Context Navigation

source: ntrip/trunk/BNC/src/RTCM3/RTCM3Decoder.cpp@ 9892

Last change on this file since 9892 was 9892, checked in by stuerze, 17 months ago
some bugfixes regarding GLONASS RNX
File size: 62.5 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
56	using namespace std;
57
58	// Error Handling
59	////////////////////////////////////////////////////////////////////////////
60	void RTCM3Error(const char*, ...) {
61	}
62
63	// Constructor
64	////////////////////////////////////////////////////////////////////////////
65	RTCM3Decoder::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	////////////////////////////////////////////////////////////////////////////
87	RTCM3Decoder::~RTCM3Decoder() {
88	QMapIterator<QByteArray, RTCM3coDecoder*> it(_coDecoders);
89	while (it.hasNext())
90	{
91	it.next();
92	delete it.value();
93	}
94	}
95
96	//
97	////////////////////////////////////////////////////////////////////////////
98	bool 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	*/
228	static int GLOFreq[RTCM3_MSM_NUMSAT];
229
230	/*
231	* Storage structure to store frequency and RINEX ID assignment for MSM
232	* message */
233	struct CodeData {
234	double wl;
235	const char code; / currently unused */
236	};
237
238	/** MSM signal types for GPS and SBAS */
239	static 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	*/
279	static 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 */
315	static 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 */
351	static 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 */
387	static 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 */
423	static 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	////////////////////////////////////////////////////////////////////////////
462	bool 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	////////////////////////////////////////////////////////////////////////////
901	bool 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	////////////////////////////////////////////////////////////////////////////
1023	bool 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	////////////////////////////////////////////////////////////////////////////
1103	bool 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	eph._flags_unknown = true;
1119
1120	GETBITS(sv, 6)
1121	eph._prn.set('R', sv);
1122
1123	GETBITS(i, 5)
1124	eph._frequency_number = i - 7;
1125	GETBITS(eph._almanac_health, 1) /* almanac healthy */
1126	GETBITS(eph._almanac_health_availablility_indicator, 1) /* almanac health ok */
1127	/*
1128	if (eph._almanac_health_availablility_indicator == 0.0) {
1129	#ifdef BNC_DEBUG_BCEP
1130	emit(newMessage(QString("%1: Block %2 (%3): ALM = %4: missing data!")
1131	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str())
1132	.arg(eph._almanac_health_availablility_indicator).toLatin1(), true));
1133	#endif
1134	return false;
1135	}
1136	*/
1137	GETBITS(eph._P1, 2) /* P1 */
1138	GETBITS(i, 5)
1139	tk = i * 60 * 60;
1140	GETBITS(i, 6)
1141	tk += i * 60;
1142	GETBITS(i, 1)
1143	tk += i * 30;
1144	eph._tki = tk - 36060;
1145	if(eph._tki < 0.0) {
1146	eph._tki += 86400.0;
1147	}
1148	GETBITS(eph._health, 1) /* MSB of Bn*/
1149	GETBITS(eph._P2, 1) /* P2 */
1150	GETBITS(i, 7)
1151	eph._TOC.setTk(i * 15 * 60 * 1000); /* tb */
1152
1153	GETFLOATSIGNM(eph._x_velocity, 24, 1.0 / (double )(1 << 20))
1154	GETFLOATSIGNM(eph._x_pos, 27, 1.0 / (double )(1 << 11))
1155	GETFLOATSIGNM(eph._x_acceleration, 5, 1.0 / (double )(1 << 30))
1156	GETFLOATSIGNM(eph._y_velocity, 24, 1.0 / (double )(1 << 20))
1157	GETFLOATSIGNM(eph._y_pos, 27, 1.0 / (double )(1 << 11))
1158	GETFLOATSIGNM(eph._y_acceleration, 5, 1.0 / (double )(1 << 30))
1159	GETFLOATSIGNM(eph._z_velocity, 24, 1.0 / (double )(1 << 20))
1160	GETFLOATSIGNM(eph._z_pos, 27, 1.0 / (double )(1 << 11))
1161	GETFLOATSIGNM(eph._z_acceleration, 5, 1.0 / (double )(1 << 30))
1162	GETBITS(eph._P3, 1) /* P3 */
1163	GETFLOATSIGNM(eph._gamma, 11, 1.0 / (double )(1 << 30) / (double )(1 << 10))
1164	GETBITS(eph._M_P, 2) /* GLONASS-M P, */
1165	GETBITS(eph._M_l3, 1) /* GLONASS-M ln (third string) */
1166	GETFLOATSIGNM(eph._tau, 22, 1.0 / (double )(1 << 30)) /* GLONASS tau n(tb) */
1167	GETFLOATSIGNM(eph._M_delta_tau, 5, 1.0 / (double )(1 << 30)) /* GLONASS-M delta tau n(tb) */
1168	GETBITS(eph._E, 5)
1169	GETBITS(eph._M_P4, 1) /* GLONASS-M P4 */
1170	GETBITS(eph._M_FT, 4) /* GLONASS-M Ft */
1171	GETBITS(eph._M_NT, 11) /* GLONASS-M Nt */
1172	if (eph._M_NT == 0.0) {
1173	#ifdef BNC_DEBUG_BCEP
1174	emit(newMessage(QString("%1: Block %2 (%3): NT = %4: missing data!")
