Context Navigation

source: ntrip/trunk/BNC/src/RTCM3/RTCM3Decoder.cpp@ 10534

Last change on this file since 10534 was 10534, checked in by stuerze, 2 days ago
Service and RTCM CRS encoding and decoding as well as Helmert parameter decoding added + some re-organisation
File size: 67.0 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: 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 "bits.h"
48	#include "gnss.h"
49	#include "RTCM3Decoder.h"
50	#include "rtcm_utils.h"
51	#include "bncconst.h"
52	#include "bnccore.h"
53	#include "bncutils.h"
54	#include "bncsettings.h"
55	#include "bnctime.h"
56	#include "crs.h"
57
58	using namespace std;
59
60	// Error Handling
61	////////////////////////////////////////////////////////////////////////////
62	void RTCM3Error(const char*, ...) {
63	}
64
65	// Constructor
66	////////////////////////////////////////////////////////////////////////////
67	RTCM3Decoder::RTCM3Decoder(const QString& staID, bncRawFile* rawFile) :
68	GPSDecoder() {
69
70	_staID = staID;
71	_rawFile = rawFile;
72
73	connect(this, SIGNAL(newGPSEph(t_ephGPS)), BNC_CORE,
74	SLOT(slotNewGPSEph(t_ephGPS)));
75	connect(this, SIGNAL(newGlonassEph(t_ephGlo)), BNC_CORE,
76	SLOT(slotNewGlonassEph(t_ephGlo)));
77	connect(this, SIGNAL(newGalileoEph(t_ephGal)), BNC_CORE,
78	SLOT(slotNewGalileoEph(t_ephGal)));
79	connect(this, SIGNAL(newSBASEph(t_ephSBAS)), BNC_CORE,
80	SLOT(slotNewSBASEph(t_ephSBAS)));
81	connect(this, SIGNAL(newBDSEph(t_ephBDS)), BNC_CORE,
82	SLOT(slotNewBDSEph(t_ephBDS)));
83
84	_MessageSize = _SkipBytes = _BlockSize = _NeedBytes = 0;
85	}
86
87	// Destructor
88	////////////////////////////////////////////////////////////////////////////
89	RTCM3Decoder::~RTCM3Decoder() {
90	QMapIterator<QByteArray, RTCM3coDecoder*> it(_coDecoders);
91	while (it.hasNext()) {
92	it.next();
93	delete it.value();
94	}
95	_coDecoders.clear();
96	}
97
98	//
99	////////////////////////////////////////////////////////////////////////////
100	bool RTCM3Decoder::DecodeRTCM3GPS(unsigned char* data, int size) {
101	bool decoded = false;
102	bncTime CurrentObsTime;
103	int i, numsats, syncf, type;
104	uint64_t numbits = 0, bitfield = 0;
105
106	data += 3; /* header */
107	size -= 6; /* header + crc */
108
109	GETBITS(type, 12)
110	SKIPBITS(12)
111	/* id */
112	GETBITS(i, 30)
113
114	CurrentObsTime.set(i);
115	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
116	decoded = true;
117	_obsList.append(_CurrentObsList);
118	_CurrentObsList.clear();
119	}
120
121	_CurrentTime = CurrentObsTime;
122
123	GETBITS(syncf, 1)
124	/* sync */
125	GETBITS(numsats, 5)
126	SKIPBITS(4)
127	/* smind, smint */
128
129	while (numsats--) {
130	int sv, code, l1range, amb = 0;
131	t_satObs CurrentObs;
132	CurrentObs._time = CurrentObsTime;
133	CurrentObs._type = type;
134
135	GETBITS(sv, 6)
136	if (sv < 40)
137	CurrentObs._prn.set('G', sv);
138	else
139	CurrentObs._prn.set('S', sv - 20);
140
141	t_frqObs *frqObs = new t_frqObs;
142	/* L1 */
143	GETBITS(code, 1);
144	(code) ?
145	frqObs->_rnxType2ch.assign("1W") : frqObs->_rnxType2ch.assign("1C");
146	GETBITS(l1range, 24);
147	GETBITSSIGN(i, 20);
148	if ((i & ((1 << 20) - 1)) != 0x80000) {
149	frqObs->_code = l1range * 0.02;
150	frqObs->_phase = (l1range * 0.02 + i * 0.0005) / GPS_WAVELENGTH_L1;
151	frqObs->_codeValid = frqObs->_phaseValid = true;
152	}
153	GETBITS(frqObs->_lockTimeIndicator, 7);
154	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
155	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
156	if (type == 1002 \|\| type == 1004) {
157	GETBITS(amb, 8);
158	if (amb) {
159	frqObs->_code += amb * 299792.458;
160	frqObs->_phase += (amb * 299792.458) / GPS_WAVELENGTH_L1;
161	}
162	GETBITS(i, 8);
163	if (i) {
164	frqObs->_snr = i * 0.25;
165	frqObs->_snrValid = true;
166	}
167	}
168	CurrentObs._obs.push_back(frqObs);
169	if (type == 1003 \|\| type == 1004) {
170	frqObs = new t_frqObs;
171	/* L2 */
172	GETBITS(code, 2);
173	switch (code) {
174	case 3:
175	frqObs->_rnxType2ch.assign("2W"); /* or "2Y"? */
176	break;
177	case 2:
178	frqObs->_rnxType2ch.assign("2W");
179	break;
180	case 1:
181	frqObs->_rnxType2ch.assign("2P");
182	break;
183	case 0:
184	frqObs->_rnxType2ch.assign("2X"); /* or "2S" or "2L"? */
185	break;
186	}
187	GETBITSSIGN(i, 14);
188	if ((i & ((1 << 14) - 1)) != 0x2000) {
189	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 299792.458;
190	frqObs->_codeValid = true;
191	}
192	GETBITSSIGN(i, 20);
193	if ((i & ((1 << 20) - 1)) != 0x80000) {
194	frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 299792.458)
195	/ GPS_WAVELENGTH_L2;
196	frqObs->_phaseValid = true;
197	}
198	GETBITS(frqObs->_lockTimeIndicator, 7);
199	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
200	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
201	if (type == 1004) {
202	GETBITS(i, 8);
203	if (i) {
204	frqObs->_snr = i * 0.25;
205	frqObs->_snrValid = true;
206	}
207	}
208	CurrentObs._obs.push_back(frqObs);
209	}
210	_CurrentObsList.push_back(CurrentObs);
211	}
212
213	if (!syncf) {
214	decoded = true;
215	_obsList.append(_CurrentObsList);
216	_CurrentTime.reset();
217	_CurrentObsList.clear();
218	}
219	return decoded;
220	}
221
222	#define RTCM3_MSM_NUMSIG 32
223	#define RTCM3_MSM_NUMSAT 64
224	#define RTCM3_MSM_NUMCELLS 96 /* arbitrary limit */
225
226	/**
227	* Frequency numbers of GLONASS with an offset of 100 to detect unset values.
228	* Gets filled by ephemeris and data blocks and shared between different streams.
229	*/
230	static int GLOFreq[RTCM3_MSM_NUMSAT];
231
232	/*
233	* Storage structure to store frequency and RINEX ID assignment for MSM
234	* message */
235	struct CodeData {
236	double wl;
237	const char code; / currently unused */
238	};
239
240	/** MSM signal types for GPS and SBAS */
241	static struct CodeData gps[RTCM3_MSM_NUMSIG] = {
242	{0.0, 0},
243	{GPS_WAVELENGTH_L1, "1C"},
244	{GPS_WAVELENGTH_L1, "1P"},
245	{GPS_WAVELENGTH_L1, "1W"},
246	{0.0, 0},
247	{0.0, 0},
248	{0.0, 0},
249	{GPS_WAVELENGTH_L2, "2C"},
250	{GPS_WAVELENGTH_L2, "2P"},
251	{GPS_WAVELENGTH_L2, "2W"},
252	{0.0, 0},
253	{0.0, 0},
254	{0.0, 0},
255	{0.0, 0},
256	{GPS_WAVELENGTH_L2, "2S"},
257	{GPS_WAVELENGTH_L2, "2L"},
258	{GPS_WAVELENGTH_L2, "2X"},
259	{0.0, 0},
260	{0.0, 0},
261	{0.0, 0},
262	{0.0, 0},
263	{GPS_WAVELENGTH_L5, "5I"},
264	{GPS_WAVELENGTH_L5, "5Q"},
265	{GPS_WAVELENGTH_L5, "5X"},
266	{0.0, 0},
267	{0.0, 0},
268	{0.0, 0},
269	{0.0, 0},
270	{0.0, 0},
271	{GPS_WAVELENGTH_L1, "1S"},
272	{GPS_WAVELENGTH_L1, "1L"},
273	{GPS_WAVELENGTH_L1, "1X"}
274	};
275
276	/**
277	* MSM signal types for GLONASS
278	*
279	* NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later!
280	*/
281	static struct CodeData glo[RTCM3_MSM_NUMSIG] = {
282	{0.0, 0},
283	{0.0, "1C"},
284	{0.0, "1P"},
285	{0.0, 0},
286	{0.0, 0},
287	{0.0, 0},
288	{0.0, 0},
289	{1.0, "2C"},
290	{1.0, "2P"},
291	{GLO_WAVELENGTH_L1a, "4A"},
292	{GLO_WAVELENGTH_L1a, "4B"},
293	{GLO_WAVELENGTH_L1a, "4X"},
294	{GLO_WAVELENGTH_L2a, "6A"},
295	{GLO_WAVELENGTH_L2a, "6B"},
296	{GLO_WAVELENGTH_L2a, "6X"},
297	{GLO_WAVELENGTH_L3, "3I"},
298	{GLO_WAVELENGTH_L3, "3Q"},
299	{GLO_WAVELENGTH_L3, "3X"},
300	{0.0, 0},
301	{0.0, 0},
302	{0.0, 0},
303	{0.0, 0},
304	{0.0, 0},
305	{0.0, 0},
306	{0.0, 0},
307	{0.0, 0},
308	{0.0, 0},
309	{0.0, 0},
310	{0.0, 0},
311	{0.0, 0},
312	{0.0, 0},
313	{0.0, 0}
314	};
315
316	/** MSM signal types for Galileo */
317	static struct CodeData gal[RTCM3_MSM_NUMSIG] = {
318	{0.0, 0},
319	{GAL_WAVELENGTH_E1, "1C"},
320	{GAL_WAVELENGTH_E1, "1A"},
321	{GAL_WAVELENGTH_E1, "1B"},
322	{GAL_WAVELENGTH_E1, "1X"},
323	{GAL_WAVELENGTH_E1, "1Z"},
324	{0.0, 0},
325	{GAL_WAVELENGTH_E6, "6C"},
326	{GAL_WAVELENGTH_E6, "6A"},
327	{GAL_WAVELENGTH_E6, "6B"},
328	{GAL_WAVELENGTH_E6, "6X"},
329	{GAL_WAVELENGTH_E6, "6Z"},
330	{0.0, 0},
331	{GAL_WAVELENGTH_E5B, "7I"},
332	{GAL_WAVELENGTH_E5B, "7Q"},
333	{GAL_WAVELENGTH_E5B, "7X"},
334	{0.0, 0},
335	{GAL_WAVELENGTH_E5AB,"8I"},
336	{GAL_WAVELENGTH_E5AB,"8Q"},
337	{GAL_WAVELENGTH_E5AB,"8X"},
338	{0.0, 0},
339	{GAL_WAVELENGTH_E5A, "5I"},
340	{GAL_WAVELENGTH_E5A, "5Q"},
341	{GAL_WAVELENGTH_E5A, "5X"},
342	{0.0, 0},
343	{0.0, 0},
344	{0.0, 0},
345	{0.0, 0},
346	{0.0, 0},
347	{0.0, 0},
348	{0.0, 0},
349	{0.0, 0}
350	};
351
352	/** MSM signal types for QZSS */
353	static struct CodeData qzss[RTCM3_MSM_NUMSIG] = {
354	{0.0, 0},
355	{GPS_WAVELENGTH_L1, "1C"},
356	{0.0, 0},
357	{0.0, 0},
358	{0.0, 0},
359	{0.0, 0},
360	{0.0, 0},
361	{0.0, 0},
362	{QZSS_WAVELENGTH_L6, "6S"},
363	{QZSS_WAVELENGTH_L6, "6L"},
364	{QZSS_WAVELENGTH_L6, "6X"},
365	{0.0, 0},
366	{0.0, 0},
367	{0.0, 0},
368	{GPS_WAVELENGTH_L2, "2S"},
369	{GPS_WAVELENGTH_L2, "2L"},
370	{GPS_WAVELENGTH_L2, "2X"},
371	{0.0, 0},
372	{0.0, 0},
373	{0.0, 0},
374	{0.0, 0},
375	{GPS_WAVELENGTH_L5, "5I"},
376	{GPS_WAVELENGTH_L5, "5Q"},
377	{GPS_WAVELENGTH_L5, "5X"},
378	{0.0, 0},
379	{0.0, 0},
380	{0.0, 0},
381	{0.0, 0},
382	{0.0, 0},
383	{GPS_WAVELENGTH_L1, "1S"},
384	{GPS_WAVELENGTH_L1, "1L"},
385	{GPS_WAVELENGTH_L1, "1X"}
386	};
387
388	/** MSM signal types for Beidou/BDS */
389	static struct CodeData bds[RTCM3_MSM_NUMSIG] = {
390	{0.0, 0},
391	{BDS_WAVELENGTH_B1, "2I"},
392	{BDS_WAVELENGTH_B1, "2Q"},
393	{BDS_WAVELENGTH_B1, "2X"},
394	{0.0, 0},
395	{0.0, 0},
396	{0.0, 0},
397	{BDS_WAVELENGTH_B3, "6I"},
398	{BDS_WAVELENGTH_B3, "6Q"},
399	{BDS_WAVELENGTH_B3, "6X"},
400	{0.0, 0},
401	{0.0, 0},
402	{0.0, 0},
403	{BDS_WAVELENGTH_B2, "7I"},
404	{BDS_WAVELENGTH_B2, "7Q"},
405	{BDS_WAVELENGTH_B2, "7X"},
406	{0.0, 0},
407	{0.0, 0},
408	{0.0, 0},
409	{0.0, 0},
410	{0.0, 0},
411	{BDS_WAVELENGTH_B2a, "5D"},
412	{BDS_WAVELENGTH_B2a, "5P"},
413	{BDS_WAVELENGTH_B2a, "5X"},
414	{BDS_WAVELENGTH_B2b, "7D"},
415	{0.0, 0},
416	{0.0, 0},
417	{0.0, 0},
418	{0.0, 0},
419	{BDS_WAVELENGTH_B1C, "1D"},
420	{BDS_WAVELENGTH_B1C, "1P"},
421	{BDS_WAVELENGTH_B1C, "1X"}
422	};
423
424	/** MSM signal types for IRNSS */
425	static struct CodeData irn[RTCM3_MSM_NUMSIG] = {
426	{0.0, 0},
427	{0.0, 0},
428	{0.0, 0},
429	{0.0, 0},
430	{0.0, 0},
431	{0.0, 0},
432	{0.0, 0},
433	{IRNSS_WAVELENGTH_S, "9A"},
434	{0.0, 0},
435	{0.0, 0},
436	{0.0, 0},
437	{0.0, 0},
438	{0.0, 0},
439	{0.0, 0},
440	{0.0, 0},
441	{0.0, 0},
442	{0.0, 0},
443	{0.0, 0},
444	{0.0, 0},
445	{0.0, 0},
446	{0.0, 0},
447	{IRNSS_WAVELENGTH_L5, "5A"},
448	{0.0, 0},
449	{0.0, 0},
450	{0.0, 0},
451	{0.0, 0},
452	{0.0, 0},
453	{0.0, 0},
454	{0.0, 0},
455	{0.0, 0},
456	{0.0, 0},
457	{0.0, 0}
458	};
459
460	#define UINT64(c) c ## ULL
461
462	//
463	////////////////////////////////////////////////////////////////////////////
464	bool RTCM3Decoder::DecodeRTCM3MSM(unsigned char* data, int size) {
465	bool decoded = false;
466	int type, syncf, i;
467	uint64_t numbits = 0, bitfield = 0;
468
469	data += 3; /* header */
470	size -= 6; /* header + crc */
471
472	GETBITS(type, 12)
473	SKIPBITS(12)
474	/* id */
475	char sys;
476	if (type >= 1131 && type <= 1137) {
477	sys = 'I';
478	}
479	else if (type >= 1121 && type <= 1127) {
480	sys = 'C';
481	}
482	else if (type >= 1111 && type <= 1117) {
483	sys = 'J';
484	}
485	else if (type >= 1101 && type <= 1107) {
486	sys = 'S';
487	}
488	else if (type >= 1091 && type <= 1097) {
489	sys = 'E';
490	}
491	else if (type >= 1081 && type <= 1087) {
492	sys = 'R';
493	}
494	else if (type >= 1071 && type <= 1077) {
495	sys = 'G';
496	}
497	else {
498	return decoded; // false
499	}
500	bncTime CurrentObsTime;
501	if (sys == 'C') /* BDS */ {
502	GETBITS(i, 30)
503	CurrentObsTime.setBDS(i);
504	}
505	else if (sys == 'R') /* GLONASS */ {
506	SKIPBITS(3)
507	GETBITS(i, 27)
508	/* tk */
509	CurrentObsTime.setTk(i);
510	}
511	else /* GPS style date */ {
512	GETBITS(i, 30)
513	CurrentObsTime.set(i);
514	}
515	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
516	decoded = true;
517	_obsList.append(_CurrentObsList);
518	_CurrentObsList.clear();
519	}
520	_CurrentTime = CurrentObsTime;
521
522	GETBITS(syncf, 1)
523	/**
524	* Ignore unknown types except for sync flag
525	*
526	* We actually support types 1-3 in following code, but as they are missing
527	* the full cycles and can't be used later we skip interpretation here already.
528	*/
529	if (type <= 1137 && (type % 10) >= 4 && (type % 10) <= 7) {
530	int sigmask, numsat = 0, numsig = 0;
531	uint64_t satmask, cellmask, ui;
532	// satellite data
533	double rrmod[RTCM3_MSM_NUMSAT]; // GNSS sat rough ranges modulo 1 millisecond
534	int rrint[RTCM3_MSM_NUMSAT]; // number of integer msecs in GNSS sat rough ranges
535	int rdop[RTCM3_MSM_NUMSAT]; // GNSS sat rough phase range rates
536	int extsat[RTCM3_MSM_NUMSAT];// extended sat info
537	// signal data
538	int ll[RTCM3_MSM_NUMCELLS]; // lock time indicator
539	/int hc[RTCM3_MSM_NUMCELLS];/ // half cycle ambiguity indicator
540	double cnr[RTCM3_MSM_NUMCELLS]; // signal cnr
541	double cp[RTCM3_MSM_NUMCELLS]; // fine phase range data
542	double psr[RTCM3_MSM_NUMCELLS]; // fine psr
543	double dop[RTCM3_MSM_NUMCELLS]; // fine phase range rates
544
545	SKIPBITS(3 + 7 + 2 + 2 + 1 + 3)
546	GETBITS64(satmask, RTCM3_MSM_NUMSAT)
547
548	/* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */
549	for (ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */)
550	++numsat;
551	GETBITS(sigmask, RTCM3_MSM_NUMSIG)
552	for (i = sigmask; i; i &= (i - 1) /* remove rightmost bit */)
553	++numsig;
554	for (i = 0; i < RTCM3_MSM_NUMSAT; ++i)
555	extsat[i] = 15;
556
557	i = numsat * numsig;
558	GETBITS64(cellmask, (unsigned )i)
559	// satellite data
560	switch (type % 10) {
561	case 1:
562	case 2:
563	case 3:
564	/* partial data, already skipped above, but implemented for future expansion ! */
565	for (int j = numsat; j--;)
566	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
567	break;
568	case 4:
569	case 6:
570	for (int j = numsat; j--;)
571	GETBITS(rrint[j], 8)
572	for (int j = numsat; j--;)
573	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
574	break;
575	case 5:
576	case 7:
577	for (int j = numsat; j--;)
578	GETBITS(rrint[j], 8)
579	for (int j = numsat; j--;)
580	GETBITS(extsat[j], 4)
581	for (int j = numsat; j--;)
582	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
583	for (int j = numsat; j--;)
584	GETBITSSIGN(rdop[j], 14)
585	break;
586	}
587	// signal data
588	int numcells = numsat * numsig;
589	/** Drop anything which exceeds our cell limit. Increase limit definition
590	* when that happens. */
591	if (numcells <= RTCM3_MSM_NUMCELLS) {
592	switch (type % 10) {
593	case 1:
594	for (int count = numcells; count--;)
595	if (cellmask & (UINT64(1) << count))
596	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
597	break;
598	case 2:
599	for (int count = numcells; count--;)
600	if (cellmask & (UINT64(1) << count))
601	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
602	for (int count = numcells; count--;)
603	if (cellmask & (UINT64(1) << count))
604	GETBITS(ll[count], 4)
605	for (int count = numcells; count--;)
606	if (cellmask & (UINT64(1) << count))
607	SKIPBITS(1)/GETBITS(hc[count], 1)/
608	break;
609	case 3:
610	for (int count = numcells; count--;)
611	if (cellmask & (UINT64(1) << count))
612	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
613	for (int count = numcells; count--;)
614	if (cellmask & (UINT64(1) << count))
615	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
616	for (int count = numcells; count--;)
617	if (cellmask & (UINT64(1) << count))
618	GETBITS(ll[count], 4)
619	for (int count = numcells; count--;)
620	if (cellmask & (UINT64(1) << count))
621	SKIPBITS(1)/GETBITS(hc[count], 1)/
622	break;
623	case 4:
624	for (int count = numcells; count--;)
625	if (cellmask & (UINT64(1) << count))
626	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
627	for (int count = numcells; count--;)
628	if (cellmask & (UINT64(1) << count))
629	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
630	for (int count = numcells; count--;)
631	if (cellmask & (UINT64(1) << count))
632	GETBITS(ll[count], 4)
633	for (int count = numcells; count--;)
634	if (cellmask & (UINT64(1) << count))
635	SKIPBITS(1)/GETBITS(hc[count], 1)/
636	for (int count = numcells; count--;)
637	if (cellmask & (UINT64(1) << count))
638	GETBITS(cnr[count], 6)
639	break;
640	case 5:
641	for (int count = numcells; count--;)
642	if (cellmask & (UINT64(1) << count))
643	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
644	for (int count = numcells; count--;)
645	if (cellmask & (UINT64(1) << count))
646	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
647	for (int count = numcells; count--;)
648	if (cellmask & (UINT64(1) << count))
649	GETBITS(ll[count], 4)
650	for (int count = numcells; count--;)
651	if (cellmask & (UINT64(1) << count))
652	SKIPBITS(1)/GETBITS(hc[count], 1)/
653	for (int count = numcells; count--;)
654	if (cellmask & (UINT64(1) << count))
655	GETFLOAT(cnr[count], 6, 1.0)
656	for (int count = numcells; count--;)
657	if (cellmask & (UINT64(1) << count))
658	GETFLOATSIGN(dop[count], 15, 0.0001)
659	break;
660	case 6:
661	for (int count = numcells; count--;)
662	if (cellmask & (UINT64(1) << count))
663	GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
664	for (int count = numcells; count--;)
665	if (cellmask & (UINT64(1) << count))
666	GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
667	for (int count = numcells; count--;)
668	if (cellmask & (UINT64(1) << count))
669	GETBITS(ll[count], 10)
670	for (int count = numcells; count--;)
671	if (cellmask & (UINT64(1) << count))
672	SKIPBITS(1)/GETBITS(hc[count], 1)/
673	for (int count = numcells; count--;)
674	if (cellmask & (UINT64(1) << count))
675	GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
676	break;
677	case 7:
678	for (int count = numcells; count--;)
679	if (cellmask & (UINT64(1) << count))
680	GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
681	for (int count = numcells; count--;)
682	if (cellmask & (UINT64(1) << count))
683	GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
684	for (int count = numcells; count--;)
685	if (cellmask & (UINT64(1) << count))
686	GETBITS(ll[count], 10)
687	for (int count = numcells; count--;)
688	if (cellmask & (UINT64(1) << count))
689	SKIPBITS(1)/GETBITS(hc[count], 1)/
690	for (int count = numcells; count--;)
691	if (cellmask & (UINT64(1) << count))
692	GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
693	for (int count = numcells; count--;)
694	if (cellmask & (UINT64(1) << count))
695	GETFLOATSIGN(dop[count], 15, 0.0001)
696	break;
697	}
698	i = RTCM3_MSM_NUMSAT;
699	int j = -1;
700	t_satObs CurrentObs;
701	for (int count = numcells; count--;) {
702	while (j >= 0 && !(sigmask & (1 << --j)))
703	;
704	if (j < 0) {
705	while (!(satmask & (UINT64(1) << (--i))))
706	/* next satellite */
707	;
708	if (CurrentObs._obs.size() > 0)
709	_CurrentObsList.push_back(CurrentObs);
710	CurrentObs.clear();
711	CurrentObs._time = CurrentObsTime;
712	CurrentObs._type = type;
713	if (sys == 'S')
714	CurrentObs._prn.set(sys, 20 - 1 + RTCM3_MSM_NUMSAT - i);
715	else
716	CurrentObs._prn.set(sys, RTCM3_MSM_NUMSAT - i);
717	j = RTCM3_MSM_NUMSIG;
718	while (!(sigmask & (1 << --j)))
719	;
720	--numsat;
721	}
722	if (cellmask & (UINT64(1) << count)) {
723	struct CodeData cd = {0.0, 0};
724	switch (sys) {
725	case 'J':
726	cd = qzss[RTCM3_MSM_NUMSIG - j - 1];
727	break;
728	case 'C':
729	cd = bds[RTCM3_MSM_NUMSIG - j - 1];
730	break;
731	case 'G':
732	case 'S':
733	cd = gps[RTCM3_MSM_NUMSIG - j - 1];
734	break;
735	case 'R':
736	cd = glo[RTCM3_MSM_NUMSIG - j - 1];
737	{
738	int k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1];
739	if (extsat[numsat] < 14) { // channel number is available as extended info for MSM5/7
740	k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1] = 100 + extsat[numsat] - 7;
741	}
742	if (k) {
743	if (cd.wl == 0.0) {
744	cd.wl = GLO_WAVELENGTH_L1(k - 100);
745	}
746	else if (cd.wl == 1.0) {
747	cd.wl = GLO_WAVELENGTH_L2(k - 100);
748	}
749	}
750	else if (!k && cd.wl <= 1) {
751	cd.code = 0;
752	}
753	}
754	break;
755	case 'E':
756	cd = gal[RTCM3_MSM_NUMSIG - j - 1];
757	break;
758	case 'I':
759	cd = irn[RTCM3_MSM_NUMSIG - j - 1];
760	break;
761	}
762	if (cd.code) {
763	t_frqObs *frqObs = new t_frqObs;
764	frqObs->_rnxType2ch.assign(cd.code);
765
766	switch (type % 10) {
767	case 1:
768	if (psr[count] > -1.0 / (1 << 10)) {
769	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
770	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
771	frqObs->_codeValid = true;
772	}
773	break;
774	case 2:
775	if (cp[count] > -1.0 / (1 << 8)) {
776	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
777	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
778	frqObs->_phaseValid = true;
779	frqObs->_lockTime = lti2sec(type,ll[count]);
780	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
781	frqObs->_lockTimeIndicator = ll[count];
782	}
783	break;
784	case 3:
785	if (psr[count] > -1.0 / (1 << 10)) {
786	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
787	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
788	frqObs->_codeValid = true;
789	}
790	if (cp[count] > -1.0 / (1 << 8)) {
791	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
792	+ rrmod[numsat] * LIGHTSPEED / 1000.0 / cd.wl;
793	frqObs->_phaseValid = true;
794	frqObs->_lockTime = lti2sec(type,ll[count]);
795	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
796	frqObs->_lockTimeIndicator = ll[count];
797	}
798	break;
799	case 4:
800	if (psr[count] > -1.0 / (1 << 10)) {
801	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
802	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
803	frqObs->_codeValid = true;
804	}
805	if (cp[count] > -1.0 / (1 << 8)) {
806	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
807	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
808	frqObs->_phaseValid = true;
809	frqObs->_lockTime = lti2sec(type,ll[count]);
810	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
811	frqObs->_lockTimeIndicator = ll[count];
812	}
813	frqObs->_snr = cnr[count];
814	frqObs->_snrValid = true;
815	break;
816	case 5:
817	if (psr[count] > -1.0 / (1 << 10)) {
818	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
819	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
820	frqObs->_codeValid = true;
821	}
822	if (cp[count] > -1.0 / (1 << 8)) {
823	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
824	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
825	frqObs->_phaseValid = true;
826	frqObs->_lockTime = lti2sec(type,ll[count]);
827	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
828	frqObs->_lockTimeIndicator = ll[count];
829	}
830	frqObs->_snr = cnr[count];
831	frqObs->_snrValid = true;
832	if (dop[count] > -1.6384) {
833	frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
834	frqObs->_dopplerValid = true;
835	}
836	break;
837	case 6:
838	if (psr[count] > -1.0 / (1 << 10)) {
839	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
840	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
841	frqObs->_codeValid = true;
842	}
843	if (cp[count] > -1.0 / (1 << 8)) {
844	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
845	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
846	frqObs->_phaseValid = true;
847	frqObs->_lockTime = lti2sec(type,ll[count]);
848	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
849	frqObs->_lockTimeIndicator = ll[count];
850	}
851
852	frqObs->_snr = cnr[count];
853	frqObs->_snrValid = true;
854	break;
855	case 7:
856	if (psr[count] > -1.0 / (1 << 10)) {
857	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
858	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
859	frqObs->_codeValid = true;
860	}
861	if (cp[count] > -1.0 / (1 << 8)) {
862	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
863	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
864	frqObs->_phaseValid = true;
865	frqObs->_lockTime = lti2sec(type,ll[count]);
866	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
867	frqObs->_lockTimeIndicator = ll[count];
868	}
869
870	frqObs->_snr = cnr[count];
871	frqObs->_snrValid = true;
872
873	if (dop[count] > -1.6384) {
874	frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
875	frqObs->_dopplerValid = true;
876	}
877	break;
878	}
879	CurrentObs._obs.push_back(frqObs);
880	}
881	}
882	}
883	if (CurrentObs._obs.size() > 0) {
884	_CurrentObsList.push_back(CurrentObs);
885	}
886	}
887	}
888	else if ((type % 10) < 4) {
889	#ifdef BNC_DEBUG_OBS
890	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
891	.arg(_staID).arg(type).toLatin1(), true));
892	#endif
893	}
894	if (!syncf) {
895	decoded = true;
896	_obsList.append(_CurrentObsList);
897	_CurrentTime.reset();
898	_CurrentObsList.clear();
899	}
900	return decoded;
901	}
902
903	//
904	////////////////////////////////////////////////////////////////////////////
905	bool RTCM3Decoder::DecodeRTCM3GLONASS(unsigned char* data, int size) {
906	bool decoded = false;
907	bncTime CurrentObsTime;
908	int i, numsats, syncf, type;
909	uint64_t numbits = 0, bitfield = 0;
910
911	data += 3; /* header */
912	size -= 6; /* header + crc */
913
914	GETBITS(type, 12)
915	SKIPBITS(12)
916	/* id */
917	GETBITS(i, 27)
918	/* tk */
919
920	CurrentObsTime.setTk(i);
921	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
922	decoded = true;
923	_obsList.append(_CurrentObsList);
924	_CurrentObsList.clear();
925	}
926	_CurrentTime = CurrentObsTime;
927
928	GETBITS(syncf, 1)
929	/* sync */
930	GETBITS(numsats, 5)
931	SKIPBITS(4)
932	/* smind, smint */
933
934	while (numsats--) {
935	int sv, code, l1range, amb = 0, freq;
936	t_satObs CurrentObs;
937	CurrentObs._time = CurrentObsTime;
938	CurrentObs._type = type;
939
940	GETBITS(sv, 6)
941	CurrentObs._prn.set('R', sv);
942	GETBITS(code, 1)
943	GETBITS(freq, 5)
944	GLOFreq[sv - 1] = 100 + freq - 7; /* store frequency for other users (MSM) */
945
946	t_frqObs *frqObs = new t_frqObs;
947	/* L1 */
948	(code) ?
949	frqObs->_rnxType2ch.assign("1P") : frqObs->_rnxType2ch.assign("1C");
950	GETBITS(l1range, 25);
951	GETBITSSIGN(i, 20);
952	if ((i & ((1 << 20) - 1)) != 0x80000) {
953	frqObs->_code = l1range * 0.02;
954	frqObs->_phase = (l1range * 0.02 + i * 0.0005) / GLO_WAVELENGTH_L1(freq - 7);
955	frqObs->_codeValid = frqObs->_phaseValid = true;
956	}
957	GETBITS(frqObs->_lockTimeIndicator, 7);
958	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
959	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
960	if (type == 1010 \|\| type == 1012) {
961	GETBITS(amb, 7);
962	if (amb) {
963	frqObs->_code += amb * 599584.916;
964	frqObs->_phase += (amb * 599584.916) / GLO_WAVELENGTH_L1(freq - 7);
965	}
966	GETBITS(i, 8);
967	if (i) {
968	frqObs->_snr = i * 0.25;
969	frqObs->_snrValid = true;
970	}
971	}
972	CurrentObs._obs.push_back(frqObs);
973	if (type == 1011 \|\| type == 1012) {
974	frqObs = new t_frqObs;
975	/* L2 */
976	GETBITS(code, 2);
977	switch (code) {
978	case 3:
979	frqObs->_rnxType2ch.assign("2P");
980	break;
981	case 2:
982	frqObs->_rnxType2ch.assign("2P");
983	break;
984	case 1:
985	frqObs->_rnxType2ch.assign("2P");
986	break;
987	case 0:
988	frqObs->_rnxType2ch.assign("2C");
989	break;
990	}
991	GETBITSSIGN(i, 14);
992	if ((i & ((1 << 14) - 1)) != 0x2000) {
993	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 599584.916;
994	frqObs->_codeValid = true;
995	}
996	GETBITSSIGN(i, 20);
997	if ((i & ((1 << 20) - 1)) != 0x80000) {
998	frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 599584.916)
999	/ GLO_WAVELENGTH_L2(freq - 7);
1000	frqObs->_phaseValid = true;
1001	}
1002	GETBITS(frqObs->_lockTimeIndicator, 7);
1003	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
1004	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
1005	if (type == 1012) {
1006	GETBITS(i, 8);
1007	if (i) {
1008	frqObs->_snr = i * 0.25;
1009	frqObs->_snrValid = true;
1010	}
1011	}
1012	CurrentObs._obs.push_back(frqObs);
1013	}
1014	_CurrentObsList.push_back(CurrentObs);
1015	}
1016	if (!syncf) {
1017	decoded = true;
1018	_obsList.append(_CurrentObsList);
1019	_CurrentTime.reset();
1020	_CurrentObsList.clear();
1021	}
1022	return decoded;
1023	}
1024
1025	//
1026	////////////////////////////////////////////////////////////////////////////
1027	bool RTCM3Decoder::DecodeGPSEphemeris(unsigned char* data, int size) {
1028	bool decoded = false;
1029
1030	if (size == 67) {
1031	t_ephGPS eph;
1032	int i, week;
1033	uint64_t numbits = 0, bitfield = 0;
1034	int fitIntervalFalg = 0;
1035
1036	data += 3; /* header */
1037	size -= 6; /* header + crc */
1038	SKIPBITS(12)
1039
1040	eph._receptDateTime = currentDateAndTimeGPS();
1041	eph._receptStaID = _staID;
1042
1043	GETBITS(i, 6)
1044	eph._prn.set('G', i);
1045	GETBITS(week, 10)
1046	GETBITS(i, 4)
1047	eph._ura = accuracyFromIndex(i, eph.type());
1048	GETBITS(eph._L2Codes, 2)
1049	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1050	GETBITS(eph._IODE, 8)
1051	GETBITS(i, 16)
1052	i <<= 4;
1053	eph._TOC.set(i * 1000);
1054	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1055	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1056	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1057	GETBITS(eph._IODC, 10)
1058	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1059	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1060	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1061	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1062	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1063	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1064	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1065	if (eph._sqrt_A < 1000.0) {
1066	#ifdef BNC_DEBUG_BCEP
1067	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1068	.arg(_staID).arg(1019,4).arg(eph._prn.toString().c_str())
1069	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1070	#endif
1071	return false;
1072	}
1073	GETBITS(i, 16)
1074	i <<= 4;
1075	eph._TOEsec = i;
1076	bncTime t;
1077	t.set(i * 1000);
1078	eph._TOEweek = t.gpsw();
1079	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1080	week += (numOfRollOvers * 1024);
1081	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1082	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1083	return false;
1084	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1085	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1086	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1087	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1088	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1089	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1090	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1091	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1092	GETBITS(eph._health, 6)
1093	GETBITS(eph._L2PFlag, 1)
1094	GETBITS(fitIntervalFalg, 1)
1095	eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.type());
1096	eph._TOT = 0.9999e9;
1097	eph._navType = t_eph::LNAV;
1098
1099	emit newGPSEph(eph);
1100	decoded = true;
1101	}
1102	return decoded;
1103	}
1104
1105	//
1106	////////////////////////////////////////////////////////////////////////////
1107	bool RTCM3Decoder::DecodeGLONASSEphemeris(unsigned char* data, int size) {
1108	bool decoded = false;
1109
1110	if (size == 51) {
1111	t_ephGlo eph;
1112	int sv, i, tk;
1113	uint64_t numbits = 0, bitfield = 0;
1114
1115	data += 3; /* header */
1116	size -= 6; /* header + crc */
1117	SKIPBITS(12)
1118
1119	eph._receptDateTime = currentDateAndTimeGPS();
1120	eph._receptStaID = _staID;
1121
1122	eph._flags_unknown = true;
1123
1124	GETBITS(sv, 6)
1125	eph._prn.set('R', sv);
1126
1127	GETBITS(i, 5)
1128	eph._frequency_number = i - 7;
1129	GETBITS(eph._almanac_health, 1) /* almanac healthy */
1130	GETBITS(eph._almanac_health_availablility_indicator, 1) /* almanac health ok */
1131	/*
1132	if (eph._almanac_health_availablility_indicator == 0.0) {
1133	#ifdef BNC_DEBUG_BCEP
1134	emit(newMessage(QString("%1: Block %2 (%3): ALM = %4: missing data!")
1135	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str())
1136	.arg(eph._almanac_health_availablility_indicator).toLatin1(), true));
1137	#endif
1138	return false;
1139	}
1140	*/
1141	GETBITS(eph._P1, 2) /* P1 */
1142	GETBITS(i, 5)
1143	tk = i * 60 * 60;
1144	GETBITS(i, 6)
1145	tk += i * 60;
1146	GETBITS(i, 1)
1147	tk += i * 30;
1148	eph._tki = tk - 36060;
1149	if(eph._tki < 0.0) {
1150	eph._tki += 86400.0;
1151	}
1152	GETBITS(eph._health, 1) /* MSB of Bn*/
1153	GETBITS(eph._P2, 1) /* P2 */
1154	GETBITS(i, 7)
1155	eph._TOC.setTk(i * 15 * 60 * 1000); /* tb */
1156
1157	GETFLOATSIGNM(eph._x_velocity, 24, 1.0 / (double )(1 << 20))
1158	GETFLOATSIGNM(eph._x_pos, 27, 1.0 / (double )(1 << 11))
1159	GETFLOATSIGNM(eph._x_acceleration, 5, 1.0 / (double )(1 << 30))
1160	GETFLOATSIGNM(eph._y_velocity, 24, 1.0 / (double )(1 << 20))
1161	GETFLOATSIGNM(eph._y_pos, 27, 1.0 / (double )(1 << 11))
1162	GETFLOATSIGNM(eph._y_acceleration, 5, 1.0 / (double )(1 << 30))
1163	GETFLOATSIGNM(eph._z_velocity, 24, 1.0 / (double )(1 << 20))
1164	GETFLOATSIGNM(eph._z_pos, 27, 1.0 / (double )(1 << 11))
1165	GETFLOATSIGNM(eph._z_acceleration, 5, 1.0 / (double )(1 << 30))
1166	GETBITS(eph._P3, 1) /* P3 */
1167	GETFLOATSIGNM(eph._gamma, 11, 1.0 / (double )(1 << 30) / (double )(1 << 10))
1168	GETBITS(eph._M_P, 2) /* GLONASS-M P, */
1169	GETBITS(eph._M_l3, 1) /* GLONASS-M ln (third string) */
1170	GETFLOATSIGNM(eph._tau, 22, 1.0 / (double )(1 << 30)) /* GLONASS tau n(tb) */
1171	GETFLOATSIGNM(eph._M_delta_tau, 5, 1.0 / (double )(1 << 30)) /* GLONASS-M delta tau n(tb) */
1172	GETBITS(eph._E, 5)
1173	GETBITS(eph._M_P4, 1) /* GLONASS-M P4 */
1174	GETBITS(eph._M_FT, 4) /* GLONASS-M Ft */
1175	GETBITS(eph._M_NT, 11) /* GLONASS-M Nt */
1176	if (eph._M_NT == 0.0) {
1177	#ifdef BNC_DEBUG_BCEP
1178	emit(newMessage(QString("%1: Block %2 (%3): NT = %4: missing data!")
1179	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).arg(eph._M_NT,4).toLatin1(), true));
1180	#endif
1181	return false;
1182	}
1183	GETBITS(eph._M_M, 2) /* GLONASS-M M */
1184	GETBITS(eph._additional_data_availability, 1) /* GLONASS-M The Availability of Additional Data */
1185	if (eph._additional_data_availability == 0.0) {
1186	#ifdef BNC_DEBUG_BCEP
1187	emit(newMessage(QString("%1: Block %2 (%3): ADD = %4: missing data!")
1188	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str())
1189	.arg(eph._additional_data_availability).toLatin1(), true));
1190	#endif
1191	return false;
1192	}
1193	GETBITS(eph._NA, 11) /* GLONASS-M Na */
1194	GETFLOATSIGNM(eph._tauC, 32, 1.0/(double)(1<<30)/(double)(1<<1)) /* GLONASS tau c */
1195	GETBITS(eph._M_N4, 5) /* GLONASS-M N4 */
1196	GETFLOATSIGNM(eph._M_tau_GPS, 22, 1.0/(double)(1<<30)) /* GLONASS-M tau GPS */
1197	GETBITS(eph._M_l5, 1) /* GLONASS-M ln (fifth string) */
1198
1199	unsigned year, month, day;
1200	eph._TOC.civil_date(year, month, day);
1201	eph._gps_utc = gnumleap(year, month, day);
1202	eph._tt = eph._TOC;
1203
1204	eph._xv(1) = eph._x_pos * 1.e3;
1205	eph._xv(2) = eph._y_pos * 1.e3;
1206	eph._xv(3) = eph._z_pos * 1.e3;
1207	if (eph._xv.Rows(1,3).NormFrobenius() < 1.0) {
1208	#ifdef BNC_DEBUG_BCEP
1209	emit(newMessage(QString("%1: Block %2 (%3): zero position!")
1210	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
1211	#endif
1212	return false;
1213	}
1214	eph._xv(4) = eph._x_velocity * 1.e3;
1215	eph._xv(5) = eph._y_velocity * 1.e3;
1216	eph._xv(6) = eph._z_velocity * 1.e3;
1217	if (eph._xv.Rows(4,6).NormFrobenius() < 1.0) {
1218	#ifdef BNC_DEBUG_BCEP
1219	emit(newMessage(QString("%1: Block %2 (%3): zero velocity!")
1220	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
1221	#endif
1222	return false;
1223	}
1224	GLOFreq[sv - 1] = 100 + eph._frequency_number ; /* store frequency for other users (MSM) */
1225	_gloFrq = QString("%1 %2").arg(eph._prn.toString().c_str()).arg(eph._frequency_number, 2, 'f', 0);
1226
1227	eph._navType = t_eph::FDMA;
1228
1229	emit newGlonassEph(eph);
1230	decoded = true;
1231	}
1232	return decoded;
1233	}
1234
1235	//
1236	////////////////////////////////////////////////////////////////////////////
1237	bool RTCM3Decoder::DecodeQZSSEphemeris(unsigned char* data, int size) {
1238	bool decoded = false;
1239
1240	if (size == 67) {
1241	t_ephGPS eph;
1242	int i, week;
1243	uint64_t numbits = 0, bitfield = 0;
1244	int fitIntervalFalg = 0;
1245
1246	data += 3; /* header */
1247	size -= 6; /* header + crc */
1248	SKIPBITS(12)
1249
1250	eph._receptDateTime = currentDateAndTimeGPS();
1251	eph._receptStaID = _staID;
1252
1253	GETBITS(i, 4)
1254	eph._prn.set('J', i);
1255
1256	GETBITS(i, 16)
1257	i <<= 4;
1258	eph._TOC.set(i * 1000);
1259
1260	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1261	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1262	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1263	GETBITS(eph._IODE, 8)
1264	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1265	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1266	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1267	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1268	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1269	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1270	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1271	if (eph._sqrt_A < 1000.0) {
1272	#ifdef BNC_DEBUG_BCEP
1273	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1274	.arg(_staID).arg(1044,4).arg(eph._prn.toString().c_str())
1275	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1276	#endif
1277	return false;
1278	}
1279	GETBITS(i, 16)
1280	i <<= 4;
1281	eph._TOEsec = i;
1282	bncTime t;
1283	t.set(i*1000);
1284	eph._TOEweek = t.gpsw();
1285	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1286	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1287	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1288	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1289	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1290	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1291	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1292	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1293	GETBITS(eph._L2Codes, 2)
1294	GETBITS(week, 10)
1295	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1296	week += (numOfRollOvers * 1024);
1297	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1298	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1299	return false;
1300
1301	GETBITS(i, 4)
1302	if (i <= 6)
1303	eph._ura = ceil(10.0 * pow(2.0, 1.0 + i / 2.0)) / 10.0;
1304	else
1305	eph._ura = ceil(10.0 * pow(2.0, i / 2.0)) / 10.0;
1306	GETBITS(eph._health, 6)
1307	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1308	GETBITS(eph._IODC, 10)
1309	GETBITS(fitIntervalFalg, 1)
1310	eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.type());
1311	eph._TOT = 0.9999e9;
1312	eph._navType = t_eph::LNAV;
1313
1314	emit newGPSEph(eph);
1315	decoded = true;
1316	}
1317	return decoded;
1318	}
1319
1320	//
1321	////////////////////////////////////////////////////////////////////////////
1322	bool RTCM3Decoder::DecodeIRNSSEphemeris(unsigned char* data, int size) {
1323	bool decoded = false;
1324
1325	if (size == 67) {
1326	t_ephGPS eph;
1327	int i, week, L5Flag, SFlag;
1328	uint64_t numbits = 0, bitfield = 0;
1329
1330	data += 3; /* header */
1331	size -= 6; /* header + crc */
1332	SKIPBITS(12)
1333
1334	eph._receptDateTime = currentDateAndTimeGPS();
1335	eph._receptStaID = _staID;
1336
1337	GETBITS(i, 6)
1338	eph._prn.set('I', i);
1339	GETBITS(week, 10)
1340	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1341	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1342	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1343	GETBITS(i, 4)
1344	eph._ura = accuracyFromIndex(i, eph.type());
1345	GETBITS(i, 16)
1346	i <<= 4;
1347	eph._TOC.set(i * 1000);
1348	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1349	GETFLOATSIGN(eph._Delta_n, 22, R2R_PI/(double)(1<<30)/(double)(1 << 11))
1350	// IODCE
1351	GETBITS(eph._IODE, 8)
1352	eph._IODC = eph._IODE;
1353	SKIPBITS(10)
1354	GETBITS(L5Flag, 1)
1355	GETBITS(SFlag, 1)
1356	if (L5Flag == 0 && SFlag == 0) {
1357	eph._health = 0.0;
1358	}
1359	else if (L5Flag == 0 && SFlag == 1) {
1360	eph._health = 1.0;
1361	}
1362	else if (L5Flag == 1 && SFlag == 0) {
1363	eph._health = 2.0;
1364	}
1365	else if (L5Flag == 1 && SFlag == 1) {
1366	eph._health = 3.0;
1367	}
1368	GETFLOATSIGN(eph._Cuc, 15, 1.0 / (double )(1 << 28))
1369	GETFLOATSIGN(eph._Cus, 15, 1.0 / (double )(1 << 28))
1370	GETFLOATSIGN(eph._Cic, 15, 1.0 / (double )(1 << 28))
1371	GETFLOATSIGN(eph._Cis, 15, 1.0 / (double )(1 << 28))
1372	GETFLOATSIGN(eph._Crc, 15, 1.0 / (double )(1 << 4))
1373	GETFLOATSIGN(eph._Crs, 15, 1.0 / (double )(1 << 4))
1374	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1375	SKIPBITS(2)
1376	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1377	GETBITS(i, 16)
1378	i <<= 4;
1379	eph._TOEsec = i;
1380	bncTime t;
1381	t.set(i * 1000);
1382	eph._TOEweek = t.gpsw();
1383	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1384	week += (numOfRollOvers * 1024);
1385	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1386	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1387	return false;
1388	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1389	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1390	if (eph._sqrt_A < 1000.0) {
1391	#ifdef BNC_DEBUG_BCEP
1392	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1393	.arg(_staID).arg(1041,4).arg(eph._prn.toString().c_str())
1394	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1395	#endif
1396	return false;
1397	}
1398	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1399	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1400	GETFLOATSIGN(eph._OMEGADOT, 22, R2R_PI/(double)(1<<30)/(double)(1<<11))
1401	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1402	SKIPBITS(2)
1403	eph._TOT = 0.9999e9;
1404	eph._navType = t_eph::LNAV;
1405
1406	emit newGPSEph(eph);
1407	decoded = true;
1408	}
1409	return decoded;
1410	}
1411
1412	//
1413	////////////////////////////////////////////////////////////////////////////
1414	bool RTCM3Decoder::DecodeSBASEphemeris(unsigned char* data, int size) {
1415	bool decoded = false;
1416
1417	if (size == 35) {
1418	t_ephSBAS eph;
1419	int i;
1420	uint64_t numbits = 0, bitfield = 0;
1421
1422	data += 3; /* header */
1423	size -= 6; /* header + crc */
1424	SKIPBITS(12)
1425
1426	eph._receptDateTime = currentDateAndTimeGPS();
1427	eph._receptStaID = _staID;
1428
1429	GETBITS(i, 6)
1430	eph._prn.set('S', 20 + i);
1431	GETBITS(eph._IODN, 8)
1432	GETBITS(i, 13)
1433	i <<= 4;
1434	eph._TOC.setTOD(i * 1000);
1435	GETBITS(i, 4)
1436	eph._ura = accuracyFromIndex(i, eph.type());
1437	GETFLOATSIGN(eph._x_pos, 30, 0.08)
1438	GETFLOATSIGN(eph._y_pos, 30, 0.08)
1439	GETFLOATSIGN(eph._z_pos, 25, 0.4)
1440	ColumnVector pos(3);
1441	pos(1) = eph._x_pos; pos(2) = eph._y_pos; pos(3) = eph._z_pos;
1442	if (pos.NormFrobenius() < 1.0) {
1443	#ifdef BNC_DEBUG_BCEP
1444	emit(newMessage(QString("%1: Block %2 (%3): zero position!")
1445	.arg(_staID).arg(1043,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
1446	#endif
1447	return false;
1448	}
1449	GETFLOATSIGN(eph._x_velocity, 17, 0.000625)
1450	GETFLOATSIGN(eph._y_velocity, 17, 0.000625)
1451	GETFLOATSIGN(eph._z_velocity, 18, 0.004)
1452	GETFLOATSIGN(eph._x_acceleration, 10, 0.0000125)
1453	GETFLOATSIGN(eph._y_acceleration, 10, 0.0000125)
1454	GETFLOATSIGN(eph._z_acceleration, 10, 0.0000625)
1455	GETFLOATSIGN(eph._agf0, 12, 1.0 / (1 << 30) / (1 << 1))
1456	GETFLOATSIGN(eph._agf1, 8, 1.0 / (1 << 30) / (1 << 10))
1457
1458	eph._TOT = 0.9999E9;
1459	eph._health = 0;
1460	eph._navType = t_eph::SBASL1;
1461
1462	emit newSBASEph(eph);
1463	decoded = true;
1464	}
1465	return decoded;
1466	}
1467
1468	//
1469	////////////////////////////////////////////////////////////////////////////
1470	bool RTCM3Decoder::DecodeGalileoEphemeris(unsigned char* data, int size) {
1471	bool decoded = false;
1472	uint64_t numbits = 0, bitfield = 0;
1473	int i;
1474
1475	data += 3; /* header */
1476	size -= 6; /* header + crc */
1477	GETBITS(i, 12)
1478
1479	if ((i == 1046 && size == 61) \|\| (i == 1045 && size == 60)) {
1480	t_ephGal eph;
1481
1482	eph._receptDateTime = currentDateAndTimeGPS();
1483	eph._receptStaID = _staID;
1484
1485	eph._inav = (i == 1046);
1486	eph._fnav = (i == 1045);
1487	GETBITS(i, 6)
1488	eph._prn.set('E', i, eph._inav ? 1 : 0);
1489
1490	GETBITS(eph._TOEweek, 12) //FIXME: roll-over after week 4095!!
1491	GETBITS(eph._IODnav, 10)
1492	GETBITS(i, 8)
1493	eph._SISA = accuracyFromIndex(i, eph.type());
1494	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1495	GETBITSFACTOR(i, 14, 60)
1496	eph._TOC.set(1024 + eph._TOEweek, i);
1497	GETFLOATSIGN(eph._clock_driftrate, 6, 1.0 / (double )(1 << 30) / (double )(1 << 29))
1498	GETFLOATSIGN(eph._clock_drift, 21, 1.0 / (double )(1 << 30) / (double )(1 << 16))
1499	GETFLOATSIGN(eph._clock_bias, 31, 1.0 / (double )(1 << 30) / (double )(1 << 4))
1500	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1501	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1502	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1503	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1504	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1505	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1506	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1507	GETBITSFACTOR(eph._TOEsec, 14, 60)
1508	/* FIXME: overwrite value, copied from old code */
1509	eph._TOEsec = eph._TOC.gpssec();
1510	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1511	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1512	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1513	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1514	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1515	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1516	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1517	GETFLOATSIGN(eph._BGD_1_5A, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
1518	if (eph._inav) {
1519	/* set unused F/NAV values */
1520	eph._E5aHS = 0.0;
1521	eph._e5aDataInValid = false;
1522
1523	GETFLOATSIGN(eph._BGD_1_5B, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
1524	GETBITS(eph._E5bHS, 2)
1525	GETBITS(eph._e5bDataInValid, 1)
1526	GETBITS(eph._E1_bHS, 2)
1527	GETBITS(eph._e1DataInValid, 1)
1528	if (eph._E5bHS != eph._E1_bHS) {
1529	#ifdef BNC_DEBUG_BCEP
1530	emit(newMessage(QString("%1: Block %2 (%3) SHS E5b %4 E1B %5: inconsistent health!")
1531	.arg(_staID).arg(1046,4).arg(eph._prn.toString().c_str())
1532	.arg(eph._E5bHS).arg(eph._E1_bHS).toLatin1(), true));
1533	#endif
1534	return false;
1535	}
1536	if ((eph._BGD_1_5A == 0.0 && fabs(eph._BGD_1_5B) > 1e-9) \|\|
1537	(eph._BGD_1_5B == 0.0 && fabs(eph._BGD_1_5A) > 1e-9)) {
1538	#ifdef BNC_DEBUG_BCEP
1539	emit(newMessage(QString("%1: Block %2 (%3) BGD_15a = %4 BGD_15b = %5: inconsistent BGD!")
1540	.arg(_staID).arg(1046,4).arg(eph._prn.toString().c_str())
1541	.arg(eph._BGD_1_5A,10,'E',3).arg(eph._BGD_1_5B,10,'E',3).toLatin1(), true));
1542	#endif
1543	return false;
1544	}
1545	eph._navType = t_eph::INAF;
1546	}
1547	else {
1548	/* set unused I/NAV values */
1549	eph._BGD_1_5B = 0.0;
1550	eph._E5bHS = 0.0;
1551	eph._E1_bHS = 0.0;
1552	eph._e1DataInValid = false;
1553	eph._e5bDataInValid = false;
1554
1555	GETBITS(eph._E5aHS, 2)
1556	GETBITS(eph._e5aDataInValid, 1)
1557	eph._navType = t_eph::FNAV;
1558	}
1559	eph._TOT = 0.9999e9;
1560
1561	if (eph._sqrt_A < 1000.0) {
1562	#ifdef BNC_DEBUG_BCEP
1563	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1564	.arg(_staID).arg(eph._inav? 1046 : 1045,4).arg(eph._prn.toString().c_str())
1565	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1566	#endif
1567	return false;
1568	}
1569
1570	emit newGalileoEph(eph);
1571	decoded = true;
1572	}
1573	return decoded;
1574	}
1575
1576	//
1577	////////////////////////////////////////////////////////////////////////////
1578	bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size) {
1579	bool decoded = false;
1580	const double iMaxGEO = 10.0 / 180.0 * M_PI;
1581
1582	if (size == 70) {
1583	t_ephBDS eph;
1584	int i;
1585	uint64_t numbits = 0, bitfield = 0;
1586
1587	data += 3; /* header */
1588	size -= 6; /* header + crc */
1589	SKIPBITS(12)
1590
1591	eph._receptDateTime = currentDateAndTimeGPS();
1592	eph._receptStaID = _staID;
1593
1594	GETBITS(i, 6)
1595	eph._prn.set('C', i);
1596
1597	GETBITS(eph._BDTweek, 13)
1598	GETBITS(i, 4)
1599	eph._URA = accuracyFromIndex(i, eph.type());
1600	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1601	GETBITS(eph._AODE, 5)
1602	GETBITS(i, 17)
1603	i <<= 3;
1604	eph._TOC.setBDS(eph._BDTweek, i);
1605	GETFLOATSIGN(eph._clock_driftrate, 11, 1.0 / (double )(1 << 30) / (double )(1 << 30) / (double )(1 << 6))
1606	GETFLOATSIGN(eph._clock_drift, 22, 1.0 / (double )(1 << 30) / (double )(1 << 20))
1607	GETFLOATSIGN(eph._clock_bias, 24, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1608	GETBITS(eph._AODC, 5)
1609	GETFLOATSIGN(eph._Crs, 18, 1.0 / (double )(1 << 6))
1610	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1611	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1612	GETFLOATSIGN(eph._Cuc, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1613	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1614	GETFLOATSIGN(eph._Cus, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1615	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1616	if (eph._sqrt_A < 1000.0) {
1617	#ifdef BNC_DEBUG_BCEP
1618	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1619	.arg(_staID).arg(1042,4).arg(eph._prn.toString().c_str())
1620	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1621	#endif
1622	return false;
1623	}
1624	GETBITS(i, 17)
1625	i <<= 3;
1626	eph._TOEsec = i;
1627	eph._TOE.setBDS(eph._BDTweek, i);
1628	GETFLOATSIGN(eph._Cic, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1629	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1630	GETFLOATSIGN(eph._Cis, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1631	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1632	GETFLOATSIGN(eph._Crc, 18, 1.0 / (double )(1 << 6))
1633	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1634	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1635	GETFLOATSIGN(eph._TGD1, 10, 0.0000000001)
1636	GETFLOATSIGN(eph._TGD2, 10, 0.0000000001)
1637	GETBITS(eph._SatH1, 1)
1638
1639	eph._TOT = 0.9999E9;
1640	if (eph._i0 > iMaxGEO) {
1641	eph._navType = t_eph::D1;
1642	}
1643	else {
1644	eph._navType = t_eph::D2;
1645	}
1646
1647	emit newBDSEph(eph);
1648	decoded = true;
1649	}
1650	return decoded;
1651	}
1652
1653	//
1654	////////////////////////////////////////////////////////////////////////////
1655	bool RTCM3Decoder::DecodeAntennaReceiver(unsigned char* data, int size) {
1656	char *antenna;
1657	char *antserialnum;
1658	char *receiver;
1659	char *recfirmware;
1660	char *recserialnum;
1661	int type;
1662	int antsernum = -1;
1663	int antnum = -1;
1664	int recnum = -1;
1665	int recsernum = -1;
1666	int recfirnum = -1;
1667	uint64_t numbits = 0, bitfield = 0;
1668
1669	data += 3; /* header*/
1670	size -= 6; /* header + crc */
1671
1672	GETBITS(type, 12)
1673	SKIPBITS(12) /* reference station ID */
1674	GETSTRING(antnum, antenna)
1675	if ((antnum > -1 && antnum < 265) &&
1676	(_antType.empty() \|\| strncmp(_antType.back().descriptor, antenna, recnum) != 0)) {
1677	_antType.push_back(t_antInfo());
1678	memcpy(_antType.back().descriptor, antenna, antnum);
1679	_antType.back().descriptor[antnum] = 0;
1680	}
1681	SKIPBITS(8) /* antenna setup ID */
1682	if (type == 1008 \|\| type == 1033 ) {
1683	GETSTRING(antsernum, antserialnum)
1684	if ((antsernum > -1 && antsernum < 265)) {
1685	memcpy(_antType.back().serialnumber, antserialnum, antsernum);
1686	_antType.back().serialnumber[antsernum] = 0;
1687	}
1688	}
1689
1690	if (type == 1033) {
1691	GETSTRING(recnum, receiver)
1692	GETSTRING(recfirnum, recfirmware)
1693	GETSTRING(recsernum, recserialnum)
1694	if ((recnum > -1 && recnum < 265) &&
1695	(_recType.empty() \|\| strncmp(_recType.back().descriptor, receiver, recnum) != 0)) {
1696	_recType.push_back(t_recInfo());
1697	memcpy(_recType.back().descriptor, receiver, recnum);
1698	_recType.back().descriptor[recnum] = 0;
1699	if (recfirnum > -1 && recfirnum < 265) {
1700	memcpy(_recType.back().firmware, recfirmware, recfirnum);
1701	_recType.back().firmware[recfirnum] = 0;
1702	}
1703	if (recsernum > -1 && recsernum < 265) {
1704	memcpy(_recType.back().serialnumber, recserialnum, recsernum);
1705	_recType.back().serialnumber[recsernum] = 0;
1706	}
1707	}
1708	}
1709	return true;
1710	}
1711
1712	//
1713	////////////////////////////////////////////////////////////////////////////
1714	bool RTCM3Decoder::DecodeAntennaPosition(unsigned char* data, int size) {
1715	int type;
1716	uint64_t numbits = 0, bitfield = 0;
1717	double x, y, z;
1718
1719	data += 3; /* header */
1720	size -= 6; /* header + crc */
1721
1722	GETBITS(type, 12)
1723	_antList.push_back(t_antRefPoint());
1724	_antList.back().type = t_antRefPoint::ARP;
1725	SKIPBITS(22)
1726	GETBITSSIGN(x, 38)
1727	_antList.back().xx = x * 1e-4;
1728	SKIPBITS(2)
1729	GETBITSSIGN(y, 38)
1730	_antList.back().yy = y * 1e-4;
1731	SKIPBITS(2)
1732	GETBITSSIGN(z, 38)
1733	_antList.back().zz = z * 1e-4;
1734	if (type == 1006) {
1735	double h;
1736	GETBITS(h, 16)
1737	_antList.back().height = h * 1e-4;
1738	_antList.back().height_f = true;
1739	}
1740	_antList.back().message = type;
1741
1742	return true;
1743	}
1744
1745	//
1746	////////////////////////////////////////////////////////////////////////////
1747	bool RTCM3Decoder::DecodeServiceCRS(unsigned char* data, int size) {
1748	t_serviceCrs serviceCrs;
1749	int servicecrsnum = -1;
1750
1751	uint64_t numbits = 0, bitfield = 0;
1752
1753	data += 3; // header
1754	size -= 6; // header + crc
1755
1756	SKIPBITS(12) // Message Number
1757
1758	GETBITS(servicecrsnum, 5)
1759	if (servicecrsnum > -1 && servicecrsnum <= 31) {
1760	for(int i = 0; i < servicecrsnum; i++) {
1761	GETBITS(serviceCrs._name[i], 8);
1762	}
1763	serviceCrs._name[servicecrsnum] = 0;
1764	}
1765	if (_serviceCrs.empty() \|\|
1766	(strncmp(_serviceCrs.back()._name, serviceCrs._name, servicecrsnum) != 0)) {
1767	_serviceCrs.push_back(serviceCrs);
1768	GETFLOAT(_serviceCrs.back()._CE, 16, 1/100.0)
1769	_serviceCrs.back().setCoordinateEpochFromCE();
1770	_serviceCrs.back().print();
1771	}
1772	return true;
1773
1774	}
1775
1776	//
1777	////////////////////////////////////////////////////////////////////////////
1778	bool RTCM3Decoder::DecodeRTCMCRS(unsigned char* data, int size) {
1779
1780	t_rtcmCrs rtcmCrs;
1781	int rtcmcrsnum = -1;
1782
1783	uint64_t numbits = 0, bitfield = 0;
1784
1785	data += 3; // header
1786	size -= 6; // header + crc
1787
1788	SKIPBITS(12) // Message Number
1789	GETBITS(rtcmcrsnum, 5)
1790	if (rtcmcrsnum > -1 && rtcmcrsnum <= 31) {
1791	for(int i = 0; i < rtcmcrsnum; i++) {
1792	GETBITS(rtcmCrs._name[i], 8);
1793	}
1794	rtcmCrs._name[rtcmcrsnum] = 0;
1795	}
1796	if (_rtcmCrs.empty() \|\|
1797	(strncmp(_rtcmCrs.back()._name, rtcmCrs._name, rtcmcrsnum) != 0)) {
1798	_rtcmCrs.push_back(rtcmCrs);
1799
1800	GETBITS(_rtcmCrs.back()._anchor, 1)
1801	GETBITS(_rtcmCrs.back()._plateNumber, 5)
1802
1803	int dblinksnum = 0;
1804	GETBITS(dblinksnum, 3)
1805	for (int i = 0; i < dblinksnum; i++) {
1806	int dblinknum = -1;
1807	char dblinkname[31];
1808	GETBITS(dblinknum, 5)
1809	if (dblinknum > -1 && dblinknum <= 31) {
1810	for(int i = 0; i < dblinknum; i++) {
1811	GETBITS(dblinkname[i], 8);
1812	}
1813	dblinkname[dblinknum] = 0;
1814	_rtcmCrs.back()._databaseLinks.append(QString("%1").arg(dblinkname));
1815	}
1816	}
1817	_rtcmCrs.back().print();
1818	}
1819
1820	return true;
1821	}
1822
1823
1824	////////////////////////////////////////////////////////////////////////////
1825	bool RTCM3Decoder::DecodeHelmertTrafoParameters(unsigned char* data, int size) {
1826
1827	t_helmertPar helmertPar;
1828	int sourcenum = -1;
1829	int targetnum = -1;
1830
1831	uint64_t numbits = 0, bitfield = 0;
1832	data += 3; // header
1833	size -= 6; // header + crc
1834
1835	SKIPBITS(12) // Message Number
1836	GETBITS(sourcenum, 5)
1837	if (sourcenum > -1 && sourcenum <= 31) {
1838	for(int i = 0; i < sourcenum; i++) {
1839	GETBITS(helmertPar._sourceName[i], 8);
1840	}
1841	helmertPar._sourceName[sourcenum] = 0;
1842	}
1843	GETBITS(targetnum, 5)
1844	if (targetnum > -1 && targetnum <= 31) {
1845	for(int i = 0; i < targetnum; i++) {
1846	GETBITS(helmertPar._targetName[i], 8);
1847	}
1848	helmertPar._targetName[targetnum] = 0;
1849	}
1850	GETBITS(helmertPar._sysIdentNum, 8)
1851	GETBITS(helmertPar._utilTrafoMessageIndicator, 10)
1852	int mjd;
1853	GETBITS(mjd, 16)
1854	helmertPar._t0 = mjd + 44244;
1855
1856	// delete old parameter entries if available
1857	if (!_helmertPar.empty()) {
1858	QList<t_helmertPar>::iterator it = _helmertPar.begin();
1859	while (it != _helmertPar.end()) {
1860	(helmertPar == *it) ? it = _helmertPar.erase(it) : ++it;
1861	}
1862	}
1863	_helmertPar.push_back(helmertPar);
1864
1865	GETFLOATSIGN(_helmertPar.back()._dx, 23, 0.001)
1866	GETFLOATSIGN(_helmertPar.back()._dy, 23, 0.001)
1867	GETFLOATSIGN(_helmertPar.back()._dz, 23, 0.001)
1868	GETFLOATSIGN(_helmertPar.back()._ox, 32, 0.00002)
1869	GETFLOATSIGN(_helmertPar.back()._oy, 32, 0.00002)
1870	GETFLOATSIGN(_helmertPar.back()._oz, 32, 0.00002)
1871	GETFLOATSIGN(_helmertPar.back()._sc, 25, 0.00001)
1872	GETFLOATSIGN(_helmertPar.back()._dxr, 17, 0.00002)
1873	GETFLOATSIGN(_helmertPar.back()._dyr, 17, 0.00002)
1874	GETFLOATSIGN(_helmertPar.back()._dzr, 17, 0.00002)
1875	GETFLOATSIGN(_helmertPar.back()._oxr, 17, 0.0000004)
1876	GETFLOATSIGN(_helmertPar.back()._oyr, 17, 0.0000004)
1877	GETFLOATSIGN(_helmertPar.back()._ozr, 17, 0.0000004)
1878	GETFLOATSIGN(_helmertPar.back()._scr, 14, 0.0000002)
1879
1880	_helmertPar.back().print();
1881
1882	return true;
1883	}
1884
1885
1886	//
1887	////////////////////////////////////////////////////////////////////////////
1888	t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
1889	bool decoded = false;
1890
1891	errmsg.clear();
1892
1893	while (bufLen && _MessageSize < sizeof(_Message)) {
1894	int l = sizeof(_Message) - _MessageSize;
1895	if (l > bufLen)
1896	l = bufLen;
1897	memcpy(_Message + _MessageSize, buffer, l);
1898	_MessageSize += l;
1899	bufLen -= l;
1900	buffer += l;
1901	int id;
1902	while ((id = GetMessage())) {
1903	/* reset station ID for file loading as it can change */
1904	if (_rawFile)
1905	_staID = _rawFile->staID();
1906	/* store the id into the list of loaded blocks */
1907	_typeList.push_back(id);
1908
1909	/* SSR I+II data handled in another function, already pass the
1910	* extracted data block. That does no harm, as it anyway skip everything
1911	* else. */
1912	if ((id >= 1057 && id <= 1068) \|\|
1913	(id >= 1240 && id <= 1270) \|\|
1914	(id == 4076)) {
1915	if (!_coDecoders.contains(_staID.toLatin1())) {
1916	_coDecoders[_staID.toLatin1()] = new RTCM3coDecoder(_staID);
1917	if (id == 4076) {
1918	_coDecoders[_staID.toLatin1()]->initSsrFormatType(RTCM3coDecoder::IGSssr);
1919	}
1920	else {
1921	_coDecoders[_staID.toLatin1()]->initSsrFormatType(RTCM3coDecoder::RTCMssr);
1922	}
1923	}
1924	RTCM3coDecoder* coDecoder = _coDecoders[_staID.toLatin1()];
1925	if (coDecoder->Decode(reinterpret_cast<char *>(_Message), _BlockSize, errmsg) == success) {
1926	decoded = true;
1927	}
1928	}
1929	else if (id >= 1070 && id <= 1237) { /* MSM */
1930	if (DecodeRTCM3MSM(_Message, _BlockSize))
1931	decoded = true;
1932	}
1933	else {
1934	switch (id) {
1935	case 1001:
1936	case 1003:
1937	#ifdef BNC_DEBUG_OBS
1938	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
1939	.arg(_staID).arg(id).toLatin1(), true));
1940	#endif
1941	break; /* no use decoding partial data ATM, remove break when data can be used */
1942	case 1002:
1943	case 1004:
1944	if (DecodeRTCM3GPS(_Message, _BlockSize))
1945	decoded = true;
1946	break;
1947	case 1009:
1948	case 1011:
1949	#ifdef BNC_DEBUG_OBS
1950	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
1951	.arg(_staID).arg(id).toLatin1(), true));
1952	#endif
1953	break; /* no use decoding partial data ATM, remove break when data can be used */
1954	case 1010:
1955	case 1012:
1956	if (DecodeRTCM3GLONASS(_Message, _BlockSize))
1957	decoded = true;
1958	break;
1959	case 1019:
1960	if (DecodeGPSEphemeris(_Message, _BlockSize))
1961	decoded = true;
1962	break;
1963	case 1020:
1964	if (DecodeGLONASSEphemeris(_Message, _BlockSize))
1965	decoded = true;
1966	break;
1967	case 1043:
1968	if (DecodeSBASEphemeris(_Message, _BlockSize))
1969	decoded = true;
1970	break;
1971	case 1044:
1972	if (DecodeQZSSEphemeris(_Message, _BlockSize))
1973	decoded = true;
1974	break;
1975	case 1041:
1976	if (DecodeIRNSSEphemeris(_Message, _BlockSize))
1977	decoded = true;
1978	break;
1979	case 1045:
1980	case 1046:
1981	if (DecodeGalileoEphemeris(_Message, _BlockSize))
1982	decoded = true;
1983	break;
1984	case 1042:
1985	if (DecodeBDSEphemeris(_Message, _BlockSize))
1986	decoded = true;
1987	break;
1988	case 1007:
1989	case 1008:
1990	case 1033:
1991	DecodeAntennaReceiver(_Message, _BlockSize);
1992	break;
1993	case 1005:
1994	case 1006:
1995	DecodeAntennaPosition(_Message, _BlockSize);
1996	break;
1997	case 1300:
1998	DecodeServiceCRS(_Message, _BlockSize);
1999	break;
2000	case 1301:
2001	DecodeHelmertTrafoParameters(_Message, _BlockSize);
2002	break;
2003	case 1302:
2004	case 35:
2005	DecodeRTCMCRS(_Message, _BlockSize);
2006	break;
2007	}
2008	}
2009	}
2010	}
2011	/*
2012	for (int ii = 0; ii < _helmertParList.size(); ii++) {
2013	_helmertParList[ii].print();
2014	}*/
2015	return decoded ? success : failure;
2016	}
2017
2018	//
2019	////////////////////////////////////////////////////////////////////////////
2020	uint32_t RTCM3Decoder::CRC24(long size, const unsigned char *buf) {
2021	uint32_t crc = 0;
2022	int ii;
2023	while (size--) {
2024	crc ^= (*buf++) << (16);
2025	for (ii = 0; ii < 8; ii++) {
2026	crc <<= 1;
2027	if (crc & 0x1000000)
2028	crc ^= 0x01864cfb;
2029	}
2030	}
2031	return crc;
2032	}
2033
2034	//
2035	////////////////////////////////////////////////////////////////////////////
2036	int RTCM3Decoder::GetMessage(void) {
2037	unsigned char m, e;
2038	int i;
2039
2040	m = _Message + _SkipBytes;
2041	e = _Message + _MessageSize;
2042	_NeedBytes = _SkipBytes = 0;
2043	while (e - m >= 3) {
2044	if (m[0] == 0xD3) {
2045	_BlockSize = ((m[1] & 3) << 8) \| m[2];
2046	if (e - m >= static_cast<int>(_BlockSize + 6)) {
2047	if (static_cast<uint32_t>((m[3 + _BlockSize] << 16)
2048	\| (m[3 + _BlockSize + 1] << 8)
2049	\| (m[3 + _BlockSize + 2])) == CRC24(_BlockSize + 3, m)) {
2050	_BlockSize += 6;
2051	_SkipBytes = _BlockSize;
2052	break;
2053	}
2054	else
2055	++m;
2056	}
2057	else {
2058	_NeedBytes = _BlockSize;
2059	break;
2060	}
2061	}
2062	else
2063	++m;
2064	}
2065	if (e - m < 3)
2066	_NeedBytes = 3;
2067
2068	/* copy buffer to front */
2069	i = m - _Message;
2070	if (i && m < e)
2071	memmove(_Message, m, static_cast<size_t>(_MessageSize - i));
2072	_MessageSize -= i;
2073
2074	return !_NeedBytes ? ((_Message[3] << 4) \| (_Message[4] >> 4)) : 0;
2075	}
2076
2077	// Time of Corrections
2078	//////////////////////////////////////////////////////////////////////////////
2079	int RTCM3Decoder::corrGPSEpochTime() const {
2080	return
2081	_coDecoders.size() > 0 ?
2082	_coDecoders.begin().value()->corrGPSEpochTime() : -1;
2083	}

Note: See TracBrowser for help on using the repository browser.

Download in other formats: