source: ntrip/trunk/BNC/RTCM3/RTCM3Decoder.cpp@ 2633

Last change on this file since 2633 was 2585, checked in by mervart, 14 years ago
File size: 12.9 KB
Line 
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 // If read from file, we set the mode according to staID
110 // -----------------------------------------------------
111 if (!_staID_corrections.isEmpty() && _rawFile) {
112 if (_rawFile->staID() == _staID_corrections) {
113 _mode = corrections;
114 }
115 else {
116 _mode = observations;
117 }
118 }
119
120 // Try to decode Clock and Orbit Corrections
121 // -----------------------------------------
122 if (_mode == unknown || _mode == corrections) {
123 if ( _coDecoder->Decode(buffer, bufLen, errmsg) == success ) {
124 decoded = true;
125 if (_mode == unknown) {
126 if (_rawFile) {
127 _staID_corrections = _rawFile->staID();
128 }
129 else {
130 _mode = corrections;
131 }
132 }
133 }
134 }
135
136 // Find the corresponding parser
137 // -----------------------------
138 QByteArray staID("default");
139 if (_rawFile) {
140 staID = _rawFile->staID();
141 }
142
143 bool newParser = !_parsers.contains(staID);
144
145 RTCM3ParserData& parser = _parsers[staID];
146
147 // Initialize a new parser
148 // -----------------------
149 if (newParser) {
150 parser.rinex3 = 0;
151 memset(&parser, 0, sizeof(parser));
152 double secGPS;
153 currentGPSWeeks(parser.GPSWeek, secGPS);
154 parser.GPSTOW = int(secGPS);
155 }
156
157 // Remaining part decodes the Observations
158 // ---------------------------------------
159 if (_mode == unknown || _mode == observations || _checkMountPoint == _staID || _checkMountPoint == "ALL") {
160
161 for (int ii = 0; ii < bufLen; ii++) {
162 parser.Message[parser.MessageSize++] = buffer[ii];
163
164 if (parser.MessageSize >= parser.NeedBytes) {
165
166 while(int rr = RTCM3Parser(&parser)) {
167
168 // RTCMv3 message types
169 // --------------------
170 _typeList.push_back(parser.blocktype);
171
172 // RTCMv3 antenna descriptor
173 // -------------------------
174 if(rr == 1007 || rr == 1008 || rr == 1033)
175 {
176 _antType.push_back(parser.antenna); /* correct ? */
177 }
178
179 // RTCMv3 antenna XYZ
180 // ------------------
181 else if(rr == 1005)
182 {
183 _antList.push_back(t_antInfo());
184 _antList.back().type = t_antInfo::ARP;
185 _antList.back().xx = parser.antX * 1e-4;
186 _antList.back().yy = parser.antY * 1e-4;
187 _antList.back().zz = parser.antZ * 1e-4;
188 _antList.back().message = rr;
189
190 // Remember station position for 1003 message decoding
191 _antXYZ[0] = parser.antX * 1e-4;
192 _antXYZ[1] = parser.antY * 1e-4;
193 _antXYZ[2] = parser.antZ * 1e-4;
194 }
195
196 // RTCMv3 antenna XYZ-H
197 // --------------------
198 else if(rr == 1006)
199 {
200 _antList.push_back(t_antInfo());
201 _antList.back().type = t_antInfo::ARP;
202 _antList.back().xx = parser.antX * 1e-4;
203 _antList.back().yy = parser.antY * 1e-4;
204 _antList.back().zz = parser.antZ * 1e-4;
205 _antList.back().height = parser.antH * 1e-4;
206 _antList.back().height_f = true;
207 _antList.back().message = rr;
208
209 // Remember station position for 1003 message decoding
210 _antXYZ[0] = parser.antX * 1e-4;
211 _antXYZ[1] = parser.antY * 1e-4;
212 _antXYZ[2] = parser.antZ * 1e-4;
213 }
214
215 // GNSS Observations
216 // -----------------
217 else if (rr == 1 || rr == 2) {
218 decoded = true;
219
220 if (!parser.init) {
221 HandleHeader(&parser);
222 parser.init = 1;
223 }
224
225 // apply "GPS Integer L1 Pseudorange Modulus Ambiguity"
226 bool applyModulusAmb = false;
227 ///if (rr == 2) {
228 /// applyModulusAmb = true;
229 ///}
230
231 if (rr == 2) {
232 emit(newMessage( (_staID + ": No valid RINEX! All values are modulo 299792.458!").toAscii(), true));
233 }
234
235 for (int ii = 0; ii < parser.Data.numsats; ii++) {
236 p_obs obs = new t_obs();
237 _obsList.push_back(obs);
238 if (parser.Data.satellites[ii] <= PRN_GPS_END) {
239 obs->_o.satSys = 'G';
240 obs->_o.satNum = parser.Data.satellites[ii];
241 }
242 else if (parser.Data.satellites[ii] <= PRN_GLONASS_END) {
243 obs->_o.satSys = 'R';
244 obs->_o.satNum = parser.Data.satellites[ii] - PRN_GLONASS_START + 1;
245 obs->_o.slot = parser.Data.channels[ii];
246 }
247 else {
248 obs->_o.satSys = 'S';
249 obs->_o.satNum = parser.Data.satellites[ii] - PRN_WAAS_START + 20;
250 }
251 obs->_o.GPSWeek = parser.Data.week;
252 obs->_o.GPSWeeks = parser.Data.timeofweek / 1000.0;
253
254 // Estimate "GPS Integer L1 Pseudorange Modulus Ambiguity"
255 // -------------------------------------------------------
256 double modulusAmb = 0;
257 if (applyModulusAmb) {
258 // Missing antenna coordinates: skip all data
259 if ( !_antXYZ[0] && !_antXYZ[1] && !_antXYZ[2] ) {
260 continue;
261 }
262
263 ostringstream prns;
264 prns << obs->_o.satSys << setfill('0') << setw(2) << obs->_o.satNum;
265
266 string prn = prns.str();
267
268 // Missing ephemerides, skip satellite
269 if (_ephList.find(prn) == _ephList.end()) {
270 continue;
271 }
272
273 const t_eph* eph = &(_ephList.find(prn)->second);
274
275 double rho, xSat, ySat, zSat, clkSat, GPSWeeks_tot;
276 int GPSWeek_tot;
277 cmpRho(eph, _antXYZ[0], _antXYZ[1], _antXYZ[2],
278 obs->_o.GPSWeek, obs->_o.GPSWeeks,
279 rho, GPSWeek_tot, GPSWeeks_tot,
280 xSat, ySat, zSat, clkSat);
281
282 const double CC = 299792458.0;
283
284 int nn = static_cast<int>(rho / (CC * 0.001));
285
286 modulusAmb = nn * CC * 0.001;
287 }
288
289 // Loop over all data types
290 // ------------------------
291 for (int jj = 0; jj < parser.numdatatypesGPS; jj++) {
292 int v = 0;
293 // sepearated declaration and initalization of df and pos. Perlt
294 int df;
295 int pos;
296 df = parser.dataflag[jj];
297 pos = parser.datapos[jj];
298 if ( (parser.Data.dataflags[ii] & df)
299 && !isnan(parser.Data.measdata[ii][pos])
300 && !isinf(parser.Data.measdata[ii][pos])) {
301 v = 1;
302 }
303 else {
304 df = parser.dataflagGPS[jj];
305 pos = parser.dataposGPS[jj];
306 if ( (parser.Data.dataflags[ii] & df)
307 && !isnan(parser.Data.measdata[ii][pos])
308 && !isinf(parser.Data.measdata[ii][pos])) {
309 v = 1;
310 }
311 }
312 if (!v) {
313 continue;
314 }
315 else
316 {
317 int isat = (parser.Data.satellites[ii] < 120
318 ? parser.Data.satellites[ii]
319 : parser.Data.satellites[ii] - 80);
320
321 // variables df and pos are used consequently. Perlt
322 if (df & GNSSDF_C1DATA) {
323 obs->_o.C1 = parser.Data.measdata[ii][pos] + modulusAmb;
324 }
325 else if (df & GNSSDF_C2DATA) {
326 obs->_o.C2 = parser.Data.measdata[ii][pos] + modulusAmb;
327 }
328 else if (df & GNSSDF_P1DATA) {
329 obs->_o.P1 = parser.Data.measdata[ii][pos] + modulusAmb;
330 }
331 else if (df & GNSSDF_P2DATA) {
332 obs->_o.P2 = parser.Data.measdata[ii][pos] + modulusAmb;
333 }
334 else if (df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA)) {
335 obs->_o.L1 = parser.Data.measdata[ii][pos] + modulusAmb;
336 obs->_o.SNR1 = parser.Data.snrL1[ii];
337 obs->_o.lock_timei_L1 = parser.lastlockGPSl1[isat];
338 }
339 else if (df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA)) {
340 obs->_o.L2 = parser.Data.measdata[ii][pos] + modulusAmb;
341 obs->_o.SNR2 = parser.Data.snrL2[ii];
342 obs->_o.lock_timei_L2 = parser.lastlockGPSl2[isat];
343 }
344 else if (df & (GNSSDF_S1CDATA|GNSSDF_S1PDATA)) {
345 obs->_o.S1 = parser.Data.measdata[ii][pos];
346 }
347 else if (df & (GNSSDF_S2CDATA|GNSSDF_S2PDATA)) {
348 obs->_o.S2 = parser.Data.measdata[ii][pos];
349 }
350 }
351 }
352 }
353 }
354
355 // GPS Ephemeris
356 // -------------
357 else if (rr == 1019) {
358 decoded = true;
359 gpsephemeris* ep = new gpsephemeris(parser.ephemerisGPS);
360 emit newGPSEph(ep);
361 }
362
363 // GLONASS Ephemeris
364 // -----------------
365 else if (rr == 1020) {
366 decoded = true;
367 glonassephemeris* ep = new glonassephemeris(parser.ephemerisGLONASS);
368 emit newGlonassEph(ep);
369 }
370 }
371 }
372 }
373 if (!_rawFile && _mode == unknown && decoded) {
374 _mode = observations;
375 }
376 }
377
378 if (decoded) {
379 return success;
380 }
381 else {
382 return failure;
383 }
384}
385
386// Store ephemerides
387////////////////////////////////////////////////////////////////////////////////////////
388bool RTCM3Decoder::storeEph(const gpsephemeris& gpseph) {
389 t_ephGPS eph; eph.set(&gpseph);
390
391 return storeEph(eph);
392}
393
394
395bool RTCM3Decoder::storeEph(const t_ephGPS& gpseph) {
396 const double secPerWeek = 7.0 * 24.0 * 3600.0;
397 double weekold = 0.0;
398 double weeknew = gpseph.GPSweek() + gpseph.GPSweeks() / secPerWeek;
399 if ( _ephList.find(gpseph.prn()) != _ephList.end() ) {
400 weekold = _ephList.find(gpseph.prn())->second.GPSweek()
401 + _ephList.find(gpseph.prn())->second.GPSweeks() / secPerWeek;
402 }
403
404 if ( weeknew - weekold > 1.0/secPerWeek ) {
405 _ephList[gpseph.prn()] = gpseph;
406
407 return true;
408 }
409
410 return false;
411}
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