source: ntrip/trunk/BNC/src/RTCM3/RTCM3Decoder.cpp@ 8472

Last change on this file since 8472 was 8472, checked in by stuerze, 3 years ago

minor changes

File size: 50.8 KB
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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).toLatin1(), 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 GETBITS(i, 4)
977 eph._ura = accuracyFromIndex(i, eph.type());
978 GETBITS(eph._L2Codes, 2)
979 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
980 GETBITS(eph._IODE, 8)
981 GETBITS(i, 16)
982 i <<= 4;
983 eph._TOC.set(i * 1000);
984 GETFLOATSIGN(eph._clock_driftrate, 8,
985 1.0 / (double )(1 << 30) / (double )(1 << 25))
986 GETFLOATSIGN(eph._clock_drift, 16,
987 1.0 / (double )(1 << 30) / (double )(1 << 13))
988 GETFLOATSIGN(eph._clock_bias, 22,
989 1.0 / (double )(1 << 30) / (double )(1 << 1))
990 GETBITS(eph._IODC, 10)
991 GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
992 GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
993 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
994 GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
995 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
996 GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
997 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
998 GETBITS(i, 16)
999 i <<= 4;
1000 eph._TOEsec = i;
1001 bncTime t;
1002 t.set(i * 1000);
1003 eph._TOEweek = t.gpsw();
1004 int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1005 week += (numOfRollOvers * 1024);
1006 /* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1007 if (eph._TOEweek > week + 1 || eph._TOEweek < week - 1) /* invalid week */
1008 return false;
1009 GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1010 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1011 GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1012 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1013 GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1014 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1015 GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1016 GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1017 GETBITS(eph._health, 6)
1018 GETBITS(eph._L2PFlag, 1)
1019 GETBITS(eph._fitInterval, 1)
1020 eph._TOT = 0.9999e9;
1021
1022 emit newGPSEph(eph);
1023 decoded = true;
1024 }
1025 return decoded;
1026}
1027
1028//
1029////////////////////////////////////////////////////////////////////////////
1030bool RTCM3Decoder::DecodeGLONASSEphemeris(unsigned char* data, int size) {
1031 bool decoded = false;
1032
1033 if (size == 51) {
1034 t_ephGlo eph;
1035 int sv, i, tk;
1036 uint64_t numbits = 0, bitfield = 0;
1037
1038 data += 3; /* header */
1039 size -= 6; /* header + crc */
1040 SKIPBITS(12)
1041
1042 eph._receptDateTime = currentDateAndTimeGPS();
1043
1044 GETBITS(sv, 6)
1045 eph._prn.set('R', sv);
1046
1047 GETBITS(i, 5)
1048 eph._frequency_number = i - 7;
1049 GETBITS(eph._almanac_health, 1) /* almanac healthy */
1050 GETBITS(eph._almanac_health_availablility_indicator, 1) /* almanac health ok */
1051 GETBITS(eph._P1, 2) /* P1 */
1052 GETBITS(i, 5)
1053 tk = i * 60 * 60;
1054 GETBITS(i, 6)
1055 tk += i * 60;
1056 GETBITS(i, 1)
1057 tk += i * 30;
1058 eph._tki = tk < 3 * 60 * 60 ? tk - 3 * 60 * 60 + 86400 : tk - 3 * 60 * 60;
