source: ntrip/trunk/BNC/src/RTCM3/clock_and_orbit/clock_orbit.h@ 10519

Last change on this file since 10519 was 10519, checked in by stuerze, 2 months ago

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1#ifndef RTCM3_CLOCK_ORBIT_H
2#define RTCM3_CLOCK_ORBIT_H
3
4/* Programheader
5
6 Name: clock_orbit.h
7 Project: RTCM3
8 Version: $Id: clock_orbit_igs.h 8966 2020-07-01 07:48:35Z stuerze $
9 Authors: Dirk Stöcker, Andrea Stürze
10 Description: state space approach
11 */
12
13#include <QList>
14#include <stdint.h>
15#include <string.h>
16#include <math.h>
17#include "t_prn.h"
18#include "bncutils.h"
19
20enum IGS_NUMBERS {
21 RTCM_MESSAGE_NUMBER_IGS = 4076,
22 IGS_SSR_VERSION = 3
23};
24
25/* if some systems aren't supported at all, change the following numbers to zero
26 for these systems to save space */
27enum COR_CONSTANTS {
28 CLOCKORBIT_BUFFERSIZE = 8192,
29 CLOCKORBIT_NUMGPS = t_prn::MAXPRN_GPS,
30 CLOCKORBIT_NUMGLONASS = t_prn::MAXPRN_GLONASS,
31 CLOCKORBIT_NUMGALILEO = t_prn::MAXPRN_GALILEO,
32 CLOCKORBIT_NUMQZSS = t_prn::MAXPRN_QZSS,
33 CLOCKORBIT_NUMSBAS = t_prn::MAXPRN_SBAS,
34 CLOCKORBIT_NUMBDS = t_prn::MAXPRN_BDS,
35 CLOCKORBIT_NUMBIAS = 150,
36 CLOCKORBIT_NUMIONOLAYERS = 4,
37 CLOCKORBIT_MAXIONOORDER = 16,
38 CLOCKORBIT_MAXIONODEGREE = 16
39};
40
41enum COR_SATSYSTEM {
42 CLOCKORBIT_SATGPS = 0,
43 CLOCKORBIT_SATGLONASS,
44 CLOCKORBIT_SATGALILEO,
45 CLOCKORBIT_SATQZSS,
46 CLOCKORBIT_SATSBAS,
47 CLOCKORBIT_SATBDS,
48 CLOCKORBIT_SATNUM
49};
50
51enum COR_OFFSETS {
52 CLOCKORBIT_OFFSETGPS = 0,
53 CLOCKORBIT_OFFSETGLONASS = CLOCKORBIT_NUMGPS,
54 CLOCKORBIT_OFFSETGALILEO = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS,
55 CLOCKORBIT_OFFSETQZSS = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
56 + CLOCKORBIT_NUMGALILEO,
57 CLOCKORBIT_OFFSETSBAS = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
58 + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS,
59 CLOCKORBIT_OFFSETBDS = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
60 + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
61 + CLOCKORBIT_NUMSBAS,
62 CLOCKORBIT_COUNTSAT = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
63 + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
64 + CLOCKORBIT_NUMSBAS + CLOCKORBIT_NUMBDS
65};
66
67enum GCOB_RETURN {
68 /* all well */
69 GCOBR_MESSAGEFOLLOWS = 1,
70 GCOBR_OK = 0,
71 /* unknown data, a warning */
72 GCOBR_UNKNOWNTYPE = -1,
73 GCOBR_UNKNOWNDATA = -2,
74 GCOBR_CRCMISMATCH = -3,
75 GCOBR_SHORTMESSAGE = -4,
76 /* failed to do the work */
77 GCOBR_NOCLOCKORBITPARAMETER = -10,
78 GCOBR_NOCODEBIASPARAMETER = -11,
79 GCOBR_NOPHASEBIASPARAMETER = -12,
80 GCOBR_NOVTECPARAMETER = -13,
81 /* data mismatch - data in storage does not match new data */
82 GCOBR_TIMEMISMATCH = -20,
83 GCOBR_DATAMISMATCH = -21,
84 /* not enough data - can decode the block completely */
85 GCOBR_SHORTBUFFER = -30,
86 GCOBR_MESSAGEEXCEEDSBUFFER = -31
87/* NOTE: When an error message has been emitted, the output structures may have been modified.
