source: ntrip/trunk/BNC/src/RTCM3/RTCM3Decoder.cpp@ 9541

Last change on this file since 9541 was 9541, checked in by stuerze, 2 months ago

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