source: ntrip/trunk/BNC/src/RTCM3/RTCM3Decoder.cpp@ 9765

Last change on this file since 9765 was 9765, checked in by stuerze, 8 weeks ago

some more changes to consider RINEX Version 4 nav file (EPH key only)

File size: 62.4 KB
Line 
1// Part of BNC, a utility for retrieving decoding and
2// converting GNSS data streams from NTRIP broadcasters.
3//
4// Copyright (C) 2007
5// German Federal Agency for Cartography and Geodesy (BKG)
6// http://www.bkg.bund.de
7// Czech Technical University Prague, Department of Geodesy
8// http://www.fsv.cvut.cz
9//
10// Email: euref-ip@bkg.bund.de
11//
12// This program is free software; you can redistribute it and/or
13// modify it under the terms of the GNU General Public License
14// as published by the Free Software Foundation, version 2.
15//
16// This program is distributed in the hope that it will be useful,
17// but WITHOUT ANY WARRANTY; without even the implied warranty of
18// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19// GNU General Public License for more details.
20//
21// You should have received a copy of the GNU General Public License
22// along with this program; if not, write to the Free Software
23// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25/* -------------------------------------------------------------------------
26 * BKG NTRIP Client
27 * -------------------------------------------------------------------------
28 *
29 * Class: RTCM3Decoder
30 *
31 * Purpose: RTCM3 Decoder
32 *
33 * Author: L. Mervart
34 *
35 * Created: 24-Aug-2006
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <iostream>
42#include <iomanip>
43#include <sstream>
44#include <math.h>
45#include <string.h>
46
47#include "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 eph._navType = t_eph::LNAV;
1094
1095 emit newGPSEph(eph);
1096 decoded = true;
1097 }
1098 return decoded;
1099}
1100
1101//
1102////////////////////////////////////////////////////////////////////////////
1103bool RTCM3Decoder::DecodeGLONASSEphemeris(unsigned char* data, int size) {
1104 bool decoded = false;
1105
1106 if (size == 51) {
1107 t_ephGlo eph;
1108 int sv, i, tk;
1109 uint64_t numbits = 0, bitfield = 0;
1110
1111 data += 3; /* header */
1112 size -= 6; /* header + crc */
1113 SKIPBITS(12)
1114
1115 eph._receptDateTime = currentDateAndTimeGPS();
1116 eph._receptStaID = _staID;
1117
1118 GETBITS(sv, 6)
1119 eph._prn.set('R', sv);
1120
1121 GETBITS(i, 5)
1122 eph._frequency_number = i - 7;
1123 GETBITS(eph._almanac_health, 1) /* almanac healthy */
1124 GETBITS(eph._almanac_health_availablility_indicator, 1) /* almanac health ok */
1125 if (eph._almanac_health_availablility_indicator == 0.0) {
1126#ifdef BNC_DEBUG_BCEP
1127 emit(newMessage(QString("%1: Block %2 (%3): ALM = %4: missing data!")
1128 .arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str())
1129 .arg(eph._almanac_health_availablility_indicator).toLatin1(), true));
1130#endif
1131 return false;
1132 }
1133 GETBITS(eph._P1, 2) /* P1 */
1134 GETBITS(i, 5)
1135 tk = i * 60 * 60;
1136 GETBITS(i, 6)
1137 tk += i * 60;
1138 GETBITS(i, 1)
1139 tk += i * 30;
1140 eph._tki = tk - 3*60*60;
1141 if(eph._tki < 0.0) {
1142 eph._tki += 86400.0;
1143 }
1144 GETBITS(eph._health, 1) /* MSB of Bn*/
1145 GETBITS(eph._P2, 1) /* P2 */
1146 GETBITS(i, 7)
1147 eph._TOC.setTk(i * 15 * 60 * 1000); /* tb */
1148
1149 GETFLOATSIGNM(eph._x_velocity, 24, 1.0 / (double )(1 << 20))
1150 GETFLOATSIGNM(eph._x_pos, 27, 1.0 / (double )(1 << 11))
1151 GETFLOATSIGNM(eph._x_acceleration, 5, 1.0 / (double )(1 << 30))
1152 GETFLOATSIGNM(eph._y_velocity, 24, 1.0 / (double )(1 << 20))
1153 GETFLOATSIGNM(eph._y_pos, 27, 1.0 / (double )(1 << 11))
1154 GETFLOATSIGNM(eph._y_acceleration, 5, 1.0 / (double )(1 << 30))
1155 GETFLOATSIGNM(eph._z_velocity, 24, 1.0 / (double )(1 << 20))
1156 GETFLOATSIGNM(eph._z_pos, 27, 1.0 / (double )(1 << 11))
1157 GETFLOATSIGNM(eph._z_acceleration, 5, 1.0 / (double )(1 << 30))
1158 GETBITS(eph._P3, 1) /* P3 */
1159 GETFLOATSIGNM(eph._gamma, 11, 1.0 / (double )(1 << 30) / (double )(1 << 10))
1160 GETBITS(eph._M_P, 2) /* GLONASS-M P, */
1161 GETBITS(eph._M_l3, 1) /* GLONASS-M ln (third string) */
1162 GETFLOATSIGNM(eph._tau, 22, 1.0 / (double )(1 << 30)) /* GLONASS tau n(tb) */
1163 GETFLOATSIGNM(eph._M_delta_tau, 5, 1.0 / (double )(1 << 30)) /* GLONASS-M delta tau n(tb) */
1164 GETBITS(eph._E, 5)
1165 GETBITS(eph._M_P4, 1) /* GLONASS-M P4 */
1166 GETBITS(eph._M_FT, 4) /* GLONASS-M Ft */
1167 GETBITS(eph._M_NT, 11) /* GLONASS-M Nt */
1168 if (eph._M_NT == 0.0) {
1169#ifdef BNC_DEBUG_BCEP
1170 emit(newMessage(QString("%1: Block %2 (%3): NT = %4: missing data!")
1171 .arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).arg(eph._M_NT,4).toLatin1(), true));
1172#endif
1173 return false;
1174 }
1175 GETBITS(eph._M_M, 2) /* GLONASS-M M */
1176 GETBITS(eph._additional_data_availability, 1) /* GLONASS-M The Availability of Additional Data */
1177 if (eph._additional_data_availability == 0.0) {
1178#ifdef BNC_DEBUG_BCEP
1179 emit(newMessage(QString("%1: Block %2 (%3): ADD = %4: missing data!")
1180 .arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str())
1181 .arg(eph._additional_data_availability).toLatin1(), true));
1182#endif
1183 return false;
1184 }
1185 GETBITS(eph._NA, 11) /* GLONASS-M Na */
1186 GETFLOATSIGNM(eph._tauC, 32, 1.0/(double)(1<<30)/(double)(1<<1)) /* GLONASS tau c */
1187 GETBITS(eph._M_N4, 5) /* GLONASS-M N4 */
1188 GETFLOATSIGNM(eph._M_tau_GPS, 22, 1.0/(double)(1<<30)) /* GLONASS-M tau GPS */
1189 GETBITS(eph._M_l5, 1) /* GLONASS-M ln (fifth string) */
1190
1191 unsigned year, month, day;
1192 eph._TOC.civil_date(year, month, day);
1193 eph._gps_utc = gnumleap(year, month, day);
1194 eph._tt = eph._TOC;
1195
1196 eph._xv(1) = eph._x_pos * 1.e3;
1197 eph._xv(2) = eph._y_pos * 1.e3;
1198 eph._xv(3) = eph._z_pos * 1.e3;
1199 if (eph._xv.Rows(1,3).NormFrobenius() < 1.0) {
1200#ifdef BNC_DEBUG_BCEP
1201 emit(newMessage(QString("%1: Block %2 (%3): zero position!")
1202 .arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
1203#endif
1204 return false;
1205 }
1206 eph._xv(4) = eph._x_velocity * 1.e3;
1207 eph._xv(5) = eph._y_velocity * 1.e3;
1208 eph._xv(6) = eph._z_velocity * 1.e3;
1209 if (eph._xv.Rows(4,6).NormFrobenius() < 1.0) {
1210#ifdef BNC_DEBUG_BCEP
1211 emit(newMessage(QString("%1: Block %2 (%3): zero velocity!")
1212 .arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
1213#endif
1214 return false;
1215 }
1216 GLOFreq[sv - 1] = 100 + eph._frequency_number ; /* store frequency for other users (MSM) */
1217 _gloFrq = QString("%1 %2").arg(eph._prn.toString().c_str()).arg(eph._frequency_number, 2, 'f', 0);
1218
1219 eph._navType = t_eph::FDMA;
1220
1221 emit newGlonassEph(eph);
1222 decoded = true;
1223 }
1224 return decoded;
1225}
1226
1227//
1228////////////////////////////////////////////////////////////////////////////
1229bool RTCM3Decoder::DecodeQZSSEphemeris(unsigned char* data, int size) {
1230 bool decoded = false;
1231
1232 if (size == 67) {
1233 t_ephGPS eph;
1234 int i, week;
1235 uint64_t numbits = 0, bitfield = 0;
1236 int fitIntervalFalg = 0;
1237
1238 data += 3; /* header */
1239 size -= 6; /* header + crc */
1240 SKIPBITS(12)
1241
1242 eph._receptDateTime = currentDateAndTimeGPS();
1243 eph._receptStaID = _staID;
1244
1245 GETBITS(i, 4)
1246 eph._prn.set('J', i);
1247
1248 GETBITS(i, 16)
1249 i <<= 4;
1250 eph._TOC.set(i * 1000);
1251
1252 GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1253 GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1254 GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1255 GETBITS(eph._IODE, 8)
1256 GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1257 GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1258 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1259 GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1260 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1261 GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1262 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1263 if (eph._sqrt_A < 1000.0) {
1264#ifdef BNC_DEBUG_BCEP
1265 emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1266 .arg(_staID).arg(1044,4).arg(eph._prn.toString().c_str())
1267 .arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1268#endif
1269 return false;
1270 }
1271 GETBITS(i, 16)
1272 i <<= 4;
1273 eph._TOEsec = i;
1274 bncTime t;
1275 t.set(i*1000);
1276 eph._TOEweek = t.gpsw();
1277 GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1278 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1279 GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1280 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1281 GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1282 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1283 GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1284 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1285 GETBITS(eph._L2Codes, 2)
1286 GETBITS(week, 10)
1287 int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1288 week += (numOfRollOvers * 1024);
1289 /* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1290 if (eph._TOEweek > week + 1 || eph._TOEweek < week - 1) /* invalid week */
1291 return false;
1292
1293 GETBITS(i, 4)
1294 if (i <= 6)
1295 eph._ura = ceil(10.0 * pow(2.0, 1.0 + i / 2.0)) / 10.0;
1296 else
1297 eph._ura = ceil(10.0 * pow(2.0, i / 2.0)) / 10.0;
1298 GETBITS(eph._health, 6)
1299 GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1300 GETBITS(eph._IODC, 10)
1301 GETBITS(fitIntervalFalg, 1)
1302 eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.type());
1303 eph._TOT = 0.9999e9;
1304 eph._navType = t_eph::LNAV;
1305
1306 emit newGPSEph(eph);
1307 decoded = true;
1308 }
1309 return decoded;
1310}
1311
1312//
1313////////////////////////////////////////////////////////////////////////////
1314bool RTCM3Decoder::DecodeIRNSSEphemeris(unsigned char* data, int size) {
1315 bool decoded = false;
1316
1317 if (size == 67) {
1318 t_ephGPS eph;
1319 int i, week, L5Flag, SFlag;
1320 uint64_t numbits = 0, bitfield = 0;
1321
1322 data += 3; /* header */
1323 size -= 6; /* header + crc */
1324 SKIPBITS(12)
1325
1326 eph._receptDateTime = currentDateAndTimeGPS();
1327 eph._receptStaID = _staID;
1328
1329 GETBITS(i, 6)
1330 eph._prn.set('I', i);
1331 GETBITS(week, 10)
1332 GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1333 GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1334 GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1335 GETBITS(i, 4)
1336 eph._ura = accuracyFromIndex(i, eph.type());
1337 GETBITS(i, 16)
1338 i <<= 4;
1339 eph._TOC.set(i * 1000);
1340 GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1341 GETFLOATSIGN(eph._Delta_n, 22, R2R_PI/(double)(1<<30)/(double)(1 << 11))
1342 // IODCE
1343 GETBITS(eph._IODE, 8)
1344 eph._IODC = eph._IODE;
1345 SKIPBITS(10)
1346 GETBITS(L5Flag, 1)
1347 GETBITS(SFlag, 1)
1348 if (L5Flag == 0 && SFlag == 0) {
1349 eph._health = 0.0;
1350 }
1351 else if (L5Flag == 0 && SFlag == 1) {
1352 eph._health = 1.0;
1353 }
1354 else if (L5Flag == 1 && SFlag == 0) {
1355 eph._health = 2.0;
1356 }
1357 else if (L5Flag == 1 && SFlag == 1) {
1358 eph._health = 3.0;
1359 }
1360 GETFLOATSIGN(eph._Cuc, 15, 1.0 / (double )(1 << 28))
1361 GETFLOATSIGN(eph._Cus, 15, 1.0 / (double )(1 << 28))
1362 GETFLOATSIGN(eph._Cic, 15, 1.0 / (double )(1 << 28))
1363 GETFLOATSIGN(eph._Cis, 15, 1.0 / (double )(1 << 28))
1364 GETFLOATSIGN(eph._Crc, 15, 1.0 / (double )(1 << 4))
1365 GETFLOATSIGN(eph._Crs, 15, 1.0 / (double )(1 << 4))
1366 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1367 SKIPBITS(2)
1368 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1369 GETBITS(i, 16)
1370 i <<= 4;
1371 eph._TOEsec = i;
1372 bncTime t;
1373 t.set(i * 1000);
1374 eph._TOEweek = t.gpsw();
1375 int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1376 week += (numOfRollOvers * 1024);
1377 /* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1378 if (eph._TOEweek > week + 1 || eph._TOEweek < week - 1) /* invalid week */
1379 return false;
1380 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1381 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1382 if (eph._sqrt_A < 1000.0) {
1383#ifdef BNC_DEBUG_BCEP
1384 emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1385 .arg(_staID).arg(1041,4).arg(eph._prn.toString().c_str())
1386 .arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1387#endif
1388 return false;
1389 }
1390 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1391 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1392 GETFLOATSIGN(eph._OMEGADOT, 22, R2R_PI/(double)(1<<30)/(double)(1<<11))
1393 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1394 SKIPBITS(2)
1395 eph._TOT = 0.9999e9;
1396 eph._navType = t_eph::LNAV;
1397
1398 emit newGPSEph(eph);
1399 decoded = true;
1400 }
1401 return decoded;
1402}
1403
1404//
1405////////////////////////////////////////////////////////////////////////////
1406bool RTCM3Decoder::DecodeSBASEphemeris(unsigned char* data, int size) {
1407 bool decoded = false;
1408
1409 if (size == 35) {
1410 t_ephSBAS eph;
1411 int i;
1412 uint64_t numbits = 0, bitfield = 0;
1413
1414 data += 3; /* header */
1415 size -= 6; /* header + crc */
1416 SKIPBITS(12)
1417
1418 eph._receptDateTime = currentDateAndTimeGPS();
1419 eph._receptStaID = _staID;
1420
1421 GETBITS(i, 6)
1422 eph._prn.set('S', 20 + i);
1423 GETBITS(eph._IODN, 8)
1424 GETBITS(i, 13)
1425 i <<= 4;
1426 eph._TOC.setTOD(i * 1000);
1427 GETBITS(i, 4)
1428 eph._ura = accuracyFromIndex(i, eph.type());
1429 GETFLOATSIGN(eph._x_pos, 30, 0.08)
1430 GETFLOATSIGN(eph._y_pos, 30, 0.08)
1431 GETFLOATSIGN(eph._z_pos, 25, 0.4)
1432 ColumnVector pos(3);
1433 pos(1) = eph._x_pos; pos(2) = eph._y_pos; pos(3) = eph._z_pos;
1434 if (pos.NormFrobenius() < 1.0) {
1435#ifdef BNC_DEBUG_BCEP
1436 emit(newMessage(QString("%1: Block %2 (%3): zero position!")
1437 .arg(_staID).arg(1043,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
1438#endif
1439 return false;
1440 }
1441 GETFLOATSIGN(eph._x_velocity, 17, 0.000625)
1442 GETFLOATSIGN(eph._y_velocity, 17, 0.000625)
1443 GETFLOATSIGN(eph._z_velocity, 18, 0.004)
1444 GETFLOATSIGN(eph._x_acceleration, 10, 0.0000125)
1445 GETFLOATSIGN(eph._y_acceleration, 10, 0.0000125)
1446 GETFLOATSIGN(eph._z_acceleration, 10, 0.0000625)
1447 GETFLOATSIGN(eph._agf0, 12, 1.0 / (1 << 30) / (1 << 1))
1448 GETFLOATSIGN(eph._agf1, 8, 1.0 / (1 << 30) / (1 << 10))
1449
1450 eph._TOT = 0.9999E9;
1451 eph._health = 0;
1452 eph._navType = t_eph::SBASL1;
1453
1454 emit newSBASEph(eph);
1455 decoded = true;
1456 }
1457 return decoded;
1458}
1459
1460//
1461////////////////////////////////////////////////////////////////////////////
1462bool RTCM3Decoder::DecodeGalileoEphemeris(unsigned char* data, int size) {
1463 bool decoded = false;
1464 uint64_t numbits = 0, bitfield = 0;
1465 int i;
1466
1467 data += 3; /* header */
1468 size -= 6; /* header + crc */
1469 GETBITS(i, 12)
1470
1471 if ((i == 1046 && size == 61) || (i == 1045 && size == 60)) {
1472 t_ephGal eph;
1473
1474 eph._receptDateTime = currentDateAndTimeGPS();
1475 eph._receptStaID = _staID;
1476
1477 eph._inav = (i == 1046);
1478 eph._fnav = (i == 1045);
1479 GETBITS(i, 6)
1480 eph._prn.set('E', i, eph._inav ? 1 : 0);
1481
1482 GETBITS(eph._TOEweek, 12) //FIXME: roll-over after week 4095!!
1483 GETBITS(eph._IODnav, 10)
1484 GETBITS(i, 8)
1485 eph._SISA = accuracyFromIndex(i, eph.type());
1486 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1487 GETBITSFACTOR(i, 14, 60)
1488 eph._TOC.set(1024 + eph._TOEweek, i);
1489 GETFLOATSIGN(eph._clock_driftrate, 6, 1.0 / (double )(1 << 30) / (double )(1 << 29))
1490 GETFLOATSIGN(eph._clock_drift, 21, 1.0 / (double )(1 << 30) / (double )(1 << 16))
1491 GETFLOATSIGN(eph._clock_bias, 31, 1.0 / (double )(1 << 30) / (double )(1 << 4))
1492 GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1493 GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1494 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1495 GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1496 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1497 GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1498 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1499 GETBITSFACTOR(eph._TOEsec, 14, 60)
1500 /* FIXME: overwrite value, copied from old code */
1501 eph._TOEsec = eph._TOC.gpssec();
1502 GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1503 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1504 GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1505 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1506 GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1507 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1508 GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1509 GETFLOATSIGN(eph._BGD_1_5A, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
1510 if (eph._inav) {
1511 /* set unused F/NAV values */
1512 eph._E5aHS = 0.0;
1513 eph._e5aDataInValid = false;
1514
1515 GETFLOATSIGN(eph._BGD_1_5B, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
1516 GETBITS(eph._E5bHS, 2)
1517 GETBITS(eph._e5bDataInValid, 1)
1518 GETBITS(eph._E1_bHS, 2)
1519 GETBITS(eph._e1DataInValid, 1)
1520 if (eph._E5bHS != eph._E1_bHS) {
1521#ifdef BNC_DEBUG_BCEP
1522 emit(newMessage(QString("%1: Block %2 (%3) SHS E5b %4 E1B %5: inconsistent health!")
1523 .arg(_staID).arg(1046,4).arg(eph._prn.toString().c_str())
1524 .arg(eph._E5bHS).arg(eph._E1_bHS).toLatin1(), true));
1525#endif
1526 return false;
1527 }
1528 if ((eph._BGD_1_5A == 0.0 && fabs(eph._BGD_1_5B) > 1e-9) ||
1529 (eph._BGD_1_5B == 0.0 && fabs(eph._BGD_1_5A) > 1e-9)) {
1530#ifdef BNC_DEBUG_BCEP
1531 emit(newMessage(QString("%1: Block %2 (%3) BGD_15a = %4 BGD_15b = %5: inconsistent BGD!")
1532 .arg(_staID).arg(1046,4).arg(eph._prn.toString().c_str())
1533 .arg(eph._BGD_1_5A,10,'E',3).arg(eph._BGD_1_5B,10,'E',3).toLatin1(), true));
1534#endif
1535 return false;
1536 }
1537 eph._navType = t_eph::INAF;
1538 }
1539 else {
1540 /* set unused I/NAV values */
1541 eph._BGD_1_5B = 0.0;
1542 eph._E5bHS = 0.0;
1543 eph._E1_bHS = 0.0;
1544 eph._e1DataInValid = false;
1545 eph._e5bDataInValid = false;
1546
1547 GETBITS(eph._E5aHS, 2)
1548 GETBITS(eph._e5aDataInValid, 1)
1549 eph._navType = t_eph::FNAV;
1550 }
1551 eph._TOT = 0.9999e9;
1552
1553 if (eph._sqrt_A < 1000.0) {
1554#ifdef BNC_DEBUG_BCEP
1555 emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1556 .arg(_staID).arg(eph._inav? 1046 : 1045,4).arg(eph._prn.toString().c_str())
1557 .arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1558#endif
1559 return false;
1560 }
1561
1562 emit newGalileoEph(eph);
1563 decoded = true;
1564 }
1565 return decoded;
1566}
1567
1568//
1569////////////////////////////////////////////////////////////////////////////
1570bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size) {
1571 bool decoded = false;
1572 const double iMaxGEO = 10.0 / 180.0 * M_PI;
1573
1574 if (size == 70) {
1575 t_ephBDS eph;
1576 int i;
1577 uint64_t numbits = 0, bitfield = 0;
1578
1579 data += 3; /* header */
1580 size -= 6; /* header + crc */
1581 SKIPBITS(12)
1582
1583 eph._receptDateTime = currentDateAndTimeGPS();
1584 eph._receptStaID = _staID;
1585
1586 GETBITS(i, 6)
1587 eph._prn.set('C', i);
1588
1589 SKIPBITS(13)
1590 /* week */
1591 GETBITS(i, 4)
1592 eph._URA = accuracyFromIndex(i, eph.type());
1593 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1594 GETBITS(eph._AODE, 5)
1595 GETBITS(i, 17)
1596 i <<= 3;
1597 eph._TOC.setBDS(i * 1000);
1598 GETFLOATSIGN(eph._clock_driftrate, 11, 1.0 / (double )(1 << 30) / (double )(1 << 30) / (double )(1 << 6))
1599 GETFLOATSIGN(eph._clock_drift, 22, 1.0 / (double )(1 << 30) / (double )(1 << 20))
1600 GETFLOATSIGN(eph._clock_bias, 24, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1601 GETBITS(eph._AODC, 5)
1602 GETFLOATSIGN(eph._Crs, 18, 1.0 / (double )(1 << 6))
1603 GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1604 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1605 GETFLOATSIGN(eph._Cuc, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1606 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1607 GETFLOATSIGN(eph._Cus, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1608 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1609 if (eph._sqrt_A < 1000.0) {
1610#ifdef BNC_DEBUG_BCEP
1611 emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1612 .arg(_staID).arg(1042,4).arg(eph._prn.toString().c_str())
1613 .arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1614#endif
1615 return false;
1616 }
1617 GETBITS(i, 17)
1618 i <<= 3;
1619 eph._TOEsec = i;
1620 eph._TOE.setBDS(i * 1000);
1621 GETFLOATSIGN(eph._Cic, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1622 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1623 GETFLOATSIGN(eph._Cis, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1624 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1625 GETFLOATSIGN(eph._Crc, 18, 1.0 / (double )(1 << 6))
1626 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1627 GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1628 GETFLOATSIGN(eph._TGD1, 10, 0.0000000001)
1629 GETFLOATSIGN(eph._TGD2, 10, 0.0000000001)
1630 GETBITS(eph._SatH1, 1)
1631
1632 eph._TOT = 0.9999E9;
1633 if (eph._i0 > iMaxGEO) {
1634 eph._navType = t_eph::D1;
1635 }
1636 else {
1637 eph._navType = t_eph::D2;
1638 }
1639
1640
1641 emit newBDSEph(eph);
1642 decoded = true;
1643 }
1644 return decoded;
1645}
1646
1647//
1648////////////////////////////////////////////////////////////////////////////
1649bool RTCM3Decoder::DecodeAntennaReceiver(unsigned char* data, int size) {
1650 char *antenna;
1651 char *antserialnum;
1652 char *receiver;
1653 char *recfirmware;
1654 char *recserialnum;
1655 int type;
1656 int antsernum = -1;
1657 int antnum = -1;
1658 int recnum = -1;
1659 int recsernum = -1;
1660 int recfirnum = -1;
1661 uint64_t numbits = 0, bitfield = 0;
1662
1663 data += 3; /* header*/
1664 size -= 6; /* header + crc */
1665
1666 GETBITS(type, 12)
1667 SKIPBITS(12) /* reference station ID */
1668 GETSTRING(antnum, antenna)
1669 if ((antnum > -1 && antnum < 265) &&
1670 (_antType.empty() || strncmp(_antType.back().descriptor, antenna, recnum) != 0)) {
1671 _antType.push_back(t_antInfo());
1672 memcpy(_antType.back().descriptor, antenna, antnum);
1673 _antType.back().descriptor[antnum] = 0;
1674 }
1675 SKIPBITS(8) /* antenna setup ID */
1676 if (type == 1008 || type == 1033 ) {
1677 GETSTRING(antsernum, antserialnum)
1678 if ((antsernum > -1 && antsernum < 265)) {
1679 memcpy(_antType.back().serialnumber, antserialnum, antsernum);
1680 _antType.back().serialnumber[antsernum] = 0;
1681 }
1682 }
1683
1684 if (type == 1033) {
1685 GETSTRING(recnum, receiver)
1686 GETSTRING(recfirnum, recfirmware)
1687 GETSTRING(recsernum, recserialnum)
1688 if ((recnum > -1 && recnum < 265) &&
1689 (_recType.empty() || strncmp(_recType.back().descriptor, receiver, recnum) != 0)) {
1690 _recType.push_back(t_recInfo());
1691 memcpy(_recType.back().descriptor, receiver, recnum);
1692 _recType.back().descriptor[recnum] = 0;
1693 if (recfirnum > -1 && recfirnum < 265) {
1694 memcpy(_recType.back().firmware, recfirmware, recfirnum);
1695 _recType.back().firmware[recfirnum] = 0;
1696 }
1697 if (recsernum > -1 && recsernum < 265) {
1698 memcpy(_recType.back().serialnumber, recserialnum, recsernum);
1699 _recType.back().serialnumber[recsernum] = 0;
1700 }
1701 }
1702 }
1703 return true;
1704}
1705
1706//
1707////////////////////////////////////////////////////////////////////////////
1708bool RTCM3Decoder::DecodeAntennaPosition(unsigned char* data, int size) {
1709 int type;
1710 uint64_t numbits = 0, bitfield = 0;
1711 double x, y, z;
1712
1713 data += 3; /* header */
1714 size -= 6; /* header + crc */
1715
1716 GETBITS(type, 12)
1717 _antList.push_back(t_antRefPoint());
1718 _antList.back().type = t_antRefPoint::ARP;
1719 SKIPBITS(22)
1720 GETBITSSIGN(x, 38)
1721 _antList.back().xx = x * 1e-4;
1722 SKIPBITS(2)
1723 GETBITSSIGN(y, 38)
1724 _antList.back().yy = y * 1e-4;
1725 SKIPBITS(2)
1726 GETBITSSIGN(z, 38)
1727 _antList.back().zz = z * 1e-4;
1728 if (type == 1006)
1729 {
1730 double h;
1731 GETBITS(h, 16)
1732 _antList.back().height = h * 1e-4;
1733 _antList.back().height_f = true;
1734 }
1735 _antList.back().message = type;
1736
1737 return true;
1738}
1739
1740//
1741////////////////////////////////////////////////////////////////////////////
1742t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
1743 bool decoded = false;
1744
1745 errmsg.clear();
1746
1747 while (bufLen && _MessageSize < sizeof(_Message)) {
1748 int l = sizeof(_Message) - _MessageSize;
1749 if (l > bufLen)
1750 l = bufLen;
1751 memcpy(_Message + _MessageSize, buffer, l);
1752 _MessageSize += l;
1753 bufLen -= l;
1754 buffer += l;
1755 int id;
1756 while ((id = GetMessage())) {
1757 /* reset station ID for file loading as it can change */
1758 if (_rawFile)
1759 _staID = _rawFile->staID();
1760 /* store the id into the list of loaded blocks */
1761 _typeList.push_back(id);
1762
1763 /* SSR I+II data handled in another function, already pass the
1764 * extracted data block. That does no harm, as it anyway skip everything
1765 * else. */
1766 if ((id >= 1057 && id <= 1068) ||
1767 (id >= 1240 && id <= 1270) ||
1768 (id == 4076)) {
1769 if (!_coDecoders.contains(_staID.toLatin1())) {
1770 _coDecoders[_staID.toLatin1()] = new RTCM3coDecoder(_staID);
1771 if (id == 4076) {
1772 _coDecoders[_staID.toLatin1()]->initSsrFormatType(RTCM3coDecoder::IGSssr);
1773 }
1774 else {
1775 _coDecoders[_staID.toLatin1()]->initSsrFormatType(RTCM3coDecoder::RTCMssr);
1776 }
1777 }
1778 RTCM3coDecoder* coDecoder = _coDecoders[_staID.toLatin1()];
1779 if (coDecoder->Decode(reinterpret_cast<char *>(_Message), _BlockSize, errmsg) == success) {
1780 decoded = true;
1781 }
1782 }
1783 else if (id >= 1070 && id <= 1237) { /* MSM */
1784 if (DecodeRTCM3MSM(_Message, _BlockSize))
1785 decoded = true;
1786 }
1787 else {
1788 switch (id) {
1789 case 1001:
1790 case 1003:
1791 emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
1792 .arg(_staID).arg(id).toLatin1(), true));
1793 break; /* no use decoding partial data ATM, remove break when data can be used */
1794 case 1002:
1795 case 1004:
1796 if (DecodeRTCM3GPS(_Message, _BlockSize))
1797 decoded = true;
1798 break;
1799 case 1009:
1800 case 1011:
1801 emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
1802 .arg(_staID).arg(id).toLatin1(), true));
1803 break; /* no use decoding partial data ATM, remove break when data can be used */
1804 case 1010:
1805 case 1012:
1806 if (DecodeRTCM3GLONASS(_Message, _BlockSize))
1807 decoded = true;
1808 break;
1809 case 1019:
1810 if (DecodeGPSEphemeris(_Message, _BlockSize))
1811 decoded = true;
1812 break;
1813 case 1020:
1814 if (DecodeGLONASSEphemeris(_Message, _BlockSize))
1815 decoded = true;
1816 break;
1817 case 1043:
1818 if (DecodeSBASEphemeris(_Message, _BlockSize))
1819 decoded = true;
1820 break;
1821 case 1044:
1822 if (DecodeQZSSEphemeris(_Message, _BlockSize))
1823 decoded = true;
1824 break;
1825 case 1041:
1826 if (DecodeIRNSSEphemeris(_Message, _BlockSize))
1827 decoded = true;
1828 break;
1829 case 1045:
1830 case 1046:
1831 if (DecodeGalileoEphemeris(_Message, _BlockSize))
1832 decoded = true;
1833 break;
1834 case 1042:
1835 if (DecodeBDSEphemeris(_Message, _BlockSize))
1836 decoded = true;
1837 break;
1838 case 1007:
1839 case 1008:
1840 case 1033:
1841 DecodeAntennaReceiver(_Message, _BlockSize);
1842 break;
1843 case 1005:
1844 case 1006:
1845 DecodeAntennaPosition(_Message, _BlockSize);
1846 break;
1847 }
1848 }
1849 }
1850 }
1851 return decoded ? success : failure;
1852}
1853;
1854
1855//
1856////////////////////////////////////////////////////////////////////////////
1857uint32_t RTCM3Decoder::CRC24(long size, const unsigned char *buf) {
1858 uint32_t crc = 0;
1859 int ii;
1860 while (size--) {
1861 crc ^= (*buf++) << (16);
1862 for (ii = 0; ii < 8; ii++) {
1863 crc <<= 1;
1864 if (crc & 0x1000000)
1865 crc ^= 0x01864cfb;
1866 }
1867 }
1868 return crc;
1869}
1870
1871//
1872////////////////////////////////////////////////////////////////////////////
1873int RTCM3Decoder::GetMessage(void) {
1874 unsigned char *m, *e;
1875 int i;
1876
1877 m = _Message + _SkipBytes;
1878 e = _Message + _MessageSize;
1879 _NeedBytes = _SkipBytes = 0;
1880 while (e - m >= 3) {
1881 if (m[0] == 0xD3) {
1882 _BlockSize = ((m[1] & 3) << 8) | m[2];
1883 if (e - m >= static_cast<int>(_BlockSize + 6)) {
1884 if (static_cast<uint32_t>((m[3 + _BlockSize] << 16)
1885 | (m[3 + _BlockSize + 1] << 8)
1886 | (m[3 + _BlockSize + 2])) == CRC24(_BlockSize + 3, m)) {
1887 _BlockSize += 6;
1888 _SkipBytes = _BlockSize;
1889 break;
1890 }
1891 else
1892 ++m;
1893 }
1894 else {
1895 _NeedBytes = _BlockSize;
1896 break;
1897 }
1898 }
1899 else
1900 ++m;
1901 }
1902 if (e - m < 3)
1903 _NeedBytes = 3;
1904
1905 /* copy buffer to front */
1906 i = m - _Message;
1907 if (i && m < e)
1908 memmove(_Message, m, static_cast<size_t>(_MessageSize - i));
1909 _MessageSize -= i;
1910
1911 return !_NeedBytes ? ((_Message[3] << 4) | (_Message[4] >> 4)) : 0;
1912}
1913
1914// Time of Corrections
1915//////////////////////////////////////////////////////////////////////////////
1916int RTCM3Decoder::corrGPSEpochTime() const {
1917 return
1918 _coDecoders.size() > 0 ?
1919 _coDecoders.begin().value()->corrGPSEpochTime() : -1;
1920}
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