[206] | 1 | //------------------------------------------------------------------------------
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| 2 | //
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| 3 | // RTCM2.h
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| 4 | //
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| 5 | // Purpose:
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| 6 | //
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| 7 | // Module for extraction of RTCM2 messages
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| 8 | //
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| 9 | // References:
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| 10 | //
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| 11 | // RTCM 10402.3 Recommended Standards for Differential GNSS (Global
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| 12 | // Navigation Satellite Systems) Service; RTCM Paper 136-2001/SC104-STD,
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| 13 | // Version 2.3, 20 Aug. 2001; Radio Technical Commission For Maritime
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| 14 | // Services, Alexandria, Virgina (2001).
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| 15 | // ICD-GPS-200; Navstar GPS Space Segment / Navigation User Interfaces;
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| 16 | // Revison C; 25 Sept. 1997; Arinc Research Corp., El Segundo (1997).
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| 17 | // Jensen M.; RTCM2ASC Documentation;
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| 18 | // URL http://kom.aau.dk/~borre/masters/receiver/rtcm2asc.htm;
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| 19 | // last accessed 17 Sep. 2006
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[254] | 20 | // Sager J.; Decoder for RTCM SC-104 data from a DGPS beacon receiver;
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[206] | 21 | // URL http://www.wsrcc.com/wolfgang/ftp/rtcm-0.3.tar.gz;
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| 22 | // last accessed 17 Sep. 2006
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| 23 | //
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| 24 | // Last modified:
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| 25 | //
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| 26 | // 2006/09/17 OMO Created
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[242] | 27 | // 2006/10/05 OMO Specified const'ness of various member functions
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[253] | 28 | // 2006/10/17 OMO Removed obsolete check of multiple message indicator
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[332] | 29 | // 2006/11/25 OMO Revised check for presence of GLONASS data
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[725] | 30 | // 2008/03/07 AHA Removed unnecessary failure flag
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[206] | 31 | //
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| 32 | // (c) DLR/GSOC
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| 33 | //
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| 34 | //------------------------------------------------------------------------------
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| 35 |
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| 36 | #ifndef INC_RTCM2_H
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| 37 | #define INC_RTCM2_H
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| 38 |
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| 39 | #include <bitset>
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| 40 | #include <fstream>
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| 41 | #include <string>
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| 42 | #include <vector>
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| 43 |
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| 44 | //
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| 45 | // namespace rtcm2
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| 46 | //
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| 47 |
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| 48 | namespace rtcm2 {
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| 49 |
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| 50 |
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| 51 | //------------------------------------------------------------------------------
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| 52 | //
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| 53 | // class thirtyBitWord (specification)
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| 54 | //
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| 55 | // Purpose:
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| 56 | //
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| 57 | // Handling of RTCM2 30bit words
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| 58 | //
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| 59 | //------------------------------------------------------------------------------
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| 60 |
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| 61 | class ThirtyBitWord {
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| 62 |
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| 63 | public:
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| 64 |
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| 65 | // Constructor and initialization
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| 66 |
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| 67 | ThirtyBitWord();
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| 68 |
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| 69 | void clear();
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| 70 |
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| 71 | // Status queries
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| 72 |
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| 73 | bool fail() const;
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| 74 | bool validParity() const;
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| 75 | bool isHeader() const;
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| 76 |
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| 77 | // Access methods
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| 78 |
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| 79 | unsigned int all() const;
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| 80 | unsigned int value() const;
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| 81 |
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| 82 | // Input
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| 83 |
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[725] | 84 | void get(const std::string& buf);
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[206] | 85 | void get(std::istream& inp);
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| 86 | void getHeader(std::string& buf);
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| 87 | void getHeader(std::istream& inp);
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| 88 |
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| 89 | private:
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| 90 |
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| 91 | // Input
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| 92 |
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| 93 | void append(unsigned char c);
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| 94 |
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| 95 | private:
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| 96 |
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[725] | 97 | // bool failure;
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[206] | 98 |
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| 99 | //
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| 100 | // A 32-bit integer is used to store the 30-bit RTCM word as well as 2
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| 101 | // parity bits retained from the previous word
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| 102 | //
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| 103 | // Bits 31..30 (from left to right) hold the parity bits D29*..D30* of
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| 104 | // the previous 30-bit word
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| 105 | // Bits 29..06 (from left to right) hold the current data bits D01..D24
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| 106 | // Bits 05..00 (from left to right) hold the current parity bits D25..D30
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| 107 | //
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| 108 |
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| 109 | unsigned int W;
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| 110 |
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| 111 | };
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| 112 |
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| 113 |
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| 114 |
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| 115 | //------------------------------------------------------------------------------
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| 116 | //
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| 117 | // RTCM2packet (class definition)
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| 118 | //
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| 119 | // Purpose:
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| 120 | //
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| 121 | // A class for handling RTCM2 data packets
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| 122 | //
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| 123 | //------------------------------------------------------------------------------
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| 124 |
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| 125 | class RTCM2packet {
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| 126 |
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| 127 | public:
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| 128 |
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| 129 | // Constructor and initialization
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| 130 |
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| 131 | RTCM2packet();
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| 132 |
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| 133 | void clear();
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| 134 |
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| 135 | // Status queries
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| 136 |
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| 137 | bool valid() const;
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| 138 |
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| 139 | // Input
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| 140 |
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| 141 | void getPacket(std::string& buf);
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| 142 | void getPacket(std::istream& inp);
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| 143 | friend std::istream& operator >> (std::istream& is, RTCM2packet& p);
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| 144 |
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| 145 | //
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| 146 | // Access methods
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| 147 | //
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| 148 |
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| 149 | // Header and data words contents (parity corrected)
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| 150 |
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| 151 | unsigned int header1() const;
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| 152 | unsigned int header2() const;
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| 153 | unsigned int dataWord(int i) const;
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| 154 |
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| 155 | // Header information
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| 156 |
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| 157 | unsigned int msgType() const;
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| 158 | unsigned int ID() const { return msgType(); };
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| 159 | unsigned int stationID() const;
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| 160 | unsigned int modZCount() const;
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| 161 | unsigned int seqNumber() const;
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| 162 | unsigned int nDataWords() const;
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| 163 | unsigned int staHealth() const;
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| 164 |
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| 165 | // Data access
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| 166 |
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| 167 | unsigned int getUnsignedBits (unsigned int start,
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| 168 | unsigned int n ) const;
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| 169 | int getBits (unsigned int start,
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| 170 | unsigned int n ) const;
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| 171 |
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| 172 | private:
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| 173 |
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| 174 | // All input of RTCM data uses a single instance, W, of a 30-bit word
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| 175 | // to maintain parity bits between consecutive inputs.
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| 176 |
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| 177 | ThirtyBitWord W;
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| 178 |
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| 179 | // Two 30-bit words make up the header of an RTCM2 message
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| 180 | // (parity corrected)
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| 181 |
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| 182 | unsigned int H1;
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| 183 | unsigned int H2;
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| 184 |
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| 185 | // Data words (parity corrected)
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| 186 |
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| 187 | std::vector<unsigned int> DW;
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| 188 |
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| 189 | };
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| 190 |
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| 191 |
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| 192 | //------------------------------------------------------------------------------
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| 193 | //
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| 194 | // RTCM2_03 (class definition)
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| 195 | //
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| 196 | // Purpose:
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| 197 | //
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| 198 | // A class for handling RTCM 2 GPS Reference Station Parameters messages
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| 199 | //
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| 200 | //------------------------------------------------------------------------------
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| 201 |
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| 202 | class RTCM2_03 {
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[1044] | 203 | public:
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| 204 |
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| 205 | RTCM2_03() : validMsg(false), x(0.0), y(0.0), z(0.0) { }
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| 206 |
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| 207 | void extract(const RTCM2packet& P);
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| 208 |
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| 209 | public:
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| 210 | bool validMsg; // Validity flag
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| 211 | double x,y,z; // Station coordinates
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[206] | 212 | };
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| 213 |
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| 214 |
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| 215 | //------------------------------------------------------------------------------
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| 216 | //
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| 217 | // RTCM2_23 (class definition)
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| 218 | //
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| 219 | // Purpose:
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| 220 | //
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| 221 | // A class for handling RTCM 2 Antenna Type Definition messages
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| 222 | //
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| 223 | //------------------------------------------------------------------------------
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| 224 |
