source: ntrip/trunk/BNC/RTCM3/RTCM3Decoder.cpp@ 2527

Last change on this file since 2527 was 2527, checked in by mervart, 14 years ago
File size: 12.5 KB
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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 "RTCM3Decoder.h"
48#include "../RTCM/rtcm_utils.h"
49#include "bncconst.h"
50#include "bncapp.h"
51#include "bncutils.h"
52#include "bncsettings.h"
53
54using namespace std;
55
56#ifndef isinf
57# define isinf(x) 0
58#endif
59
60// Error Handling
61////////////////////////////////////////////////////////////////////////////
62void RTCM3Error(const char*, ...) {
63}
64
65// Constructor
66////////////////////////////////////////////////////////////////////////////
67RTCM3Decoder::RTCM3Decoder(const QString& staID, bncRawFile* rawFile) :
68 GPSDecoder() {
69
70 _staID = staID;
71 _rawFile = rawFile;
72
73 bncSettings settings;
74 _checkMountPoint = settings.value("miscMount").toString();
75
76 connect(this, SIGNAL(newGPSEph(gpsephemeris*)),
77 (bncApp*) qApp, SLOT(slotNewGPSEph(gpsephemeris*)));
78 connect(this, SIGNAL(newGlonassEph(glonassephemeris*)),
79 (bncApp*) qApp, SLOT(slotNewGlonassEph(glonassephemeris*)));
80
81 // Sub-Decoder for Clock and Orbit Corrections
82 // -------------------------------------------
83 _coDecoder = new RTCM3coDecoder(staID);
84
85 // Mode can be either observations or corrections
86 // ----------------------------------------------
87 _mode = unknown;
88
89 // Antenna position (used for decoding of message 1003)
90 // ----------------------------------------------------
91 _antXYZ[0] = _antXYZ[1] = _antXYZ[2] = 0;
92
93}
94
95// Destructor
96////////////////////////////////////////////////////////////////////////////
97RTCM3Decoder::~RTCM3Decoder() {
98 delete _coDecoder;
99}
100
101//
102////////////////////////////////////////////////////////////////////////////
103t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
104
105 errmsg.clear();
106
107 bool decoded = false;
108
109 // Try to decode Clock and Orbit Corrections
110 // -----------------------------------------
111 if (_mode == unknown || _mode == corrections) {
112 if ( _coDecoder->Decode(buffer, bufLen, errmsg) == success ) {
113 decoded = true;
114 if (!_rawFile && _mode == unknown) {
115 _mode = corrections;
116 }
117 }
118 }
119
120 // Find the corresponding parser
121 // -----------------------------
122 QByteArray staID("default");
123 if (_rawFile) {
124 staID = _rawFile->staID();
125 }
126
127 bool newParser = !_parsers.contains(staID);
128
129 RTCM3ParserData& parser = _parsers[staID];
130
131 // Initialize a new parser
132 // -----------------------
133 if (newParser) {
134 parser.rinex3 = 0;
135 memset(&parser, 0, sizeof(parser));
136 double secGPS;
137 currentGPSWeeks(parser.GPSWeek, secGPS);
138 parser.GPSTOW = int(secGPS);
139 }
140
141 // Remaining part decodes the Observations
142 // ---------------------------------------
143 if (_mode == unknown || _mode == observations || _checkMountPoint == _staID || _checkMountPoint == "ALL") {
144
145 for (int ii = 0; ii < bufLen; ii++) {
146 parser.Message[parser.MessageSize++] = buffer[ii];
147
148 if (parser.MessageSize >= parser.NeedBytes) {
149
150 while(int rr = RTCM3Parser(&parser)) {
151
152 // RTCMv3 message types
153 // --------------------
154 _typeList.push_back(parser.blocktype);
155
156 // RTCMv3 antenna descriptor
157 // -------------------------
158 if(rr == 1007 || rr == 1008 || rr == 1033)
159 {
160 _antType.push_back(parser.antenna); /* correct ? */
161 }
162
163 // RTCMv3 antenna XYZ
164 // ------------------
165 else if(rr == 1005)
166 {
167 _antList.push_back(t_antInfo());
168 _antList.back().type = t_antInfo::ARP;
169 _antList.back().xx = parser.antX * 1e-4;
170 _antList.back().yy = parser.antY * 1e-4;
171 _antList.back().zz = parser.antZ * 1e-4;
172 _antList.back().message = rr;
173
174 // Remember station position for 1003 message decoding
175 _antXYZ[0] = parser.antX * 1e-4;
176 _antXYZ[1] = parser.antY * 1e-4;
177 _antXYZ[2] = parser.antZ * 1e-4;
178 }
179
180 // RTCMv3 antenna XYZ-H
181 // --------------------
182 else if(rr == 1006)
183 {
184 _antList.push_back(t_antInfo());
185 _antList.back().type = t_antInfo::ARP;
186 _antList.back().xx = parser.antX * 1e-4;
187 _antList.back().yy = parser.antY * 1e-4;
188 _antList.back().zz = parser.antZ * 1e-4;
189 _antList.back().height = parser.antH * 1e-4;
190 _antList.back().height_f = true;
191 _antList.back().message = rr;
192
193 // Remember station position for 1003 message decoding
194 _antXYZ[0] = parser.antX * 1e-4;
195 _antXYZ[1] = parser.antY * 1e-4;
196 _antXYZ[2] = parser.antZ * 1e-4;
197 }
198
199 // GNSS Observations
200 // -----------------
201 else if (rr == 1 || rr == 2) {
202 decoded = true;
203
204 if (!parser.init) {
205 HandleHeader(&parser);
206 parser.init = 1;
207 }
208
209 // apply "GPS Integer L1 Pseudorange Modulus Ambiguity"
210 bool applyModulusAmb = false;
211 ///if (rr == 2) {
212 /// applyModulusAmb = true;
213 ///}
214
215 if (rr == 2) {
216 emit(newMessage( (_staID + ": No valid RINEX! All values are modulo 299792.458!").toAscii(), true));
217 }
218
219 for (int ii = 0; ii < parser.Data.numsats; ii++) {
220 p_obs obs = new t_obs();
221 _obsList.push_back(obs);
222 if (parser.Data.satellites[ii] <= PRN_GPS_END) {
223 obs->_o.satSys = 'G';
224 obs->_o.satNum = parser.Data.satellites[ii];
225 }
226 else if (parser.Data.satellites[ii] <= PRN_GLONASS_END) {
227 obs->_o.satSys = 'R';
228 obs->_o.satNum = parser.Data.satellites[ii] - PRN_GLONASS_START + 1;
229 obs->_o.slot = parser.Data.channels[ii];
230 }
231 else {
232 obs->_o.satSys = 'S';
233 obs->_o.satNum = parser.Data.satellites[ii] - PRN_WAAS_START + 20;
234 }
235 obs->_o.GPSWeek = parser.Data.week;
236 obs->_o.GPSWeeks = parser.Data.timeofweek / 1000.0;
237
238 // Estimate "GPS Integer L1 Pseudorange Modulus Ambiguity"
239 // -------------------------------------------------------
240 double modulusAmb = 0;
241 if (applyModulusAmb) {
242 // Missing antenna coordinates: skip all data
243 if ( !_antXYZ[0] && !_antXYZ[1] && !_antXYZ[2] ) {
244 continue;
245 }
246
247 ostringstream prns;
248 prns << obs->_o.satSys << setfill('0') << setw(2) << obs->_o.satNum;
249
250 string prn = prns.str();
251
252 // Missing ephemerides, skip satellite
253 if (_ephList.find(prn) == _ephList.end()) {
254 continue;
255 }
256
257 const t_eph* eph = &(_ephList.find(prn)->second);
258
259 double rho, xSat, ySat, zSat, clkSat, GPSWeeks_tot;
260 int GPSWeek_tot;
261 cmpRho(eph, _antXYZ[0], _antXYZ[1], _antXYZ[2],
262 obs->_o.GPSWeek, obs->_o.GPSWeeks,
263 rho, GPSWeek_tot, GPSWeeks_tot,
264 xSat, ySat, zSat, clkSat);
265
266 const double CC = 299792458.0;
267
268 int nn = static_cast<int>(rho / (CC * 0.001));
269
270 modulusAmb = nn * CC * 0.001;
271 }
272
273 // Loop over all data types
274 // ------------------------
275 for (int jj = 0; jj < parser.numdatatypesGPS; jj++) {
276 int v = 0;
277 // sepearated declaration and initalization of df and pos. Perlt
278 int df;
279 int pos;
280 df = parser.dataflag[jj];
281 pos = parser.datapos[jj];
282 if ( (parser.Data.dataflags[ii] & df)
283 && !isnan(parser.Data.measdata[ii][pos])
284 && !isinf(parser.Data.measdata[ii][pos])) {
285 v = 1;
286 }
287 else {
288 df = parser.dataflagGPS[jj];
289 pos = parser.dataposGPS[jj];
290 if ( (parser.Data.dataflags[ii] & df)
291 && !isnan(parser.Data.measdata[ii][pos])
292 && !isinf(parser.Data.measdata[ii][pos])) {
293 v = 1;
294 }
295 }
296 if (!v) {
297 continue;
298 }
299 else
300 {
301 int isat = (parser.Data.satellites[ii] < 120
302 ? parser.Data.satellites[ii]
303 : parser.Data.satellites[ii] - 80);
304
305 // variables df and pos are used consequently. Perlt
306 if (df & GNSSDF_C1DATA) {
307 obs->_o.C1 = parser.Data.measdata[ii][pos] + modulusAmb;
308 }
309 else if (df & GNSSDF_C2DATA) {
310 obs->_o.C2 = parser.Data.measdata[ii][pos] + modulusAmb;
311 }
312 else if (df & GNSSDF_P1DATA) {
313 obs->_o.P1 = parser.Data.measdata[ii][pos] + modulusAmb;
314 }
315 else if (df & GNSSDF_P2DATA) {
316 obs->_o.P2 = parser.Data.measdata[ii][pos] + modulusAmb;
317 }
318 else if (df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA)) {
319 obs->_o.L1 = parser.Data.measdata[ii][pos] + modulusAmb;
320 obs->_o.SNR1 = parser.Data.snrL1[ii];
321 obs->_o.lock_timei_L1 = parser.lastlockGPSl1[isat];
322 }
323 else if (df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA)) {
324 obs->_o.L2 = parser.Data.measdata[ii][pos] + modulusAmb;
325 obs->_o.SNR2 = parser.Data.snrL2[ii];
326 obs->_o.lock_timei_L2 = parser.lastlockGPSl2[isat];
327 }
328 else if (df & (GNSSDF_S1CDATA|GNSSDF_S1PDATA)) {
329 obs->_o.S1 = parser.Data.measdata[ii][pos];
330 }
331 else if (df & (GNSSDF_S2CDATA|GNSSDF_S2PDATA)) {
332 obs->_o.S2 = parser.Data.measdata[ii][pos];
333 }
334 }
335 }
336 }
337 }
338
339 // GPS Ephemeris
340 // -------------
341 else if (rr == 1019) {
342 decoded = true;
343 gpsephemeris* ep = new gpsephemeris(parser.ephemerisGPS);
344 emit newGPSEph(ep);
345 }
346
347 // GLONASS Ephemeris
348 // -----------------
349 else if (rr == 1020) {
350 decoded = true;
351 glonassephemeris* ep = new glonassephemeris(parser.ephemerisGLONASS);
352 emit newGlonassEph(ep);
353 }
354 }
355 }
356 }
357 if (!_rawFile && _mode == unknown && decoded) {
358 _mode = observations;
359 }
360 }
361
362 if (decoded) {
363 return success;
364 }
365 else {
366 return failure;
367 }
368}
369
370// Store ephemerides
371////////////////////////////////////////////////////////////////////////////////////////
372bool RTCM3Decoder::storeEph(const gpsephemeris& gpseph) {
373 t_ephGPS eph; eph.set(&gpseph);
374
375 return storeEph(eph);
376}
377
378
379bool RTCM3Decoder::storeEph(const t_ephGPS& gpseph) {
380 const double secPerWeek = 7.0 * 24.0 * 3600.0;
381 double weekold = 0.0;
382 double weeknew = gpseph.GPSweek() + gpseph.GPSweeks() / secPerWeek;
383 if ( _ephList.find(gpseph.prn()) != _ephList.end() ) {
384 weekold = _ephList.find(gpseph.prn())->second.GPSweek()
385 + _ephList.find(gpseph.prn())->second.GPSweeks() / secPerWeek;
386 }
387
388 if ( weeknew - weekold > 1.0/secPerWeek ) {
389 _ephList[gpseph.prn()] = gpseph;
390
391 return true;
392 }
393
394 return false;
395}
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