClockOrbitBias START: size %d, numbits %d\n",size, numbits); #endif @@ -637,6 +807,6 @@ if(CRC24(sizeofrtcmblock+3, (const unsigned char *) blockstart) != (uint32_t)((((unsigned char)buffer[sizeofrtcmblock])<<16)| - (((unsigned char)buffer[sizeofrtcmblock+1])<<8)| - (((unsigned char)buffer[sizeofrtcmblock+2])))) + (((unsigned char)buffer[sizeofrtcmblock+1])<<8)| + (((unsigned char)buffer[sizeofrtcmblock+2])))) return GCOBR_CRCMISMATCH; size = sizeofrtcmblock; /* reduce size, so overflows are detected */ @@ -646,393 +816,483 @@ fprintf(stderr, "type %d size %d\n",type,sizeofrtcmblock); #endif - switch(type) - { - case COTYPE_GPSORBIT: - if(!co) return GCOBR_NOCLOCKORBITPARAMETER; - co->messageType = COTYPE_GPSORBIT; - G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat) - co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */ - if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */ - G_SSR_UPDATE_INTERVAL(co->UpdateInterval) - G_MULTIPLE_MESSAGE_INDICATOR(mmi) - G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) - G_SSR_IOD(co->SSRIOD) - G_SSR_PROVIDER_ID(co->SSRProviderID) - G_SSR_SOLUTION_ID(co->SSRSolutionID) - G_NO_OF_SATELLITES(nums) - co->OrbitDataSupplied |= 1; -#ifdef DEBUG -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) - { - G_GPS_SATELLITE_ID(id) - for(pos = 0; pos < co->NumberOfGPSSat && co->Sat[pos].ID != id; ++pos) - ; - if(pos >= CLOCKORBIT_NUMGPS) return GCOBR_DATAMISMATCH; - else if(pos == co->NumberOfGPSSat) ++co->NumberOfGPSSat; - co->Sat[pos].ID = id; - - G_GPS_IODE(co->Sat[pos].IOD) - G_DELTA_RADIAL(co->Sat[pos].Orbit.DeltaRadial) - G_DELTA_ALONG_TRACK(co->Sat[pos].Orbit.DeltaAlongTrack) - G_DELTA_CROSS_TRACK(co->Sat[pos].Orbit.DeltaCrossTrack) - G_DELTA_DOT_RADIAL(co->Sat[pos].Orbit.DotDeltaRadial) - G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack) - G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack) -#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); -#endif - } - break; - case COTYPE_GPSCLOCK: - if(!co) return GCOBR_NOCLOCKORBITPARAMETER; - co->messageType = COTYPE_GPSCLOCK; - G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat) - co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */ - if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */ - G_SSR_UPDATE_INTERVAL(co->UpdateInterval) - G_MULTIPLE_MESSAGE_INDICATOR(mmi) - G_SSR_IOD(co->SSRIOD) - G_SSR_PROVIDER_ID(co->SSRProviderID) - G_SSR_SOLUTION_ID(co->SSRSolutionID) - G_NO_OF_SATELLITES(nums) - co->ClockDataSupplied |= 1; -#ifdef DEBUG -fprintf(stderr, "epochtime %d ui %d mmi %d sats %d/%d\n",co->GPSEpochTime, -co->UpdateInterval,mmi,co->NumberOfGPSSat,nums); -#endif - for(i = 0; i < nums; ++i) - { - G_GPS_SATELLITE_ID(id) - for(pos = 0; pos < co->NumberOfGPSSat && co->Sat[pos].ID != id; ++pos) - ; - if(pos >= CLOCKORBIT_NUMGPS) return GCOBR_DATAMISMATCH; - else if(pos == co->NumberOfGPSSat) ++co->NumberOfGPSSat; - co->Sat[pos].ID = id; - - G_DELTA_CLOCK_C0(co->Sat[pos].Clock.DeltaA0) - G_DELTA_CLOCK_C1(co->Sat[pos].Clock.DeltaA1) - G_DELTA_CLOCK_C2(co->Sat[pos].Clock.DeltaA2) -#ifdef DEBUG -fprintf(stderr, "id %2d c0 %8.3f c1 %8.3f c2 %8.3f\n", -co->Sat[pos].ID, co->Sat[pos].Clock.DeltaA0, co->Sat[pos].Clock.DeltaA1, -co->Sat[pos].Clock.DeltaA2); -#endif - } - break; - case COTYPE_GPSCOMBINED: - if(!co) return GCOBR_NOCLOCKORBITPARAMETER; - co->messageType = COTYPE_GPSCOMBINED; - G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat) - co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */ - if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */ - G_SSR_UPDATE_INTERVAL(co->UpdateInterval) - G_MULTIPLE_MESSAGE_INDICATOR(mmi) - G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) - G_SSR_IOD(co->SSRIOD) - G_SSR_PROVIDER_ID(co->SSRProviderID) - G_SSR_SOLUTION_ID(co->SSRSolutionID) - G_NO_OF_SATELLITES(nums) - co->OrbitDataSupplied |= 1; - co->ClockDataSupplied |= 1; - for(i = 0; i < nums; ++i) - { - G_GPS_SATELLITE_ID(id) - for(pos = 0; pos < co->NumberOfGPSSat && co->Sat[pos].ID != id; ++pos) - ; - if(pos >= CLOCKORBIT_NUMGPS) return GCOBR_DATAMISMATCH; - else if(pos == co->NumberOfGPSSat) ++co->NumberOfGPSSat; - co->Sat[pos].ID = id; - - G_GPS_IODE(co->Sat[pos].IOD) - G_DELTA_RADIAL(co->Sat[pos].Orbit.DeltaRadial) - G_DELTA_ALONG_TRACK(co->Sat[pos].Orbit.DeltaAlongTrack) - G_DELTA_CROSS_TRACK(co->Sat[pos].Orbit.DeltaCrossTrack) - G_DELTA_DOT_RADIAL(co->Sat[pos].Orbit.DotDeltaRadial) - G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack) - G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack) - G_DELTA_CLOCK_C0(co->Sat[pos].Clock.DeltaA0) - G_DELTA_CLOCK_C1(co->Sat[pos].Clock.DeltaA1) - G_DELTA_CLOCK_C2(co->Sat[pos].Clock.DeltaA2) - } - break; - case COTYPE_GPSURA: - if(!co) return GCOBR_NOCLOCKORBITPARAMETER; - co->messageType = COTYPE_GPSURA; - G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat) - co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */ - if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */ - G_MULTIPLE_MESSAGE_INDICATOR(mmi) - G_SSR_IOD(co->SSRIOD) - G_SSR_PROVIDER_ID(co->SSRProviderID) - G_SSR_SOLUTION_ID(co->SSRSolutionID) - G_NO_OF_SATELLITES(nums) - co->URADataSupplied |= 1; - for(i = 0; i < nums; ++i) - { - G_GPS_SATELLITE_ID(id) - for(pos = 0; pos < co->NumberOfGPSSat && co->Sat[pos].ID != id; ++pos) - ; - if(pos >= CLOCKORBIT_NUMGPS) return GCOBR_DATAMISMATCH; - else if(pos == co->NumberOfGPSSat) ++co->NumberOfGPSSat; - co->Sat[pos].ID = id; - - G_SSR_URA(co->Sat[pos].UserRangeAccuracy) - } - break; - case COTYPE_GPSHR: - if(!co) return GCOBR_NOCLOCKORBITPARAMETER; - co->messageType = COTYPE_GPSHR; - G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat) - co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */ - if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */ - G_SSR_UPDATE_INTERVAL(co->UpdateInterval) - G_MULTIPLE_MESSAGE_INDICATOR(mmi) - G_SSR_IOD(co->SSRIOD) - G_SSR_PROVIDER_ID(co->SSRProviderID) - G_SSR_SOLUTION_ID(co->SSRSolutionID) - G_NO_OF_SATELLITES(nums) - co->HRDataSupplied |= 1; - for(i = 0; i < nums; ++i) - { - G_GPS_SATELLITE_ID(id) - for(pos = 0; pos < co->NumberOfGPSSat && co->Sat[pos].ID != id; ++pos) - ; - if(pos >= CLOCKORBIT_NUMGPS) return GCOBR_DATAMISMATCH; - else if(pos == co->NumberOfGPSSat) ++co->NumberOfGPSSat; - co->Sat[pos].ID = id; - - G_HR_CLOCK_CORRECTION(co->Sat[pos].hrclock) - } - break; - case COTYPE_GLONASSORBIT: - if(!co) return GCOBR_NOCLOCKORBITPARAMETER; - co->messageType = COTYPE_GLONASSORBIT; - G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat) - G_SSR_UPDATE_INTERVAL(co->UpdateInterval) - G_MULTIPLE_MESSAGE_INDICATOR(mmi) - G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) - G_SSR_IOD(co->SSRIOD) - G_SSR_PROVIDER_ID(co->SSRProviderID) - G_SSR_SOLUTION_ID(co->SSRSolutionID) - G_NO_OF_SATELLITES(nums) - co->OrbitDataSupplied |= 2; -#ifdef DEBUG -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) - { - G_GLONASS_SATELLITE_ID(id) - for(pos = CLOCKORBIT_NUMGPS; pos < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat && co->Sat[pos].ID != id; ++pos) - ; - if(pos >= CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS) return GCOBR_DATAMISMATCH; - else if(pos == CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat) ++co->NumberOfGLONASSSat; - co->Sat[pos].ID = id; - - G_GLONASS_IOD(co->Sat[pos].IOD) - G_DELTA_RADIAL(co->Sat[pos].Orbit.DeltaRadial) - G_DELTA_ALONG_TRACK(co->Sat[pos].Orbit.DeltaAlongTrack) - G_DELTA_CROSS_TRACK(co->Sat[pos].Orbit.DeltaCrossTrack) - G_DELTA_DOT_RADIAL(co->Sat[pos].Orbit.DotDeltaRadial) - G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack) - G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack) -#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); -#endif - } - break; - case COTYPE_GLONASSCLOCK: - if(!co) return GCOBR_NOCLOCKORBITPARAMETER; - co->messageType = COTYPE_GLONASSCLOCK; - G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat) - G_SSR_UPDATE_INTERVAL(co->UpdateInterval) - G_MULTIPLE_MESSAGE_INDICATOR(mmi) - G_SSR_IOD(co->SSRIOD) - G_SSR_PROVIDER_ID(co->SSRProviderID) - G_SSR_SOLUTION_ID(co->SSRSolutionID) - G_NO_OF_SATELLITES(nums) - co->ClockDataSupplied |= 2; -#ifdef DEBUG -fprintf(stderr, "epochtime %d ui %d mmi %d sats %d/%d\n",co->GLONASSEpochTime, -co->UpdateInterval,mmi,co->NumberOfGLONASSSat,nums); -#endif - for(i = 0; i < nums; ++i) - { - G_GLONASS_SATELLITE_ID(id) - for(pos = CLOCKORBIT_NUMGPS; pos < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat && co->Sat[pos].ID != id; ++pos) - ; - if(pos >= CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS) return GCOBR_DATAMISMATCH; - else if(pos == CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat) ++co->NumberOfGLONASSSat; - co->Sat[pos].ID = id; - - G_DELTA_CLOCK_C0(co->Sat[pos].Clock.DeltaA0) - G_DELTA_CLOCK_C1(co->Sat[pos].Clock.DeltaA1) - G_DELTA_CLOCK_C2(co->Sat[pos].Clock.DeltaA2) -#ifdef DEBUG -fprintf(stderr, "id %2d c0 %8.3f c1 %8.3f c2 %8.3f\n", -co->Sat[pos].ID, co->Sat[pos].Clock.DeltaA0, co->Sat[pos].Clock.DeltaA1, -co->Sat[pos].Clock.DeltaA2); -#endif - } - break; - case COTYPE_GLONASSCOMBINED: - if(!co) return GCOBR_NOCLOCKORBITPARAMETER; - co->messageType = COTYPE_GLONASSCOMBINED; - G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat) - G_SSR_UPDATE_INTERVAL(co->UpdateInterval) - G_MULTIPLE_MESSAGE_INDICATOR(mmi) - G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) - G_SSR_IOD(co->SSRIOD) - G_SSR_PROVIDER_ID(co->SSRProviderID) - G_SSR_SOLUTION_ID(co->SSRSolutionID) - G_NO_OF_SATELLITES(nums) - co->OrbitDataSupplied |= 2; - co->ClockDataSupplied |= 2; - for(i = 0; i < nums; ++i) - { - G_GLONASS_SATELLITE_ID(id) - for(pos = CLOCKORBIT_NUMGPS; pos < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat && co->Sat[pos].ID != id; ++pos) - ; - if(pos >= CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS) return GCOBR_DATAMISMATCH; - else if(pos == CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat) ++co->NumberOfGLONASSSat; - co->Sat[pos].ID = id; - - G_GLONASS_IOD(co->Sat[pos].IOD) - G_DELTA_RADIAL(co->Sat[pos].Orbit.DeltaRadial) - G_DELTA_ALONG_TRACK(co->Sat[pos].Orbit.DeltaAlongTrack) - G_DELTA_CROSS_TRACK(co->Sat[pos].Orbit.DeltaCrossTrack) - G_DELTA_DOT_RADIAL(co->Sat[pos].Orbit.DotDeltaRadial) - G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack) - G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack) - G_DELTA_CLOCK_C0(co->Sat[pos].Clock.DeltaA0) - G_DELTA_CLOCK_C1(co->Sat[pos].Clock.DeltaA1) - G_DELTA_CLOCK_C2(co->Sat[pos].Clock.DeltaA2) - } - break; - case COTYPE_GLONASSURA: - if(!co) return GCOBR_NOCLOCKORBITPARAMETER; - co->messageType = COTYPE_GLONASSURA; - G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat) - G_MULTIPLE_MESSAGE_INDICATOR(mmi) - G_SSR_IOD(co->SSRIOD) - G_SSR_PROVIDER_ID(co->SSRProviderID) - G_SSR_SOLUTION_ID(co->SSRSolutionID) - G_NO_OF_SATELLITES(nums) - co->URADataSupplied |= 2; - for(i = 0; i < nums; ++i) - { - G_GLONASS_SATELLITE_ID(id) - for(pos = CLOCKORBIT_NUMGPS; pos < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat && co->Sat[pos].ID != id; ++pos) - ; - if(pos >= CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS) return GCOBR_DATAMISMATCH; - else if(pos == CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat) ++co->NumberOfGLONASSSat; - co->Sat[pos].ID = id; - - G_SSR_URA(co->Sat[pos].UserRangeAccuracy) - } - break; - case COTYPE_GLONASSHR: - if(!co) return GCOBR_NOCLOCKORBITPARAMETER; - co->messageType = COTYPE_GLONASSHR; - G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat) - G_SSR_UPDATE_INTERVAL(co->UpdateInterval) - G_MULTIPLE_MESSAGE_INDICATOR(mmi) - G_SSR_IOD(co->SSRIOD) - G_SSR_PROVIDER_ID(co->SSRProviderID) - G_SSR_SOLUTION_ID(co->SSRSolutionID) - G_NO_OF_SATELLITES(nums) - co->HRDataSupplied |= 2; - for(i = 0; i < nums; ++i) - { - G_GLONASS_SATELLITE_ID(id) - for(pos = CLOCKORBIT_NUMGPS; pos < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat && co->Sat[pos].ID != id; ++pos) - ; - if(pos >= CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS) return GCOBR_DATAMISMATCH; - else if(pos == CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat) ++co->NumberOfGLONASSSat; - co->Sat[pos].ID = id; - - G_HR_CLOCK_CORRECTION(co->Sat[pos].hrclock) - } - break; - case BTYPE_GPS: - if(!b) return GCOBR_NOBIASPARAMETER; - b->messageType = BTYPE_GPS; - G_GPS_EPOCH_TIME(b->GPSEpochTime, b->NumberOfGPSSat) - G_SSR_UPDATE_INTERVAL(b->UpdateInterval) - G_MULTIPLE_MESSAGE_INDICATOR(mmi) - G_SSR_IOD(b->SSRIOD) - G_SSR_PROVIDER_ID(b->SSRProviderID) - G_SSR_SOLUTION_ID(b->SSRSolutionID) - G_NO_OF_SATELLITES(nums) - for(i = 0; i < nums; ++i) - { - G_GPS_SATELLITE_ID(id) - for(pos = 0; pos < b->NumberOfGPSSat && b->Sat[pos].ID != id; ++pos) - ; - if(pos >= CLOCKORBIT_NUMGPS) return GCOBR_DATAMISMATCH; - else if(pos == b->NumberOfGPSSat) ++b->NumberOfGPSSat; - b->Sat[pos].ID = id; - - G_NO_OF_CODE_BIASES(b->Sat[pos].NumberOfCodeBiases) - for(j = 0; j < b->Sat[pos].NumberOfCodeBiases; ++j) - { - G_GPS_SIGNAL_IDENTIFIER(b->Sat[pos].Biases[j].Type) - G_CODE_BIAS(b->Sat[pos].Biases[j].Bias) - } - } - break; - case BTYPE_GLONASS: - if(!b) return GCOBR_NOBIASPARAMETER; - b->messageType = BTYPE_GLONASS; - G_GLONASS_EPOCH_TIME(b->GLONASSEpochTime, b->NumberOfGLONASSSat) - G_SSR_UPDATE_INTERVAL(b->UpdateInterval) - G_MULTIPLE_MESSAGE_INDICATOR(mmi) - G_SSR_IOD(b->SSRIOD) - G_SSR_PROVIDER_ID(b->SSRProviderID) - G_SSR_SOLUTION_ID(b->SSRSolutionID) - G_NO_OF_SATELLITES(nums) - for(i = 0; i < nums; ++i) - { - G_GLONASS_SATELLITE_ID(id) - for(pos = CLOCKORBIT_NUMGPS; pos < CLOCKORBIT_NUMGPS+b->NumberOfGLONASSSat && b->Sat[pos].ID != id; ++pos) - ; - if(pos >= CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS) return GCOBR_DATAMISMATCH; - else if(pos == CLOCKORBIT_NUMGPS+b->NumberOfGLONASSSat) ++b->NumberOfGLONASSSat; - b->Sat[pos].ID = id; - - G_NO_OF_CODE_BIASES(b->Sat[pos].NumberOfCodeBiases) - for(j = 0; j < b->Sat[pos].NumberOfCodeBiases; ++j) - { - G_GLONASS_SIGNAL_IDENTIFIER(b->Sat[pos].Biases[j].Type) - G_CODE_BIAS(b->Sat[pos].Biases[j].Bias) - } - } - break; - default: - if(bytesused) - *bytesused = sizeofrtcmblock+6; - return GCOBR_UNKNOWNTYPE; - } -#ifdef DEBUG -for(type = 0; type < (int)size && (unsigned char)buffer[type] != 0xD3; ++type) - numbits += 8; -fprintf(stderr, "numbits left %d\n",numbits); -#endif if(bytesused) *bytesused = sizeofrtcmblock+6; - return mmi ? GCOBR_MESSAGEFOLLOWS : GCOBR_OK; + if(type == VTEC_BASE) + { + unsigned int l, o, d; + if(!v) return GCOBR_NOVTECPARAMETER; + memset(v, 0, sizeof(*v)); + G_EPOCH_TIME(v->EpochTime) + G_SSR_UPDATE_INTERVAL(v->UpdateInterval) + G_MULTIPLE_MESSAGE_INDICATOR(mmi) + G_SSR_IOD(v->SSRIOD) + G_SSR_PROVIDER_ID(v->SSRProviderID) + G_SSR_SOLUTION_ID(v->SSRSolutionID) + G_VTEC_QUALITY_INDICATOR(v->Quality) + G_NO_IONO_LAYERS(v->NumLayers) + for(l = 0; l < v->NumLayers; ++l) + { + G_IONO_HEIGHT(v->Layers[l].Height) + G_IONO_DEGREE(v->Layers[l].Degree) + G_IONO_ORDER(v->Layers[l].Order) + for(o = 0; o <= v->Layers[l].Order; ++o) + { + for(d = o; d <= v->Layers[l].Degree; ++d) + { + G_IONO_COEFF(v->Layers[l].Cosinus[d][o]) + } + } + for(o = 1; o <= v->Layers[l].Order; ++o) + { + for(d = o; d <= v->Layers[l].Degree; ++d) + { + G_IONO_COEFF(v->Layers[l].Sinus[d][o]) + } + } + } +#ifdef DEBUG + for(type = 0; type < (int)size && (unsigned char)buffer[type] != 0xD3; ++type) + numbits += 8; + fprintf(stderr, "numbits left %d\n",numbits); +#endif + return mmi ? GCOBR_MESSAGEFOLLOWS : GCOBR_OK; + } + for(s = CLOCKORBIT_SATNUM; s-- > 0;) + { + if(type == PBTYPE_BASE+s) + { + if(!pb) return GCOBR_NOPHASEBIASPARAMETER; + pb->messageType = type; + switch(s) + { + case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO: + case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS: + case CLOCKORBIT_SATBDS: + G_GPS_EPOCH_TIME(pb->EpochTime[s], pb->NumberOfSat[s]) + break; + case CLOCKORBIT_SATGLONASS: + G_GLONASS_EPOCH_TIME(pb->EpochTime[s], pb->NumberOfSat[s]) + break; + } + G_SSR_UPDATE_INTERVAL(pb->UpdateInterval) + G_MULTIPLE_MESSAGE_INDICATOR(mmi) + G_SSR_IOD(pb->SSRIOD) + G_SSR_PROVIDER_ID(pb->SSRProviderID) + G_SSR_SOLUTION_ID(pb->SSRSolutionID) + G_DISPERSIVE_BIAS_INDICATOR(pb->DispersiveBiasConsistencyIndicator) + G_MW_CONSISTENCY_INDICATOR(pb->MWConsistencyIndicator) + G_NO_OF_SATELLITES(nums) + for(i = 0; i < nums; ++i) + { + switch(s) + { + case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO: + case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS: + G_GPS_SATELLITE_ID(id) + break; + case CLOCKORBIT_SATQZSS: + G_QZSS_SATELLITE_ID(id) + break; + case CLOCKORBIT_SATGLONASS: + G_GLONASS_SATELLITE_ID(id) + break; + } + for(pos = satoffset[s]; pos < satoffset[s]+pb->NumberOfSat[s] && pb->Sat[pos].ID != id; ++pos) + ; + if(pos >= satoffset[s+1]) return GCOBR_DATAMISMATCH; + else if(pos == pb->NumberOfSat[s] + satoffset[s]) ++pb->NumberOfSat[s]; + pb->Sat[pos].ID = id; + + G_NO_OF_PHASE_BIASES(pb->Sat[pos].NumberOfPhaseBiases) + G_YAW_ANGLE(pb->Sat[pos].YawAngle) + G_YAW_RATE(pb->Sat[pos].YawRate) + for(j = 0; j < pb->Sat[pos].NumberOfPhaseBiases; ++j) + { + G_SIGNAL_IDENTIFIER(pb->Sat[pos].Biases[j].Type) + G_INTEGER_INDICATOR(pb->Sat[pos].Biases[j].SignalIntegerIndicator) + G_WIDE_LANE_INDICATOR(pb->Sat[pos].Biases[j].SignalsWideLaneIntegerIndicator) + G_DISCONTINUITY_COUNTER(pb->Sat[pos].Biases[j].SignalDiscontinuityCounter) + G_PHASE_BIAS(pb->Sat[pos].Biases[j].Bias) + } + } + } + else if(type >= corbase[s]) + { + switch(type-corbase[s]) + { + case COBOFS_ORBIT: + if(!co) return GCOBR_NOCLOCKORBITPARAMETER; + co->messageType = type; + switch(s) + { + case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO: + case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS: + case CLOCKORBIT_SATBDS: + G_GPS_EPOCH_TIME(co->EpochTime[s], co->NumberOfSat[s]) + break; + case CLOCKORBIT_SATGLONASS: + G_GLONASS_EPOCH_TIME(co->EpochTime[s], co->NumberOfSat[s]) + break; + } + G_SSR_UPDATE_INTERVAL(co->UpdateInterval) + G_MULTIPLE_MESSAGE_INDICATOR(mmi) + G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) + G_SSR_IOD(co->SSRIOD) + G_SSR_PROVIDER_ID(co->SSRProviderID) + G_SSR_SOLUTION_ID(co->SSRSolutionID) + G_NO_OF_SATELLITES(nums) + co->Supplied[COBOFS_ORBIT] |= 1; +#ifdef DEBUG + fprintf(stderr, "epochtime %d ui %d mmi %d sats %d/%d rd %d\n",co->EpochTime[s], + co->UpdateInterval,mmi,co->NumberOfSat[s],nums, co->SatRefDatum); +#endif + for(i = 0; i < nums; ++i) + { + switch(s) + { + case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO: + case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS: + G_GPS_SATELLITE_ID(id) + break; + case CLOCKORBIT_SATQZSS: + G_QZSS_SATELLITE_ID(id) + break; + case CLOCKORBIT_SATGLONASS: + G_GLONASS_SATELLITE_ID(id) + break; + } + for(pos = satoffset[s]; pos < satoffset[s]+co->NumberOfSat[s] && co->Sat[pos].ID != id; ++pos) + ; + if(pos >= satoffset[s+1]) return GCOBR_DATAMISMATCH; + else if(pos == co->NumberOfSat[s] + satoffset[s]) ++co->NumberOfSat[s]; + co->Sat[pos].ID = id; + + switch(s) + { + case CLOCKORBIT_SATGPS: + case CLOCKORBIT_SATQZSS: + G_GPS_IODE(co->Sat[pos].IOD) + break; + case CLOCKORBIT_SATGLONASS: + G_GLONASS_IOD(co->Sat[pos].IOD) + break; + case CLOCKORBIT_SATGALILEO: + G_GALILEO_IOD(co->Sat[pos].IOD) + break; + case CLOCKORBIT_SATSBAS: + G_SBAS_T0MOD(co->Sat[pos].toe) + G_SBAS_IODCRC(co->Sat[pos].IOD) + break; + case CLOCKORBIT_SATBDS: + G_BDS_TOEMOD(co->Sat[pos].toe) + G_BDS_IODCRC(co->Sat[pos].IOD) + break; + } + G_DELTA_RADIAL(co->Sat[pos].Orbit.DeltaRadial) + G_DELTA_ALONG_TRACK(co->Sat[pos].Orbit.DeltaAlongTrack) + G_DELTA_CROSS_TRACK(co->Sat[pos].Orbit.DeltaCrossTrack) + G_DELTA_DOT_RADIAL(co->Sat[pos].Orbit.DotDeltaRadial) + G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack) + G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack) +#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); +#endif + } + break; + case COBOFS_CLOCK: + if(!co) return GCOBR_NOCLOCKORBITPARAMETER; + co->messageType = type; + switch(s) + { + case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO: + case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS: + case CLOCKORBIT_SATBDS: + G_GPS_EPOCH_TIME(co->EpochTime[s], co->NumberOfSat[s]) + break; + case CLOCKORBIT_SATGLONASS: + G_GLONASS_EPOCH_TIME(co->EpochTime[s], co->NumberOfSat[s]) + break; + } + G_SSR_UPDATE_INTERVAL(co->UpdateInterval) + G_MULTIPLE_MESSAGE_INDICATOR(mmi) + G_SSR_IOD(co->SSRIOD) + G_SSR_PROVIDER_ID(co->SSRProviderID) + G_SSR_SOLUTION_ID(co->SSRSolutionID) + G_NO_OF_SATELLITES(nums) + co->Supplied[COBOFS_CLOCK] |= 1; +#ifdef DEBUG + fprintf(stderr, "epochtime %d ui %d mmi %d sats %d/%d\n",co->EpochTime[s], + co->UpdateInterval,mmi,co->NumberOfSat[s],nums); +#endif + for(i = 0; i < nums; ++i) + { + switch(s) + { + case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO: + case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS: + G_GPS_SATELLITE_ID(id) + break; + case CLOCKORBIT_SATQZSS: + G_QZSS_SATELLITE_ID(id) + break; + case CLOCKORBIT_SATGLONASS: + G_GLONASS_SATELLITE_ID(id) + break; + } + for(pos = satoffset[s]; pos < satoffset[s]+co->NumberOfSat[s] && co->Sat[pos].ID != id; ++pos) + ; + if(pos >= satoffset[s+1]) return GCOBR_DATAMISMATCH; + else if(pos == co->NumberOfSat[s] + satoffset[s]) ++co->NumberOfSat[s]; + co->Sat[pos].ID = id; + + G_DELTA_CLOCK_C0(co->Sat[pos].Clock.DeltaA0) + G_DELTA_CLOCK_C1(co->Sat[pos].Clock.DeltaA1) + G_DELTA_CLOCK_C2(co->Sat[pos].Clock.DeltaA2) +#ifdef DEBUG + fprintf(stderr, "id %2d c0 %8.3f c1 %8.3f c2 %8.3f\n", + co->Sat[pos].ID, co->Sat[pos].Clock.DeltaA0, co->Sat[pos].Clock.DeltaA1, + co->Sat[pos].Clock.DeltaA2); +#endif + } + break; + case COBOFS_COMBINED: + if(!co) return GCOBR_NOCLOCKORBITPARAMETER; + co->messageType = type; + switch(s) + { + case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO: + case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS: + case CLOCKORBIT_SATBDS: + G_GPS_EPOCH_TIME(co->EpochTime[s], co->NumberOfSat[s]) + break; + case CLOCKORBIT_SATGLONASS: + G_GLONASS_EPOCH_TIME(co->EpochTime[s], co->NumberOfSat[s]) + break; + } + G_SSR_UPDATE_INTERVAL(co->UpdateInterval) + G_MULTIPLE_MESSAGE_INDICATOR(mmi) + G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) + G_SSR_IOD(co->SSRIOD) + G_SSR_PROVIDER_ID(co->SSRProviderID) + G_SSR_SOLUTION_ID(co->SSRSolutionID) + G_NO_OF_SATELLITES(nums) + co->Supplied[COBOFS_ORBIT] |= 1; + co->Supplied[COBOFS_CLOCK] |= 1; + for(i = 0; i < nums; ++i) + { + switch(s) + { + case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO: + case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS: + G_GPS_SATELLITE_ID(id) + break; + case CLOCKORBIT_SATQZSS: + G_QZSS_SATELLITE_ID(id) + break; + case CLOCKORBIT_SATGLONASS: + G_GLONASS_SATELLITE_ID(id) + break; + } + for(pos = satoffset[s]; pos < satoffset[s]+co->NumberOfSat[s] && co->Sat[pos].ID != id; ++pos) + ; + if(pos >= satoffset[s+1]) return GCOBR_DATAMISMATCH; + else if(pos == co->NumberOfSat[s] + satoffset[s]) ++co->NumberOfSat[s]; + co->Sat[pos].ID = id; + + switch(s) + { + case CLOCKORBIT_SATGPS: + case CLOCKORBIT_SATQZSS: + G_GPS_IODE(co->Sat[pos].IOD) + break; + case CLOCKORBIT_SATGLONASS: + G_GLONASS_IOD(co->Sat[pos].IOD) + break; + case CLOCKORBIT_SATGALILEO: + G_GALILEO_IOD(co->Sat[pos].IOD) + break; + case CLOCKORBIT_SATSBAS: + G_SBAS_T0MOD(co->Sat[pos].toe) + G_SBAS_IODCRC(co->Sat[pos].IOD) + break; + case CLOCKORBIT_SATBDS: + G_BDS_TOEMOD(co->Sat[pos].toe) + G_BDS_IODCRC(co->Sat[pos].IOD) + break; + } + G_DELTA_RADIAL(co->Sat[pos].Orbit.DeltaRadial) + G_DELTA_ALONG_TRACK(co->Sat[pos].Orbit.DeltaAlongTrack) + G_DELTA_CROSS_TRACK(co->Sat[pos].Orbit.DeltaCrossTrack) + G_DELTA_DOT_RADIAL(co->Sat[pos].Orbit.DotDeltaRadial) + G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack) + G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack) + G_DELTA_CLOCK_C0(co->Sat[pos].Clock.DeltaA0) + G_DELTA_CLOCK_C1(co->Sat[pos].Clock.DeltaA1) + G_DELTA_CLOCK_C2(co->Sat[pos].Clock.DeltaA2) + } + break; + case COBOFS_URA: + if(!co) return GCOBR_NOCLOCKORBITPARAMETER; + co->messageType = type; + switch(s) + { + case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO: + case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS: + case CLOCKORBIT_SATBDS: + G_GPS_EPOCH_TIME(co->EpochTime[s], co->NumberOfSat[s]) + break; + case CLOCKORBIT_SATGLONASS: + G_GLONASS_EPOCH_TIME(co->EpochTime[s], co->NumberOfSat[s]) + break; + } + G_MULTIPLE_MESSAGE_INDICATOR(mmi) + G_SSR_IOD(co->SSRIOD) + G_SSR_PROVIDER_ID(co->SSRProviderID) + G_SSR_SOLUTION_ID(co->SSRSolutionID) + G_NO_OF_SATELLITES(nums) + co->Supplied[COBOFS_URA] |= 1; + for(i = 0; i < nums; ++i) + { + switch(s) + { + case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO: + case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS: + G_GPS_SATELLITE_ID(id) + break; + case CLOCKORBIT_SATQZSS: + G_QZSS_SATELLITE_ID(id) + break; + case CLOCKORBIT_SATGLONASS: + G_GLONASS_SATELLITE_ID(id) + break; + } + for(pos = satoffset[s]; pos < satoffset[s]+co->NumberOfSat[s] && co->Sat[pos].ID != id; ++pos) + ; + if(pos >= satoffset[s+1]) return GCOBR_DATAMISMATCH; + else if(pos == co->NumberOfSat[s] + satoffset[s]) ++co->NumberOfSat[s]; + co->Sat[pos].ID = id; + + G_SSR_URA(co->Sat[pos].UserRangeAccuracy) + } + break; + case COBOFS_HR: + if(!co) return GCOBR_NOCLOCKORBITPARAMETER; + co->messageType = type; + switch(s) + { + case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO: + case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS: + case CLOCKORBIT_SATBDS: + G_GPS_EPOCH_TIME(co->EpochTime[s], co->NumberOfSat[s]) + break; + case CLOCKORBIT_SATGLONASS: + G_GLONASS_EPOCH_TIME(co->EpochTime[s], co->NumberOfSat[s]) + break; + } + G_SSR_UPDATE_INTERVAL(co->UpdateInterval) + G_MULTIPLE_MESSAGE_INDICATOR(mmi) + G_SSR_IOD(co->SSRIOD) + G_SSR_PROVIDER_ID(co->SSRProviderID) + G_SSR_SOLUTION_ID(co->SSRSolutionID) + G_NO_OF_SATELLITES(nums) + co->Supplied[COBOFS_HR] |= 1; + for(i = 0; i < nums; ++i) + { + switch(s) + { + case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO: + case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS: + G_GPS_SATELLITE_ID(id) + break; + case CLOCKORBIT_SATQZSS: + G_QZSS_SATELLITE_ID(id) + break; + case CLOCKORBIT_SATGLONASS: + G_GLONASS_SATELLITE_ID(id) + break; + } + for(pos = satoffset[s]; pos < satoffset[s]+co->NumberOfSat[s] && co->Sat[pos].ID != id; ++pos) + ; + if(pos >= satoffset[s+1]) return GCOBR_DATAMISMATCH; + else if(pos == co->NumberOfSat[s] + satoffset[s]) ++co->NumberOfSat[s]; + co->Sat[pos].ID = id; + + G_HR_CLOCK_CORRECTION(co->Sat[pos].hrclock) + } + break; + case COBOFS_BIAS: + if(!b) return GCOBR_NOCODEBIASPARAMETER; + b->messageType = type; + switch(s) + { + case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO: + case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS: + case CLOCKORBIT_SATBDS: + G_GPS_EPOCH_TIME(b->EpochTime[s], b->NumberOfSat[s]) + break; + case CLOCKORBIT_SATGLONASS: + G_GLONASS_EPOCH_TIME(b->EpochTime[s], b->NumberOfSat[s]) + break; + } + G_SSR_UPDATE_INTERVAL(b->UpdateInterval) + G_MULTIPLE_MESSAGE_INDICATOR(mmi) + G_SSR_IOD(b->SSRIOD) + G_SSR_PROVIDER_ID(b->SSRProviderID) + G_SSR_SOLUTION_ID(b->SSRSolutionID) + G_NO_OF_SATELLITES(nums) + for(i = 0; i < nums; ++i) + { + switch(s) + { + case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO: + case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS: + G_GPS_SATELLITE_ID(id) + break; + case CLOCKORBIT_SATQZSS: + G_QZSS_SATELLITE_ID(id) + break; + case CLOCKORBIT_SATGLONASS: + G_GLONASS_SATELLITE_ID(id) + break; + } + for(pos = satoffset[s]; pos < satoffset[s]+b->NumberOfSat[s] && b->Sat[pos].ID != id; ++pos) + ; + if(pos >= satoffset[s+1]) return GCOBR_DATAMISMATCH; + else if(pos == b->NumberOfSat[s] + satoffset[s]) ++b->NumberOfSat[s]; + b->Sat[pos].ID = id; + + G_NO_OF_CODE_BIASES(b->Sat[pos].NumberOfCodeBiases) + for(j = 0; j < b->Sat[pos].NumberOfCodeBiases; ++j) + { + G_SIGNAL_IDENTIFIER(b->Sat[pos].Biases[j].Type) + G_CODE_BIAS(b->Sat[pos].Biases[j].Bias) + } + } + break; + default: + return GCOBR_UNKNOWNTYPE; + } +#ifdef COR_LATENCY + if(s == CLOCKORBIT_SATGPS && type-corbase[s] != COBOFS_BIAS) + { + co->epochGPS[co->epochSize] = co->EpochTime[s]; + if(co->epochSize < COR_LATENCYCOUNT) + ++co->epochSize; + } +#endif +#ifdef DEBUG + for(type = 0; type < (int)size && (unsigned char)buffer[type] != 0xD3; ++type) + numbits += 8; + fprintf(stderr, "numbits left %d\n",numbits); +#endif + return mmi ? GCOBR_MESSAGEFOLLOWS : GCOBR_OK; + } + } + return GCOBR_UNKNOWNTYPE; } #endif /* NODECODE */ Index: trunk/clock_and_orbit/lib/clock_orbit_rtcm.h =================================================================== --- trunk/clock_and_orbit/lib/clock_orbit_rtcm.h (revision 5663) +++ trunk/clock_and_orbit/lib/clock_orbit_rtcm.h (revision 5664) @@ -14,19 +14,128 @@ enum SatelliteReferenceDatum { DATUM_ITRF=0, DATUM_LOCAL=1 }; + +enum COR_BASE { + COBBASE_GPS = 1057, + COBBASE_GLONASS = 1063, + COBBASE_GALILEO = 1240, + COBBASE_QZSS = 1246, + COBBASE_SBAS = 1252, + COBBASE_BDS = 1258, +}; + +enum COR_OFFSET { + COBOFS_ORBIT = 0, + COBOFS_CLOCK, + COBOFS_BIAS, + COBOFS_COMBINED, + COBOFS_URA, + COBOFS_HR, + COBOFS_NUM +}; + enum ClockOrbitType { - COTYPE_GPSORBIT=1057, COTYPE_GPSCLOCK=1058, - COTYPE_GPSCOMBINED=1060, COTYPE_GPSURA=1061, COTYPE_GPSHR=1062, - - COTYPE_GLONASSORBIT=1063, COTYPE_GLONASSCLOCK=1064, - COTYPE_GLONASSCOMBINED=1066, COTYPE_GLONASSURA=1067, COTYPE_GLONASSHR=1068, - - COTYPE_AUTO=0 }; -enum BiasType { BTYPE_GPS=1059, BTYPE_GLONASS=1065, BTYPE_AUTO = 0 }; - + COTYPE_GPSORBIT = COBBASE_GPS + COBOFS_ORBIT, + COTYPE_GPSCLOCK, + COTYPE_GPSCOMBINED = COBBASE_GPS + COBOFS_COMBINED, + COTYPE_GPSURA, + COTYPE_GPSHR, + + COTYPE_GLONASSORBIT = COBBASE_GLONASS + COBOFS_ORBIT, + COTYPE_GLONASSCLOCK, + COTYPE_GLONASSCOMBINED = COBBASE_GLONASS + COBOFS_COMBINED, + COTYPE_GLONASSURA, + COTYPE_GLONASSHR, + + COTYPE_GALILEOORBIT = COBBASE_GALILEO + COBOFS_ORBIT, + COTYPE_GALILEOCLOCK, + COTYPE_GALILEOCOMBINED = COBBASE_GALILEO + COBOFS_COMBINED, + COTYPE_GALILEOURA, + COTYPE_GALILEOHR, + + COTYPE_QZSSORBIT = COBBASE_QZSS + COBOFS_ORBIT, + COTYPE_QZSSCLOCK, + COTYPE_QZSSCOMBINED = COBBASE_QZSS + COBOFS_COMBINED, + COTYPE_QZSSURA, + COTYPE_QZSSHR, + + COTYPE_SBASORBIT = COBBASE_SBAS + COBOFS_ORBIT, + COTYPE_SBASCLOCK, + COTYPE_SBASCOMBINED = COBBASE_QZSS + COBOFS_COMBINED, + COTYPE_SBASURA, + COTYPE_SBASHR, + + COTYPE_BDSORBIT = COBBASE_BDS + COBOFS_ORBIT, + COTYPE_BDSCLOCK, + COTYPE_BDSCOMBINED = COBBASE_BDS + COBOFS_COMBINED, + COTYPE_BDSURA, + COTYPE_BDSHR, + + COTYPE_AUTO = 0, +}; + +enum CodeBiasType { + BTYPE_GPS = COBBASE_GPS + COBOFS_BIAS, + BTYPE_GLONASS = COBBASE_GLONASS + COBOFS_BIAS, + BTYPE_GALILEO = COBBASE_GALILEO + COBOFS_BIAS, + BTYPE_QZSS = COBBASE_QZSS + COBOFS_BIAS, + BTYPE_SBAS = COBBASE_QZSS + COBOFS_BIAS, + BTYPE_BDS = COBBASE_BDS + COBOFS_BIAS, + BTYPE_AUTO = 0 +}; + +enum PhaseBiasType { + PBTYPE_BASE = 1265, + PBTYPE_GPS = PBTYPE_BASE, + PBTYPE_GLONASS, + PBTYPE_GALILEO, + PBTYPE_QZSS, + PBTYPE_SBAS, + PBTYPE_BDS, + PBTYPE_AUTO = 0 +}; + +enum VTECType { + VTEC_BASE = 1264 +}; + +/* if some systems aren't supported at all, change the following numbers to zero +for these systems to save space */ enum COR_CONSTANTS { CLOCKORBIT_BUFFERSIZE=2048, CLOCKORBIT_NUMGPS=32, CLOCKORBIT_NUMGLONASS=24, - CLOCKORBIT_NUMBIAS=10 + CLOCKORBIT_NUMGALILEO=36, + CLOCKORBIT_NUMQZSS=10, + CLOCKORBIT_NUMSBAS=38, + CLOCKORBIT_NUMBDS=37, + CLOCKORBIT_NUMBIAS=10, + CLOCKORBIT_NUMIONOLAYERS=4, + CLOCKORBIT_MAXIONOORDER=8, + CLOCKORBIT_MAXIONODEGREE=8 +}; + +enum COR_SATSYSTEM { + CLOCKORBIT_SATGPS=0, + CLOCKORBIT_SATGLONASS, + CLOCKORBIT_SATGALILEO, + CLOCKORBIT_SATQZSS, + CLOCKORBIT_SATSBAS, + CLOCKORBIT_SATBDS, + CLOCKORBIT_SATNUM +}; + +enum COR_OFFSETS { + CLOCKORBIT_OFFSETGPS=0, + CLOCKORBIT_OFFSETGLONASS=CLOCKORBIT_NUMGPS, + CLOCKORBIT_OFFSETGALILEO=CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS, + CLOCKORBIT_OFFSETQZSS=CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS + +CLOCKORBIT_NUMGALILEO, + CLOCKORBIT_OFFSETSBAS=CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS + +CLOCKORBIT_NUMGALILEO+CLOCKORBIT_NUMQZSS, + CLOCKORBIT_OFFSETBDS=CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS + +CLOCKORBIT_NUMGALILEO+CLOCKORBIT_NUMQZSS+CLOCKORBIT_NUMSBAS, + CLOCKORBIT_COUNTSAT=CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS + +CLOCKORBIT_NUMGALILEO+CLOCKORBIT_NUMQZSS+CLOCKORBIT_NUMSBAS + +CLOCKORBIT_NUMBDS }; @@ -54,33 +163,93 @@ CODETYPEGLONASS_L2_CA = 2, CODETYPEGLONASS_L2_P = 3, + + CODETYPEGALILEO_E1_A = 0, + CODETYPEGALILEO_E1_B = 1, + CODETYPEGALILEO_E1_C = 2, + CODETYPEGALILEO_E5A_I = 5, + CODETYPEGALILEO_E5A_Q = 6, + CODETYPEGALILEO_E5B_I = 8, + CODETYPEGALILEO_E5B_Q = 9, + CODETYPEGALILEO_E5_I = 11, + CODETYPEGALILEO_E5_Q = 12, + CODETYPEGALILEO_E6_A = 14, + CODETYPEGALILEO_E6_B = 15, + CODETYPEGALILEO_E6_C = 16, + + CODETYPEQZSS_L1_CA = 0, + CODETYPEQZSS_L1C_D = 1, + CODETYPEQZSS_L1C_P = 2, + CODETYPEQZSS_L2_CM = 3, + CODETYPEQZSS_L2_CL = 4, + CODETYPEQZSS_L2_CML = 5, + CODETYPEQZSS_L5_I = 6, + CODETYPEQZSS_L5_Q = 7, + CODETYPEQZSS_L5_IQ = 8, + CODETYPEQZSS_LEX_S = 9, + CODETYPEQZSS_LEX_L = 10, + CODETYPEQZSS_LEX_SL = 11, + CODETYPEQZSS_L1C_DP = 12, + + CODETYPE_SBAS_L1_CA = 0, + CODETYPE_SBAS_L5_I = 1, + CODETYPE_SBAS_L5_Q = 2, + CODETYPE_SBAS_L5_IQ = 3, + + CODETYPE_BDS_B1_I = 0, + CODETYPE_BDS_B1_Q = 1, + CODETYPE_BDS_B1_IQ = 2, + CODETYPE_BDS_B3_I = 3, + CODETYPE_BDS_B3_Q = 4, + CODETYPE_BDS_B3_IQ = 5, + CODETYPE_BDS_B2_I = 6, + CODETYPE_BDS_B2_Q = 7, + CODETYPE_BDS_B2_IQ = 8, }; #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 -GPS satellite is xxx->Sat[0]. */ +/* satellite system data data is stored with offset CLOCKORBIT_OFFSET... +in the data structures. So first GLONASS satellite is at +xxx->Sat[CLOCKORBIT_OFFSETGLONASS], first GPS satellite is +xxx->Sat[CLOCKORBIT_OFFSETGPS]. */ + +#ifdef COR_LEGACY +/* old names */ +#define NumberOfGPSSat NumberOfSat[CLOCKORBIT_SATGPS] +#define NumberOfGLONASSSat NumberOfSat[CLOCKORBIT_SATGLONASS] +#define GPSEpochTime EpochTime[CLOCKORBIT_SATGPS] /* 0 .. 