source: ntrip/trunk/BNC/src/RTCM/RTCM2Decoder.cpp@ 8081

Last change on this file since 8081 was 8025, checked in by stuerze, 8 years ago

last changes in RTCM2Decoder are reverted because the 'bug' is a feature
File size: 12.0 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 frqObs1P->_slipCounter = -1; // because RTCM2 definition is vice versa to RTCM3
158 obs._obs.push_back(frqObs1P);
159
160 t_frqObs* frqObs2P = new t_frqObs;
161 frqObs2P->_rnxType2ch = (sys == 'G') ? "2W" : "2P";
162 frqObs2P->_codeValid = true;
163 frqObs2P->_code = _ObsBlock.rng_P2[iSat];
164 frqObs2P->_phaseValid = true;
165 frqObs2P->_phase = _ObsBlock.resolvedPhase_L2(iSat);
166 //frqObs2P->_slipCounter = _ObsBlock.slip_L2[iSat];
167 frqObs2P->_slipCounter = -1; // because RTCM2 definition is vice versa to RTCM3
168 obs._obs.push_back(frqObs2P);
169
170 _obsList.push_back(obs);
171 }
172 _ObsBlock.clear();
173 }
174 }
175
176 else if (_PP.ID() == 20 || _PP.ID() == 21) {
177 _msg2021.extract(_PP);
178
179 if (_msg2021.valid()) {
180 decoded = true;
181 translateCorr2Obs(errmsg);
182 }
183 }
184
185 else if (_PP.ID() == 3) {
186 _msg03.extract(_PP);
187 }
188
189 else if (_PP.ID() == 22) {
190 _msg22.extract(_PP);
191 }
192
193 else if (_PP.ID() == 23) {
194 _msg23.extract(_PP);
195 }
196
197 else if (_PP.ID() == 24) {
198 _msg24.extract(_PP);
199 }
200
201 // Output for RTCM scan
202 if (_PP.ID() == 3) {
203 if (_msg03.validMsg) {
204 _antList.push_back(t_antInfo());
205
206 this->getStaCrd(_antList.back().xx, _antList.back().yy,
207 _antList.back().zz);
208
209 _antList.back().type = t_antInfo::APC;
210 _antList.back().message = _PP.ID();
211 }
212 } else if (_PP.ID() == 23) {
213 if (_msg23.validMsg && !_antType.contains(_msg23.antType.c_str())) {
214 _antType.push_back(_msg23.antType.c_str());
215 }
216 } else if (_PP.ID() == 24) {
217 if (_msg24.validMsg) {
218 _antList.push_back(t_antInfo());
219
220 _antList.back().xx = _msg24.x;
221 _antList.back().yy = _msg24.y;
222 _antList.back().zz = _msg24.z;
223
224 _antList.back().height_f = true;
225 _antList.back().height = _msg24.h;
226
227 _antList.back().type = t_antInfo::ARP;
228 _antList.back().message = _PP.ID();
229 }
230 }
231 }
232 return success;
233}
234
235void RTCM2Decoder::translateCorr2Obs(vector<string>& errmsg) {
236
237 QMutexLocker locker(&_mutex);
238
239 if (!_msg03.validMsg || !_msg2021.valid()) {
240 return;
241 }
242
243 double stax = _msg03.x + (_msg22.validMsg ? _msg22.dL1[0] : 0.0);
244 double stay = _msg03.y + (_msg22.validMsg ? _msg22.dL1[1] : 0.0);
245 double staz = _msg03.z + (_msg22.validMsg ? _msg22.dL1[2] : 0.0);
246
247 int refWeek;
248 double refSecs;
249 currentGPSWeeks(refWeek, refSecs);
250
251 // Resolve receiver time of measurement (see RTCM 2.3, page 4-42, Message 18, Note 1)
252 // ----------------------------------------------------------------------------------
253 double hoursec_est = _msg2021.hoursec(); // estimated time of measurement
254 double hoursec_rcv = rint(hoursec_est * 1e2) / 1e2; // receiver clock reading at hoursec_est
255 double rcv_clk_bias = (hoursec_est - hoursec_rcv) * c_light;
256
257 int GPSWeek;
258 double GPSWeeks;
259 resolveEpoch(hoursec_est, refWeek, refSecs, GPSWeek, GPSWeeks);
260
261 int GPSWeek_rcv;
262 double GPSWeeks_rcv;
263 resolveEpoch(hoursec_rcv, refWeek, refSecs, GPSWeek_rcv, GPSWeeks_rcv);
264
265 // Loop over all satellites
266 // ------------------------
267 for (RTCM2_2021::data_iterator icorr = _msg2021.data.begin();
268 icorr != _msg2021.data.end(); icorr++) {
269 const RTCM2_2021::HiResCorr* corr = icorr->second;
270
271 // beg test
272 if (corr->PRN >= 200) {
273 continue;
274 }
275 // end test
276
277 QString prn;
278 char sys;
279 if (corr->PRN < 200) {
280 sys = 'G';
281 prn = sys + QString("%1_0").arg(corr->PRN, 2, 10, QChar('0'));
282 } else {
283 sys = 'R';
284 prn = sys + QString("%1_0").arg(corr->PRN - 200, 2, 10, QChar('0'));
285 }
286
287 double L1 = 0;
288 double L2 = 0;
289 double P1 = 0;
290 double P2 = 0;
291 string obsT = "";
292
293 // new observation
294 t_satObs new_obs;
295
296 t_frqObs* frqObs1C = new t_frqObs;
297 frqObs1C->_rnxType2ch = "1C";
298 new_obs._obs.push_back(frqObs1C);
299
300 t_frqObs* frqObs1P = new t_frqObs;
301 frqObs1P->_rnxType2ch = (sys == 'G') ? "1W" : "1P";
302 new_obs._obs.push_back(frqObs1P);
303
304 t_frqObs* frqObs2P = new t_frqObs;
305 frqObs2P->_rnxType2ch = (sys == 'G') ? "2W" : "2P";
306 new_obs._obs.push_back(frqObs2P);
307
308 // missing IOD
309 vector<string> missingIOD;
310 vector<string> hasIOD;
311 for (unsigned ii = 0; ii < 4; ii++) {
312 unsigned int IODcorr = 0;
313 double corrVal = 0;
314 const t_eph* eph = 0;
315 double* obsVal = 0;
316
317 switch (ii) {
318 case 0: // --- L1 ---
319 IODcorr = corr->IODp1;
320 corrVal = corr->phase1 * LAMBDA_1;
321 obsVal = &L1;
322 obsT = "L1";
323 break;
324 case 1: // --- L2 ---
325 IODcorr = corr->IODp2;
326 corrVal = corr->phase2 * LAMBDA_2;
327 obsVal = &L2;
328 obsT = "L2";
329 break;
330 case 2: // --- P1 ---
331 IODcorr = corr->IODr1;
332 corrVal = corr->range1;
333 obsVal = &P1;
334 obsT = "P1";
335 break;
336 case 3: // --- P2 ---
337 IODcorr = corr->IODr2;
338 corrVal = corr->range2;
339 obsVal = &P2;
340 obsT = "P2";
341 break;
342 default:
343 continue;
344 }
345
346 // Select corresponding ephemerides
347 const t_eph* ephLast = _ephUser.ephLast(prn);
348 const t_eph* ephPrev = _ephUser.ephPrev(prn);
349 if (ephLast && ephLast->IOD() == IODcorr) {
350 eph = ephLast;
351 } else if (ephPrev && ephPrev->IOD() == IODcorr) {
352 eph = ephPrev;
353 }
354
355 if (eph) {
356 ostringstream msg;
357 msg << obsT << ':' << setw(3) << eph->IOD();
358 hasIOD.push_back(msg.str());
359
360 int GPSWeek_tot;
361 double GPSWeeks_tot;
362 double rho, xSat, ySat, zSat, clkSat;
363 cmpRho(eph, stax, stay, staz, GPSWeek, GPSWeeks, rho, GPSWeek_tot,
364 GPSWeeks_tot, xSat, ySat, zSat, clkSat);
365
366 *obsVal = rho - corrVal + rcv_clk_bias - clkSat;
367
368 if (*obsVal == 0)
369 *obsVal = ZEROVALUE;
370
371 if (corr->PRN < 200) {
372 new_obs._prn.set('G', corr->PRN);
373 } else {
374 new_obs._prn.set('R', corr->PRN - 200);
375 }
376 new_obs._time.set(GPSWeek_rcv, GPSWeeks_rcv);
377
378 // Store estimated measurements
379 // ----------------------------
380 switch (ii) {
381 case 0: // --- L1 ---
382 frqObs1P->_phaseValid = true;
383 frqObs1P->_phase = *obsVal / LAMBDA_1;
384 //frqObs1P->_slipCounter = corr->lock1;
385 frqObs1P->_slipCounter = -1; // because RTCM2 definition is vice versa to RTCM3
386 break;
387 case 1: // --- L2 ---
388 frqObs2P->_phaseValid = true;
389 frqObs2P->_phase = *obsVal / LAMBDA_2;
390 //frqObs2P->_slipCounter = corr->lock2;
391 frqObs2P->_slipCounter = -1; // because RTCM2 definition is vice versa to RTCM3
392 break;
393 case 2: // --- C1 / P1 ---
394 if (corr->Pind1) {
395 frqObs1P->_codeValid = true;
396 frqObs1P->_code = *obsVal;
397 } else {
398 frqObs1C->_codeValid = true;
399 frqObs1C->_code = *obsVal;
400 }
401 break;
402 case 3: // --- C2 / P2 ---
403 if (corr->Pind2) {
404 frqObs2P->_codeValid = true;
405 frqObs2P->_code = *obsVal;
406 }
407 break;
408 default:
409 continue;
410 }
411 } else if (IODcorr != 0) {
412 ostringstream msg;
413 msg << obsT << ':' << setw(3) << IODcorr;
414 missingIOD.push_back(msg.str());
415 }
416 } // loop over frequencies
417
418 // Error report
419 if (missingIOD.size()) {
420 ostringstream missingIODstr;
421
422 copy(missingIOD.begin(), missingIOD.end(),
423 ostream_iterator<string>(missingIODstr, " "));
424
425 errmsg.push_back(
426 "missing eph for " + string(prn.toAscii().data()) + " , IODs "
427 + missingIODstr.str());
428 }
429
430 // Store new observation
431 if (new_obs._time.mjd() > 0) {
432 _obsList.push_back(new_obs);
433 }
434 }
435}
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