1175	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).arg(eph._M_NT,4).toLatin1(), true));
1176	#endif
1177	return false;
1178	}
1179	GETBITS(eph._M_M, 2) /* GLONASS-M M */
1180	GETBITS(eph._additional_data_availability, 1) /* GLONASS-M The Availability of Additional Data */
1181	if (eph._additional_data_availability == 0.0) {
1182	#ifdef BNC_DEBUG_BCEP
1183	emit(newMessage(QString("%1: Block %2 (%3): ADD = %4: missing data!")
1184	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str())
1185	.arg(eph._additional_data_availability).toLatin1(), true));
1186	#endif
1187	return false;
1188	}
1189	GETBITS(eph._NA, 11) /* GLONASS-M Na */
1190	GETFLOATSIGNM(eph._tauC, 32, 1.0/(double)(1<<30)/(double)(1<<1)) /* GLONASS tau c */
1191	GETBITS(eph._M_N4, 5) /* GLONASS-M N4 */
1192	GETFLOATSIGNM(eph._M_tau_GPS, 22, 1.0/(double)(1<<30)) /* GLONASS-M tau GPS */
1193	GETBITS(eph._M_l5, 1) /* GLONASS-M ln (fifth string) */
1194
1195	unsigned year, month, day;
1196	eph._TOC.civil_date(year, month, day);
1197	eph._gps_utc = gnumleap(year, month, day);
1198	eph._tt = eph._TOC;
1199
1200	eph._xv(1) = eph._x_pos * 1.e3;
1201	eph._xv(2) = eph._y_pos * 1.e3;
1202	eph._xv(3) = eph._z_pos * 1.e3;
1203	if (eph._xv.Rows(1,3).NormFrobenius() < 1.0) {
1204	#ifdef BNC_DEBUG_BCEP
1205	emit(newMessage(QString("%1: Block %2 (%3): zero position!")
1206	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
1207	#endif
1208	return false;
1209	}
1210	eph._xv(4) = eph._x_velocity * 1.e3;
1211	eph._xv(5) = eph._y_velocity * 1.e3;
1212	eph._xv(6) = eph._z_velocity * 1.e3;
1213	if (eph._xv.Rows(4,6).NormFrobenius() < 1.0) {
1214	#ifdef BNC_DEBUG_BCEP
1215	emit(newMessage(QString("%1: Block %2 (%3): zero velocity!")