604799 s */ +#define GLONASSEpochTime EpochTime[CLOCKORBIT_SATGLONASS] /* 0 .. 86399 s (86400 for leap second) */ +#define ClockDataSupplied Supplied[COBOFS_CLOCK] +#define HRDataSupplied Supplied[COBOFS_HR] +#define OrbitDataSupplied Supplied[COBOFS_ORBIT] +#define URADataSupplied Supplied[COBOFS_URA] +#define GetClockOrbitBias(a,b,c,d,e) GetSSR(a,b,0,0,c,d,e) +#endif /* COR_LEGACY */ + +/* latency check code, disabled by default */ +#ifdef COR_LATENCY +#define COR_LATENCYCOUNT 100 +#endif struct ClockOrbit { enum ClockOrbitType messageType; - int GPSEpochTime; /* 0 .. 604799 s */ - int GLONASSEpochTime; /* 0 .. 86399 s (86400 for leap second) */ - int NumberOfGPSSat; /* 0 .. 32 */ - int NumberOfGLONASSSat; /* 0 .. 24 */ - int ClockDataSupplied; /* boolean */ - int HRDataSupplied; /* boolean */ - int OrbitDataSupplied; /* boolean */ - int URADataSupplied; /* boolean */ - int epochGPS[101]; /* Weber, for latency */ - int epochSize; /* Weber, for latency */ - int SSRIOD; - int SSRProviderID; - int SSRSolutionID; - int UpdateInterval; + unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */ + unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */ + + unsigned int Supplied[COBOFS_NUM]; /* boolean */ +#ifdef COR_LATENCY + unsigned int epochGPS[COR_LATENCYCOUNT+1]; /* Weber, for latency */ + unsigned int epochSize; /* Weber, for latency */ +#endif + unsigned int SSRIOD; + unsigned int SSRProviderID; + unsigned int SSRSolutionID; + unsigned int UpdateInterval; enum SatelliteReferenceDatum SatRefDatum; struct SatData { - int ID; /* GPS or GLONASS */ - int IOD; /* GPS or GLONASS */ + unsigned int ID; /* all */ + unsigned int IOD; /* all */ + unsigned int toe; /* SBAS, BDS */ double UserRangeAccuracy; /* accuracy values in [m] */ double hrclock; @@ -100,28 +269,72 @@ double DeltaA2; /* m/ss */ } Clock; - } Sat[CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS]; -}; - -struct Bias + } Sat[CLOCKORBIT_COUNTSAT]; +}; + +struct CodeBias { - enum BiasType messageType; - int GPSEpochTime; /* 0 .. 604799 s */ - int GLONASSEpochTime; /* 0 .. 86399 s (86400 for leap second) */ - int NumberOfGPSSat; /* 0 .. 32 */ - int NumberOfGLONASSSat; /* 0 .. 24 */ - int UpdateInterval; - int SSRIOD; - int SSRProviderID; - int SSRSolutionID; + enum CodeBiasType messageType; + unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */ + unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */ + unsigned int UpdateInterval; + unsigned int SSRIOD; + unsigned int SSRProviderID; + unsigned int SSRSolutionID; struct BiasSat { - int ID; /* GPS or GLONASS */ - int NumberOfCodeBiases; - struct CodeBias + unsigned int ID; /* all */ + unsigned int NumberOfCodeBiases; + struct CodeBiasEntry { enum CodeType Type; float Bias; /* m */ } Biases[CLOCKORBIT_NUMBIAS]; - } Sat[CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS]; + } Sat[CLOCKORBIT_COUNTSAT]; +}; + +struct PhaseBias +{ + enum PhaseBiasType messageType; + unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */ + unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */ + unsigned int UpdateInterval; + unsigned int SSRIOD; + unsigned int SSRProviderID; + unsigned int SSRSolutionID; + unsigned int DispersiveBiasConsistencyIndicator; + unsigned int MWConsistencyIndicator; + struct PhaseBiasSat + { + unsigned int ID; /* all */ + unsigned int NumberOfPhaseBiases; + double YawAngle; /* radiant */ + double YawRate; /* radiant/s */ + struct PhaseBiasEntry + { + enum CodeType Type; + unsigned int SignalIntegerIndicator; + unsigned int SignalsWideLaneIntegerIndicator; + unsigned int SignalDiscontinuityCounter; + float Bias; /* m */ + } Biases[CLOCKORBIT_NUMBIAS]; + } Sat[CLOCKORBIT_COUNTSAT]; +}; + +struct VTEC +{ + unsigned int EpochTime; /* GPS */ + unsigned int UpdateInterval; + unsigned int SSRIOD; + unsigned int SSRProviderID; + unsigned int SSRSolutionID; + unsigned int NumLayers; /* 1-4 */ + double Quality; + struct IonoLayers { + double Height; /* m */ + unsigned int Degree; /* 1-8 */ + unsigned int Order; /* 1-8 */ + double Sinus[CLOCKORBIT_MAXIONODEGREE][CLOCKORBIT_MAXIONOORDER]; + double Cosinus[CLOCKORBIT_MAXIONODEGREE][CLOCKORBIT_MAXIONOORDER]; + } Layers[CLOCKORBIT_NUMIONOLAYERS]; }; @@ -129,6 +342,10 @@ size_t MakeClockOrbit(const struct ClockOrbit *co, enum ClockOrbitType type, int moremessagesfollow, char *buffer, size_t size); -size_t MakeBias(const struct Bias *b, enum BiasType type, +size_t MakeCodeBias(const struct CodeBias *b, enum CodeBiasType type, int moremessagesfollow, char *buffer, size_t size); +size_t MakePhaseBias(const struct PhaseBias *b, enum PhaseBiasType type, + int moremessagesfollow, char *buffer, size_t size); +size_t MakeVTEC(const struct VTEC *b, int moremessagesfollow, char *buffer, + size_t size); enum GCOB_RETURN { @@ -143,5 +360,7 @@ /* failed to do the work */ GCOBR_NOCLOCKORBITPARAMETER = -10, - GCOBR_NOBIASPARAMETER = -11, + GCOBR_NOCODEBIASPARAMETER = -11, + GCOBR_NOPHASEBIASPARAMETER = -12, + GCOBR_NOVTECPARAMETER = -13, /* data mismatch - data in storage does not match new data */ GCOBR_TIMEMISMATCH = -20, @@ -155,6 +374,6 @@ /* buffer should point to a RTCM3 block */ -enum GCOB_RETURN GetClockOrbitBias(struct ClockOrbit *co, struct Bias *b, - const char *buffer, size_t size, int *bytesused); +enum GCOB_RETURN GetSSR(struct ClockOrbit *co, struct CodeBias *b, struct VTEC *v, + struct PhaseBias *pb, const char *buffer, size_t size, int *bytesused); #endif /* RTCM3_CLOCK_ORBIT_RTCM_H */ Index: trunk/clock_and_orbit/makefile =================================================================== --- trunk/clock_and_orbit/makefile (revision 5664) +++ trunk/clock_and_orbit/makefile (revision 5664) @@ -0,0 +1,20 @@ +all: readco readVtec + +clock_orbit_rtcm.o: lib/clock_orbit_rtcm.c + gcc -ggdb -c -o $@ $< -I lib + +readco.o: readco.c + gcc -ggdb -c $< -I lib + +readVtec.o: readVtec.c + gcc -ggdb -c $< -I lib + +readco: readco.o clock_orbit_rtcm.o + gcc -ggdb -lm -o $@ readco.o clock_orbit_rtcm.o + +readVtec: readVtec.o clock_orbit_rtcm.o + gcc -ggdb -lm -o $@ readVtec.o clock_orbit_rtcm.o + +clean: + rm *.o + rm readco readVtec Index: trunk/clock_and_orbit/readVtec.c =================================================================== --- trunk/clock_and_orbit/readVtec.c (revision 5664) +++ trunk/clock_and_orbit/readVtec.c (revision 5664) @@ -0,0 +1,107 @@ +#include "clock_orbit_rtcm.h" + +#include +#include + +/* prototype, don't use any of this code in a final application */ + +void printVtec(struct VTEC vtec) { + int i, j, k; + for (i = 0; i < vtec.NumLayers; ++i) { + printf("%d layer %d height %f degree %d order %d\n", + vtec.EpochTime, i, + vtec.Layers[i].Height, + vtec.Layers[i].Degree, + vtec.Layers[i].Order); + for (j = 0; j <= vtec.Layers[i].Degree; ++j) { + printf("Cn%d ", j); + for (k = 0; k <= vtec.Layers[i].Order; ++k) { + printf(" %7.3f", vtec.Layers[i].Cosinus[k][j]); + } + printf("\n"); + } + for (j = 0; j <= vtec.Layers[i].Degree; ++j) { + printf("Sn%d ", j); + for (k = 0; k <= vtec.Layers[i].Order; ++k) { + printf(" %7.3f", vtec.Layers[i].Sinus[k][j]); + } + printf("\n"); + } + } +} + + + +int main(void) {; + char obuffer[CLOCKORBIT_BUFFERSIZE]; + ////////////////////////// + // VTEC // + ////////////////////////// + + struct VTEC v; + memset(&v, 0, sizeof(v)); + v.EpochTime = 218764; + v.NumLayers = 1; + v.UpdateInterval = 1; + v.Layers[0].Height = 450000; + v.Layers[0].Degree = 4; + v.Layers[0].Order = 4; + v.Layers[0].Cosinus[0][0] = 24.435; + v.Layers[0].Cosinus[1][0] = 4.495; + v.Layers[0].Cosinus[2][0] = -7.805; + v.Layers[0].Cosinus[3][0] = -1.900; + v.Layers[0].Cosinus[4][0] = 2.045; + v.Layers[0].Cosinus[1][1] = -9.960; + v.Layers[0].Cosinus[2][1] = 0.845; + v.Layers[0].Cosinus[3][1] = 2.260; + v.Layers[0].Cosinus[4][1] = -0.315; + v.Layers[0].Cosinus[2][2] = 3.730; + v.Layers[0].Cosinus[3][2] = -0.780; + v.Layers[0].Cosinus[4][2] = -0.055; + v.Layers[0].Cosinus[3][3] = -0.020; + v.Layers[0].Cosinus[4][3] = 1.150; + v.Layers[0].Cosinus[4][4] = 0.990; + + v.Layers[0].Sinus[1][1] = -6.070; + v.Layers[0].Sinus[2][1] = -3.105; + v.Layers[0].Sinus[3][1] = 1.310; + v.Layers[0].Sinus[4][1] = 1.545; + v.Layers[0].Sinus[2][2] = 0.325; + v.Layers[0].Sinus[3][2] = -1.050; + v.Layers[0].Sinus[4][2] = -0.750; + v.Layers[0].Sinus[3][3] = 0.170; + v.Layers[0].Sinus[4][3] = -0.690; + v.Layers[0].Sinus[4][4] = -0.705; + fprintf(stderr, "VTEC INPUT\n"); + printVtec(v); + FILE *f; + int l = MakeVTEC(&v, 0, obuffer, sizeof(obuffer)); + if (!l) + fprintf(stderr, "BUILD ERROR\n"); + else { + int nl, ns; + struct VTEC vv; + + if ((f = fopen("outfile.raw", "ab+"))) { + fwrite(obuffer, l, 1, f); + fclose(f); + } else + fprintf(stderr, "SAVE ERROR\n"); + //fwrite(obuffer, l, 1, stdout); + memset(&vv, 0, sizeof(vv)); + nl = GetSSR(0, 0, &vv, 0, obuffer, l, &ns); + if (nl < 0) + fprintf(stderr, "EXTRACT ERROR %d\n", nl); + else if (nl > 0) + fprintf(stderr, "MULTIBLOCK UNSUPPORTED IN TEST\n"); + else if (ns != l) + fprintf(stderr, "SIZE MISMATCH (%d/%d)\n", ns, l); + else { + fprintf(stderr, "VTEC OUTPUT\n"); + printVtec(vv); + } + } + return 0; +} + + Index: trunk/clock_and_orbit/readco.c =================================================================== --- trunk/clock_and_orbit/readco.c (revision 5663) +++ trunk/clock_and_orbit/readco.c (revision 5664) @@ -1,78 +1,408 @@ #include "clock_orbit_rtcm.h" -#include "clock_orbit_rtcm.c" #include - -/* prototype, don't use any of this code in a final application */ - -struct ClockOrbit co; -double lasttow = -1.0; - -int main(void) -{ - char buffer[4096]; - char obuffer[CLOCKORBIT_BUFFERSIZE]; - - while(gets(buffer)) - { - char type; - int week, prn, iodc, iode; - double tow, clock, radial, along, outofplane; - int num = sscanf(buffer, "%d %lf %c%d %d %d %lf %lf %lf %lf\n", &week, - &tow, &type, &prn, &iodc, &iode, &clock, &radial, &along, &outofplane); - if(num == 10) - { - struct SatData *sd; - if(lasttow != tow) /* create block */ - { - if(lasttow >= 0) - { - int l = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer)); - if(!l) fprintf(stderr, "BUILD ERROR\n"); - else - { - int nl, ns; - struct ClockOrbit c; - -// fwrite(obuffer, l, 1, stdout); - memset(&c, 0, sizeof(c)); - nl = GetClockOrbitBias(&c, 