//------------------------------------------------------------------------------
//
// RTCM2.h
//
// Purpose:
//
// Module for extraction of RTCM2 messages
//
// References:
//
// RTCM 10402.3 Recommended Standards for Differential GNSS (Global
// Navigation Satellite Systems) Service; RTCM Paper 136-2001/SC104-STD,
// Version 2.3, 20 Aug. 2001; Radio Technical Commission For Maritime
// Services, Alexandria, Virgina (2001).
// ICD-GPS-200; Navstar GPS Space Segment / Navigation User Interfaces;
// Revison C; 25 Sept. 1997; Arinc Research Corp., El Segundo (1997).
// Jensen M.; RTCM2ASC Documentation;
// URL http://kom.aau.dk/~borre/masters/receiver/rtcm2asc.htm;
// last accessed 17 Sep. 2006
// Sager J.; Decoder for RTCM SC-104 data from a DGPS beacon receiver;
// URL http://www.wsrcc.com/wolfgang/ftp/rtcm-0.3.tar.gz;
// last accessed 17 Sep. 2006
//
// Last modified:
//
// 2006/09/17 OMO Created
// 2006/10/05 OMO Specified const'ness of various member functions
// 2006/10/17 OMO Removed obsolete check of multiple message indicator
// 2006/11/25 OMO Revised check for presence of GLONASS data
// 2008/03/07 AHA Removed unnecessary failure flag
// 2008/09/01 AHA Harmonization with newest BNC version
//
// (c) DLR/GSOC
//
//------------------------------------------------------------------------------
#ifndef INC_RTCM2_H
#define INC_RTCM2_H
#include <bitset>
#include <fstream>
#include <string>
#include <vector>
//
// namespace rtcm2
//
namespace rtcm2 {
//------------------------------------------------------------------------------
//
// class thirtyBitWord (specification)
//
// Purpose:
//
// Handling of RTCM2 30bit words
//
//------------------------------------------------------------------------------
class ThirtyBitWord {
public:
// Constructor and initialization
ThirtyBitWord();
void clear();
// Status queries
bool fail() const;
bool validParity() const;
bool isHeader() const;
// Access methods
unsigned int all() const;
unsigned int value() const;
// Input
void get(const std::string& buf);
void get(std::istream& inp);
void getHeader(std::string& buf);
void getHeader(std::istream& inp);
private:
// Input
void append(unsigned char c);
private:
// bool failure;
//
// A 32-bit integer is used to store the 30-bit RTCM word as well as 2
// parity bits retained from the previous word
//
// Bits 31..30 (from left to right) hold the parity bits D29*..D30* of
// the previous 30-bit word
// Bits 29..06 (from left to right) hold the current data bits D01..D24
// Bits 05..00 (from left to right) hold the current parity bits D25..D30
//
unsigned int W;
};
//------------------------------------------------------------------------------
//
// RTCM2packet (class definition)
//
// Purpose:
//
// A class for handling RTCM2 data packets
//
//------------------------------------------------------------------------------
class RTCM2packet {
public:
// Constructor and initialization
RTCM2packet();
void clear();
// Status queries
bool valid() const;
// Input
void getPacket(std::string& buf);
void getPacket(std::istream& inp);
friend std::istream& operator >> (std::istream& is, RTCM2packet& p);
//
// Access methods
//
// Header and data words contents (parity corrected)
unsigned int header1() const;
unsigned int header2() const;
unsigned int dataWord(int i) const;
// Header information
unsigned int msgType() const;
unsigned int ID() const { return msgType(); };
unsigned int stationID() const;
unsigned int modZCount() const;
unsigned int seqNumber() const;
unsigned int nDataWords() const;
unsigned int staHealth() const;
// Data access
unsigned int getUnsignedBits (unsigned int start,
unsigned int n ) const;
int getBits (unsigned int start,
unsigned int n ) const;
private:
// All input of RTCM data uses a single instance, W, of a 30-bit word
// to maintain parity bits between consecutive inputs.
ThirtyBitWord W;
// Two 30-bit words make up the header of an RTCM2 message
// (parity corrected)
unsigned int H1;
unsigned int H2;
// Data words (parity corrected)
std::vector<unsigned int> DW;
};
//------------------------------------------------------------------------------
//
// RTCM2_03 (class definition)
//
// Purpose:
//
// A class for handling RTCM 2 GPS Reference Station Parameters messages
//
//------------------------------------------------------------------------------
class RTCM2_03 {
public:
// Constructor
RTCM2_03() {
validMsg = false;
x = 0.0;
y = 0.0;
z = 0.0;
}
void extract(const RTCM2packet& P);
bool validMsg; // Validity flag
double x,y,z; // Station coordinates
};
//------------------------------------------------------------------------------
//
// RTCM2_23 (class definition)
//
// Purpose:
//
// A class for handling RTCM 2 Antenna Type Definition messages
//
//------------------------------------------------------------------------------
class RTCM2_23 {
public:
RTCM2_23 () {
validMsg = false;
}
void extract(const RTCM2packet& P);
bool validMsg; // Validity flag
std::string antType; // Antenna descriptor
std::string antSN ; // Antenna Serial Number
};
//------------------------------------------------------------------------------
//
// RTCM2_24 (class definition)
//
// Purpose:
//
// A class for handling RTCM 2 Reference Station Antenna
// Reference Point Parameter messages
//
//------------------------------------------------------------------------------
class RTCM2_24 {
public:
RTCM2_24 () {
validMsg = false;
isGPS = false;
isGLONASS = false;
x = 0.0;
y = 0.0;
z = 0.0;
h = 0.0;
}
void extract(const RTCM2packet& P);
bool validMsg; // Validity flag
bool isGPS; // Flag for GPS supporting station
bool isGLONASS; // Flag for GLONASS supporting station
double x,y,z; // Station coordinates (ECEF,[m])
double h; // Antenna height [m]
};
//------------------------------------------------------------------------------
//
// RTCM2_Obs (class definition)
//
// Purpose:
//
// A class for handling blocks of RTCM2 18 & 19 packets that need to be
// combined to get a complete set of measurements
//
//------------------------------------------------------------------------------
class RTCM2_Obs {
public:
RTCM2_Obs(); // Constructor
void extract(const RTCM2packet& P); // Packet handler
void clear(); // Initialization
bool valid() const; // Check for complete obs block
double resolvedPhase_L1(int i) const; // L1 & L2 carrier phase of i-th sat
double resolvedPhase_L2(int i) const; // with resolved 2^24 cy ambiguity
// (based on rng_C1)
void resolveEpoch (int refWeek, // Resolve epoch using reference
double refSecs, // epoch (GPS week and secs)
int& epochWeek,
double& epochSecs ) const;
public:
double secs; // Seconds of hour (GPS time)
int nSat; // Number of space vehicles
std::vector<int> PRN; // PRN (satellite number)
std::vector<double> rng_C1; // C/A code pseudorange on L1 [m]
std::vector<double> rng_P1; // P(Y) code pseudorange on L1 [m]
std::vector<double> rng_P2; // Pseudorange on L2 [m]
std::vector<double> cph_L1; // Carrier phase on L1 [cy]
std::vector<double> cph_L2; // Carrier phase on L2 [cy]
std::vector<int> slip_L1; // Carrier phase slip counter, L1
std::vector<int> slip_L2; // Carrier phase slip counter, L1
private:
bool anyGPS() const;
bool anyGLONASS() const;
bool allGPS() const;
bool allGLONASS() const;
private:
typedef std::bitset<8> msgflags;
msgflags availability; // Msg availability flags
bool GPSonly; // Flag for GPS-only station
};
}; // End of namespace rtcm2
#endif // include blocker