1216	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
1217	#endif
1218	return false;
1219	}
1220	GLOFreq[sv - 1] = 100 + eph._frequency_number ; /* store frequency for other users (MSM) */
1221	_gloFrq = QString("%1 %2").arg(eph._prn.toString().c_str()).arg(eph._frequency_number, 2, 'f', 0);
1222
1223	eph._navType = t_eph::FDMA;
1224
1225	emit newGlonassEph(eph);
1226	decoded = true;
1227	}
1228	return decoded;
1229	}
1230
1231	//
1232	////////////////////////////////////////////////////////////////////////////
1233	bool RTCM3Decoder::DecodeQZSSEphemeris(unsigned char* data, int size) {
1234	bool decoded = false;
1235
1236	if (size == 67) {
1237	t_ephGPS eph;
1238	int i, week;
1239	uint64_t numbits = 0, bitfield = 0;
1240	int fitIntervalFalg = 0;
1241
1242	data += 3; /* header */
1243	size -= 6; /* header + crc */
1244	SKIPBITS(12)
1245
1246	eph._receptDateTime = currentDateAndTimeGPS();
1247	eph._receptStaID = _staID;
1248
1249	GETBITS(i, 4)
1250	eph._prn.set('J', i);
1251
1252	GETBITS(i, 16)
1253	i <<= 4;
1254	eph._TOC.set(i * 1000);
1255
1256	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1257	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1258	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1259	GETBITS(eph._IODE, 8)
1260	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1261	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1262	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1263	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1264	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1265	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1266	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1267	if (eph._sqrt_A < 1000.0) {
1268	#ifdef BNC_DEBUG_BCEP
1269	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1270	.arg(_staID).arg(1044,4).arg(eph._prn.toString().c_str())
1271	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1272	#endif
1273	return false;
1274	}
1275	GETBITS(i, 16)
1276	i <<= 4;
1277	eph._TOEsec = i;
1278	bncTime t;
1279	t.set(i*1000);
1280	eph._TOEweek = t.gpsw();
1281	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1282	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1283	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1284	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1285	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1286	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1287	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1288	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1289	GETBITS(eph._L2Codes, 2)
1290	GETBITS(week, 10)
1291	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1292	week += (numOfRollOvers * 1024);
1293	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1294	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1295	return false;
1296
1297	GETBITS(i, 4)
1298	if (i <= 6)
1299	eph._ura = ceil(10.0 * pow(2.0, 1.0 + i / 2.0)) / 10.0;
1300	else
1301	eph._ura = ceil(10.0 * pow(2.0, i / 2.0)) / 10.0;
1302	GETBITS(eph._health, 6)
1303	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1304	GETBITS(eph._IODC, 10)
1305	GETBITS(fitIntervalFalg, 1)
1306	eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.type());
1307	eph._TOT = 0.9999e9;
1308	eph._navType = t_eph::LNAV;
1309
1310	emit newGPSEph(eph);
1311	decoded = true;
1312	}
1313	return decoded;
1314	}
1315
1316	//
1317	////////////////////////////////////////////////////////////////////////////
1318	bool RTCM3Decoder::DecodeIRNSSEphemeris(unsigned char* data, int size) {
1319	bool decoded = false;
1320
1321	if (size == 67) {
1322	t_ephGPS eph;
1323	int i, week, L5Flag, SFlag;
1324	uint64_t numbits = 0, bitfield = 0;
1325
1326	data += 3; /* header */
1327	size -= 6; /* header + crc */
1328	SKIPBITS(12)
1329
1330	eph._receptDateTime = currentDateAndTimeGPS();
1331	eph._receptStaID = _staID;
1332
1333	GETBITS(i, 6)
1334	eph._prn.set('I', i);
1335	GETBITS(week, 10)
1336	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1337	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1338	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1339	GETBITS(i, 4)
1340	eph._ura = accuracyFromIndex(i, eph.type());
1341	GETBITS(i, 16)
1342	i <<= 4;
1343	eph._TOC.set(i * 1000);
1344	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1345	GETFLOATSIGN(eph._Delta_n, 22, R2R_PI/(double)(1<<30)/(double)(1 << 11))
1346	// IODCE
1347	GETBITS(eph._IODE, 8)
1348	eph._IODC = eph._IODE;
1349	SKIPBITS(10)
1350	GETBITS(L5Flag, 1)
1351	GETBITS(SFlag, 1)
1352	if (L5Flag == 0 && SFlag == 0) {
1353	eph._health = 0.0;
1354	}
1355	else if (L5Flag == 0 && SFlag == 1) {
1356	eph._health = 1.0;
1357	}
1358	else if (L5Flag == 1 && SFlag == 0) {
1359	eph._health = 2.0;
1360	}
1361	else if (L5Flag == 1 && SFlag == 1) {
1362	eph._health = 3.0;
1363	}
1364	GETFLOATSIGN(eph._Cuc, 15, 1.0 / (double )(1 << 28))
1365	GETFLOATSIGN(eph._Cus, 15, 1.0 / (double )(1 << 28))
1366	GETFLOATSIGN(eph._Cic, 15, 1.0 / (double )(1 << 28))
1367	GETFLOATSIGN(eph._Cis, 15, 1.0 / (double )(1 << 28))
1368	GETFLOATSIGN(eph._Crc, 15, 1.0 / (double )(1 << 4))
1369	GETFLOATSIGN(eph._Crs, 15, 1.0 / (double )(1 << 4))
1370	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1371	SKIPBITS(2)
1372	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1373	GETBITS(i, 16)
1374	i <<= 4;
1375	eph._TOEsec = i;
1376	bncTime t;
1377	t.set(i * 1000);
1378	eph._TOEweek = t.gpsw();
1379	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1380	week += (numOfRollOvers * 1024);
1381	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1382	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1383	return false;
1384	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1385	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1386	if (eph._sqrt_A < 1000.0) {
1387	#ifdef BNC_DEBUG_BCEP
1388	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1389	.arg(_staID).arg(1041,4).arg(eph._prn.toString().c_str())
1390	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1391	#endif
1392	return false;
1393	}
1394	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1395	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1396	GETFLOATSIGN(eph._OMEGADOT, 22, R2R_PI/(double)(1<<30)/(double)(1<<11))
1397	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1398	SKIPBITS(2)
1399	eph._TOT = 0.9999e9;
1400	eph._navType = t_eph::LNAV;
1401
1402	emit newGPSEph(eph);
1403	decoded = true;
1404	}
1405	return decoded;
1406	}
1407
1408	//
1409	////////////////////////////////////////////////////////////////////////////
1410	bool RTCM3Decoder::DecodeSBASEphemeris(unsigned char* data, int size) {
1411	bool decoded = false;
1412
1413	if (size == 35) {
1414	t_ephSBAS eph;
1415	int i;
1416	uint64_t numbits = 0, bitfield = 0;
1417
1418	data += 3; /* header */
1419	size -= 6; /* header + crc */
1420	SKIPBITS(12)
1421
1422	eph._receptDateTime = currentDateAndTimeGPS();
1423	eph._receptStaID = _staID;
1424
1425	GETBITS(i, 6)
1426	eph._prn.set('S', 20 + i);
1427	GETBITS(eph._IODN, 8)
1428	GETBITS(i, 13)
1429	i <<= 4;
1430	eph._TOC.setTOD(i * 1000);
1431	GETBITS(i, 4)
1432	eph._ura = accuracyFromIndex(i, eph.type());
1433	GETFLOATSIGN(eph._x_pos, 30, 0.08)
1434	GETFLOATSIGN(eph._y_pos, 30, 0.08)
1435	GETFLOATSIGN(eph._z_pos, 25, 0.4)
1436	ColumnVector pos(3);
1437	pos(1) = eph._x_pos; pos(2) = eph._y_pos; pos(3) = eph._z_pos;
1438	if (pos.NormFrobenius() < 1.0) {
1439	#ifdef BNC_DEBUG_BCEP
1440	emit(newMessage(QString("%1: Block %2 (%3): zero position!")
1441	.arg(_staID).arg(1043,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
1442	#endif
1443	return false;
1444	}
1445	GETFLOATSIGN(eph._x_velocity, 17, 0.000625)
1446	GETFLOATSIGN(eph._y_velocity, 17, 0.000625)
1447	GETFLOATSIGN(eph._z_velocity, 18, 0.004)
1448	GETFLOATSIGN(eph._x_acceleration, 10, 0.0000125)
1449	GETFLOATSIGN(eph._y_acceleration, 10, 0.0000125)
1450	GETFLOATSIGN(eph._z_acceleration, 10, 0.0000625)
1451	GETFLOATSIGN(eph._agf0, 12, 1.0 / (1 << 30) / (1 << 1))
1452	GETFLOATSIGN(eph._agf1, 8, 1.0 / (1 << 30) / (1 << 10))
1453
1454	eph._TOT = 0.9999E9;
1455	eph._health = 0;
1456	eph._navType = t_eph::SBASL1;
1457
1458	emit newSBASEph(eph);
1459	decoded = true;
1460	}
1461	return decoded;
1462	}
1463
1464	//
1465	////////////////////////////////////////////////////////////////////////////
1466	bool RTCM3Decoder::DecodeGalileoEphemeris(unsigned char* data, int size) {
1467	bool decoded = false;
1468	uint64_t numbits = 0, bitfield = 0;
1469	int i;
1470
1471	data += 3; /* header */
1472	size -= 6; /* header + crc */
1473	GETBITS(i, 12)
1474
1475	if ((i == 1046 && size == 61) \|\| (i == 1045 && size == 60)) {
1476	t_ephGal eph;
1477
1478	eph._receptDateTime = currentDateAndTimeGPS();
1479	eph._receptStaID = _staID;
1480
1481	eph._inav = (i == 1046);
1482	eph._fnav = (i == 1045);
1483	GETBITS(i, 6)
1484	eph._prn.set('E', i, eph._inav ? 1 : 0);
1485
1486	GETBITS(eph._TOEweek, 12) //FIXME: roll-over after week 4095!!
1487	GETBITS(eph._IODnav, 10)
1488	GETBITS(i, 8)
1489	eph._SISA = accuracyFromIndex(i, eph.type());
1490	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1491	GETBITSFACTOR(i, 14, 60)
1492	eph._TOC.set(1024 + eph._TOEweek, i);
1493	GETFLOATSIGN(eph._clock_driftrate, 6, 1.0 / (double )(1 << 30) / (double )(1 << 29))
1494	GETFLOATSIGN(eph._clock_drift, 21, 1.0 / (double )(1 << 30) / (double )(1 << 16))
1495	GETFLOATSIGN(eph._clock_bias, 31, 1.0 / (double )(1 << 30) / (double )(1 << 4))
1496	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1497	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1498	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1499	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1500	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1501	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1502	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1503	GETBITSFACTOR(eph._TOEsec, 14, 60)
1504	/* FIXME: overwrite value, copied from old code */
1505	eph._TOEsec = eph._TOC.gpssec();
1506	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1507	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1508	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1509	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1510	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1511	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1512	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1513	GETFLOATSIGN(eph._BGD_1_5A, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
1514	if (eph._inav) {
1515	/* set unused F/NAV values */
1516	eph._E5aHS = 0.0;
1517	eph._e5aDataInValid = false;
1518
1519	GETFLOATSIGN(eph._BGD_1_5B, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
1520	GETBITS(eph._E5bHS, 2)
1521	GETBITS(eph._e5bDataInValid, 1)
1522	GETBITS(eph._E1_bHS, 2)
1523	GETBITS(eph._e1DataInValid, 1)
1524	if (eph._E5bHS != eph._E1_bHS) {
1525	#ifdef BNC_DEBUG_BCEP
1526	emit(newMessage(QString("%1: Block %2 (%3) SHS E5b %4 E1B %5: inconsistent health!")
1527	.arg(_staID).arg(1046,4).arg(eph._prn.toString().c_str())
1528	.arg(eph._E5bHS).arg(eph._E1_bHS).toLatin1(), true));
1529	#endif
1530	return false;
1531	}
1532	if ((eph._BGD_1_5A == 0.0 && fabs(eph._BGD_1_5B) > 1e-9) \|\|
1533	(eph._BGD_1_5B == 0.0 && fabs(eph._BGD_1_5A) > 1e-9)) {
1534	#ifdef BNC_DEBUG_BCEP
1535	emit(newMessage(QString("%1: Block %2 (%3) BGD_15a = %4 BGD_15b = %5: inconsistent BGD!")
1536	.arg(_staID).arg(1046,4).arg(eph._prn.toString().c_str())
1537	.arg(eph._BGD_1_5A,10,'E',3).arg(eph._BGD_1_5B,10,'E',3).toLatin1(), true));
1538	#endif
1539	return false;
1540	}
1541	eph._navType = t_eph::INAF;
1542	}
1543	else {
1544	/* set unused I/NAV values */
1545	eph._BGD_1_5B = 0.0;
1546	eph._E5bHS = 0.0;
1547	eph._E1_bHS = 0.0;
1548	eph._e1DataInValid = false;
1549	eph._e5bDataInValid = false;
1550
1551	GETBITS(eph._E5aHS, 2)
1552	GETBITS(eph._e5aDataInValid, 1)
1553	eph._navType = t_eph::FNAV;
1554	}
1555	eph._TOT = 0.9999e9;
1556
1557	if (eph._sqrt_A < 1000.0) {
1558	#ifdef BNC_DEBUG_BCEP
1559	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1560	.arg(_staID).arg(eph._inav? 1046 : 1045,4).arg(eph._prn.toString().c_str())
1561	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1562	#endif
1563	return false;
1564	}
1565
1566	emit newGalileoEph(eph);
1567	decoded = true;
1568	}
1569	return decoded;
1570	}
1571
1572	//
1573	////////////////////////////////////////////////////////////////////////////
1574	bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size) {
1575	bool decoded = false;
1576	const double iMaxGEO = 10.0 / 180.0 * M_PI;
1577
1578	if (size == 70) {
1579	t_ephBDS eph;
1580	int i;
1581	uint64_t numbits = 0, bitfield = 0;
1582
1583	data += 3; /* header */
1584	size -= 6; /* header + crc */
1585	SKIPBITS(12)
1586
1587	eph._receptDateTime = currentDateAndTimeGPS();
1588	eph._receptStaID = _staID;
1589
1590	GETBITS(i, 6)
1591	eph._prn.set('C', i);
1592
1593	GETBITS(eph._BDTweek, 13)
1594	GETBITS(i, 4)
1595	eph._URA = accuracyFromIndex(i, eph.type());
1596	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1597	GETBITS(eph._AODE, 5)
1598	GETBITS(i, 17)
1599	i <<= 3;
1600	eph._TOC.setBDS(eph._BDTweek, i);
1601	GETFLOATSIGN(eph._clock_driftrate, 11, 1.0 / (double )(1 << 30) / (double )(1 << 30) / (double )(1 << 6))
1602	GETFLOATSIGN(eph._clock_drift, 22, 1.0 / (double )(1 << 30) / (double )(1 << 20))
1603	GETFLOATSIGN(eph._clock_bias, 24, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1604	GETBITS(eph._AODC, 5)
1605	GETFLOATSIGN(eph._Crs, 18, 1.0 / (double )(1 << 6))
1606	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1607	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1608	GETFLOATSIGN(eph._Cuc, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1609	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1610	GETFLOATSIGN(eph._Cus, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1611	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1612	if (eph._sqrt_A < 1000.0) {
1613	#ifdef BNC_DEBUG_BCEP
1614	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1615	.arg(_staID).arg(1042,4).arg(eph._prn.toString().c_str())
1616	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1617	#endif
1618	return false;
1619	}
1620	GETBITS(i, 17)
1621	i <<= 3;
1622	eph._TOEsec = i;
1623	eph._TOE.setBDS(eph._BDTweek, i);
1624	GETFLOATSIGN(eph._Cic, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1625	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1626	GETFLOATSIGN(eph._Cis, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1627	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1628	GETFLOATSIGN(eph._Crc, 18, 1.0 / (double )(1 << 6))
1629	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1630	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1631	GETFLOATSIGN(eph._TGD1, 10, 0.0000000001)
1632	GETFLOATSIGN(eph._TGD2, 10, 0.0000000001)
1633	GETBITS(eph._SatH1, 1)
1634
1635	eph._TOT = 0.9999E9;
1636	if (eph._i0 > iMaxGEO) {
1637	eph._navType = t_eph::D1;
1638	}
1639	else {
1640	eph._navType = t_eph::D2;
1641	}
1642
1643	emit newBDSEph(eph);
1644	decoded = true;
1645	}
1646	return decoded;
1647	}
1648
1649	//
1650	////////////////////////////////////////////////////////////////////////////
1651	bool RTCM3Decoder::DecodeAntennaReceiver(unsigned char* data, int size) {
1652	char *antenna;
1653	char *antserialnum;
1654	char *receiver;
1655	char *recfirmware;
1656	char *recserialnum;
1657	int type;
1658	int antsernum = -1;
1659	int antnum = -1;
1660	int recnum = -1;
1661	int recsernum = -1;
1662	int recfirnum = -1;
1663	uint64_t numbits = 0, bitfield = 0;
1664
1665	data += 3; /* header*/
1666	size -= 6; /* header + crc */
1667
1668	GETBITS(type, 12)
1669	SKIPBITS(12) /* reference station ID */
1670	GETSTRING(antnum, antenna)
1671	if ((antnum > -1 && antnum < 265) &&
1672	(_antType.empty() \|\| strncmp(_antType.back().descriptor, antenna, recnum) != 0)) {
1673	_antType.push_back(t_antInfo());
1674	memcpy(_antType.back().descriptor, antenna, antnum);
1675	_antType.back().descriptor[antnum] = 0;
1676	}
1677	SKIPBITS(8) /* antenna setup ID */
1678	if (type == 1008 \|\| type == 1033 ) {
1679	GETSTRING(antsernum, antserialnum)
1680	if ((antsernum > -1 && antsernum < 265)) {
1681	memcpy(_antType.back().serialnumber, antserialnum, antsernum);
1682	_antType.back().serialnumber[antsernum] = 0;
1683	}
1684	}
1685
1686	if (type == 1033) {
1687	GETSTRING(recnum, receiver)
1688	GETSTRING(recfirnum, recfirmware)
1689	GETSTRING(recsernum, recserialnum)
1690	if ((recnum > -1 && recnum < 265) &&
1691	(_recType.empty() \|\| strncmp(_recType.back().descriptor, receiver, recnum) != 0)) {
1692	_recType.push_back(t_recInfo());
1693	memcpy(_recType.back().descriptor, receiver, recnum);
1694	_recType.back().descriptor[recnum] = 0;
1695	if (recfirnum > -1 && recfirnum < 265) {
1696	memcpy(_recType.back().firmware, recfirmware, recfirnum);
1697	_recType.back().firmware[recfirnum] = 0;
1698	}
1699	if (recsernum > -1 && recsernum < 265) {
1700	memcpy(_recType.back().serialnumber, recserialnum, recsernum);
1701	_recType.back().serialnumber[recsernum] = 0;
1702	}
1703	}
1704	}
1705	return true;
1706	}
1707
1708	//
1709	////////////////////////////////////////////////////////////////////////////
1710	bool RTCM3Decoder::DecodeAntennaPosition(unsigned char* data, int size) {
1711	int type;
1712	uint64_t numbits = 0, bitfield = 0;
1713	double x, y, z;
1714
1715	data += 3; /* header */
1716	size -= 6; /* header + crc */
1717
1718	GETBITS(type, 12)
1719	_antList.push_back(t_antRefPoint());
1720	_antList.back().type = t_antRefPoint::ARP;
1721	SKIPBITS(22)
1722	GETBITSSIGN(x, 38)
1723	_antList.back().xx = x * 1e-4;
1724	SKIPBITS(2)
1725	GETBITSSIGN(y, 38)
1726	_antList.back().yy = y * 1e-4;
1727	SKIPBITS(2)
1728	GETBITSSIGN(z, 38)
1729	_antList.back().zz = z * 1e-4;
1730	if (type == 1006)
1731	{
1732	double h;
1733	GETBITS(h, 16)
1734	_antList.back().height = h * 1e-4;
1735	_antList.back().height_f = true;
1736	}
1737	_antList.back().message = type;
1738
1739	return true;
1740	}
1741
1742	//
1743	////////////////////////////////////////////////////////////////////////////
1744	t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
1745	bool decoded = false;
1746
1747	errmsg.clear();
1748
1749	while (bufLen && _MessageSize < sizeof(_Message)) {
1750	int l = sizeof(_Message) - _MessageSize;
1751	if (l > bufLen)
1752	l = bufLen;
1753	memcpy(_Message + _MessageSize, buffer, l);
1754	_MessageSize += l;
1755	bufLen -= l;
1756	buffer += l;
1757	int id;
1758	while ((id = GetMessage())) {
1759	/* reset station ID for file loading as it can change */
1760	if (_rawFile)
1761	_staID = _rawFile->staID();
1762	/* store the id into the list of loaded blocks */
1763	_typeList.push_back(id);
1764
1765	/* SSR I+II data handled in another function, already pass the
1766	* extracted data block. That does no harm, as it anyway skip everything
1767	* else. */
1768	if ((id >= 1057 && id <= 1068) \|\|
1769	(id >= 1240 && id <= 1270) \|\|
1770	(id == 4076)) {
1771	if (!_coDecoders.contains(_staID.toLatin1())) {
1772	_coDecoders[_staID.toLatin1()] = new RTCM3coDecoder(_staID);
1773	if (id == 4076) {
1774	_coDecoders[_staID.toLatin1()]->initSsrFormatType(RTCM3coDecoder::IGSssr);
1775	}
1776	else {
1777	_coDecoders[_staID.toLatin1()]->initSsrFormatType(RTCM3coDecoder::RTCMssr);
1778	}
1779	}
1780	RTCM3coDecoder* coDecoder = _coDecoders[_staID.toLatin1()];
1781	if (coDecoder->Decode(reinterpret_cast<char *>(_Message), _BlockSize, errmsg) == success) {
1782	decoded = true;
1783	}
1784	}
1785	else if (id >= 1070 && id <= 1237) { /* MSM */
1786	if (DecodeRTCM3MSM(_Message, _BlockSize))
1787	decoded = true;
1788	}
1789	else {
1790	switch (id) {
1791	case 1001:
1792	case 1003:
1793	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
1794	.arg(_staID).arg(id).toLatin1(), true));
1795	break; /* no use decoding partial data ATM, remove break when data can be used */
1796	case 1002:
1797	case 1004:
1798	if (DecodeRTCM3GPS(_Message, _BlockSize))
1799	decoded = true;
1800	break;
1801	case 1009:
1802	case 1011:
1803	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
1804	.arg(_staID).arg(id).toLatin1(), true));
1805	break; /* no use decoding partial data ATM, remove break when data can be used */
1806	case 1010:
1807	case 1012:
1808	if (DecodeRTCM3GLONASS(_Message, _BlockSize))
1809	decoded = true;
1810	break;
1811	case 1019:
1812	if (DecodeGPSEphemeris(_Message, _BlockSize))
1813	decoded = true;
1814	break;
1815	case 1020:
1816	if (DecodeGLONASSEphemeris(_Message, _BlockSize))
1817	decoded = true;
1818	break;
1819	case 1043:
1820	if (DecodeSBASEphemeris(_Message, _BlockSize))
1821	decoded = true;
1822	break;
1823	case 1044:
1824	if (DecodeQZSSEphemeris(_Message, _BlockSize))
1825	decoded = true;
1826	break;
1827	case 1041:
1828	if (DecodeIRNSSEphemeris(_Message, _BlockSize))
1829	decoded = true;
1830	break;
1831	case 1045:
1832	case 1046:
1833	if (DecodeGalileoEphemeris(_Message, _BlockSize))
1834	decoded = true;
1835	break;
1836	case 1042:
1837	if (DecodeBDSEphemeris(_Message, _BlockSize))
1838	decoded = true;
1839	break;
1840	case 1007:
1841	case 1008:
1842	case 1033:
1843	DecodeAntennaReceiver(_Message, _BlockSize);
1844	break;
1845	case 1005:
1846	case 1006:
1847	DecodeAntennaPosition(_Message, _BlockSize);
1848	break;
1849	}
1850	}
1851	}
1852	}
1853	return decoded ? success : failure;
1854	}
1855	;
1856
1857	//
1858	////////////////////////////////////////////////////////////////////////////
1859	uint32_t RTCM3Decoder::CRC24(long size, const unsigned char *buf) {
1860	uint32_t crc = 0;
1861	int ii;
1862	while (size--) {
1863	crc ^= (*buf++) << (16);
1864	for (ii = 0; ii < 8; ii++) {
1865	crc <<= 1;
1866	if (crc & 0x1000000)
1867	crc ^= 0x01864cfb;
1868	}
1869	}
1870	return crc;
1871	}
1872
1873	//
1874	////////////////////////////////////////////////////////////////////////////
1875	int RTCM3Decoder::GetMessage(void) {
1876	unsigned char m, e;
1877	int i;
1878
1879	m = _Message + _SkipBytes;
1880	e = _Message + _MessageSize;
1881	_NeedBytes = _SkipBytes = 0;
1882	while (e - m >= 3) {
1883	if (m[0] == 0xD3) {
1884	_BlockSize = ((m[1] & 3) << 8) \| m[2];
1885	if (e - m >= static_cast<int>(_BlockSize + 6)) {
1886	if (static_cast<uint32_t>((m[3 + _BlockSize] << 16)
1887	\| (m[3 + _BlockSize + 1] << 8)
1888	\| (m[3 + _BlockSize + 2])) == CRC24(_BlockSize + 3, m)) {
1889	_BlockSize += 6;
1890	_SkipBytes = _BlockSize;
1891	break;
1892	}
1893	else
1894	++m;
1895	}
1896	else {
1897	_NeedBytes = _BlockSize;
1898	break;
1899	}
1900	}
1901	else
1902	++m;
1903	}
1904	if (e - m < 3)
1905	_NeedBytes = 3;
1906
1907	/* copy buffer to front */
1908	i = m - _Message;
1909	if (i && m < e)
1910	memmove(_Message, m, static_cast<size_t>(_MessageSize - i));
1911	_MessageSize -= i;
1912
1913	return !_NeedBytes ? ((_Message[3] << 4) \| (_Message[4] >> 4)) : 0;
1914	}
1915
1916	// Time of Corrections
1917	//////////////////////////////////////////////////////////////////////////////
1918	int RTCM3Decoder::corrGPSEpochTime() const {
1919	return
1920	_coDecoders.size() > 0 ?
1921	_coDecoders.begin().value()->corrGPSEpochTime() : -1;
1922	}

Note: See TracBrowser for help on using the repository browser.

Download in other formats: