source: ntrip/trunk/BNC/src/RTCM3/RTCM3Decoder.cpp@ 8166

Last change on this file since 8166 was 8166, checked in by stuerze, 4 years ago

bug fixed in RTCM3MSM Decoder

File size: 49.0 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
56using namespace std;
57
58// Error Handling
59////////////////////////////////////////////////////////////////////////////
60void RTCM3Error(const char*, ...) {
61}
62
63// Constructor
64////////////////////////////////////////////////////////////////////////////
65RTCM3Decoder::RTCM3Decoder(const QString& staID, bncRawFile* rawFile) :
66 GPSDecoder() {
67
68 _staID = staID;
69 _rawFile = rawFile;
70
71 connect(this, SIGNAL(newGPSEph(t_ephGPS)), BNC_CORE,
72 SLOT(slotNewGPSEph(t_ephGPS)));
73 connect(this, SIGNAL(newGlonassEph(t_ephGlo)), BNC_CORE,
74 SLOT(slotNewGlonassEph(t_ephGlo)));
75 connect(this, SIGNAL(newGalileoEph(t_ephGal)), BNC_CORE,
76 SLOT(slotNewGalileoEph(t_ephGal)));
77 connect(this, SIGNAL(newSBASEph(t_ephSBAS)), BNC_CORE,
78 SLOT(slotNewSBASEph(t_ephSBAS)));
79 connect(this, SIGNAL(newBDSEph(t_ephBDS)), BNC_CORE,
80 SLOT(slotNewBDSEph(t_ephBDS)));
81
82 _MessageSize = _SkipBytes = _BlockSize = _NeedBytes = 0;
83}
84
85// Destructor
86////////////////////////////////////////////////////////////////////////////
87RTCM3Decoder::~RTCM3Decoder() {
88 QMapIterator<QByteArray, RTCM3coDecoder*> it(_coDecoders);
89 while (it.hasNext())
90 {
91 it.next();
92 delete it.value();
93 }
94}
95
96//
97////////////////////////////////////////////////////////////////////////////
98bool RTCM3Decoder::DecodeRTCM3GPS(unsigned char* data, int size) {
99 bool decoded = false;
100 bncTime CurrentObsTime;
101 int i, numsats, syncf, type;
102 uint64_t numbits = 0, bitfield = 0;
103
104 data += 3; /* header */
105 size -= 6; /* header + crc */
106
107 GETBITS(type, 12)
108 SKIPBITS(12)
109 /* id */
110 GETBITS(i, 30)
111
112 CurrentObsTime.set(i);
113 if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
114 decoded = true;
115 _obsList.append(_CurrentObsList);
116 _CurrentObsList.clear();
117 }
118
119 _CurrentTime = CurrentObsTime;
120
121 GETBITS(syncf, 1)
122 /* sync */
123 GETBITS(numsats, 5)
124 SKIPBITS(4)
125 /* smind, smint */
126
127 while (numsats--) {
128 int sv, code, l1range, amb = 0;
129 t_satObs CurrentObs;
130 CurrentObs._time = CurrentObsTime;
131
132 GETBITS(sv, 6)
133 if (sv < 40)
134 CurrentObs._prn.set('G', sv);
135 else
136 CurrentObs._prn.set('S', sv - 20);
137
138 t_frqObs *frqObs = new t_frqObs;
139 /* L1 */
140 GETBITS(code, 1);
141 (code) ?
142 frqObs->_rnxType2ch.assign("1W") : frqObs->_rnxType2ch.assign("1C");
143 GETBITS(l1range, 24);
144 GETBITSSIGN(i, 20);
145 if ((i & ((1 << 20) - 1)) != 0x80000) {
146 frqObs->_code = l1range * 0.02;
147 frqObs->_phase = (l1range * 0.02 + i * 0.0005) / GPS_WAVELENGTH_L1;
148 frqObs->_codeValid = frqObs->_phaseValid = true;
149 }
150 GETBITS(i, 7);
151 frqObs->_slipCounter = i;
152 if (type == 1002 || type == 1004) {
153 GETBITS(amb, 8);
154 if (amb) {
155 frqObs->_code += amb * 299792.458;
156 frqObs->_phase += (amb * 299792.458) / GPS_WAVELENGTH_L1;
157 }
158 GETBITS(i, 8);
159 if (i) {
160 frqObs->_snr = i * 0.25;
161 frqObs->_snrValid = true;
162 }
163 }
164 CurrentObs._obs.push_back(frqObs);
165 if (type == 1003 || type == 1004) {
166 frqObs = new t_frqObs;
167 /* L2 */
168 GETBITS(code, 2);
169 switch (code) {
170 case 3:
171 frqObs->_rnxType2ch.assign("2W"); /* or "2Y"? */
172 break;
173 case 2:
174 frqObs->_rnxType2ch.assign("2W");
175 break;
176 case 1:
177 frqObs->_rnxType2ch.assign("2P");
178 break;
179 case 0:
180 frqObs->_rnxType2ch.assign("2X"); /* or "2S" or "2L"? */
181 break;
182 }
183 GETBITSSIGN(i, 14);
184 if ((i & ((1 << 14) - 1)) != 0x2000) {
185 frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 299792.458;
186 frqObs->_codeValid = true;
187 }
188 GETBITSSIGN(i, 20);
189 if ((i & ((1 << 20) - 1)) != 0x80000) {
190 frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 299792.458)
191 / GPS_WAVELENGTH_L2;
192 frqObs->_phaseValid = true;
193 }
194 GETBITS(i, 7);
195 frqObs->_slipCounter = i;
196 if (type == 1004) {
197 GETBITS(i, 8);
198 if (i) {
199 frqObs->_snr = i * 0.25;
200 frqObs->_snrValid = true;
201 }
202 }
203 CurrentObs._obs.push_back(frqObs);
204 }
205 _CurrentObsList.push_back(CurrentObs);
206 }
207
208 if (!syncf) {
209 decoded = true;
210 _obsList.append(_CurrentObsList);
211 _CurrentTime.reset();
212 _CurrentObsList.clear();
213 }
214 return decoded;
215}
216
217#define RTCM3_MSM_NUMSIG 32
218#define RTCM3_MSM_NUMSAT 64
219#define RTCM3_MSM_NUMCELLS 96 /* arbitrary limit */
220
221/**
222 * Frequency numbers of GLONASS with an offset of 100 to detect unset values.
223 * Gets filled by ephemeris and data blocks and shared between different streams.
224 */
225static int GLOFreq[RTCM3_MSM_NUMSAT];
226
227/*
228 * Storage structure to store frequency and RINEX ID assignment for MSM
229 * message */
230struct CodeData {
231 double wl;
232 const char *code; /* currently unused */
233};
234
235/** MSM signal types for GPS and SBAS */
236static struct CodeData gps[RTCM3_MSM_NUMSIG] = {
237 {0.0, 0},
238 {GPS_WAVELENGTH_L1, "1C"},
239 {GPS_WAVELENGTH_L1, "1P"},
240 {GPS_WAVELENGTH_L1, "1W"},
241 {0.0, 0}/*{GPS_WAVELENGTH_L1,"1Y"}*/,
242 {0.0, 0},
243 {0.0, 0},
244 {GPS_WAVELENGTH_L2, "2C"},
245 {GPS_WAVELENGTH_L2, "2P"},
246 {GPS_WAVELENGTH_L2, "2W"},
247 {0.0, 0}/*{GPS_WAVELENGTH_L2,"2Y"}*/,
248 {0.0, 0},
249 {0.0, 0},
250 {0.0, 0},
251 {GPS_WAVELENGTH_L2, "2S"},
252 {GPS_WAVELENGTH_L2, "2L"},
253 {GPS_WAVELENGTH_L2, "2X"},
254 {0.0, 0},
255 {0.0, 0},
256 {0.0, 0},
257 {0.0, 0},
258 {GPS_WAVELENGTH_L5, "5I"},
259 {GPS_WAVELENGTH_L5, "5Q"},
260 {GPS_WAVELENGTH_L5, "5X"},
261 {0.0, 0},
262 {0.0, 0},
263 {0.0, 0},
264 {0.0, 0},
265 {0.0, 0},
266 {GPS_WAVELENGTH_L1, "1S"},
267 {GPS_WAVELENGTH_L1, "1L"},
268 {GPS_WAVELENGTH_L1, "1X"}
269 };
270
271/**
272 * MSM signal types for GLONASS
273 *
274 * NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later!
275 */
276static struct CodeData glo[RTCM3_MSM_NUMSIG] = {
277 {0.0, 0},
278 {0.0, "1C"},
279 {0.0, "1P"},
280 {0.0, 0},
281 {0.0, 0},
282 {0.0, 0},
283 {0.0, 0},
284 {1.0, "2C"},
285 {1.0, "2P"},
286 {0.0, 0},
287 {0.0, 0},
288 {0.0, 0},
289 {0.0, 0},
290 {0.0, 0},
291 {0.0, 0},
292 {0.0, 0},
293 {0.0, 0},
294 {0.0, 0},
295 {0.0, 0},
296 {0.0, 0},
297 {0.0, 0},
298 {0.0, 0},
299 {0.0, 0},
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 };
310
311/** MSM signal types for Galileo */
312static struct CodeData gal[RTCM3_MSM_NUMSIG] = {
313 {0.0, 0},
314 {GAL_WAVELENGTH_E1, "1C"},
315 {GAL_WAVELENGTH_E1, "1A"},
316 {GAL_WAVELENGTH_E1, "1B"},
317 {GAL_WAVELENGTH_E1, "1X"},
318 {GAL_WAVELENGTH_E1, "1Z"},
319 {0.0, 0},
320 {GAL_WAVELENGTH_E6, "6C"},
321 {GAL_WAVELENGTH_E6, "6A"},
322 {GAL_WAVELENGTH_E6, "6B"},
323 {GAL_WAVELENGTH_E6, "6X"},
324 {GAL_WAVELENGTH_E6, "6Z"},
325 {0.0, 0},
326 {GAL_WAVELENGTH_E5B, "7I"},
327 {GAL_WAVELENGTH_E5B, "7Q"},
328 {GAL_WAVELENGTH_E5B, "7X"},
329 {0.0, 0},
330 {GAL_WAVELENGTH_E5AB, "8I"},
331 {GAL_WAVELENGTH_E5AB, "8Q"},
332 {GAL_WAVELENGTH_E5AB, "8X"},
333 {0.0, 0},
334 {GAL_WAVELENGTH_E5A, "5I"},
335 {GAL_WAVELENGTH_E5A, "5Q"},
336 {GAL_WAVELENGTH_E5A, "5X"},
337 {0.0, 0},
338 {0.0, 0},
339 {0.0, 0},
340 {0.0, 0},
341 {0.0, 0},
342 {0.0, 0},
343 {0.0, 0},
344 {0.0, 0},
345 };
346
347/** MSM signal types for QZSS */
348static struct CodeData qzss[RTCM3_MSM_NUMSIG] = {
349 {0.0, 0},
350 {GPS_WAVELENGTH_L1, "1C"},
351 {0.0, 0},
352 {0.0, 0},
353 {0.0, 0},
354 {GPS_WAVELENGTH_L1, "1Z"},
355 {0.0, 0},
356 {0.0, 0},
357 {QZSS_WAVELENGTH_LEX, "6S"},
358 {QZSS_WAVELENGTH_LEX, "6L"},
359 {QZSS_WAVELENGTH_LEX, "6X"},
360 {0.0, 0},
361 {0.0, 0},
362 {0.0, 0},
363 {GPS_WAVELENGTH_L2, "2S"},
364 {GPS_WAVELENGTH_L2, "2L"},
365 {GPS_WAVELENGTH_L2, "2X"},
366 {0.0, 0},
367 {0.0, 0},
368 {0.0, 0},
369 {0.0, 0},
370 {GPS_WAVELENGTH_L5, "5I"},
371 {GPS_WAVELENGTH_L5, "5Q"},
372 {GPS_WAVELENGTH_L5, "5X"},
373 {0.0, 0},
374 {0.0, 0},
375 {0.0, 0},
376 {0.0, 0},
377 {0.0, 0},
378 {GPS_WAVELENGTH_L1, "1D"},
379 {GPS_WAVELENGTH_L1, "1P"},
380 {GPS_WAVELENGTH_L1, "1X"}
381 };
382
383/** MSM signal types for Beidou/BDS */
384static struct CodeData bds[RTCM3_MSM_NUMSIG] = {
385 {0.0, 0},
386 {BDS_WAVELENGTH_B1, "2I"},
387 {0.0, 0},
388 {0.0, 0},
389 {0.0, 0},
390 {0.0, 0},
391 {0.0, 0},
392 {BDS_WAVELENGTH_B3, "6I"},
393 {0.0, 0},
394 {0.0, 0},
395 {0.0, 0},
396 {0.0, 0},
397 {0.0, 0},
398 {BDS_WAVELENGTH_B2, "7I"},
399 {0.0, 0},
400 {0.0, 0},
401 {0.0, 0},
402 {0.0, 0},
403 {0.0, 0},
404 {0.0, 0},
405 {0.0, 0},
406 {0.0, 0},
407 {0.0, 0},
408 {0.0, 0},
409 {0.0, 0},
410 {0.0, 0},
411 {0.0, 0},
412 {0.0, 0},
413 {0.0, 0},
414 {0.0, 0},
415 {0.0, 0},
416 {0.0, 0},
417 };
418
419#define UINT64(c) c ## ULL
420
421//
422////////////////////////////////////////////////////////////////////////////
423bool RTCM3Decoder::DecodeRTCM3MSM(unsigned char* data, int size)
424 {
425 bool decoded = false;
426 int type, syncf, i;
427 uint64_t numbits = 0, bitfield = 0;
428
429 data += 3; /* header */
430 size -= 6; /* header + crc */
431
432 GETBITS(type, 12)
433 SKIPBITS(12)
434 /* id */
435 char sys;
436 if (type >= 1121)
437 sys = 'C';
438 else if (type >= 1111)
439 sys = 'J';
440 else if (type >= 1101)
441 sys = 'S';
442 else if (type >= 1091)
443 sys = 'E';
444 else if (type >= 1081)
445 sys = 'R';
446 else
447 sys = 'G';
448
449 bncTime CurrentObsTime;
450 if (sys == 'C') /* BDS */ {
451 GETBITS(i, 30)
452 CurrentObsTime.setBDS(i);
453 }
454 else if (sys == 'R') /* GLONASS */ {
455 SKIPBITS(3)
456 GETBITS(i, 27)
457 /* tk */
458 CurrentObsTime.setTk(i);
459 }
460 else /* GPS style date */ {
461 GETBITS(i, 30)
462 CurrentObsTime.set(i);
463 }
464 if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
465 decoded = true;
466 _obsList.append(_CurrentObsList);
467 _CurrentObsList.clear();
468 }
469 _CurrentTime = CurrentObsTime;
470
471 GETBITS(syncf, 1)
472 /**
473 * Ignore unknown types except for sync flag
474 *
475 * We actually support types 1-3 in following code, but as they are missing
476 * the full cycles and can't be used later we skip interpretation here already.
477 */
478 if (type <= 1130 && (type % 10) >= 4 && (type % 10) <= 7) {
479 int sigmask, numsat = 0, numsig = 0;
480 uint64_t satmask, cellmask, ui;
481 double rrmod[RTCM3_MSM_NUMSAT];
482 int rrint[RTCM3_MSM_NUMSAT], rdop[RTCM3_MSM_NUMSAT],
483 extsat[RTCM3_MSM_NUMSAT];
484 int ll[RTCM3_MSM_NUMCELLS]/*, hc[RTCM3_MSM_NUMCELLS]*/;
485 double cnr[RTCM3_MSM_NUMCELLS];
486 double cp[RTCM3_MSM_NUMCELLS], psr[RTCM3_MSM_NUMCELLS],
487 dop[RTCM3_MSM_NUMCELLS];
488
489 SKIPBITS(3 + 7 + 2 + 2 + 1 + 3)
490 GETBITS64(satmask, RTCM3_MSM_NUMSAT)
491
492 /* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */
493 for (ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */)
494 ++numsat;
495 GETBITS(sigmask, RTCM3_MSM_NUMSIG)
496 for (i = sigmask; i; i &= (i - 1) /* remove rightmost bit */)
497 ++numsig;
498 for (i = 0; i < RTCM3_MSM_NUMSAT; ++i)
499 extsat[i] = 15;
500
501 i = numsat * numsig;
502 GETBITS64(cellmask, (unsigned )i)
503
504 switch (type % 10) {
505 case 1:
506 case 2:
507 case 3:
508 /* partial data, already skipped above, but implemented for future expansion ! */
509 for (int j = numsat; j--;)
510 GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
511 break;
512 case 4:
513 case 6:
514 for (int j = numsat; j--;)
515 GETBITS(rrint[j], 8)
516 for (int j = numsat; j--;)
517 GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
518 break;
519 case 5:
520 case 7:
521 for (int j = numsat; j--;)
522 GETBITS(rrint[j], 8)
523 for (int j = numsat; j--;)
524 GETBITS(extsat[j], 4)
525 for (int j = numsat; j--;)
526 GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
527 for (int j = numsat; j--;)
528 GETBITSSIGN(rdop[j], 14)
529 break;
530 }
531
532 int numcells = numsat * numsig;
533 /** Drop anything which exceeds our cell limit. Increase limit definition
534 * when that happens. */
535 if (numcells <= RTCM3_MSM_NUMCELLS) {
536 switch (type % 10) {
537 case 1:
538 for (int count = numcells; count--;)
539 if (cellmask & (UINT64(1) << count))
540 GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
541 break;
542 case 2:
543 for (int count = numcells; count--;)
544 if (cellmask & (UINT64(1) << count))
545 GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
546 for (int count = numcells; count--;)
547 if (cellmask & (UINT64(1) << count))
548 GETBITS(ll[count], 4)
549 for (int count = numcells; count--;)
550 if (cellmask & (UINT64(1) << count))
551 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
552 break;
553 case 3:
554 for (int count = numcells; count--;)
555 if (cellmask & (UINT64(1) << count))
556 GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
557 for (int count = numcells; count--;)
558 if (cellmask & (UINT64(1) << count))
559 GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
560 for (int count = numcells; count--;)
561 if (cellmask & (UINT64(1) << count))
562 GETBITS(ll[count], 4)
563 for (int count = numcells; count--;)
564 if (cellmask & (UINT64(1) << count))
565 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
566 break;
567 case 4:
568 for (int count = numcells; count--;)
569 if (cellmask & (UINT64(1) << count))
570 GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
571 for (int count = numcells; count--;)
572 if (cellmask & (UINT64(1) << count))
573 GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
574 for (int count = numcells; count--;)
575 if (cellmask & (UINT64(1) << count))
576 GETBITS(ll[count], 4)
577 for (int count = numcells; count--;)
578 if (cellmask & (UINT64(1) << count))
579 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
580 for (int count = numcells; count--;)
581 if (cellmask & (UINT64(1) << count))
582 GETBITS(cnr[count], 6)
583 break;
584 case 5:
585 for (int count = numcells; count--;)
586 if (cellmask & (UINT64(1) << count))
587 GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
588 for (int count = numcells; count--;)
589 if (cellmask & (UINT64(1) << count))
590 GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
591 for (int count = numcells; count--;)
592 if (cellmask & (UINT64(1) << count))
593 GETBITS(ll[count], 4)
594 for (int count = numcells; count--;)
595 if (cellmask & (UINT64(1) << count))
596 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
597 for (int count = numcells; count--;)
598 if (cellmask & (UINT64(1) << count))
599 GETFLOAT(cnr[count], 6, 1.0)
600 for (int count = numcells; count--;)
601 if (cellmask & (UINT64(1) << count))
602 GETFLOATSIGN(dop[count], 15, 0.0001)
603 break;
604 case 6:
605 for (int count = numcells; count--;)
606 if (cellmask & (UINT64(1) << count))
607 GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
608 for (int count = numcells; count--;)
609 if (cellmask & (UINT64(1) << count))
610 GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
611 for (int count = numcells; count--;)
612 if (cellmask & (UINT64(1) << count))
613 GETBITS(ll[count], 10)
614 for (int count = numcells; count--;)
615 if (cellmask & (UINT64(1) << count))
616 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
617 for (int count = numcells; count--;)
618 if (cellmask & (UINT64(1) << count))
619 GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
620 break;
621 case 7:
622 for (int count = numcells; count--;)
623 if (cellmask & (UINT64(1) << count))
624 GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
625 for (int count = numcells; count--;)
626 if (cellmask & (UINT64(1) << count))
627 GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
628 for (int count = numcells; count--;)
629 if (cellmask & (UINT64(1) << count))
630 GETBITS(ll[count], 10)
631 for (int count = numcells; count--;)
632 if (cellmask & (UINT64(1) << count))
633 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
634 for (int count = numcells; count--;)
635 if (cellmask & (UINT64(1) << count))
636 GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
637 for (int count = numcells; count--;)
638 if (cellmask & (UINT64(1) << count))
639 GETFLOATSIGN(dop[count], 15, 0.0001)
640 break;
641 }
642 i = RTCM3_MSM_NUMSAT;
643 int j = -1;
644 t_satObs CurrentObs;
645 for (int count = numcells; count--;) {
646 while (j >= 0 && !(sigmask & (1 << --j)))
647 ;
648 if (j < 0) {
649 while (!(satmask & (UINT64(1) << (--i))))
650 /* next satellite */
651 ;
652 if (CurrentObs._obs.size() > 0)
653 _CurrentObsList.push_back(CurrentObs);
654 CurrentObs.clear();
655 CurrentObs._time = CurrentObsTime;
656 if (sys == 'S')
657 CurrentObs._prn.set(sys, 20 - 1 + RTCM3_MSM_NUMSAT - i);
658 else
659 CurrentObs._prn.set(sys, RTCM3_MSM_NUMSAT - i);
660 j = RTCM3_MSM_NUMSIG;
661 while (!(sigmask & (1 << --j)))
662 ;
663 --numsat;
664 }
665 if (cellmask & (UINT64(1) << count)) {
666 struct CodeData cd = {0.0, 0};
667 switch (sys) {
668 case 'J':
669 cd = qzss[RTCM3_MSM_NUMSIG - j - 1];
670 break;
671 case 'C':
672 cd = bds[RTCM3_MSM_NUMSIG - j - 1];
673 break;
674 case 'G':
675 case 'S':
676 cd = gps[RTCM3_MSM_NUMSIG - j - 1];
677 break;
678 case 'R':
679 cd = glo[RTCM3_MSM_NUMSIG - j - 1];
680 {
681 int k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1];
682 if (extsat[numsat] < 14) {
683 k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1] = 100 + extsat[numsat]
684 - 7;
685 }
686 if (k)
687 cd.wl = (
688 cd.wl == 0.0 ?
689 GLO_WAVELENGTH_L1(k - 100) :
690 GLO_WAVELENGTH_L2(k - 100));
691 else
692 cd.code = 0;
693 }
694 break;
695 case 'E':
696 cd = gal[RTCM3_MSM_NUMSIG - j - 1];
697 break;
698 }
699 if (cd.code) {
700 t_frqObs *frqObs = new t_frqObs;
701 frqObs->_rnxType2ch.assign(cd.code);
702
703 switch (type % 10) {
704 case 1:
705 if (psr[count] > -1.0 / (1 << 10)) {
706 frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
707 + (rrmod[numsat]) * LIGHTSPEED / 1000.0;
708 frqObs->_codeValid = true;
709 }
710 break;
711 case 2:
712 if (cp[count] > -1.0 / (1 << 8)) {
713 frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
714 + (rrmod[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
715 frqObs->_phaseValid = true;
716 frqObs->_slipCounter = ll[count];
717 }
718 break;
719 case 3:
720 if (psr[count] > -1.0 / (1 << 10)) {
721 frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
722 + (rrmod[numsat]) * LIGHTSPEED / 1000.0;
723 frqObs->_codeValid = true;
724 }
725
726 if (cp[count] > -1.0 / (1 << 8)) {
727 frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
728 + rrmod[numsat] * LIGHTSPEED / 1000.0 / cd.wl;
729 frqObs->_phaseValid = true;
730 frqObs->_slipCounter = ll[count];
731 }
732 break;
733 case 4:
734 if (psr[count] > -1.0 / (1 << 10)) {
735 frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
736 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
737 frqObs->_codeValid = true;
738 }
739
740 if (cp[count] > -1.0 / (1 << 8)) {
741 frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
742 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0
743 / cd.wl;
744 frqObs->_phaseValid = true;
745 frqObs->_slipCounter = ll[count];
746 }
747
748 frqObs->_snr = cnr[count];
749 frqObs->_snrValid = true;
750 break;
751 case 5:
752 if (psr[count] > -1.0 / (1 << 10)) {
753 frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
754 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
755 frqObs->_codeValid = true;
756 }
757
758 if (cp[count] > -1.0 / (1 << 8)) {
759 frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
760 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0
761 / cd.wl;
762 frqObs->_phaseValid = true;
763 frqObs->_slipCounter = ll[count];
764 }
765
766 frqObs->_snr = cnr[count];
767 frqObs->_snrValid = true;
768
769 if (dop[count] > -1.6384) {
770 frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
771 frqObs->_dopplerValid = true;
772 }
773 break;
774 case 6:
775 if (psr[count] > -1.0 / (1 << 10)) {
776 frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
777 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
778 frqObs->_codeValid = true;
779 }
780
781 if (cp[count] > -1.0 / (1 << 8)) {
782 frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
783 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0
784 / cd.wl;
785 frqObs->_phaseValid = true;
786 frqObs->_slipCounter = ll[count];
787 }
788
789 frqObs->_snr = cnr[count];
790 frqObs->_snrValid = true;
791 break;
792 case 7:
793 if (psr[count] > -1.0 / (1 << 10)) {
794 frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
795 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
796 frqObs->_codeValid = true;
797 }
798
799 if (cp[count] > -1.0 / (1 << 8)) {
800 frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
801 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0
802 / cd.wl;
803 frqObs->_phaseValid = true;
804 frqObs->_slipCounter = ll[count];
805 }
806
807 frqObs->_snr = cnr[count];
808 frqObs->_snrValid = true;
809
810 if (dop[count] > -1.6384) {
811 frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
812 frqObs->_dopplerValid = true;
813 }
814 break;
815 }
816 CurrentObs._obs.push_back(frqObs);
817 }
818 }
819 }
820 if (CurrentObs._obs.size() > 0)
821 _CurrentObsList.push_back(CurrentObs);
822 }
823 }
824 else if ((type % 10) < 3) {
825 emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
826 .arg(_staID).arg(type).toAscii(), true));
827 }
828 if (!syncf) {
829 decoded = true;
830 _obsList.append(_CurrentObsList);
831 _CurrentTime.reset();
832 _CurrentObsList.clear();
833 }
834 return decoded;
835}
836
837//
838////////////////////////////////////////////////////////////////////////////
839bool RTCM3Decoder::DecodeRTCM3GLONASS(unsigned char* data, int size) {
840 bool decoded = false;
841 bncTime CurrentObsTime;
842 int i, numsats, syncf, type;
843 uint64_t numbits = 0, bitfield = 0;
844
845 data += 3; /* header */
846 size -= 6; /* header + crc */
847
848 GETBITS(type, 12)
849 SKIPBITS(12)
850 /* id */
851 GETBITS(i, 27)
852 /* tk */
853
854 CurrentObsTime.setTk(i);
855 if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
856 decoded = true;
857 _obsList.append(_CurrentObsList);
858 _CurrentObsList.clear();
859 }
860 _CurrentTime = CurrentObsTime;
861
862 GETBITS(syncf, 1)
863 /* sync */
864 GETBITS(numsats, 5)
865 SKIPBITS(4)
866 /* smind, smint */
867
868 while (numsats--) {
869 int sv, code, l1range, amb = 0, freq;
870 t_satObs CurrentObs;
871 CurrentObs._time = CurrentObsTime;
872
873 GETBITS(sv, 6)
874 CurrentObs._prn.set('R', sv);
875 GETBITS(code, 1)
876 GETBITS(freq, 5)
877 GLOFreq[sv - 1] = 100 + freq - 7; /* store frequency for other users (MSM) */
878
879 t_frqObs *frqObs = new t_frqObs;
880 /* L1 */
881 (code) ?
882 frqObs->_rnxType2ch.assign("1P") : frqObs->_rnxType2ch.assign("1C");
883 GETBITS(l1range, 25);
884 GETBITSSIGN(i, 20);
885 if ((i & ((1 << 20) - 1)) != 0x80000) {
886 frqObs->_code = l1range * 0.02;
887 frqObs->_phase = (l1range * 0.02 + i * 0.0005)
888 / GLO_WAVELENGTH_L1(freq - 7);
889 frqObs->_codeValid = frqObs->_phaseValid = true;
890 }
891 GETBITS(i, 7);
892 frqObs->_slipCounter = i;
893 if (type == 1010 || type == 1012) {
894 GETBITS(amb, 7);
895 if (amb) {
896 frqObs->_code += amb * 599584.916;
897 frqObs->_phase += (amb * 599584.916) / GLO_WAVELENGTH_L1(freq - 7);
898 }
899 GETBITS(i, 8);
900 if (i) {
901 frqObs->_snr = i * 0.25;
902 frqObs->_snrValid = true;
903 }
904 }
905 CurrentObs._obs.push_back(frqObs);
906 if (type == 1011 || type == 1012) {
907 frqObs = new t_frqObs;
908 /* L2 */
909 GETBITS(code, 2);
910 switch (code) {
911 case 3:
912 frqObs->_rnxType2ch.assign("2P");
913 break;
914 case 2:
915 frqObs->_rnxType2ch.assign("2P");
916 break;
917 case 1:
918 frqObs->_rnxType2ch.assign("2P");
919 break;
920 case 0:
921 frqObs->_rnxType2ch.assign("2C");
922 break;
923 }
924 GETBITSSIGN(i, 14);
925 if ((i & ((1 << 14) - 1)) != 0x2000) {
926 frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 599584.916;
927 frqObs->_codeValid = true;
928 }
929 GETBITSSIGN(i, 20);
930 if ((i & ((1 << 20) - 1)) != 0x80000) {
931 frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 599584.916)
932 / GLO_WAVELENGTH_L2(freq - 7);
933 frqObs->_phaseValid = true;
934 }
935 GETBITS(i, 7);
936 frqObs->_slipCounter = i;
937 if (type == 1012) {
938 GETBITS(i, 8);
939 if (i) {
940 frqObs->_snr = i * 0.25;
941 frqObs->_snrValid = true;
942 }
943 }
944 CurrentObs._obs.push_back(frqObs);
945 }
946 _CurrentObsList.push_back(CurrentObs);
947 }
948 if (!syncf) {
949 decoded = true;
950 _obsList.append(_CurrentObsList);
951 _CurrentTime.reset();
952 _CurrentObsList.clear();
953 }
954 return decoded;
955}
956
957//
958////////////////////////////////////////////////////////////////////////////
959bool RTCM3Decoder::DecodeGPSEphemeris(unsigned char* data, int size) {
960 bool decoded = false;
961
962 if (size == 67) {
963 t_ephGPS eph;
964 int i, week;
965 uint64_t numbits = 0, bitfield = 0;
966
967 data += 3; /* header */
968 size -= 6; /* header + crc */
969 SKIPBITS(12)
970
971 eph._receptDateTime = currentDateAndTimeGPS();
972
973 GETBITS(i, 6)
974 eph._prn.set('G', i);
975 GETBITS(week, 10)
976 week += 1024;
977 GETBITS(i, 4)
978 eph._ura = accuracyFromIndex(i, eph.type());
979 GETBITS(eph._L2Codes, 2)
980 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
981 GETBITS(eph._IODE, 8)
982 GETBITS(i, 16)
983 i <<= 4;
984 eph._TOC.set(i * 1000);
985 GETFLOATSIGN(eph._clock_driftrate, 8,
986 1.0 / (double )(1 << 30) / (double )(1 << 25))
987 GETFLOATSIGN(eph._clock_drift, 16,
988 1.0 / (double )(1 << 30) / (double )(1 << 13))
989 GETFLOATSIGN(eph._clock_bias, 22,
990 1.0 / (double )(1 << 30) / (double )(1 << 1))
991 GETBITS(eph._IODC, 10)
992 GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
993 GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
994 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
995 GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
996 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
997 GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
998 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
999 GETBITS(i, 16)
1000 i <<= 4;
1001 eph._TOEsec = i;
1002 bncTime t;
1003 t.set(i * 1000);
1004 eph._TOEweek = t.gpsw();
1005 /* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1006 if (eph._TOEweek > week + 1 || eph._TOEweek < week - 1) /* invalid week */
1007 return false;
1008 GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1009 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1010 GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1011 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1012 GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1013 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1014 GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1015 GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1016 GETBITS(eph._health, 6)
1017 GETBITS(eph._L2PFlag, 1)
1018 GETBITS(eph._fitInterval, 1)
1019 eph._TOT = 0.9999e9;
1020
1021 emit newGPSEph(eph);
1022 decoded = true;
1023 }
1024 return decoded;
1025}
1026
1027//
1028////////////////////////////////////////////////////////////////////////////
1029bool RTCM3Decoder::DecodeGLONASSEphemeris(unsigned char* data, int size) {
1030 bool decoded = false;
1031
1032 if (size == 51) {
1033 t_ephGlo eph;
1034 int sv, i, tk;
1035 uint64_t numbits = 0, bitfield = 0;
1036
1037 data += 3; /* header */
1038 size -= 6; /* header + crc */
1039 SKIPBITS(12)
1040
1041 eph._receptDateTime = currentDateAndTimeGPS();
1042
1043 GETBITS(sv, 6)
1044 eph._prn.set('R', sv);
1045
1046 GETBITS(i, 5)
1047 eph._frequency_number = i - 7;
1048 GLOFreq[sv - 1] = 100 + i - 7; /* store frequency for other users (MSM) */
1049 _gloFrq = QString("%1 %2").arg(eph._prn.toString().c_str()).arg(
1050 eph._frequency_number, 2, 'f', 0);
1051 SKIPBITS(4)
1052 /* almanac healthy, almanac health ok, P1 */
1053 GETBITS(i, 5)
1054 tk = i * 60 * 60;
1055 GETBITS(i, 6)
1056 tk += i * 60;
1057 GETBITS(i, 1)
1058 tk += i * 30;
1059 eph._tki = tk < 3 * 60 * 60 ? tk - 3 * 60 * 60 + 86400 : tk - 3 * 60 * 60;
1060 GETBITS(eph._health, 1)
1061 SKIPBITS(1)
1062 /* P2 */
1063 GETBITS(i, 7)
1064 eph._TOC.setTk(i * 15 * 60 * 1000); /* tb */
1065
1066 GETFLOATSIGNM(eph._x_velocity, 24, 1.0 / (double )(1 << 20))
1067 GETFLOATSIGNM(eph._x_pos, 27, 1.0 / (double )(1 << 11))
1068 GETFLOATSIGNM(eph._x_acceleration, 5, 1.0 / (double )(1 << 30))
1069 GETFLOATSIGNM(eph._y_velocity, 24, 1.0 / (double )(1 << 20))
1070 GETFLOATSIGNM(eph._y_pos, 27, 1.0 / (double )(1 << 11))
1071 GETFLOATSIGNM(eph._y_acceleration, 5, 1.0 / (double )(1 << 30))
1072 GETFLOATSIGNM(eph._z_velocity, 24, 1.0 / (double )(1 << 20))
1073 GETFLOATSIGNM(eph._z_pos, 27, 1.0 / (double )(1 << 11))
1074 GETFLOATSIGNM(eph._z_acceleration, 5, 1.0 / (double )(1 << 30))
1075 SKIPBITS(1)
1076 /* P3 */
1077 GETFLOATSIGNM(eph._gamma, 11, 1.0 / (double )(1 << 30) / (double )(1 << 10))
1078 SKIPBITS(3)
1079 /* GLONASS-M P, GLONASS-M ln (third string) */
1080 GETFLOATSIGNM(eph._tau, 22, 1.0 / (double )(1 << 30))
1081 /* GLONASS tau n(tb) */
1082 SKIPBITS(5)
1083 /* GLONASS-M delta tau n(tb) */
1084 GETBITS(eph._E, 5)
1085 /* GETBITS(i, 1) / * GLONASS-M P4 */
1086 /* GETBITS(i, 4) / * GLONASS-M Ft */
1087 /* GETBITS(i, 11) / * GLONASS-M Nt */
1088 /* GETBITS(i, 2) / * GLONASS-M M */
1089 /* GETBITS(i, 1) / * GLONASS-M The Availability of Additional Data */
1090 /* GETBITS(i, 11) / * GLONASS-M Na */
1091 /* GETFLOATSIGNM(i, 32, 1.0/(double)(1<<30)/(double)(1<<1)) / * GLONASS tau c */
1092 /* GETBITS(i, 5) / * GLONASS-M N4 */
1093 /* GETFLOATSIGNM(i, 22, 1.0/(double)(1<<30)) / * GLONASS-M tau GPS */
1094 /* GETBITS(i, 1) / * GLONASS-M ln (fifth string) */
1095
1096 unsigned year, month, day;
1097 eph._TOC.civil_date(year, month, day);
1098 eph._gps_utc = gnumleap(year, month, day);
1099 eph._tt = eph._TOC;
1100
1101 eph._xv(1) = eph._x_pos * 1.e3;
1102 eph._xv(2) = eph._y_pos * 1.e3;
1103 eph._xv(3) = eph._z_pos * 1.e3;
1104 eph._xv(4) = eph._x_velocity * 1.e3;
1105 eph._xv(5) = eph._y_velocity * 1.e3;
1106 eph._xv(6) = eph._z_velocity * 1.e3;
1107
1108 emit newGlonassEph(eph);
1109 decoded = true;
1110 }
1111 return decoded;
1112}
1113
1114//
1115////////////////////////////////////////////////////////////////////////////
1116bool RTCM3Decoder::DecodeQZSSEphemeris(unsigned char* data, int size) {
1117 bool decoded = false;
1118
1119 if (size == 67) {
1120 t_ephGPS eph;
1121 int i, week;
1122 uint64_t numbits = 0, bitfield = 0;
1123
1124 data += 3; /* header */
1125 size -= 6; /* header + crc */
1126 SKIPBITS(12)
1127
1128 eph._receptDateTime = currentDateAndTimeGPS();
1129
1130 GETBITS(i, 4)
1131 eph._prn.set('J', i);
1132
1133 GETBITS(i, 16)
1134 i <<= 4;
1135 eph._TOC.set(i * 1000);
1136
1137 GETFLOATSIGN(eph._clock_driftrate, 8,
1138 1.0 / (double )(1 << 30) / (double )(1 << 25))
1139 GETFLOATSIGN(eph._clock_drift, 16,
1140 1.0 / (double )(1 << 30) / (double )(1 << 13))
1141 GETFLOATSIGN(eph._clock_bias, 22,
1142 1.0 / (double )(1 << 30) / (double )(1 << 1))
1143 GETBITS(eph._IODE, 8)
1144 GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1145 GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1146 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1147 GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1148 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1149 GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1150 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1151 GETBITS(i, 16)
1152 i <<= 4;
1153 eph._TOEsec = i;
1154 bncTime t;
1155 t.set(i);
1156
1157 GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1158 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1159 GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1160 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1161 GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1162 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1163 GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1164 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1165 GETBITS(eph._L2Codes, 2)
1166 GETBITS(week, 10)
1167 week += 1024;
1168 eph._TOEweek = t.gpsw();
1169 /* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1170 if (eph._TOEweek > week + 1 || eph._TOEweek < week - 1) /* invalid week */
1171 return false;
1172
1173 GETBITS(i, 4)
1174 if (i <= 6)
1175 eph._ura = ceil(10.0 * pow(2.0, 1.0 + i / 2.0)) / 10.0;
1176 else
1177 eph._ura = ceil(10.0 * pow(2.0, i / 2.0)) / 10.0;
1178 GETBITS(eph._health, 6)
1179 GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1180 GETBITS(eph._IODC, 10)
1181 GETBITS(eph._fitInterval, 1)
1182 eph._TOT = 0.9999e9;
1183 eph._L2PFlag = 0; /* does not exist for QZSS */
1184
1185 emit newGPSEph(eph);
1186 decoded = true;
1187 }
1188 return decoded;
1189}
1190
1191//
1192////////////////////////////////////////////////////////////////////////////
1193bool RTCM3Decoder::DecodeSBASEphemeris(unsigned char* data, int size) {
1194 bool decoded = false;
1195
1196 if (size == 35) {
1197 t_ephSBAS eph;
1198 int i;
1199 uint64_t numbits = 0, bitfield = 0;
1200
1201 data += 3; /* header */
1202 size -= 6; /* header + crc */
1203 SKIPBITS(12)
1204
1205 eph._receptDateTime = currentDateAndTimeGPS();
1206
1207 GETBITS(i, 6)
1208 eph._prn.set('S', 20 + i);
1209 GETBITS(eph._IODN, 8)
1210 GETBITS(i, 13)
1211 i <<= 4;
1212 eph._TOC.setTOD(i * 1000);
1213 GETBITS(i, 4)
1214 eph._ura = accuracyFromIndex(i, eph.type());
1215 GETFLOATSIGN(eph._x_pos, 30, 0.08)
1216 GETFLOATSIGN(eph._y_pos, 30, 0.08)
1217 GETFLOATSIGN(eph._z_pos, 25, 0.4)
1218 GETFLOATSIGN(eph._x_velocity, 17, 0.000625)
1219 GETFLOATSIGN(eph._y_velocity, 17, 0.000625)
1220 GETFLOATSIGN(eph._z_velocity, 18, 0.004)
1221 GETFLOATSIGN(eph._x_acceleration, 10, 0.0000125)
1222 GETFLOATSIGN(eph._y_acceleration, 10, 0.0000125)
1223 GETFLOATSIGN(eph._z_acceleration, 10, 0.0000625)
1224 GETFLOATSIGN(eph._agf0, 12, 1.0 / (1 << 30) / (1 << 1))
1225 GETFLOATSIGN(eph._agf1, 8, 1.0 / (1 << 30) / (1 << 10))
1226
1227 eph._TOW = 0.9999E9;
1228 eph._health = 0;
1229
1230 emit newSBASEph(eph);
1231 decoded = true;
1232 }
1233 return decoded;