0, obuffer, l, &ns); - if(nl < 0) fprintf(stderr, "EXTRACT ERROR %d\n", nl); - else if(nl > 0) fprintf(stderr, "MULTIBLOCK UNSUPPORTED IN TEST\n"); - else if(ns != l) fprintf(stderr, "SIZE MISMATCH (%d/%d)\n", ns,l); - else - { - int i; - for(i = 0; i < c.NumberOfGPSSat; ++i) - { - printf("%d G%d %d %f %f %f %f\n", c.GPSEpochTime, - c.Sat[i].ID, co.Sat[i].IOD, c.Sat[i].Clock.DeltaA0, - c.Sat[i].Orbit.DeltaRadial, c.Sat[i].Orbit.DeltaAlongTrack, - c.Sat[i].Orbit.DeltaCrossTrack); - } - } - } - } - memset(&co, 0, sizeof(co)); - lasttow = tow; - co.GPSEpochTime = (int)tow; - /* co.GLONASSEpochTime = 0; */ - co.ClockDataSupplied = 1; - co.OrbitDataSupplied = 1; - co.SatRefDatum = DATUM_ITRF; - } - - sd = co.Sat + co.NumberOfGPSSat; - sd->ID = prn; - sd->IOD = iode; - sd->Clock.DeltaA0 = clock; - sd->Orbit.DeltaRadial = radial; - sd->Orbit.DeltaAlongTrack = along; - sd->Orbit.DeltaCrossTrack = outofplane; - printf("%d %d/%f %c %d %d %d %f %f %f %f\n",num, week, tow, type, prn, - iodc, iode, clock, radial, along, outofplane); - ++co.NumberOfGPSSat; - } - } - return 0; +#include +#include +#include + +struct ClockOrbit coIn; +struct CodeBias cbIn; +double lasttow_co = -1.0; +double lasttow_cb = -1.0; + +typedef enum {GPS, GLO, GAL, QZSS, SBAS, BDS} SATSYS; +int GPSUTCdiff = 16; +char satSYS[6] = { 'G', 'R', 'E', 'J', 'S', 'C' }; +int messageTypeCo[6] = { 1060, 1066, 1243, 1249, 1255, 1261 }; +int messageTypeCb[6] = { 1059, 1065, 1242, 1248, 1254, 1260 }; + +void printClockOrbit(const char* filename, struct ClockOrbit* clockOrb, + char* flag, int ind, char satSys, int offsetGnss); +void printClockOrbitDiff(const char* filename, struct ClockOrbit* clockOrb1, + struct ClockOrbit* clockOrb2, char* flag, int ind, char satSys, int offsetGnss); +void printCodeBias(const char* filename, struct CodeBias* codeBias, + char* flag,int ind, char satSys, int offsetGnss); +void printCodeBiasDiff(const char* filename, struct CodeBias* codeBias1, + struct CodeBias* codeBias2, char* flag, int ind, char satSys, + int offsetGnss); + +int main(void) { + enum COR_SATSYSTEM sys; + char* inputFile = "ss1_cocb_data/CLK801330.14C"; + for (sys = GPS; sys <= BDS; ++sys) { + char *outFilenameRaw, *outFilenameDbg; + enum COR_SATSYSTEM CLOCKORBIT_SATGNSS = sys; + enum COR_OFFSETS CLOCKORBIT_OFFSETGNSS; + switch (sys) { + case GPS: + outFilenameRaw = "ssr1_cocb_data/outfile_G.raw"; + outFilenameDbg = "ssr1_cocb_data/outfile_G.dbg"; + CLOCKORBIT_OFFSETGNSS = CLOCKORBIT_OFFSETGPS; + break; + case GLO: + outFilenameRaw = "ssr1_cocb_data/outfile_R.raw"; + outFilenameDbg = "ssr1_cocb_data/outfile_R.dbg"; + CLOCKORBIT_OFFSETGNSS = CLOCKORBIT_OFFSETGLONASS; + break; + case GAL: + outFilenameRaw = "ssr1_cocb_data/outfile_E.raw"; + outFilenameDbg = "ssr1_cocb_data/outfile_E.dbg"; + CLOCKORBIT_OFFSETGNSS = CLOCKORBIT_OFFSETGALILEO; + break; + case QZSS: + outFilenameRaw = "ssr1_cocb_data/outfile_J.raw"; + outFilenameDbg = "ssr1_cocb_data/outfile_J.dbg"; + CLOCKORBIT_OFFSETGNSS = CLOCKORBIT_OFFSETQZSS; + break; + case SBAS: + outFilenameRaw = "ssr1_cocb_data/outfile_S.raw"; + outFilenameDbg = "ssr1_cocb_data/outfile_S.dbg"; + CLOCKORBIT_OFFSETGNSS = CLOCKORBIT_OFFSETSBAS; + break; + case BDS: + outFilenameRaw = "ssr1_cocb_data/outfile_C.raw"; + outFilenameDbg = "ssr1_cocb_data/outfile_C.dbg"; + CLOCKORBIT_OFFSETGNSS = CLOCKORBIT_OFFSETBDS; + break; + } + char commandRaw[100], commandDbg[100]; + sprintf(commandRaw, "rm %s", outFilenameRaw); system(commandRaw); + sprintf(commandDbg, "rm %s", outFilenameDbg); system(commandDbg); + FILE *asciiSsr, *f; + size_t len = 0; + char *buffer = 0, type = satSYS[sys]; + asciiSsr = fopen(inputFile, "r"); + if (asciiSsr == NULL) { + fprintf(stderr, "ERROR: open file%s \n", inputFile); + return 0; + } + while (getline(&buffer, &len, asciiSsr) > 0) { //fprintf(stderr, "line: %s", buffer); + char coBuffer[CLOCKORBIT_BUFFERSIZE]; + char cbBuffer[CLOCKORBIT_BUFFERSIZE]; + int MT = 0, messageType = 0, ui = 0, week = 0, prn = 0, iode = 0, ncb = 0; + double cbValue[3] = { 0.0 }, clock_a0 = 0.0, clock_a1 = 0.0, clock_a2 = 0.0, d_radial = 0.0; + double d_along = 0.0, d_outofplane = 0.0, dd_radial = 0.0, dd_along = 0.0, dd_outofplane = 0.0; + enum CodeType cbType[3] = { 0 }; + static double tow_co, tow_cb; + int num = sscanf(buffer, "%d ", &messageType); + if (messageType == messageTypeCo[GPS]) { + sscanf(buffer, + "%d %d %d %lf %c%d %d %lf %lf %lf %lf %lf %lf %lf %lf %lf\n", + &messageType, &ui, &week, &tow_co, &type, &prn, &iode, + &clock_a0, &d_radial, &d_along, &d_outofplane, + &clock_a1, &dd_radial, &dd_along, &dd_outofplane, + &clock_a2); + type = satSYS[sys]; + MT = messageTypeCo[sys]; + switch (sys) { + case GPS:case GAL:case SBAS:case BDS: + break; + case GLO: + if (prn > 24) + continue; + break; + case QZSS: + if (prn > 10) + continue; + break; + } + if ((lasttow_co != tow_co)) { // create block + int nl = 0, ns = 0, l = 0; + struct ClockOrbit coOut; + if (lasttow_co >= 0) { + if (sys == GLO) { + coIn.EpochTime[CLOCKORBIT_SATGLONASS] = + (fmod((double)coIn.EpochTime[CLOCKORBIT_SATGLONASS] + + (3 * 3600 - GPSUTCdiff), 86400.0)); + } + printClockOrbit(outFilenameDbg, &coIn, "INPUT", + CLOCKORBIT_SATGNSS, type, CLOCKORBIT_OFFSETGNSS); + l = MakeClockOrbit(&coIn, COTYPE_AUTO, 0, coBuffer, + sizeof(coBuffer)); + if (!l) + fprintf(stderr, "BUILD ERROR\n"); + else { + if ((f = fopen(outFilenameRaw, "ab+"))) { + fwrite(coBuffer, l, 1, f); + fclose(f); + } else + fprintf(stderr, "SAVE ERROR %s\n", + outFilenameRaw); + } + memset(&coOut, 0, sizeof(coOut)); + nl = GetSSR(&coOut, 0, 0, 0, coBuffer, l, &ns); + if (nl < 0) + fprintf(stderr, "CLKORB EXTRACT ERROR %d\n", nl); + else if (nl > 0) + fprintf(stderr, "CLKORB MULTIBLOCK UNSUPPORTED IN TEST\n"); + else if (ns != l) + fprintf(stderr, "CLKORB SIZE MISMATCH (%d/%d)\n", ns, l); + else { + printClockOrbit(outFilenameDbg, &coOut, "OUTPUT", + CLOCKORBIT_SATGNSS, type, CLOCKORBIT_OFFSETGNSS); + printClockOrbitDiff(outFilenameDbg, &coIn, &coOut, + "DIFF", CLOCKORBIT_SATGNSS, type, CLOCKORBIT_OFFSETGNSS); + } + } + memset(&coIn, 0, sizeof(coIn)); + lasttow_co = tow_co; + coIn.messageType = MT; + coIn.EpochTime[CLOCKORBIT_SATGNSS] = (int) tow_co; + coIn.UpdateInterval = (int) ui; + coIn.Supplied[COBOFS_COMBINED] = 1; + coIn.SatRefDatum = DATUM_ITRF; + } + struct SatData *sd; + sd = coIn.Sat + + CLOCKORBIT_OFFSETGNSS + + coIn.NumberOfSat[CLOCKORBIT_SATGNSS]; + sd->ID = prn; + sd->IOD = iode; + sd->Clock.DeltaA0 = clock_a0; + sd->Clock.DeltaA1 = clock_a1; + sd->Clock.DeltaA2 = clock_a2; + sd->Orbit.DeltaRadial = d_radial; + sd->Orbit.DeltaAlongTrack = d_along; + sd->Orbit.DeltaCrossTrack = d_outofplane; + sd->Orbit.DotDeltaRadial = dd_radial; + sd->Orbit.DotDeltaAlongTrack = dd_along; + sd->Orbit.DotDeltaCrossTrack = dd_outofplane; + ++coIn.NumberOfSat[CLOCKORBIT_SATGNSS]; + } + if (messageType == messageTypeCb[GPS]) { + sscanf(buffer, "%d %d %d %lf %c%d %d %d %lf %d %lf %d %lf\n", + &messageType, &ui, &week, &tow_cb, &type, &prn, &ncb, + &cbType[0], &cbValue[0], &cbType[1], &cbValue[1], + &cbType[2], &cbValue[2]); + type = satSYS[sys]; + MT = messageTypeCb[sys]; + switch (sys) { + case GPS: + break; + case GLO: + if (prn > 24) + continue; + cbType[0] = CODETYPEGLONASS_L1_CA; + cbType[1] = CODETYPEGLONASS_L1_P; + cbType[1] = CODETYPEGLONASS_L2_CA; + break; + case GAL: + cbType[0] = CODETYPEGALILEO_E1_A; + cbType[1] = CODETYPEGALILEO_E5_I; + cbType[2] = CODETYPEGALILEO_E6_A; + break; + case QZSS: + if (prn > 10) + continue; + cbType[0] = CODETYPEQZSS_L1_CA; + cbType[1] = CODETYPEQZSS_L2_CM; + cbType[2] = CODETYPEQZSS_L5_I; + break; + case SBAS: + cbType[0] = CODETYPE_SBAS_L1_CA; + cbType[1] = CODETYPE_SBAS_L5_I; + cbType[2] = CODETYPE_SBAS_L5_Q; + break; + case BDS: + cbType[0] = CODETYPE_BDS_B1_I; + cbType[1] = CODETYPE_BDS_B3_I; + cbType[2] = CODETYPE_BDS_B2_I; + break; + } + if (lasttow_cb != tow_cb) { // create block + int nl, ns, l; + struct CodeBias cbOut; + if (lasttow_cb >= 0) { + if (sys == GLO) { + cbIn.EpochTime[CLOCKORBIT_SATGLONASS] = + (fmod((double)cbIn.EpochTime[CLOCKORBIT_SATGLONASS] + + (3 * 3600 - GPSUTCdiff), 86400.0)); + } + printCodeBias(outFilenameDbg, &cbIn, "INPUT", + CLOCKORBIT_SATGNSS, type, CLOCKORBIT_OFFSETGNSS); + l = MakeCodeBias(&cbIn, BTYPE_AUTO, 0, cbBuffer, + sizeof(cbBuffer)); + if (!l) + fprintf(stderr, "BUILD ERROR\n"); + else { + if ((f = fopen(outFilenameRaw, "ab+"))) { + fwrite(cbBuffer, l, 1, f); + fclose(f); + } else + fprintf(stderr, "SAVE ERROR %s\n", outFilenameRaw); + } + memset(&cbOut, 0, sizeof(cbOut)); + nl = GetSSR(NULL, &cbOut, NULL, 0, cbBuffer, l, &ns); + if (nl < 0) + fprintf(stderr, "CBIAS EXTRACT ERROR %d\n", nl); + else if (nl > 0) + fprintf(stderr, "CBIAS MULTIBLOCK UNSUPPORTED IN TEST\n"); + else if (ns != l) + fprintf(stderr, "CBIAS SIZE MISMATCH (%d/%d)\n", ns, l); + else { + printCodeBias(outFilenameDbg, &cbOut, "OUTPUT", + CLOCKORBIT_SATGNSS, type, CLOCKORBIT_OFFSETGNSS); + printCodeBiasDiff(outFilenameDbg, &cbIn, &cbOut, + "DIFF", CLOCKORBIT_SATGNSS, type, CLOCKORBIT_OFFSETGNSS); + } + } + memset(&cbIn, 0, sizeof(cbIn)); + lasttow_cb = tow_cb; + cbIn.messageType = MT; + cbIn.EpochTime[CLOCKORBIT_SATGNSS] = (int) tow_cb; + cbIn.UpdateInterval = ui; + coIn.Supplied[COBOFS_BIAS] = 1; + } + struct BiasSat *bs; + bs = cbIn.Sat + + CLOCKORBIT_OFFSETGNSS + + cbIn.NumberOfSat[CLOCKORBIT_SATGNSS]; + bs->ID = prn; + bs->NumberOfCodeBiases = ncb; + int k = 0; + for (k = 0; k < bs->NumberOfCodeBiases; k++) { + bs->Biases[k].Type = cbType[k]; + bs->Biases[k].Bias = cbValue[k]; + } + ++cbIn.NumberOfSat[CLOCKORBIT_SATGNSS]; + } + } + free(buffer); + close(asciiSsr); + } + return 0; } + +void printClockOrbit(const char* filename, struct ClockOrbit* clockOrb, + char* flag, int ind, char satSys, int offsetGnss) { + int i = 0; + FILE *filestream = fopen(filename, "ab+"); + if (!clockOrb->NumberOfSat[ind]) + return; + if (filestream == NULL) { + fprintf(stderr, "ERROR: open file %s\n", filename); + return; + } + fprintf(filestream, "CLKORB_%s\n", flag); + for (i = offsetGnss; i < offsetGnss + clockOrb->NumberOfSat[ind]; ++i) { + fprintf(filestream, + "%10d %d %c%02d %5d %12.3f %12.3f %12.3f %12.3f %12.3f %12f %12f %12f %12.3f\n", + clockOrb->EpochTime[ind], clockOrb->UpdateInterval, satSys, + clockOrb->Sat[i].ID, + clockOrb->Sat[i].IOD, + clockOrb->Sat[i].Clock.DeltaA0, + clockOrb->Sat[i].Orbit.DeltaRadial, + clockOrb->Sat[i].Orbit.DeltaAlongTrack, + clockOrb->Sat[i].Orbit.DeltaCrossTrack, + clockOrb->Sat[i].Clock.DeltaA1, + clockOrb->Sat[i].Orbit.DotDeltaRadial, + clockOrb->Sat[i].Orbit.DotDeltaAlongTrack, + clockOrb->Sat[i].Orbit.DotDeltaCrossTrack, + clockOrb->Sat[i].Clock.DeltaA2); + } + fclose(filestream); +} + +void printClockOrbitDiff(const char* filename, struct ClockOrbit* clockOrb1, + struct ClockOrbit* clockOrb2, char* flag, int ind, char satSys, + int offsetGnss) { + int i = 0; + FILE *filestream = fopen(filename, "ab+"); + if (!clockOrb1->NumberOfSat[ind]) + return; + if (filestream == NULL) { + fprintf(stderr, "ERROR: open file %s\n", filename); + return; + } + fprintf(filestream, "CLKORB_%s\n", flag); + for (i = offsetGnss; i < offsetGnss + clockOrb1->NumberOfSat[ind]; ++i) { + fprintf(filestream, + "%10d %d %c%02d %5d %12.3f %12.3f %12.3f %12.3f %12.3f %12f %12f %12f %12.3f\n", + clockOrb1->EpochTime[ind] + - clockOrb2->EpochTime[ind], + clockOrb1->UpdateInterval + - clockOrb2->UpdateInterval, satSys, + clockOrb1->Sat[i].ID + - clockOrb2->Sat[i].ID, + clockOrb1->Sat[i].IOD - clockOrb2->Sat[i].IOD, + clockOrb1->Sat[i].Clock.DeltaA0 + - clockOrb2->Sat[i].Clock.DeltaA0, + clockOrb1->Sat[i].Orbit.DeltaRadial + - clockOrb2->Sat[i].Orbit.DeltaRadial, + clockOrb1->Sat[i].Orbit.DeltaAlongTrack + - clockOrb2->Sat[i].Orbit.DeltaAlongTrack, + clockOrb1->Sat[i].Orbit.DeltaCrossTrack + - clockOrb2->Sat[i].Orbit.DeltaCrossTrack, + clockOrb1->Sat[i].Clock.DeltaA1 + - clockOrb2->Sat[i].Clock.DeltaA1, + clockOrb1->Sat[i].Orbit.DotDeltaRadial + - clockOrb2->Sat[i].Orbit.DotDeltaRadial, + clockOrb1->Sat[i].Orbit.DotDeltaAlongTrack + - clockOrb2->Sat[i].Orbit.DotDeltaAlongTrack, + clockOrb1->Sat[i].Orbit.DotDeltaCrossTrack + - clockOrb2->Sat[i].Orbit.DotDeltaCrossTrack, + clockOrb1->Sat[i].Clock.DeltaA2 + - clockOrb2->Sat[i].Clock.DeltaA2); + } + fclose(filestream); +} + +void printCodeBias(const char* filename, struct CodeBias* codeBias, char* flag, + int ind, char satSys, int offsetGnss) { + int i = 0; + FILE *filestream = fopen(filename, "ab+"); + if (!codeBias->NumberOfSat[ind]) + return; + if (filestream == NULL) { + fprintf(stderr, "ERROR: open file %s\n", filename); + return; + } + fprintf(filestream, "CBIAS_%s\n", flag); + for (i = offsetGnss; i < offsetGnss + codeBias->NumberOfSat[ind]; ++i) { + fprintf(filestream, "%10d %d %c%02d %2d ", + codeBias->EpochTime[ind], codeBias->UpdateInterval, satSys, + codeBias->Sat[i].ID, codeBias->Sat[i].NumberOfCodeBiases); + int j; + for (j = 0; j < codeBias->Sat[i].NumberOfCodeBiases; j++) { + fprintf(filestream, "%4d %12.3f", codeBias->Sat[i].Biases[j].Type, + codeBias->Sat[i].Biases[j].Bias); + } + fprintf(filestream, "\n"); + } + fclose(filestream); +} + +void printCodeBiasDiff(const char* filename, struct CodeBias* codeBias1, + struct CodeBias* codeBias2, char* flag, int ind, char satSys, + int offsetGnss) { + int i = 0; + FILE *filestream = fopen(filename, "ab+"); + if (!codeBias1->NumberOfSat[ind]) + return; + if (filestream == NULL) { + fprintf(stderr, "ERROR: open file %s\n", filename); + return; + } + fprintf(filestream, "CBIAS_%s\n", flag); + for (i = offsetGnss; i < offsetGnss + codeBias1->NumberOfSat[ind]; ++i) { + fprintf(filestream, "%10d %d %c%02d %2d ", + codeBias1->EpochTime[ind] + - codeBias2->EpochTime[ind], + codeBias1->UpdateInterval + - codeBias2->UpdateInterval, satSys, + codeBias1->Sat[i].ID + - codeBias2->Sat[i].ID, + codeBias1->Sat[i].NumberOfCodeBiases + - codeBias2->Sat[i].NumberOfCodeBiases); + int j; + for (j = 0; j < codeBias1->Sat[i].NumberOfCodeBiases; j++) { + fprintf(filestream, "%4d %12.3f", + codeBias1->Sat[i].Biases[j].Type + - codeBias2->Sat[i].Biases[j].Type, + codeBias1->Sat[i].Biases[j].Bias + - codeBias2->Sat[i].Biases[j].Bias); + } + fprintf(filestream, "\n"); + } + fclose(filestream); +} Index: trunk/clock_and_orbit/readcoold.c =================================================================== --- trunk/clock_and_orbit/readcoold.c (revision 5664) +++ trunk/clock_and_orbit/readcoold.c (revision 5664) @@ -0,0 +1,172 @@ +#include "clock_orbit_rtcm.h" +#include "clock_orbit_rtcm.c" + +#include +#include + +/* prototype, don't use any of this code in a final application */ + +struct ClockOrbit co; +double lasttow = -1.0; + +int main(void) +{ + char * buffer = 0; + size_t len = 0; + char obuffer[CLOCKORBIT_BUFFERSIZE]; + + while(getline(&buffer, &len, stdin) > 0) + { + char type; + int week, prn, iodc, iode; + double tow, clock, radial, along, outofplane; + int num = sscanf(buffer, "%d %lf %c%d %d %d %lf %lf %lf %lf\n", &week, + &tow, &type, &prn, &iodc, &iode, &clock, &radial, &along, &outofplane); + if(num == 10) + { + struct SatData *sd; + if(lasttow != tow) /* create block */ + { + if(lasttow >= 0) + { + FILE *f; + int l = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer)); + if(!l) fprintf(stderr, "BUILD ERROR\n"); + else + { + int nl, ns; + struct ClockOrbit c; + + if((f = fopen("outfile.raw", "ab+"))) + { + fwrite(obuffer, l, 1, f); + fclose(f); + } + else fprintf(stderr, "SAVE ERROR\n"); + //fwrite(obuffer, l, 1, stdout); + memset(&c, 0, sizeof(c)); + nl = GetSSR(&c, 0, 0, 0, obuffer, l, &ns); + if(nl < 0) fprintf(stderr, "EXTRACT ERROR %d\n", nl); + else if(nl > 0) fprintf(stderr, "MULTIBLOCK UNSUPPORTED IN TEST\n"); + else if(ns != l) fprintf(stderr, "SIZE MISMATCH (%d/%d)\n", ns,l); + else + { + int i; + for(i = 0; i < c.NumberOfSat[CLOCKORBIT_SATGPS]; ++i) + { + printf("%d G%02d %d %f %f %f %f\n", c.EpochTime[CLOCKORBIT_SATGPS], + c.Sat[i].ID, co.Sat[i].IOD, c.Sat[i].Clock.DeltaA0, + c.Sat[i].Orbit.DeltaRadial, c.Sat[i].Orbit.DeltaAlongTrack, + c.Sat[i].Orbit.DeltaCrossTrack); + } + } + } + } + memset(&co, 0, sizeof(co)); + lasttow = tow; + co.EpochTime[CLOCKORBIT_SATGPS] = (int)tow; + /* co.GLONASSEpochTime = 0; */ + co.Supplied[COBOFS_CLOCK] = 1; + co.Supplied[COBOFS_ORBIT] = 1; + co.SatRefDatum = DATUM_ITRF; + } + + sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS]; + sd->ID = prn; + sd->IOD = iode; + sd->Clock.DeltaA0 = clock; + sd->Orbit.DeltaRadial = radial; + sd->Orbit.DeltaAlongTrack = along; + sd->Orbit.DeltaCrossTrack = outofplane; + printf("%d %d/%f %c%02d %d %d %f %f %f %f\n",num, week, tow, type, prn, + iodc, iode, clock, radial, along, outofplane); + ++co.NumberOfSat[CLOCKORBIT_SATGPS]; + } + } + { + struct VTEC v; + memset(&v, 0, sizeof(v)); + v.EpochTime = 218764; + v.NumLayers = 1; + v.UpdateInterval = 1; + v.Layers[0].Height = 450000; + v.Layers[0].Degree = 4; + v.Layers[0].Order = 4; + v.Layers[0].Cosinus[0][0] = 24.435; + v.Layers[0].Cosinus[1][0] = 4.495; + v.Layers[0].Cosinus[2][0] = -7.805; + v.Layers[0].Cosinus[3][0] = -1.900; + v.Layers[0].Cosinus[4][0] = 2.045; + v.Layers[0].Cosinus[1][1] = -9.960; + v.Layers[0].Cosinus[2][1] = 0.845; + v.Layers[0].Cosinus[3][1] = 2.260; + v.Layers[0].Cosinus[4][1] = -0.315; + v.Layers[0].Cosinus[2][2] = 3.730; + v.Layers[0].Cosinus[3][2] = -0.780; + v.Layers[0].Cosinus[4][2] = -0.055; + v.Layers[0].Cosinus[3][3] = -0.020; + v.Layers[0].Cosinus[4][3] = 1.150; + v.Layers[0].Cosinus[4][4] = 0.990; + + v.Layers[0].Sinus[1][1] = -6.070; + v.Layers[0].Sinus[2][1] = -3.105; + v.Layers[0].Sinus[3][1] = 1.310; + v.Layers[0].Sinus[4][1] = 1.545; + v.Layers[0].Sinus[2][2] = 0.325; + v.Layers[0].Sinus[3][2] = -1.050; + v.Layers[0].Sinus[4][2] = -0.750; + v.Layers[0].Sinus[3][3] = 0.170; + v.Layers[0].Sinus[4][3] = -0.690; + v.Layers[0].Sinus[4][4] = -0.705; + FILE *f; + int l = MakeVTEC(&v, 0, obuffer, sizeof(obuffer)); + if(!l) fprintf(stderr, "BUILD ERROR\n"); + else + { + int nl, ns; + struct VTEC vv; + + if((f = fopen("outfile.raw", "ab+"))) + { + fwrite(obuffer, l, 1, f); + fclose(f); + } + else fprintf(stderr, "SAVE ERROR\n"); + //fwrite(obuffer, l, 1, stdout); + memset(&vv, 0, sizeof(vv)); + nl = GetSSR(0, 0, &vv, 0, obuffer, l, &ns); + if(nl < 0) fprintf(stderr, "EXTRACT ERROR %d\n", nl); + else if(nl > 0) fprintf(stderr, "MULTIBLOCK UNSUPPORTED IN TEST\n"); + else if(ns != l) fprintf(stderr, "SIZE MISMATCH (%d/%d)\n", ns,l); + else + { + int i, j, k; + for(i = 0; i < vv.NumLayers; ++i) + { + printf("%d layer %d height %f degree %d order %d\n", vv.EpochTime, + i, vv.Layers[i].Height, vv.Layers[i].Degree, vv.Layers[i].Order); + for(j = 0; j <= vv.Layers[i].Degree; ++j) + { + printf("Cn%d ",j); + for(k = 0; k <= vv.Layers[i].Order; ++k) + { + printf(" %7.3f",vv.Layers[i].Cosinus[k][j]); + } + printf("\n"); + } + for(j = 0; j <= vv.Layers[i].Degree; ++j) + { + printf("Sn%d ",j); + for(k = 0; k <= vv.Layers[i].Order; ++k) + { + printf(" %7.3f",vv.Layers[i].Sinus[k][j]); + } + printf("\n"); + } + } + } + } + } + free(buffer); + return 0; +} Index: trunk/clock_and_orbit/ssr1_cocb_data/CLK801330.14C =================================================================== --- trunk/clock_and_orbit/ssr1_cocb_data/CLK801330.14C (revision 5664) +++ trunk/clock_and_orbit/ssr1_cocb_data/CLK801330.14C (revision 5664) @@ -0,0 +1,67957 @@ +! Biases: 29 GPS 0 Glonass +1059 0 1792 223265.0 G01 3 2 -4.110 0 -3.630 11 -6.780 +1059 0 1792 223265.0 G02 3 2 3.610 0 3.320 11 5.950 +1059 0 1792 223265.0 G03 3 2 -1.010 0 -1.240 11 -1.660 +1059 0 1792 223265.0 G04 3 2 -0.470 0 -0.210 11 -0.780 +1059 0 1792 223265.0 G05 3 2 0.770 0 1.270 11 1.280 +1059 0 1792 223265.0 G07 3 2 0.890 0 1.230 11 1.460 +1059 0 1792 223265.0 G08 3 2 -1.160 0 -1.460 11 -1.910 +1059 0 1792 223265.0 G09 3 2 -0.630 0 -0.700 11 -1.030 +1059 0 1792 223265.0 G11 3 2 1.100 0 1.140 11 1.810 +1059 0 1792 223265.0 G12 3 2 1.250 0 1.580 11 2.060 +1059 0 1792 223265.0 G13 3 2 0.910 0 1.210 11 1.500 +1059 0 1792 223265.0 G14 3 2 0.340 0 0.250 11 0.560 +1059 0 1792 223265.0 G15 3 2 0.720 0 1.180 11 1.200 +1059 0 1792 223265.0 G17 3 2 0.790 0 1.160 11 1.300 +1059 0 1792 223265.0 G16 3 2 0.680 0 0.380 11 1.130 +1059 0 1792 223265.0 G19 3 2 2.020 0 1.390 11 3.330 +1059 0 1792 223265.0 G18 3 2 0.920 0 0.710 11 1.520 +1059 0 1792 223265.0 G21 3 2 0.970 0 0.650 11 1.600 +1059 0 1792 223265.0 G20 3 2 0.010 0 -0.500 11 0.020 +1059 0 1792 223265.0 G23 3 2 3.610 0 3.690 11 5.950 +1059 0 1792 223265.0 G22 3 2 2.800 0 2.040 11 4.620 +1059 0 1792 223265.0 G25 3 2 -3.980 0 -4.060 11 -6.550 +1059 0 1792 223265.0 G24 3 2 -3.200 0 -2.750 11 -5.280 +1059 0 1792 223265.0 G27 3 2 -2.910 0 -2.900 11 -4.790 +1059 0 1792 223265.0 G26 3 2 -0.580 0 -0.470 11 -0.950 +1059 0 1792 223265.0 G29 3 2 0.520 0 1.020 11 0.860 +1059 0 1792 223265.0 G28 3 2 0.780 0 0.600 11 1.290 +1059 0 1792 223265.0 G31 3 2 1.620 0 1.960 11 2.670 +1059 0 1792 223265.0 G32 3 2 -1.470 0 -1.900 11 -2.420 +! Orbits/Clocks: 0 GPS 23 Glonass +1066 0 1792 223265.0 R01 67 132.922 1.048 -0.530 -0.724 0.00000 0.00144 -0.00042 0.00047 0.00000 +1066 0 1792 223265.0 R02 67 131.577 1.104 1.113 -0.645 0.00000 0.00136 0.00061 -0.00017 0.00000 +1066 0 1792 223265.0 R03 67 132.766 0.376 0.993 1.338 0.00000 0.00069 0.00077 0.00136 0.00000 +1066 0 1792 223265.0 R04 67 137.027 -0.042 1.159 1.141 0.00000 -0.00038 -0.00022 -0.00029 0.00000 +1066 0 1792 223265.0 R05 65 132.340 6.841 0.838 -0.744 0.00000 0.00422 -0.00235 -0.00123 0.00000 +1066 0 1792 223265.0 R06 67 128.338 1.621 2.868 -0.354 0.00000 0.00204 0.00028 -0.00097 0.00000 +1066 0 1792 223265.0 R07 67 133.980 0.960 -0.293 0.666 0.00000 0.00074 0.00107 -0.00100 0.00000 +1066 0 1792 223265.0 R08 67 134.092 0.360 -2.354 -0.270 0.00000 0.00006 -0.00021 -0.00057 0.00000 +1066 0 1792 223265.0 R09 67 130.368 0.758 2.162 0.790 0.00000 0.00128 0.00082 -0.00043 0.00000 +1066 0 1792 223265.0 R10 67 133.308 -0.224 3.539 -1.706 0.00000 -0.00008 0.00066 -0.00201 0.00000 +1066 0 1792 223265.0 R11 67 133.862 0.825 -0.998 -1.844 0.00000 -0.00066 -0.00017 -0.00245 0.00000 +1066 0 1792 223265.0 R12 67 133.858 1.237 -0.036 -0.920 0.00000 0.00107 0.00108 -0.00182 0.00000 +1066 0 1792 223265.0 R13 67 130.157 0.713 1.384 0.895 0.00000 0.00115 0.00024 0.00054 0.00000 +1066 0 1792 223265.0 R14 67 135.612 0.563 -0.435 1.406 0.00000 0.00039 -0.00042 0.00098 0.00000 +1066 0 1792 223265.0 R15 67 130.153 0.156 0.343 -0.813 0.00000 -0.00146 -0.00041 0.00107 0.00000 +1066 0 1792 223265.0 R17 67 132.411 0.289 0.474 -0.821 0.00000 -0.00146 -0.00016 -0.00133 0.00000 +1066 0 1792 223265.0 R16 67 134.423 0.449 -0.094 2.118 0.00000 0.00024 0.00058 0.00206 0.00000 +1066 0 1792 223265.0 R18 67 129.311 0.427 0.820 -0.584 0.00000 -0.00045 0.00030 0.00012 0.00000 +1066 0 1792 223265.0 R21 67 131.896 -0.872 -2.084 1.144 0.00000 -0.00132 -0.00025 0.00041 0.00000 +1066 0 1792 223265.0 R20 67 130.717 -0.892 0.080 -0.629 0.00000 -0.00153 -0.00018 0.00019 0.00000 +1066 0 1792 223265.0 R23 67 130.923 0.144 -0.668 0.518 0.00000 -0.00116 -0.00027 -0.00096 0.00000 +1066 0 1792 223265.0 R22 67 131.081 -0.502 0.470 0.602 0.00000 -0.00105 0.00061 -0.00040 0.00000 +1066 0 1792 223265.0 R24 67 129.974 -0.417 -0.670 0.184 0.00000 -0.00157 -0.00015 -0.00098 0.00000 +! Orbits/Clocks: 29 GPS 0 Glonass +1060 0 1792 223270.0 G01 79 -2.202 0.496 0.153 -0.472 0.00000 -0.00001 0.00005 -0.00004 0.00000 +1060 0 1792 223270.0 G02 58 -2.416 0.824 -0.327 0.587 0.00000 0.00001 0.00002 -0.00002 0.00000 +1060 0 1792 223270.0 G03 42 -3.964 1.479 -0.161 -1.044 0.00000 -0.00007 0.00012 0.00011 0.00000 +1060 0 1792 223270.0 G04 50 -2.888 1.425 0.448 -0.088 0.00000 -0.00000 -0.00002 0.00007 0.00000 +1060 0 1792 223270.0 G05 57 -1.733 0.809 -0.455 0.162 0.00000 -0.00007 0.00007 0.00012 0.00000 +1060 0 1792 223270.0 G07 80 -3.173 0.895 -0.260 -0.946 0.00000 -0.00001 -0.00008 0.00008 0.00000 +1060 0 1792 223270.0 G08 17 -6.879 1.843 -0.664 -1.091 0.00000 -0.00004 -0.00014 0.00009 0.00000 +1060 0 1792 223270.0 G09 84 -3.880 1.826 -2.112 -1.125 0.00000 0.00002 -0.00006 0.00017 0.00000 +1060 0 1792 223270.0 G11 62 -1.603 -0.329 -1.748 -0.889 0.00000 -0.00003 0.00014 -0.00020 0.00000 +1060 0 1792 223270.0 G12 83 -2.948 0.813 1.446 0.180 0.00000 0.00010 -0.00004 0.00010 0.00000 +1060 0 1792 223270.0 G13 33 -1.325 -0.039 0.245 0.012 0.00000 -0.00002 -0.00005 0.00002 0.00000 +1060 0 1792 223270.0 G14 68 -1.375 -0.231 -0.742 0.453 0.00000 -0.00006 0.00001 -0.00014 0.00000 +1060 0 1792 223270.0 G15 118 -2.426 0.550 0.860 -0.052 0.00000 0.00001 0.00001 -0.00006 0.00000 +1060 0 1792 223270.0 G17 72 -3.887 0.748 -0.368 -0.275 0.00000 0.00002 0.00012 -0.00013 0.00000 +1060 0 1792 223270.0 G16 57 -1.783 0.087 0.089 -0.466 0.00000 0.00022 -0.00017 0.00006 0.00000 +1060 0 1792 223270.0 G19 3 -2.439 0.810 0.574 -0.304 0.00000 -0.00000 0.00002 -0.00004 0.00000 +1060 0 1792 223270.0 G18 114 -1.165 -0.296 -1.218 -1.205 0.00000 0.00005 0.00000 -0.00001 0.00000 +1060 0 1792 223270.0 G21 64 -1.731 -0.253 -0.476 0.308 0.00000 0.00003 -0.00003 0.00014 0.00000 +1060 0 1792 223270.0 G20 89 -1.520 -0.366 1.886 -0.597 0.00000 0.00006 0.00009 0.00009 0.00000 +1060 0 1792 223270.0 G23 70 -2.235 0.913 0.031 0.101 0.00000 -0.00005 0.00005 0.00007 0.00000 +1060 0 1792 223270.0 G22 12 -2.534 0.749 0.018 0.233 0.00000 -0.00010 0.00007 -0.00000 0.00000 +1060 0 1792 223270.0 G25 88 -1.970 -0.008 1.515 -0.279 0.00000 0.00004 0.00040 -0.00005 0.00000 +1060 0 1792 223270.0 G24 97 -3.339 0.505 -0.032 -0.250 0.00000 0.00008 -0.00000 -0.00010 0.00000 +1060 0 1792 223270.0 G27 122 -1.905 0.694 -1.998 -1.046 0.00000 0.00002 -0.00010 0.00010 0.00000 +1060 0 1792 223270.0 G26 73 -3.096 1.379 1.002 -0.176 0.00000 -0.00016 0.00005 0.00002 0.00000 +1060 0 1792 223270.0 G29 81 -2.991 0.881 0.849 -0.326 0.00000 -0.00000 0.00002 -0.00009 0.00000 +1060 0 1792 223270.0 G28 7 -0.863 -0.504 1.636 0.468 0.00000 0.00006 -0.00001 -0.00001 0.00000 +1060 0 1792 223270.0 G31 92 -2.433 1.103 0.203 0.582 0.00000 -0.00009 0.00004 0.00010 0.00000 +1060 0 1792 223270.0 G32 7 -3.334 1.796 0.893 0.308 0.00000 0.00008 -0.00009 0.00004 0.00000 +! Biases: 29 GPS 0 Glonass +1059 0 1792 223270.0 G01 3 2 -4.110 0 -3.630 11 -6.780 +1059 0 1792 223270.0 G02 3 2 3.610 0 3.320 11 5.950 +1059 0 1792 223270.0 G03 3 2 -1.010 0 -1.240 11 -1.660 +1059 0 1792 223270.0 G04 3 2 -0.470 0 -0.210 11 -0.780 +1059 0 1792 223270.0 G05 3 2 0.770 0 1.270 11 1.280 +1059 0 1792 223270.0 G07 3 2 0.890 0 1.230 11 1.460 +1059 0 1792 223270.0 G08 3 2 -1.160 0 -1.460 11 -1.910 +1059 0 1792 223270.0 G09 3 2 -0.630 0 -0.700 11 -1.030 +1059 0 1792 223270.0 G11 3 2 1.100 0 1.140 11 1.810 +1059 0 1792 223270.0 G12 3 2 1.250 0 1.580 11 2.060 +1059 0 1792 223270.0 G13 3 2 0.910 0 1.210 11 1.500 +1059 0 1792 223270.0 G14 3 2 0.340 0 0.250 11 0.560 +1059 0 1792 223270.0 G15 3 2 0.720 0 1.180 11 1.200 +1059 0 1792 223270.0 G17 3 2 0.790 0 1.160 11 1.300 +1059 0 1792 223270.0 G16 3 2 0.680 0 0.380 11 1.130 +1059 0 1792 223270.0 G19 3 2 2.020 0 1.390 11 3.330 +1059 0 1792 223270.0 G18 3 2 0.920 0 0.710 11 1.520 +1059 0 1792 223270.0 G21 3 2 0.970 0 0.650 11 1.600 +1059 0 1792 223270.0 G20 3 2 0.010 0 -0.500 11 0.020 +1059 0 1792 223270.0 G23 3 2 3.610 0 3.690 11 5.950 +1059 0 1792 223270.0 G22 3 2 2.800 0 2.040 11 4.620 +1059 0 1792 223270.0 G25 3 2 -3.980 0 -4.060 11 -6.550 +1059 0 1792 223270.0 G24 3 2 -3.200 0 -2.750 11 -5.280 +1059 0 1792 223270.0 G27 3 2 -2.910 0 -2.900 11 -4.790 +1059 0 1792 223270.0 G26 3 2 -0.580 0 -0.470 11 -0.950 +1059 0 1792 223270.0 G29 3 2 0.520 0 1.020 11 0.860 +1059 0 1792 223270.0 G28 3 2 0.780 0 0.600 11 1.290 +1059 0 1792 223270.0 G31 3 2 1.620 0 1.960 11 2.670 +1059 0 1792 223270.0 G32 3 2 -1.470 0 -1.900 11 -2.420 +! Orbits/Clocks: 0 GPS 23 Glonass +1066 0 1792 223270.0 R01 67 132.929 1.054 -0.532 -0.722 0.00000 0.00145 -0.00042 0.00047 0.00000 +1066 0 1792 223270.0 R02 67 131.581 1.110 1.116 -0.646 0.00000 0.00137 0.00061 -0.00016 0.00000 +1066 0 1792 223270.0 R03 67 132.776 0.379 0.996 1.343 0.00000 0.00070 0.00077 0.00136 0.00000 +1066 0 1792 223270.0 R04 67 137.031 -0.043 1.158 1.139 0.00000 -0.00038 -0.00022 -0.00029 0.00000 +1066 0 1792 223270.0 R05 65 132.340 6.862 0.828 -0.750 0.00000 0.00423 -0.00237 -0.00124 0.00000 +1066 0 1792 223270.0 R06 67 128.331 1.629 2.870 -0.359 0.00000 0.00206 0.00028 -0.00097 0.00000 +1066 0 1792 223270.0 R07 67 133.964 0.963 -0.288 0.661 0.00000 0.00074 0.00107 -0.00101 0.00000 +1066 0 1792 223270.0 R08 67 134.090 0.361 -2.354 -0.272 0.00000 0.00006 -0.00021 -0.00058 0.00000 +1066 0 1792 223270.0 R09 67 130.382 0.763 2.166 0.788 0.00000 0.00128 0.00082 -0.00043 0.00000 +1066 0 1792 223270.0 R10 67 133.316 -0.225 3.542 -1.715 0.00000 -0.00008 0.00067 -0.00202 0.00000 +1066 0 1792 223270.0 R11 67 133.846 0.823 -0.999 -1.855 0.00000 -0.00067 -0.00017 -0.00246 0.00000 +1066 0 1792 223270.0 R12 67 133.863 1.241 -0.031 -0.928 0.00000 0.00108 0.00108 -0.00183 0.00000 +1066 0 1792 223270.0 R13 67 130.153 0.717 1.386 0.898 0.00000 0.00116 0.00024 0.00054 0.00000 +1066 0 1792 223270.0 R14 67 135.607 0.565 -0.438 1.410 0.00000 0.00039 -0.00042 0.00098 0.00000 +1066 0 1792 223270.0 R15 67 130.155 0.150 0.340 -0.809 0.00000 -0.00147 -0.00041 0.00107 0.00000 +1066 0 1792 223270.0 R17 67 132.411 0.283 0.474 -0.827 0.00000 -0.00147 -0.00016 -0.00133 0.00000 +1066 0 1792 223270.0 R16 67 134.417 0.450 -0.091 2.127 0.00000 0.00025 0.00058 0.00207 0.00000 +1066 0 1792 223270.0 R18 67 129.313 0.425 0.822 -0.583 0.00000 -0.00046 0.00030 0.00012 0.00000 +1066 0 1792 223270.0 R21 67 131.920 -0.878 -2.085 1.145 0.00000 -0.00133 -0.00025 0.00041 0.00000 +1066 0 1792 223270.0 R20 67 130.708 -0.899 0.079 -0.629 0.00000 -0.00153 -0.00018 0.00019 0.00000 +1066 0 1792 223270.0 R23 67 130.903 0.139 -0.670 0.514 0.00000 -0.00116 -0.00026 -0.00096 0.00000 +1066 0 1792 223270.0 R22 67 131.081 -0.506 0.473 0.600 0.00000 -0.00105 0.00061 -0.00040 0.00000 +1066 0 1792 223270.0 R24 67 129.975 -0.424 -0.671 0.180 0.00000 -0.00157 -0.00015 -0.00099 0.00000 +! 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Biases: 0 GPS 23 Glonass +1065 2 1792 227375.0 R01 4 1 -2.540 0 -2.640 3 -4.200 2 -3.210 +1065 2 1792 227375.0 R02 4 1 0.100 0 0.260 3 0.160 2 0.210 +1065 2 1792 227375.0 R03 4 1 2.240 0 2.480 3 3.710 2 3.740 +1065 2 1792 227375.0 R04 4 1 2.610 0 2.940 3 4.310 2 4.360 +1065 2 1792 227375.0 R05 4 1 -0.990 0 -0.970 3 -1.640 2 -0.680 +1065 2 1792 227375.0 R06 4 1 0.360 0 0.250 3 0.600 2 1.450 +1065 2 1792 227375.0 R07 4 1 1.600 0 1.910 3 2.650 2 2.660 +1065 2 1792 227375.0 R09 4 1 2.210 0 2.260 3 3.660 2 2.610 +1065 2 1792 227375.0 R10 4 1 -3.890 0 -4.190 3 -6.430 2 -6.930 +1065 2 1792 227375.0 R11 4 1 -0.810 0 -0.940 3 -1.340 2 -1.730 +1065 2 1792 227375.0 R12 4 1 -1.730 0 -1.860 3 -2.870 2 -2.100 +1065 2 1792 227375.0 R13 4 1 -0.810 0 -1.340 3 -1.340 2 -1.880 +1065 2 1792 227375.0 R14 4 1 -3.900 0 -3.890 3 -6.450 2 -6.600 +1065 2 1792 227375.0 R15 4 1 -1.760 0 -1.390 3 -2.920 2 -3.580 +1065 2 1792 227375.0 R16 4 1 -0.690 0 -0.340 3 -1.140 2 -0.710 +1065 2 1792 227375.0 R17 4 1 1.650 0 1.800 3 2.730 2 2.830 +1065 2 1792 227375.0 R18 4 1 -0.060 0 -0.700 3 -0.110 2 -0.440 +1065 2 1792 227375.0 R19 4 1 2.500 0 2.170 3 4.130 2 4.000 +1065 2 1792 227375.0 R20 4 1 -1.260 0 -1.240 3 -2.090 2 -2.920 +1065 2 1792 227375.0 R21 4 1 2.390 0 2.350 3 3.950 2 3.720 +1065 2 1792 227375.0 R22 4 1 0.220 0 -0.050 3 0.360 2 0.480 +1065 2 1792 227375.0 R23 4 1 -1.800 0 -1.790 3 -2.980 2 -2.610 +1065 2 1792 227375.0 R24 4 1 1.800 0 1.800 3 2.980 2 2.990 Index: trunk/clock_and_orbit/ssr1_cocb_data/readme_ssr1_cocb_data.txt =================================================================== --- trunk/clock_and_orbit/ssr1_cocb_data/readme_ssr1_cocb_data.txt (revision 5664) +++ trunk/clock_and_orbit/ssr1_cocb_data/readme_ssr1_cocb_data.txt (revision 5664) @@ -0,0 +1,71 @@ +RTCM SSR Orbit, Clock and Code Bias Interoperability Test Datasets +================================================================== + + +Browsing zipfile archive +------------------------ +ssr1_cocb_data/outfile_C.dbg +ssr1_cocb_data/outfile_C.raw +ssr1_cocb_data/outfile_E.dbg +ssr1_cocb_data/outfile_E.raw +ssr1_cocb_data/outfile_G.dbg +ssr1_cocb_data/outfile_G.raw +ssr1_cocb_data/outfile_J.dbg +ssr1_cocb_data/outfile_J.raw +ssr1_cocb_data/outfile_R.dbg +ssr1_cocb_data/outfile_R.raw +ssr1_cocb_data/outfile_S.dbg +ssr1_cocb_data/outfile_S.raw +ssr1_cocb_data/CLK801330.14C +ssr1_cocb_data/readme_InterOpTest.txt + + +Supported GNSS: +--------------- +- G: GPS +- R: GLONASS +- E: Galileo +- J: QZSS +- S: SBAS +- C: BDS + + +Input data set in ASCII format +------------------------------ +- ssr1_cocb_data/CLK801330.14C + + real GPS+GLONASS data set containing the following RTCM3 messages: + + message type | interval [sec] | description + ---------------+----------------+--------------------------------------------- + 1059 | 5 | GPS code biases + 1060 | 5 | GPS combined orbit and clock corrections + 1065 | 5 | GLONASS code biases + 1066 | 5 | GLONASS combined orbit and clock corrections + +- the GPS messages 1059 and 1060 are used for generation of + synthetic input data for all other supported GNSS: + + GNSS | message types | description + ------------+------------------+--------------------------------------------- + GLONASS | 1065 | GLONASS code biases + | 1066 | GLONASS combined orbit and clock corrections + Galileo | 1242 | Galileo code biases + | 1243 | Galileo combined orbit and clock corrections + QZSS | 1248 | QZSS code biases + | 1249 | QZSS combined orbit and clock corrections + SBAS | 1254 | SBAS code biases + | 1255 | SBAS combined orbit and clock corrections + BDS | 1260 | BDS code biases + | 1261 | BDS combined orbit and clock corrections + + +generated synthetic data sets in RTCM3-SSR format +------------------------------------------------- +- ssr1_cocb_data/outfile_*.raw + + +encoding / decoding debug output in ASCII format +------------------------------------------------ +- ssr1_cocb_data/outfile_*.dbg + Index: trunk/clock_and_orbit/ssr1_cogps_old_data/CLCK4_080423 =================================================================== --- trunk/clock_and_orbit/ssr1_cogps_old_data/CLCK4_080423 (revision 5664) +++ trunk/clock_and_orbit/ssr1_cogps_old_data/CLCK4_080423 (revision 5664) @@ -0,0 +1,16310 @@ +1476 298631.0 G01 51 51 -6.968 0.570 -0.791 0.056 +1476 298631.0 G04 114 114 4.299 1.224 -1.114 -0.399 +1476 298631.0 G11 3 3 4.533 1.530 -0.479 -0.088 +1476 298631.0 G13 56 56 -4.364 1.414 1.432 -1.260 +1476 298631.0 G17 70 70 -1.062 0.029 -1.777 -0.979 +1476 298631.0 G20 84 84 3.043 1.561 0.153 -0.136 +1476 298631.0 G23 24 24 -3.962 0.155 -1.096 0.449 +1476 298631.0 G25 49 49 5.367 1.069 -1.236 -0.805 +1476 298631.0 G31 66 66 1.343 0.055 0.507 0.609 +1476 298631.0 G32 58 58 -6.484 0.966 -0.683 0.383 +1476 298650.0 G01 51 51 -7.001 0.568 -0.788 0.057 +1476 298650.0 G04 114 114 4.320 1.223 -1.111 -0.401 +1476 298650.0 G11 3 3 4.530 1.531 -0.481 -0.085 +1476 298650.0 G13 56 56 -4.361 1.412 1.434 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298678.0 G17 70 70 -1.284 0.027 -1.778 -0.980 +1476 298678.0 G20 84 84 2.888 1.562 0.159 -0.128 +1476 298678.0 G23 24 24 -4.094 0.155 -1.100 0.452 +1476 298678.0 G25 49 49 5.269 1.065 -1.227 -0.801 +1476 298678.0 G31 66 66 1.187 0.052 0.507 0.614 +1476 298678.0 G32 58 58 -6.691 0.970 -0.690 0.384 +1476 298679.0 G04 114 114 4.191 1.222 -1.105 -0.404 +1476 298679.0 G11 3 3 4.382 1.533 -0.484 -0.081 +1476 298679.0 G13 56 56 -4.501 1.408 1.438 -1.259 +1476 298679.0 G17 70 70 -1.285 0.028 -1.777 -0.980 +1476 298679.0 G20 84 84 2.888 1.562 0.159 -0.127 +1476 298679.0 G23 24 24 -4.093 0.154 -1.100 0.453 +1476 298679.0 G25 49 49 5.271 1.064 -1.227 -0.802 +1476 298679.0 G31 66 66 1.187 0.052 0.507 0.615 +1476 298679.0 G32 58 58 -6.693 0.971 -0.690 0.384 +1476 298680.0 G04 114 114 4.193 1.221 -1.105 -0.405 +1476 298680.0 G11 3 3 4.380 1.533 -0.484 -0.080 +1476 298680.0 G13 56 56 -4.500 1.409 1.438 -1.259 +1476 298680.0 G17 70 70 -1.287 0.028 -1.777 -0.980 +1476 298680.0 G20 84 84 2.888 1.562 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303860.0 G25 58 58 6.938 0.904 -0.469 -0.343 +1476 303860.0 G27 90 90 7.545 0.915 -1.462 -0.168 +1476 303861.0 G02 18 18 -6.431 0.053 0.547 -0.694 +1476 303861.0 G04 115 115 6.153 1.193 -1.052 -0.528 +1476 303861.0 G07 24 24 -1.095 -0.079 -0.277 -0.714 +1476 303861.0 G13 57 57 -2.118 1.389 2.053 -0.799 +1476 303861.0 G16 29 29 3.247 1.703 1.072 -0.591 +1476 303861.0 G20 85 85 5.093 1.579 -0.045 0.674 +1476 303861.0 G23 25 25 -2.902 0.118 -1.819 0.404 +1476 303861.0 G25 58 58 6.937 0.904 -0.469 -0.343 +1476 303861.0 G27 90 90 7.545 0.914 -1.463 -0.168 +1476 303901.0 G02 18 18 -6.395 0.054 0.538 -0.690 +1476 303901.0 G04 115 115 6.158 1.192 -1.055 -0.531 +1476 303901.0 G07 24 24 -1.083 -0.080 -0.266 -0.718 +1476 303901.0 G13 57 57 -2.074 1.389 2.057 -0.791 +1476 303901.0 G16 29 29 3.179 1.703 1.071 -0.589 +1476 303901.0 G20 85 85 5.081 1.580 -0.057 0.675 +1476 303901.0 G23 25 25 -2.881 0.118 -1.830 0.403 +1476 303901.0 G25 58 58 6.949 0.903 -0.461 -0.334 +1476 303901.0 G27 90 90 7.529 0.910 -1.462 -0.160 +1476 303902.0 G02 18 18 -6.394 0.054 0.538 -0.690 +1476 303902.0 G04 115 115 6.157 1.192 -1.056 -0.531 +1476 303902.0 G07 24 24 -1.081 -0.080 -0.266 -0.718 +1476 303902.0 G13 57 57 -2.072 1.390 2.057 -0.791 +1476 303902.0 G16 29 29 3.178 1.703 1.071 -0.589 +1476 303902.0 G20 85 85 5.080 1.580 -0.058 0.675 +1476 303902.0 G23 25 25 -2.880 0.118 -1.831 0.403 +1476 303902.0 G25 58 58 6.951 0.904 -0.460 -0.334 +1476 303902.0 G27 90 90 7.527 0.910 -1.461 -0.160 +1476 303903.0 G02 18 18 -6.396 0.054 0.538 -0.690 +1476 303903.0 G04 115 115 6.153 1.193 -1.056 -0.531 +1476 303903.0 G07 24 24 -1.083 -0.081 -0.266 -0.718 +1476 303903.0 G13 57 57 -2.071 1.389 2.057 -0.791 +1476 303903.0 G16 29 29 3.175 1.703 1.071 -0.589 +1476 303903.0 G20 85 85 5.079 1.579 -0.058 0.675 +1476 303903.0 G23 25 25 -2.880 0.119 -1.831 0.402 +1476 303903.0 G25 58 58 6.950 0.903 -0.460 -0.333 +1476 303903.0 G27 90 90 7.527 0.910 -1.461 -0.159 +1476 303904.0 G02 18 18 -6.394 0.054 0.537 -0.690 +1476 303904.0 G04 115 115 6.153 1.192 -1.056 -0.532 +1476 303904.0 G07 24 24 -1.081 -0.081 -0.265 -0.718 +1476 303904.0 G13 57 57 -2.068 1.389 2.058 -0.791 +1476 303904.0 G16 29 29 3.173 1.703 1.070 -0.589 +1476 303904.0 G20 85 85 5.080 1.580 -0.058 0.675 +1476 303904.0 G23 25 25 -2.877 0.118 -1.831 0.402 +1476 303904.0 G25 58 58 6.951 0.903 -0.460 -0.334 +1476 303904.0 G27 90 90 7.529 0.909 -1.462 -0.159 +1476 303905.0 G02 18 18 -6.393 0.054 0.537 -0.690 +1476 303905.0 G04 115 115 6.151 1.193 -1.056 -0.531 +1476 303905.0 G07 24 24 -1.080 -0.081 -0.266 -0.718 +1476 303905.0 G13 57 57 -2.066 1.390 2.057 -0.791 +1476 303905.0 G16 29 29 3.172 1.703 1.071 -0.589 +1476 303905.0 G20 85 85 5.080 1.580 -0.059 0.675 +1476 303905.0 G23 25 25 -2.875 0.118 -1.832 0.402 +1476 303905.0 G25 58 58 6.951 0.903 -0.460 -0.334 +1476 303905.0 G27 90 90 7.528 0.910 -1.462 -0.159 +1476 303906.0 G02 18 18 -6.392 0.054 0.537 -0.690 +1476 303906.0 G04 115 115 6.149 1.192 -1.056 -0.531 +1476 303906.0 G07 24 24 -1.082 -0.081 -0.266 -0.718 +1476 303906.0 G13 57 57 -2.069 1.389 2.058 -0.790 +1476 303906.0 G16 29 29 3.170 1.703 1.071 -0.589 +1476 303906.0 G20 85 85 5.079 1.580 -0.059 0.675 +1476 303906.0 G23 25 25 -2.875 0.118 -1.831 0.402 +1476 303906.0 G25 58 58 6.951 0.903 -0.459 -0.334 +1476 303906.0 G27 90 90 7.527 0.909 -1.462 -0.159 +1476 303907.0 G02 18 18 -6.392 0.054 0.536 -0.690 +1476 303907.0 G04 115 115 6.148 1.191 -1.057 -0.531 +1476 303907.0 G07 24 24 -1.081 -0.081 -0.265 -0.718 +1476 303907.0 G13 57 57 -2.069 1.390 2.057 -0.790 +1476 303907.0 G16 29 29 3.169 1.703 1.072 -0.589 +1476 303907.0 G20 85 85 5.080 1.580 -0.059 0.675 +1476 303907.0 G23 25 25 -2.874 0.119 -1.832 0.402 +1476 303907.0 G25 58 58 6.950 0.904 -0.460 -0.333 +1476 303907.0 G27 90 90 7.527 0.909 -1.462 -0.159 +1476 303908.0 G02 18 18 -6.391 0.054 0.536 -0.690 +1476 303908.0 G04 115 115 6.149 1.192 -1.056 -0.531 +1476 303908.0 G07 24 24 -1.081 -0.081 -0.265 -0.718 +1476 303908.0 G13 57 57 -2.069 1.389 2.057 -0.790 +1476 303908.0 G16 29 29 3.168 1.704 1.071 -0.589 +1476 303908.0 G20 85 85 5.079 1.581 -0.060 0.675 +1476 303908.0 G23 25 25 -2.873 0.119 -1.833 0.403 +1476 303908.0 G25 58 58 6.951 0.903 -0.460 -0.333 +1476 303908.0 G27 90 90 7.527 0.909 -1.461 -0.158 +1476 303947.0 G02 18 18 -6.374 0.054 0.527 -0.687 +1476 303947.0 G04 115 115 6.149 1.191 -1.059 -0.533 +1476 303947.0 G07 24 24 -1.045 -0.082 -0.255 -0.721 +1476 303947.0 G13 57 57 -2.100 1.390 2.061 -0.783 +1476 303947.0 G16 29 29 3.191 1.703 1.071 -0.586 +1476 303947.0 G20 85 85 5.076 1.581 -0.071 0.676 +1476 303947.0 G23 25 25 -2.858 0.120 -1.844 0.400 +1476 303947.0 G25 58 58 6.947 0.903 -0.451 -0.325 +1476 303947.0 G27 90 90 7.505 0.905 -1.460 -0.150 +1476 303948.0 G02 18 18 -6.375 0.054 0.527 -0.686 +1476 303948.0 G04 115 115 6.148 1.191 -1.060 -0.534 +1476 303948.0 G07 24 24 -1.044 -0.082 -0.255 -0.721 +1476 303948.0 G13 57 57 -2.102 1.390 2.061 -0.782 +1476 303948.0 G16 29 29 3.190 1.703 1.070 -0.586 +1476 303948.0 G20 85 85 5.078 1.581 -0.071 0.675 +1476 303948.0 G23 25 25 -2.856 0.119 -1.844 0.399 +1476 303948.0 G25 58 58 6.947 0.903 -0.451 -0.325 +1476 303948.0 G27 90 90 7.506 0.904 -1.459 -0.151 +1476 303949.0 G02 18 18 -6.376 0.055 0.527 -0.686 +1476 303949.0 G04 115 115 6.148 1.191 -1.059 -0.534 +1476 303949.0 G07 24 24 -1.043 -0.081 -0.255 -0.721 +1476 303949.0 G13 57 57 -2.103 1.390 2.061 -0.782 +1476 303949.0 G16 29 29 3.190 1.703 1.070 -0.586 +1476 303949.0 G20 85 85 5.079 1.582 -0.071 0.676 +1476 303949.0 G23 25 25 -2.854 0.119 -1.844 0.400 +1476 303949.0 G25 58 58 6.946 0.903 -0.450 -0.324 +1476 303949.0 G27 90 90 7.506 0.904 -1.460 -0.151 +1476 303950.0 G02 18 18 -6.377 0.054 0.526 -0.687 +1476 303950.0 G04 115 115 6.149 1.191 -1.060 -0.534 +1476 303950.0 G07 24 24 -1.043 -0.082 -0.255 -0.722 +1476 303950.0 G13 57 57 -2.104 1.390 2.061 -0.782 +1476 303950.0 G16 29 29 3.190 1.703 1.070 -0.586 +1476 303950.0 G20 85 85 5.079 1.581 -0.072 0.675 +1476 303950.0 G23 25 25 -2.852 0.119 -1.845 0.399 +1476 303950.0 G25 58 58 6.945 0.904 -0.450 -0.324 +1476 303950.0 G27 90 90 7.507 0.904 -1.459 -0.150 +1476 303951.0 G02 18 18 -6.378 0.054 0.527 -0.686 +1476 303951.0 G04 115 115 6.151 1.191 -1.060 -0.534 +1476 303951.0 G07 24 24 -1.046 -0.081 -0.254 -0.722 +1476 303951.0 G13 57 57 -2.106 1.390 2.061 -0.782 +1476 303951.0 G16 29 29 3.192 1.703 1.070 -0.586 +1476 303951.0 G20 85 85 5.081 1.582 -0.072 0.676 +1476 303951.0 G23 25 25 -2.851 0.119 -1.844 0.399 +1476 303951.0 G25 58 58 6.944 0.903 -0.451 -0.323 +1476 303951.0 G27 90 90 7.508 0.904 -1.460 -0.150 +1476 303952.0 G02 18 18 -6.379 0.054 0.526 -0.687 +1476 303952.0 G04 115 115 6.153 1.192 -1.060 -0.534 +1476 303952.0 G07 24 24 -1.045 -0.082 -0.255 -0.722 +1476 303952.0 G13 57 57 -2.107 1.390 2.062 -0.782 +1476 303952.0 G16 29 29 3.192 1.703 1.070 -0.586 +1476 303952.0 G20 85 85 5.081 1.581 -0.072 0.676 +1476 303952.0 G23 25 25 -2.848 0.119 -1.845 0.399 +1476 303952.0 G25 58 58 6.942 0.903 -0.450 -0.324 +1476 303952.0 G27 90 90 7.508 0.904 -1.459 -0.150 Index: trunk/clock_and_orbit/ssr1_cogps_old_data/CLCK4_080423.txt =================================================================== --- trunk/clock_and_orbit/ssr1_cogps_old_data/CLCK4_080423.txt (revision 5664) +++ trunk/clock_and_orbit/ssr1_cogps_old_data/CLCK4_080423.txt (revision 5664) @@ -0,0 +1,28 @@ +im Anhang finden Sie die Aufzeichnung von www.igs-ip.net/CLCK4 für etwa 1.5 +Stunden. Es handelt sich um den Zeitraum 08-04-23 10:57:20 bis etwa 08-04-23 +12:26:48. In den 9 +Spalten findet sich die Information: + +1. GPS-Woche +2. Sekunde der GPS-Woche +3. PRN +4. IODC +5. IODE +6. clock-Corr[m] +7. radial-Corr[m] +8. along-track-Corr[m] +9. out-of-plane-Corr[m] + +Auszug aus der Datei: + +1476 298631.0 G01 51 51 -6.968 0.570 -0.791 0.056 +1476 298631.0 G04 114 114 4.299 1.224 -1.114 -0.399 +1476 298631.0 G11 3 3 4.533 1.530 -0.479 -0.088 +1476 298631.0 G13 56 56 -4.364 1.414 1.432 -1.260 +1476 298631.0 G17 70 70 -1.062 0.029 -1.777 -0.979 +1476 298631.0 G20 84 84 3.043 1.561 0.153 -0.136 +1476 298631.0 G23 24 24 -3.962 0.155 -1.096 0.449 +1476 298631.0 G25 49 49 5.367 1.069 -1.236 -0.805 +1476 298631.0 G31 66 66 1.343 0.055 0.507 0.609 +1476 298631.0 G32 58 58 -6.484 0.966 -0.683 0.383 +...