88 * Make a copy of the previous variant before calling the
89 function to have a clean state. */
90};
91
92class SsrCorr {
93
94public:
95 SsrCorr() {};
96 virtual ~SsrCorr() {};
97 virtual void setCorBase() = 0;
98 virtual void setCorOffset() = 0;
99 virtual void setCoType() = 0;
100 virtual void setCbType() = 0;
101 virtual void setPbType() = 0;
102 virtual void setVtecType() = 0;
103 virtual void setCodeType() = 0;
104
105 typedef unsigned int SatelliteReferenceDatum;
106 SatelliteReferenceDatum DATUM_ITRF;
107 SatelliteReferenceDatum DATUM_LOCAL;
108
109 typedef unsigned int CorBase;
110 CorBase COBBASE_GPS;
111 CorBase COBBASE_GLONASS;
112 CorBase COBBASE_GALILEO;
113 CorBase COBBASE_QZSS;
114 CorBase COBBASE_BDS;
115 CorBase COBBASE_SBAS;
116 CorBase COBBASE_NUM;
117
118 typedef unsigned int CorOffset;
119 CorOffset COBOFS_ORBIT;
120 CorOffset COBOFS_CLOCK;
121 CorOffset COBOFS_COMBINED;
122 CorOffset COBOFS_HR;
123 CorOffset COBOFS_CBIAS;
124 CorOffset COBOFS_PBIAS;
125 CorOffset COBOFS_URA;
126 CorOffset COBOFS_NUM;
127
128 typedef unsigned int ClockOrbitType;
129 ClockOrbitType COTYPE_GPSORBIT;
130 ClockOrbitType COTYPE_GPSCLOCK;
131 ClockOrbitType COTYPE_GPSCOMBINED;
132 ClockOrbitType COTYPE_GPSHR;
133 ClockOrbitType COTYPE_GPSURA;
134
135 ClockOrbitType COTYPE_GLONASSORBIT;
136 ClockOrbitType COTYPE_GLONASSCLOCK;
137 ClockOrbitType COTYPE_GLONASSCOMBINED;
138 ClockOrbitType COTYPE_GLONASSHR;
139 ClockOrbitType COTYPE_GLONASSURA;
140
141 ClockOrbitType COTYPE_GALILEOORBIT;
142 ClockOrbitType COTYPE_GALILEOCLOCK;
143 ClockOrbitType COTYPE_GALILEOCOMBINED;
144 ClockOrbitType COTYPE_GALILEOHR;
145 ClockOrbitType COTYPE_GALILEOURA;
146
147 ClockOrbitType COTYPE_QZSSORBIT;
148 ClockOrbitType COTYPE_QZSSCLOCK;
149 ClockOrbitType COTYPE_QZSSCOMBINED;
150 ClockOrbitType COTYPE_QZSSHR;
151 ClockOrbitType COTYPE_QZSSURA;
152
153 ClockOrbitType COTYPE_SBASORBIT;
154 ClockOrbitType COTYPE_SBASCLOCK;
155 ClockOrbitType COTYPE_SBASCOMBINED;
156 ClockOrbitType COTYPE_SBASHR;
157 ClockOrbitType COTYPE_SBASURA;
158
159 ClockOrbitType COTYPE_BDSORBIT;
160 ClockOrbitType COTYPE_BDSCLOCK;
161 ClockOrbitType COTYPE_BDSCOMBINED;
162 ClockOrbitType COTYPE_BDSHR;
163 ClockOrbitType COTYPE_BDSURA;
164
165 ClockOrbitType COTYPE_AUTO;
166
167 typedef unsigned int CodeBiasType;
168 CodeBiasType CBTYPE_GPS;
169 CodeBiasType CBTYPE_GLONASS;
170 CodeBiasType CBTYPE_GALILEO;
171 CodeBiasType CBTYPE_QZSS;
172 CodeBiasType CBTYPE_SBAS;
173 CodeBiasType CBTYPE_BDS;
174 CodeBiasType CBTYPE_AUTO;
175
176 typedef unsigned int PhaseBiasType;
177 PhaseBiasType PBTYPE_BASE;
178 PhaseBiasType PBTYPE_GPS;
179 PhaseBiasType PBTYPE_GLONASS;
180 PhaseBiasType PBTYPE_GALILEO;
181 PhaseBiasType PBTYPE_QZSS;
182 PhaseBiasType PBTYPE_SBAS;
183 PhaseBiasType PBTYPE_BDS;
184 PhaseBiasType PBTYPE_AUTO;
185
186 typedef unsigned int VtecType;
187 VtecType VTEC_BASE;
188
189 typedef unsigned int CodeType;
190 CodeType RESERVED;
191 CodeType CODETYPE_GPS_L1_CA;
192 CodeType CODETYPE_GPS_L1_P;
193 CodeType CODETYPE_GPS_L1_Z;
194 CodeType CODETYPE_GPS_L1C_D;
195 CodeType CODETYPE_GPS_L1C_P;
196 CodeType CODETYPE_GPS_L1C_DP;