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| 225 | class RTCM2_23 {
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| 226 |
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| 227 | public:
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| 228 |
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| 229 | void extract(const RTCM2packet& P);
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| 230 |
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| 231 | public:
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| 232 |
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| 233 | bool validMsg; // Validity flag
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| 234 | std::string antType; // Antenna descriptor
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| 235 | std::string antSN ; // Antenna Serial Number
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| 236 |
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| 237 | };
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| 238 |
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| 239 |
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| 240 | //------------------------------------------------------------------------------
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| 241 | //
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| 242 | // RTCM2_24 (class definition)
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| 243 | //
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| 244 | // Purpose:
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| 245 | //
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| 246 | // A class for handling RTCM 2 Reference Station Antenna
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| 247 | // Reference Point Parameter messages
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| 248 | //
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| 249 | //------------------------------------------------------------------------------
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| 250 |
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| 251 | class RTCM2_24 {
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| 252 |
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| 253 | public:
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| 254 |
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| 255 | void extract(const RTCM2packet& P);
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| 256 |
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| 257 | public:
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| 258 |
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| 259 | bool validMsg; // Validity flag
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| 260 | bool isGPS; // Flag for GPS supporting station
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| 261 | bool isGLONASS; // Flag for GLONASS supporting station
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| 262 | double x,y,z; // Station coordinates (ECEF,[m])
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| 263 | double h; // Antenna height [m]
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| 264 |
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| 265 | };
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| 266 |
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| 267 |
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| 268 |
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| 269 | //------------------------------------------------------------------------------
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| 270 | //
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| 271 | // RTCM2_Obs (class definition)
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| 272 | //
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| 273 | // Purpose:
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| 274 | //
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| 275 | // A class for handling blocks of RTCM2 18 & 19 packets that need to be
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| 276 | // combined to get a complete set of measurements
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| 277 | //
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| 278 | //------------------------------------------------------------------------------
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| 279 |
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| 280 | class RTCM2_Obs {
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| 281 |
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| 282 | public:
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| 283 |
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| 284 | RTCM2_Obs(); // Constructor
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| 285 |
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| 286 | void extract(const RTCM2packet& P); // Packet handler
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| 287 | void clear(); // Initialization
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[242] | 288 | bool valid() const; // Check for complete obs block
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[206] | 289 |
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[242] | 290 | double resolvedPhase_L1(int i) const; // L1 & L2 carrier phase of i-th sat
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| 291 | double resolvedPhase_L2(int i) const; // with resolved 2^24 cy ambiguity
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[206] | 292 | // (based on rng_C1)
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| 293 |
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| 294 | void resolveEpoch (int refWeek, // Resolve epoch using reference
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| 295 | double refSecs, // epoch (GPS week and secs)
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| 296 | int& epochWeek,
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[242] | 297 | double& epochSecs ) const;
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[206] | 298 |
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| 299 |
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| 300 | public:
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| 301 |
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| 302 | double secs; // Seconds of hour (GPS time)
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| 303 | int nSat; // Number of space vehicles
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| 304 | std::vector<int> PRN; // PRN (satellite number)
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| 305 | std::vector<double> rng_C1; // C/A code pseudorange on L1 [m]
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| 306 | std::vector<double> rng_P1; // P(Y) code pseudorange on L1 [m]
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| 307 | std::vector<double> rng_P2; // Pseudorange on L2 [m]
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| 308 | std::vector<double> cph_L1; // Carrier phase on L1 [cy]
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| 309 | std::vector<double> cph_L2; // Carrier phase on L2 [cy]
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[1044] | 310 | std::vector<int> slip_L1; // Carrier phase slip counter, L1
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| 311 | std::vector<int> slip_L2; // Carrier phase slip counter, L1
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[206] | 312 |
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| 313 | private:
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| 314 |
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[242] | 315 | bool anyGPS() const;
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| 316 | bool anyGLONASS() const;
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| 317 | bool allGPS() const;
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| 318 | bool allGLONASS() const;
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[206] | 319 |
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| 320 | private:
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| 321 |
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| 322 | typedef std::bitset<8> msgflags;
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| 323 |
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| 324 | msgflags availability; // Msg availability flags
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[332] | 325 | bool GPSonly; // Flag for GPS-only station
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| 326 |
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[206] | 327 | };
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| 328 |
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| 329 |
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| 330 | }; // End of namespace rtcm2
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| 331 |
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| 332 | #endif // include blocker
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