source: ntrip/trunk/BNC/src/RTCM/RTCM2Decoder.cpp@ 7629

Last change on this file since 7629 was 7528, checked in by stuerze, 9 years ago

bug fixed in RTCM2 decoder
File size: 11.6 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: RTCM2Decoder
30 *
31 * Purpose: RTCM2 Decoder
32 *
33 * Author: L. Mervart
34 *
35 * Created: 24-Aug-2006
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <math.h>
42#include <sstream>
43#include <iomanip>
44#include <set>
45
46#include "../bncutils.h"
47#include "rtcm_utils.h"
48#include "RTCM2Decoder.h"
49
50using namespace std;
51using namespace rtcm2;
52
53//
54// Constructor
55//
56
57RTCM2Decoder::RTCM2Decoder(const std::string& ID) : _ephUser(true) {
58 _ID = ID;
59}
60
61//
62// Destructor
63//
64
65RTCM2Decoder::~RTCM2Decoder() {
66}
67
68//
69t_irc RTCM2Decoder::getStaCrd(double& xx, double& yy, double& zz) {
70 if (!_msg03.validMsg) {
71 return failure;
72 }
73
74 xx = _msg03.x + (_msg22.validMsg ? _msg22.dL1[0] : 0.0);
75 yy = _msg03.y + (_msg22.validMsg ? _msg22.dL1[1] : 0.0);
76 zz = _msg03.z + (_msg22.validMsg ? _msg22.dL1[2] : 0.0);
77
78 return success;
79}
80
81//
82t_irc RTCM2Decoder::getStaCrd(double& xx, double& yy, double& zz, double& dx1,
83 double& dy1, double& dz1, double& dx2, double& dy2, double& dz2) {
84 xx = _msg03.x;
85 yy = _msg03.y;
86 zz = _msg03.z;
87
88 dx1 = (_msg22.validMsg ? _msg22.dL1[0] : 0.0);
89 dy1 = (_msg22.validMsg ? _msg22.dL1[1] : 0.0);
90 dz1 = (_msg22.validMsg ? _msg22.dL1[2] : 0.0);
91
92 dx2 = (_msg22.validMsg ? _msg22.dL2[0] : 0.0);
93 dy2 = (_msg22.validMsg ? _msg22.dL2[1] : 0.0);
94 dz2 = (_msg22.validMsg ? _msg22.dL2[2] : 0.0);
95
96 return success;
97}
98
99//
100t_irc RTCM2Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
101
102 errmsg.clear();
103
104 _buffer.append(buffer, bufLen);
105 int refWeek;
106 double refSecs;
107 currentGPSWeeks(refWeek, refSecs);
108 bool decoded = false;
109
110 while (true) {
111 _PP.getPacket(_buffer);
112 if (!_PP.valid()) {
113 if (decoded) {
114 return success;
115 } else {
116 return failure;
117 }
118 }
119
120 // Store message number
121 _typeList.push_back(_PP.ID());
122
123 if (_PP.ID() == 18 || _PP.ID() == 19) {
124
125 _ObsBlock.extract(_PP);
126
127 if (_ObsBlock.valid()) {
128 decoded = true;
129
130 int epochWeek;
131 double epochSecs;
132 _ObsBlock.resolveEpoch(refWeek, refSecs, epochWeek, epochSecs);
133
134 for (int iSat = 0; iSat < _ObsBlock.nSat; iSat++) {
135 t_satObs obs;
136 if (_ObsBlock.PRN[iSat] > 100) {
137 obs._prn.set('R', _ObsBlock.PRN[iSat] % 100);
138 } else {
139 obs._prn.set('G', _ObsBlock.PRN[iSat]);
140 }
141 char sys = obs._prn.system();
142 obs._time.set(epochWeek, epochSecs);
143
144 t_frqObs* frqObs1C = new t_frqObs;
145 frqObs1C->_rnxType2ch = "1C";
146 frqObs1C->_codeValid = true;
147 frqObs1C->_code = _ObsBlock.rng_C1[iSat];
148 obs._obs.push_back(frqObs1C);
149
150 t_frqObs* frqObs1P = new t_frqObs;
151 frqObs1P->_rnxType2ch = (sys == 'G') ? "1W" : "1P";
152 frqObs1P->_codeValid = true;
153 frqObs1P->_code = _ObsBlock.rng_P1[iSat];
154 frqObs1P->_phaseValid = true;
155 frqObs1P->_phase = _ObsBlock.resolvedPhase_L1(iSat);
156 frqObs1P->_slipCounter = _ObsBlock.slip_L1[iSat];
157 obs._obs.push_back(frqObs1P);
158
159 t_frqObs* frqObs2P = new t_frqObs;
160 frqObs2P->_rnxType2ch = (sys == 'G') ? "2W" : "2P";
161 frqObs2P->_codeValid = true;
162 frqObs2P->_code = _ObsBlock.rng_P2[iSat];
163 frqObs2P->_phaseValid = true;
164 frqObs2P->_phase = _ObsBlock.resolvedPhase_L2(iSat);
165 frqObs2P->_slipCounter = _ObsBlock.slip_L2[iSat];
166 obs._obs.push_back(frqObs2P);
167
168 _obsList.push_back(obs);
169 }
170 _ObsBlock.clear();
171 }
172 }
173
174 else if (_PP.ID() == 20 || _PP.ID() == 21) {
175 _msg2021.extract(_PP);
176
177 if (_msg2021.valid()) {
178 decoded = true;
179 translateCorr2Obs(errmsg);
180 }
181 }
182
183 else if (_PP.ID() == 3) {
184 _msg03.extract(_PP);
185 }
186
187 else if (_PP.ID() == 22) {
188 _msg22.extract(_PP);
189 }
190
191 else if (_PP.ID() == 23) {
192 _msg23.extract(_PP);
193 }
194
195 else if (_PP.ID() == 24) {
196 _msg24.extract(_PP);
197 }
198
199 // Output for RTCM scan
200 if (_PP.ID() == 3) {
201 if (_msg03.validMsg) {
202 _antList.push_back(t_antInfo());
203
204 this->getStaCrd(_antList.back().xx, _antList.back().yy,
205 _antList.back().zz);
206
207 _antList.back().type = t_antInfo::APC;
208 _antList.back().message = _PP.ID();
209 }
210 } else if (_PP.ID() == 23) {
211 if (_msg23.validMsg) {
212 _antType.push_back(_msg23.antType.c_str());
213 }
214 } else if (_PP.ID() == 24) {
215 if (_msg24.validMsg) {
216 _antList.push_back(t_antInfo());
217
218 _antList.back().xx = _msg24.x;
219 _antList.back().yy = _msg24.y;
220 _antList.back().zz = _msg24.z;
221
222 _antList.back().height_f = true;
223 _antList.back().height = _msg24.h;
224
225 _antList.back().type = t_antInfo::ARP;
226 _antList.back().message = _PP.ID();
227 }
228 }
229 }
230 return success;
231}
232
233void RTCM2Decoder::translateCorr2Obs(vector<string>& errmsg) {
234
235 QMutexLocker locker(&_mutex);
236
237 if (!_msg03.validMsg || !_msg2021.valid()) {
238 return;
239 }
240
241 double stax = _msg03.x + (_msg22.validMsg ? _msg22.dL1[0] : 0.0);
242 double stay = _msg03.y + (_msg22.validMsg ? _msg22.dL1[1] : 0.0);
243 double staz = _msg03.z + (_msg22.validMsg ? _msg22.dL1[2] : 0.0);
244
245 int refWeek;
246 double refSecs;
247 currentGPSWeeks(refWeek, refSecs);
248
249 // Resolve receiver time of measurement (see RTCM 2.3, page 4-42, Message 18, Note 1)
250 // ----------------------------------------------------------------------------------
251 double hoursec_est = _msg2021.hoursec(); // estimated time of measurement
252 double hoursec_rcv = rint(hoursec_est * 1e2) / 1e2; // receiver clock reading at hoursec_est
253 double rcv_clk_bias = (hoursec_est - hoursec_rcv) * c_light;
254
255 int GPSWeek;
256 double GPSWeeks;
257 resolveEpoch(hoursec_est, refWeek, refSecs, GPSWeek, GPSWeeks);
258
259 int GPSWeek_rcv;
260 double GPSWeeks_rcv;
261 resolveEpoch(hoursec_rcv, refWeek, refSecs, GPSWeek_rcv, GPSWeeks_rcv);
262
263 // Loop over all satellites
264 // ------------------------
265 for (RTCM2_2021::data_iterator icorr = _msg2021.data.begin();
266 icorr != _msg2021.data.end(); icorr++) {
267 const RTCM2_2021::HiResCorr* corr = icorr->second;
268
269 // beg test
270 if (corr->PRN >= 200) {
271 continue;
272 }
273 // end test
274
275 QString prn;
276 char sys;
277 if (corr->PRN < 200) {
278 sys = 'G';
279 prn = sys + QString("%1_0").arg(corr->PRN, 2, 10, QChar('0'));
280 } else {
281 sys = 'R';
282 prn = sys + QString("%1_0").arg(corr->PRN - 200, 2, 10, QChar('0'));
283 }
284
285 double L1 = 0;
286 double L2 = 0;
287 double P1 = 0;
288 double P2 = 0;
289 string obsT = "";
290
291 // new observation
292 t_satObs new_obs;
293
294 t_frqObs* frqObs1C = new t_frqObs;
295 frqObs1C->_rnxType2ch = "1C";
296 new_obs._obs.push_back(frqObs1C);
