1 | // Part of BNC, a utility for retrieving decoding and
|
---|
2 | // converting GNSS data streams from NTRIP broadcasters.
|
---|
3 | //
|
---|
4 | // Copyright (C) 2007
|
---|
5 | // German Federal Agency for Cartography and Geodesy (BKG)
|
---|
6 | // http://www.bkg.bund.de
|
---|
7 | // Czech Technical University Prague, Department of Geodesy
|
---|
8 | // http://www.fsv.cvut.cz
|
---|
9 | //
|
---|
10 | // Email: euref-ip@bkg.bund.de
|
---|
11 | //
|
---|
12 | // This program is free software; you can redistribute it and/or
|
---|
13 | // modify it under the terms of the GNU General Public License
|
---|
14 | // as published by the Free Software Foundation, version 2.
|
---|
15 | //
|
---|
16 | // This program is distributed in the hope that it will be useful,
|
---|
17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
|
---|
18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
---|
19 | // GNU General Public License for more details.
|
---|
20 | //
|
---|
21 | // You should have received a copy of the GNU General Public License
|
---|
22 | // along with this program; if not, write to the Free Software
|
---|
23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
|
---|
24 |
|
---|
25 | /* -------------------------------------------------------------------------
|
---|
26 | * BKG NTRIP Client
|
---|
27 | * -------------------------------------------------------------------------
|
---|
28 | *
|
---|
29 | * Class: RTCM3Decoder
|
---|
30 | *
|
---|
31 | * Purpose: RTCM3 Decoder
|
---|
32 | *
|
---|
33 | * Author: L. Mervart
|
---|
34 | *
|
---|
35 | * Created: 24-Aug-2006
|
---|
36 | *
|
---|
37 | * Changes:
|
---|
38 | *
|
---|
39 | * -----------------------------------------------------------------------*/
|
---|
40 |
|
---|
41 | #include <iostream>
|
---|
42 | #include <iomanip>
|
---|
43 | #include <sstream>
|
---|
44 | #include <math.h>
|
---|
45 | #include <string.h>
|
---|
46 |
|
---|
47 | #include "bits.h"
|
---|
48 | #include "gnss.h"
|
---|
49 | #include "RTCM3Decoder.h"
|
---|
50 | #include "rtcm_utils.h"
|
---|
51 | #include "bncconst.h"
|
---|
52 | #include "bnccore.h"
|
---|
53 | #include "bncutils.h"
|
---|
54 | #include "bncsettings.h"
|
---|
55 |
|
---|
56 | using namespace std;
|
---|
57 |
|
---|
58 | // Error Handling
|
---|
59 | ////////////////////////////////////////////////////////////////////////////
|
---|
60 | void RTCM3Error(const char*, ...) {
|
---|
61 | }
|
---|
62 |
|
---|
63 | // Constructor
|
---|
64 | ////////////////////////////////////////////////////////////////////////////
|
---|
65 | RTCM3Decoder::RTCM3Decoder(const QString& staID, bncRawFile* rawFile) :
|
---|
66 | GPSDecoder() {
|
---|
67 |
|
---|
68 | _staID = staID;
|
---|
69 | _rawFile = rawFile;
|
---|
70 |
|
---|
71 | connect(this, SIGNAL(newGPSEph(t_ephGPS)), BNC_CORE,
|
---|
72 | SLOT(slotNewGPSEph(t_ephGPS)));
|
---|
73 | connect(this, SIGNAL(newGlonassEph(t_ephGlo)), BNC_CORE,
|
---|
74 | SLOT(slotNewGlonassEph(t_ephGlo)));
|
---|
75 | connect(this, SIGNAL(newGalileoEph(t_ephGal)), BNC_CORE,
|
---|
76 | SLOT(slotNewGalileoEph(t_ephGal)));
|
---|
77 | connect(this, SIGNAL(newSBASEph(t_ephSBAS)), BNC_CORE,
|
---|
78 | SLOT(slotNewSBASEph(t_ephSBAS)));
|
---|
79 | connect(this, SIGNAL(newBDSEph(t_ephBDS)), BNC_CORE,
|
---|
80 | SLOT(slotNewBDSEph(t_ephBDS)));
|
---|
81 |
|
---|
82 | _MessageSize = _SkipBytes = _BlockSize = _NeedBytes = 0;
|
---|
83 | }
|
---|
84 |
|
---|
85 | // Destructor
|
---|
86 | ////////////////////////////////////////////////////////////////////////////
|
---|
87 | RTCM3Decoder::~RTCM3Decoder() {
|
---|
88 | QMapIterator<QByteArray, RTCM3coDecoder*> it(_coDecoders);
|
---|
89 | while (it.hasNext())
|
---|
90 | {
|
---|
91 | it.next();
|
---|
92 | delete it.value();
|
---|
93 | }
|
---|
94 | }
|
---|
95 |
|
---|
96 | //
|
---|
97 | ////////////////////////////////////////////////////////////////////////////
|
---|
98 | bool RTCM3Decoder::DecodeRTCM3GPS(unsigned char* data, int size) {
|
---|
99 | bool decoded = false;
|
---|
100 | bncTime CurrentObsTime;
|
---|
101 | int i, numsats, syncf, type;
|
---|
102 | uint64_t numbits = 0, bitfield = 0;
|
---|
103 |
|
---|
104 | data += 3; /* header */
|
---|
105 | size -= 6; /* header + crc */
|
---|
106 |
|
---|
107 | GETBITS(type, 12)
|
---|
108 | SKIPBITS(12)
|
---|
109 | /* id */
|
---|
110 | GETBITS(i, 30)
|
---|
111 |
|
---|
112 | CurrentObsTime.set(i);
|
---|
113 | if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
|
---|
114 | decoded = true;
|
---|
115 | _obsList.append(_CurrentObsList);
|
---|
116 | _CurrentObsList.clear();
|
---|
117 | }
|
---|
118 |
|
---|
119 | _CurrentTime = CurrentObsTime;
|
---|
120 |
|
---|
121 | GETBITS(syncf, 1)
|
---|
122 | /* sync */
|
---|
123 | GETBITS(numsats, 5)
|
---|
124 | SKIPBITS(4)
|
---|
125 | /* smind, smint */
|
---|
126 |
|
---|
127 | while (numsats--) {
|
---|
128 | int sv, code, l1range, amb = 0;
|
---|
129 | t_satObs CurrentObs;
|
---|
130 | CurrentObs._time = CurrentObsTime;
|
---|
131 |
|
---|
132 | GETBITS(sv, 6)
|
---|
133 | if (sv < 40)
|
---|
134 | CurrentObs._prn.set('G', sv);
|
---|
135 | else
|
---|
136 | CurrentObs._prn.set('S', sv - 20);
|
---|
137 |
|
---|
138 | t_frqObs *frqObs = new t_frqObs;
|
---|
139 | /* L1 */
|
---|
140 | GETBITS(code, 1);
|
---|
141 | (code) ?
|
---|
142 | frqObs->_rnxType2ch.assign("1W") : frqObs->_rnxType2ch.assign("1C");
|
---|
143 | GETBITS(l1range, 24);
|
---|
144 | GETBITSSIGN(i, 20);
|
---|
145 | if ((i & ((1 << 20) - 1)) != 0x80000) {
|
---|
146 | frqObs->_code = l1range * 0.02;
|
---|
147 | frqObs->_phase = (l1range * 0.02 + i * 0.0005) / GPS_WAVELENGTH_L1;
|
---|
148 | frqObs->_codeValid = frqObs->_phaseValid = true;
|
---|
149 | }
|
---|
150 | GETBITS(frqObs->_lockTimeIndicator, 7);
|
---|
151 | frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
|
---|
152 | frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
|
---|
153 | if (type == 1002 || type == 1004) {
|
---|
154 | GETBITS(amb, 8);
|
---|
155 | if (amb) {
|
---|
156 | frqObs->_code += amb * 299792.458;
|
---|
157 | frqObs->_phase += (amb * 299792.458) / GPS_WAVELENGTH_L1;
|
---|
158 | }
|
---|
159 | GETBITS(i, 8);
|
---|
160 | if (i) {
|
---|
161 | frqObs->_snr = i * 0.25;
|
---|
162 | frqObs->_snrValid = true;
|
---|
163 | }
|
---|
164 | }
|
---|
165 | CurrentObs._obs.push_back(frqObs);
|
---|
166 | if (type == 1003 || type == 1004) {
|
---|
167 | frqObs = new t_frqObs;
|
---|
168 | /* L2 */
|
---|
169 | GETBITS(code, 2);
|
---|
170 | switch (code) {
|
---|
171 | case 3:
|
---|
172 | frqObs->_rnxType2ch.assign("2W"); /* or "2Y"? */
|
---|
173 | break;
|
---|
174 | case 2:
|
---|
175 | frqObs->_rnxType2ch.assign("2W");
|
---|
176 | break;
|
---|
177 | case 1:
|
---|
178 | frqObs->_rnxType2ch.assign("2P");
|
---|
179 | break;
|
---|
180 | case 0:
|
---|
181 | frqObs->_rnxType2ch.assign("2X"); /* or "2S" or "2L"? */
|
---|
182 | break;
|
---|
183 | }
|
---|
184 | GETBITSSIGN(i, 14);
|
---|
185 | if ((i & ((1 << 14) - 1)) != 0x2000) {
|
---|
186 | frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 299792.458;
|
---|
187 | frqObs->_codeValid = true;
|
---|
188 | }
|
---|
189 | GETBITSSIGN(i, 20);
|
---|
190 | if ((i & ((1 << 20) - 1)) != 0x80000) {
|
---|
191 | frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 299792.458)
|
---|
192 | / GPS_WAVELENGTH_L2;
|
---|
193 | frqObs->_phaseValid = true;
|
---|
194 | }
|
---|
195 | GETBITS(frqObs->_lockTimeIndicator, 7);
|
---|
196 | frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
|
---|
197 | frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
|
---|
198 | if (type == 1004) {
|
---|
199 | GETBITS(i, 8);
|
---|
200 | if (i) {
|
---|
201 | frqObs->_snr = i * 0.25;
|
---|
202 | frqObs->_snrValid = true;
|
---|
203 | }
|
---|
204 | }
|
---|
205 | CurrentObs._obs.push_back(frqObs);
|
---|
206 | }
|
---|
207 | _CurrentObsList.push_back(CurrentObs);
|
---|
208 | }
|
---|
209 |
|
---|
210 | if (!syncf) {
|
---|
211 | decoded = true;
|
---|
212 | _obsList.append(_CurrentObsList);
|
---|
213 | _CurrentTime.reset();
|
---|
214 | _CurrentObsList.clear();
|
---|
215 | }
|
---|
216 | return decoded;
|
---|
217 | }
|
---|
218 |
|
---|
219 | #define RTCM3_MSM_NUMSIG 32
|
---|
220 | #define RTCM3_MSM_NUMSAT 64
|
---|
221 | #define RTCM3_MSM_NUMCELLS 96 /* arbitrary limit */
|
---|
222 |
|
---|
223 | /**
|
---|
224 | * Frequency numbers of GLONASS with an offset of 100 to detect unset values.
|
---|
225 | * Gets filled by ephemeris and data blocks and shared between different streams.