197 CodeType CODETYPE_GPS_L2_CA;
198 CodeType CODETYPE_GPS_SEMI_CODELESS;
199 CodeType CODETYPE_GPS_L2C_M;
200 CodeType CODETYPE_GPS_L2C_L;
201 CodeType CODETYPE_GPS_L2C_ML;
202 CodeType CODETYPE_GPS_L2_P;
203 CodeType CODETYPE_GPS_L2_Z;
204 CodeType CODETYPE_GPS_L5_I;
205 CodeType CODETYPE_GPS_L5_Q;
206 CodeType CODETYPE_GPS_L5_IQ;
207
208 CodeType CODETYPE_GLONASS_L1_CA;
209 CodeType CODETYPE_GLONASS_L1_P;
210 CodeType CODETYPE_GLONASS_L2_CA;
211 CodeType CODETYPE_GLONASS_L2_P;
212 CodeType CODETYPE_GLONASS_L1a_OCd;
213 CodeType CODETYPE_GLONASS_L1a_OCp;
214 CodeType CODETYPE_GLONASS_L1a_OCdp;
215 CodeType CODETYPE_GLONASS_L2a_CSI;
216 CodeType CODETYPE_GLONASS_L2a_OCp;
217 CodeType CODETYPE_GLONASS_L2a_CSIOCp;
218 CodeType CODETYPE_GLONASS_L3_I;
219 CodeType CODETYPE_GLONASS_L3_Q;
220 CodeType CODETYPE_GLONASS_L3_IQ;
221
222 CodeType CODETYPE_GALILEO_E1_A;
223 CodeType CODETYPE_GALILEO_E1_B;
224 CodeType CODETYPE_GALILEO_E1_C;
225 CodeType CODETYPE_GALILEO_E1_BC;
226 CodeType CODETYPE_GALILEO_E1_ABC;
227 CodeType CODETYPE_GALILEO_E5A_I;
228 CodeType CODETYPE_GALILEO_E5A_Q;
229 CodeType CODETYPE_GALILEO_E5A_IQ;
230 CodeType CODETYPE_GALILEO_E5B_I;
231 CodeType CODETYPE_GALILEO_E5B_Q;
232 CodeType CODETYPE_GALILEO_E5B_IQ;
233 CodeType CODETYPE_GALILEO_E5_I;
234 CodeType CODETYPE_GALILEO_E5_Q;
235 CodeType CODETYPE_GALILEO_E5_IQ;
236 CodeType CODETYPE_GALILEO_E6_A;
237 CodeType CODETYPE_GALILEO_E6_B;
238 CodeType CODETYPE_GALILEO_E6_C;
239 CodeType CODETYPE_GALILEO_E6_BC;
240 CodeType CODETYPE_GALILEO_E6_ABC;
241
242 CodeType CODETYPE_QZSS_L1_CA;
243 CodeType CODETYPE_QZSS_L1C_D;
244 CodeType CODETYPE_QZSS_L1C_P;
245 CodeType CODETYPE_QZSS_L2C_M;
246 CodeType CODETYPE_QZSS_L2C_L;
247 CodeType CODETYPE_QZSS_L2C_ML;
248 CodeType CODETYPE_QZSS_L5_I;
249 CodeType CODETYPE_QZSS_L5_Q;
250 CodeType CODETYPE_QZSS_L5_IQ;
251 CodeType CODETYPE_QZSS_L6_D;
252 CodeType CODETYPE_QZSS_L6_P;
253 CodeType CODETYPE_QZSS_L6_DP;
254 CodeType CODETYPE_QZSS_L1C_DP;
255 CodeType CODETYPE_QZSS_L1_S;
256 CodeType CODETYPE_QZSS_L5_D;
257 CodeType CODETYPE_QZSS_L5_P;
258 CodeType CODETYPE_QZSS_L5_DP;
259 CodeType CODETYPE_QZSS_L6_E;
260 CodeType CODETYPE_QZSS_L6_DE;
261
262 CodeType CODETYPE_SBAS_L1_CA;
263 CodeType CODETYPE_SBAS_L5_I;
264 CodeType CODETYPE_SBAS_L5_Q;
265 CodeType CODETYPE_SBAS_L5_IQ;
266
267 CodeType CODETYPE_BDS_B1_I;
268 CodeType CODETYPE_BDS_B1_Q;
269 CodeType CODETYPE_BDS_B1_IQ;
270 CodeType CODETYPE_BDS_B3_I;
271 CodeType CODETYPE_BDS_B3_Q;
272 CodeType CODETYPE_BDS_B3_IQ;
273 CodeType CODETYPE_BDS_B2_I;
274 CodeType CODETYPE_BDS_B2_Q;
275 CodeType CODETYPE_BDS_B2_IQ;
276 CodeType CODETYPE_BDS_B1a_D;
277 CodeType CODETYPE_BDS_B1a_P;
278 CodeType CODETYPE_BDS_B1a_DP;
279 CodeType CODETYPE_BDS_B2a_D;
280 CodeType CODETYPE_BDS_B2a_P;
281 CodeType CODETYPE_BDS_B2a_DP;
282 CodeType CODETYPE_BDS_B1_A;
283 CodeType CODETYPE_BDS_B3_A;
284
285 QList<CorBase> corbase;
286 QList<unsigned int> satoffset;
287
288
289#define SSR_MAXURA 5.5 /* > 5466.5mm in meter */
290#define COBOFS_MAXNUM 7
291
292 /* satellite system data is stored with offset CLOCKORBIT_OFFSET...
293 in the data structures. So first GLONASS satellite is at
294 xxx->Sat[CLOCKORBIT_OFFSETGLONASS], first GPS satellite is
295 xxx->Sat[CLOCKORBIT_OFFSETGPS]. */
296
297 struct ClockOrbit {
298 ClockOrbitType messageType;
299 unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */
300 unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
301 unsigned int Supplied[COBOFS_MAXNUM]; /* boolean */
302 unsigned int SSRIOD;
303 unsigned int SSRProviderID;
304 unsigned int SSRSolutionID;
305 unsigned int UpdateInterval;
306 SatelliteReferenceDatum SatRefDatum;
307 struct SatData {
308 unsigned int ID; /* all */
309 unsigned int IOD; /* all */
310 unsigned int toe; /* SBAS, BDS */
311 double UserRangeAccuracy; /* accuracy values in [m] */
312 double hrclock;
313 struct OrbitPart {
314 double DeltaRadial; /* m */
315 double DeltaAlongTrack; /* m */
316 double DeltaCrossTrack; /* m */
317 double DotDeltaRadial; /* m/s */
318 double DotDeltaAlongTrack; /* m/s */
319 double DotDeltaCrossTrack; /* m/s */
320 } Orbit;
321 struct ClockPart {
322 double DeltaA0; /* m */
323 double DeltaA1; /* m/s */
324 double DeltaA2; /* m/ss */
325 } Clock;
326 } Sat[CLOCKORBIT_COUNTSAT];
327 };
328
329 struct CodeBias {
330 CodeBiasType messageType;
331 unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */
332 unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
333 unsigned int UpdateInterval;
334 unsigned int SSRIOD;
335 unsigned int SSRProviderID;
336 unsigned int SSRSolutionID;
337 struct BiasSat {
338 unsigned int ID; /* all */
339 unsigned int NumberOfCodeBiases;
340 struct CodeBiasEntry {
341 CodeType Type;
342 float Bias; /* m */
343 } Biases[CLOCKORBIT_NUMBIAS];
344 } Sat[CLOCKORBIT_COUNTSAT];
345 };
346
347 struct PhaseBias {
348 PhaseBiasType messageType;
349 unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */
350 unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
351 unsigned int UpdateInterval;
352 unsigned int SSRIOD;
353 unsigned int SSRProviderID;
354 unsigned int SSRSolutionID;
355 unsigned int DispersiveBiasConsistencyIndicator;
356 unsigned int MWConsistencyIndicator;
357 struct PhaseBiasSat {
358 unsigned int ID; /* all */
359 unsigned int NumberOfPhaseBiases;
360 double YawAngle; /* radiant */
361 double YawRate; /* radiant/s */
362 struct PhaseBiasEntry {
363 CodeType Type;
364 unsigned int SignalIntegerIndicator;
365 unsigned int SignalsWideLaneIntegerIndicator;
366 unsigned int SignalDiscontinuityCounter;
367 float Bias; /* m */
368 } Biases[CLOCKORBIT_NUMBIAS];
369 } Sat[CLOCKORBIT_COUNTSAT];
370 };
371
372 struct VTEC {
373 unsigned int EpochTime; /* GPS */
374 unsigned int UpdateInterval;
375 unsigned int SSRIOD;
376 unsigned int SSRProviderID;
377 unsigned int SSRSolutionID;
378 unsigned int NumLayers; /* 1-4 */
379 double Quality;
380 struct IonoLayers {
381 double Height; /* m */
382 unsigned int Degree; /* 1-16 */
383 unsigned int Order; /* 1-16 */
384 double Sinus[CLOCKORBIT_MAXIONODEGREE][CLOCKORBIT_MAXIONOORDER];
385 double Cosinus[CLOCKORBIT_MAXIONODEGREE][CLOCKORBIT_MAXIONOORDER];
386 } Layers[CLOCKORBIT_NUMIONOLAYERS];
387 };
388
389