1234}
1235
1236//
1237////////////////////////////////////////////////////////////////////////////
1238bool RTCM3Decoder::DecodeGalileoEphemeris(unsigned char* data, int size) {
1239 bool decoded = false;
1240 uint64_t numbits = 0, bitfield = 0;
1241 int i;
1242
1243 data += 3; /* header */
1244 size -= 6; /* header + crc */
1245 GETBITS(i, 12)
1246
1247 if ((i == 1046 && size == 61) || (i == 1045 && size == 60)) {
1248 t_ephGal eph;
1249
1250 eph._receptDateTime = currentDateAndTimeGPS();
1251
1252 eph._inav = (i == 1046);
1253 eph._fnav = (i == 1045);
1254 GETBITS(i, 6)
1255 eph._prn.set('E', i, eph._inav ? 1 : 0);
1256
1257 GETBITS(eph._TOEweek, 12)
1258 GETBITS(eph._IODnav, 10)
1259 GETBITS(i, 8)
1260 eph._SISA = accuracyFromIndex(i, eph.type());
1261 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1262 GETBITSFACTOR(i, 14, 60)
1263 eph._TOC.set(1024 + eph._TOEweek, i);
1264 GETFLOATSIGN(eph._clock_driftrate, 6,
1265 1.0 / (double )(1 << 30) / (double )(1 << 29))
1266 GETFLOATSIGN(eph._clock_drift, 21,
1267 1.0 / (double )(1 << 30) / (double )(1 << 16))
1268 GETFLOATSIGN(eph._clock_bias, 31,
1269 1.0 / (double )(1 << 30) / (double )(1 << 4))
1270 GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1271 GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1272 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1273 GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1274 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1275 GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1276 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1277 GETBITSFACTOR(eph._TOEsec, 14, 60)
1278 /* FIXME: overwrite value, copied from old code */
1279 eph._TOEsec = eph._TOC.gpssec();
1280 GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1281 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1282 GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1283 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1284 GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1285 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1286 GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1287 GETFLOATSIGN(eph._BGD_1_5A, 10,
1288 1.0 / (double )(1 << 30) / (double )(1 << 2))
1289 if (eph._inav) {
1290 /* set unused F/NAV values */
1291 eph._E5aHS = 0.0;
1292 eph._e5aDataInValid = false;
1293
1294 GETFLOATSIGN(eph._BGD_1_5B, 10,
1295 1.0 / (double )(1 << 30) / (double )(1 << 2))
1296 GETBITS(eph._E5bHS, 2)
1297 GETBITS(eph._e5bDataInValid, 1)
1298 GETBITS(eph._E1_bHS, 2)
1299 GETBITS(eph._e1DataInValid, 1)
1300 }
1301 else {
1302 /* set unused I/NAV values */
1303 eph._BGD_1_5B = 0.0;
1304 eph._E5bHS = 0.0;
1305 eph._E1_bHS = 0.0;
1306 eph._e1DataInValid = false;
1307 eph._e5bDataInValid = false;
1308
1309 GETBITS(eph._E5aHS, 2)
1310 GETBITS(eph._e5aDataInValid, 1)
1311 }
1312 eph._TOT = 0.9999e9;
1313
1314 emit newGalileoEph(eph);
1315 decoded = true;
1316 }
1317 return decoded;
1318}
1319
1320//
1321////////////////////////////////////////////////////////////////////////////
1322bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size) {
1323 bool decoded = false;
1324
1325 if (size == 70) {
1326 t_ephBDS eph;
1327 int i;
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
1336 GETBITS(i, 6)
1337 eph._prn.set('C', i);
1338
1339 SKIPBITS(13)
1340 /* week */
1341 GETBITS(i, 4)
1342 eph._URA = accuracyFromIndex(i, eph.type());
1343 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1344 GETBITS(eph._AODE, 5)
1345 GETBITS(i, 17)
1346 i <<= 3;
1347 eph._TOC.setBDS(i * 1000);
1348 GETFLOATSIGN(eph._clock_driftrate, 11,
1349 1.0 / (double )(1 << 30) / (double )(1 << 30) / (double )(1 << 6))
1350 GETFLOATSIGN(eph._clock_drift, 22,
1351 1.0 / (double )(1 << 30) / (double )(1 << 20))
1352 GETFLOATSIGN(eph._clock_bias, 24,
1353 1.0 / (double )(1 << 30) / (double )(1 << 3))
1354 GETBITS(eph._AODC, 5)
1355 GETFLOATSIGN(eph._Crs, 18, 1.0 / (double )(1 << 6))
1356 GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1357 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1358 GETFLOATSIGN(eph._Cuc, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1359 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1360 GETFLOATSIGN(eph._Cus, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1361 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1362 GETBITS(i, 17)
1363 i <<= 3;
1364 eph._TOEsec = i;
1365 eph._TOE.setBDS(i * 1000);
1366 GETFLOATSIGN(eph._Cic, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1367 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1368 GETFLOATSIGN(eph._Cis, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1369 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1370 GETFLOATSIGN(eph._Crc, 18, 1.0 / (double )(1 << 6))
1371 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1372 GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1373 GETFLOATSIGN(eph._TGD1, 10, 0.0000000001)
1374 GETFLOATSIGN(eph._TGD2, 10, 0.0000000001)
1375 GETBITS(eph._SatH1, 1)
1376
1377 eph._TOW = 0.9999E9;
1378 emit newBDSEph(eph);
1379 decoded = true;
1380 }
1381 return decoded;
1382}
1383
1384//
1385////////////////////////////////////////////////////////////////////////////
1386bool RTCM3Decoder::DecodeAntenna(unsigned char* data, int size) {
1387 char *antenna, type[256];
1388 int antnum = -1;
1389 uint64_t numbits = 0, bitfield = 0;
1390
1391 data += 4; /* header */
1392 size -= 6; /* header + crc */
1393
1394 SKIPBITS(12)
1395 GETSTRING(antnum, antenna)
1396 if (antnum > -1 && antnum < 265) {
1397 memcpy(type, antenna, antnum);
1398 type[antnum] = 0;
1399 if (!_antType.contains(type)) {
1400 _antType.push_back(type);
1401 }
1402 }
1403 return true;
1404}
1405
1406//
