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