390 /* return size of resulting data or 0 in case of an error */
391 virtual size_t MakeClockOrbit(const struct ClockOrbit *co, CodeType type,
392 int moremessagesfollow, char *buffer, size_t size) = 0;
393 virtual size_t MakeCodeBias(const struct CodeBias *b, CodeBiasType type,
394 int moremessagesfollow, char *buffer, size_t size) = 0;
395 virtual size_t MakePhaseBias(const struct PhaseBias *b, CodeBiasType type,
396 int moremessagesfollow, char *buffer, size_t size) = 0;
397 virtual size_t MakeVTEC(const struct VTEC *b, int moremessagesfollow,
398 char *buffer, size_t size) = 0;
399
400 /* buffer should point to a RTCM3 block */
401 virtual enum GCOB_RETURN GetSSR(struct ClockOrbit *co, struct CodeBias *b,
402 struct VTEC *v, struct PhaseBias *pb, const char *buffer, size_t size,
403 int *bytesused) = 0;
404
405 virtual std::string codeTypeToRnxType(char system, CodeType type) = 0;
406 virtual CodeType rnxTypeToCodeType(char system, std::string type) = 0;
407
408//#ifndef NOENCODE
409#define STOREBITS \
410 while(numbits >= 8) { \
411 if(!size) return 0; \
412 *(buffer++) = bitbuffer>>(numbits-8); \
413 numbits -= 8; \
414 ++ressize; \
415 --size; \
416 }
417
418#define ADDBITS(a, b) { \
419 bitbuffer = (bitbuffer<<(a))|((b)&((1<<a)-1)); \
420 numbits += (a); \
421 STOREBITS \
422 }
423
424#define STARTDATA \
425 size_t ressize=0; \
426 char *blockstart=0; \
427 int numbits=0; \
428 uint64_t bitbuffer=0;
429
430#define INITBLOCK \
431 numbits = 0; \
432 blockstart = buffer; \
433 ADDBITS(8, 0xD3) \
434 ADDBITS(6, 0) \
435 ADDBITS(10, 0)
436
437#define ENDBLOCK \
438 if(numbits) { ADDBITS((8-numbits), 0) } { \
439 int len = buffer-blockstart-3; \
440 blockstart[1] |= len>>8; \
441 blockstart[2] = len; \
442 if(len > 1023) \
443 return 0; \
444 len = CRC24(len+3, (const unsigned char *) blockstart); \
445 ADDBITS(24, len) \
446 }
447
448#define SCALEADDBITS(a, b, c) ADDBITS(a, (int64_t)(c > 0 ? b*c+0.5 : b*c-0.5))
449#define MPI 3.141592653589793
450
451/* GNSS macros - Header part */
452#define T_RTCM_MESSAGE_NUMBER(a) ADDBITS(12, a) /* DF002 */
453#define T_IGS_SSR_VERSION(a) ADDBITS( 3, a) /* IDF001 */
454#define T_IGS_MESSAGE_NUMBER(a) ADDBITS( 8, a) /* IDF002 */
455#define T_SSR_EPOCH_TIME(a) ADDBITS(20, a) /* DF??? IDF003 */ //T_GPS_EPOCH_TIME(a)
456#define T_GLONASS_EPOCH_TIME(a) ADDBITS(17, a) /* DF */
457
458#define T_SSR_UPDATE_INTERVAL(a) ADDBITS( 4, a) /* DF391, IDF004 */
459#define T_MULTIPLE_MESSAGE_INDICATOR(a) ADDBITS( 1, a) /* DF388, IDF005 */
460#define T_SSR_IOD(a) ADDBITS( 4, a) /* DF413, IDF007 */
461#define T_SSR_PROVIDER_ID(a) ADDBITS(16, a) /* DF414, IDF008 */
462#define T_SSR_SOLUTION_ID(a) ADDBITS( 4, a) /* DF415, IDF009 */
463#define T_SATELLITE_REFERENCE_DATUM(a) ADDBITS( 1, a) /* DF375, IDF006 */
464#define T_NO_OF_SATELLITES(a) ADDBITS( 6, a) /* DF387, IDF010 */
465
466/* GNSS macros - Satellite specific part */
467#define T_GNSS_SATELLITE_ID(a) ADDBITS( 6, a) /* IDF011 */
468#define T_GPS_SATELLITE_ID(a) ADDBITS( 6, a) /* DF068 */
469#define T_QZSS_SATELLITE_ID(a) ADDBITS( 4, a) /* DF249 */
470#define T_GLONASS_SATELLITE_ID(a) ADDBITS( 5, a) /* DF */
471#define T_GNSS_IOD(a) ADDBITS( 8, a) /* IDF012 */
472#define T_GPS_IODE(a) ADDBITS( 8, a) /* DF071 */
473#define T_GLONASS_IOD(a) ADDBITS( 8, a) /* DF239 */
474#define T_GALILEO_IOD(a) ADDBITS(10, a) /* DF459 */
475#define T_SBAS_T0MOD(a) ADDBITS( 9, (a/16)) /* DF468 */
476#define T_SBAS_IODCRC(a) ADDBITS(24, a) /* DF469 */
477#define T_BDS_TOEMOD(a) ADDBITS(10, (a/8)) /* DF470 */
478#define T_BDS_IOD(a) ADDBITS( 8, a) /* DF471 */
479
480/* Orbit Corrections */
481#define T_DELTA_RADIAL(a) SCALEADDBITS(22, 10000.0, a) /* DF365, IDF013 */
482#define T_DELTA_ALONG_TRACK(a) SCALEADDBITS(20, 2500.0, a) /* DF366, IDF014 */
483#define T_DELTA_CROSS_TRACK(a) SCALEADDBITS(20, 2500.0, a) /* DF367, IDF015 */
484#define T_DELTA_DOT_RADIAL(a) SCALEADDBITS(21, 1000000.0, a) /* DF368, IDF016 */
485#define T_DELTA_DOT_ALONG_TRACK(a) SCALEADDBITS(19, 250000.0, a) /* DF369, IDF017 */
486#define T_DELTA_DOT_CROSS_TRACK(a) SCALEADDBITS(19, 250000.0, a) /* DF370, IDF018 */
487
488/* Clock Corrections */
489#define T_DELTA_CLOCK_C0(a) SCALEADDBITS(22, 10000.0, a) /* DF376, IDF019 */
490#define T_DELTA_CLOCK_C1(a) SCALEADDBITS(21, 1000000.0, a) /* DF377, IDF020 */
491#define T_DELTA_CLOCK_C2(a) SCALEADDBITS(27, 50000000.0, a) /* DF378, IDF021 */
492#define T_HR_CLOCK_CORRECTION(a) SCALEADDBITS(22, 10000.0, a) /* DF390, IDF022 */
493
494/* Biases */
495#define T_NO_OF_BIASES(a) ADDBITS(5, a) /* DF, DF IDF023 */ //_NO_OF_CODE_BIASES(a)T_NO_OF_PHASE_BIASES(a)
496
497#define T_GNSS_SIGNAL_IDENTIFIER(a) ADDBITS(5, a) /* DF IDF024 */
498#define T_CODE_BIAS(a) SCALEADDBITS(14, 100.0, a) /* DF383, IDF025 */
499#define T_YAW_ANGLE(a) SCALEADDBITS( 9, 256.0/MPI, a) /* DF480, IDF026 */
500#define T_YAW_RATE(a) SCALEADDBITS( 8, 8192.0/MPI, a) /* DF481, IDF027 */
501#define T_PHASE_BIAS(a) SCALEADDBITS(20, 10000.0, a) /* DF482, IDF028 */
502
503/* Phase specific part of GNSS phase bias message */
504#define T_INTEGER_INDICATOR(a) ADDBITS( 1, a) /* DF483, IDF029 */
505#define T_WIDE_LANE_INDICATOR(a) ADDBITS( 2, a) /* DF484, IDF030 */
506#define T_DISCONTINUITY_COUNTER(a) ADDBITS( 4, a) /* DF485, IDF031 */
507#define T_DISPERSIVE_BIAS_INDICATOR(a) ADDBITS( 1, a) /* DF486, IDF032 */
508#define T_MW_CONSISTENCY_INDICATOR(a) ADDBITS( 1, a) /* DF487, IDF033 */
509
510/* URA */
511#define T_SSR_URA(a) ADDBITS( 6, a) /* DF389, IDF034 */
512
513/* Ionosphere */
514#define T_NO_IONO_LAYERS(a) ADDBITS( 2, a-1) /* DF472, IDF035 */
515#define T_IONO_HEIGHT(a) SCALEADDBITS( 8, 1/10000.0, a) /* DF473, IDF036 */
516#define T_IONO_DEGREE(a) ADDBITS( 4, a-1) /* DF474, IDF037 */
517#define T_IONO_ORDER(a) ADDBITS( 4, a-1) /* DF475, IDF038 */
518#define T_IONO_COEFF_C(a) SCALEADDBITS(16, 200.0, a) /* DF476, IDF039 */
519#define T_IONO_COEFF_S(a) SCALEADDBITS(16, 200.0, a) /* DF477, IDF040 */
520#define T_VTEC_QUALITY_INDICATOR(a) SCALEADDBITS( 9, 20.0, a) /* DF478, IDF041 */
521
522static double URAToValue(int ura) {
523 int urac, urav;
524 urac = ura >> 3;
525 urav = ura & 7;
526 if (!ura)
527 return 0;
528 else if (ura == 63)
529 return SSR_MAXURA;
530 return (pow(3, urac) * (1.0 + urav / 4.0) - 1.0) / 1000.0;
