[297] | 1 | // Part of BNC, a utility for retrieving decoding and
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[464] | 2 | // converting GNSS data streams from NTRIP broadcasters.
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[297] | 3 | //
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[464] | 4 | // Copyright (C) 2007
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[297] | 5 | // German Federal Agency for Cartography and Geodesy (BKG)
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| 6 | // http://www.bkg.bund.de
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[464] | 7 | // Czech Technical University Prague, Department of Geodesy
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[297] | 8 | // http://www.fsv.cvut.cz
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| 9 | //
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| 10 | // Email: euref-ip@bkg.bund.de
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| 11 | //
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| 12 | // This program is free software; you can redistribute it and/or
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| 13 | // modify it under the terms of the GNU General Public License
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| 14 | // as published by the Free Software Foundation, version 2.
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| 15 | //
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| 16 | // This program is distributed in the hope that it will be useful,
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| 17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 19 | // GNU General Public License for more details.
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| 20 | //
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| 21 | // You should have received a copy of the GNU General Public License
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| 22 | // along with this program; if not, write to the Free Software
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| 23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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[296] | 24 |
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| 25 | /* -------------------------------------------------------------------------
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| 26 | * BKG NTRIP Client
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| 27 | * -------------------------------------------------------------------------
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| 28 | *
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| 29 | * Class: RTCM3Decoder
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| 30 | *
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| 31 | * Purpose: RTCM3 Decoder
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| 32 | *
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| 33 | * Author: L. Mervart
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| 34 | *
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| 35 | * Created: 24-Aug-2006
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| 36 | *
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[7753] | 37 | * Changes:
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[296] | 38 | *
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| 39 | * -----------------------------------------------------------------------*/
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| 40 |
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| 41 | #include <iostream>
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[1807] | 42 | #include <iomanip>
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| 43 | #include <sstream>
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[296] | 44 | #include <math.h>
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[585] | 45 | #include <string.h>
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[296] | 46 |
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[6812] | 47 | #include "bits.h"
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| 48 | #include "gnss.h"
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[296] | 49 | #include "RTCM3Decoder.h"
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[6812] | 50 | #include "rtcm_utils.h"
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[296] | 51 | #include "bncconst.h"
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[5070] | 52 | #include "bnccore.h"
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[1535] | 53 | #include "bncutils.h"
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[7753] | 54 | #include "bncsettings.h"
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[296] | 55 |
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| 56 | using namespace std;
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| 57 |
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[320] | 58 | // Error Handling
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| 59 | ////////////////////////////////////////////////////////////////////////////
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[504] | 60 | void RTCM3Error(const char*, ...) {
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[505] | 61 | }
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[320] | 62 |
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[296] | 63 | // Constructor
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| 64 | ////////////////////////////////////////////////////////////////////////////
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[7753] | 65 | RTCM3Decoder::RTCM3Decoder(const QString& staID, bncRawFile* rawFile) :
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[2387] | 66 | GPSDecoder() {
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[505] | 67 |
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[2527] | 68 | _staID = staID;
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| 69 | _rawFile = rawFile;
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[2387] | 70 |
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[6432] | 71 | connect(this, SIGNAL(newGPSEph(t_ephGPS)), BNC_CORE, SLOT(slotNewGPSEph(t_ephGPS)));
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| 72 | connect(this, SIGNAL(newGlonassEph(t_ephGlo)), BNC_CORE, SLOT(slotNewGlonassEph(t_ephGlo)));
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| 73 | connect(this, SIGNAL(newGalileoEph(t_ephGal)), BNC_CORE, SLOT(slotNewGalileoEph(t_ephGal)));
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| 74 | connect(this, SIGNAL(newSBASEph(t_ephSBAS)), BNC_CORE, SLOT(slotNewSBASEph(t_ephSBAS)));
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[6598] | 75 | connect(this, SIGNAL(newBDSEph(t_ephBDS)), BNC_CORE, SLOT(slotNewBDSEph(t_ephBDS)));
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[939] | 76 |
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[6812] | 77 | _MessageSize = _SkipBytes = _BlockSize = _NeedBytes = 0;
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[296] | 78 | }
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| 79 |
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| 80 | // Destructor
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| 81 | ////////////////////////////////////////////////////////////////////////////
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| 82 | RTCM3Decoder::~RTCM3Decoder() {
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[3001] | 83 | QMapIterator<QByteArray, RTCM3coDecoder*> it(_coDecoders);
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[6812] | 84 | while(it.hasNext())
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| 85 | {
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[3008] | 86 | it.next();
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| 87 | delete it.value();
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[3001] | 88 | }
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[296] | 89 | }
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| 90 |
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[7753] | 91 | //
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[296] | 92 | ////////////////////////////////////////////////////////////////////////////
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[6812] | 93 | bool RTCM3Decoder::DecodeRTCM3GPS(unsigned char* data, int size)
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| 94 | {
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| 95 | bool decoded = false;
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| 96 | bncTime CurrentObsTime;
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| 97 | int i, numsats, syncf, type;
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| 98 | uint64_t numbits = 0, bitfield = 0;
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[508] | 99 |
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[6812] | 100 | data += 3; /* header */
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| 101 | size -= 6; /* header + crc */
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[1218] | 102 |
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[6812] | 103 | GETBITS(type, 12)
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| 104 | SKIPBITS(12) /* id */
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| 105 | GETBITS(i,30)
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[913] | 106 |
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[6812] | 107 | CurrentObsTime.set(i);
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| 108 | if(_CurrentTime.valid() && CurrentObsTime != _CurrentTime)
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| 109 | {
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| 110 | decoded = true;
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[7753] | 111 | _obsList.append(_CurrentObsList);
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[6812] | 112 | _CurrentObsList.clear();
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[2551] | 113 | }
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[7753] | 114 |
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[6812] | 115 | _CurrentTime = CurrentObsTime;
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[2551] | 116 |
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[6812] | 117 | GETBITS(syncf,1) /* sync */
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| 118 | GETBITS(numsats,5)
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| 119 | SKIPBITS(4) /* smind, smint */
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[3002] | 120 |
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[6812] | 121 | while(numsats--)
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| 122 | {
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| 123 | int sv, code, l1range, amb=0;
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| 124 | t_satObs CurrentObs;
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| 125 | CurrentObs._time = CurrentObsTime;
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| 126 |
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| 127 | GETBITS(sv, 6)
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| 128 | if(sv < 40)
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| 129 | CurrentObs._prn.set('G', sv);
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| 130 | else
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| 131 | CurrentObs._prn.set('S', sv-20);
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| 132 |
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| 133 | t_frqObs *frqObs = new t_frqObs;
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| 134 | /* L1 */
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| 135 | GETBITS(code, 1);
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[7850] | 136 | (code) ? frqObs->_rnxType2ch.assign("1W") : frqObs->_rnxType2ch.assign("1C");
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[6812] | 137 | GETBITS(l1range, 24);
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| 138 | GETBITSSIGN(i, 20);
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| 139 | if((i&((1<<20)-1)) != 0x80000)
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| 140 | {
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| 141 | frqObs->_code = l1range*0.02;
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| 142 | frqObs->_phase = (l1range*0.02+i*0.0005)/GPS_WAVELENGTH_L1;
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| 143 | frqObs->_codeValid = frqObs->_phaseValid = true;
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[3002] | 144 | }
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[6812] | 145 | GETBITS(i, 7);
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| 146 | frqObs->_slipCounter = i;
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| 147 | if(type == 1002 || type == 1004)
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| 148 | {
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| 149 | GETBITS(amb,8);
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| 150 | if(amb)
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| 151 | {
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| 152 | frqObs->_code += amb*299792.458;
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| 153 | frqObs->_phase += (amb*299792.458)/GPS_WAVELENGTH_L1;
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[1021] | 154 | }
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[6812] | 155 | GETBITS(i, 8);
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| 156 | if(i)
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| 157 | {
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| 158 | frqObs->_snr = i*0.25;
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| 159 | frqObs->_snrValid = true;
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| 160 | }
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[1021] | 161 | }
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[6812] | 162 | CurrentObs._obs.push_back(frqObs);
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| 163 | if(type == 1003 || type == 1004)
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| 164 | {
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| 165 | frqObs = new t_frqObs;
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| 166 | /* L2 */
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| 167 | GETBITS(code,2);
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| 168 | switch(code)
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| 169 | {
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[7850] | 170 | case 3: frqObs->_rnxType2ch.assign("2W"); /* or "2Y"? */ break;
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| 171 | case 2: frqObs->_rnxType2ch.assign("2W"); break;
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| 172 | case 1: frqObs->_rnxType2ch.assign("2P"); break;
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| 173 | case 0: frqObs->_rnxType2ch.assign("2X"); /* or "2S" or "2L"? */ break;
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[6812] | 174 | }
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| 175 | GETBITSSIGN(i,14);
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| 176 | if((i&((1<<14)-1)) != 0x2000)
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| 177 | {
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| 178 | frqObs->_code = l1range*0.02+i*0.02+amb*299792.458;
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| 179 | frqObs->_codeValid = true;
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| 180 | }
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| 181 | GETBITSSIGN(i,20);
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| 182 | if((i&((1<<20)-1)) != 0x80000)
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| 183 | {
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| 184 | frqObs->_phase = (l1range*0.02+i*0.0005+amb*299792.458)/GPS_WAVELENGTH_L2;
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| 185 | frqObs->_phaseValid = true;
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| 186 | }
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| 187 | GETBITS(i,7);
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| 188 | frqObs->_slipCounter = i;
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| 189 | if(type == 1004)
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| 190 | {
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| 191 | GETBITS(i, 8);
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| 192 | if(i)
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| 193 | {
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| 194 | frqObs->_snr = i*0.25;
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| 195 | frqObs->_snrValid = true;
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| 196 | }
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| 197 | }
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| 198 | CurrentObs._obs.push_back(frqObs);
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| 199 | }
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| 200 | _CurrentObsList.push_back(CurrentObs);
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[913] | 201 | }
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[7753] | 202 |
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[6812] | 203 | if(!syncf)
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| 204 | {
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| 205 | decoded = true;
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[7753] | 206 | _obsList.append(_CurrentObsList);
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[6812] | 207 | _CurrentTime.reset();
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| 208 | _CurrentObsList.clear();
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[2527] | 209 | }
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[6812] | 210 | return decoded;
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| 211 | }
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[2527] | 212 |
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[6812] | 213 | #define RTCM3_MSM_NUMSIG 32
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| 214 | #define RTCM3_MSM_NUMSAT 64
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| 215 | #define RTCM3_MSM_NUMCELLS 96 /* arbitrary limit */
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[1127] | 216 |
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[6812] | 217 | /**
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| 218 | * Frequency numbers of GLONASS with an offset of 100 to detect unset values.
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| 219 | * Gets filled by ephemeris and data blocks and shared between different streams.
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| 220 | */
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| 221 | static int GLOFreq[RTCM3_MSM_NUMSAT];
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[1127] | 222 |
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[6812] | 223 | /*
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| 224 | * Storage structure to store frequency and RINEX ID assignment for MSM
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| 225 | * message */
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| 226 | struct CodeData {
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| 227 | double wl;
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| 228 | const char *code; /* currently unused */
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| 229 | };
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[2677] | 230 |
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[6812] | 231 | /** MSM signal types for GPS and SBAS */
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| 232 | static struct CodeData gps[RTCM3_MSM_NUMSIG] =
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| 233 | {
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| 234 | {0.0,0},
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| 235 | {GPS_WAVELENGTH_L1,"1C"},
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| 236 | {GPS_WAVELENGTH_L1,"1P"},
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| 237 | {GPS_WAVELENGTH_L1,"1W"},
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| 238 | {0.0,0}/*{GPS_WAVELENGTH_L1,"1Y"}*/,
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| 239 | {0.0,0},
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| 240 | {0.0,0},
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| 241 | {GPS_WAVELENGTH_L2,"2C"},
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| 242 | {GPS_WAVELENGTH_L2,"2P"},
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| 243 | {GPS_WAVELENGTH_L2,"2W"},
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| 244 | {0.0,0}/*{GPS_WAVELENGTH_L2,"2Y"}*/,
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| 245 | {0.0,0},
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| 246 | {0.0,0},
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| 247 | {0.0,0},
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| 248 | {GPS_WAVELENGTH_L2,"2S"},
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| 249 | {GPS_WAVELENGTH_L2,"2L"},
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| 250 | {GPS_WAVELENGTH_L2,"2X"},
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| 251 | {0.0,0},
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| 252 | {0.0,0},
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| 253 | {0.0,0},
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| 254 | {0.0,0},
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| 255 | {GPS_WAVELENGTH_L5,"5I"},
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| 256 | {GPS_WAVELENGTH_L5,"5Q"},
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| 257 | {GPS_WAVELENGTH_L5,"5X"},
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| 258 | {0.0,0},
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| 259 | {0.0,0},
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| 260 | {0.0,0},
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| 261 | {0.0,0},
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| 262 | {0.0,0},
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| 263 | {GPS_WAVELENGTH_L1,"1S"},
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| 264 | {GPS_WAVELENGTH_L1,"1L"},
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| 265 | {GPS_WAVELENGTH_L1,"1X"}
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| 266 | };
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[1185] | 267 |
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[6812] | 268 | /**
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| 269 | * MSM signal types for GLONASS
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[7753] | 270 | *
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[6812] | 271 | * NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later!
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| 272 | */
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| 273 | static struct CodeData glo[RTCM3_MSM_NUMSIG] =
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| 274 | {
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| 275 | {0.0,0},
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| 276 | {0.0,"1C"},
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| 277 | {0.0,"1P"},
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| 278 | {0.0,0},
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| 279 | {0.0,0},
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| 280 | {0.0,0},
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| 281 | {0.0,0},
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| 282 | {1.0,"2C"},
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| 283 | {1.0,"2P"},
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| 284 | {0.0,0},
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| 285 | {0.0,0},
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| 286 | {0.0,0},
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| 287 | {0.0,0},
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| 288 | {0.0,0},
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| 289 | {0.0,0},
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| 290 | {0.0,0},
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| 291 | {0.0,0},
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| 292 | {0.0,0},
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| 293 | {0.0,0},
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| 294 | {0.0,0},
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| 295 | {0.0,0},
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| 296 | {0.0,0},
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| 297 | {0.0,0},
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| 298 | {0.0,0},
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| 299 | {0.0,0},
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| 300 | {0.0,0},
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| 301 | {0.0,0},
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| 302 | {0.0,0},
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| 303 | {0.0,0},
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| 304 | {0.0,0},
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| 305 | {0.0,0},
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| 306 | {0.0,0}
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| 307 | };
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[1130] | 308 |
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[6812] | 309 | /** MSM signal types for Galileo */
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| 310 | static struct CodeData gal[RTCM3_MSM_NUMSIG] =
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| 311 | {
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| 312 | {0.0,0},
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| 313 | {GAL_WAVELENGTH_E1,"1C"},
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| 314 | {GAL_WAVELENGTH_E1,"1A"},
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| 315 | {GAL_WAVELENGTH_E1,"1B"},
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| 316 | {GAL_WAVELENGTH_E1,"1X"},
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| 317 | {GAL_WAVELENGTH_E1,"1Z"},
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| 318 | {0.0,0},
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| 319 | {GAL_WAVELENGTH_E6,"6C"},
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| 320 | {GAL_WAVELENGTH_E6,"6A"},
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| 321 | {GAL_WAVELENGTH_E6,"6B"},
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| 322 | {GAL_WAVELENGTH_E6,"6X"},
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| 323 | {GAL_WAVELENGTH_E6,"6Z"},
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| 324 | {0.0,0},
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| 325 | {GAL_WAVELENGTH_E5B,"7I"},
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| 326 | {GAL_WAVELENGTH_E5B,"7Q"},
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| 327 | {GAL_WAVELENGTH_E5B,"7X"},
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| 328 | {0.0,0},
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| 329 | {GAL_WAVELENGTH_E5AB,"8I"},
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| 330 | {GAL_WAVELENGTH_E5AB,"8Q"},
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| 331 | {GAL_WAVELENGTH_E5AB,"8X"},
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| 332 | {0.0,0},
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| 333 | {GAL_WAVELENGTH_E5A,"5I"},
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| 334 | {GAL_WAVELENGTH_E5A,"5Q"},
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| 335 | {GAL_WAVELENGTH_E5A,"5X"},
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| 336 | {0.0,0},
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| 337 | {0.0,0},
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| 338 | {0.0,0},
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| 339 | {0.0,0},
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| 340 | {0.0,0},
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| 341 | {0.0,0},
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| 342 | {0.0,0},
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| 343 | {0.0,0},
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| 344 | };
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[1185] | 345 |
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[6812] | 346 | /** MSM signal types for QZSS */
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| 347 | static struct CodeData qzss[RTCM3_MSM_NUMSIG] =
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| 348 | {
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| 349 | {0.0,0},
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| 350 | {GPS_WAVELENGTH_L1,"1C"},
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| 351 | {0.0,0},
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| 352 | {0.0,0},
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| 353 | {0.0,0},
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| 354 | {GPS_WAVELENGTH_L1,"1Z"},
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| 355 | {0.0,0},
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| 356 | {0.0,0},
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| 357 | {QZSS_WAVELENGTH_LEX,"6S"},
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| 358 | {QZSS_WAVELENGTH_LEX,"6L"},
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| 359 | {QZSS_WAVELENGTH_LEX,"6X"},
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| 360 | {0.0,0},
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| 361 | {0.0,0},
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| 362 | {0.0,0},
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| 363 | {GPS_WAVELENGTH_L2,"2S"},
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| 364 | {GPS_WAVELENGTH_L2,"2L"},
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| 365 | {GPS_WAVELENGTH_L2,"2X"},
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| 366 | {0.0,0},
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| 367 | {0.0,0},
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| 368 | {0.0,0},
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| 369 | {0.0,0},
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| 370 | {GPS_WAVELENGTH_L5,"5I"},
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| 371 | {GPS_WAVELENGTH_L5,"5Q"},
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| 372 | {GPS_WAVELENGTH_L5,"5X"},
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| 373 | {0.0,0},
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| 374 | {0.0,0},
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| 375 | {0.0,0},
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| 376 | {0.0,0},
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| 377 | {0.0,0},
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| 378 | {GPS_WAVELENGTH_L1,"1D"},
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| 379 | {GPS_WAVELENGTH_L1,"1P"},
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| 380 | {GPS_WAVELENGTH_L1,"1X"}
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| 381 | };
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[1185] | 382 |
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[6812] | 383 | /** MSM signal types for Beidou/BDS */
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| 384 | static struct CodeData bds[RTCM3_MSM_NUMSIG] =
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| 385 | {
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| 386 | {0.0,0},
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[6817] | 387 | {BDS_WAVELENGTH_B1,"2I"},
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[6812] | 388 | {0.0,0},
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| 389 | {0.0,0},
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| 390 | {0.0,0},
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| 391 | {0.0,0},
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| 392 | {0.0,0},
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| 393 | {BDS_WAVELENGTH_B3,"6I"},
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| 394 | {0.0,0},
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| 395 | {0.0,0},
|
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| 396 | {0.0,0},
|
---|
| 397 | {0.0,0},
|
---|
| 398 | {0.0,0},
|
---|
| 399 | {BDS_WAVELENGTH_B2,"7I"},
|
---|
| 400 | {0.0,0},
|
---|
| 401 | {0.0,0},
|
---|
| 402 | {0.0,0},
|
---|
| 403 | {0.0,0},
|
---|
| 404 | {0.0,0},
|
---|
| 405 | {0.0,0},
|
---|
| 406 | {0.0,0},
|
---|
| 407 | {0.0,0},
|
---|
| 408 | {0.0,0},
|
---|
| 409 | {0.0,0},
|
---|
| 410 | {0.0,0},
|
---|
| 411 | {0.0,0},
|
---|
| 412 | {0.0,0},
|
---|
| 413 | {0.0,0},
|
---|
| 414 | {0.0,0},
|
---|
| 415 | {0.0,0},
|
---|
| 416 | {0.0,0},
|
---|
| 417 | {0.0,0},
|
---|
| 418 | };
|
---|
[1807] | 419 |
|
---|
[6812] | 420 | #define UINT64(c) c ## ULL
|
---|
[1033] | 421 |
|
---|
[7753] | 422 | //
|
---|
[6812] | 423 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 424 | bool RTCM3Decoder::DecodeRTCM3MSM(unsigned char* data, int size)
|
---|
| 425 | {
|
---|
| 426 | bool decoded = false;
|
---|
| 427 | int type, syncf, i;
|
---|
| 428 | uint64_t numbits = 0, bitfield = 0;
|
---|
[1807] | 429 |
|
---|
[6812] | 430 | data += 3; /* header */
|
---|
| 431 | size -= 6; /* header + crc */
|
---|
[1239] | 432 |
|
---|
[6812] | 433 | GETBITS(type, 12)
|
---|
| 434 | SKIPBITS(12) /* id */
|
---|
| 435 | char sys;
|
---|
| 436 | if(type >= 1121)
|
---|
| 437 | sys = 'C';
|
---|
| 438 | else if(type >= 1111)
|
---|
| 439 | sys = 'J';
|
---|
| 440 | else if(type >= 1101)
|
---|
| 441 | sys = 'S';
|
---|
| 442 | else if(type >= 1091)
|
---|
| 443 | sys = 'E';
|
---|
| 444 | else if(type >= 1081)
|
---|
| 445 | sys = 'R';
|
---|
| 446 | else
|
---|
| 447 | sys = 'G';
|
---|
[2683] | 448 |
|
---|
[6812] | 449 | bncTime CurrentObsTime;
|
---|
| 450 | if(sys == 'C') /* BDS */
|
---|
| 451 | {
|
---|
| 452 | GETBITS(i,30)
|
---|
| 453 | CurrentObsTime.setBDS(i);
|
---|
| 454 | }
|
---|
| 455 | else if(sys == 'R') /* GLONASS */
|
---|
| 456 | {
|
---|
| 457 | SKIPBITS(3)
|
---|
| 458 | GETBITS(i,27) /* tk */
|
---|
| 459 | CurrentObsTime.setTk(i);
|
---|
| 460 | }
|
---|
| 461 | else /* GPS style date */
|
---|
| 462 | {
|
---|
| 463 | GETBITS(i,30)
|
---|
| 464 | CurrentObsTime.set(i);
|
---|
| 465 | }
|
---|
| 466 | if(_CurrentTime.valid() && CurrentObsTime != _CurrentTime)
|
---|
| 467 | {
|
---|
| 468 | decoded = true;
|
---|
| 469 | _obsList = _CurrentObsList;
|
---|
| 470 | _CurrentObsList.clear();
|
---|
| 471 | }
|
---|
| 472 | _CurrentTime = CurrentObsTime;
|
---|
[2677] | 473 |
|
---|
[6812] | 474 | GETBITS(syncf, 1)
|
---|
| 475 | /**
|
---|
| 476 | * Ignore unknown types except for sync flag
|
---|
[7753] | 477 | *
|
---|
[6812] | 478 | * We actually support types 1-3 in following code, but as they are missing
|
---|
| 479 | * the full cycles and can't be used later we skip interpretation here already.