|
---|
226 | */
|
---|
227 | static int GLOFreq[RTCM3_MSM_NUMSAT];
|
---|
228 |
|
---|
229 | /*
|
---|
230 | * Storage structure to store frequency and RINEX ID assignment for MSM
|
---|
231 | * message */
|
---|
232 | struct CodeData {
|
---|
233 | double wl;
|
---|
234 | const char *code; /* currently unused */
|
---|
235 | };
|
---|
236 |
|
---|
237 | /** MSM signal types for GPS and SBAS */
|
---|
238 | static struct CodeData gps[RTCM3_MSM_NUMSIG] = {
|
---|
239 | {0.0, 0},
|
---|
240 | {GPS_WAVELENGTH_L1, "1C"},
|
---|
241 | {GPS_WAVELENGTH_L1, "1P"},
|
---|
242 | {GPS_WAVELENGTH_L1, "1W"},
|
---|
243 | {0.0, 0},
|
---|
244 | {0.0, 0},
|
---|
245 | {0.0, 0},
|
---|
246 | {GPS_WAVELENGTH_L2, "2C"},
|
---|
247 | {GPS_WAVELENGTH_L2, "2P"},
|
---|
248 | {GPS_WAVELENGTH_L2, "2W"},
|
---|
249 | {0.0, 0},
|
---|
250 | {0.0, 0},
|
---|
251 | {0.0, 0},
|
---|
252 | {0.0, 0},
|
---|
253 | {GPS_WAVELENGTH_L2, "2S"},
|
---|
254 | {GPS_WAVELENGTH_L2, "2L"},
|
---|
255 | {GPS_WAVELENGTH_L2, "2X"},
|
---|
256 | {0.0, 0},
|
---|
257 | {0.0, 0},
|
---|
258 | {0.0, 0},
|
---|
259 | {0.0, 0},
|
---|
260 | {GPS_WAVELENGTH_L5, "5I"},
|
---|
261 | {GPS_WAVELENGTH_L5, "5Q"},
|
---|
262 | {GPS_WAVELENGTH_L5, "5X"},
|
---|
263 | {0.0, 0},
|
---|
264 | {0.0, 0},
|
---|
265 | {0.0, 0},
|
---|
266 | {0.0, 0},
|
---|
267 | {0.0, 0},
|
---|
268 | {GPS_WAVELENGTH_L1, "1S"},
|
---|
269 | {GPS_WAVELENGTH_L1, "1L"},
|
---|
270 | {GPS_WAVELENGTH_L1, "1X"}
|
---|
271 | };
|
---|
272 |
|
---|
273 | /**
|
---|
274 | * MSM signal types for GLONASS
|
---|
275 | *
|
---|
276 | * NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later!
|
---|
277 | */
|
---|
278 | static struct CodeData glo[RTCM3_MSM_NUMSIG] = {
|
---|
279 | {0.0, 0},
|
---|
280 | {0.0, "1C"},
|
---|
281 | {0.0, "1P"},
|
---|
282 | {0.0, 0},
|
---|
283 | {0.0, 0},
|
---|
284 | {0.0, 0},
|
---|
285 | {0.0, 0},
|
---|
286 | {1.0, "2C"},
|
---|
287 | {1.0, "2P"},
|
---|
288 | {GLO_WAVELENGTH_L1a, "4A"},
|
---|
289 | {GLO_WAVELENGTH_L1a, "4B"},
|
---|
290 | {GLO_WAVELENGTH_L1a, "4X"},
|
---|
291 | {GLO_WAVELENGTH_L2a, "6A"},
|
---|
292 | {GLO_WAVELENGTH_L2a, "6B"},
|
---|
293 | {GLO_WAVELENGTH_L2a, "6X"},
|
---|
294 | {GLO_WAVELENGTH_L3, "3I"},
|
---|
295 | {GLO_WAVELENGTH_L3, "3Q"},
|
---|
296 | {GLO_WAVELENGTH_L3, "3X"},
|
---|
297 | {0.0, 0},
|
---|
298 | {0.0, 0},
|
---|
299 | {0.0, 0},
|
---|
300 | {0.0, 0},
|
---|
301 | {0.0, 0},
|
---|
302 | {0.0, 0},
|
---|
303 | {0.0, 0},
|
---|
304 | {0.0, 0},
|
---|
305 | {0.0, 0},
|
---|
306 | {0.0, 0},
|
---|
307 | {0.0, 0},
|
---|
308 | {0.0, 0},
|
---|
309 | {0.0, 0},
|
---|
310 | {0.0, 0}
|
---|
311 | };
|
---|
312 |
|
---|
313 | /** MSM signal types for Galileo */
|
---|
314 | static struct CodeData gal[RTCM3_MSM_NUMSIG] = {
|
---|
315 | {0.0, 0},
|
---|
316 | {GAL_WAVELENGTH_E1, "1C"},
|
---|
317 | {GAL_WAVELENGTH_E1, "1A"},
|
---|
318 | {GAL_WAVELENGTH_E1, "1B"},
|
---|
319 | {GAL_WAVELENGTH_E1, "1X"},
|
---|
320 | {GAL_WAVELENGTH_E1, "1Z"},
|
---|
321 | {0.0, 0},
|
---|
322 | {GAL_WAVELENGTH_E6, "6C"},
|
---|
323 | {GAL_WAVELENGTH_E6, "6A"},
|
---|
324 | {GAL_WAVELENGTH_E6, "6B"},
|
---|
325 | {GAL_WAVELENGTH_E6, "6X"},
|
---|
326 | {GAL_WAVELENGTH_E6, "6Z"},
|
---|
327 | {0.0, 0},
|
---|
328 | {GAL_WAVELENGTH_E5B, "7I"},
|
---|
329 | {GAL_WAVELENGTH_E5B, "7Q"},
|
---|
330 | {GAL_WAVELENGTH_E5B, "7X"},
|
---|
331 | {0.0, 0},
|
---|
332 | {GAL_WAVELENGTH_E5AB,"8I"},
|
---|
333 | {GAL_WAVELENGTH_E5AB,"8Q"},
|
---|
334 | {GAL_WAVELENGTH_E5AB,"8X"},
|
---|
335 | {0.0, 0},
|
---|
336 | {GAL_WAVELENGTH_E5A, "5I"},
|
---|
337 | {GAL_WAVELENGTH_E5A, "5Q"},
|
---|
338 | {GAL_WAVELENGTH_E5A, "5X"},
|
---|
339 | {0.0, 0},
|
---|
340 | {0.0, 0},
|
---|
341 | {0.0, 0},
|
---|
342 | {0.0, 0},
|
---|
343 | {0.0, 0},
|
---|
344 | {0.0, 0},
|
---|
345 | {0.0, 0},
|
---|
346 | {0.0, 0}
|
---|
347 | };
|
---|
348 |
|
---|
349 | /** MSM signal types for QZSS */
|
---|
350 | static struct CodeData qzss[RTCM3_MSM_NUMSIG] = {
|
---|
351 | {0.0, 0},
|
---|
352 | {GPS_WAVELENGTH_L1, "1C"},
|
---|
353 | {0.0, 0},
|
---|
354 | {0.0, 0},
|
---|
355 | {0.0, 0},
|
---|
356 | {0.0, 0},
|
---|
357 | {0.0, 0},
|
---|
358 | {0.0, 0},
|
---|
359 | {QZSS_WAVELENGTH_L6, "6S"},
|
---|
360 | {QZSS_WAVELENGTH_L6, "6L"},
|
---|
361 | {QZSS_WAVELENGTH_L6, "6X"},
|
---|
362 | {0.0, 0},
|
---|
363 | {0.0, 0},
|
---|
364 | {0.0, 0},
|
---|
365 | {GPS_WAVELENGTH_L2, "2S"},
|
---|
366 | {GPS_WAVELENGTH_L2, "2L"},
|
---|
367 | {GPS_WAVELENGTH_L2, "2X"},
|
---|
368 | {0.0, 0},
|
---|
369 | {0.0, 0},
|
---|
370 | {0.0, 0},
|
---|
371 | {0.0, 0},
|
---|
372 | {GPS_WAVELENGTH_L5, "5I"},
|
---|
373 | {GPS_WAVELENGTH_L5, "5Q"},
|
---|
374 | {GPS_WAVELENGTH_L5, "5X"},
|
---|
375 | {0.0, 0},
|
---|
376 | {0.0, 0},
|
---|
377 | {0.0, 0},
|
---|
378 | {0.0, 0},
|
---|
379 | {0.0, 0},
|
---|
380 | {GPS_WAVELENGTH_L1, "1S"},
|
---|
381 | {GPS_WAVELENGTH_L1, "1L"},
|
---|
382 | {GPS_WAVELENGTH_L1, "1X"}
|
---|
383 | };
|
---|
384 |
|
---|
385 | /** MSM signal types for Beidou/BDS */
|
---|
386 | static struct CodeData bds[RTCM3_MSM_NUMSIG] = {
|
---|
387 | {0.0, 0},
|
---|
388 | {BDS_WAVELENGTH_B1, "2I"},
|
---|
389 | {BDS_WAVELENGTH_B1, "2Q"},
|
---|
390 | {BDS_WAVELENGTH_B1, "2X"},
|
---|
391 | {0.0, 0},
|
---|
392 | {0.0, 0},
|
---|
393 | {0.0, 0},
|
---|
394 | {BDS_WAVELENGTH_B3, "6I"},
|
---|
395 | {BDS_WAVELENGTH_B3, "6Q"},
|
---|
396 | {BDS_WAVELENGTH_B3, "6X"},
|
---|
397 | {0.0, 0},
|
---|
398 | {0.0, 0},
|
---|
399 | {0.0, 0},
|
---|
400 | {BDS_WAVELENGTH_B2, "7I"},
|
---|
401 | {BDS_WAVELENGTH_B2, "7Q"},
|
---|
402 | {BDS_WAVELENGTH_B2, "7X"},
|
---|
403 | {0.0, 0},
|
---|
404 | {0.0, 0},
|
---|
405 | {0.0, 0},
|
---|
406 | {0.0, 0},
|
---|
407 | {0.0, 0},
|
---|
408 | {BDS_WAVELENGTH_B2a, "5D"},
|
---|
409 | {BDS_WAVELENGTH_B2a, "5P"},
|
---|
410 | {BDS_WAVELENGTH_B2a, "5X"},
|
---|
411 | {BDS_WAVELENGTH_B2b, "7D"},
|
---|
412 | {0.0, 0},
|
---|
413 | {0.0, 0},
|
---|
414 | {0.0, 0},
|
---|
415 | {0.0, 0},
|
---|
416 | {BDS_WAVELENGTH_B1C, "1D"},
|
---|
417 | {BDS_WAVELENGTH_B1C, "1P"},
|
---|
418 | {BDS_WAVELENGTH_B1C, "1X"}
|
---|
419 | };
|
---|
420 |
|
---|
421 | /** MSM signal types for IRNSS */
|
---|
422 | static struct CodeData irn[RTCM3_MSM_NUMSIG] = {
|
---|
423 | {0.0, 0},
|
---|
424 | {0.0, 0},
|
---|
425 | {0.0, 0},
|
---|
426 | {0.0, 0},
|
---|
427 | {0.0, 0},
|
---|
428 | {0.0, 0},
|
---|
429 | {0.0, 0},
|
---|
430 | {IRNSS_WAVELENGTH_S, "9A"},
|
---|
431 | {0.0, 0},
|
---|
432 | {0.0, 0},
|
---|
433 | {0.0, 0},
|
---|
434 | {0.0, 0},
|
---|
435 | {0.0, 0},
|
---|
436 | {0.0, 0},
|
---|
437 | {0.0, 0},
|
---|
438 | {0.0, 0},
|
---|
439 | {0.0, 0},
|
---|
440 | {0.0, 0},
|
---|
441 | {0.0, 0},
|
---|
442 | {0.0, 0},
|
---|
443 | {0.0, 0},
|
---|
444 | {IRNSS_WAVELENGTH_L5, "5A"},
|
---|
445 | {0.0, 0},
|
---|
446 | {0.0, 0},
|
---|
447 | {0.0, 0},
|
---|
448 | {0.0, 0},
|
---|
449 | {0.0, 0},
|
---|
450 | {0.0, 0},
|
---|
451 | {0.0, 0},
|
---|
452 | {0.0, 0},
|
---|
453 | {0.0, 0},
|
---|
454 | {0.0, 0}
|
---|
455 | };
|
---|
456 |
|
---|
457 | #define UINT64(c) c ## ULL
|
---|
458 |
|
---|
459 | //
|
---|
460 | ////////////////////////////////////////////////////////////////////////////
|
---|
461 | bool RTCM3Decoder::DecodeRTCM3MSM(unsigned char* data, int size) {
|
---|
462 | bool decoded = false;
|
---|
463 | int type, syncf, i;
|
---|
464 | uint64_t numbits = 0, bitfield = 0;
|
---|
465 |
|
---|
466 | data += 3; /* header */
|
---|
467 | size -= 6; /* header + crc */
|
---|
468 |
|
---|
469 | GETBITS(type, 12)
|
---|
470 | SKIPBITS(12)
|
---|
471 | /* id */
|
---|
472 | char sys;
|
---|
473 | if (type >= 1131)
|
---|
474 | sys = 'I';
|
---|
475 | else if (type >= 1121)
|
---|
476 | sys = 'C';
|
---|
477 | else if (type >= 1111)
|
---|
478 | sys = 'J';
|
---|
479 | else if (type >= 1101)
|
---|
480 | sys = 'S';
|
---|
481 | else if (type >= 1091)
|
---|
482 | sys = 'E';
|
---|
483 | else if (type >= 1081)
|
---|
484 | sys = 'R';
|
---|
485 | else if (type >= 1071)
|
---|
486 | sys = 'G';
|
---|
487 |
|
---|
488 | bncTime CurrentObsTime;
|
---|
489 | if (sys == 'C') /* BDS */ {
|
---|
490 | GETBITS(i, 30)
|
---|
491 | CurrentObsTime.setBDS(i);
|
---|
492 | }
|
---|
493 | else if (sys == 'R') /* GLONASS */ {
|
---|
494 | SKIPBITS(3)
|
---|
495 | GETBITS(i, 27)
|
---|
496 | /* tk */
|
---|
497 | CurrentObsTime.setTk(i);
|
---|
498 | }
|
---|
499 | else /* GPS style date */ {
|
---|
500 | GETBITS(i, 30)
|
---|
501 | CurrentObsTime.set(i);
|
---|
502 | }
|
---|
503 | if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
|
---|
504 | decoded = true;
|
---|
505 | _obsList.append(_CurrentObsList);
|
---|
506 | _CurrentObsList.clear();
|
---|
507 | }
|
---|
508 | _CurrentTime = CurrentObsTime;
|
---|
509 |
|
---|
510 | GETBITS(syncf, 1)
|
---|
511 | /**
|
---|
512 | * Ignore unknown types except for sync flag
|
---|
513 | *
|
---|
514 | * We actually support types 1-3 in following code, but as they are missing
|
---|
515 | * the full cycles and can't be used later we skip interpretation here already.
|
---|
516 | */
|
---|
517 | if (type <= 1137 && (type % 10) >= 4 && (type % 10) <= 7) {
|
---|
518 | int sigmask, numsat = 0, numsig = 0;
|
---|
519 | uint64_t satmask, cellmask, ui;
|
---|
520 | // satellite data
|
---|
521 | double rrmod[RTCM3_MSM_NUMSAT]; // GNSS sat rough ranges modulo 1 millisecond
|
---|
522 | int rrint[RTCM3_MSM_NUMSAT]; // number of integer msecs in GNSS sat rough ranges
|
---|
523 | int rdop[RTCM3_MSM_NUMSAT]; // GNSS sat rough phase range rates
|
---|
524 | int extsat[RTCM3_MSM_NUMSAT];// extended sat info
|
---|
525 | // signal data
|
---|
526 | int ll[RTCM3_MSM_NUMCELLS]; // lock time indicator
|
---|
527 | /*int hc[RTCM3_MSM_NUMCELLS];*/ // half cycle ambiguity indicator
|
---|
528 | double cnr[RTCM3_MSM_NUMCELLS]; // signal cnr
|
---|
529 | double cp[RTCM3_MSM_NUMCELLS]; // fine phase range data
|
---|
530 | double psr[RTCM3_MSM_NUMCELLS]; // fine psr
|
---|
531 | double dop[RTCM3_MSM_NUMCELLS]; // fine phase range rates
|
---|
532 |
|
---|
533 | SKIPBITS(3 + 7 + 2 + 2 + 1 + 3)
|
---|
534 | GETBITS64(satmask, RTCM3_MSM_NUMSAT)
|
---|
535 |
|
---|
536 | /* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */
|
---|
537 | for (ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */)
|
---|
538 | ++numsat;
|
---|
539 | GETBITS(sigmask, RTCM3_MSM_NUMSIG)
|
---|
540 | for (i = sigmask; i; i &= (i - 1) /* remove rightmost bit */)
|
---|
541 | ++numsig;
|
---|
542 | for (i = 0; i < RTCM3_MSM_NUMSAT; ++i)
|
---|
543 | extsat[i] = 15;
|
---|
544 |
|
---|
545 | i = numsat * numsig;
|
---|
546 | GETBITS64(cellmask, (unsigned )i)
|
---|
547 | // satellite data
|
---|
548 | switch (type % 10) {
|
---|
549 | case 1:
|
---|
550 | case 2:
|
---|
551 | case 3:
|
---|
552 | /* partial data, already skipped above, but implemented for future expansion ! */
|
---|
553 | for (int j = numsat; j--;)
|
---|
554 | GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
|
---|
555 | break;
|
---|
556 | case 4:
|
---|
557 | case 6:
|
---|
558 | for (int j = numsat; j--;)
|
---|
559 | GETBITS(rrint[j], 8)
|
---|
560 | for (int j = numsat; j--;)
|
---|
561 | GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
|
---|
562 | break;
|
---|
563 | case 5:
|
---|
564 | case 7:
|
---|
565 | for (int j = numsat; j--;)
|
---|
566 | GETBITS(rrint[j], 8)
|
---|
567 | for (int j = numsat; j--;)
|
---|
568 | GETBITS(extsat[j], 4)
|
---|
569 | for (int j = numsat; j--;)
|
---|
570 | GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
|
---|
571 | for (int j = numsat; j--;)
|
---|
572 | GETBITSSIGN(rdop[j], 14)
|
---|
573 | break;
|
---|
574 | }
|
---|
575 | // signal data
|
---|
576 | int numcells = numsat * numsig;
|
---|
577 | /** Drop anything which exceeds our cell limit. Increase limit definition
|
---|
578 | * when that happens. */
|
---|
579 | if (numcells <= RTCM3_MSM_NUMCELLS) {
|
---|
580 | switch (type % 10) {
|
---|
581 | case 1:
|
---|
582 | for (int count = numcells; count--;)
|
---|
583 | if (cellmask & (UINT64(1) << count))
|
---|
584 | GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
|
---|
585 | break;
|
---|
586 | case 2:
|
---|
587 | for (int count = numcells; count--;)
|
---|
588 | if (cellmask & (UINT64(1) << count))
|
---|
589 | GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
|
---|
590 | for (int count = numcells; count--;)
|
---|
591 | if (cellmask & (UINT64(1) << count))
|
---|
592 | GETBITS(ll[count], 4)
|
---|
593 | for (int count = numcells; count--;)
|
---|
594 | if (cellmask & (UINT64(1) << count))
|
---|
595 | SKIPBITS(1)/*GETBITS(hc[count], 1)*/
|
---|
596 | break;
|
---|
597 | case 3:
|
---|
598 | for (int count = numcells; count--;)
|
---|
599 | if (cellmask & (UINT64(1) << count))
|
---|
600 | GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
|
---|
601 | for (int count = numcells; count--;)
|
---|
602 | if (cellmask & (UINT64(1) << count))
|
---|
603 | GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
|
---|
604 | for (int count = numcells; count--;)
|
---|
605 | if (cellmask & (UINT64(1) << count))
|
---|
606 | GETBITS(ll[count], 4)
|
---|
607 | for (int count = numcells; count--;)
|
---|
608 | if (cellmask & (UINT64(1) << count))
|
---|
609 | SKIPBITS(1)/*GETBITS(hc[count], 1)*/
|
---|
610 | break;
|
---|
611 | case 4:
|
---|
612 | for (int count = numcells; count--;)
|
---|
613 | if (cellmask & (UINT64(1) << count))
|
---|
614 | GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
|
---|
615 | for (int count = numcells; count--;)
|
---|
616 | if (cellmask & (UINT64(1) << count))
|
---|
617 | GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
|
---|
618 | for (int count = numcells; count--;)
|
---|
619 | if (cellmask & (UINT64(1) << count))
|
---|
620 | GETBITS(ll[count], 4)
|
---|
621 | for (int count = numcells; count--;)
|
---|
622 | if (cellmask & (UINT64(1) << count))
|
---|
623 | SKIPBITS(1)/*GETBITS(hc[count], 1)*/
|
---|
624 | for (int count = numcells; count--;)
|
---|
625 | if (cellmask & (UINT64(1) << count))
|
---|
626 | GETBITS(cnr[count], 6)
|
---|
627 | break;
|
---|
628 | case 5:
|
---|
629 | for (int count = numcells; count--;)
|
---|
630 | if (cellmask & (UINT64(1) << count))
|
---|
631 | GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
|
---|
632 | for (int count = numcells; count--;)
|
---|
633 | if (cellmask & (UINT64(1) << count))
|
---|
634 | GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
|
---|
635 | for (int count = numcells; count--;)
|
---|
636 | if (cellmask & (UINT64(1) << count))
|
---|
637 | GETBITS(ll[count], 4)
|
---|
638 | for (int count = numcells; count--;)
|
---|
639 | if (cellmask & (UINT64(1) << count))
|
---|
640 | SKIPBITS(1)/*GETBITS(hc[count], 1)*/
|
---|
641 | for (int count = numcells; count--;)
|
---|
642 | if (cellmask & (UINT64(1) << count))
|
---|
643 | GETFLOAT(cnr[count], 6, 1.0)
|
---|
644 | for (int count = numcells; count--;)
|
---|
645 | if (cellmask & (UINT64(1) << count))
|
---|
646 | GETFLOATSIGN(dop[count], 15, 0.0001)
|
---|
647 | break;
|
---|
648 | case 6:
|
---|
649 | for (int count = numcells; count--;)
|
---|
650 | if (cellmask & (UINT64(1) << count))
|
---|
651 | GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
|
---|
652 | for (int count = numcells; count--;)
|
---|
653 | if (cellmask & (UINT64(1) << count))
|
---|
654 | GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
|
---|
655 | for (int count = numcells; count--;)
|
---|
656 | if (cellmask & (UINT64(1) << count))
|
---|
657 | GETBITS(ll[count], 10)
|
---|
658 | for (int count = numcells; count--;)
|
---|
659 | if (cellmask & (UINT64(1) << count))
|
---|
660 | SKIPBITS(1)/*GETBITS(hc[count], 1)*/
|
---|
661 | for (int count = numcells; count--;)
|
---|
662 | if (cellmask & (UINT64(1) << count))
|
---|
663 | GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
|
---|
664 | break;
|
---|
665 | case 7:
|
---|
666 | for (int count = numcells; count--;)
|
---|
667 | if (cellmask & (UINT64(1) << count))
|
---|
668 | GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
|
---|
669 | for (int count = numcells; count--;)
|
---|
670 | if (cellmask & (UINT64(1) << count))
|
---|
671 | GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
|
---|
672 | for (int count = numcells; count--;)
|
---|
673 | if (cellmask & (UINT64(1) << count))
|
---|
674 | GETBITS(ll[count], 10)
|
---|
675 | for (int count = numcells; count--;)
|
---|
676 | if (cellmask & (UINT64(1) << count))
|
---|
677 | SKIPBITS(1)/*GETBITS(hc[count], 1)*/
|
---|
678 | for (int count = numcells; count--;)
|
---|
679 | if (cellmask & (UINT64(1) << count))
|
---|
680 | GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
|
---|
681 | for (int count = numcells; count--;)
|
---|
682 | if (cellmask & (UINT64(1) << count))
|
---|
683 | GETFLOATSIGN(dop[count], 15, 0.0001)
|
---|
684 | break;
|
---|
685 | }
|
---|
686 | i = RTCM3_MSM_NUMSAT;
|
---|
687 | int j = -1;
|
---|
688 | t_satObs CurrentObs;
|
---|
689 | for (int count = numcells; count--;) {
|
---|
690 | while (j >= 0 && !(sigmask & (1 << --j)))
|
---|
691 | ;
|
---|
692 | if (j < 0) {
|
---|
693 | while (!(satmask & (UINT64(1) << (--i))))
|
---|
694 | /* next satellite */
|
---|
695 | ;
|
---|
696 | if (CurrentObs._obs.size() > 0)
|
---|
697 | _CurrentObsList.push_back(CurrentObs);
|
---|
698 | CurrentObs.clear();
|
---|
699 | CurrentObs._time = CurrentObsTime;
|
---|
700 | if (sys == 'S')
|
---|
701 | CurrentObs._prn.set(sys, 20 - 1 + RTCM3_MSM_NUMSAT - i);
|
---|
702 | else
|
---|
703 | CurrentObs._prn.set(sys, RTCM3_MSM_NUMSAT - i);
|
---|
704 | j = RTCM3_MSM_NUMSIG;
|
---|
705 | while (!(sigmask & (1 << --j)))
|
---|
706 | ;
|
---|
707 | --numsat;
|
---|
708 | }
|
---|
709 | if (cellmask & (UINT64(1) << count)) {
|
---|
710 | struct CodeData cd = {0.0, 0};
|
---|
711 | switch (sys) {
|
---|
712 | case 'J':
|
---|
713 | cd = qzss[RTCM3_MSM_NUMSIG - j - 1];
|
---|
714 | break;
|
---|
715 | case 'C':
|
---|
716 | cd = bds[RTCM3_MSM_NUMSIG - j - 1];
|
---|
717 | break;
|
---|
718 | case 'G':
|
---|
719 | case 'S':
|
---|
720 | cd = gps[RTCM3_MSM_NUMSIG - j - 1];
|
---|
721 | break;
|
---|
722 | case 'R':
|
---|
723 | cd = glo[RTCM3_MSM_NUMSIG - j - 1];
|
---|
724 | {
|
---|
725 | int k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1];
|
---|
726 | if (extsat[numsat] < 14) { // channel number is available as extended info for MSM5/7
|
---|
727 | k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1] = 100 + extsat[numsat] - 7;
|
---|
728 | }
|
---|
729 | if (k) {
|
---|
730 | if (cd.wl == 0.0) {
|
---|
731 | cd.wl = GLO_WAVELENGTH_L1(k - 100);
|
---|
732 | }
|
---|
733 | else if (cd.wl == 1.0) {
|
---|
734 | cd.wl = GLO_WAVELENGTH_L2(k - 100);
|
---|
735 | }
|
---|
736 | }
|
---|
737 | else if (!k && cd.wl <= 1) {
|
---|
738 | cd.code = 0;
|
---|
739 | }
|
---|
740 | }
|
---|
741 | break;
|
---|
742 | case 'E':
|
---|
743 | cd = gal[RTCM3_MSM_NUMSIG - j - 1];
|
---|
744 | break;
|
---|
745 | case 'I':
|
---|
746 | cd = irn[RTCM3_MSM_NUMSIG - j - 1];
|
---|
747 | break;
|
---|
748 | }
|
---|
749 | if (cd.code) {
|
---|
750 | t_frqObs *frqObs = new t_frqObs;
|
---|
751 | frqObs->_rnxType2ch.assign(cd.code);
|
---|
752 |
|
---|
753 | switch (type % 10) {
|
---|
754 | case 1:
|
---|
755 | if (psr[count] > -1.0 / (1 << 10)) {
|
---|
756 | frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
|
---|
757 | + (rrmod[numsat]) * LIGHTSPEED / 1000.0;
|
---|
758 | frqObs->_codeValid = true;
|
---|
759 | }
|
---|
760 | break;
|
---|
761 | case 2:
|
---|
762 | if (cp[count] > -1.0 / (1 << 8)) {
|
---|
763 | frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
|
---|
764 | + (rrmod[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
|
---|
765 | frqObs->_phaseValid = true;
|
---|
766 | frqObs->_lockTime = lti2sec(type,ll[count]);
|
---|
767 | frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
|
---|
768 | frqObs->_lockTimeIndicator = ll[count];
|
---|
769 | }
|
---|
770 | break;
|
---|
771 | case 3:
|
---|
772 | if (psr[count] > -1.0 / (1 << 10)) {
|
---|
773 | frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
|
---|
774 | + (rrmod[numsat]) * LIGHTSPEED / 1000.0;
|
---|
775 | frqObs->_codeValid = true;
|
---|
776 | }
|
---|
777 | if (cp[count] > -1.0 / (1 << 8)) {
|
---|
778 | frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
|
---|
779 | + rrmod[numsat] * LIGHTSPEED / 1000.0 / cd.wl;
|
---|
780 | frqObs->_phaseValid = true;
|
---|
781 | frqObs->_lockTime = lti2sec(type,ll[count]);
|
---|
782 | frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
|
---|
783 | frqObs->_lockTimeIndicator = ll[count];
|
---|
784 | }
|
---|
785 | break;
|
---|
786 | case 4:
|
---|
787 | if (psr[count] > -1.0 / (1 << 10)) {
|
---|
788 | frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
|
---|
789 | + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
|
---|
790 | frqObs->_codeValid = true;
|
---|
791 | }
|
---|
792 | if (cp[count] > -1.0 / (1 << 8)) {
|
---|
793 | frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
|
---|
794 | + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
|
---|
795 | frqObs->_phaseValid = true;
|
---|
796 | frqObs->_lockTime = lti2sec(type,ll[count]);
|
---|
797 | frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
|
---|
798 | frqObs->_lockTimeIndicator = ll[count];
|
---|
799 | }
|
---|
800 | frqObs->_snr = cnr[count];
|
---|
801 | frqObs->_snrValid = true;
|
---|
802 | break;
|
---|
803 | case 5:
|
---|
804 | if (psr[count] > -1.0 / (1 << 10)) {
|
---|
805 | frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
|
---|
806 | + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
|
---|
807 | frqObs->_codeValid = true;
|
---|
808 | }
|
---|
809 | if (cp[count] > -1.0 / (1 << 8)) {
|
---|
810 | frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
|
---|
811 | + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
|
---|
812 | frqObs->_phaseValid = true;
|
---|
813 | frqObs->_lockTime = lti2sec(type,ll[count]);
|
---|
814 | frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
|
---|
815 | frqObs->_lockTimeIndicator = ll[count];
|
---|
816 | }
|
---|
817 | frqObs->_snr = cnr[count];
|
---|
818 | frqObs->_snrValid = true;
|
---|
819 | if (dop[count] > -1.6384) {
|
---|
820 | frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
|
---|
821 | frqObs->_dopplerValid = true;
|
---|
822 | }
|
---|
823 | break;
|
---|
824 | case 6:
|
---|
825 | if (psr[count] > -1.0 / (1 << 10)) {
|
---|
826 | frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
|
---|
827 | + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
|
---|
828 | frqObs->_codeValid = true;
|
---|
829 | }
|
---|
830 | if (cp[count] > -1.0 / (1 << 8)) {
|
---|
831 | frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
|
---|
832 | + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
|
---|
833 | frqObs->_phaseValid = true;
|
---|
834 | frqObs->_lockTime = lti2sec(type,ll[count]);
|
---|
835 | frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
|
---|
836 | frqObs->_lockTimeIndicator = ll[count];
|
---|
837 | }
|
---|
838 |
|
---|
839 | frqObs->_snr = cnr[count];
|
---|
840 | frqObs->_snrValid = true;
|
---|
841 | break;
|
---|
842 | case 7:
|
---|
843 | if (psr[count] > -1.0 / (1 << 10)) {
|
---|
844 | frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
|
---|
845 | + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
|
---|
846 | frqObs->_codeValid = true;
|
---|
847 | }
|
---|
848 | if (cp[count] > -1.0 / (1 << 8)) {
|
---|
849 | frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
|
---|
850 | + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
|
---|
851 | frqObs->_phaseValid = true;
|
---|
852 | frqObs->_lockTime = lti2sec(type,ll[count]);
|
---|
853 | frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
|
---|
854 | frqObs->_lockTimeIndicator = ll[count];
|
---|
855 | }
|
---|
856 |
|
---|
857 | frqObs->_snr = cnr[count];
|
---|
858 | frqObs->_snrValid = true;
|
---|
859 |
|
---|
860 | if (dop[count] > -1.6384) {
|
---|
861 | frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
|
---|
862 | frqObs->_dopplerValid = true;
|
---|
863 | }
|
---|
864 | break;
|
---|
865 | }
|
---|
866 | CurrentObs._obs.push_back(frqObs);
|
---|
867 | }
|
---|
868 | }
|
---|
869 | }
|
---|
870 | if (CurrentObs._obs.size() > 0) {
|
---|
871 | _CurrentObsList.push_back(CurrentObs);
|
---|
872 | }
|
---|
873 | }
|
---|
874 | }
|
---|
875 | else if ((type % 10) < 4) {
|
---|
876 | emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
|
---|
877 | .arg(_staID).arg(type).toAscii(), true));
|
---|
878 | }
|
---|
879 | if (!syncf) {
|
---|
880 | decoded = true;
|
---|
881 | _obsList.append(_CurrentObsList);
|
---|
882 | _CurrentTime.reset();
|
---|
883 | _CurrentObsList.clear();
|
---|
884 | }
|
---|
885 | return decoded;
|
---|
886 | }
|
---|
887 |
|
---|
888 | //
|
---|
889 | ////////////////////////////////////////////////////////////////////////////
|
---|
890 | bool RTCM3Decoder::DecodeRTCM3GLONASS(unsigned char* data, int size) {
|
---|
891 | bool decoded = false;
|
---|
892 | bncTime CurrentObsTime;
|
---|
893 | int i, numsats, syncf, type;
|
---|
894 | uint64_t numbits = 0, bitfield = 0;
|
---|
895 |
|
---|
896 | data += 3; /* header */
|
---|
897 | size -= 6; /* header + crc */
|
---|
898 |
|
---|
899 | GETBITS(type, 12)
|
---|
900 | SKIPBITS(12)
|
---|
901 | /* id */
|
---|
902 | GETBITS(i, 27)
|
---|
903 | /* tk */
|
---|
904 |
|
---|
905 | CurrentObsTime.setTk(i);
|
---|
906 | if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
|
---|
907 | decoded = true;
|
---|
908 | _obsList.append(_CurrentObsList);
|
---|
909 | _CurrentObsList.clear();
|
---|
910 | }
|
---|
911 | _CurrentTime = CurrentObsTime;
|
---|
912 |
|
---|
913 | GETBITS(syncf, 1)
|
---|
914 | /* sync */
|
---|
915 | GETBITS(numsats, 5)
|
---|
916 | SKIPBITS(4)
|
---|
917 | /* smind, smint */
|
---|
918 |
|
---|
919 | while (numsats--) {
|
---|
920 | int sv, code, l1range, amb = 0, freq;
|
---|
921 | t_satObs CurrentObs;
|
---|
922 | CurrentObs._time = CurrentObsTime;
|
---|
923 |
|
---|
924 | GETBITS(sv, 6)
|
---|
925 | CurrentObs._prn.set('R', sv);
|
---|
926 | GETBITS(code, 1)
|
---|
927 | GETBITS(freq, 5)
|
---|
928 | GLOFreq[sv - 1] = 100 + freq - 7; /* store frequency for other users (MSM) */
|
---|
929 |
|
---|
930 | t_frqObs *frqObs = new t_frqObs;
|
---|
931 | /* L1 */
|
---|
932 | (code) ?
|
---|
933 | frqObs->_rnxType2ch.assign("1P") : frqObs->_rnxType2ch.assign("1C");
|
---|
934 | GETBITS(l1range, 25);
|
---|
935 | GETBITSSIGN(i, 20);
|
---|
936 | if ((i & ((1 << 20) - 1)) != 0x80000) {
|
---|
937 | frqObs->_code = l1range * 0.02;
|
---|
938 | frqObs->_phase = (l1range * 0.02 + i * 0.0005) / GLO_WAVELENGTH_L1(freq - 7);
|
---|
939 | frqObs->_codeValid = frqObs->_phaseValid = true;
|
---|
940 | }
|
---|
941 | GETBITS(frqObs->_lockTimeIndicator, 7);
|
---|
942 | frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
|
---|
943 | frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
|
---|
944 | if (type == 1010 || type == 1012) {
|
---|
945 | GETBITS(amb, 7);
|
---|
946 | if (amb) {
|
---|
947 | frqObs->_code += amb * 599584.916;
|
---|
948 | frqObs->_phase += (amb * 599584.916) / GLO_WAVELENGTH_L1(freq - 7);
|
---|
949 | }
|
---|
950 | GETBITS(i, 8);
|
---|
951 | if (i) {
|
---|
952 | frqObs->_snr = i * 0.25;
|
---|
953 | frqObs->_snrValid = true;
|
---|
954 | }
|
---|
955 | }
|
---|
956 | CurrentObs._obs.push_back(frqObs);
|
---|
957 | if (type == 1011 || type == 1012) {
|
---|
958 | frqObs = new t_frqObs;
|
---|
959 | /* L2 */
|
---|
960 | GETBITS(code, 2);
|
---|
961 | switch (code) {
|
---|
962 | case 3:
|
---|
963 | frqObs->_rnxType2ch.assign("2P");
|
---|
964 | break;
|
---|
965 | case 2:
|
---|
966 | frqObs->_rnxType2ch.assign("2P");
|
---|
967 | break;
|
---|
968 | case 1:
|
---|
969 | frqObs->_rnxType2ch.assign("2P");
|
---|
970 | break;
|
---|
971 | case 0:
|
---|
972 | frqObs->_rnxType2ch.assign("2C");
|
---|
973 | break;
|
---|
974 | }
|
---|
975 | GETBITSSIGN(i, 14);
|
---|
976 | if ((i & ((1 << 14) - 1)) != 0x2000) {
|
---|
977 | frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 599584.916;
|
---|
978 | frqObs->_codeValid = true;
|
---|
979 | }
|
---|
980 | GETBITSSIGN(i, 20);
|
---|
981 | if ((i & ((1 << 20) - 1)) != 0x80000) {
|
---|
982 | frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 599584.916)
|
---|
983 | / GLO_WAVELENGTH_L2(freq - 7);
|
---|
984 | frqObs->_phaseValid = true;
|
---|
985 | }
|
---|
986 | GETBITS(frqObs->_lockTimeIndicator, 7);
|
---|
987 | frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
|
---|
988 | frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
|
---|
989 | if (type == 1012) {
|
---|
990 | GETBITS(i, 8);
|
---|
991 | if (i) {
|
---|
992 | frqObs->_snr = i * 0.25;
|
---|
993 | frqObs->_snrValid = true;
|
---|
994 | }
|
---|
995 | }
|
---|
996 | CurrentObs._obs.push_back(frqObs);
|
---|
997 | }
|
---|
998 | _CurrentObsList.push_back(CurrentObs);
|
---|
999 | }
|
---|
1000 | if (!syncf) {
|
---|
1001 | decoded = true;
|
---|
1002 | _obsList.append(_CurrentObsList);
|
---|
1003 | _CurrentTime.reset();
|
---|
1004 | _CurrentObsList.clear();
|
---|
1005 | }
|
---|
1006 | return decoded;
|
---|
1007 | }
|
---|
1008 |
|
---|
1009 | //
|
---|
1010 | ////////////////////////////////////////////////////////////////////////////
|
---|
1011 | bool RTCM3Decoder::DecodeGPSEphemeris(unsigned char* data, int size) {
|
---|
1012 | bool decoded = false;
|
---|
1013 |
|
---|
1014 | if (size == 67) {
|
---|
1015 | t_ephGPS eph;
|
---|
1016 | int i, week;
|
---|
1017 | uint64_t numbits = 0, bitfield = 0;
|
---|
1018 | int fitIntervalFalg = 0;
|
---|
1019 |
|
---|
1020 | data += 3; /* header */
|
---|
1021 | size -= 6; /* header + crc */
|
---|
1022 | SKIPBITS(12)
|
---|
1023 |
|
---|
1024 | eph._receptDateTime = currentDateAndTimeGPS();
|
---|
1025 |
|
---|
1026 | GETBITS(i, 6)
|
---|
1027 | eph._prn.set('G', i);
|
---|
1028 | GETBITS(week, 10)
|
---|
1029 | GETBITS(i, 4)
|
---|
1030 | eph._ura = accuracyFromIndex(i, eph.type());
|
---|
1031 | GETBITS(eph._L2Codes, 2)
|
---|
1032 | GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
1033 | GETBITS(eph._IODE, 8)
|
---|
1034 | GETBITS(i, 16)
|
---|
1035 | i <<= 4;
|
---|
1036 | eph._TOC.set(i * 1000);
|
---|
1037 | GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
|
---|
1038 | GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
|
---|
1039 | GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
|
---|
1040 | GETBITS(eph._IODC, 10)
|
---|
1041 | GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
|
---|
1042 | GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
1043 | GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
1044 | GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
|
---|
1045 | GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
|
---|
1046 | GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
|
---|
1047 | GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
|
---|
1048 | if (eph._sqrt_A < 1000.0) {
|
---|
1049 | #ifdef BNC_DEBUG_BCEP
|
---|
1050 | emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
|
---|
1051 | .arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str())
|
---|
1052 | .arg(eph._sqrt_A,10,'F',3).toAscii(), true));
|
---|
1053 | #endif
|
---|
1054 | return false;
|
---|
1055 | }
|
---|
1056 | GETBITS(i, 16)
|
---|
1057 | i <<= 4;
|
---|
1058 | eph._TOEsec = i;
|
---|
1059 | bncTime t;
|
---|
1060 | t.set(i * 1000);
|
---|
1061 | eph._TOEweek = t.gpsw();
|
---|
1062 | int numOfRollOvers = int(floor(t.gpsw()/1024.0));
|
---|
1063 | week += (numOfRollOvers * 1024);
|
---|
1064 | /* week from HOW, differs from TOC, TOE week, we use adapted value instead */
|
---|
1065 | if (eph._TOEweek > week + 1 || eph._TOEweek < week - 1) /* invalid week */
|
---|
1066 | return false;
|
---|
1067 | GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
|
---|
1068 | GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
1069 | GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
|
---|
1070 | GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
1071 | GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
|
---|
1072 | GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
1073 | GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
1074 | GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
|
---|
1075 | GETBITS(eph._health, 6)
|
---|
1076 | GETBITS(eph._L2PFlag, 1)
|
---|
1077 | GETBITS(fitIntervalFalg, 1)
|
---|
1078 | eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.type());
|
---|
1079 | eph._TOT = 0.9999e9;
|
---|
1080 |
|
---|
1081 | emit newGPSEph(eph);
|
---|
1082 | decoded = true;
|
---|
1083 | }
|
---|
1084 | return decoded;
|
---|
1085 | }
|
---|
1086 |
|
---|
1087 | //
|
---|
1088 | ////////////////////////////////////////////////////////////////////////////
|
---|
1089 | bool RTCM3Decoder::DecodeGLONASSEphemeris(unsigned char* data, int size) {
|
---|
1090 | bool decoded = false;
|
---|
1091 |
|
---|
1092 | if (size == 51) {
|
---|
1093 | t_ephGlo eph;
|
---|
1094 | int sv, i, tk;
|
---|
1095 | uint64_t numbits = 0, bitfield = 0;
|
---|
1096 |
|
---|
1097 | data += 3; /* header */
|
---|
1098 | size -= 6; /* header + crc */
|
---|
1099 | SKIPBITS(12)
|
---|
1100 |
|
---|
1101 | eph._receptDateTime = currentDateAndTimeGPS();
|
---|
1102 |
|
---|
1103 | GETBITS(sv, 6)
|
---|
1104 | eph._prn.set('R', sv);
|
---|
1105 |
|
---|
1106 | GETBITS(i, 5)
|
---|
1107 | eph._frequency_number = i - 7;
|
---|
1108 | GETBITS(eph._almanac_health, 1) /* almanac healthy */
|
---|
1109 | GETBITS(eph._almanac_health_availablility_indicator, 1) /* almanac health ok */
|
---|
1110 | if (eph._almanac_health_availablility_indicator == 0.0) {
|
---|
1111 | #ifdef BNC_DEBUG_BCEP
|
---|
1112 | emit(newMessage(QString("%1: Block %2 (%3): ALM = %4: missing data!")
|
---|
1113 | .arg(_staID).arg(1019,4).arg(eph._prn.toString().c_str())
|
---|
1114 | .arg(eph._almanac_health_availablility_indicator).toAscii(), true));
|
---|
1115 | #endif
|
---|
1116 | return false;
|
---|
1117 | }
|
---|
1118 | GETBITS(eph._P1, 2) /* P1 */
|
---|
1119 | GETBITS(i, 5)
|
---|
1120 | tk = i * 60 * 60;
|
---|
1121 | GETBITS(i, 6)
|
---|
1122 | tk += i * 60;
|
---|
1123 | GETBITS(i, 1)
|
---|
1124 | tk += i * 30;
|
---|
1125 | eph._tki = tk - 3*60*60;
|
---|
1126 | if(eph._tki < 0.0) {
|
---|
1127 | eph._tki += 86400.0;
|
---|
1128 | }
|
---|
1129 | GETBITS(eph._health, 1) /* MSB of Bn*/
|
---|
1130 | GETBITS(eph._P2, 1) /* P2 */
|
---|
1131 | GETBITS(i, 7)
|
---|
1132 | eph._TOC.setTk(i * 15 * 60 * 1000); /* tb */
|
---|
1133 |
|
---|
1134 | GETFLOATSIGNM(eph._x_velocity, 24, 1.0 / (double )(1 << 20))
|
---|
1135 | GETFLOATSIGNM(eph._x_pos, 27, 1.0 / (double )(1 << 11))
|
---|
1136 | GETFLOATSIGNM(eph._x_acceleration, 5, 1.0 / (double )(1 << 30))
|
---|
1137 | GETFLOATSIGNM(eph._y_velocity, 24, 1.0 / (double )(1 << 20))
|
---|
1138 | GETFLOATSIGNM(eph._y_pos, 27, 1.0 / (double )(1 << 11))
|
---|
1139 | GETFLOATSIGNM(eph._y_acceleration, 5, 1.0 / (double )(1 << 30))
|
---|
1140 | GETFLOATSIGNM(eph._z_velocity, 24, 1.0 / (double )(1 << 20))
|
---|
1141 | GETFLOATSIGNM(eph._z_pos, 27, 1.0 / (double )(1 << 11))
|
---|
1142 | GETFLOATSIGNM(eph._z_acceleration, 5, 1.0 / (double )(1 << 30))
|
---|
1143 | GETBITS(eph._P3, 1) /* P3 */
|
---|
1144 | GETFLOATSIGNM(eph._gamma, 11, 1.0 / (double )(1 << 30) / (double )(1 << 10))
|
---|
1145 | GETBITS(eph._M_P, 2) /* GLONASS-M P, */
|
---|
1146 | GETBITS(eph._M_l3, 1) /*GLONASS-M ln (third string) */
|
---|
1147 | GETFLOATSIGNM(eph._tau, 22, 1.0 / (double )(1 << 30)) /* GLONASS tau n(tb) */
|
---|
1148 | GETFLOATSIGNM(eph._M_delta_tau, 5, 1.0 / (double )(1 << 30)) /* GLONASS-M delta tau n(tb) */
|
---|
1149 | GETBITS(eph._E, 5)
|
---|
1150 | GETBITS(eph._M_P4, 1) /* GLONASS-M P4 */
|
---|
1151 | GETBITS(eph._M_FT, 4) /* GLONASS-M Ft */
|
---|
1152 | GETBITS(eph._M_NT, 11) /* GLONASS-M Nt */
|
---|
1153 | if (eph._M_NT == 0.0) {
|
---|
1154 | #ifdef BNC_DEBUG_BCEP
|
---|
1155 | emit(newMessage(QString("%1: Block %2 (%3): NT = %4: missing data!")
|
---|
1156 | .arg(_staID).arg(1019,4).arg(eph._prn.toString().c_str()).arg(eph._M_NT,4).toAscii(), true));
|
---|
1157 | #endif
|
---|
1158 | return false;
|
---|
1159 | }
|
---|
1160 | GETBITS(eph._M_M, 2) /* GLONASS-M M */
|
---|
1161 | GETBITS(eph._additional_data_availability, 1) /* GLONASS-M The Availability of Additional Data */
|
---|
1162 | if (eph._additional_data_availability == 0.0) {
|
---|
1163 | #ifdef BNC_DEBUG_BCEP
|
---|
1164 | emit(newMessage(QString("%1: Block %2 (%3): ADD = %4: missing data!")
|
---|
1165 | .arg(_staID).arg(1019,4).arg(eph._prn.toString().c_str())
|
---|
1166 | .arg(eph._additional_data_availability).toAscii(), true));
|
---|
1167 | #endif
|
---|
1168 | return false;
|
---|
1169 | }
|
---|
1170 | GETBITS(eph._NA, 11) /* GLONASS-M Na */
|
---|
1171 | GETFLOATSIGNM(eph._tauC, 32, 1.0/(double)(1<<30)/(double)(1<<1)) /* GLONASS tau c */
|
---|
1172 | GETBITS(eph._M_N4, 5) /* GLONASS-M N4 */
|
---|
1173 | GETFLOATSIGNM(eph._M_tau_GPS, 22, 1.0/(double)(1<<30)) /* GLONASS-M tau GPS */
|
---|
1174 | GETBITS(eph._M_l5, 1) /* GLONASS-M ln (fifth string) */
|
---|
1175 |
|
---|
1176 | unsigned year, month, day;
|
---|
1177 | eph._TOC.civil_date(year, month, day);
|
---|
1178 | eph._gps_utc = gnumleap(year, month, day);
|
---|
1179 | eph._tt = eph._TOC;
|
---|
1180 |
|
---|
1181 | eph._xv(1) = eph._x_pos * 1.e3;
|
---|
1182 | eph._xv(2) = eph._y_pos * 1.e3;
|
---|
1183 | eph._xv(3) = eph._z_pos * 1.e3;
|
---|
1184 | if (eph._xv.Rows(1,3).NormFrobenius() < 1.0) {
|
---|
1185 | #ifdef BNC_DEBUG_BCEP
|
---|
1186 | emit(newMessage(QString("%1: Block %2 (%3): zero position!")
|
---|
1187 | .arg(_staID).arg(1019,4).arg(eph._prn.toString().c_str()).toAscii(), true));
|
---|
1188 | #endif
|
---|
1189 | return false;
|
---|
1190 | }
|
---|
1191 | eph._xv(4) = eph._x_velocity * 1.e3;
|
---|
1192 | eph._xv(5) = eph._y_velocity * 1.e3;
|
---|
1193 | eph._xv(6) = eph._z_velocity * 1.e3;
|
---|
1194 | if (eph._xv.Rows(4,6).NormFrobenius() < 1.0) {
|
---|
1195 | #ifdef BNC_DEBUG_BCEP
|
---|
1196 | emit(newMessage(QString("%1: Block %2 (%3): zero velocity!")
|
---|
1197 | .arg(_staID).arg(1019,4).arg(eph._prn.toString().c_str()).toAscii(), true));
|
---|
1198 | #endif
|
---|
1199 | return false;
|
---|
1200 | }
|
---|
1201 | GLOFreq[sv - 1] = 100 + eph._frequency_number ; /* store frequency for other users (MSM) */
|
---|
1202 | _gloFrq = QString("%1 %2").arg(eph._prn.toString().c_str()).arg(eph._frequency_number, 2, 'f', 0);
|
---|
1203 |
|
---|
1204 | emit newGlonassEph(eph);
|
---|
1205 | decoded = true;
|
---|
1206 | }
|
---|
1207 | return decoded;
|
---|
1208 | }
|
---|
1209 |
|
---|
1210 | //
|
---|
1211 | ////////////////////////////////////////////////////////////////////////////
|
---|
1212 | bool RTCM3Decoder::DecodeQZSSEphemeris(unsigned char* data, int size) {
|
---|
1213 | bool decoded = false;
|
---|
1214 |
|
---|
1215 | if (size == 67) {
|
---|
1216 | t_ephGPS eph;
|
---|
1217 | int i, week;
|
---|
1218 | uint64_t numbits = 0, bitfield = 0;
|
---|
1219 | int fitIntervalFalg = 0;
|
---|
1220 |
|
---|
1221 | data += 3; /* header */
|
---|
1222 | size -= 6; /* header + crc */
|
---|
1223 | SKIPBITS(12)
|
---|
1224 |
|
---|
1225 | eph._receptDateTime = currentDateAndTimeGPS();
|
---|
1226 |
|
---|
1227 | GETBITS(i, 4)
|
---|
1228 | eph._prn.set('J', i);
|
---|
1229 |
|
---|
1230 | GETBITS(i, 16)
|
---|
1231 | i <<= 4;
|
---|
1232 | eph._TOC.set(i * 1000);
|
---|
1233 |
|
---|
1234 | GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
|
---|
1235 | GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
|
---|
1236 | GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
|
---|
1237 | GETBITS(eph._IODE, 8)
|
---|
1238 | GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
|
---|
1239 | GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
1240 | GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
1241 | GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
|
---|
1242 | GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
|
---|
1243 | GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
|
---|
1244 | GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
|
---|
1245 | if (eph._sqrt_A < 1000.0) {
|
---|
1246 | #ifdef BNC_DEBUG_BCEP
|
---|
1247 | emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
|
---|
1248 | .arg(_staID).arg(1044,4).arg(eph._prn.toString().c_str())
|
---|
1249 | .arg(eph._sqrt_A,10,'F',3).toAscii(), true));
|
---|
1250 | #endif
|
---|
1251 | return false;
|
---|
1252 | }
|
---|
1253 | GETBITS(i, 16)
|
---|
1254 | i <<= 4;
|
---|
1255 | eph._TOEsec = i;
|
---|
1256 | bncTime t;
|
---|
1257 | t.set(i*1000);
|
---|
1258 | eph._TOEweek = t.gpsw();
|
---|
1259 | GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
|
---|
1260 | GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
1261 | GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
|
---|
1262 | GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
1263 | GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
|
---|
1264 | GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
1265 | GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
1266 | GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
1267 | GETBITS(eph._L2Codes, 2)
|
---|
1268 | GETBITS(week, 10)
|
---|
1269 | int numOfRollOvers = int(floor(t.gpsw()/1024.0));
|
---|
1270 | week += (numOfRollOvers * 1024);
|
---|
1271 | /* week from HOW, differs from TOC, TOE week, we use adapted value instead */
|
---|
1272 | if (eph._TOEweek > week + 1 || eph._TOEweek < week - 1) /* invalid week */
|
---|
1273 | return false;
|
---|
1274 |
|
---|
1275 | GETBITS(i, 4)
|
---|
1276 | if (i <= 6)
|
---|
1277 | eph._ura = ceil(10.0 * pow(2.0, 1.0 + i / 2.0)) / 10.0;
|
---|
1278 | else
|
---|
1279 | eph._ura = ceil(10.0 * pow(2.0, i / 2.0)) / 10.0;
|
---|
1280 | GETBITS(eph._health, 6)
|
---|
1281 | GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
|
---|
1282 | GETBITS(eph._IODC, 10)
|
---|
1283 | GETBITS(fitIntervalFalg, 1)
|
---|
1284 | eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.type());
|
---|
1285 | eph._TOT = 0.9999e9;
|
---|
1286 |
|
---|
1287 | emit newGPSEph(eph);
|
---|
1288 | decoded = true;
|
---|
1289 | }
|
---|
1290 | return decoded;
|
---|
1291 | }
|
---|
1292 |
|
---|
1293 | //
|
---|
1294 | ////////////////////////////////////////////////////////////////////////////
|
---|
1295 | bool RTCM3Decoder::DecodeIRNSSEphemeris(unsigned char* data, int size) {
|
---|
1296 | bool decoded = false;
|
---|
1297 |
|
---|
1298 | if (size == 67) {
|
---|
1299 | t_ephGPS eph;
|
---|
1300 | int i, week, L5Flag, SFlag;
|
---|
1301 | uint64_t numbits = 0, bitfield = 0;
|
---|
1302 |
|
---|
1303 | data += 3; /* header */
|
---|
1304 | size -= 6; /* header + crc */
|
---|
1305 | SKIPBITS(12)
|
---|
1306 |
|
---|
1307 | eph._receptDateTime = currentDateAndTimeGPS();
|
---|
1308 |
|
---|
1309 | GETBITS(i, 6)
|
---|
1310 | eph._prn.set('I', i);
|
---|
1311 | GETBITS(week, 10)
|
---|
1312 | GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
|
---|
1313 | GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
|
---|
1314 | GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
|
---|
1315 | GETBITS(i, 4)
|
---|
1316 | eph._ura = accuracyFromIndex(i, eph.type());
|
---|
1317 | GETBITS(i, 16)
|
---|
1318 | i <<= 4;
|
---|
1319 | eph._TOC.set(i * 1000);
|
---|
1320 | GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
|
---|
1321 | GETFLOATSIGN(eph._Delta_n, 22, R2R_PI/(double)(1<<30)/(double)(1 << 11))
|
---|
1322 | // IODCE
|
---|
1323 | GETBITS(eph._IODE, 8)
|
---|
1324 | eph._IODC = eph._IODE;
|
---|
1325 | SKIPBITS(10)
|
---|
1326 | GETBITS(L5Flag, 1)
|
---|
1327 | GETBITS(SFlag, 1)
|
---|
1328 | if (L5Flag == 0 && SFlag == 0) {
|
---|
1329 | eph._health = 0.0;
|
---|
1330 | }
|
---|
1331 | else if (L5Flag == 0 && SFlag == 1) {
|
---|
1332 | eph._health = 1.0;
|
---|
1333 | }
|
---|
1334 | else if (L5Flag == 1 && SFlag == 0) {
|
---|
1335 | eph._health = 2.0;
|
---|
1336 | }
|
---|
1337 | else if (L5Flag == 1 && SFlag == 1) {
|
---|
1338 | eph._health = 3.0;
|
---|
1339 | }
|
---|
1340 | GETFLOATSIGN(eph._Cuc, 15, 1.0 / (double )(1 << 28))
|
---|
1341 | GETFLOATSIGN(eph._Cus, 15, 1.0 / (double )(1 << 28))
|
---|
1342 | GETFLOATSIGN(eph._Cic, 15, 1.0 / (double )(1 << 28))
|
---|
1343 | GETFLOATSIGN(eph._Cis, 15, 1.0 / (double )(1 << 28))
|
---|
1344 | GETFLOATSIGN(eph._Crc, 15, 1.0 / (double )(1 << 4))
|
---|
1345 | GETFLOATSIGN(eph._Crs, 15, 1.0 / (double )(1 << 4))
|
---|
1346 | GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
1347 | GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
|
---|
1348 | GETBITS(i, 16)
|
---|
1349 | i <<= 4;
|
---|
1350 | eph._TOEsec = i;
|
---|
1351 | bncTime t;
|
---|
1352 | t.set(i * 1000);
|
---|
1353 | eph._TOEweek = t.gpsw();
|
---|
1354 | int numOfRollOvers = int(floor(t.gpsw()/1024.0));
|
---|
1355 | week += (numOfRollOvers * 1024);
|
---|
1356 | /* week from HOW, differs from TOC, TOE week, we use adapted value instead */
|
---|
1357 | if (eph._TOEweek > week + 1 || eph._TOEweek < week - 1) /* invalid week */
|
---|
1358 | return false;
|
---|
1359 | GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
|
---|
1360 | GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
|
---|
1361 | if (eph._sqrt_A < 1000.0) {
|
---|
1362 | #ifdef BNC_DEBUG_BCEP
|
---|
1363 | emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
|
---|
1364 | .arg(_staID).arg(1041,4).arg(eph._prn.toString().c_str())
|
---|
1365 | .arg(eph._sqrt_A,10,'F',3).toAscii(), true));
|
---|
1366 | #endif
|
---|
1367 | return false;
|
---|
1368 | }
|
---|
1369 | GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
|
---|
1370 | GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
|
---|
1371 | GETFLOATSIGN(eph._OMEGADOT, 22, R2R_PI/(double)(1<<30)/(double)(1<<11))
|
---|
1372 | GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
|
---|
1373 | SKIPBITS(2)
|
---|
1374 | SKIPBITS(2)
|
---|
1375 | eph._TOT = 0.9999e9;
|
---|
1376 |
|
---|
1377 | emit newGPSEph(eph);
|
---|
1378 | decoded = true;
|
---|
1379 | }
|
---|
1380 | return decoded;
|
---|
1381 | }
|
---|
1382 |
|
---|
1383 | //
|
---|
1384 | ////////////////////////////////////////////////////////////////////////////
|
---|
1385 | bool RTCM3Decoder::DecodeSBASEphemeris(unsigned char* data, int size) {
|
---|
1386 | bool decoded = false;
|
---|
1387 |
|
---|
1388 | if (size == 35) {
|
---|
1389 | t_ephSBAS eph;
|
---|
1390 | int i;
|
---|
1391 | uint64_t numbits = 0, bitfield = 0;
|
---|
1392 |
|
---|
1393 | data += 3; /* header */
|
---|
1394 | size -= 6; /* header + crc */
|
---|
1395 | SKIPBITS(12)
|
---|
1396 |
|
---|
1397 | eph._receptDateTime = currentDateAndTimeGPS();
|
---|
1398 |
|
---|
1399 | GETBITS(i, 6)
|
---|
1400 | eph._prn.set('S', 20 + i);
|
---|
1401 | GETBITS(eph._IODN, 8)
|
---|
1402 | GETBITS(i, 13)
|
---|
1403 | i <<= 4;
|
---|
1404 | eph._TOC.setTOD(i * 1000);
|
---|
1405 | GETBITS(i, 4)
|
---|
1406 | eph._ura = accuracyFromIndex(i, eph.type());
|
---|
1407 | GETFLOATSIGN(eph._x_pos, 30, 0.08)
|
---|
1408 | GETFLOATSIGN(eph._y_pos, 30, 0.08)
|
---|
1409 | GETFLOATSIGN(eph._z_pos, 25, 0.4)
|
---|
1410 | ColumnVector pos(3);
|
---|
1411 | pos(1) = eph._x_pos; pos(2) = eph._y_pos; pos(3) = eph._z_pos;
|
---|
1412 | if (pos.NormFrobenius() < 1.0) {
|
---|
1413 | #ifdef BNC_DEBUG_BCEP
|
---|
1414 | emit(newMessage(QString("%1: Block %2 (%3): zero position!")
|
---|
1415 | .arg(_staID).arg(1043,4).arg(eph._prn.toString().c_str()).toAscii(), true));
|
---|
1416 | #endif
|
---|
1417 | return false;
|
---|
1418 | }
|
---|
1419 | GETFLOATSIGN(eph._x_velocity, 17, 0.000625)
|
---|
1420 | GETFLOATSIGN(eph._y_velocity, 17, 0.000625)
|
---|
1421 | GETFLOATSIGN(eph._z_velocity, 18, 0.004)
|
---|
1422 | GETFLOATSIGN(eph._x_acceleration, 10, 0.0000125)
|
---|
1423 | GETFLOATSIGN(eph._y_acceleration, 10, 0.0000125)
|
---|
1424 | GETFLOATSIGN(eph._z_acceleration, 10, 0.0000625)
|
---|
1425 | GETFLOATSIGN(eph._agf0, 12, 1.0 / (1 << 30) / (1 << 1))
|
---|
1426 | GETFLOATSIGN(eph._agf1, 8, 1.0 / (1 << 30) / (1 << 10))
|
---|
1427 |
|
---|
1428 | eph._TOT = 0.9999E9;
|
---|
1429 | eph._health = 0;
|
---|
1430 |
|
---|
1431 | emit newSBASEph(eph);
|
---|
1432 | decoded = true;
|
---|
1433 | }
|
---|
1434 | return decoded;
|
---|
1435 | }
|
---|
1436 |
|
---|
1437 | //
|
---|
1438 | ////////////////////////////////////////////////////////////////////////////
|
---|
1439 | bool RTCM3Decoder::DecodeGalileoEphemeris(unsigned char* data, int size) {
|
---|
1440 | bool decoded = false;
|
---|
1441 | uint64_t numbits = 0, bitfield = 0;
|
---|
1442 | int i;
|
---|
1443 |
|
---|
1444 | data += 3; /* header */
|
---|
1445 | size -= 6; /* header + crc */
|
---|
1446 | GETBITS(i, 12)
|
---|
1447 |
|
---|
1448 | if ((i == 1046 && size == 61) || (i == 1045 && size == 60)) {
|
---|
1449 | t_ephGal eph;
|
---|
1450 |
|
---|
1451 | eph._receptDateTime = currentDateAndTimeGPS();
|
---|
1452 |
|
---|
1453 | eph._inav = (i == 1046);
|
---|
1454 | eph._fnav = (i == 1045);
|
---|
1455 | GETBITS(i, 6)
|
---|
1456 | eph._prn.set('E', i, eph._inav ? 1 : 0);
|
---|
1457 |
|
---|
1458 | GETBITS(eph._TOEweek, 12) //FIXME: roll-over after week 4095!!
|
---|
1459 | GETBITS(eph._IODnav, 10)
|
---|
1460 | GETBITS(i, 8)
|
---|
1461 | eph._SISA = accuracyFromIndex(i, eph.type());
|
---|
1462 | GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
1463 | GETBITSFACTOR(i, 14, 60)
|
---|
1464 | eph._TOC.set(1024 + eph._TOEweek, i);
|
---|
1465 | GETFLOATSIGN(eph._clock_driftrate, 6, 1.0 / (double )(1 << 30) / (double )(1 << 29))
|
---|
1466 | GETFLOATSIGN(eph._clock_drift, 21, 1.0 / (double )(1 << 30) / (double )(1 << 16))
|
---|
1467 | GETFLOATSIGN(eph._clock_bias, 31, 1.0 / (double )(1 << 30) / (double )(1 << 4))
|
---|
1468 | GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
|
---|
1469 | GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
1470 | GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
1471 | GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
|
---|
1472 | GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
|
---|
1473 | GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
|
---|
1474 | GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
|
---|
1475 | GETBITSFACTOR(eph._TOEsec, 14, 60)
|
---|
1476 | /* FIXME: overwrite value, copied from old code */
|
---|
1477 | eph._TOEsec = eph._TOC.gpssec();
|
---|
1478 | GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
|
---|
1479 | GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
1480 | GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
|
---|
1481 | GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
1482 | GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
|
---|
1483 | GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
1484 | GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
1485 | GETFLOATSIGN(eph._BGD_1_5A, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
|
---|
1486 | if (eph._inav) {
|
---|
1487 | /* set unused F/NAV values */
|
---|
1488 | eph._E5aHS = 0.0;
|
---|
1489 | eph._e5aDataInValid = false;
|
---|
1490 |
|
---|
1491 | GETFLOATSIGN(eph._BGD_1_5B, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
|
---|
1492 | GETBITS(eph._E5bHS, 2)
|
---|
1493 | GETBITS(eph._e5bDataInValid, 1)
|
---|
1494 | GETBITS(eph._E1_bHS, 2)
|
---|
1495 | GETBITS(eph._e1DataInValid, 1)
|
---|
1496 | if (eph._E5bHS != eph._E1_bHS) {
|
---|
1497 | #ifdef BNC_DEBUG_BCEP
|
---|
1498 | emit(newMessage(QString("%1: Block %2 (%3) SHS E5b %4 E1B %5: inconsistent health!")
|
---|
1499 | .arg(_staID).arg(1046,4).arg(eph._prn.toString().c_str())
|
---|
1500 | .arg(eph._E5bHS).arg(eph._E1_bHS).toAscii(), true));
|
---|
1501 | #endif
|
---|
1502 | return false;
|
---|
1503 | }
|
---|
1504 | if ((eph._BGD_1_5A == 0.0 && fabs(eph._BGD_1_5B) > 1e-9) ||
|
---|
1505 | (eph._BGD_1_5B == 0.0 && fabs(eph._BGD_1_5A) > 1e-9)) {
|
---|
1506 | #ifdef BNC_DEBUG_BCEP
|
---|
1507 | emit(newMessage(QString("%1: Block %2 (%3) BGD_15a = %4 BGD_15b = %5: inconsistent BGD!")
|
---|
1508 | .arg(_staID).arg(1046,4).arg(eph._prn.toString().c_str())
|
---|
1509 | .arg(eph._BGD_1_5A,10,'E',3).arg(eph._BGD_1_5B,10,'E',3).toAscii(), true));
|
---|
1510 | #endif
|
---|
1511 | return false;
|
---|
1512 | }
|
---|
1513 | }
|
---|
1514 | else {
|
---|
1515 | /* set unused I/NAV values */
|
---|
1516 | eph._BGD_1_5B = 0.0;
|
---|
1517 | eph._E5bHS = 0.0;
|
---|
1518 | eph._E1_bHS = 0.0;
|
---|
1519 | eph._e1DataInValid = false;
|
---|
1520 | eph._e5bDataInValid = false;
|
---|
1521 |
|
---|
1522 | GETBITS(eph._E5aHS, 2)
|
---|
1523 | GETBITS(eph._e5aDataInValid, 1)
|
---|
1524 | }
|
---|
1525 | eph._TOT = 0.9999e9;
|
---|
1526 |
|
---|
1527 | if (eph._sqrt_A < 1000.0) {
|
---|
1528 | #ifdef BNC_DEBUG_BCEP
|
---|
1529 | emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
|
---|
1530 | .arg(_staID).arg(eph._inav? 1046 : 1045,4).arg(eph._prn.toString().c_str())
|
---|
1531 | .arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
|
---|
1532 | #endif
|
---|
1533 | return false;
|
---|
1534 | }
|
---|
1535 |
|
---|
1536 | emit newGalileoEph(eph);
|
---|
1537 | decoded = true;
|
---|
1538 | }
|
---|
1539 | return decoded;
|
---|
1540 | }
|
---|
1541 |
|
---|
1542 | //
|
---|
1543 | ////////////////////////////////////////////////////////////////////////////
|
---|
1544 | bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size) {
|
---|
1545 | bool decoded = false;
|
---|
1546 |
|
---|
1547 | if (size == 70) {
|
---|
1548 | t_ephBDS eph;
|
---|
1549 | int i;
|
---|
1550 | uint64_t numbits = 0, bitfield = 0;
|
---|
1551 |
|
---|
1552 | data += 3; /* header */
|
---|
1553 | size -= 6; /* header + crc */
|
---|
1554 | SKIPBITS(12)
|
---|
1555 |
|
---|
1556 | eph._receptDateTime = currentDateAndTimeGPS();
|
---|
1557 |
|
---|
1558 | GETBITS(i, 6)
|
---|
1559 | eph._prn.set('C', i);
|
---|
1560 |
|
---|
1561 | SKIPBITS(13)
|
---|
1562 | /* week */
|
---|
1563 | GETBITS(i, 4)
|
---|
1564 | eph._URA = accuracyFromIndex(i, eph.type());
|
---|
1565 | GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
1566 | GETBITS(eph._AODE, 5)
|
---|
1567 | GETBITS(i, 17)
|
---|
1568 | i <<= 3;
|
---|
1569 | eph._TOC.setBDS(i * 1000);
|
---|
1570 | GETFLOATSIGN(eph._clock_driftrate, 11, 1.0 / (double )(1 << 30) / (double )(1 << 30) / (double )(1 << 6))
|
---|
1571 | GETFLOATSIGN(eph._clock_drift, 22, 1.0 / (double )(1 << 30) / (double )(1 << 20))
|
---|
1572 | GETFLOATSIGN(eph._clock_bias, 24, 1.0 / (double )(1 << 30) / (double )(1 << 3))
|
---|
1573 | GETBITS(eph._AODC, 5)
|
---|
1574 | GETFLOATSIGN(eph._Crs, 18, 1.0 / (double )(1 << 6))
|
---|
1575 | GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
1576 | GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
1577 | GETFLOATSIGN(eph._Cuc, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
|
---|
1578 | GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
|
---|
1579 | GETFLOATSIGN(eph._Cus, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
|
---|
1580 | GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
|
---|
1581 | if (eph._sqrt_A < 1000.0) {
|
---|
1582 | #ifdef BNC_DEBUG_BCEP
|
---|
1583 | emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
|
---|
1584 | .arg(_staID).arg(1042,4).arg(eph._prn.toString().c_str())
|
---|
1585 | .arg(eph._sqrt_A,10,'F',3).toAscii(), true));
|
---|
1586 | #endif
|
---|
1587 | return false;
|
---|
1588 | }
|
---|
1589 | GETBITS(i, 17)
|
---|
1590 | i <<= 3;
|
---|
1591 | eph._TOEsec = i;
|
---|
1592 | eph._TOE.setBDS(i * 1000);
|
---|
1593 | GETFLOATSIGN(eph._Cic, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
|
---|
1594 | GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
1595 | GETFLOATSIGN(eph._Cis, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
|
---|
1596 | GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
1597 | GETFLOATSIGN(eph._Crc, 18, 1.0 / (double )(1 << 6))
|
---|
1598 | GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
1599 | GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
1600 | GETFLOATSIGN(eph._TGD1, 10, 0.0000000001)
|
---|
1601 | GETFLOATSIGN(eph._TGD2, 10, 0.0000000001)
|
---|
1602 | GETBITS(eph._SatH1, 1)
|
---|
1603 |
|
---|
1604 | eph._TOT = 0.9999E9;
|
---|
1605 | emit newBDSEph(eph);
|
---|
1606 | decoded = true;
|
---|
1607 | }
|
---|
1608 | return decoded;
|
---|
1609 | }
|
---|
1610 |
|
---|
1611 | //
|
---|
1612 | ////////////////////////////////////////////////////////////////////////////
|
---|
1613 | bool RTCM3Decoder::DecodeAntennaReceiver(unsigned char* data, int size) {
|
---|
1614 | char *antenna, anttype[256];
|
---|
1615 | char *dummy;
|
---|
1616 | char *receiver, rectype[256];
|
---|
1617 |
|
---|
1618 | int type;
|
---|
1619 |
|
---|
1620 | int dnum = -1;
|
---|
1621 | int antnum = -1;
|
---|
1622 | int recnum = -1;
|
---|
1623 | uint64_t numbits = 0, bitfield = 0;
|
---|
1624 |
|
---|
1625 | data += 3; /* header*/
|
---|
1626 | size -= 6; /* header + crc */
|
---|
1627 |
|
---|
1628 | GETBITS(type, 12)
|
---|
1629 | SKIPBITS(12)
|
---|
1630 | GETSTRING(antnum, antenna)
|
---|
1631 | if (antnum > -1 && antnum < 265) {
|
---|
1632 | memcpy(anttype, antenna, antnum);
|
---|
1633 | anttype[antnum] = 0;
|
---|
1634 | if (!_antType.contains(anttype)) {
|
---|
1635 | _antType.push_back(anttype);
|
---|
1636 | }
|
---|
1637 | }
|
---|
1638 | if (type == 1033) {
|
---|
1639 | SKIPBITS(8)
|
---|
1640 | GETSTRING(dnum, dummy)
|
---|
1641 | GETSTRING(recnum, receiver)
|
---|
1642 | if (recnum > -1 && recnum < 265) {
|
---|
1643 | memcpy(rectype, receiver, recnum);
|
---|
1644 | rectype[recnum] = 0;
|
---|
1645 | if (!_recType.contains(rectype)) {
|
---|
1646 | _recType.push_back(rectype);
|
---|
1647 | }
|
---|
1648 | }
|
---|
1649 | }
|
---|
1650 | return true;
|
---|
1651 | }
|
---|
1652 |
|
---|
1653 | //
|
---|
1654 | ////////////////////////////////////////////////////////////////////////////
|
---|
1655 | bool RTCM3Decoder::DecodeAntennaPosition(unsigned char* data, int size) {
|
---|
1656 | int type;
|
---|
1657 | uint64_t numbits = 0, bitfield = 0;
|
---|
1658 | double x, y, z;
|
---|
1659 |
|
---|
1660 | data += 3; /* header */
|
---|
1661 | size -= 6; /* header + crc */
|
---|
1662 |
|
---|
1663 | GETBITS(type, 12)
|
---|
1664 | _antList.push_back(t_antInfo());
|
---|
1665 | _antList.back().type = t_antInfo::ARP;
|
---|
1666 | SKIPBITS(22)
|
---|
1667 | GETBITSSIGN(x, 38)
|
---|
1668 | _antList.back().xx = x * 1e-4;
|
---|
1669 | SKIPBITS(2)
|
---|
1670 | GETBITSSIGN(y, 38)
|
---|
1671 | _antList.back().yy = y * 1e-4;
|
---|
1672 | SKIPBITS(2)
|
---|
1673 | GETBITSSIGN(z, 38)
|
---|
1674 | _antList.back().zz = z * 1e-4;
|
---|
1675 | if (type == 1006)
|
---|
1676 | {
|
---|
1677 | double h;
|
---|
1678 | GETBITS(h, 16)
|
---|
1679 | _antList.back().height = h * 1e-4;
|
---|
1680 | _antList.back().height_f = true;
|
---|
1681 | }
|
---|
1682 | _antList.back().message = type;
|
---|
1683 |
|
---|
1684 | return true;
|
---|
1685 | }
|
---|
1686 |
|
---|
1687 | //
|
---|
1688 | ////////////////////////////////////////////////////////////////////////////
|
---|
1689 | t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
|
---|
1690 | bool decoded = false;
|
---|
1691 |
|
---|
1692 | errmsg.clear();
|
---|
1693 |
|
---|
1694 | while (bufLen && _MessageSize < sizeof(_Message)) {
|
---|
1695 | int l = sizeof(_Message) - _MessageSize;
|
---|
1696 | if (l > bufLen)
|
---|
1697 | l = bufLen;
|
---|
1698 | memcpy(_Message + _MessageSize, buffer, l);
|
---|
1699 | _MessageSize += l;
|
---|
1700 | bufLen -= l;
|
---|
1701 | buffer += l;
|
---|
1702 | int id;
|
---|
1703 | while ((id = GetMessage())) {
|
---|
1704 | /* reset station ID for file loading as it can change */
|
---|
1705 | if (_rawFile)
|
---|
1706 | _staID = _rawFile->staID();
|
---|
1707 | /* store the id into the list of loaded blocks */
|
---|
1708 | _typeList.push_back(id);
|
---|
1709 |
|
---|
1710 | /* SSR I+II data handled in another function, already pass the
|
---|
1711 | * extracted data block. That does no harm, as it anyway skip everything
|
---|
1712 | * else. */
|
---|
1713 | if ((id >= 1057 && id <= 1068) ||
|
---|
1714 | (id >= 1240 && id <= 1270) ||
|
---|
1715 | (id == 4076)) {
|
---|
1716 | if (!_coDecoders.contains(_staID.toLatin1())) {
|
---|
1717 | _coDecoders[_staID.toLatin1()] = new RTCM3coDecoder(_staID);
|
---|
1718 | }
|
---|
1719 | RTCM3coDecoder* coDecoder = _coDecoders[_staID.toLatin1()];
|
---|
1720 | if (id == 4076) {
|
---|
1721 | coDecoder->setSsrFormatType(RTCM3coDecoder::IGSssr);
|
---|
1722 | }
|
---|
1723 | else {
|
---|
1724 | coDecoder->setSsrFormatType(RTCM3coDecoder::RTCMssr);
|
---|
1725 | }
|
---|
1726 | if (coDecoder->Decode(reinterpret_cast<char *>(_Message), _BlockSize,
|
---|
1727 | errmsg) == success) {
|
---|
1728 | decoded = true;
|
---|
1729 | }
|
---|
1730 | }
|
---|
1731 | else if (id >= 1070 && id <= 1229) { /* MSM */
|
---|
1732 | if (DecodeRTCM3MSM(_Message, _BlockSize))
|
---|
1733 | decoded = true;
|
---|
1734 | }
|
---|
1735 | else {
|
---|
1736 | switch (id) {
|
---|
1737 | case 1001:
|
---|
1738 | case 1003:
|
---|
1739 | emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
|
---|
1740 | .arg(_staID).arg(id).toAscii(), true));
|
---|
1741 | break; /* no use decoding partial data ATM, remove break when data can be used */
|
---|
1742 | case 1002:
|
---|
1743 | case 1004:
|
---|
1744 | if (DecodeRTCM3GPS(_Message, _BlockSize))
|
---|
1745 | decoded = true;
|
---|
1746 | break;
|
---|
1747 | case 1009:
|
---|
1748 | case 1011:
|
---|
1749 | emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
|
---|
1750 | .arg(_staID).arg(id).toAscii(), true));
|
---|
1751 | break; /* no use decoding partial data ATM, remove break when data can be used */
|
---|
1752 | case 1010:
|
---|
1753 | case 1012:
|
---|
1754 | if (DecodeRTCM3GLONASS(_Message, _BlockSize))
|
---|
1755 | decoded = true;
|
---|
1756 | break;
|
---|
1757 | case 1019:
|
---|
1758 | if (DecodeGPSEphemeris(_Message, _BlockSize))
|
---|
1759 | decoded = true;
|
---|
1760 | break;
|
---|
1761 | case 1020:
|
---|
1762 | if (DecodeGLONASSEphemeris(_Message, _BlockSize))
|
---|
1763 | decoded = true;
|
---|
1764 | break;
|
---|
1765 | case 1043:
|
---|
1766 | if (DecodeSBASEphemeris(_Message, _BlockSize))
|
---|
1767 | decoded = true;
|
---|
1768 | break;
|
---|
1769 | case 1044:
|
---|
1770 | if (DecodeQZSSEphemeris(_Message, _BlockSize))
|
---|
1771 | decoded = true;
|
---|
1772 | break;
|
---|
1773 | case 1041:
|
---|
1774 | if (DecodeIRNSSEphemeris(_Message, _BlockSize))
|
---|
1775 | decoded = true;
|
---|
1776 | break;
|
---|
1777 | case 1045:
|
---|
1778 | case 1046:
|
---|
1779 | if (_staID.contains("AIRA") || _staID.contains("STK2") ||
|
---|
1780 | _staID.contains("CCJ2") || _staID.contains("SYOG")) {
|
---|
1781 | emit(newMessage(QString("%1: Block temporary %2 from JAXA RTKLIB encoded stations!")
|
---|
1782 | .arg(_staID).arg(id).toAscii(), true));
|
---|
1783 | break;
|
---|
1784 | }
|
---|
1785 | if (DecodeGalileoEphemeris(_Message, _BlockSize))
|
---|
1786 | decoded = true;
|
---|
1787 | break;
|
---|
1788 | case 1042:
|
---|
1789 | if (DecodeBDSEphemeris(_Message, _BlockSize))
|
---|
1790 | decoded = true;
|
---|
1791 | break;
|
---|
1792 | case 1007:
|
---|
1793 | case 1008:
|
---|
1794 | case 1033:
|
---|
1795 | DecodeAntennaReceiver(_Message, _BlockSize);
|
---|
1796 | break;
|
---|
1797 | case 1005:
|
---|
1798 | case 1006:
|
---|
1799 | DecodeAntennaPosition(_Message, _BlockSize);
|
---|
1800 | break;
|
---|
1801 | }
|
---|
1802 | }
|
---|
1803 | }
|
---|
1804 | }
|
---|
1805 | return decoded ? success : failure;
|
---|
1806 | }
|
---|
1807 | ;
|
---|
1808 |
|
---|
1809 | //
|
---|
1810 | ////////////////////////////////////////////////////////////////////////////
|
---|
1811 | uint32_t RTCM3Decoder::CRC24(long size, const unsigned char *buf) {
|
---|
1812 | uint32_t crc = 0;
|
---|
1813 | int ii;
|
---|
1814 | while (size--) {
|
---|
1815 | crc ^= (*buf++) << (16);
|
---|
1816 | for (ii = 0; ii < 8; ii++) {
|
---|
1817 | crc <<= 1;
|
---|
1818 | if (crc & 0x1000000)
|
---|
1819 | crc ^= 0x01864cfb;
|
---|
1820 | }
|
---|
1821 | }
|
---|
1822 | return crc;
|
---|
1823 | }
|
---|
1824 |
|
---|
1825 | //
|
---|
1826 | ////////////////////////////////////////////////////////////////////////////
|
---|
1827 | int RTCM3Decoder::GetMessage(void) {
|
---|
1828 | unsigned char *m, *e;
|
---|
1829 | int i;
|
---|
1830 |
|
---|
1831 | m = _Message + _SkipBytes;
|
---|
1832 | e = _Message + _MessageSize;
|
---|
1833 | _NeedBytes = _SkipBytes = 0;
|
---|
1834 | while (e - m >= 3) {
|
---|
1835 | if (m[0] == 0xD3) {
|
---|
1836 | _BlockSize = ((m[1] & 3) << 8) | m[2];
|
---|
1837 | if (e - m >= static_cast<int>(_BlockSize + 6)) {
|
---|
1838 | if (static_cast<uint32_t>((m[3 + _BlockSize] << 16)
|
---|
1839 | | (m[3 + _BlockSize + 1] << 8)
|
---|
1840 | | (m[3 + _BlockSize + 2])) == CRC24(_BlockSize + 3, m)) {
|
---|
1841 | _BlockSize += 6;
|
---|
1842 | _SkipBytes = _BlockSize;
|
---|
1843 | break;
|
---|
1844 | }
|
---|
1845 | else
|
---|
1846 | ++m;
|
---|
1847 | }
|
---|
1848 | else {
|
---|
1849 | _NeedBytes = _BlockSize;
|
---|
1850 | break;
|
---|
1851 | }
|
---|
1852 | }
|
---|
1853 | else
|
---|
1854 | ++m;
|
---|
1855 | }
|
---|
1856 | if (e - m < 3)
|
---|
1857 | _NeedBytes = 3;
|
---|
1858 |
|
---|
1859 | /* copy buffer to front */
|
---|
1860 | i = m - _Message;
|
---|
1861 | if (i && m < e)
|
---|
1862 | memmove(_Message, m, static_cast<size_t>(_MessageSize - i));
|
---|
1863 | _MessageSize -= i;
|
---|
1864 |
|
---|
1865 | return !_NeedBytes ? ((_Message[3] << 4) | (_Message[4] >> 4)) : 0;
|
---|
1866 | }
|
---|
1867 |
|
---|
1868 | // Time of Corrections
|
---|
1869 | //////////////////////////////////////////////////////////////////////////////
|
---|
1870 | int RTCM3Decoder::corrGPSEpochTime() const {
|
---|
1871 | return
|
---|
1872 | _coDecoders.size() > 0 ?
|
---|
1873 | _coDecoders.begin().value()->corrGPSEpochTime() : -1;
|
---|
1874 | }
|
---|