531}
532
533static int ValueToURA(double val) {
534 int ura;
535 if (!val)
536 return 0;
537 else if (val > 5.4665)
538 return 63;
539 for (ura = 1; ura < 63 && val > URAToValue(ura); ++ura)
540 ;
541 return ura;
542}
543
544#define DECODESTART \
545 int numbits=0; \
546 uint64_t bitbuffer=0;
547
548#define LOADSSRBITS(a) { \
549 while((a) > numbits) { \
550 if(!size--) return GCOBR_SHORTMESSAGE; \
551 bitbuffer = (bitbuffer<<8)|((unsigned char)*(buffer++)); \
552 numbits += 8; \
553 } \
554}
555
556/* extract bits from data stream
557 b = variable to store result, a = number of bits */
558#define GETSSRBITS(b, a) { \
559 LOADSSRBITS(a) \
560 b = (bitbuffer<<(64-numbits))>>(64-(a)); \
561 numbits -= (a); \
562}
563
564/* extract bits from data stream
565 b = variable to store result, a = number of bits */
566#define GETSSRBITSFACTOR(b, a, c) { \
567 LOADSSRBITS(a) \
568 b = ((bitbuffer<<(64-numbits))>>(64-(a)))*(c); \
569 numbits -= (a); \
570}
571
572/* extract signed floating value from data stream
573 b = variable to store result, a = number of bits */
574#define GETSSRFLOATSIGN(b, a, c) { \
575 LOADSSRBITS(a) \
576 b = ((double)(((int64_t)(bitbuffer<<(64-numbits)))>>(64-(a))))*(c); \
577 numbits -= (a); \
578}
579
580/* extract floating value from data stream
581 b = variable to store result, a = number of bits, c = scale factor */
582#define GETSSRFLOAT(b, a, c) { \
583 LOADSSRBITS(a) \
584 b = ((double)((bitbuffer<<(sizeof(bitbuffer)*8-numbits))>>(sizeof(bitbuffer)*8-(a))))*(c); \
585 numbits -= (a); \
586}
587
588#define SKIPSSRBITS(b) { LOADSSRBITS(b) numbits -= (b); }
589
590/* GPS macros also used for other systems when matching! */
591#define G_HEADER(a) GETSSRBITS(a, 8)
592#define G_RESERVEDH(a) GETSSRBITS(a, 6)
593#define G_SIZE(a) GETSSRBITS(a, 10)
594
595/* GNSS macros - Header part */
596#define G_RTCM_MESSAGE_NUMBER(a) GETSSRBITS(a, 12) /* DF002 */
597
598#define G_IGS_SSR_VERSION(a) GETSSRBITS(a, 3) /* IDF001 */
599#define G_IGS_MESSAGE_NUMBER(a) GETSSRBITS(a, 8) /* IDF002 */
600#define G_SSR_EPOCH_TIME(a) GETSSRBITS(a, 20) /*DF IDF003 */
601#define G_SSR_EPOCH_TIME_CHECK(a, b) {unsigned int temp; GETSSRBITS(temp, 20) \
602 if(b && a != temp) return GCOBR_TIMEMISMATCH; a = temp;}
603#define G_GLONASS_EPOCH_TIME(a, b) {unsigned int temp; GETSSRBITS(temp, 17) \
604 if(b && a != temp) return GCOBR_TIMEMISMATCH; a = temp;}
605
606#define G_SSR_UPDATE_INTERVAL(a) GETSSRBITS(a, 4) /* DF391, IDF004 */
607#define G_MULTIPLE_MESSAGE_INDICATOR(a) GETSSRBITS(a, 1) /* DF388, IDF005 */
608#define G_SSR_IOD(a) GETSSRBITS(a, 4) /* DF413, IDF007 */
609#define G_SSR_PROVIDER_ID(a) GETSSRBITS(a, 16) /* DF414, IDF008 */
610#define G_SSR_SOLUTION_ID(a) GETSSRBITS(a, 4) /* DF415, IDF009 */
611#define G_SATELLITE_REFERENCE_DATUM(a) GETSSRBITS(a, 1) /* DF375, IDF006 */
612#define G_NO_OF_SATELLITES(a) GETSSRBITS(a, 6) /* DF387, IDF010 */
613
614/* GNSS macros - Satellite specific part */
615#define G_GNSS_SATELLITE_ID(a) GETSSRBITS(a, 6) /* DF068, IDF011 */
616#define G_GLONASS_SATELLITE_ID(a) GETSSRBITS(a, 5) /* DF */
617#define G_QZSS_SATELLITE_ID(a) GETSSRBITS(a, 4) /* DF249 */
618
619#define G_GNSS_IOD(a) GETSSRBITS(a, 8) /*DF071, DF237,DF471 IDF012 */
620#define G_GALILEO_IOD(a) GETSSRBITS(a, 10) /* DF459 */
621#define G_SBAS_T0MOD(a) GETSSRBITSFACTOR(a, 9, 16) /* DF468 */
622#define G_SBAS_IODCRC(a) GETSSRBITS(a, 24) /* DF469 */
623#define G_BDS_TOEMOD(a) GETSSRBITSFACTOR(a, 10, 8) /* DF470 */
624
625/* Orbit Corrections */
626#define G_DELTA_RADIAL(a) GETSSRFLOATSIGN(a, 22, 1/10000.0) /* DF365, IDF013 */
627#define G_DELTA_ALONG_TRACK(a) GETSSRFLOATSIGN(a, 20, 1/2500.0) /* DF366, IDF014 */
628#define G_DELTA_CROSS_TRACK(a) GETSSRFLOATSIGN(a, 20, 1/2500.0) /* DF367, IDF015 */
629#define G_DELTA_DOT_RADIAL(a) GETSSRFLOATSIGN(a, 21, 1/1000000.0) /* DF368, IDF016 */
630#define G_DELTA_DOT_ALONG_TRACK(a) GETSSRFLOATSIGN(a, 19, 1/250000.0) /* DF369, IDF017 */
631#define G_DELTA_DOT_CROSS_TRACK(a) GETSSRFLOATSIGN(a, 19, 1/250000.0) /* DF370, IDF018 */
632
633/* Clock Corrections */
634#define G_DELTA_CLOCK_C0(a) GETSSRFLOATSIGN(a, 22, 1/10000.0) /* DF376, IDF019 */
635#define G_DELTA_CLOCK_C1(a) GETSSRFLOATSIGN(a, 21, 1/1000000.0) /* DF377, IDF020 */
636#define G_DELTA_CLOCK_C2(a) GETSSRFLOATSIGN(a, 27, 1/50000000.0) /* DF378, IDF021 */
637#define G_HR_CLOCK_CORRECTION(a) GETSSRFLOATSIGN(a, 22, 1/10000.0) /* DF390, IDF022 */
638
639/* Biases */
640#define G_NO_OF_BIASES(a) GETSSRBITS(a, 5) /* DF, DF IDF023 */
641#define G_GNSS_SIGNAL_IDENTIFIER(a) GETSSRBITS(a, 5) /* DF IDF024 */
642#define G_CODE_BIAS(a) GETSSRFLOATSIGN(a, 14, 1/100.0) /* DF383, IDF025 */
643#define G_YAW_ANGLE(a) GETSSRFLOAT (a, 9, MPI/256.0) /* DF480, IDF026 */
644#define G_YAW_RATE(a) GETSSRFLOATSIGN(a, 8, MPI/8192.0) /* DF481, IDF027 */
645#define G_PHASE_BIAS(a) GETSSRFLOATSIGN(a, 20, 1/10000.) /* DF482, IDF028 */
646
647/* Phase specific part of GNSS phase bias message */
648#define G_INTEGER_INDICATOR(a) GETSSRBITS(a, 1) /* DF483, IDF029 */
649#define G_WIDE_LANE_INDICATOR(a) GETSSRBITS(a, 2) /* DF484, IDF030 */
650#define G_DISCONTINUITY_COUNTER(a) GETSSRBITS(a, 4) /* DF485, IDF031 */
651#define G_DISPERSIVE_BIAS_INDICATOR(a) GETSSRBITS(a, 1) /* DF486, IDF032 */
652#define G_MW_CONSISTENCY_INDICATOR(a) GETSSRBITS(a, 1) /* DF487, IDF033 */
653
654/* URA */
655#define G_SSR_URA(a) {int temp; GETSSRBITS(temp, 6) \
656 (a) = URAToValue(temp);} /* DF389, IDF034 */
657
658/* Ionosphere */
659#define G_NO_IONO_LAYERS(a) {unsigned int temp; GETSSRBITS(temp, 2) a = temp+1;} /* DF472, IDF035 */
660#define G_IONO_HEIGHT(a) GETSSRFLOAT(a, 8 , 10000.0) /* DF473, IDF036 */
661#define G_IONO_DEGREE(a) {unsigned int temp; GETSSRBITS(temp, 4) a = temp+1;} /* DF474, IDF037 */
662#define G_IONO_ORDER(a) {unsigned int temp; GETSSRBITS(temp, 4) a = temp+1;} /* DF475, IDF038 */
663#define G_IONO_COEFF_C(a) GETSSRFLOATSIGN(a, 16,1/200.0) /* DF476, IDF039 */
664#define G_IONO_COEFF_S(a) GETSSRFLOATSIGN(a, 16,1/200.0) /* DF477, IDF040 */
665#define G_VTEC_QUALITY_INDICATOR(a) GETSSRFLOAT (a, 9, 1/20.0) /* DF478, IDF041 */
666
667//#endif /* NODECODE */
668
669};
670
671#endif /* RTCM3_CLOCK_ORBIT_H */
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