1407////////////////////////////////////////////////////////////////////////////
1408bool RTCM3Decoder::DecodeAntennaPosition(unsigned char* data, int size) {
1409 int type;
1410 uint64_t numbits = 0, bitfield = 0;
1411 double x, y, z;
1412
1413 data += 3; /* header */
1414 size -= 6; /* header + crc */
1415
1416 GETBITS(type, 12)
1417 _antList.push_back(t_antInfo());
1418 _antList.back().type = t_antInfo::ARP;
1419 SKIPBITS(22)
1420 GETBITSSIGN(x, 38)
1421 _antList.back().xx = x * 1e-4;
1422 SKIPBITS(2)
1423 GETBITSSIGN(y, 38)
1424 _antList.back().yy = y * 1e-4;
1425 SKIPBITS(2)
1426 GETBITSSIGN(z, 38)
1427 _antList.back().zz = z * 1e-4;
1428 if (type == 1006)
1429 {
1430 double h;
1431 GETBITS(h, 16)
1432 _antList.back().height = h * 1e-4;
1433 _antList.back().height_f = true;
1434 }
1435 _antList.back().message = type;
1436
1437 return true;
1438}
1439
1440//
1441////////////////////////////////////////////////////////////////////////////
1442t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
1443 bool decoded = false;
1444
1445 errmsg.clear();
1446
1447 while (bufLen && _MessageSize < sizeof(_Message)) {
1448 int l = sizeof(_Message) - _MessageSize;
1449 if (l > bufLen)
1450 l = bufLen;
1451 memcpy(_Message + _MessageSize, buffer, l);
1452 _MessageSize += l;
1453 bufLen -= l;
1454 buffer += l;
1455 int id;
1456 while ((id = GetMessage())) {
1457 /* reset station ID for file loading as it can change */
1458 if (_rawFile)
1459 _staID = _rawFile->staID();
1460 /* store the id into the list of loaded blocks */
1461 _typeList.push_back(id);
1462
1463 /* SSR I+II data handled in another function, already pass the
1464 * extracted data block. That does no harm, as it anyway skip everything
1465 * else. */
1466 if ((id >= 1057 && id <= 1068) || (id >= 1240 && id <= 1270)) {
1467 if (!_coDecoders.contains(_staID.toAscii()))
1468 _coDecoders[_staID.toAscii()] = new RTCM3coDecoder(_staID);
1469 RTCM3coDecoder* coDecoder = _coDecoders[_staID.toAscii()];
1470 if (coDecoder->Decode(reinterpret_cast<char *>(_Message), _BlockSize,
1471 errmsg) == success) {
1472 decoded = true;
1473 }
1474 }
1475 else if (id >= 1070 && id <= 1229) /* MSM */ {
1476 if (DecodeRTCM3MSM(_Message, _BlockSize))
1477 decoded = true;
1478 }
1479 else {
1480 switch (id) {
1481 case 1001:
1482 case 1003:
1483 emit(newMessage(
1484 QString("%1: Block %2 contain partial data! Ignored!")
1485 .arg(_staID).arg(id).toAscii(), true));
1486 break; /* no use decoding partial data ATM, remove break when data can be used */
1487 case 1002:
1488 case 1004:
1489 if (DecodeRTCM3GPS(_Message, _BlockSize))
1490 decoded = true;
1491 break;
1492 case 1009:
1493 case 1011:
1494 emit(newMessage(
1495 QString("%1: Block %2 contain partial data! Ignored!")
1496 .arg(_staID).arg(id).toAscii(), true));
1497 break; /* no use decoding partial data ATM, remove break when data can be used */
1498 case 1010:
1499 case 1012:
1500 if (DecodeRTCM3GLONASS(_Message, _BlockSize))
1501 decoded = true;
1502 break;
1503 case 1019:
1504 if (DecodeGPSEphemeris(_Message, _BlockSize))
1505 decoded = true;
1506 break;
1507 case 1020:
1508 if (DecodeGLONASSEphemeris(_Message, _BlockSize))
1509 decoded = true;
1510 break;
1511 case 1043:
1512 if (DecodeSBASEphemeris(_Message, _BlockSize))
1513 decoded = true;
1514 break;
1515 case 1044:
1516 if (DecodeQZSSEphemeris(_Message, _BlockSize))
1517 decoded = true;
1518 break;
1519 case 1045:
1520 case 1046:
1521 if (DecodeGalileoEphemeris(_Message, _BlockSize))
1522 decoded = true;
1523 break;
1524 case RTCM3ID_BDS:
1525 if (DecodeBDSEphemeris(_Message, _BlockSize))
1526 decoded = true;
1527 break;
1528 case 1007:
1529 case 1008:
1530 case 1033:
1531 DecodeAntenna(_Message, _BlockSize);
1532 break;
1533 case 1005:
1534 case 1006:
1535 DecodeAntennaPosition(_Message, _BlockSize);
1536 break;
1537 }
1538 }
1539 }
1540 }
1541 return decoded ? success : failure;
1542}
1543;
1544
1545//
1546////////////////////////////////////////////////////////////////////////////
1547uint32_t RTCM3Decoder::CRC24(long size, const unsigned char *buf) {
1548 uint32_t crc = 0;
1549 int i;
1550
1551 while (size--) {
1552 crc ^= (*buf++) << (16);
1553 for (i = 0; i < 8; i++)
1554 {
1555 crc <<= 1;
1556 if (crc & 0x1000000)
1557 crc ^= 0x01864cfb;
1558 }
1559 }
1560 return crc;
1561}
1562
1563//
1564////////////////////////////////////////////////////////////////////////////
1565int RTCM3Decoder::GetMessage(void) {
1566 unsigned char *m, *e;
1567 int i;
1568
1569 m = _Message + _SkipBytes;
1570 e = _Message + _MessageSize;
1571 _NeedBytes = _SkipBytes = 0;
1572 while (e - m >= 3) {
1573 if (m[0] == 0xD3) {
1574 _BlockSize = ((m[1] & 3) << 8) | m[2];
1575 if (e - m >= static_cast<int>(_BlockSize + 6)) {
1576 if (static_cast<uint32_t>((m[3 + _BlockSize] << 16)
1577 | (m[3 + _BlockSize + 1] << 8)
1578 | (m[3 + _BlockSize + 2])) == CRC24(_BlockSize + 3, m)) {
1579 _BlockSize += 6;
1580 _SkipBytes = _BlockSize;
1581 break;
1582 }
1583 else
1584 ++m;
1585 }
1586 else {
1587 _NeedBytes = _BlockSize;
1588 break;
1589 }
1590 }
1591 else
1592 ++m;
1593 }
1594 if (e - m < 3)
1595 _NeedBytes = 3;
1596
1597 /* copy buffer to front */
1598 i = m - _Message;
1599 if (i && m < e)
1600 memmove(_Message, m, static_cast<size_t>(_MessageSize - i));
1601 _MessageSize -= i;
1602
1603 return !_NeedBytes ? ((_Message[3] << 4) | (_Message[4] >> 4)) : 0;
1604}
1605
1606// Time of Corrections
1607//////////////////////////////////////////////////////////////////////////////
1608int RTCM3Decoder::corrGPSEpochTime() const {
1609 return
1610 _coDecoders.size() > 0 ?
1611 _coDecoders.begin().value()->corrGPSEpochTime() : -1;
1612}
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