source: ntrip/trunk/BNC/src/RTCM3/RTCM3Decoder.cpp@ 6222

Last change on this file since 6222 was 6151, checked in by mervart, 10 years ago
File size: 13.4 KB
Line 
1// Part of BNC, a utility for retrieving decoding and
2// converting GNSS data streams from NTRIP broadcasters.
3//
4// Copyright (C) 2007
5// German Federal Agency for Cartography and Geodesy (BKG)
6// http://www.bkg.bund.de
7// Czech Technical University Prague, Department of Geodesy
8// http://www.fsv.cvut.cz
9//
10// Email: euref-ip@bkg.bund.de
11//
12// This program is free software; you can redistribute it and/or
13// modify it under the terms of the GNU General Public License
14// as published by the Free Software Foundation, version 2.
15//
16// This program is distributed in the hope that it will be useful,
17// but WITHOUT ANY WARRANTY; without even the implied warranty of
18// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19// GNU General Public License for more details.
20//
21// You should have received a copy of the GNU General Public License
22// along with this program; if not, write to the Free Software
23// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25/* -------------------------------------------------------------------------
26 * BKG NTRIP Client
27 * -------------------------------------------------------------------------
28 *
29 * Class: RTCM3Decoder
30 *
31 * Purpose: RTCM3 Decoder
32 *
33 * Author: L. Mervart
34 *
35 * Created: 24-Aug-2006
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <iostream>
42#include <iomanip>
43#include <sstream>
44#include <math.h>
45#include <string.h>
46
47#include "RTCM3Decoder.h"
48#include "../RTCM/rtcm_utils.h"
49#include "bncconst.h"
50#include "bnccore.h"
51#include "bncutils.h"
52#include "bncsettings.h"
53
54using namespace std;
55
56#ifndef isinf
57# define isinf(x) 0
58#endif
59
60// Error Handling
61////////////////////////////////////////////////////////////////////////////
62void RTCM3Error(const char*, ...) {
63}
64
65// Constructor
66////////////////////////////////////////////////////////////////////////////
67RTCM3Decoder::RTCM3Decoder(const QString& staID, bncRawFile* rawFile) :
68 GPSDecoder() {
69
70 _staID = staID;
71 _rawFile = rawFile;
72
73 bncSettings settings;
74 _checkMountPoint = settings.value("miscMount").toString();
75
76 connect(this, SIGNAL(newGPSEph(gpsephemeris*)),
77 BNC_CORE, SLOT(slotNewGPSEph(gpsephemeris*)));
78 connect(this, SIGNAL(newGlonassEph(glonassephemeris*, const QString&)),
79 BNC_CORE, SLOT(slotNewGlonassEph(glonassephemeris*, const QString&)));
80 connect(this, SIGNAL(newGalileoEph(galileoephemeris*)),
81 BNC_CORE, SLOT(slotNewGalileoEph(galileoephemeris*)));
82
83 // Mode can be either observations or corrections
84 // ----------------------------------------------
85 _mode = unknown;
86
87 // Antenna position (used for decoding of message 1003)
88 // ----------------------------------------------------
89 _antXYZ[0] = _antXYZ[1] = _antXYZ[2] = 0;
90
91}
92
93// Destructor
94////////////////////////////////////////////////////////////////////////////
95RTCM3Decoder::~RTCM3Decoder() {
96 QMapIterator<QByteArray, RTCM3coDecoder*> it(_coDecoders);
97 while (it.hasNext()) {
98 it.next();
99 delete it.value();
100 }
101}
102
103//
104////////////////////////////////////////////////////////////////////////////
105t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
106
107 errmsg.clear();
108
109 bool decoded = false;
110
111 // If read from file, mode is always uknown
112 // ----------------------------------------
113 if (_rawFile) {
114 _mode = unknown;
115 _staID = _rawFile->staID();
116 }
117
118 // Try to decode Clock and Orbit Corrections
119 // -----------------------------------------
120 if (_mode == unknown || _mode == corrections) {
121
122 // Find the corresponding coDecoder
123 // --------------------------------
124 if (!_coDecoders.contains(_staID.toAscii())) {
125 _coDecoders[_staID.toAscii()] = new RTCM3coDecoder(_staID);
126 }
127 RTCM3coDecoder* coDecoder = _coDecoders[_staID.toAscii()];
128
129 if ( coDecoder->Decode(buffer, bufLen, errmsg) == success ) {
130 decoded = true;
131 if (!_rawFile && _mode == unknown) {
132 _mode = corrections;
133 }
134 }
135 }
136
137 // Find the corresponding parser, initialize a new parser if necessary
138 // -------------------------------------------------------------------
139 bool newParser = !_parsers.contains(_staID.toAscii());
140 RTCM3ParserData& parser = _parsers[_staID.toAscii()];
141 if (newParser) {
142 memset(&parser, 0, sizeof(parser));
143 parser.rinex3 = 0;
144 double secGPS;
145 currentGPSWeeks(parser.GPSWeek, secGPS);
146 parser.GPSTOW = int(secGPS);
147 }
148
149 // Remaining part decodes the Observations
150 // ---------------------------------------
151 if (_mode == unknown || _mode == observations ||
152 _checkMountPoint == _staID || _checkMountPoint == "ALL") {
153
154 for (int iByte = 0; iByte < bufLen; iByte++) {
155
156 parser.Message[parser.MessageSize++] = buffer[iByte];
157
158 if (parser.MessageSize >= parser.NeedBytes) {
159
160 while (int rr = RTCM3Parser(&parser)) {
161
162 // RTCMv3 message types
163 // --------------------
164 _typeList.push_back(parser.blocktype);
165
166 // RTCMv3 antenna descriptor
167 // -------------------------
168 if (rr == 1007 || rr == 1008 || rr == 1033) {
169 _antType.push_back(parser.antenna);
170 }
171
172 // RTCMv3 antenna XYZ
173 // ------------------
174 else if (rr == 1005) {
175 _antList.push_back(t_antInfo());
176 _antList.back().type = t_antInfo::ARP;
177 _antList.back().xx = parser.antX * 1e-4;
178 _antList.back().yy = parser.antY * 1e-4;
179 _antList.back().zz = parser.antZ * 1e-4;
180 _antList.back().message = rr;
181
182 // Remember station position for 1003 message decoding
183 _antXYZ[0] = parser.antX * 1e-4;
184 _antXYZ[1] = parser.antY * 1e-4;
185 _antXYZ[2] = parser.antZ * 1e-4;
186 }
187
188 // RTCMv3 antenna XYZ-H
189 // --------------------
190 else if(rr == 1006) {
191 _antList.push_back(t_antInfo());
192 _antList.back().type = t_antInfo::ARP;
193 _antList.back().xx = parser.antX * 1e-4;
194 _antList.back().yy = parser.antY * 1e-4;
195 _antList.back().zz = parser.antZ * 1e-4;
196 _antList.back().height = parser.antH * 1e-4;
197 _antList.back().height_f = true;
198 _antList.back().message = rr;
199
200 // Remember station position for 1003 message decoding
201 _antXYZ[0] = parser.antX * 1e-4;
202 _antXYZ[1] = parser.antY * 1e-4;
203 _antXYZ[2] = parser.antZ * 1e-4;
204 }
205
206 // GNSS Observations
207 // -----------------
208 else if (rr == 1 || rr == 2) {
209 decoded = true;
210
211 if (!parser.init) {
212 HandleHeader(&parser);
213 parser.init = 1;
214 }
215
216 if (rr == 2) {
217 emit(newMessage( (_staID +
218 ": No valid RINEX! All values are modulo 299792.458!").toAscii(),
219 true));
220 }
221
222 gnssdata& gnssData = parser.Data;
223
224 for (int iSat = 0; iSat < gnssData.numsats; iSat++) {
225
226 t_satObs obs;
227 int satID = gnssData.satellites[iSat];
228
229 // GPS
230 // ---
231 if (satID >= PRN_GPS_START && satID <= PRN_GPS_END) {
232 obs._prn.set('G', satID);
233 }
234
235 // Glonass
236 // -------
237 else if (satID >= PRN_GLONASS_START && satID <= PRN_GLONASS_END) {
238 obs._prn.set('R', satID - PRN_GLONASS_START + 1);
239 }
240
241 // Galileo
242 // -------
243 else if (satID >= PRN_GALILEO_START && satID <= PRN_GALILEO_END) {
244 obs._prn.set('E', satID - PRN_GALILEO_START + 1);
245 }
246
247 // SBAS
248 // ----
249 else if (satID >= PRN_SBAS_START && satID <= PRN_SBAS_END) {
250 obs._prn.set('S', satID - PRN_SBAS_START + 20);
251 }
252
253 // Giove A and B
254 // -------------
255 else if (satID >= PRN_GIOVE_START && satID <= PRN_GIOVE_END) {
256 obs._prn.set('E', satID - PRN_GIOVE_START + PRN_GIOVE_OFFSET);
257 }
258
259 // QZSS
260 // -------------
261 else if (satID >= PRN_QZSS_START && satID <= PRN_QZSS_END) {
262 obs._prn.set('J', satID - PRN_QZSS_START + 1);
263 }
264
265 // COMPASS
266 // -------------
267 else if (satID >= PRN_COMPASS_START && satID <= PRN_COMPASS_END) {
268 obs._prn.set('C', satID - PRN_COMPASS_START + 1);
269 }
270
271 // Unknown System
272 // --------------
273 else {
274 continue;
275 }
276
277 obs._time.set(gnssData.week, gnssData.timeofweek / 1000.0);
278
279 QString prn(obs._prn.toString().c_str());
280
281 int obs_slip_cnt_L1 = 0;
282 int obs_slip_cnt_L2 = 0;
283 int obs_slip_cnt_L5 = 0;
284
285 // Handle loss-of-lock flags
286 // -------------------------
287 const int maxSlipCnt = 100;
288 if (!_slip_cnt_L1.contains(prn)) {
289 _slip_cnt_L1[prn] = 0;
290 _slip_cnt_L2[prn] = 0;
291 _slip_cnt_L5[prn] = 0;
292 }
293 if (GNSSDF2_LOCKLOSSL1 & gnssData.dataflags2[iSat]) {
294 if (_slip_cnt_L1[prn] < maxSlipCnt) {
295 ++_slip_cnt_L1[prn];
296 }
297 else {
298 _slip_cnt_L1[prn] = 1;
299 }
300 obs_slip_cnt_L1 = _slip_cnt_L1[prn];
301 }
302 if (GNSSDF2_LOCKLOSSL2 & gnssData.dataflags2[iSat]) {
303 if (_slip_cnt_L2[prn] < maxSlipCnt) {
304 ++_slip_cnt_L2[prn];
305 }
306 else {
307 _slip_cnt_L2[prn] = 1;
308 }
309 obs_slip_cnt_L2 = _slip_cnt_L2[prn];
310 }
311 if (GNSSDF2_LOCKLOSSL5 & gnssData.dataflags2[iSat]) {
312 if (_slip_cnt_L5[prn] < maxSlipCnt) {
313 ++_slip_cnt_L5[prn];
314 }
315 else {
316 _slip_cnt_L5[prn] = 1;
317 }
318 obs_slip_cnt_L5 = _slip_cnt_L5[prn];
319 }
320
321 // Loop over all data types
322 // ------------------------
323 for (int iEntry = 0; iEntry < GNSSENTRY_NUMBER; ++iEntry) {
324 if (gnssData.codetype[iSat][iEntry] == 0) {
325 continue;
326 }
327 string rnxType(gnssData.codetype[iSat][iEntry]);
328
329 t_frqObs* frqObs = 0;
330 for (unsigned iFrq = 0; iFrq < obs._obs.size(); iFrq++) {
331 if (obs._obs[iFrq]->_rnxType2ch == rnxType) {
332 frqObs = obs._obs[iFrq];
333 break;
334 }
335 }
336 if (frqObs == 0) {
337 frqObs = new t_frqObs;
338 frqObs->_rnxType2ch = rnxType;
339 obs._obs.push_back(frqObs);
340 }
341
342 switch(iEntry & 3) {
343 case GNSSENTRY_CODE:
344 frqObs->_codeValid = true;
345 frqObs->_code = gnssData.measdata[iSat][iEntry];
346 break;
347 case GNSSENTRY_PHASE:
348 frqObs->_phaseValid = true;
349 frqObs->_phase = gnssData.measdata[iSat][iEntry];
350 if (rnxType[0] == '1') {
351 frqObs->_slipCounter = obs_slip_cnt_L1;
352 }
353 else if (rnxType[0] == '2') {
354 frqObs->_slipCounter = obs_slip_cnt_L2;
355 }
356 else if (rnxType[0] == '5') {
357 frqObs->_slipCounter = obs_slip_cnt_L5;
358 }
359 break;
360 case GNSSENTRY_DOPPLER:
361 frqObs->_dopplerValid = true;
362 frqObs->_doppler = gnssData.measdata[iSat][iEntry];
363 break;
364 case GNSSENTRY_SNR:
365 frqObs->_snrValid = true;
366 frqObs->_snr = gnssData.measdata[iSat][iEntry];
367 break;
368 }
369 }
370 _obsList.push_back(obs);
371 }
372 }
373
374 // GPS Ephemeris
375 // -------------
376 else if (rr == 1019) {
377 decoded = true;
378 emit newGPSEph(new gpsephemeris(parser.ephemerisGPS));
379 }
380
381 // GLONASS Ephemeris
382 // -----------------
383 else if (rr == 1020 && parser.ephemerisGLONASS.almanac_number >= 1
384 && parser.ephemerisGLONASS.almanac_number <= PRN_GLONASS_NUM) {
385 decoded = true;
386 emit newGlonassEph(new glonassephemeris(parser.ephemerisGLONASS), _staID);
387 }
388
389 // Galileo Ephemeris
390 // -----------------
391 else if (rr == 1045 || rr == 1046) {
392 decoded = true;
393 emit newGalileoEph(new galileoephemeris(parser.ephemerisGALILEO));
394 }
395 }
396 }
397 }
398 if (!_rawFile && _mode == unknown && decoded) {
399 _mode = observations;
400 }
401 }
402
403 if (decoded) {
404 return success;
405 }
406 else {
407 return failure;
408 }
409}
410
411// Time of Corrections
412//////////////////////////////////////////////////////////////////////////////
413int RTCM3Decoder::corrGPSEpochTime() const {
414 if (_mode == corrections && _coDecoders.size() > 0) {
415 return _coDecoders.begin().value()->corrGPSEpochTime();
416 }
417 else {
418 return -1;
419 }
420}
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