// Part of BNC, a utility for retrieving decoding and
// converting GNSS data streams from NTRIP broadcasters.
//
// Copyright (C) 2007
// German Federal Agency for Cartography and Geodesy (BKG)
// http://www.bkg.bund.de
// Czech Technical University Prague, Department of Geodesy
// http://www.fsv.cvut.cz
//
// Email: euref-ip@bkg.bund.de
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License
// as published by the Free Software Foundation, version 2.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
/* -------------------------------------------------------------------------
* BKG NTRIP Client
* -------------------------------------------------------------------------
*
* Class: RTCM3Decoder
*
* Purpose: RTCM3 Decoder
*
* Author: L. Mervart
*
* Created: 24-Aug-2006
*
* Changes:
*
* -----------------------------------------------------------------------*/
#include <iostream>
#include <iomanip>
#include <sstream>
#include <math.h>
#include <string.h>
#include "bits.h"
#include "gnss.h"
#include "RTCM3Decoder.h"
#include "rtcm_utils.h"
#include "bncconst.h"
#include "bnccore.h"
#include "bncutils.h"
#include "bncsettings.h"
using namespace std;
// Error Handling
////////////////////////////////////////////////////////////////////////////
void RTCM3Error(const char*, ...) {
}
// Constructor
////////////////////////////////////////////////////////////////////////////
RTCM3Decoder::RTCM3Decoder(const QString& staID, bncRawFile* rawFile) :
GPSDecoder() {
_staID = staID;
_rawFile = rawFile;
connect(this, SIGNAL(newGPSEph(t_ephGPS)), BNC_CORE,
SLOT(slotNewGPSEph(t_ephGPS)));
connect(this, SIGNAL(newGlonassEph(t_ephGlo)), BNC_CORE,
SLOT(slotNewGlonassEph(t_ephGlo)));
connect(this, SIGNAL(newGalileoEph(t_ephGal)), BNC_CORE,
SLOT(slotNewGalileoEph(t_ephGal)));
connect(this, SIGNAL(newSBASEph(t_ephSBAS)), BNC_CORE,
SLOT(slotNewSBASEph(t_ephSBAS)));
connect(this, SIGNAL(newBDSEph(t_ephBDS)), BNC_CORE,
SLOT(slotNewBDSEph(t_ephBDS)));
_MessageSize = _SkipBytes = _BlockSize = _NeedBytes = 0;
}
// Destructor
////////////////////////////////////////////////////////////////////////////
RTCM3Decoder::~RTCM3Decoder() {
QMapIterator<QByteArray, RTCM3coDecoder*> it(_coDecoders);
while (it.hasNext())
{
it.next();
delete it.value();
}
}
//
////////////////////////////////////////////////////////////////////////////
bool RTCM3Decoder::DecodeRTCM3GPS(unsigned char* data, int size) {
bool decoded = false;
bncTime CurrentObsTime;
int i, numsats, syncf, type;
uint64_t numbits = 0, bitfield = 0;
data += 3; /* header */
size -= 6; /* header + crc */
GETBITS(type, 12)
SKIPBITS(12)
/* id */
GETBITS(i, 30)
CurrentObsTime.set(i);
if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
decoded = true;
_obsList.append(_CurrentObsList);
_CurrentObsList.clear();
}
_CurrentTime = CurrentObsTime;
GETBITS(syncf, 1)
/* sync */
GETBITS(numsats, 5)
SKIPBITS(4)
/* smind, smint */
while (numsats--) {
int sv, code, l1range, amb = 0;
t_satObs CurrentObs;
CurrentObs._time = CurrentObsTime;
GETBITS(sv, 6)
if (sv < 40)
CurrentObs._prn.set('G', sv);
else
CurrentObs._prn.set('S', sv - 20);
t_frqObs *frqObs = new t_frqObs;
/* L1 */
GETBITS(code, 1);
(code) ?
frqObs->_rnxType2ch.assign("1W") : frqObs->_rnxType2ch.assign("1C");
GETBITS(l1range, 24);
GETBITSSIGN(i, 20);
if ((i & ((1 << 20) - 1)) != 0x80000) {
frqObs->_code = l1range * 0.02;
frqObs->_phase = (l1range * 0.02 + i * 0.0005) / GPS_WAVELENGTH_L1;
frqObs->_codeValid = frqObs->_phaseValid = true;
}
GETBITS(i, 7);
frqObs->_lockTime = lti2sec(type,i);
frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
frqObs->_slipCounter = i;
if (type == 1002 || type == 1004) {
GETBITS(amb, 8);
if (amb) {
frqObs->_code += amb * 299792.458;
frqObs->_phase += (amb * 299792.458) / GPS_WAVELENGTH_L1;
}
GETBITS(i, 8);
if (i) {
frqObs->_snr = i * 0.25;
frqObs->_snrValid = true;
}
}
CurrentObs._obs.push_back(frqObs);
if (type == 1003 || type == 1004) {
frqObs = new t_frqObs;
/* L2 */
GETBITS(code, 2);
switch (code) {
case 3:
frqObs->_rnxType2ch.assign("2W"); /* or "2Y"? */
break;
case 2:
frqObs->_rnxType2ch.assign("2W");
break;
case 1:
frqObs->_rnxType2ch.assign("2P");
break;
case 0:
frqObs->_rnxType2ch.assign("2X"); /* or "2S" or "2L"? */
break;
}
GETBITSSIGN(i, 14);
if ((i & ((1 << 14) - 1)) != 0x2000) {
frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 299792.458;
frqObs->_codeValid = true;
}
GETBITSSIGN(i, 20);
if ((i & ((1 << 20) - 1)) != 0x80000) {
frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 299792.458)
/ GPS_WAVELENGTH_L2;
frqObs->_phaseValid = true;
}
GETBITS(i, 7);
frqObs->_lockTime = lti2sec(type,i);
frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
frqObs->_slipCounter = i;
if (type == 1004) {
GETBITS(i, 8);
if (i) {
frqObs->_snr = i * 0.25;
frqObs->_snrValid = true;
}
}
CurrentObs._obs.push_back(frqObs);
}
_CurrentObsList.push_back(CurrentObs);
}
if (!syncf) {
decoded = true;
_obsList.append(_CurrentObsList);
_CurrentTime.reset();
_CurrentObsList.clear();
}
return decoded;
}
#define RTCM3_MSM_NUMSIG 32
#define RTCM3_MSM_NUMSAT 64
#define RTCM3_MSM_NUMCELLS 96 /* arbitrary limit */
/**
* Frequency numbers of GLONASS with an offset of 100 to detect unset values.
* Gets filled by ephemeris and data blocks and shared between different streams.
*/
static int GLOFreq[RTCM3_MSM_NUMSAT];
/*
* Storage structure to store frequency and RINEX ID assignment for MSM
* message */
struct CodeData {
double wl;
const char *code; /* currently unused */
};
/** MSM signal types for GPS and SBAS */
static struct CodeData gps[RTCM3_MSM_NUMSIG] = {
{0.0, 0},
{GPS_WAVELENGTH_L1, "1C"},
{GPS_WAVELENGTH_L1, "1P"},
{GPS_WAVELENGTH_L1, "1W"},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{GPS_WAVELENGTH_L2, "2C"},
{GPS_WAVELENGTH_L2, "2P"},
{GPS_WAVELENGTH_L2, "2W"},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{GPS_WAVELENGTH_L2, "2S"},
{GPS_WAVELENGTH_L2, "2L"},
{GPS_WAVELENGTH_L2, "2X"},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{GPS_WAVELENGTH_L5, "5I"},
{GPS_WAVELENGTH_L5, "5Q"},
{GPS_WAVELENGTH_L5, "5X"},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{GPS_WAVELENGTH_L1, "1S"},
{GPS_WAVELENGTH_L1, "1L"},
{GPS_WAVELENGTH_L1, "1X"}
};
/**
* MSM signal types for GLONASS
*
* NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later!
*/
static struct CodeData glo[RTCM3_MSM_NUMSIG] = {
{0.0, 0},
{0.0, "1C"},
{0.0, "1P"},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{1.0, "2C"},
{1.0, "2P"},
{GLO_WAVELENGTH_L1a, "4A"},
{GLO_WAVELENGTH_L1a, "4B"},
{GLO_WAVELENGTH_L1a, "4X"},
{GLO_WAVELENGTH_L2a, "6A"},
{GLO_WAVELENGTH_L2a, "6B"},
{GLO_WAVELENGTH_L2a, "6X"},
{GLO_WAVELENGTH_L3, "3I"},
{GLO_WAVELENGTH_L3, "3Q"},
{GLO_WAVELENGTH_L3, "3X"},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0}
};
/** MSM signal types for Galileo */
static struct CodeData gal[RTCM3_MSM_NUMSIG] = {
{0.0, 0},
{GAL_WAVELENGTH_E1, "1C"},
{GAL_WAVELENGTH_E1, "1A"},
{GAL_WAVELENGTH_E1, "1B"},
{GAL_WAVELENGTH_E1, "1X"},
{GAL_WAVELENGTH_E1, "1Z"},
{0.0, 0},
{GAL_WAVELENGTH_E6, "6C"},
{GAL_WAVELENGTH_E6, "6A"},
{GAL_WAVELENGTH_E6, "6B"},
{GAL_WAVELENGTH_E6, "6X"},
{GAL_WAVELENGTH_E6, "6Z"},
{0.0, 0},
{GAL_WAVELENGTH_E5B, "7I"},
{GAL_WAVELENGTH_E5B, "7Q"},
{GAL_WAVELENGTH_E5B, "7X"},
{0.0, 0},
{GAL_WAVELENGTH_E5AB,"8I"},
{GAL_WAVELENGTH_E5AB,"8Q"},
{GAL_WAVELENGTH_E5AB,"8X"},
{0.0, 0},
{GAL_WAVELENGTH_E5A, "5I"},
{GAL_WAVELENGTH_E5A, "5Q"},
{GAL_WAVELENGTH_E5A, "5X"},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0}
};
/** MSM signal types for QZSS */
static struct CodeData qzss[RTCM3_MSM_NUMSIG] = {
{0.0, 0},
{GPS_WAVELENGTH_L1, "1C"},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{QZSS_WAVELENGTH_L6, "6S"},
{QZSS_WAVELENGTH_L6, "6L"},
{QZSS_WAVELENGTH_L6, "6X"},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{GPS_WAVELENGTH_L2, "2S"},
{GPS_WAVELENGTH_L2, "2L"},
{GPS_WAVELENGTH_L2, "2X"},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{GPS_WAVELENGTH_L5, "5I"},
{GPS_WAVELENGTH_L5, "5Q"},
{GPS_WAVELENGTH_L5, "5X"},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{GPS_WAVELENGTH_L1, "1S"},
{GPS_WAVELENGTH_L1, "1L"},
{GPS_WAVELENGTH_L1, "1X"}
};
/** MSM signal types for Beidou/BDS */
static struct CodeData bds[RTCM3_MSM_NUMSIG] = {
{0.0, 0},
{BDS_WAVELENGTH_B1, "2I"},
{BDS_WAVELENGTH_B1, "2Q"},
{BDS_WAVELENGTH_B1, "2X"},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{BDS_WAVELENGTH_B3, "6I"},
{BDS_WAVELENGTH_B3, "6Q"},
{BDS_WAVELENGTH_B3, "6X"},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{BDS_WAVELENGTH_B2, "7I"},
{BDS_WAVELENGTH_B2, "7Q"},
{BDS_WAVELENGTH_B2, "7X"},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{BDS_WAVELENGTH_B2a, "5D"},
{BDS_WAVELENGTH_B2a, "5P"},
{BDS_WAVELENGTH_B2a, "5X"},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{BDS_WAVELENGTH_B1C, "1D"},
{BDS_WAVELENGTH_B1C, "1P"},
{BDS_WAVELENGTH_B1C, "1X"}
};
/** MSM signal types for IRNSS */
static struct CodeData irn[RTCM3_MSM_NUMSIG] = {
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{IRNSS_WAVELENGTH_S, "9A"},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{IRNSS_WAVELENGTH_L5, "5A"},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0},
{0.0, 0}
};
#define UINT64(c) c ## ULL
//
////////////////////////////////////////////////////////////////////////////
bool RTCM3Decoder::DecodeRTCM3MSM(unsigned char* data, int size) {
bool decoded = false;
int type, syncf, i;
uint64_t numbits = 0, bitfield = 0;
data += 3; /* header */
size -= 6; /* header + crc */
GETBITS(type, 12)
SKIPBITS(12)
/* id */
char sys;
if (type >= 1121)
sys = 'C';
else if (type >= 1111)
sys = 'J';
else if (type >= 1101)
sys = 'S';
else if (type >= 1091)
sys = 'E';
else if (type >= 1081)
sys = 'R';
else if (type >= 1071)
sys = 'G';
else if (type >= 21) // test
sys = 'I';
bncTime CurrentObsTime;
if (sys == 'C') /* BDS */ {
GETBITS(i, 30)
CurrentObsTime.setBDS(i);
}
else if (sys == 'R') /* GLONASS */ {
SKIPBITS(3)
GETBITS(i, 27)
/* tk */
CurrentObsTime.setTk(i);
}
else /* GPS style date */ {
GETBITS(i, 30)
CurrentObsTime.set(i);
}
if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
decoded = true;
_obsList.append(_CurrentObsList);
_CurrentObsList.clear();
}
_CurrentTime = CurrentObsTime;
GETBITS(syncf, 1)
/**
* Ignore unknown types except for sync flag
*
* We actually support types 1-3 in following code, but as they are missing
* the full cycles and can't be used later we skip interpretation here already.
*/
if (type <= 1130 && (type % 10) >= 4 && (type % 10) <= 7) {
int sigmask, numsat = 0, numsig = 0;
uint64_t satmask, cellmask, ui;
// satellite data
double rrmod[RTCM3_MSM_NUMSAT]; // GNSS sat rough ranges modulo 1 millisecond
int rrint[RTCM3_MSM_NUMSAT]; // number of integer msecs in GNSS sat rough ranges
int rdop[RTCM3_MSM_NUMSAT]; // GNSS sat rough phase range rates
int extsat[RTCM3_MSM_NUMSAT];// extended sat info
// signal data
int ll[RTCM3_MSM_NUMCELLS]; // lock time indicator
/*int hc[RTCM3_MSM_NUMCELLS];*/ // half cycle ambiguity indicator
double cnr[RTCM3_MSM_NUMCELLS]; // signal cnr
double cp[RTCM3_MSM_NUMCELLS]; // fine phase range data
double psr[RTCM3_MSM_NUMCELLS]; // fine psr
double dop[RTCM3_MSM_NUMCELLS]; // fine phase range rates
SKIPBITS(3 + 7 + 2 + 2 + 1 + 3)
GETBITS64(satmask, RTCM3_MSM_NUMSAT)
/* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */
for (ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */)
++numsat;
GETBITS(sigmask, RTCM3_MSM_NUMSIG)
for (i = sigmask; i; i &= (i - 1) /* remove rightmost bit */)
++numsig;
for (i = 0; i < RTCM3_MSM_NUMSAT; ++i)
extsat[i] = 15;
i = numsat * numsig;
GETBITS64(cellmask, (unsigned )i)
// satellite data
switch (type % 10) {
case 1:
case 2:
case 3:
/* partial data, already skipped above, but implemented for future expansion ! */
for (int j = numsat; j--;)
GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
break;
case 4:
case 6:
for (int j = numsat; j--;)
GETBITS(rrint[j], 8)
for (int j = numsat; j--;)
GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
break;
case 5:
case 7:
for (int j = numsat; j--;)
GETBITS(rrint[j], 8)
for (int j = numsat; j--;)
GETBITS(extsat[j], 4)
for (int j = numsat; j--;)
GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
for (int j = numsat; j--;)
GETBITSSIGN(rdop[j], 14)
break;
}
// signal data
int numcells = numsat * numsig;
/** Drop anything which exceeds our cell limit. Increase limit definition
* when that happens. */
if (numcells <= RTCM3_MSM_NUMCELLS) {
switch (type % 10) {
case 1:
for (int count = numcells; count--;)
if (cellmask & (UINT64(1) << count))
GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
break;
case 2:
for (int count = numcells; count--;)
if (cellmask & (UINT64(1) << count))
GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
for (int count = numcells; count--;)
if (cellmask & (UINT64(1) << count))
GETBITS(ll[count], 4)
for (int count = numcells; count--;)
if (cellmask & (UINT64(1) << count))
SKIPBITS(1)/*GETBITS(hc[count], 1)*/
break;
case 3:
for (int count = numcells; count--;)
if (cellmask & (UINT64(1) << count))
GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
for (int count = numcells; count--;)
if (cellmask & (UINT64(1) << count))
GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
for (int count = numcells; count--;)
if (cellmask & (UINT64(1) << count))
GETBITS(ll[count], 4)
for (int count = numcells; count--;)
if (cellmask & (UINT64(1) << count))
SKIPBITS(1)/*GETBITS(hc[count], 1)*/
break;
case 4:
for (int count = numcells; count--;)
if (cellmask & (UINT64(1) << count))
GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
for (int count = numcells; count--;)
if (cellmask & (UINT64(1) << count))
GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
for (int count = numcells; count--;)
if (cellmask & (UINT64(1) << count))
GETBITS(ll[count], 4)
for (int count = numcells; count--;)
if (cellmask & (UINT64(1) << count))
SKIPBITS(1)/*GETBITS(hc[count], 1)*/
for (int count = numcells; count--;)
if (cellmask & (UINT64(1) << count))
GETBITS(cnr[count], 6)
break;
case 5:
for (int count = numcells; count--;)
if (cellmask & (UINT64(1) << count))
GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
for (int count = numcells; count--;)
if (cellmask & (UINT64(1) << count))
GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
for (int count = numcells; count--;)
if (cellmask & (UINT64(1) << count))
GETBITS(ll[count], 4)
for (int count = numcells; count--;)
if (cellmask & (UINT64(1) << count))
SKIPBITS(1)/*GETBITS(hc[count], 1)*/
for (int count = numcells; count--;)
if (cellmask & (UINT64(1) << count))
GETFLOAT(cnr[count], 6, 1.0)
for (int count = numcells; count--;)
if (cellmask & (UINT64(1) << count))
GETFLOATSIGN(dop[count], 15, 0.0001)
break;
case 6:
for (int count = numcells; count--;)
if (cellmask & (UINT64(1) << count))
GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
for (int count = numcells; count--;)
if (cellmask & (UINT64(1) << count))
GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
for (int count = numcells; count--;)
if (cellmask & (UINT64(1) << count))
GETBITS(ll[count], 10)
for (int count = numcells; count--;)
if (cellmask & (UINT64(1) << count))
SKIPBITS(1)/*GETBITS(hc[count], 1)*/
for (int count = numcells; count--;)
if (cellmask & (UINT64(1) << count))
GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
break;
case 7:
for (int count = numcells; count--;)
if (cellmask & (UINT64(1) << count))
GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
for (int count = numcells; count--;)
if (cellmask & (UINT64(1) << count))
GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
for (int count = numcells; count--;)
if (cellmask & (UINT64(1) << count))
GETBITS(ll[count], 10)
for (int count = numcells; count--;)
if (cellmask & (UINT64(1) << count))
SKIPBITS(1)/*GETBITS(hc[count], 1)*/
for (int count = numcells; count--;)
if (cellmask & (UINT64(1) << count))
GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
for (int count = numcells; count--;)
if (cellmask & (UINT64(1) << count))
GETFLOATSIGN(dop[count], 15, 0.0001)
break;
}
i = RTCM3_MSM_NUMSAT;
int j = -1;
t_satObs CurrentObs;
for (int count = numcells; count--;) {
while (j >= 0 && !(sigmask & (1 << --j)))
;
if (j < 0) {
while (!(satmask & (UINT64(1) << (--i))))
/* next satellite */
;
if (CurrentObs._obs.size() > 0)
_CurrentObsList.push_back(CurrentObs);
CurrentObs.clear();
CurrentObs._time = CurrentObsTime;
if (sys == 'S')
CurrentObs._prn.set(sys, 20 - 1 + RTCM3_MSM_NUMSAT - i);
else
CurrentObs._prn.set(sys, RTCM3_MSM_NUMSAT - i);
j = RTCM3_MSM_NUMSIG;
while (!(sigmask & (1 << --j)))
;
--numsat;
}
if (cellmask & (UINT64(1) << count)) {
struct CodeData cd = {0.0, 0};
switch (sys) {
case 'J':
cd = qzss[RTCM3_MSM_NUMSIG - j - 1];
break;
case 'C':
cd = bds[RTCM3_MSM_NUMSIG - j - 1];
break;
case 'G':
case 'S':
cd = gps[RTCM3_MSM_NUMSIG - j - 1];
break;
case 'R':
cd = glo[RTCM3_MSM_NUMSIG - j - 1];
{
int k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1];
if (extsat[numsat] < 14) { // channel number is available as extended info for MSM5/7
k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1] = 100 + extsat[numsat] - 7;
}
if (k) {
if (cd.wl == 0.0) {
cd.wl = GLO_WAVELENGTH_L1(k - 100);
}
else if (cd.wl == 1.0) {
cd.wl = GLO_WAVELENGTH_L2(k - 100);
}
}
else if (!k && cd.wl <= 1) {
cd.code = 0;
}
}
break;
case 'E':
cd = gal[RTCM3_MSM_NUMSIG - j - 1];
break;
case 'I':
cd = irn[RTCM3_MSM_NUMSIG - j - 1];
break;
}
if (cd.code) {
t_frqObs *frqObs = new t_frqObs;
frqObs->_rnxType2ch.assign(cd.code);
switch (type % 10) {
case 1:
if (psr[count] > -1.0 / (1 << 10)) {
frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
frqObs->_codeValid = true;
}
break;
case 2:
if (cp[count] > -1.0 / (1 << 8)) {
frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
+ (rrmod[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
frqObs->_phaseValid = true;
frqObs->_lockTime = lti2sec(type,ll[count]);
frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
frqObs->_slipCounter = ll[count];
}
break;
case 3:
if (psr[count] > -1.0 / (1 << 10)) {
frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
frqObs->_codeValid = true;
}
if (cp[count] > -1.0 / (1 << 8)) {
frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
+ rrmod[numsat] * LIGHTSPEED / 1000.0 / cd.wl;
frqObs->_phaseValid = true;
frqObs->_lockTime = lti2sec(type,ll[count]);
frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
frqObs->_slipCounter = ll[count];
}
break;
case 4:
if (psr[count] > -1.0 / (1 << 10)) {
frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
frqObs->_codeValid = true;
}
if (cp[count] > -1.0 / (1 << 8)) {
frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
frqObs->_phaseValid = true;
frqObs->_lockTime = lti2sec(type,ll[count]);
frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
frqObs->_slipCounter = ll[count];
}
frqObs->_snr = cnr[count];
frqObs->_snrValid = true;
break;
case 5:
if (psr[count] > -1.0 / (1 << 10)) {
frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
frqObs->_codeValid = true;
}
if (cp[count] > -1.0 / (1 << 8)) {
frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
frqObs->_phaseValid = true;
frqObs->_lockTime = lti2sec(type,ll[count]);
frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
frqObs->_slipCounter = ll[count];
}
frqObs->_snr = cnr[count];
frqObs->_snrValid = true;
if (dop[count] > -1.6384) {
frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
frqObs->_dopplerValid = true;
}
break;
case 6:
if (psr[count] > -1.0 / (1 << 10)) {
frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
frqObs->_codeValid = true;
}
if (cp[count] > -1.0 / (1 << 8)) {
frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
frqObs->_phaseValid = true;
frqObs->_lockTime = lti2sec(type,ll[count]);
frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
frqObs->_slipCounter = ll[count];
}
frqObs->_snr = cnr[count];
frqObs->_snrValid = true;
break;
case 7:
if (psr[count] > -1.0 / (1 << 10)) {
frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
frqObs->_codeValid = true;
}
if (cp[count] > -1.0 / (1 << 8)) {
frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
frqObs->_phaseValid = true;
frqObs->_lockTime = lti2sec(type,ll[count]);
frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
frqObs->_slipCounter = ll[count];
}
frqObs->_snr = cnr[count];
frqObs->_snrValid = true;
if (dop[count] > -1.6384) {
frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
frqObs->_dopplerValid = true;
}
break;
}
CurrentObs._obs.push_back(frqObs);
}
}
}
if (CurrentObs._obs.size() > 0) {
_CurrentObsList.push_back(CurrentObs);
}
}
}
else if ((type % 10) < 4) {
emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
.arg(_staID).arg(type).toLatin1(), true));
}
if (!syncf) {
decoded = true;
_obsList.append(_CurrentObsList);
_CurrentTime.reset();
_CurrentObsList.clear();
}
return decoded;
}
//
////////////////////////////////////////////////////////////////////////////
bool RTCM3Decoder::DecodeRTCM3GLONASS(unsigned char* data, int size) {
bool decoded = false;
bncTime CurrentObsTime;
int i, numsats, syncf, type;
uint64_t numbits = 0, bitfield = 0;
data += 3; /* header */
size -= 6; /* header + crc */
GETBITS(type, 12)
SKIPBITS(12)
/* id */
GETBITS(i, 27)
/* tk */
CurrentObsTime.setTk(i);
if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
decoded = true;
_obsList.append(_CurrentObsList);
_CurrentObsList.clear();
}
_CurrentTime = CurrentObsTime;
GETBITS(syncf, 1)
/* sync */
GETBITS(numsats, 5)
SKIPBITS(4)
/* smind, smint */
while (numsats--) {
int sv, code, l1range, amb = 0, freq;
t_satObs CurrentObs;
CurrentObs._time = CurrentObsTime;
GETBITS(sv, 6)
CurrentObs._prn.set('R', sv);
GETBITS(code, 1)
GETBITS(freq, 5)
GLOFreq[sv - 1] = 100 + freq - 7; /* store frequency for other users (MSM) */
t_frqObs *frqObs = new t_frqObs;
/* L1 */
(code) ?
frqObs->_rnxType2ch.assign("1P") : frqObs->_rnxType2ch.assign("1C");
GETBITS(l1range, 25);
GETBITSSIGN(i, 20);
if ((i & ((1 << 20) - 1)) != 0x80000) {
frqObs->_code = l1range * 0.02;
frqObs->_phase = (l1range * 0.02 + i * 0.0005)
/ GLO_WAVELENGTH_L1(freq - 7);
frqObs->_codeValid = frqObs->_phaseValid = true;
}
GETBITS(i, 7);
frqObs->_lockTime = lti2sec(type,i);
frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
frqObs->_slipCounter = i;
if (type == 1010 || type == 1012) {
GETBITS(amb, 7);
if (amb) {
frqObs->_code += amb * 599584.916;
frqObs->_phase += (amb * 599584.916) / GLO_WAVELENGTH_L1(freq - 7);
}
GETBITS(i, 8);
if (i) {
frqObs->_snr = i * 0.25;
frqObs->_snrValid = true;
}
}
CurrentObs._obs.push_back(frqObs);
if (type == 1011 || type == 1012) {
frqObs = new t_frqObs;
/* L2 */
GETBITS(code, 2);
switch (code) {
case 3:
frqObs->_rnxType2ch.assign("2P");
break;
case 2:
frqObs->_rnxType2ch.assign("2P");
break;
case 1:
frqObs->_rnxType2ch.assign("2P");
break;
case 0:
frqObs->_rnxType2ch.assign("2C");
break;
}
GETBITSSIGN(i, 14);
if ((i & ((1 << 14) - 1)) != 0x2000) {
frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 599584.916;
frqObs->_codeValid = true;
}
GETBITSSIGN(i, 20);
if ((i & ((1 << 20) - 1)) != 0x80000) {
frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 599584.916)
/ GLO_WAVELENGTH_L2(freq - 7);
frqObs->_phaseValid = true;
}
GETBITS(i, 7);
frqObs->_lockTime = lti2sec(type,i);
frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
frqObs->_slipCounter = i;
if (type == 1012) {
GETBITS(i, 8);
if (i) {
frqObs->_snr = i * 0.25;
frqObs->_snrValid = true;
}
}
CurrentObs._obs.push_back(frqObs);
}
_CurrentObsList.push_back(CurrentObs);
}
if (!syncf) {
decoded = true;
_obsList.append(_CurrentObsList);
_CurrentTime.reset();
_CurrentObsList.clear();
}
return decoded;
}
//
////////////////////////////////////////////////////////////////////////////
bool RTCM3Decoder::DecodeGPSEphemeris(unsigned char* data, int size) {
bool decoded = false;
if (size == 67) {
t_ephGPS eph;
int i, week;
uint64_t numbits = 0, bitfield = 0;
int fitIntervalFalg = 0;
data += 3; /* header */
size -= 6; /* header + crc */
SKIPBITS(12)
eph._receptDateTime = currentDateAndTimeGPS();
GETBITS(i, 6)
eph._prn.set('G', i);
GETBITS(week, 10)
GETBITS(i, 4)
eph._ura = accuracyFromIndex(i, eph.type());
GETBITS(eph._L2Codes, 2)
GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
GETBITS(eph._IODE, 8)
GETBITS(i, 16)
i <<= 4;
eph._TOC.set(i * 1000);
GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
GETBITS(eph._IODC, 10)
GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
GETBITS(i, 16)
i <<= 4;
eph._TOEsec = i;
bncTime t;
t.set(i * 1000);
eph._TOEweek = t.gpsw();
int numOfRollOvers = int(floor(t.gpsw()/1024.0));
week += (numOfRollOvers * 1024);
/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
if (eph._TOEweek > week + 1 || eph._TOEweek < week - 1) /* invalid week */
return false;
GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
GETBITS(eph._health, 6)
GETBITS(eph._L2PFlag, 1)
GETBITS(fitIntervalFalg, 1)
eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.type());
eph._TOT = 0.9999e9;
emit newGPSEph(eph);
decoded = true;
}
return decoded;
}
//
////////////////////////////////////////////////////////////////////////////
bool RTCM3Decoder::DecodeGLONASSEphemeris(unsigned char* data, int size) {
bool decoded = false;
if (size == 51) {
t_ephGlo eph;
int sv, i, tk;
uint64_t numbits = 0, bitfield = 0;
data += 3; /* header */
size -= 6; /* header + crc */
SKIPBITS(12)
eph._receptDateTime = currentDateAndTimeGPS();
GETBITS(sv, 6)
eph._prn.set('R', sv);
GETBITS(i, 5)
eph._frequency_number = i - 7;
GETBITS(eph._almanac_health, 1) /* almanac healthy */
GETBITS(eph._almanac_health_availablility_indicator, 1) /* almanac health ok */
GETBITS(eph._P1, 2) /* P1 */
GETBITS(i, 5)
tk = i * 60 * 60;
GETBITS(i, 6)
tk += i * 60;
GETBITS(i, 1)
tk += i * 30;
eph._tki = tk - 3*60*60;
if(eph._tki < 0.0) {
eph._tki += 86400.0;
}
GETBITS(eph._health, 1) /* MSB of Bn*/
GETBITS(eph._P2, 1) /* P2 */
GETBITS(i, 7)
eph._TOC.setTk(i * 15 * 60 * 1000); /* tb */
GETFLOATSIGNM(eph._x_velocity, 24, 1.0 / (double )(1 << 20))
GETFLOATSIGNM(eph._x_pos, 27, 1.0 / (double )(1 << 11))
GETFLOATSIGNM(eph._x_acceleration, 5, 1.0 / (double )(1 << 30))
GETFLOATSIGNM(eph._y_velocity, 24, 1.0 / (double )(1 << 20))
GETFLOATSIGNM(eph._y_pos, 27, 1.0 / (double )(1 << 11))
GETFLOATSIGNM(eph._y_acceleration, 5, 1.0 / (double )(1 << 30))
GETFLOATSIGNM(eph._z_velocity, 24, 1.0 / (double )(1 << 20))
GETFLOATSIGNM(eph._z_pos, 27, 1.0 / (double )(1 << 11))
GETFLOATSIGNM(eph._z_acceleration, 5, 1.0 / (double )(1 << 30))
GETBITS(eph._P3, 1) /* P3 */
GETFLOATSIGNM(eph._gamma, 11, 1.0 / (double )(1 << 30) / (double )(1 << 10))
GETBITS(eph._M_P, 2) /* GLONASS-M P, */
GETBITS(eph._M_l3, 1) /*GLONASS-M ln (third string) */
GETFLOATSIGNM(eph._tau, 22, 1.0 / (double )(1 << 30)) /* GLONASS tau n(tb) */
GETFLOATSIGNM(eph._M_delta_tau, 5, 1.0 / (double )(1 << 30)) /* GLONASS-M delta tau n(tb) */
GETBITS(eph._E, 5)
GETBITS(eph._M_P4, 1) /* GLONASS-M P4 */
GETBITS(eph._M_FT, 4) /* GLONASS-M Ft */
GETBITS(eph._M_NT, 11) /* GLONASS-M Nt */
GETBITS(eph._M_M, 2) /* GLONASS-M M */
GETBITS(eph._additional_data_availability, 1) /* GLONASS-M The Availability of Additional Data */
GETBITS(eph._NA, 11) /* GLONASS-M Na */
GETFLOATSIGNM(eph._tauC, 32, 1.0/(double)(1<<30)/(double)(1<<1)) /* GLONASS tau c */
GETBITS(eph._M_N4, 5) /* GLONASS-M N4 */
GETFLOATSIGNM(eph._M_tau_GPS, 22, 1.0/(double)(1<<30)) /* GLONASS-M tau GPS */
GETBITS(eph._M_l5, 1) /* GLONASS-M ln (fifth string) */
unsigned year, month, day;
eph._TOC.civil_date(year, month, day);
eph._gps_utc = gnumleap(year, month, day);
eph._tt = eph._TOC;
eph._xv(1) = eph._x_pos * 1.e3;
eph._xv(2) = eph._y_pos * 1.e3;
eph._xv(3) = eph._z_pos * 1.e3;
eph._xv(4) = eph._x_velocity * 1.e3;
eph._xv(5) = eph._y_velocity * 1.e3;
eph._xv(6) = eph._z_velocity * 1.e3;
GLOFreq[sv - 1] = 100 + eph._frequency_number ; /* store frequency for other users (MSM) */
_gloFrq = QString("%1 %2").arg(eph._prn.toString().c_str()).arg(eph._frequency_number, 2, 'f', 0);
emit newGlonassEph(eph);
decoded = true;
}
return decoded;
}
//
////////////////////////////////////////////////////////////////////////////
bool RTCM3Decoder::DecodeQZSSEphemeris(unsigned char* data, int size) {
bool decoded = false;
if (size == 67) {
t_ephGPS eph;
int i, week;
uint64_t numbits = 0, bitfield = 0;
int fitIntervalFalg = 0;
data += 3; /* header */
size -= 6; /* header + crc */
SKIPBITS(12)
eph._receptDateTime = currentDateAndTimeGPS();
GETBITS(i, 4)
eph._prn.set('J', i);
GETBITS(i, 16)
i <<= 4;
eph._TOC.set(i * 1000);
GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
GETBITS(eph._IODE, 8)
GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
GETBITS(i, 16)
i <<= 4;
eph._TOEsec = i;
bncTime t;
t.set(i*1000);
eph._TOEweek = t.gpsw();
GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
GETBITS(eph._L2Codes, 2)
GETBITS(week, 10)
int numOfRollOvers = int(floor(t.gpsw()/1024.0));
week += (numOfRollOvers * 1024);
/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
if (eph._TOEweek > week + 1 || eph._TOEweek < week - 1) /* invalid week */
return false;
GETBITS(i, 4)
if (i <= 6)
eph._ura = ceil(10.0 * pow(2.0, 1.0 + i / 2.0)) / 10.0;
else
eph._ura = ceil(10.0 * pow(2.0, i / 2.0)) / 10.0;
GETBITS(eph._health, 6)
GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
GETBITS(eph._IODC, 10)
GETBITS(fitIntervalFalg, 1)
eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.type());
eph._TOT = 0.9999e9;
emit newGPSEph(eph);
decoded = true;
}
return decoded;
}
//
////////////////////////////////////////////////////////////////////////////
bool RTCM3Decoder::DecodeIRNSSEphemeris(unsigned char* data, int size) {
bool decoded = false;
if (size == 67) {
t_ephGPS eph;
int i, week, L5Flag, SFlag;
uint64_t numbits = 0, bitfield = 0;
data += 3; /* header */
size -= 6; /* header + crc */
SKIPBITS(12)
eph._receptDateTime = currentDateAndTimeGPS();
GETBITS(i, 6)
eph._prn.set('I', i);
GETBITS(week, 10)
GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
GETBITS(i, 4)
eph._ura = accuracyFromIndex(i, eph.type());
GETBITS(i, 16)
i <<= 4;
eph._TOC.set(i * 1000);
GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
GETFLOATSIGN(eph._Delta_n, 22, R2R_PI/(double)(1<<30)/(double)(1 << 11))
// IODCE
GETBITS(eph._IODE, 8)
eph._IODC = eph._IODE;
SKIPBITS(10)
GETBITS(L5Flag, 1)
GETBITS(SFlag, 1)
if (L5Flag == 0 && SFlag == 0) {
eph._health = 0.0;
}
else if (L5Flag == 0 && SFlag == 1) {
eph._health = 1.0;
}
else if (L5Flag == 1 && SFlag == 0) {
eph._health = 2.0;
}
else if (L5Flag == 1 && SFlag == 1) {
eph._health = 3.0;
}
GETFLOATSIGN(eph._Cuc, 15, 1.0 / (double )(1 << 28))
GETFLOATSIGN(eph._Cus, 15, 1.0 / (double )(1 << 28))
GETFLOATSIGN(eph._Cic, 15, 1.0 / (double )(1 << 28))
GETFLOATSIGN(eph._Cis, 15, 1.0 / (double )(1 << 28))
GETFLOATSIGN(eph._Crc, 15, 1.0 / (double )(1 << 4))
GETFLOATSIGN(eph._Crs, 15, 1.0 / (double )(1 << 4))
GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
GETBITS(i, 16)
i <<= 4;
eph._TOEsec = i;
bncTime t;
t.set(i * 1000);
eph._TOEweek = t.gpsw();
int numOfRollOvers = int(floor(t.gpsw()/1024.0));
week += (numOfRollOvers * 1024);
/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
if (eph._TOEweek > week + 1 || eph._TOEweek < week - 1) /* invalid week */
return false;
GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
GETFLOATSIGN(eph._OMEGADOT, 22, R2R_PI/(double)(1<<30)/(double)(1<<11))
GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
SKIPBITS(2)
SKIPBITS(2)
eph._TOT = 0.9999e9;
emit newGPSEph(eph);
decoded = true;
}
return decoded;
}
//
////////////////////////////////////////////////////////////////////////////
bool RTCM3Decoder::DecodeSBASEphemeris(unsigned char* data, int size) {
bool decoded = false;
if (size == 35) {
t_ephSBAS eph;
int i;
uint64_t numbits = 0, bitfield = 0;
data += 3; /* header */
size -= 6; /* header + crc */
SKIPBITS(12)
eph._receptDateTime = currentDateAndTimeGPS();
GETBITS(i, 6)
eph._prn.set('S', 20 + i);
GETBITS(eph._IODN, 8)
GETBITS(i, 13)
i <<= 4;
eph._TOC.setTOD(i * 1000);
GETBITS(i, 4)
eph._ura = accuracyFromIndex(i, eph.type());
GETFLOATSIGN(eph._x_pos, 30, 0.08)
GETFLOATSIGN(eph._y_pos, 30, 0.08)
GETFLOATSIGN(eph._z_pos, 25, 0.4)
GETFLOATSIGN(eph._x_velocity, 17, 0.000625)
GETFLOATSIGN(eph._y_velocity, 17, 0.000625)
GETFLOATSIGN(eph._z_velocity, 18, 0.004)
GETFLOATSIGN(eph._x_acceleration, 10, 0.0000125)
GETFLOATSIGN(eph._y_acceleration, 10, 0.0000125)
GETFLOATSIGN(eph._z_acceleration, 10, 0.0000625)
GETFLOATSIGN(eph._agf0, 12, 1.0 / (1 << 30) / (1 << 1))
GETFLOATSIGN(eph._agf1, 8, 1.0 / (1 << 30) / (1 << 10))
eph._TOT = 0.9999E9;
eph._health = 0;
emit newSBASEph(eph);
decoded = true;
}
return decoded;
}
//
////////////////////////////////////////////////////////////////////////////
bool RTCM3Decoder::DecodeGalileoEphemeris(unsigned char* data, int size) {
bool decoded = false;
uint64_t numbits = 0, bitfield = 0;
int i;
data += 3; /* header */
size -= 6; /* header + crc */
GETBITS(i, 12)
if ((i == 1046 && size == 61) || (i == 1045 && size == 60)) {
t_ephGal eph;
eph._receptDateTime = currentDateAndTimeGPS();
eph._inav = (i == 1046);
eph._fnav = (i == 1045);
GETBITS(i, 6)
eph._prn.set('E', i, eph._inav ? 1 : 0);
GETBITS(eph._TOEweek, 12) //FIXME: roll-over after week 4095!!
GETBITS(eph._IODnav, 10)
GETBITS(i, 8)
eph._SISA = accuracyFromIndex(i, eph.type());
GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
GETBITSFACTOR(i, 14, 60)
eph._TOC.set(1024 + eph._TOEweek, i);
GETFLOATSIGN(eph._clock_driftrate, 6, 1.0 / (double )(1 << 30) / (double )(1 << 29))
GETFLOATSIGN(eph._clock_drift, 21, 1.0 / (double )(1 << 30) / (double )(1 << 16))
GETFLOATSIGN(eph._clock_bias, 31, 1.0 / (double )(1 << 30) / (double )(1 << 4))
GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
GETBITSFACTOR(eph._TOEsec, 14, 60)
/* FIXME: overwrite value, copied from old code */
eph._TOEsec = eph._TOC.gpssec();
GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
GETFLOATSIGN(eph._BGD_1_5A, 10,
1.0 / (double )(1 << 30) / (double )(1 << 2))
if (eph._inav) {
/* set unused F/NAV values */
eph._E5aHS = 0.0;
eph._e5aDataInValid = false;
GETFLOATSIGN(eph._BGD_1_5B, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
GETBITS(eph._E5bHS, 2)
GETBITS(eph._e5bDataInValid, 1)
GETBITS(eph._E1_bHS, 2)
GETBITS(eph._e1DataInValid, 1)
}
else {
/* set unused I/NAV values */
eph._BGD_1_5B = 0.0;
eph._E5bHS = 0.0;
eph._E1_bHS = 0.0;
eph._e1DataInValid = false;
eph._e5bDataInValid = false;
GETBITS(eph._E5aHS, 2)
GETBITS(eph._e5aDataInValid, 1)
}
eph._TOT = 0.9999e9;
emit newGalileoEph(eph);
decoded = true;
}
return decoded;
}
//
////////////////////////////////////////////////////////////////////////////
bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size) {
bool decoded = false;
if (size == 70) {
t_ephBDS eph;
int i;
uint64_t numbits = 0, bitfield = 0;
data += 3; /* header */
size -= 6; /* header + crc */
SKIPBITS(12)
eph._receptDateTime = currentDateAndTimeGPS();
GETBITS(i, 6)
eph._prn.set('C', i);
SKIPBITS(13)
/* week */
GETBITS(i, 4)
eph._URA = accuracyFromIndex(i, eph.type());
GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
GETBITS(eph._AODE, 5)
GETBITS(i, 17)
i <<= 3;
eph._TOC.setBDS(i * 1000);
GETFLOATSIGN(eph._clock_driftrate, 11, 1.0 / (double )(1 << 30) / (double )(1 << 30) / (double )(1 << 6))
GETFLOATSIGN(eph._clock_drift, 22, 1.0 / (double )(1 << 30) / (double )(1 << 20))
GETFLOATSIGN(eph._clock_bias, 24, 1.0 / (double )(1 << 30) / (double )(1 << 3))
GETBITS(eph._AODC, 5)
GETFLOATSIGN(eph._Crs, 18, 1.0 / (double )(1 << 6))
GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
GETFLOATSIGN(eph._Cuc, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
GETFLOATSIGN(eph._Cus, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
GETBITS(i, 17)
i <<= 3;
eph._TOEsec = i;
eph._TOE.setBDS(i * 1000);
GETFLOATSIGN(eph._Cic, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
GETFLOATSIGN(eph._Cis, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
GETFLOATSIGN(eph._Crc, 18, 1.0 / (double )(1 << 6))
GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
GETFLOATSIGN(eph._TGD1, 10, 0.0000000001)
GETFLOATSIGN(eph._TGD2, 10, 0.0000000001)
GETBITS(eph._SatH1, 1)
eph._TOT = 0.9999E9;
emit newBDSEph(eph);
decoded = true;
}
return decoded;
}
//
////////////////////////////////////////////////////////////////////////////
bool RTCM3Decoder::DecodeAntennaReceiver(unsigned char* data, int size) {
char *antenna;
char *antserialnum;
char *receiver;
char *recfirmware;
char *recserialnum;
int type;
int antsernum = -1;
int antnum = -1;
int recnum = -1;
int recsernum = -1;
int recfirnum = -1;
uint64_t numbits = 0, bitfield = 0;
data += 3; /* header*/
size -= 6; /* header + crc */
GETBITS(type, 12)
SKIPBITS(12) /* reference station ID */
GETSTRING(antnum, antenna)
if ((antnum > -1 && antnum < 265) &&
(_antType.empty() || strncmp(_antType.back().descriptor, antenna, recnum) != 0)) {
_antType.push_back(t_antInfo());
memcpy(_antType.back().descriptor, antenna, antnum);
_antType.back().descriptor[antnum] = 0;
}
SKIPBITS(8) /* antenna setup ID */
if (type == 1008 || type == 1033 ) {
GETSTRING(antsernum, antserialnum)
if ((antsernum > -1 && antsernum < 265)) {
memcpy(_antType.back().serialnumber, antserialnum, antsernum);
_antType.back().serialnumber[antsernum] = 0;
}
}
if (type == 1033) {
GETSTRING(recnum, receiver)
GETSTRING(recfirnum, recfirmware)
GETSTRING(recsernum, recserialnum)
if ((recnum > -1 && recnum < 265) &&
(_recType.empty() || strncmp(_recType.back().descriptor, receiver, recnum) != 0)) {
_recType.push_back(t_recInfo());
memcpy(_recType.back().descriptor, receiver, recnum);
_recType.back().descriptor[recnum] = 0;
if (recfirnum > -1 && recfirnum < 265) {
memcpy(_recType.back().firmware, recfirmware, recfirnum);
_recType.back().firmware[recfirnum] = 0;
}
if (recsernum > -1 && recsernum < 265) {
memcpy(_recType.back().serialnumber, recserialnum, recsernum);
_recType.back().serialnumber[recsernum] = 0;
}
}
}
return true;
}
//
////////////////////////////////////////////////////////////////////////////
bool RTCM3Decoder::DecodeAntennaPosition(unsigned char* data, int size) {
int type;
uint64_t numbits = 0, bitfield = 0;
double x, y, z;
data += 3; /* header */
size -= 6; /* header + crc */
GETBITS(type, 12)
_antList.push_back(t_antRefPoint());
_antList.back().type = t_antRefPoint::ARP;
SKIPBITS(22)
GETBITSSIGN(x, 38)
_antList.back().xx = x * 1e-4;
SKIPBITS(2)
GETBITSSIGN(y, 38)
_antList.back().yy = y * 1e-4;
SKIPBITS(2)
GETBITSSIGN(z, 38)
_antList.back().zz = z * 1e-4;
if (type == 1006)
{
double h;
GETBITS(h, 16)
_antList.back().height = h * 1e-4;
_antList.back().height_f = true;
}
_antList.back().message = type;
return true;
}
//
////////////////////////////////////////////////////////////////////////////
t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
bool decoded = false;
errmsg.clear();
while (bufLen && _MessageSize < sizeof(_Message)) {
int l = sizeof(_Message) - _MessageSize;
if (l > bufLen)
l = bufLen;
memcpy(_Message + _MessageSize, buffer, l);
_MessageSize += l;
bufLen -= l;
buffer += l;
int id;
while ((id = GetMessage())) {
/* reset station ID for file loading as it can change */
if (_rawFile)
_staID = _rawFile->staID();
/* store the id into the list of loaded blocks */
_typeList.push_back(id);
/* SSR I+II data handled in another function, already pass the
* extracted data block. That does no harm, as it anyway skip everything
* else. */
if ((id >= 1057 && id <= 1068) || (id >= 1240 && id <= 1270)) {
if (!_coDecoders.contains(_staID.toLatin1()))
_coDecoders[_staID.toLatin1()] = new RTCM3coDecoder(_staID);
RTCM3coDecoder* coDecoder = _coDecoders[_staID.toLatin1()];
if (coDecoder->Decode(reinterpret_cast<char *>(_Message), _BlockSize,
errmsg) == success) {
decoded = true;
}
}
else if ((id >= 1070 && id <= 1229) ||
(id >= 21 && id <= 27)) /* MSM */ {
if (DecodeRTCM3MSM(_Message, _BlockSize))
decoded = true;
}
else {
switch (id) {
case 1001:
case 1003:
emit(newMessage(
QString("%1: Block %2 contain partial data! Ignored!")
.arg(_staID).arg(id).toLatin1(), true));
break; /* no use decoding partial data ATM, remove break when data can be used */
case 1002:
case 1004:
if (DecodeRTCM3GPS(_Message, _BlockSize))
decoded = true;
break;
case 1009:
case 1011:
emit(newMessage(
QString("%1: Block %2 contain partial data! Ignored!")
.arg(_staID).arg(id).toLatin1(), true));
break; /* no use decoding partial data ATM, remove break when data can be used */
case 1010:
case 1012:
if (DecodeRTCM3GLONASS(_Message, _BlockSize))
decoded = true;
break;
case 1019:
if (DecodeGPSEphemeris(_Message, _BlockSize))
decoded = true;
break;
case 1020:
if (DecodeGLONASSEphemeris(_Message, _BlockSize))
decoded = true;
break;
case 1043:
if (DecodeSBASEphemeris(_Message, _BlockSize))
decoded = true;
break;
case 1044:
if (DecodeQZSSEphemeris(_Message, _BlockSize))
decoded = true;
break;
case 29:
if (DecodeIRNSSEphemeris(_Message, _BlockSize))
decoded = true;
break;
case 1045:
case 1046:
if (DecodeGalileoEphemeris(_Message, _BlockSize))
decoded = true;
break;
case RTCM3ID_BDS:
if (DecodeBDSEphemeris(_Message, _BlockSize))
decoded = true;
break;
case 1007:
case 1008:
case 1033:
DecodeAntennaReceiver(_Message, _BlockSize);
break;
case 1005:
case 1006:
DecodeAntennaPosition(_Message, _BlockSize);
break;
}
}
}
}
return decoded ? success : failure;
}
;
//
////////////////////////////////////////////////////////////////////////////
uint32_t RTCM3Decoder::CRC24(long size, const unsigned char *buf) {
uint32_t crc = 0;
int i;
while (size--) {
crc ^= (*buf++) << (16);
for (i = 0; i < 8; i++)
{
crc <<= 1;
if (crc & 0x1000000)
crc ^= 0x01864cfb;
}
}
return crc;
}
//
////////////////////////////////////////////////////////////////////////////
int RTCM3Decoder::GetMessage(void) {
unsigned char *m, *e;
int i;
m = _Message + _SkipBytes;
e = _Message + _MessageSize;
_NeedBytes = _SkipBytes = 0;
while (e - m >= 3) {
if (m[0] == 0xD3) {
_BlockSize = ((m[1] & 3) << 8) | m[2];
if (e - m >= static_cast<int>(_BlockSize + 6)) {
if (static_cast<uint32_t>((m[3 + _BlockSize] << 16)
| (m[3 + _BlockSize + 1] << 8)
| (m[3 + _BlockSize + 2])) == CRC24(_BlockSize + 3, m)) {
_BlockSize += 6;
_SkipBytes = _BlockSize;
break;
}
else
++m;
}
else {
_NeedBytes = _BlockSize;
break;
}
}
else
++m;
}
if (e - m < 3)
_NeedBytes = 3;
/* copy buffer to front */
i = m - _Message;
if (i && m < e)
memmove(_Message, m, static_cast<size_t>(_MessageSize - i));
_MessageSize -= i;
return !_NeedBytes ? ((_Message[3] << 4) | (_Message[4] >> 4)) : 0;
}
// Time of Corrections
//////////////////////////////////////////////////////////////////////////////
int RTCM3Decoder::corrGPSEpochTime() const {
return
_coDecoders.size() > 0 ?
_coDecoders.begin().value()->corrGPSEpochTime() : -1;
}