1059 GETBITS(eph._health, 1) /* MSB of Bn*/
1060 GETBITS(eph._P2, 1) /* P2 */
1061 GETBITS(i, 7)
1062 eph._TOC.setTk(i * 15 * 60 * 1000); /* tb */
1063
1064 GETFLOATSIGNM(eph._x_velocity, 24, 1.0 / (double )(1 << 20))
1065 GETFLOATSIGNM(eph._x_pos, 27, 1.0 / (double )(1 << 11))
1066 GETFLOATSIGNM(eph._x_acceleration, 5, 1.0 / (double )(1 << 30))
1067 GETFLOATSIGNM(eph._y_velocity, 24, 1.0 / (double )(1 << 20))
1068 GETFLOATSIGNM(eph._y_pos, 27, 1.0 / (double )(1 << 11))
1069 GETFLOATSIGNM(eph._y_acceleration, 5, 1.0 / (double )(1 << 30))
1070 GETFLOATSIGNM(eph._z_velocity, 24, 1.0 / (double )(1 << 20))
1071 GETFLOATSIGNM(eph._z_pos, 27, 1.0 / (double )(1 << 11))
1072 GETFLOATSIGNM(eph._z_acceleration, 5, 1.0 / (double )(1 << 30))
1073 GETBITS(eph._P3, 1) /* P3 */
1074 GETFLOATSIGNM(eph._gamma, 11, 1.0 / (double )(1 << 30) / (double )(1 << 10))
1075 GETBITS(eph._M_P, 2) /* GLONASS-M P, */
1076 GETBITS(eph._M_l3, 1) /*GLONASS-M ln (third string) */
1077 GETFLOATSIGNM(eph._tau, 22, 1.0 / (double )(1 << 30)) /* GLONASS tau n(tb) */
1078 GETFLOATSIGNM(eph._M_delta_tau, 5, 1.0 / (double )(1 << 30)) /* GLONASS-M delta tau n(tb) */
1079 GETBITS(eph._E, 5)
1080 GETBITS(eph._M_P4, 1) /* GLONASS-M P4 */
1081 GETBITS(eph._M_FT, 4) /* GLONASS-M Ft */
1082 GETBITS(eph._M_NT, 11) /* GLONASS-M Nt */
1083 GETBITS(eph._M_M, 2) /* GLONASS-M M */
1084 GETBITS(eph._additional_data_availability, 1) /* GLONASS-M The Availability of Additional Data */
1085 GETBITS(eph._NA, 11) /* GLONASS-M Na */
1086 GETFLOATSIGNM(eph._tauC, 32, 1.0/(double)(1<<30)/(double)(1<<1)) /* GLONASS tau c */
1087 GETBITS(eph._M_N4, 5) /* GLONASS-M N4 */
1088 GETFLOATSIGNM(eph._M_tau_GPS, 22, 1.0/(double)(1<<30)) /* GLONASS-M tau GPS */
1089 GETBITS(eph._M_l5, 1) /* GLONASS-M ln (fifth string) */
1090
1091 unsigned year, month, day;
1092 eph._TOC.civil_date(year, month, day);
1093 eph._gps_utc = gnumleap(year, month, day);
1094 eph._tt = eph._TOC;
1095
1096 eph._xv(1) = eph._x_pos * 1.e3;
1097 eph._xv(2) = eph._y_pos * 1.e3;
1098 eph._xv(3) = eph._z_pos * 1.e3;
1099 eph._xv(4) = eph._x_velocity * 1.e3;
1100 eph._xv(5) = eph._y_velocity * 1.e3;
1101 eph._xv(6) = eph._z_velocity * 1.e3;
1102
1103 GLOFreq[sv - 1] = 100 + eph._frequency_number ; /* store frequency for other users (MSM) */
1104 _gloFrq = QString("%1 %2").arg(eph._prn.toString().c_str()).arg(eph._frequency_number, 2, 'f', 0);
1105
1106 emit newGlonassEph(eph);
1107 decoded = true;
1108 }
1109 return decoded;
1110}
1111
1112//
1113////////////////////////////////////////////////////////////////////////////
1114bool RTCM3Decoder::DecodeQZSSEphemeris(unsigned char* data, int size) {
1115 bool decoded = false;
1116
1117 if (size == 67) {
1118 t_ephGPS eph;
1119 int i, week;
1120 uint64_t numbits = 0, bitfield = 0;
1121
1122 data += 3; /* header */
1123 size -= 6; /* header + crc */
1124 SKIPBITS(12)
1125
1126 eph._receptDateTime = currentDateAndTimeGPS();
1127
1128 GETBITS(i, 4)
1129 eph._prn.set('J', i);
1130
1131 GETBITS(i, 16)
1132 i <<= 4;
1133 eph._TOC.set(i * 1000);
1134
1135 GETFLOATSIGN(eph._clock_driftrate, 8,
1136 1.0 / (double )(1 << 30) / (double )(1 << 25))
1137 GETFLOATSIGN(eph._clock_drift, 16,
1138 1.0 / (double )(1 << 30) / (double )(1 << 13))
1139 GETFLOATSIGN(eph._clock_bias, 22,
1140 1.0 / (double )(1 << 30) / (double )(1 << 1))
1141 GETBITS(eph._IODE, 8)
1142 GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1143 GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1144 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1145 GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1146 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1147 GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1148 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1149 GETBITS(i, 16)
1150 i <<= 4;
1151 eph._TOEsec = i;
1152 bncTime t;
1153 t.set(i*1000);
1154 eph._TOEweek = t.gpsw();
1155 GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1156 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1157 GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1158 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1159 GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1160 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1161 GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1162 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1163 GETBITS(eph._L2Codes, 2)
1164 GETBITS(week, 10)
1165 int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1166 week += (numOfRollOvers * 1024);
1167 /* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1168 if (eph._TOEweek > week + 1 || eph._TOEweek < week - 1) /* invalid week */
1169 return false;
1170
1171 GETBITS(i, 4)
1172 if (i <= 6)
1173 eph._ura = ceil(10.0 * pow(2.0, 1.0 + i / 2.0)) / 10.0;
1174 else
1175 eph._ura = ceil(10.0 * pow(2.0, i / 2.0)) / 10.0;
1176 GETBITS(eph._health, 6)
1177 GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1178 GETBITS(eph._IODC, 10)
1179 GETBITS(eph._fitInterval, 1)
1180 eph._TOT = 0.9999e9;
1181 eph._L2PFlag = 0; /* does not exist for QZSS */
1182
1183 emit newGPSEph(eph);
1184 decoded = true;
1185 }
1186 return decoded;
1187}
1188
1189//
1190////////////////////////////////////////////////////////////////////////////
1191bool RTCM3Decoder::DecodeSBASEphemeris(unsigned char* data, int size) {
1192 bool decoded = false;
1193
1194 if (size == 35) {
1195 t_ephSBAS eph;
1196 int i;
1197 uint64_t numbits = 0, bitfield = 0;
1198
1199 data += 3; /* header */
1200 size -= 6; /* header + crc */
1201 SKIPBITS(12)
1202
1203 eph._receptDateTime = currentDateAndTimeGPS();
1204
1205 GETBITS(i, 6)
1206 eph._prn.set('S', 20 + i);
1207 GETBITS(eph._IODN, 8)
1208 GETBITS(i, 13)
1209 i <<= 4;
1210 eph._TOC.setTOD(i * 1000);
1211 GETBITS(i, 4)
1212 eph._ura = accuracyFromIndex(i, eph.type());
1213 GETFLOATSIGN(eph._x_pos, 30, 0.08)
1214 GETFLOATSIGN(eph._y_pos, 30, 0.08)
1215 GETFLOATSIGN(eph._z_pos, 25, 0.4)
1216 GETFLOATSIGN(eph._x_velocity, 17, 0.000625)
1217 GETFLOATSIGN(eph._y_velocity, 17, 0.000625)
1218 GETFLOATSIGN(eph._z_velocity, 18, 0.004)
1219 GETFLOATSIGN(eph._x_acceleration, 10, 0.0000125)
1220 GETFLOATSIGN(eph._y_acceleration, 10, 0.0000125)
1221 GETFLOATSIGN(eph._z_acceleration, 10, 0.0000625)
1222 GETFLOATSIGN(eph._agf0, 12, 1.0 / (1 << 30) / (1 << 1))
1223 GETFLOATSIGN(eph._agf1, 8, 1.0 / (1 << 30) / (1 << 10))
1224
1225 eph._TOT = 0.9999E9;
1226 eph._health = 0;
1227
1228 emit newSBASEph(eph);
1229 decoded = true;
1230 }
1231 return decoded;
1232}
1233
1234//
1235////////////////////////////////////////////////////////////////////////////
1236bool RTCM3Decoder::DecodeGalileoEphemeris(unsigned char* data, int size) {
1237 bool decoded = false;
1238 uint64_t numbits = 0, bitfield = 0;
1239 int i;
1240
1241 data += 3; /* header */
1242 size -= 6; /* header + crc */
1243 GETBITS(i, 12)
1244
1245 if ((i == 1046 && size == 61) || (i == 1045 && size == 60)) {
1246 t_ephGal eph;
1247
1248 eph._receptDateTime = currentDateAndTimeGPS();
1249
1250 eph._inav = (i == 1046);
1251 eph._fnav = (i == 1045);
1252 GETBITS(i, 6)
1253 eph._prn.set('E', i, eph._inav ? 1 : 0);
1254
1255 GETBITS(eph._TOEweek, 12)
1256 GETBITS(eph._IODnav, 10)
1257 GETBITS(i, 8)
1258 eph._SISA = accuracyFromIndex(i, eph.type());
1259 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1260 GETBITSFACTOR(i, 14, 60)
1261 eph._TOC.set(1024 + eph._TOEweek, i);
1262 GETFLOATSIGN(eph._clock_driftrate, 6,
1263 1.0 / (double )(1 << 30) / (double )(1 << 29))
1264 GETFLOATSIGN(eph._clock_drift, 21,
1265 1.0 / (double )(1 << 30) / (double )(1 << 16))
1266 GETFLOATSIGN(eph._clock_bias, 31,
1267 1.0 / (double )(1 << 30) / (double )(1 << 4))
1268 GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1269 GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1270 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1271 GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1272 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1273 GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1274 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1275 GETBITSFACTOR(eph._TOEsec, 14, 60)
1276 /* FIXME: overwrite value, copied from old code */
1277 eph._TOEsec = eph._TOC.gpssec();
1278 GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1279 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1280 GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1281 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1282 GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1283 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1284 GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1285 GETFLOATSIGN(eph._BGD_1_5A, 10,
1286 1.0 / (double )(1 << 30) / (double )(1 << 2))
1287 if (eph._inav) {
1288 /* set unused F/NAV values */
1289 eph._E5aHS = 0.0;
1290 eph._e5aDataInValid = false;
1291
1292 GETFLOATSIGN(eph._BGD_1_5B, 10,
1293 1.0 / (double )(1 << 30) / (double )(1 << 2))
1294 GETBITS(eph._E5bHS, 2)
1295 GETBITS(eph._e5bDataInValid, 1)
1296 GETBITS(eph._E1_bHS, 2)
1297 GETBITS(eph._e1DataInValid, 1)
1298 }
1299 else {
1300 /* set unused I/NAV values */
1301 eph._BGD_1_5B = 0.0;
1302 eph._E5bHS = 0.0;
1303 eph._E1_bHS = 0.0;
1304 eph._e1DataInValid = false;
1305 eph._e5bDataInValid = false;
1306
1307 GETBITS(eph._E5aHS, 2)
1308 GETBITS(eph._e5aDataInValid, 1)
1309 }
1310 eph._TOT = 0.9999e9;
1311
1312 emit newGalileoEph(eph);
1313 decoded = true;
1314 }
1315 return decoded;
1316}
1317
1318//
1319////////////////////////////////////////////////////////////////////////////
1320bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size) {
1321 bool decoded = false;
1322
1323 if (size == 70) {
1324 t_ephBDS eph;
1325 int i;
1326 uint64_t numbits = 0, bitfield = 0;
1327
1328 data += 3; /* header */
1329 size -= 6; /* header + crc */
1330 SKIPBITS(12)
1331
1332 eph._receptDateTime = currentDateAndTimeGPS();
1333
1334 GETBITS(i, 6)
1335 eph._prn.set('C', i);
1336
1337 SKIPBITS(13)
1338 /* week */
1339 GETBITS(i, 4)
1340 eph._URA = accuracyFromIndex(i, eph.type());
1341 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1342 GETBITS(eph._AODE, 5)
1343 GETBITS(i, 17)
1344 i <<= 3;
1345 eph._TOC.setBDS(i * 1000);
1346 GETFLOATSIGN(eph._clock_driftrate, 11,
1347 1.0 / (double )(1 << 30) / (double )(1 << 30) / (double )(1 << 6))
1348 GETFLOATSIGN(eph._clock_drift, 22,
1349 1.0 / (double )(1 << 30) / (double )(1 << 20))
1350 GETFLOATSIGN(eph._clock_bias, 24,
1351 1.0 / (double )(1 << 30) / (double )(1 << 3))
1352 GETBITS(eph._AODC, 5)
1353 GETFLOATSIGN(eph._Crs, 18, 1.0 / (double )(1 << 6))
1354 GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1355 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1356 GETFLOATSIGN(eph._Cuc, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1357 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1358 GETFLOATSIGN(eph._Cus, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1359 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1360 GETBITS(i, 17)
1361 i <<= 3;
1362 eph._TOEsec = i;
1363 eph._TOE.setBDS(i * 1000);
1364 GETFLOATSIGN(eph._Cic, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1365 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1366 GETFLOATSIGN(eph._Cis, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1367 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1368 GETFLOATSIGN(eph._Crc, 18, 1.0 / (double )(1 << 6))
1369 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1370 GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1371 GETFLOATSIGN(eph._TGD1, 10, 0.0000000001)
1372 GETFLOATSIGN(eph._TGD2, 10, 0.0000000001)
1373 GETBITS(eph._SatH1, 1)
1374
1375 eph._TOT = 0.9999E9;
1376 emit newBDSEph(eph);
1377 decoded = true;
1378 }
1379 return decoded;
1380}
1381
1382//
1383////////////////////////////////////////////////////////////////////////////
1384bool RTCM3Decoder::DecodeAntennaReceiver(unsigned char* data, int size) {
1385 char *antenna;
1386 char *antserialnum;
1387 char *receiver;
1388 char *recfirmware;
1389 char *recserialnum;
1390 int type;
1391 int antsernum = -1;
1392 int antnum = -1;
1393 int recnum = -1;
1394 int recsernum = -1;
1395 int recfirnum = -1;
1396 uint64_t numbits = 0, bitfield = 0;
1397
1398 data += 3; /* header*/
1399 size -= 6; /* header + crc */
1400
1401 GETBITS(type, 12)
1402 SKIPBITS(12) /* reference station ID */
1403 GETSTRING(antnum, antenna)
1404 if ((antnum > -1 && antnum < 265) &&
1405 (_antType.empty() || strncmp(_antType.back().descriptor, antenna, recnum) != 0)) {
1406 _antType.push_back(t_antInfo());
1407 memcpy(_antType.back().descriptor, antenna, antnum);
1408 _antType.back().descriptor[antnum] = 0;
1409 }
1410 SKIPBITS(8) /* antenna setup ID */
1411 if (type == 1008 || type == 1033 ) {
1412 GETSTRING(antsernum, antserialnum)
1413 if ((antsernum > -1 && antsernum < 265)) {
1414 memcpy(_antType.back().serialnumber, antserialnum, antsernum);
1415 _antType.back().serialnumber[antsernum] = 0;
1416 }
1417 }
1418
1419 if (type == 1033) {
1420 GETSTRING(recnum, receiver)
1421 GETSTRING(recfirnum, recfirmware)
1422 GETSTRING(recsernum, recserialnum)
1423 if ((recnum > -1 && recnum < 265) &&
1424 (_recType.empty() || strncmp(_recType.back().descriptor, receiver, recnum) != 0)) {
1425 _recType.push_back(t_recInfo());
1426 memcpy(_recType.back().descriptor, receiver, recnum);
1427 _recType.back().descriptor[recnum] = 0;
1428 if (recfirnum > -1 && recfirnum < 265) {
1429 memcpy(_recType.back().firmware, recfirmware, recfirnum);
1430 _recType.back().firmware[recfirnum] = 0;
1431 }
1432 if (recsernum > -1 && recsernum < 265) {
1433 memcpy(_recType.back().serialnumber, recserialnum, recsernum);
1434 _recType.back().serialnumber[recsernum] = 0;
1435 }
1436 }
1437 }
1438 return true;
1439}
1440
1441//
1442////////////////////////////////////////////////////////////////////////////
1443bool RTCM3Decoder::DecodeAntennaPosition(unsigned char* data, int size) {
1444 int type;
1445 uint64_t numbits = 0, bitfield = 0;
1446 double x, y, z;
1447
1448 data += 3; /* header */
1449 size -= 6; /* header + crc */
1450
1451 GETBITS(type, 12)
1452 _antList.push_back(t_antRefPoint());
1453 _antList.back().type = t_antRefPoint::ARP;
1454 SKIPBITS(22)
1455 GETBITSSIGN(x, 38)
1456 _antList.back().xx = x * 1e-4;
1457 SKIPBITS(2)
1458 GETBITSSIGN(y, 38)
1459 _antList.back().yy = y * 1e-4;
1460 SKIPBITS(2)
1461 GETBITSSIGN(z, 38)
1462 _antList.back().zz = z * 1e-4;
1463 if (type == 1006)
1464 {
1465 double h;
1466 GETBITS(h, 16)
1467 _antList.back().height = h * 1e-4;
1468 _antList.back().height_f = true;
1469 }
1470 _antList.back().message = type;
1471
1472 return true;
1473}
1474
1475//
1476////////////////////////////////////////////////////////////////////////////
1477t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
1478 bool decoded = false;
1479
1480 errmsg.clear();
1481
1482 while (bufLen && _MessageSize < sizeof(_Message)) {
1483 int l = sizeof(_Message) - _MessageSize;
1484 if (l > bufLen)
1485 l = bufLen;
1486 memcpy(_Message + _MessageSize, buffer, l);
1487 _MessageSize += l;
1488 bufLen -= l;
1489 buffer += l;
1490 int id;
1491 while ((id = GetMessage())) {
1492 /* reset station ID for file loading as it can change */
1493 if (_rawFile)
1494 _staID = _rawFile->staID();
1495 /* store the id into the list of loaded blocks */
1496 _typeList.push_back(id);
1497
1498 /* SSR I+II data handled in another function, already pass the
1499 * extracted data block. That does no harm, as it anyway skip everything
1500 * else. */
1501 if ((id >= 1057 && id <= 1068) || (id >= 1240 && id <= 1270)) {
1502 if (!_coDecoders.contains(_staID.toLatin1()))
1503 _coDecoders[_staID.toLatin1()] = new RTCM3coDecoder(_staID);
1504 RTCM3coDecoder* coDecoder = _coDecoders[_staID.toLatin1()];
1505 if (coDecoder->Decode(reinterpret_cast<char *>(_Message), _BlockSize,
1506 errmsg) == success) {
1507 decoded = true;
1508 }
1509 }
1510 else if (id >= 1070 && id <= 1229) /* MSM */ {
1511 if (DecodeRTCM3MSM(_Message, _BlockSize))
1512 decoded = true;
1513 }
1514 else {
1515 switch (id) {
1516 case 1001:
1517 case 1003:
1518 emit(newMessage(
1519 QString("%1: Block %2 contain partial data! Ignored!")
1520 .arg(_staID).arg(id).toLatin1(), true));
1521 break; /* no use decoding partial data ATM, remove break when data can be used */
1522 case 1002:
1523 case 1004:
1524 if (DecodeRTCM3GPS(_Message, _BlockSize))
1525 decoded = true;
1526 break;
1527 case 1009:
1528 case 1011:
1529 emit(newMessage(
1530 QString("%1: Block %2 contain partial data! Ignored!")
1531 .arg(_staID).arg(id).toLatin1(), true));
1532 break; /* no use decoding partial data ATM, remove break when data can be used */
1533 case 1010:
1534 case 1012:
1535 if (DecodeRTCM3GLONASS(_Message, _BlockSize))
1536 decoded = true;
1537 break;
1538 case 1019:
1539 if (DecodeGPSEphemeris(_Message, _BlockSize))
1540 decoded = true;
1541 break;
1542 case 1020:
1543 if (DecodeGLONASSEphemeris(_Message, _BlockSize))
1544 decoded = true;
1545 break;
1546 case 1043:
1547 if (DecodeSBASEphemeris(_Message, _BlockSize))
1548 decoded = true;
1549 break;
1550 case 1044:
1551 if (DecodeQZSSEphemeris(_Message, _BlockSize))
1552 decoded = true;
1553 break;
1554 case 1045:
1555 case 1046:
1556 if (DecodeGalileoEphemeris(_Message, _BlockSize))
1557 decoded = true;
1558 break;
1559 case RTCM3ID_BDS:
1560 if (DecodeBDSEphemeris(_Message, _BlockSize))
1561 decoded = true;
1562 break;
1563 case 1007:
1564 case 1008:
1565 case 1033:
1566 DecodeAntennaReceiver(_Message, _BlockSize);
1567 break;
1568 case 1005:
1569 case 1006:
1570 DecodeAntennaPosition(_Message, _BlockSize);
1571 break;
1572 }
1573 }
1574 }
1575 }
1576 return decoded ? success : failure;
1577}
1578;
1579
1580//
1581////////////////////////////////////////////////////////////////////////////
1582uint32_t RTCM3Decoder::CRC24(long size, const unsigned char *buf) {
1583 uint32_t crc = 0;
1584 int i;
1585
1586 while (size--) {
1587 crc ^= (*buf++) << (16);
1588 for (i = 0; i < 8; i++)
1589 {
1590 crc <<= 1;
1591 if (crc & 0x1000000)
1592 crc ^= 0x01864cfb;
1593 }
1594 }
1595 return crc;
1596}
1597
1598//
1599////////////////////////////////////////////////////////////////////////////
1600int RTCM3Decoder::GetMessage(void) {
1601 unsigned char *m, *e;
1602 int i;
1603
1604 m = _Message + _SkipBytes;
1605 e = _Message + _MessageSize;
1606 _NeedBytes = _SkipBytes = 0;
1607 while (e - m >= 3) {
1608 if (m[0] == 0xD3) {
1609 _BlockSize = ((m[1] & 3) << 8) | m[2];
1610 if (e - m >= static_cast<int>(_BlockSize + 6)) {
1611 if (static_cast<uint32_t>((m[3 + _BlockSize] << 16)
1612 | (m[3 + _BlockSize + 1] << 8)
1613 | (m[3 + _BlockSize + 2])) == CRC24(_BlockSize + 3, m)) {
1614 _BlockSize += 6;
1615 _SkipBytes = _BlockSize;
1616 break;
1617 }
1618 else
1619 ++m;
1620 }
1621 else {
1622 _NeedBytes = _BlockSize;
1623 break;
1624 }
1625 }
1626 else
1627 ++m;
1628 }
1629 if (e - m < 3)
1630 _NeedBytes = 3;
1631
1632 /* copy buffer to front */
1633 i = m - _Message;
1634 if (i && m < e)
1635 memmove(_Message, m, static_cast<size_t>(_MessageSize - i));
1636 _MessageSize -= i;
1637
1638 return !_NeedBytes ? ((_Message[3] << 4) | (_Message[4] >> 4)) : 0;
1639}
1640
1641// Time of Corrections
1642//////////////////////////////////////////////////////////////////////////////
1643int RTCM3Decoder::corrGPSEpochTime() const {
1644 return
1645 _coDecoders.size() > 0 ?
1646 _coDecoders.begin().value()->corrGPSEpochTime() : -1;
1647}
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