1 | #ifndef RTCM3_CLOCK_ORBIT_RTCM_H
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2 | #define RTCM3_CLOCK_ORBIT_RTCM_H
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3 |
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4 | /* Programheader
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5 |
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6 | Name: clock_orbit_rtcm.h
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7 | Project: RTCM3
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8 | Version: $Id: clock_orbit_rtcm.h 8628 2019-03-13 06:41:10Z stuerze $
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9 | Authors: Dirk Stöcker
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10 | Description: state space approach for RTCM3
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11 | */
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12 |
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13 | #include <string.h>
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14 |
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15 | enum SatelliteReferenceDatum { DATUM_ITRF=0, DATUM_LOCAL=1 };
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16 |
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17 | enum COR_BASE {
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18 | COBBASE_GPS = 1057,
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19 | COBBASE_GLONASS = 1063,
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20 | COBBASE_GALILEO = 1240,
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21 | COBBASE_QZSS = 1246,
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22 | COBBASE_SBAS = 1252,
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23 | COBBASE_BDS = 1258,
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24 | };
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25 |
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26 | enum COR_OFFSET {
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27 | COBOFS_ORBIT = 0,
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28 | COBOFS_CLOCK,
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29 | COBOFS_BIAS,
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30 | COBOFS_COMBINED,
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31 | COBOFS_URA,
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32 | COBOFS_HR,
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33 | COBOFS_NUM
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34 | };
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35 |
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36 | enum ClockOrbitType {
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37 | COTYPE_GPSORBIT = COBBASE_GPS + COBOFS_ORBIT,
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38 | COTYPE_GPSCLOCK,
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39 | COTYPE_GPSCOMBINED = COBBASE_GPS + COBOFS_COMBINED,
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40 | COTYPE_GPSURA,
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41 | COTYPE_GPSHR,
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42 |
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43 | COTYPE_GLONASSORBIT = COBBASE_GLONASS + COBOFS_ORBIT,
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44 | COTYPE_GLONASSCLOCK,
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45 | COTYPE_GLONASSCOMBINED = COBBASE_GLONASS + COBOFS_COMBINED,
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46 | COTYPE_GLONASSURA,
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47 | COTYPE_GLONASSHR,
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48 |
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49 | COTYPE_GALILEOORBIT = COBBASE_GALILEO + COBOFS_ORBIT,
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50 | COTYPE_GALILEOCLOCK,
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51 | COTYPE_GALILEOCOMBINED = COBBASE_GALILEO + COBOFS_COMBINED,
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52 | COTYPE_GALILEOURA,
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53 | COTYPE_GALILEOHR,
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54 |
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55 | COTYPE_QZSSORBIT = COBBASE_QZSS + COBOFS_ORBIT,
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56 | COTYPE_QZSSCLOCK,
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57 | COTYPE_QZSSCOMBINED = COBBASE_QZSS + COBOFS_COMBINED,
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58 | COTYPE_QZSSURA,
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59 | COTYPE_QZSSHR,
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60 |
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61 | COTYPE_SBASORBIT = COBBASE_SBAS + COBOFS_ORBIT,
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62 | COTYPE_SBASCLOCK,
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63 | COTYPE_SBASCOMBINED = COBBASE_SBAS + COBOFS_COMBINED,
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64 | COTYPE_SBASURA,
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65 | COTYPE_SBASHR,
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66 |
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67 | COTYPE_BDSORBIT = COBBASE_BDS + COBOFS_ORBIT,
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68 | COTYPE_BDSCLOCK,
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69 | COTYPE_BDSCOMBINED = COBBASE_BDS + COBOFS_COMBINED,
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70 | COTYPE_BDSURA,
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71 | COTYPE_BDSHR,
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72 |
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73 | COTYPE_AUTO = 0,
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74 | };
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75 |
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76 | enum CodeBiasType {
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77 | BTYPE_GPS = COBBASE_GPS + COBOFS_BIAS,
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78 | BTYPE_GLONASS = COBBASE_GLONASS + COBOFS_BIAS,
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79 | BTYPE_GALILEO = COBBASE_GALILEO + COBOFS_BIAS,
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80 | BTYPE_QZSS = COBBASE_QZSS + COBOFS_BIAS,
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81 | BTYPE_SBAS = COBBASE_SBAS + COBOFS_BIAS,
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82 | BTYPE_BDS = COBBASE_BDS + COBOFS_BIAS,
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83 | BTYPE_AUTO = 0
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84 | };
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85 |
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86 | enum PhaseBiasType {
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87 | PBTYPE_BASE = 1265,
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88 | PBTYPE_GPS = PBTYPE_BASE,
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89 | PBTYPE_GLONASS,
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90 | PBTYPE_GALILEO,
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91 | PBTYPE_QZSS,
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92 | PBTYPE_SBAS,
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93 | PBTYPE_BDS,
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94 | PBTYPE_AUTO = 0
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95 | };
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96 |
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97 | enum VTECType {
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98 | VTEC_BASE = 1264
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99 | };
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100 |
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101 | /* if some systems aren't supported at all, change the following numbers to zero
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102 | for these systems to save space */
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103 | enum COR_CONSTANTS {
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104 | CLOCKORBIT_BUFFERSIZE=8192,
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105 | CLOCKORBIT_NUMGPS=32,
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106 | CLOCKORBIT_NUMGLONASS=26,
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107 | CLOCKORBIT_NUMGALILEO=36,
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108 | CLOCKORBIT_NUMQZSS=10,
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109 | CLOCKORBIT_NUMSBAS=38,
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110 | CLOCKORBIT_NUMBDS=37,
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111 | CLOCKORBIT_NUMBIAS=72,
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112 | CLOCKORBIT_NUMIONOLAYERS=4,
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113 | CLOCKORBIT_MAXIONOORDER=16,
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114 | CLOCKORBIT_MAXIONODEGREE=16
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115 | };
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116 |
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117 | enum COR_SATSYSTEM {
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118 | CLOCKORBIT_SATGPS=0,
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119 | CLOCKORBIT_SATGLONASS,
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120 | CLOCKORBIT_SATGALILEO,
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121 | CLOCKORBIT_SATQZSS,
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122 | CLOCKORBIT_SATSBAS,
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123 | CLOCKORBIT_SATBDS,
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124 | CLOCKORBIT_SATNUM
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125 | };
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126 |
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127 | enum COR_OFFSETS {
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128 | CLOCKORBIT_OFFSETGPS=0,
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129 | CLOCKORBIT_OFFSETGLONASS=CLOCKORBIT_NUMGPS,
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130 | CLOCKORBIT_OFFSETGALILEO=CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS,
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131 | CLOCKORBIT_OFFSETQZSS=CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS
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132 | +CLOCKORBIT_NUMGALILEO,
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133 | CLOCKORBIT_OFFSETSBAS=CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS
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134 | +CLOCKORBIT_NUMGALILEO+CLOCKORBIT_NUMQZSS,
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135 | CLOCKORBIT_OFFSETBDS=CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS
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136 | +CLOCKORBIT_NUMGALILEO+CLOCKORBIT_NUMQZSS+CLOCKORBIT_NUMSBAS,
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137 | CLOCKORBIT_COUNTSAT=CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS
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138 | +CLOCKORBIT_NUMGALILEO+CLOCKORBIT_NUMQZSS+CLOCKORBIT_NUMSBAS
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139 | +CLOCKORBIT_NUMBDS
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140 | };
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141 |
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142 | enum CodeType {
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143 | CODETYPEGPS_L1_CA = 0,
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144 | CODETYPEGPS_L1_P = 1,
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145 | CODETYPEGPS_L1_Z = 2,
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146 | CODETYPEGPS_L1_Y = 3,
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147 | CODETYPEGPS_L1_M = 4,
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148 | CODETYPEGPS_L2_CA = 5,
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149 | CODETYPEGPS_SEMI_CODELESS = 6,
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150 | CODETYPEGPS_L2C_M = 7,
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151 | CODETYPEGPS_L2C_L = 8,
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152 | CODETYPEGPS_L2C_ML = 9,
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153 | CODETYPEGPS_L2_P = 10,
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154 | CODETYPEGPS_L2_Z = 11,
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155 | CODETYPEGPS_L2_Y = 12,
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156 | CODETYPEGPS_L2_M = 13,
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157 | CODETYPEGPS_L5_I = 14,
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158 | CODETYPEGPS_L5_Q = 15,
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159 | CODETYPEGPS_L5_IQ = 16,
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160 | CODETYPEGPS_L1C_D = 17,
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161 | CODETYPEGPS_L1C_P = 18,
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162 | CODETYPEGPS_L1C_DP = 19,
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163 |
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164 | CODETYPEGLONASS_L1_CA = 0,
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165 | CODETYPEGLONASS_L1_P = 1,
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166 | CODETYPEGLONASS_L2_CA = 2,
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167 | CODETYPEGLONASS_L2_P = 3,
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168 | CODETYPEGLONASS_L1a_OCd = 4,
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169 | CODETYPEGLONASS_L1a_OCp = 5,
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170 | CODETYPEGLONASS_L1a_OCdp = 6,
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171 | CODETYPEGLONASS_L2a_CSI = 7,
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172 | CODETYPEGLONASS_L2a_OCp = 8,
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173 | CODETYPEGLONASS_L2a_CSIOCp = 9,
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174 | CODETYPEGLONASS_L3_I = 10,
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175 | CODETYPEGLONASS_L3_Q = 11,
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176 | CODETYPEGLONASS_L3_IQ = 12,
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177 |
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178 |
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179 | CODETYPEGALILEO_E1_A = 0,
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180 | CODETYPEGALILEO_E1_B = 1,
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181 | CODETYPEGALILEO_E1_C = 2,
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182 | CODETYPEGALILEO_E1_BC = 3,
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183 | CODETYPEGALILEO_E1_ABC = 4,
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184 | CODETYPEGALILEO_E5A_I = 5,
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185 | CODETYPEGALILEO_E5A_Q = 6,
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186 | CODETYPEGALILEO_E5A_IQ = 7,
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187 | CODETYPEGALILEO_E5B_I = 8,
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188 | CODETYPEGALILEO_E5B_Q = 9,
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189 | CODETYPEGALILEO_E5B_IQ = 10,
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190 | CODETYPEGALILEO_E5_I = 11,
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191 | CODETYPEGALILEO_E5_Q = 12,
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192 | CODETYPEGALILEO_E5_IQ = 13,
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193 | CODETYPEGALILEO_E6_A = 14,
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194 | CODETYPEGALILEO_E6_B = 15,
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195 | CODETYPEGALILEO_E6_C = 16,
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196 | CODETYPEGALILEO_E6_BC = 17,
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197 | CODETYPEGALILEO_E6_ABC = 18,
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198 |
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199 | CODETYPEQZSS_L1_CA = 0,
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200 | CODETYPEQZSS_L1C_D = 1,
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201 | CODETYPEQZSS_L1C_P = 2,
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202 | CODETYPEQZSS_L2C_M = 3,
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203 | CODETYPEQZSS_L2C_L = 4,
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204 | CODETYPEQZSS_L2C_ML = 5,
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205 | CODETYPEQZSS_L5_I = 6,
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206 | CODETYPEQZSS_L5_Q = 7,
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207 | CODETYPEQZSS_L5_IQ = 8,
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208 | CODETYPEQZSS_L6_D = 9,
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209 | CODETYPEQZSS_L6_P = 10,
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210 | CODETYPEQZSS_L6_DP = 11,
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211 | CODETYPEQZSS_L1C_DP = 12,
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212 | CODETYPEQZSS_L1_S = 13,
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213 | CODETYPEQZSS_L5_D = 14,
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214 | CODETYPEQZSS_L5_P = 15,
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215 | CODETYPEQZSS_L5_DP = 16,
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216 | CODETYPEQZSS_L6_E = 17,
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217 | CODETYPEQZSS_L6_DE = 18,
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218 |
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219 | CODETYPE_SBAS_L1_CA = 0,
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220 | CODETYPE_SBAS_L5_I = 1,
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221 | CODETYPE_SBAS_L5_Q = 2,
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222 | CODETYPE_SBAS_L5_IQ = 3,
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223 |
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224 | CODETYPE_BDS_B1_I = 0,
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225 | CODETYPE_BDS_B1_Q = 1,
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226 | CODETYPE_BDS_B1_IQ = 2,
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227 | CODETYPE_BDS_B3_I = 3,
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228 | CODETYPE_BDS_B3_Q = 4,
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229 | CODETYPE_BDS_B3_IQ = 5,
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230 | CODETYPE_BDS_B2_I = 6,
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231 | CODETYPE_BDS_B2_Q = 7,
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232 | CODETYPE_BDS_B2_IQ = 8,
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233 | CODETYPE_BDS_B1a_D = 9,
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234 | CODETYPE_BDS_B1a_P = 10,
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235 | CODETYPE_BDS_B1a_DP = 11,
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236 | CODETYPE_BDS_B2a_D = 12,
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237 | CODETYPE_BDS_B2a_P = 13,
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238 | CODETYPE_BDS_B2a_DP = 14
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239 | };
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240 |
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241 | #define SSR_MAXURA 5.5 /* > 5466.5mm in meter */
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242 |
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243 | /* satellite system data is stored with offset CLOCKORBIT_OFFSET...
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244 | in the data structures. So first GLONASS satellite is at
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245 | xxx->Sat[CLOCKORBIT_OFFSETGLONASS], first GPS satellite is
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246 | xxx->Sat[CLOCKORBIT_OFFSETGPS]. */
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247 |
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248 | #ifdef COR_LEGACY
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249 | /* old names */
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250 | #define NumberOfGPSSat NumberOfSat[CLOCKORBIT_SATGPS]
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251 | #define NumberOfGLONASSSat NumberOfSat[CLOCKORBIT_SATGLONASS]
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252 | #define GPSEpochTime EpochTime[CLOCKORBIT_SATGPS] /* 0 .. 604799 s */
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253 | #define GLONASSEpochTime EpochTime[CLOCKORBIT_SATGLONASS] /* 0 .. 86399 s (86400 for leap second) */
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254 | #define ClockDataSupplied Supplied[COBOFS_CLOCK]
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255 | #define HRDataSupplied Supplied[COBOFS_HR]
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256 | #define OrbitDataSupplied Supplied[COBOFS_ORBIT]
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257 | #define URADataSupplied Supplied[COBOFS_URA]
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258 | #define GetClockOrbitBias(a,b,c,d,e) GetSSR(a,b,0,0,c,d,e)
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259 | #endif /* COR_LEGACY */
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260 |
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261 | /* latency check code, disabled by default */
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262 | #ifdef COR_LATENCY
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263 | #define COR_LATENCYCOUNT 100
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264 | #endif
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265 |
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266 | struct ClockOrbit
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267 | {
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268 | enum ClockOrbitType messageType;
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269 | unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */
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270 | unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
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271 |
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272 | unsigned int Supplied[COBOFS_NUM]; /* boolean */
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273 | #ifdef COR_LATENCY
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274 | unsigned int epochGPS[COR_LATENCYCOUNT+1]; /* Weber, for latency */
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275 | unsigned int epochSize; /* Weber, for latency */
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276 | #endif
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277 | unsigned int SSRIOD;
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278 | unsigned int SSRProviderID;
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279 | unsigned int SSRSolutionID;
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280 | unsigned int UpdateInterval;
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281 | enum SatelliteReferenceDatum SatRefDatum;
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282 | struct SatData {
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283 | unsigned int ID; /* all */
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284 | unsigned int IOD; /* all */
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285 | unsigned int toe; /* SBAS, BDS */
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286 | double UserRangeAccuracy; /* accuracy values in [m] */
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287 | double hrclock;
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288 | struct OrbitPart
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289 | {
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290 | double DeltaRadial; /* m */
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291 | double DeltaAlongTrack; /* m */
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292 | double DeltaCrossTrack; /* m */
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293 | double DotDeltaRadial; /* m/s */
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294 | double DotDeltaAlongTrack; /* m/s */
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295 | double DotDeltaCrossTrack; /* m/s */
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296 | } Orbit;
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297 | struct ClockPart
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298 | {
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299 | double DeltaA0; /* m */
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300 | double DeltaA1; /* m/s */
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301 | double DeltaA2; /* m/ss */
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302 | } Clock;
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303 | } Sat[CLOCKORBIT_COUNTSAT];
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304 | };
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305 |
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306 | struct CodeBias
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307 | {
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308 | enum CodeBiasType messageType;
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309 | unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */
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310 | unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
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311 | unsigned int UpdateInterval;
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312 | unsigned int SSRIOD;
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313 | unsigned int SSRProviderID;
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314 | unsigned int SSRSolutionID;
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315 | struct BiasSat
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316 | {
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317 | unsigned int ID; /* all */
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318 | unsigned int NumberOfCodeBiases;
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319 | struct CodeBiasEntry
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320 | {
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321 | enum CodeType Type;
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322 | float Bias; /* m */
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323 | } Biases[CLOCKORBIT_NUMBIAS];
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324 | } Sat[CLOCKORBIT_COUNTSAT];
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325 | };
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326 |
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327 | struct PhaseBias
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328 | {
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329 | enum PhaseBiasType messageType;
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330 | unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */
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331 | unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
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332 | unsigned int UpdateInterval;
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333 | unsigned int SSRIOD;
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334 | unsigned int SSRProviderID;
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335 | unsigned int SSRSolutionID;
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336 | unsigned int DispersiveBiasConsistencyIndicator;
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337 | unsigned int MWConsistencyIndicator;
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338 | struct PhaseBiasSat
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339 | {
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340 | unsigned int ID; /* all */
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341 | unsigned int NumberOfPhaseBiases;
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342 | double YawAngle; /* radiant */
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343 | double YawRate; /* radiant/s */
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344 | struct PhaseBiasEntry
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345 | {
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346 | enum CodeType Type;
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347 | unsigned int SignalIntegerIndicator;
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348 | unsigned int SignalsWideLaneIntegerIndicator;
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349 | unsigned int SignalDiscontinuityCounter;
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350 | float Bias; /* m */
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351 | } Biases[CLOCKORBIT_NUMBIAS];
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352 | } Sat[CLOCKORBIT_COUNTSAT];
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353 | };
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354 |
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355 | struct VTEC
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356 | {
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357 | unsigned int EpochTime; /* GPS */
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358 | unsigned int UpdateInterval;
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359 | unsigned int SSRIOD;
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360 | unsigned int SSRProviderID;
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361 | unsigned int SSRSolutionID;
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362 | unsigned int NumLayers; /* 1-4 */
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363 | double Quality;
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364 | struct IonoLayers {
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365 | double Height; /* m */
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366 | unsigned int Degree; /* 1-16 */
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367 | unsigned int Order; /* 1-16 */
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368 | double Sinus[CLOCKORBIT_MAXIONODEGREE][CLOCKORBIT_MAXIONOORDER];
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369 | double Cosinus[CLOCKORBIT_MAXIONODEGREE][CLOCKORBIT_MAXIONOORDER];
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370 | } Layers[CLOCKORBIT_NUMIONOLAYERS];
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371 | };
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372 |
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373 | /* return size of resulting data or 0 in case of an error */
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374 | size_t MakeClockOrbit(const struct ClockOrbit *co, enum ClockOrbitType type,
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375 | int moremessagesfollow, char *buffer, size_t size);
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376 | size_t MakeCodeBias(const struct CodeBias *b, enum CodeBiasType type,
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377 | int moremessagesfollow, char *buffer, size_t size);
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378 | size_t MakePhaseBias(const struct PhaseBias *b, enum PhaseBiasType type,
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379 | int moremessagesfollow, char *buffer, size_t size);
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380 | size_t MakeVTEC(const struct VTEC *b, int moremessagesfollow, char *buffer,
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381 | size_t size);
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382 |
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383 | enum GCOB_RETURN {
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384 | /* all well */
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385 | GCOBR_MESSAGEFOLLOWS = 1,
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386 | GCOBR_OK = 0,
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387 | /* unknown data, a warning */
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388 | GCOBR_UNKNOWNTYPE = -1,
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389 | GCOBR_UNKNOWNDATA = -2,
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390 | GCOBR_CRCMISMATCH = -3,
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391 | GCOBR_SHORTMESSAGE = -4,
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392 | /* failed to do the work */
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393 | GCOBR_NOCLOCKORBITPARAMETER = -10,
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394 | GCOBR_NOCODEBIASPARAMETER = -11,
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395 | GCOBR_NOPHASEBIASPARAMETER = -12,
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396 | GCOBR_NOVTECPARAMETER = -13,
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397 | /* data mismatch - data in storage does not match new data */
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398 | GCOBR_TIMEMISMATCH = -20,
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399 | GCOBR_DATAMISMATCH = -21,
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400 | /* not enough data - can decode the block completely */
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401 | GCOBR_SHORTBUFFER = -30,
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402 | GCOBR_MESSAGEEXCEEDSBUFFER = -31};
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403 |
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404 | /* NOTE: When an error message has been emitted, the output structures may have been modified. Make a copy of the previous variant before calling the
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405 | function to have a clean state. */
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406 |
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407 | /* buffer should point to a RTCM3 block */
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408 | enum GCOB_RETURN GetSSR(struct ClockOrbit *co, struct CodeBias *b, struct VTEC *v,
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409 | struct PhaseBias *pb, const char *buffer, size_t size, int *bytesused);
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410 |
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411 | #endif /* RTCM3_CLOCK_ORBIT_RTCM_H */
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