|
---|
| 480 | */
|
---|
| 481 | if(type <= 1130 && (type % 10) >= 4 && (type % 10) <= 7)
|
---|
| 482 | {
|
---|
| 483 | int sigmask, numsat = 0, numsig = 0;
|
---|
| 484 | uint64_t satmask, cellmask, ui;
|
---|
| 485 | double rrmod[RTCM3_MSM_NUMSAT];
|
---|
| 486 | int rrint[RTCM3_MSM_NUMSAT], rdop[RTCM3_MSM_NUMSAT],
|
---|
| 487 | extsat[RTCM3_MSM_NUMSAT];
|
---|
| 488 | int ll[RTCM3_MSM_NUMCELLS]/*, hc[RTCM3_MSM_NUMCELLS]*/;
|
---|
| 489 | double cnr[RTCM3_MSM_NUMCELLS];
|
---|
| 490 | double cp[RTCM3_MSM_NUMCELLS], psr[RTCM3_MSM_NUMCELLS],
|
---|
| 491 | dop[RTCM3_MSM_NUMCELLS];
|
---|
[2674] | 492 |
|
---|
[6812] | 493 | SKIPBITS(3+7+2+2+1+3)
|
---|
| 494 | GETBITS64(satmask, RTCM3_MSM_NUMSAT)
|
---|
[2674] | 495 |
|
---|
[6812] | 496 | /* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */
|
---|
| 497 | for(ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */)
|
---|
| 498 | ++numsat;
|
---|
| 499 | GETBITS(sigmask, RTCM3_MSM_NUMSIG)
|
---|
| 500 | for(i = sigmask; i; i &= (i - 1) /* remove rightmost bit */)
|
---|
| 501 | ++numsig;
|
---|
| 502 | for(i = 0; i < RTCM3_MSM_NUMSAT; ++i)
|
---|
| 503 | extsat[i] = 15;
|
---|
[2674] | 504 |
|
---|
[6812] | 505 | i = numsat*numsig;
|
---|
| 506 | GETBITS64(cellmask, (unsigned)i)
|
---|
| 507 |
|
---|
| 508 | switch(type % 10)
|
---|
| 509 | {
|
---|
| 510 | case 1: case 2: case 3:
|
---|
| 511 | /* partial data, already skipped above, but implemented for future expansion ! */
|
---|
| 512 | for(int j = numsat; j--;)
|
---|
| 513 | GETFLOAT(rrmod[j], 10, 1.0/1024.0)
|
---|
| 514 | break;
|
---|
| 515 | case 4: case 6:
|
---|
| 516 | for(int j = numsat; j--;)
|
---|
| 517 | GETBITS(rrint[j], 8)
|
---|
| 518 | for(int j = numsat; j--;)
|
---|
| 519 | GETFLOAT(rrmod[j], 10, 1.0/1024.0)
|
---|
| 520 | break;
|
---|
| 521 | case 5: case 7:
|
---|
| 522 | for(int j = numsat; j--;)
|
---|
| 523 | GETBITS(rrint[j], 8)
|
---|
| 524 | for(int j = numsat; j--;)
|
---|
| 525 | GETBITS(extsat[j], 4)
|
---|
| 526 | for(int j = numsat; j--;)
|
---|
| 527 | GETFLOAT(rrmod[j], 10, 1.0/1024.0)
|
---|
| 528 | for(int j = numsat; j--;)
|
---|
| 529 | GETBITSSIGN(rdop[j], 14)
|
---|
| 530 | break;
|
---|
| 531 | }
|
---|
| 532 |
|
---|
| 533 | int numcells = numsat*numsig;
|
---|
| 534 | /** Drop anything which exceeds our cell limit. Increase limit definition
|
---|
| 535 | * when that happens. */
|
---|
| 536 | if(numcells <= RTCM3_MSM_NUMCELLS)
|
---|
| 537 | {
|
---|
| 538 | switch(type % 10)
|
---|
| 539 | {
|
---|
| 540 | case 1:
|
---|
| 541 | for(int count = numcells; count--;)
|
---|
| 542 | if(cellmask & (UINT64(1)<<count))
|
---|
| 543 | GETFLOATSIGN(psr[count], 15, 1.0/(1<<24))
|
---|
| 544 | break;
|
---|
| 545 | case 2:
|
---|
| 546 | for(int count = numcells; count--;)
|
---|
| 547 | if(cellmask & (UINT64(1)<<count))
|
---|
| 548 | GETFLOATSIGN(cp[count], 22, 1.0/(1<<29))
|
---|
| 549 | for(int count = numcells; count--;)
|
---|
| 550 | if(cellmask & (UINT64(1)<<count))
|
---|
| 551 | GETBITS(ll[count], 4)
|
---|
| 552 | for(int count = numcells; count--;)
|
---|
| 553 | if(cellmask & (UINT64(1)<<count))
|
---|
| 554 | SKIPBITS(1)/*GETBITS(hc[count], 1)*/
|
---|
| 555 | break;
|
---|
| 556 | case 3:
|
---|
| 557 | for(int count = numcells; count--;)
|
---|
| 558 | if(cellmask & (UINT64(1)<<count))
|
---|
| 559 | GETFLOATSIGN(psr[count], 15, 1.0/(1<<24))
|
---|
| 560 | for(int count = numcells; count--;)
|
---|
| 561 | if(cellmask & (UINT64(1)<<count))
|
---|
| 562 | GETFLOATSIGN(cp[count], 22, 1.0/(1<<29))
|
---|
| 563 | for(int count = numcells; count--;)
|
---|
| 564 | if(cellmask & (UINT64(1)<<count))
|
---|
| 565 | GETBITS(ll[count], 4)
|
---|
| 566 | for(int count = numcells; count--;)
|
---|
| 567 | if(cellmask & (UINT64(1)<<count))
|
---|
| 568 | SKIPBITS(1)/*GETBITS(hc[count], 1)*/
|
---|
| 569 | break;
|
---|
| 570 | case 4:
|
---|
| 571 | for(int count = numcells; count--;)
|
---|
| 572 | if(cellmask & (UINT64(1)<<count))
|
---|
| 573 | GETFLOATSIGN(psr[count], 15, 1.0/(1<<24))
|
---|
| 574 | for(int count = numcells; count--;)
|
---|
| 575 | if(cellmask & (UINT64(1)<<count))
|
---|
| 576 | GETFLOATSIGN(cp[count], 22, 1.0/(1<<29))
|
---|
| 577 | for(int count = numcells; count--;)
|
---|
| 578 | if(cellmask & (UINT64(1)<<count))
|
---|
| 579 | GETBITS(ll[count], 4)
|
---|
| 580 | for(int count = numcells; count--;)
|
---|
| 581 | if(cellmask & (UINT64(1)<<count))
|
---|
| 582 | SKIPBITS(1)/*GETBITS(hc[count], 1)*/
|
---|
| 583 | for(int count = numcells; count--;)
|
---|
| 584 | if(cellmask & (UINT64(1)<<count))
|
---|
| 585 | GETBITS(cnr[count], 6)
|
---|
| 586 | break;
|
---|
| 587 | case 5:
|
---|
| 588 | for(int count = numcells; count--;)
|
---|
| 589 | if(cellmask & (UINT64(1)<<count))
|
---|
| 590 | GETFLOATSIGN(psr[count], 15, 1.0/(1<<24))
|
---|
| 591 | for(int count = numcells; count--;)
|
---|
| 592 | if(cellmask & (UINT64(1)<<count))
|
---|
| 593 | GETFLOATSIGN(cp[count], 22, 1.0/(1<<29))
|
---|
| 594 | for(int count = numcells; count--;)
|
---|
| 595 | if(cellmask & (UINT64(1)<<count))
|
---|
| 596 | GETBITS(ll[count], 4)
|
---|
| 597 | for(int count = numcells; count--;)
|
---|
| 598 | if(cellmask & (UINT64(1)<<count))
|
---|
| 599 | SKIPBITS(1)/*GETBITS(hc[count], 1)*/
|
---|
| 600 | for(int count = numcells; count--;)
|
---|
| 601 | if(cellmask & (UINT64(1)<<count))
|
---|
| 602 | GETFLOAT(cnr[count], 6, 1.0)
|
---|
| 603 | for(int count = numcells; count--;)
|
---|
| 604 | if(cellmask & (UINT64(1)<<count))
|
---|
| 605 | GETFLOATSIGN(dop[count], 15, 0.0001)
|
---|
| 606 | break;
|
---|
| 607 | case 6:
|
---|
| 608 | for(int count = numcells; count--;)
|
---|
| 609 | if(cellmask & (UINT64(1)<<count))
|
---|
| 610 | GETFLOATSIGN(psr[count], 20, 1.0/(1<<29))
|
---|
| 611 | for(int count = numcells; count--;)
|
---|
| 612 | if(cellmask & (UINT64(1)<<count))
|
---|
| 613 | GETFLOATSIGN(cp[count], 24, 1.0/(1U<<31))
|
---|
| 614 | for(int count = numcells; count--;)
|
---|
| 615 | if(cellmask & (UINT64(1)<<count))
|
---|
| 616 | GETBITS(ll[count], 10)
|
---|
| 617 | for(int count = numcells; count--;)
|
---|
| 618 | if(cellmask & (UINT64(1)<<count))
|
---|
| 619 | SKIPBITS(1)/*GETBITS(hc[count], 1)*/
|
---|
| 620 | for(int count = numcells; count--;)
|
---|
| 621 | if(cellmask & (UINT64(1)<<count))
|
---|
| 622 | GETFLOAT(cnr[count], 10, 1.0/(1<<4))
|
---|
| 623 | break;
|
---|
| 624 | case 7:
|
---|
| 625 | for(int count = numcells; count--;)
|
---|
| 626 | if(cellmask & (UINT64(1)<<count))
|
---|
| 627 | GETFLOATSIGN(psr[count], 20, 1.0/(1<<29))
|
---|
| 628 | for(int count = numcells; count--;)
|
---|
| 629 | if(cellmask & (UINT64(1)<<count))
|
---|
| 630 | GETFLOATSIGN(cp[count], 24, 1.0/(1U<<31))
|
---|
| 631 | for(int count = numcells; count--;)
|
---|
| 632 | if(cellmask & (UINT64(1)<<count))
|
---|
| 633 | GETBITS(ll[count], 10)
|
---|
| 634 | for(int count = numcells; count--;)
|
---|
| 635 | if(cellmask & (UINT64(1)<<count))
|
---|
| 636 | SKIPBITS(1)/*GETBITS(hc[count], 1)*/
|
---|
| 637 | for(int count = numcells; count--;)
|
---|
| 638 | if(cellmask & (UINT64(1)<<count))
|
---|
| 639 | GETFLOAT(cnr[count], 10, 1.0/(1<<4))
|
---|
| 640 | for(int count = numcells; count--;)
|
---|
| 641 | if(cellmask & (UINT64(1)<<count))
|
---|
| 642 | GETFLOATSIGN(dop[count], 15, 0.0001)
|
---|
| 643 | break;
|
---|
| 644 | }
|
---|
| 645 | i = RTCM3_MSM_NUMSAT;
|
---|
| 646 | int j = -1;
|
---|
| 647 | t_satObs CurrentObs;
|
---|
| 648 | for(int count = numcells; count--;)
|
---|
| 649 | {
|
---|
| 650 | while(j >= 0 && !(sigmask&(1<<--j)))
|
---|
| 651 | ;
|
---|
| 652 | if(j < 0)
|
---|
| 653 | {
|
---|
| 654 | while(!(satmask&(UINT64(1)<<(--i)))) /* next satellite */
|
---|
| 655 | ;
|
---|
| 656 | if(CurrentObs._obs.size() > 0)
|
---|
| 657 | _CurrentObsList.push_back(CurrentObs);
|
---|
| 658 | CurrentObs.clear();
|
---|
| 659 | CurrentObs._time = CurrentObsTime;
|
---|
| 660 | if(sys == 'S')
|
---|
| 661 | CurrentObs._prn.set(sys, 20-1+RTCM3_MSM_NUMSAT-i);
|
---|
| 662 | else
|
---|
| 663 | CurrentObs._prn.set(sys, RTCM3_MSM_NUMSAT-i);
|
---|
| 664 | j = RTCM3_MSM_NUMSIG;
|
---|
| 665 | while(!(sigmask&(1<<--j)))
|
---|
| 666 | ;
|
---|
| 667 | --numsat;
|
---|
| 668 | }
|
---|
| 669 | if(cellmask & (UINT64(1)<<count))
|
---|
| 670 | {
|
---|
| 671 | struct CodeData cd = {0.0,0};
|
---|
| 672 | switch(sys)
|
---|
| 673 | {
|
---|
| 674 | case 'J':
|
---|
| 675 | cd = qzss[RTCM3_MSM_NUMSIG-j-1];
|
---|
| 676 | break;
|
---|
| 677 | case 'C':
|
---|
| 678 | cd = bds[RTCM3_MSM_NUMSIG-j-1];
|
---|
| 679 | break;
|
---|
| 680 | case 'G': case 'S':
|
---|
| 681 | cd = gps[RTCM3_MSM_NUMSIG-j-1];
|
---|
| 682 | break;
|
---|
| 683 | case 'R':
|
---|
| 684 | cd = glo[RTCM3_MSM_NUMSIG-j-1];
|
---|
| 685 | {
|
---|
| 686 | int k = GLOFreq[RTCM3_MSM_NUMSAT-i-1];
|
---|
| 687 | if(extsat[numsat] < 14)
|
---|
| 688 | {
|
---|
| 689 | k = GLOFreq[RTCM3_MSM_NUMSAT-i-1] = 100+extsat[numsat]-7;
|
---|
[2676] | 690 | }
|
---|
[6812] | 691 | if(k)
|
---|
| 692 | cd.wl = (cd.wl == 0.0 ? GLO_WAVELENGTH_L1(k-100) : GLO_WAVELENGTH_L2(k-100));
|
---|
| 693 | else
|
---|
| 694 | cd.code = 0;
|
---|
| 695 | }
|
---|
| 696 | break;
|
---|
| 697 | case 'E':
|
---|
| 698 | cd = gal[RTCM3_MSM_NUMSIG-j-1];
|
---|
| 699 | break;
|
---|
| 700 | }
|
---|
| 701 | if(cd.code)
|
---|
| 702 | {
|
---|
| 703 | t_frqObs *frqObs = new t_frqObs;
|
---|
[7850] | 704 | frqObs->_rnxType2ch.assign(cd.code);
|
---|
[2674] | 705 |
|
---|
[6812] | 706 | switch(type % 10)
|
---|
| 707 | {
|
---|
| 708 | case 1:
|
---|
| 709 | if(psr[count] > -1.0/(1<<10))
|
---|
| 710 | {
|
---|
| 711 | frqObs->_code = psr[count]*LIGHTSPEED/1000.0
|
---|
| 712 | +(rrmod[numsat])*LIGHTSPEED/1000.0;
|
---|
| 713 | frqObs->_codeValid = true;
|
---|
[1021] | 714 | }
|
---|
[6812] | 715 | break;
|
---|
| 716 | case 2:
|
---|
| 717 | if(cp[count] > -1.0/(1<<8))
|
---|
| 718 | {
|
---|
| 719 | frqObs->_phase = cp[count]*LIGHTSPEED/1000.0/cd.wl
|
---|
| 720 | +(rrmod[numsat])*LIGHTSPEED/1000.0/cd.wl;
|
---|
| 721 | frqObs->_phaseValid = true;
|
---|
| 722 | frqObs->_slipCounter = ll[count];
|
---|
| 723 | }
|
---|
| 724 | break;
|
---|
| 725 | case 3:
|
---|
| 726 | if(psr[count] > -1.0/(1<<10))
|
---|
| 727 | {
|
---|
| 728 | frqObs->_code = psr[count]*LIGHTSPEED/1000.0
|
---|
| 729 | +(rrmod[numsat])*LIGHTSPEED/1000.0;
|
---|
| 730 | frqObs->_codeValid = true;
|
---|
| 731 | }
|
---|
[2669] | 732 |
|
---|
[6812] | 733 | if(cp[count] > -1.0/(1<<8))
|
---|
| 734 | {
|
---|
| 735 | frqObs->_phase = cp[count]*LIGHTSPEED/1000.0/cd.wl
|
---|
| 736 | +rrmod[numsat]*LIGHTSPEED/1000.0/cd.wl;
|
---|
| 737 | frqObs->_phaseValid = true;
|
---|
| 738 | frqObs->_slipCounter = ll[count];
|
---|
[2676] | 739 | }
|
---|
[6812] | 740 | break;
|
---|
| 741 | case 4:
|
---|
| 742 | if(psr[count] > -1.0/(1<<10))
|
---|
| 743 | {
|
---|
| 744 | frqObs->_code = psr[count]*LIGHTSPEED/1000.0
|
---|
| 745 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0;
|
---|
| 746 | frqObs->_codeValid = true;
|
---|
| 747 | }
|
---|
[2674] | 748 |
|
---|
[6812] | 749 | if(cp[count] > -1.0/(1<<8))
|
---|
| 750 | {
|
---|
| 751 | frqObs->_phase = cp[count]*LIGHTSPEED/1000.0/cd.wl
|
---|
| 752 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/cd.wl;
|
---|
| 753 | frqObs->_phaseValid = true;
|
---|
| 754 | frqObs->_slipCounter = ll[count];
|
---|
[4368] | 755 | }
|
---|
| 756 |
|
---|
[6812] | 757 | frqObs->_snr = cnr[count];
|
---|
| 758 | frqObs->_snrValid = true;
|
---|
| 759 | break;
|
---|
| 760 | case 5:
|
---|
| 761 | if(psr[count] > -1.0/(1<<10))
|
---|
| 762 | {
|
---|
| 763 | frqObs->_code = psr[count]*LIGHTSPEED/1000.0
|
---|
| 764 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0;
|
---|
| 765 | frqObs->_codeValid = true;
|
---|
[4368] | 766 | }
|
---|
| 767 |
|
---|
[6812] | 768 | if(cp[count] > -1.0/(1<<8))
|
---|
| 769 | {
|
---|
| 770 | frqObs->_phase = cp[count]*LIGHTSPEED/1000.0/cd.wl
|
---|
| 771 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/cd.wl;
|
---|
| 772 | frqObs->_phaseValid = true;
|
---|
| 773 | frqObs->_slipCounter = ll[count];
|
---|
[2669] | 774 | }
|
---|
| 775 |
|
---|
[6812] | 776 | frqObs->_snr = cnr[count];
|
---|
| 777 | frqObs->_snrValid = true;
|
---|
[1807] | 778 |
|
---|
[6812] | 779 | if(dop[count] > -1.6384)
|
---|
| 780 | {
|
---|
| 781 | frqObs->_doppler = -(dop[count]+rdop[numsat])/cd.wl;
|
---|
| 782 | frqObs->_dopplerValid = true;
|
---|
[2687] | 783 | }
|
---|
[6812] | 784 | break;
|
---|
| 785 | case 6:
|
---|
| 786 | if(psr[count] > -1.0/(1<<10))
|
---|
| 787 | {
|
---|
| 788 | frqObs->_code = psr[count]*LIGHTSPEED/1000.0
|
---|
| 789 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0;
|
---|
| 790 | frqObs->_codeValid = true;
|
---|
[2687] | 791 | }
|
---|
[6812] | 792 |
|
---|
| 793 | if(cp[count] > -1.0/(1<<8))
|
---|
| 794 | {
|
---|
| 795 | frqObs->_phase = cp[count]*LIGHTSPEED/1000.0/cd.wl
|
---|
| 796 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/cd.wl;
|
---|
| 797 | frqObs->_phaseValid = true;
|
---|
| 798 | frqObs->_slipCounter = ll[count];
|
---|
[2687] | 799 | }
|
---|
[6812] | 800 |
|
---|
| 801 | frqObs->_snr = cnr[count];
|
---|
| 802 | frqObs->_snrValid = true;
|
---|
| 803 | break;
|
---|
| 804 | case 7:
|
---|
| 805 | if(psr[count] > -1.0/(1<<10))
|
---|
| 806 | {
|
---|
| 807 | frqObs->_code = psr[count]*LIGHTSPEED/1000.0
|
---|
| 808 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0;
|
---|
| 809 | frqObs->_codeValid = true;
|
---|
[2687] | 810 | }
|
---|
| 811 |
|
---|
[6812] | 812 | if(cp[count] > -1.0/(1<<8))
|
---|
| 813 | {
|
---|
| 814 | frqObs->_phase = cp[count]*LIGHTSPEED/1000.0/cd.wl
|
---|
| 815 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/cd.wl;
|
---|
| 816 | frqObs->_phaseValid = true;
|
---|
| 817 | frqObs->_slipCounter = ll[count];
|
---|
| 818 | }
|
---|
[6137] | 819 |
|
---|
[6812] | 820 | frqObs->_snr = cnr[count];
|
---|
| 821 | frqObs->_snrValid = true;
|
---|
[6137] | 822 |
|
---|
[6812] | 823 | if(dop[count] > -1.6384)
|
---|
| 824 | {
|
---|
| 825 | frqObs->_doppler = -(dop[count]+rdop[numsat])/cd.wl;
|
---|
| 826 | frqObs->_dopplerValid = true;
|
---|
[511] | 827 | }
|
---|
[6812] | 828 | break;
|
---|
[366] | 829 | }
|
---|
[6812] | 830 | CurrentObs._obs.push_back(frqObs);
|
---|
[296] | 831 | }
|
---|
[6812] | 832 | }
|
---|
| 833 | }
|
---|
| 834 | if(CurrentObs._obs.size() > 0)
|
---|
| 835 | _CurrentObsList.push_back(CurrentObs);
|
---|
| 836 | }
|
---|
| 837 | }
|
---|
| 838 | else if((type % 10) < 3)
|
---|
| 839 | {
|
---|
| 840 | emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
|
---|
| 841 | .arg(_staID).arg(type).toAscii(), true));
|
---|
| 842 | }
|
---|
| 843 | if(!syncf)
|
---|
| 844 | {
|
---|
| 845 | decoded = true;
|
---|
| 846 | _obsList = _CurrentObsList;
|
---|
| 847 | _CurrentTime.reset();
|
---|
| 848 | _CurrentObsList.clear();
|
---|
| 849 | }
|
---|
| 850 | return decoded;
|
---|
| 851 | }
|
---|
| 852 |
|
---|
[7753] | 853 | //
|
---|
[6812] | 854 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 855 | bool RTCM3Decoder::DecodeRTCM3GLONASS(unsigned char* data, int size)
|
---|
| 856 | {
|
---|
| 857 | bool decoded = false;
|
---|
| 858 | bncTime CurrentObsTime;
|
---|
| 859 | int i, numsats, syncf, type;
|
---|
| 860 | uint64_t numbits = 0, bitfield = 0;
|
---|
| 861 |
|
---|
| 862 | data += 3; /* header */
|
---|
| 863 | size -= 6; /* header + crc */
|
---|
| 864 |
|
---|
| 865 | GETBITS(type, 12)
|
---|
| 866 | SKIPBITS(12) /* id */
|
---|
| 867 | GETBITS(i,27) /* tk */
|
---|
| 868 |
|
---|
| 869 | CurrentObsTime.setTk(i);
|
---|
| 870 | if(_CurrentTime.valid() && CurrentObsTime != _CurrentTime)
|
---|
| 871 | {
|
---|
| 872 | decoded = true;
|
---|
[7753] | 873 | _obsList.append(_CurrentObsList);
|
---|
[6812] | 874 | _CurrentObsList.clear();
|
---|
| 875 | }
|
---|
| 876 | _CurrentTime = CurrentObsTime;
|
---|
| 877 |
|
---|
| 878 | GETBITS(syncf,1) /* sync */
|
---|
| 879 | GETBITS(numsats,5)
|
---|
| 880 | SKIPBITS(4) /* smind, smint */
|
---|
| 881 |
|
---|
| 882 | while(numsats--)
|
---|
| 883 | {
|
---|
| 884 | int sv, code, l1range, amb=0, freq;
|
---|
| 885 | t_satObs CurrentObs;
|
---|
| 886 | CurrentObs._time = CurrentObsTime;
|
---|
| 887 |
|
---|
| 888 | GETBITS(sv, 6)
|
---|
| 889 | CurrentObs._prn.set('R', sv);
|
---|
| 890 | GETBITS(code, 1)
|
---|
| 891 | GETBITS(freq, 5)
|
---|
| 892 | GLOFreq[sv-1] = 100+freq-7; /* store frequency for other users (MSM) */
|
---|
| 893 |
|
---|
| 894 | t_frqObs *frqObs = new t_frqObs;
|
---|
| 895 | /* L1 */
|
---|
[7850] | 896 | (code) ? frqObs->_rnxType2ch.assign("1P") : frqObs->_rnxType2ch.assign("1C");
|
---|
[6812] | 897 | GETBITS(l1range, 25);
|
---|
| 898 | GETBITSSIGN(i, 20);
|
---|
| 899 | if((i&((1<<20)-1)) != 0x80000)
|
---|
| 900 | {
|
---|
| 901 | frqObs->_code = l1range*0.02;
|
---|
| 902 | frqObs->_phase = (l1range*0.02+i*0.0005)/GLO_WAVELENGTH_L1(freq-7);
|
---|
| 903 | frqObs->_codeValid = frqObs->_phaseValid = true;
|
---|
| 904 | }
|
---|
| 905 | GETBITS(i, 7);
|
---|
| 906 | frqObs->_slipCounter = i;
|
---|
| 907 | if(type == 1010 || type == 1012)
|
---|
| 908 | {
|
---|
| 909 | GETBITS(amb,7);
|
---|
| 910 | if(amb)
|
---|
| 911 | {
|
---|
| 912 | frqObs->_code += amb*599584.916;
|
---|
| 913 | frqObs->_phase += (amb*599584.916)/GLO_WAVELENGTH_L1(freq-7);
|
---|
| 914 | }
|
---|
| 915 | GETBITS(i, 8);
|
---|
| 916 | if(i)
|
---|
| 917 | {
|
---|
| 918 | frqObs->_snr = i*0.25;
|
---|
| 919 | frqObs->_snrValid = true;
|
---|
| 920 | }
|
---|
| 921 | }
|
---|
| 922 | CurrentObs._obs.push_back(frqObs);
|
---|
| 923 | if(type == 1011 || type == 1012)
|
---|
| 924 | {
|
---|
| 925 | frqObs = new t_frqObs;
|
---|
| 926 | /* L2 */
|
---|
| 927 | GETBITS(code,2);
|
---|
| 928 | switch(code)
|
---|
| 929 | {
|
---|
[7850] | 930 | case 3: frqObs->_rnxType2ch.assign("2P"); break;
|
---|
| 931 | case 2: frqObs->_rnxType2ch.assign("2P"); break;
|
---|
| 932 | case 1: frqObs->_rnxType2ch.assign("2P"); break;
|
---|
| 933 | case 0: frqObs->_rnxType2ch.assign("2C"); break;
|
---|
[6812] | 934 | }
|
---|
| 935 | GETBITSSIGN(i,14);
|
---|
| 936 | if((i&((1<<14)-1)) != 0x2000)
|
---|
| 937 | {
|
---|
| 938 | frqObs->_code = l1range*0.02+i*0.02+amb*599584.916;
|
---|
| 939 | frqObs->_codeValid = true;
|
---|
| 940 | }
|
---|
| 941 | GETBITSSIGN(i,20);
|
---|
| 942 | if((i&((1<<20)-1)) != 0x80000)
|
---|
| 943 | {
|
---|
| 944 | frqObs->_phase = (l1range*0.02+i*0.0005+amb*599584.916)/GLO_WAVELENGTH_L2(freq-7);
|
---|
| 945 | frqObs->_phaseValid = true;
|
---|
| 946 | }
|
---|
| 947 | GETBITS(i,7);
|
---|
| 948 | frqObs->_slipCounter = i;
|
---|
| 949 | if(type == 1012)
|
---|
| 950 | {
|
---|
| 951 | GETBITS(i, 8);
|
---|
| 952 | if(i)
|
---|
| 953 | {
|
---|
| 954 | frqObs->_snr = i*0.25;
|
---|
| 955 | frqObs->_snrValid = true;
|
---|
| 956 | }
|
---|
| 957 | }
|
---|
| 958 | CurrentObs._obs.push_back(frqObs);
|
---|
| 959 | }
|
---|
| 960 | _CurrentObsList.push_back(CurrentObs);
|
---|
| 961 | }
|
---|
| 962 | if(!syncf)
|
---|
| 963 | {
|
---|
| 964 | decoded = true;
|
---|
[7753] | 965 | _obsList.append(_CurrentObsList);
|
---|
[6812] | 966 | _CurrentTime.reset();
|
---|
| 967 | _CurrentObsList.clear();
|
---|
| 968 | }
|
---|
| 969 | return decoded;
|
---|
| 970 | }
|
---|
| 971 |
|
---|
| 972 | //
|
---|
| 973 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 974 | bool RTCM3Decoder::DecodeGPSEphemeris(unsigned char* data, int size)
|
---|
| 975 | {
|
---|
| 976 | bool decoded = false;
|
---|
| 977 |
|
---|
| 978 | if(size == 67)
|
---|
| 979 | {
|
---|
| 980 | t_ephGPS eph;
|
---|
| 981 | int i, week;
|
---|
| 982 | uint64_t numbits = 0, bitfield = 0;
|
---|
| 983 |
|
---|
| 984 | data += 3; /* header */
|
---|
| 985 | size -= 6; /* header + crc */
|
---|
| 986 | SKIPBITS(12)
|
---|
| 987 |
|
---|
| 988 | eph._receptDateTime = currentDateAndTimeGPS();
|
---|
| 989 |
|
---|
| 990 | GETBITS(i, 6)
|
---|
| 991 | eph._prn.set('G', i);
|
---|
| 992 | GETBITS(week, 10)
|
---|
| 993 | week += 1024;
|
---|
| 994 | GETBITS(i, 4)
|
---|
| 995 | eph._ura = accuracyFromIndex(i, eph.type());
|
---|
| 996 | GETBITS(eph._L2Codes, 2)
|
---|
| 997 | GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
| 998 | GETBITS(eph._IODE, 8)
|
---|
| 999 | GETBITS(i, 16)
|
---|
| 1000 | i <<= 4;
|
---|
| 1001 | eph._TOC.set(i*1000);
|
---|
| 1002 | GETFLOATSIGN(eph._clock_driftrate, 8, 1.0/(double)(1<<30)/(double)(1<<25))
|
---|
| 1003 | GETFLOATSIGN(eph._clock_drift, 16, 1.0/(double)(1<<30)/(double)(1<<13))
|
---|
| 1004 | GETFLOATSIGN(eph._clock_bias, 22, 1.0/(double)(1<<30)/(double)(1<<1))
|
---|
| 1005 | GETBITS(eph._IODC, 10)
|
---|
| 1006 | GETFLOATSIGN(eph._Crs, 16, 1.0/(double)(1<<5))
|
---|
| 1007 | GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
| 1008 | GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
| 1009 | GETFLOATSIGN(eph._Cuc, 16, 1.0/(double)(1<<29))
|
---|
| 1010 | GETFLOAT(eph._e, 32, 1.0/(double)(1<<30)/(double)(1<<3))
|
---|
| 1011 | GETFLOATSIGN(eph._Cus, 16, 1.0/(double)(1<<29))
|
---|
| 1012 | GETFLOAT(eph._sqrt_A, 32, 1.0/(double)(1<<19))
|
---|
| 1013 | GETBITS(i, 16)
|
---|
| 1014 | i <<= 4;
|
---|
| 1015 | eph._TOEsec = i;
|
---|
| 1016 | bncTime t;
|
---|
| 1017 | t.set(i*1000);
|
---|
| 1018 | eph._TOEweek = t.gpsw();
|
---|
| 1019 | /* week from HOW, differs from TOC, TOE week, we use adapted value instead */
|
---|
| 1020 | if(eph._TOEweek > week + 1 || eph._TOEweek < week-1) /* invalid week */
|
---|
| 1021 | return false;
|
---|
| 1022 | GETFLOATSIGN(eph._Cic, 16, 1.0/(double)(1<<29))
|
---|
| 1023 | GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
| 1024 | GETFLOATSIGN(eph._Cis, 16, 1.0/(double)(1<<29))
|
---|
| 1025 | GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
| 1026 | GETFLOATSIGN(eph._Crc, 16, 1.0/(double)(1<<5))
|
---|
| 1027 | GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
| 1028 | GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
| 1029 | GETFLOATSIGN(eph._TGD, 8, 1.0/(double)(1<<30)/(double)(1<<1))
|
---|
| 1030 | GETBITS(eph._health, 6)
|
---|
| 1031 | GETBITS(eph._L2PFlag, 1)
|
---|
| 1032 | GETBITS(eph._fitInterval, 1)
|
---|
| 1033 | eph._TOT = 0.9999e9;
|
---|
| 1034 |
|
---|
| 1035 | emit newGPSEph(eph);
|
---|
| 1036 | decoded = true;
|
---|
| 1037 | }
|
---|
| 1038 | return decoded;
|
---|
| 1039 | }
|
---|
| 1040 |
|
---|
| 1041 | //
|
---|
| 1042 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1043 | bool RTCM3Decoder::DecodeGLONASSEphemeris(unsigned char* data, int size)
|
---|
| 1044 | {
|
---|
| 1045 | bool decoded = false;
|
---|
| 1046 |
|
---|
| 1047 | if(size == 51)
|
---|
| 1048 | {
|
---|
| 1049 | t_ephGlo eph;
|
---|
| 1050 | int sv, i, tk;
|
---|
| 1051 | uint64_t numbits = 0, bitfield = 0;
|
---|
| 1052 |
|
---|
| 1053 | data += 3; /* header */
|
---|
| 1054 | size -= 6; /* header + crc */
|
---|
| 1055 | SKIPBITS(12)
|
---|
| 1056 |
|
---|
| 1057 | eph._receptDateTime = currentDateAndTimeGPS();
|
---|
| 1058 |
|
---|
| 1059 | GETBITS(sv, 6)
|
---|
| 1060 | eph._prn.set('R', sv);
|
---|
| 1061 |
|
---|
| 1062 | GETBITS(i, 5)
|
---|
| 1063 | eph._frequency_number = i-7;
|
---|
| 1064 | GLOFreq[sv-1] = 100+i-7; /* store frequency for other users (MSM) */
|
---|
[6864] | 1065 | _gloFrq = QString("%1 %2").arg(eph._prn.toString().c_str()).arg(eph._frequency_number,2,'f',0);
|
---|
[6812] | 1066 | SKIPBITS(4) /* almanac healthy, almanac health ok, P1 */
|
---|
| 1067 | GETBITS(i, 5)
|
---|
| 1068 | tk = i*60*60;
|
---|
| 1069 | GETBITS(i, 6)
|
---|
| 1070 | tk += i*60;
|
---|
| 1071 | GETBITS(i, 1)
|
---|
| 1072 | tk += i*30;
|
---|
| 1073 | eph._tki = tk < 3*60*60 ? tk-3*60*60+86400 : tk-3*60*60;
|
---|
| 1074 | GETBITS(eph._health, 1)
|
---|
| 1075 | SKIPBITS(1) /* P2 */
|
---|
| 1076 | GETBITS(i, 7)
|
---|
| 1077 | eph._TOC.setTk(i*15*60*1000); /* tb */
|
---|
| 1078 |
|
---|
| 1079 | GETFLOATSIGNM(eph._x_velocity, 24, 1.0/(double)(1<<20))
|
---|
| 1080 | GETFLOATSIGNM(eph._x_pos, 27, 1.0/(double)(1<<11))
|
---|
| 1081 | GETFLOATSIGNM(eph._x_acceleration, 5, 1.0/(double)(1<<30))
|
---|
| 1082 | GETFLOATSIGNM(eph._y_velocity, 24, 1.0/(double)(1<<20))
|
---|
| 1083 | GETFLOATSIGNM(eph._y_pos, 27, 1.0/(double)(1<<11))
|
---|
| 1084 | GETFLOATSIGNM(eph._y_acceleration, 5, 1.0/(double)(1<<30))
|
---|
| 1085 | GETFLOATSIGNM(eph._z_velocity, 24, 1.0/(double)(1<<20))
|
---|
| 1086 | GETFLOATSIGNM(eph._z_pos, 27, 1.0/(double)(1<<11))
|
---|
| 1087 | GETFLOATSIGNM(eph._z_acceleration, 5, 1.0/(double)(1<<30))
|
---|
| 1088 | SKIPBITS(1) /* P3 */
|
---|
| 1089 | GETFLOATSIGNM(eph._gamma, 11, 1.0/(double)(1<<30)/(double)(1<<10))
|
---|
| 1090 | SKIPBITS(3) /* GLONASS-M P, GLONASS-M ln (third string) */
|
---|
| 1091 | GETFLOATSIGNM(eph._tau, 22, 1.0/(double)(1<<30)) /* GLONASS tau n(tb) */
|
---|
| 1092 | SKIPBITS(5) /* GLONASS-M delta tau n(tb) */
|
---|
| 1093 | GETBITS(eph._E, 5)
|
---|
| 1094 | /* GETBITS(i, 1) / * GLONASS-M P4 */
|
---|
| 1095 | /* GETBITS(i, 4) / * GLONASS-M Ft */
|
---|
| 1096 | /* GETBITS(i, 11) / * GLONASS-M Nt */
|
---|
| 1097 | /* GETBITS(i, 2) / * GLONASS-M M */
|
---|
| 1098 | /* GETBITS(i, 1) / * GLONASS-M The Availability of Additional Data */
|
---|
| 1099 | /* GETBITS(i, 11) / * GLONASS-M Na */
|
---|
| 1100 | /* GETFLOATSIGNM(i, 32, 1.0/(double)(1<<30)/(double)(1<<1)) / * GLONASS tau c */
|
---|
| 1101 | /* GETBITS(i, 5) / * GLONASS-M N4 */
|
---|
| 1102 | /* GETFLOATSIGNM(i, 22, 1.0/(double)(1<<30)) / * GLONASS-M tau GPS */
|
---|
| 1103 | /* GETBITS(i, 1) / * GLONASS-M ln (fifth string) */
|
---|
| 1104 |
|
---|
| 1105 | unsigned year, month, day;
|
---|
| 1106 | eph._TOC.civil_date(year, month, day);
|
---|
| 1107 | eph._gps_utc = gnumleap(year, month, day);
|
---|
| 1108 | eph._tt = eph._TOC;
|
---|
| 1109 |
|
---|
[7753] | 1110 | eph._xv(1) = eph._x_pos * 1.e3;
|
---|
| 1111 | eph._xv(2) = eph._y_pos * 1.e3;
|
---|
| 1112 | eph._xv(3) = eph._z_pos * 1.e3;
|
---|
| 1113 | eph._xv(4) = eph._x_velocity * 1.e3;
|
---|
| 1114 | eph._xv(5) = eph._y_velocity * 1.e3;
|
---|
| 1115 | eph._xv(6) = eph._z_velocity * 1.e3;
|
---|
[6812] | 1116 |
|
---|
| 1117 | emit newGlonassEph(eph);
|
---|
| 1118 | decoded = true;
|
---|
| 1119 | }
|
---|
| 1120 | return decoded;
|
---|
| 1121 | }
|
---|
| 1122 |
|
---|
| 1123 | //
|
---|
| 1124 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1125 | bool RTCM3Decoder::DecodeQZSSEphemeris(unsigned char* data, int size)
|
---|
| 1126 | {
|
---|
| 1127 | bool decoded = false;
|
---|
| 1128 |
|
---|
| 1129 | if(size == 67)
|
---|
| 1130 | {
|
---|
| 1131 | t_ephGPS eph;
|
---|
| 1132 | int i, week;
|
---|
| 1133 | uint64_t numbits = 0, bitfield = 0;
|
---|
| 1134 |
|
---|
| 1135 | data += 3; /* header */
|
---|
| 1136 | size -= 6; /* header + crc */
|
---|
| 1137 | SKIPBITS(12)
|
---|
| 1138 |
|
---|
| 1139 | eph._receptDateTime = currentDateAndTimeGPS();
|
---|
| 1140 |
|
---|
| 1141 | GETBITS(i, 4)
|
---|
| 1142 | eph._prn.set('J', i);
|
---|
| 1143 |
|
---|
| 1144 | GETBITS(i, 16)
|
---|
| 1145 | i <<= 4;
|
---|
| 1146 | eph._TOC.set(i*1000);
|
---|
| 1147 |
|
---|
| 1148 | GETFLOATSIGN(eph._clock_driftrate, 8, 1.0/(double)(1<<30)/(double)(1<<25))
|
---|
| 1149 | GETFLOATSIGN(eph._clock_drift, 16, 1.0/(double)(1<<30)/(double)(1<<13))
|
---|
| 1150 | GETFLOATSIGN(eph._clock_bias, 22, 1.0/(double)(1<<30)/(double)(1<<1))
|
---|
| 1151 | GETBITS(eph._IODE, 8)
|
---|
| 1152 | GETFLOATSIGN(eph._Crs, 16, 1.0/(double)(1<<5))
|
---|
| 1153 | GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
| 1154 | GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
| 1155 | GETFLOATSIGN(eph._Cuc, 16, 1.0/(double)(1<<29))
|
---|
| 1156 | GETFLOAT(eph._e, 32, 1.0/(double)(1<<30)/(double)(1<<3))
|
---|
| 1157 | GETFLOATSIGN(eph._Cus, 16, 1.0/(double)(1<<29))
|
---|
| 1158 | GETFLOAT(eph._sqrt_A, 32, 1.0/(double)(1<<19))
|
---|
| 1159 | GETBITS(i, 16)
|
---|
| 1160 | i <<= 4;
|
---|
| 1161 | eph._TOEsec = i;
|
---|
| 1162 | bncTime t;
|
---|
| 1163 | t.set(i);
|
---|
| 1164 |
|
---|
| 1165 | GETFLOATSIGN(eph._Cic, 16, 1.0/(double)(1<<29))
|
---|
| 1166 | GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
| 1167 | GETFLOATSIGN(eph._Cis, 16, 1.0/(double)(1<<29))
|
---|
| 1168 | GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
| 1169 | GETFLOATSIGN(eph._Crc, 16, 1.0/(double)(1<<5))
|
---|
| 1170 | GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
| 1171 | GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
| 1172 | GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
| 1173 | GETBITS(eph._L2Codes, 2)
|
---|
| 1174 | GETBITS(week, 10)
|
---|
| 1175 | week += 1024;
|
---|
| 1176 | eph._TOEweek = t.gpsw();
|
---|
| 1177 | /* week from HOW, differs from TOC, TOE week, we use adapted value instead */
|
---|
| 1178 | if(eph._TOEweek > week + 1 || eph._TOEweek < week-1) /* invalid week */
|
---|
| 1179 | return false;
|
---|
| 1180 |
|
---|
| 1181 | GETBITS(i, 4)
|
---|
| 1182 | if(i <= 6)
|
---|
| 1183 | eph._ura = ceil(10.0*pow(2.0, 1.0+i/2.0))/10.0;
|
---|
| 1184 | else
|
---|
| 1185 | eph._ura = ceil(10.0*pow(2.0, i/2.0))/10.0;
|
---|
| 1186 | GETBITS(eph._health, 6)
|
---|
| 1187 | GETFLOATSIGN(eph._TGD, 8, 1.0/(double)(1<<30)/(double)(1<<1))
|
---|
| 1188 | GETBITS(eph._IODC, 10)
|
---|
| 1189 | GETBITS(eph._fitInterval, 1)
|
---|
| 1190 | eph._TOT = 0.9999e9;
|
---|
| 1191 | eph._L2PFlag = 0; /* does not exist for QZSS */
|
---|
| 1192 |
|
---|
| 1193 | emit newGPSEph(eph);
|
---|
| 1194 | decoded = true;
|
---|
| 1195 | }
|
---|
| 1196 | return decoded;
|
---|
| 1197 | }
|
---|
| 1198 |
|
---|
| 1199 | //
|
---|
| 1200 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1201 | bool RTCM3Decoder::DecodeSBASEphemeris(unsigned char* data, int size)
|
---|
| 1202 | {
|
---|
| 1203 | bool decoded = false;
|
---|
| 1204 |
|
---|
| 1205 | if(size == 35)
|
---|
| 1206 | {
|
---|
| 1207 | t_ephSBAS eph;
|
---|
| 1208 | int i;
|
---|
| 1209 | uint64_t numbits = 0, bitfield = 0;
|
---|
| 1210 |
|
---|
| 1211 | data += 3; /* header */
|
---|
| 1212 | size -= 6; /* header + crc */
|
---|
| 1213 | SKIPBITS(12)
|
---|
| 1214 |
|
---|
| 1215 | eph._receptDateTime = currentDateAndTimeGPS();
|
---|
| 1216 |
|
---|
| 1217 | GETBITS(i, 6)
|
---|
| 1218 | eph._prn.set('S', 20+i);
|
---|
| 1219 | GETBITS(eph._IODN, 8)
|
---|
| 1220 | GETBITS(i, 13)
|
---|
| 1221 | i <<= 4;
|
---|
| 1222 | eph._TOC.setTOD(i*1000);
|
---|
| 1223 | GETBITS(i, 4)
|
---|
| 1224 | eph._ura = accuracyFromIndex(i, eph.type());
|
---|
| 1225 | GETFLOATSIGN(eph._x_pos, 30, 0.08)
|
---|
| 1226 | GETFLOATSIGN(eph._y_pos, 30, 0.08)
|
---|
| 1227 | GETFLOATSIGN(eph._z_pos, 25, 0.4)
|
---|
| 1228 | GETFLOATSIGN(eph._x_velocity, 17, 0.000625)
|
---|
| 1229 | GETFLOATSIGN(eph._y_velocity, 17, 0.000625)
|
---|
| 1230 | GETFLOATSIGN(eph._z_velocity, 18, 0.004)
|
---|
| 1231 | GETFLOATSIGN(eph._x_acceleration, 10, 0.0000125)
|
---|
| 1232 | GETFLOATSIGN(eph._y_acceleration, 10, 0.0000125)
|
---|
| 1233 | GETFLOATSIGN(eph._z_acceleration, 10, 0.0000625)
|
---|
| 1234 | GETFLOATSIGN(eph._agf0, 12, 1.0/(1<<30)/(1<<1))
|
---|
| 1235 | GETFLOATSIGN(eph._agf1, 8, 1.0/(1<<30)/(1<<10))
|
---|
| 1236 |
|
---|
| 1237 | eph._TOW = 0.9999E9;
|
---|
| 1238 | eph._health = 0;
|
---|
| 1239 |
|
---|
| 1240 | emit newSBASEph(eph);
|
---|
| 1241 | decoded = true;
|
---|
| 1242 | }
|
---|
| 1243 | return decoded;
|
---|
| 1244 | }
|
---|
| 1245 |
|
---|
| 1246 | //
|
---|
| 1247 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1248 | bool RTCM3Decoder::DecodeGalileoEphemeris(unsigned char* data, int size)
|
---|
| 1249 | {
|
---|
| 1250 | bool decoded = false;
|
---|
| 1251 | uint64_t numbits = 0, bitfield = 0;
|
---|
| 1252 | int i;
|
---|
| 1253 |
|
---|
| 1254 | data += 3; /* header */
|
---|
| 1255 | size -= 6; /* header + crc */
|
---|
| 1256 | GETBITS(i, 12)
|
---|
| 1257 |
|
---|
| 1258 | if((i == 1046 && size == 61) || (i == 1045 && size == 60))
|
---|
| 1259 | {
|
---|
| 1260 | t_ephGal eph;
|
---|
| 1261 |
|
---|
| 1262 | eph._receptDateTime = currentDateAndTimeGPS();
|
---|
| 1263 |
|
---|
| 1264 | eph._inav = (i == 1046);
|
---|
| 1265 | eph._fnav = (i == 1045);
|
---|
| 1266 | GETBITS(i, 6)
|
---|
| 1267 | eph._prn.set('E', i, eph._inav ? 1 : 0);
|
---|
| 1268 |
|
---|
| 1269 | GETBITS(eph._TOEweek, 12)
|
---|
| 1270 | GETBITS(eph._IODnav, 10)
|
---|
| 1271 | GETBITS(i, 8)
|
---|
| 1272 | eph._SISA = accuracyFromIndex(i, eph.type());
|
---|
| 1273 | GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
| 1274 | GETBITSFACTOR(i, 14, 60)
|
---|
[6868] | 1275 | eph._TOC.set(1024+eph._TOEweek, i);
|
---|
[6812] | 1276 | GETFLOATSIGN(eph._clock_driftrate, 6, 1.0/(double)(1<<30)/(double)(1<<29))
|
---|
| 1277 | GETFLOATSIGN(eph._clock_drift, 21, 1.0/(double)(1<<30)/(double)(1<<16))
|
---|
| 1278 | GETFLOATSIGN(eph._clock_bias, 31, 1.0/(double)(1<<30)/(double)(1<<4))
|
---|
| 1279 | GETFLOATSIGN(eph._Crs, 16, 1.0/(double)(1<<5))
|
---|
| 1280 | GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
| 1281 | GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
| 1282 | GETFLOATSIGN(eph._Cuc, 16, 1.0/(double)(1<<29))
|
---|
| 1283 | GETFLOAT(eph._e, 32, 1.0/(double)(1<<30)/(double)(1<<3))
|
---|
| 1284 | GETFLOATSIGN(eph._Cus, 16, 1.0/(double)(1<<29))
|
---|
| 1285 | GETFLOAT(eph._sqrt_A, 32, 1.0/(double)(1<<19))
|
---|
| 1286 | GETBITSFACTOR(eph._TOEsec, 14, 60)
|
---|
| 1287 | /* FIXME: overwrite value, copied from old code */
|
---|
| 1288 | eph._TOEsec = eph._TOC.gpssec();
|
---|
| 1289 | GETFLOATSIGN(eph._Cic, 16, 1.0/(double)(1<<29))
|
---|
| 1290 | GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
| 1291 | GETFLOATSIGN(eph._Cis, 16, 1.0/(double)(1<<29))
|
---|
| 1292 | GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
| 1293 | GETFLOATSIGN(eph._Crc, 16, 1.0/(double)(1<<5))
|
---|
| 1294 | GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
| 1295 | GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
| 1296 | GETFLOATSIGN(eph._BGD_1_5A, 10, 1.0/(double)(1<<30)/(double)(1<<2))
|
---|
| 1297 | if(eph._inav)
|
---|
| 1298 | {
|
---|
[7006] | 1299 | /* set unused F/NAV values */
|
---|
[6812] | 1300 | eph._E5aHS = 0.0;
|
---|
| 1301 | eph._e5aDataInValid = false;
|
---|
| 1302 |
|
---|
| 1303 | GETFLOATSIGN(eph._BGD_1_5B, 10, 1.0/(double)(1<<30)/(double)(1<<2))
|
---|
| 1304 | GETBITS(eph._E5bHS, 2)
|
---|
| 1305 | GETBITS(eph._e5bDataInValid, 1)
|
---|
| 1306 | GETBITS(eph._E1_bHS, 2)
|
---|
| 1307 | GETBITS(eph._e1DataInValid, 1)
|
---|
| 1308 | }
|
---|
| 1309 | else
|
---|
| 1310 | {
|
---|
[7006] | 1311 | /* set unused I/NAV values */
|
---|
[6812] | 1312 | eph._BGD_1_5B = 0.0;
|
---|
| 1313 | eph._E5bHS = 0.0;
|
---|
| 1314 | eph._E1_bHS = 0.0;
|
---|
| 1315 | eph._e1DataInValid = false;
|
---|
| 1316 | eph._e5bDataInValid = false;
|
---|
| 1317 |
|
---|
| 1318 | GETBITS(eph._E5aHS, 2)
|
---|
| 1319 | GETBITS(eph._e5aDataInValid, 1)
|
---|
| 1320 | }
|
---|
| 1321 | eph._TOT = 0.9999e9;
|
---|
| 1322 |
|
---|
| 1323 | emit newGalileoEph(eph);
|
---|
| 1324 | decoded = true;
|
---|
| 1325 | }
|
---|
| 1326 | return decoded;
|
---|
| 1327 | }
|
---|
| 1328 |
|
---|
| 1329 | //
|
---|
| 1330 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1331 | bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size)
|
---|
| 1332 | {
|
---|
| 1333 | bool decoded = false;
|
---|
| 1334 |
|
---|
| 1335 | if(size == 70)
|
---|
| 1336 | {
|
---|
| 1337 | t_ephBDS eph;
|
---|
| 1338 | int i;
|
---|
| 1339 | uint64_t numbits = 0, bitfield = 0;
|
---|
| 1340 |
|
---|
| 1341 | data += 3; /* header */
|
---|
| 1342 | size -= 6; /* header + crc */
|
---|
| 1343 | SKIPBITS(12)
|
---|
| 1344 |
|
---|
| 1345 | eph._receptDateTime = currentDateAndTimeGPS();
|
---|
| 1346 |
|
---|
| 1347 | GETBITS(i, 6)
|
---|
| 1348 | eph._prn.set('C', i);
|
---|
| 1349 |
|
---|
| 1350 | SKIPBITS(13) /* week */
|
---|
| 1351 | GETBITS(i, 4)
|
---|
| 1352 | eph._URA = accuracyFromIndex(i, eph.type());
|
---|
| 1353 | GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
| 1354 | GETBITS(eph._AODE, 5)
|
---|
| 1355 | GETBITS(i, 17)
|
---|
| 1356 | i <<= 3;
|
---|
| 1357 | eph._TOC.setBDS(i*1000);
|
---|
| 1358 | GETFLOATSIGN(eph._clock_driftrate, 11, 1.0/(double)(1<<30)/(double)(1<<30)/(double)(1<<6))
|
---|
| 1359 | GETFLOATSIGN(eph._clock_drift, 22, 1.0/(double)(1<<30)/(double)(1<<20))
|
---|
| 1360 | GETFLOATSIGN(eph._clock_bias, 24, 1.0/(double)(1<<30)/(double)(1<<3))
|
---|
| 1361 | GETBITS(eph._AODC, 5)
|
---|
| 1362 | GETFLOATSIGN(eph._Crs, 18, 1.0/(double)(1<<6))
|
---|
| 1363 | GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
| 1364 | GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
| 1365 | GETFLOATSIGN(eph._Cuc, 18, 1.0/(double)(1<<30)/(double)(1<<1))
|
---|
| 1366 | GETFLOAT(eph._e, 32, 1.0/(double)(1<<30)/(double)(1<<3))
|
---|
| 1367 | GETFLOATSIGN(eph._Cus, 18, 1.0/(double)(1<<30)/(double)(1<<1))
|
---|
| 1368 | GETFLOAT(eph._sqrt_A, 32, 1.0/(double)(1<<19))
|
---|
| 1369 | GETBITS(i, 17)
|
---|
| 1370 | i <<= 3;
|
---|
| 1371 | eph._TOEsec = i;
|
---|
| 1372 | eph._TOE.setBDS(i*1000);
|
---|
| 1373 | GETFLOATSIGN(eph._Cic, 18, 1.0/(double)(1<<30)/(double)(1<<1))
|
---|
| 1374 | GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
| 1375 | GETFLOATSIGN(eph._Cis, 18, 1.0/(double)(1<<30)/(double)(1<<1))
|
---|
| 1376 | GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
| 1377 | GETFLOATSIGN(eph._Crc, 18, 1.0/(double)(1<<6))
|
---|
| 1378 | GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
| 1379 | GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
| 1380 | GETFLOATSIGN(eph._TGD1, 10, 0.0000000001)
|
---|
| 1381 | GETFLOATSIGN(eph._TGD2, 10, 0.0000000001)
|
---|
| 1382 | GETBITS(eph._SatH1, 1)
|
---|
| 1383 |
|
---|
| 1384 | eph._TOW = 0.9999E9;
|
---|
| 1385 | emit newBDSEph(eph);
|
---|
| 1386 | decoded = true;
|
---|
| 1387 | }
|
---|
| 1388 | return decoded;
|
---|
| 1389 | }
|
---|
| 1390 |
|
---|
| 1391 | //
|
---|
| 1392 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1393 | bool RTCM3Decoder::DecodeAntenna(unsigned char* data, int size)
|
---|
| 1394 | {
|
---|
[7873] | 1395 | char *antenna, type[256];
|
---|
[7875] | 1396 | int antnum = -1;
|
---|
[6812] | 1397 | uint64_t numbits = 0, bitfield = 0;
|
---|
| 1398 |
|
---|
[7215] | 1399 | data += 4; /* header */
|
---|
[6812] | 1400 | size -= 6; /* header + crc */
|
---|
| 1401 |
|
---|
| 1402 | SKIPBITS(12)
|
---|
[7873] | 1403 | GETSTRING(antnum, antenna)
|
---|
[7875] | 1404 | if (antnum > -1 && antnum < 265) {
|
---|
[7873] | 1405 | memcpy(type, antenna, antnum);
|
---|
| 1406 | type[antnum] = 0;
|
---|
[7875] | 1407 | if (!_antType.contains(type)) {
|
---|
| 1408 | _antType.push_back(type);
|
---|
| 1409 | }
|
---|
[7873] | 1410 | }
|
---|
[6812] | 1411 | return true;
|
---|
| 1412 | }
|
---|
| 1413 |
|
---|
| 1414 | //
|
---|
| 1415 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1416 | bool RTCM3Decoder::DecodeAntennaPosition(unsigned char* data, int size)
|
---|
| 1417 | {
|
---|
| 1418 | int type;
|
---|
| 1419 | uint64_t numbits = 0, bitfield = 0;
|
---|
| 1420 | double x, y, z;
|
---|
| 1421 |
|
---|
| 1422 | data += 3; /* header */
|
---|
| 1423 | size -= 6; /* header + crc */
|
---|
| 1424 |
|
---|
| 1425 | GETBITS(type, 12)
|
---|
| 1426 | _antList.push_back(t_antInfo());
|
---|
| 1427 | _antList.back().type = t_antInfo::ARP;
|
---|
| 1428 | SKIPBITS(22)
|
---|
| 1429 | GETBITSSIGN(x, 38)
|
---|
| 1430 | _antList.back().xx = x * 1e-4;
|
---|
| 1431 | SKIPBITS(2)
|
---|
| 1432 | GETBITSSIGN(y, 38)
|
---|
| 1433 | _antList.back().yy = y * 1e-4;
|
---|
| 1434 | SKIPBITS(2)
|
---|
| 1435 | GETBITSSIGN(z, 38)
|
---|
| 1436 | _antList.back().zz = z * 1e-4;
|
---|
| 1437 | if(type == 1006)
|
---|
| 1438 | {
|
---|
| 1439 | double h;
|
---|
| 1440 | GETBITS(h, 16)
|
---|
| 1441 | _antList.back().height = h * 1e-4;
|
---|
| 1442 | _antList.back().height_f = true;
|
---|
| 1443 | }
|
---|
| 1444 | _antList.back().message = type;
|
---|
| 1445 |
|
---|
| 1446 | return true;
|
---|
| 1447 | }
|
---|
| 1448 |
|
---|
[7753] | 1449 | //
|
---|
[6812] | 1450 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1451 | t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg)
|
---|
| 1452 | {
|
---|
| 1453 | bool decoded = false;
|
---|
| 1454 |
|
---|
| 1455 | errmsg.clear();
|
---|
| 1456 |
|
---|
| 1457 | while(bufLen && _MessageSize < sizeof(_Message))
|
---|
| 1458 | {
|
---|
| 1459 | int l = sizeof(_Message) - _MessageSize;
|
---|
| 1460 | if(l > bufLen)
|
---|
| 1461 | l = bufLen;
|
---|
| 1462 | memcpy(_Message+_MessageSize, buffer, l);
|
---|
| 1463 | _MessageSize += l;
|
---|
| 1464 | bufLen -= l;
|
---|
| 1465 | buffer += l;
|
---|
| 1466 | int id;
|
---|
| 1467 | while((id = GetMessage()))
|
---|
| 1468 | {
|
---|
| 1469 | /* reset station ID for file loading as it can change */
|
---|
| 1470 | if(_rawFile)
|
---|
| 1471 | _staID = _rawFile->staID();
|
---|
| 1472 | /* store the id into the list of loaded blocks */
|
---|
| 1473 | _typeList.push_back(id);
|
---|
| 1474 |
|
---|
[6856] | 1475 | /* SSR I+II data handled in another function, already pass the
|
---|
[6812] | 1476 | * extracted data block. That does no harm, as it anyway skip everything
|
---|
| 1477 | * else. */
|
---|
[6856] | 1478 | if((id >= 1057 && id <= 1068) || (id >= 1240 && id <= 1270))
|
---|
[6812] | 1479 | {
|
---|
| 1480 | if (!_coDecoders.contains(_staID.toAscii()))
|
---|
[7753] | 1481 | _coDecoders[_staID.toAscii()] = new RTCM3coDecoder(_staID);
|
---|
[6812] | 1482 | RTCM3coDecoder* coDecoder = _coDecoders[_staID.toAscii()];
|
---|
| 1483 | if(coDecoder->Decode(reinterpret_cast<char *>(_Message), _BlockSize,
|
---|
| 1484 | errmsg) == success)
|
---|
| 1485 | {
|
---|
| 1486 | decoded = true;
|
---|
| 1487 | }
|
---|
| 1488 | }
|
---|
| 1489 | else if(id >= 1070 && id <= 1229) /* MSM */
|
---|
| 1490 | {
|
---|
| 1491 | if(DecodeRTCM3MSM(_Message, _BlockSize))
|
---|
| 1492 | decoded = true;
|
---|
| 1493 | }
|
---|
| 1494 | else
|
---|
| 1495 | {
|
---|
| 1496 | switch(id)
|
---|
| 1497 | {
|
---|
| 1498 | case 1001: case 1003:
|
---|
| 1499 | emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
|
---|
| 1500 | .arg(_staID).arg(id).toAscii(), true));
|
---|
| 1501 | break; /* no use decoding partial data ATM, remove break when data can be used */
|
---|
| 1502 | case 1002: case 1004:
|
---|
| 1503 | if(DecodeRTCM3GPS(_Message, _BlockSize))
|
---|
[1021] | 1504 | decoded = true;
|
---|
[6812] | 1505 | break;
|
---|
| 1506 | case 1009: case 1011:
|
---|
| 1507 | emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
|
---|
| 1508 | .arg(_staID).arg(id).toAscii(), true));
|
---|
| 1509 | break; /* no use decoding partial data ATM, remove break when data can be used */
|
---|
| 1510 | case 1010: case 1012:
|
---|
| 1511 | if(DecodeRTCM3GLONASS(_Message, _BlockSize))
|
---|
[1021] | 1512 | decoded = true;
|
---|
[6812] | 1513 | break;
|
---|
| 1514 | case 1019:
|
---|
| 1515 | if(DecodeGPSEphemeris(_Message, _BlockSize))
|
---|
[2770] | 1516 | decoded = true;
|
---|
[6812] | 1517 | break;
|
---|
| 1518 | case 1020:
|
---|
| 1519 | if(DecodeGLONASSEphemeris(_Message, _BlockSize))
|
---|
[6372] | 1520 | decoded = true;
|
---|
[6812] | 1521 | break;
|
---|
| 1522 | case 1043:
|
---|
| 1523 | if(DecodeSBASEphemeris(_Message, _BlockSize))
|
---|
[6383] | 1524 | decoded = true;
|
---|
[6812] | 1525 | break;
|
---|
| 1526 | case 1044:
|
---|
| 1527 | if(DecodeQZSSEphemeris(_Message, _BlockSize))
|
---|
[6595] | 1528 | decoded = true;
|
---|
[6812] | 1529 | break;
|
---|
| 1530 | case 1045: case 1046:
|
---|
| 1531 | if(DecodeGalileoEphemeris(_Message, _BlockSize))
|
---|
| 1532 | decoded = true;
|
---|
| 1533 | break;
|
---|
| 1534 | case RTCM3ID_BDS:
|
---|
| 1535 | if(DecodeBDSEphemeris(_Message, _BlockSize))
|
---|
| 1536 | decoded = true;
|
---|
| 1537 | break;
|
---|
| 1538 | case 1007: case 1008: case 1033:
|
---|
| 1539 | DecodeAntenna(_Message, _BlockSize);
|
---|
| 1540 | break;
|
---|
| 1541 | case 1005: case 1006:
|
---|
| 1542 | DecodeAntennaPosition(_Message, _BlockSize);
|
---|
| 1543 | break;
|
---|
[296] | 1544 | }
|
---|
| 1545 | }
|
---|
| 1546 | }
|
---|
[6812] | 1547 | }
|
---|
| 1548 | return decoded ? success : failure;
|
---|
| 1549 | };
|
---|
| 1550 |
|
---|
[7753] | 1551 | //
|
---|
[6812] | 1552 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1553 | uint32_t RTCM3Decoder::CRC24(long size, const unsigned char *buf)
|
---|
| 1554 | {
|
---|
| 1555 | uint32_t crc = 0;
|
---|
| 1556 | int i;
|
---|
| 1557 |
|
---|
| 1558 | while(size--)
|
---|
| 1559 | {
|
---|
| 1560 | crc ^= (*buf++) << (16);
|
---|
| 1561 | for(i = 0; i < 8; i++)
|
---|
| 1562 | {
|
---|
| 1563 | crc <<= 1;
|
---|
| 1564 | if(crc & 0x1000000)
|
---|
| 1565 | crc ^= 0x01864cfb;
|
---|
[1021] | 1566 | }
|
---|
[296] | 1567 | }
|
---|
[6812] | 1568 | return crc;
|
---|
| 1569 | }
|
---|
[1021] | 1570 |
|
---|
[7753] | 1571 | //
|
---|
[6812] | 1572 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1573 | int RTCM3Decoder::GetMessage(void)
|
---|
| 1574 | {
|
---|
| 1575 | unsigned char *m, *e;
|
---|
| 1576 | int i;
|
---|
| 1577 |
|
---|
| 1578 | m = _Message+_SkipBytes;
|
---|
| 1579 | e = _Message+_MessageSize;
|
---|
| 1580 | _NeedBytes = _SkipBytes = 0;
|
---|
| 1581 | while(e-m >= 3)
|
---|
| 1582 | {
|
---|
| 1583 | if(m[0] == 0xD3)
|
---|
| 1584 | {
|
---|
| 1585 | _BlockSize = ((m[1]&3)<<8)|m[2];
|
---|
| 1586 | if(e-m >= static_cast<int>(_BlockSize+6))
|
---|
| 1587 | {
|
---|
| 1588 | if(static_cast<uint32_t>((m[3+_BlockSize]<<16)|(m[3+_BlockSize+1]<<8)
|
---|
| 1589 | |(m[3+_BlockSize+2])) == CRC24(_BlockSize+3, m))
|
---|
| 1590 | {
|
---|
| 1591 | _BlockSize +=6;
|
---|
| 1592 | _SkipBytes = _BlockSize;
|
---|
| 1593 | break;
|
---|
| 1594 | }
|
---|
| 1595 | else
|
---|
| 1596 | ++m;
|
---|
| 1597 | }
|
---|
| 1598 | else
|
---|
| 1599 | {
|
---|
| 1600 | _NeedBytes = _BlockSize;
|
---|
| 1601 | break;
|
---|
| 1602 | }
|
---|
| 1603 | }
|
---|
| 1604 | else
|
---|
| 1605 | ++m;
|
---|
[658] | 1606 | }
|
---|
[6812] | 1607 | if(e-m < 3)
|
---|
| 1608 | _NeedBytes = 3;
|
---|
| 1609 |
|
---|
| 1610 | /* copy buffer to front */
|
---|
| 1611 | i = m - _Message;
|
---|
| 1612 | if(i && m < e)
|
---|
| 1613 | memmove(_Message, m, static_cast<size_t>(_MessageSize-i));
|
---|
| 1614 | _MessageSize -= i;
|
---|
| 1615 |
|
---|
| 1616 | return !_NeedBytes ? ((_Message[3]<<4)|(_Message[4]>>4)) : 0;
|
---|
[296] | 1617 | }
|
---|
[1807] | 1618 |
|
---|
[3001] | 1619 | // Time of Corrections
|
---|
| 1620 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 1621 | int RTCM3Decoder::corrGPSEpochTime() const {
|
---|
[6812] | 1622 | return _coDecoders.size() > 0 ? _coDecoders.begin().value()->corrGPSEpochTime() : -1;
|
---|
[3001] | 1623 | }
|
---|