297
298 t_frqObs* frqObs1P = new t_frqObs;
299 frqObs1P->_rnxType2ch = (sys == 'G') ? "1W" : "1P";
300 new_obs._obs.push_back(frqObs1P);
301
302 t_frqObs* frqObs2P = new t_frqObs;
303 frqObs2P->_rnxType2ch = (sys == 'G') ? "2W" : "2P";
304 new_obs._obs.push_back(frqObs2P);
305
306 // missing IOD
307 vector<string> missingIOD;
308 vector<string> hasIOD;
309 for (unsigned ii = 0; ii < 4; ii++) {
310 unsigned int IODcorr = 0;
311 double corrVal = 0;
312 const t_eph* eph = 0;
313 double* obsVal = 0;
314
315 switch (ii) {
316 case 0: // --- L1 ---
317 IODcorr = corr->IODp1;
318 corrVal = corr->phase1 * LAMBDA_1;
319 obsVal = &L1;
320 obsT = "L1";
321 break;
322 case 1: // --- L2 ---
323 IODcorr = corr->IODp2;
324 corrVal = corr->phase2 * LAMBDA_2;
325 obsVal = &L2;
326 obsT = "L2";
327 break;
328 case 2: // --- P1 ---
329 IODcorr = corr->IODr1;
330 corrVal = corr->range1;
331 obsVal = &P1;
332 obsT = "P1";
333 break;
334 case 3: // --- P2 ---
335 IODcorr = corr->IODr2;
336 corrVal = corr->range2;
337 obsVal = &P2;
338 obsT = "P2";
339 break;
340 default:
341 continue;
342 }
343
344 // Select corresponding ephemerides
345 const t_eph* ephLast = _ephUser.ephLast(prn);
346 const t_eph* ephPrev = _ephUser.ephPrev(prn);
347 if (ephLast && ephLast->IOD() == IODcorr) {
348 eph = ephLast;
349 } else if (ephPrev && ephPrev->IOD() == IODcorr) {
350 eph = ephPrev;
351 }
352
353 if (eph) {
354 ostringstream msg;
355 msg << obsT << ':' << setw(3) << eph->IOD();
356 hasIOD.push_back(msg.str());
357
358 int GPSWeek_tot;
359 double GPSWeeks_tot;
360 double rho, xSat, ySat, zSat, clkSat;
361 cmpRho(eph, stax, stay, staz, GPSWeek, GPSWeeks, rho, GPSWeek_tot,
362 GPSWeeks_tot, xSat, ySat, zSat, clkSat);
363
364 *obsVal = rho - corrVal + rcv_clk_bias - clkSat;
365
366 if (*obsVal == 0)
367 *obsVal = ZEROVALUE;
368
369 if (corr->PRN < 200) {
370 new_obs._prn.set('G', corr->PRN);
371 } else {
372 new_obs._prn.set('R', corr->PRN - 200);
373 }
374 new_obs._time.set(GPSWeek_rcv, GPSWeeks_rcv);
375
376 // Store estimated measurements
377 // ----------------------------
378 switch (ii) {
379 case 0: // --- L1 ---
380 frqObs1P->_phaseValid = true;
381 frqObs1P->_phase = *obsVal / LAMBDA_1;
382 frqObs1P->_slipCounter = corr->lock1;
383 break;
384 case 1: // --- L2 ---
385 frqObs2P->_phaseValid = true;
386 frqObs2P->_phase = *obsVal / LAMBDA_2;
387 frqObs2P->_slipCounter = corr->lock2;
388 break;
389 case 2: // --- C1 / P1 ---
390 if (corr->Pind1) {
391 frqObs1P->_codeValid = true;
392 frqObs1P->_code = *obsVal;
393 } else {
394 frqObs1C->_codeValid = true;
395 frqObs1C->_code = *obsVal;
396 }
397 break;
398 case 3: // --- C2 / P2 ---
399 if (corr->Pind2) {
400 frqObs2P->_codeValid = true;
401 frqObs2P->_code = *obsVal;
402 }
403 break;
404 default:
405 continue;
406 }
407 } else if (IODcorr != 0) {
408 ostringstream msg;
409 msg << obsT << ':' << setw(3) << IODcorr;
410 missingIOD.push_back(msg.str());
411 }
412 } // loop over frequencies
413
414 // Error report
415 if (missingIOD.size()) {
416 ostringstream missingIODstr;
417
418 copy(missingIOD.begin(), missingIOD.end(),
419 ostream_iterator<string>(missingIODstr, " "));
420
421 errmsg.push_back(
422 "missing eph for " + string(prn.toAscii().data()) + " , IODs "
423 + missingIODstr.str());
424 }
425
426 // Store new observation
427 if (new_obs._time.mjd() > 0) {
428 _obsList.push_back(new_obs);
429 }
430 }
431}
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