source: ntrip/trunk/BNC/src/RTCM3/clock_and_orbit/clock_orbit_rtcm.h@ 8004

Last change on this file since 8004 was 8004, checked in by stuerze, 8 years ago

Signal and tracking mode identifier are updated with respect to the latest ssr1 proposal
  • Property svn:executable set to *
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File size: 11.5 KB
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1#ifndef RTCM3_CLOCK_ORBIT_RTCM_H
2#define RTCM3_CLOCK_ORBIT_RTCM_H
3
4/* Programheader
5
6 Name: clock_orbit_rtcm.h
7 Project: RTCM3
8 Version: $Id: clock_orbit_rtcm.h 8004 2016-08-09 09:26:41Z stuerze $
9 Authors: Dirk Stöcker
10 Description: state space approach for RTCM3
11*/
12
13#include <string.h>
14
15enum SatelliteReferenceDatum { DATUM_ITRF=0, DATUM_LOCAL=1 };
16
17enum COR_BASE {
18 COBBASE_GPS = 1057,
19 COBBASE_GLONASS = 1063,
20 COBBASE_GALILEO = 1240,
21 COBBASE_QZSS = 1246,
22 COBBASE_SBAS = 1252,
23 COBBASE_BDS = 1258,
24};
25
26enum COR_OFFSET {
27 COBOFS_ORBIT = 0,
28 COBOFS_CLOCK,
29 COBOFS_BIAS,
30 COBOFS_COMBINED,
31 COBOFS_URA,
32 COBOFS_HR,
33 COBOFS_NUM
34};
35
36enum ClockOrbitType {
37 COTYPE_GPSORBIT = COBBASE_GPS + COBOFS_ORBIT,
38 COTYPE_GPSCLOCK,
39 COTYPE_GPSCOMBINED = COBBASE_GPS + COBOFS_COMBINED,
40 COTYPE_GPSURA,
41 COTYPE_GPSHR,
42
43 COTYPE_GLONASSORBIT = COBBASE_GLONASS + COBOFS_ORBIT,
44 COTYPE_GLONASSCLOCK,
45 COTYPE_GLONASSCOMBINED = COBBASE_GLONASS + COBOFS_COMBINED,
46 COTYPE_GLONASSURA,
47 COTYPE_GLONASSHR,
48
49 COTYPE_GALILEOORBIT = COBBASE_GALILEO + COBOFS_ORBIT,
50 COTYPE_GALILEOCLOCK,
51 COTYPE_GALILEOCOMBINED = COBBASE_GALILEO + COBOFS_COMBINED,
52 COTYPE_GALILEOURA,
53 COTYPE_GALILEOHR,
54
55 COTYPE_QZSSORBIT = COBBASE_QZSS + COBOFS_ORBIT,
56 COTYPE_QZSSCLOCK,
57 COTYPE_QZSSCOMBINED = COBBASE_QZSS + COBOFS_COMBINED,
58 COTYPE_QZSSURA,
59 COTYPE_QZSSHR,
60
61 COTYPE_SBASORBIT = COBBASE_SBAS + COBOFS_ORBIT,
62 COTYPE_SBASCLOCK,
63 COTYPE_SBASCOMBINED = COBBASE_SBAS + COBOFS_COMBINED,
64 COTYPE_SBASURA,
65 COTYPE_SBASHR,
66
67 COTYPE_BDSORBIT = COBBASE_BDS + COBOFS_ORBIT,
68 COTYPE_BDSCLOCK,
69 COTYPE_BDSCOMBINED = COBBASE_BDS + COBOFS_COMBINED,
70 COTYPE_BDSURA,
71 COTYPE_BDSHR,
72
73 COTYPE_AUTO = 0,
74};
75
76enum CodeBiasType {
77 BTYPE_GPS = COBBASE_GPS + COBOFS_BIAS,
78 BTYPE_GLONASS = COBBASE_GLONASS + COBOFS_BIAS,
79 BTYPE_GALILEO = COBBASE_GALILEO + COBOFS_BIAS,
80 BTYPE_QZSS = COBBASE_QZSS + COBOFS_BIAS,
81 BTYPE_SBAS = COBBASE_SBAS + COBOFS_BIAS,
82 BTYPE_BDS = COBBASE_BDS + COBOFS_BIAS,
83 BTYPE_AUTO = 0
84};
85
86enum PhaseBiasType {
87 PBTYPE_BASE = 1265,
88 PBTYPE_GPS = PBTYPE_BASE,
89 PBTYPE_GLONASS,
90 PBTYPE_GALILEO,
91 PBTYPE_QZSS,
92 PBTYPE_SBAS,
93 PBTYPE_BDS,
94 PBTYPE_AUTO = 0
95};
96
97enum VTECType {
98 VTEC_BASE = 1264
99};
100
101/* if some systems aren't supported at all, change the following numbers to zero
102for these systems to save space */
103enum COR_CONSTANTS {
104 CLOCKORBIT_BUFFERSIZE=2048,
105 CLOCKORBIT_NUMGPS=32,
106 CLOCKORBIT_NUMGLONASS=26,
107 CLOCKORBIT_NUMGALILEO=36,
108 CLOCKORBIT_NUMQZSS=10,
109 CLOCKORBIT_NUMSBAS=38,
110 CLOCKORBIT_NUMBDS=37,
111 CLOCKORBIT_NUMBIAS=17,
112 CLOCKORBIT_NUMIONOLAYERS=4,
113 CLOCKORBIT_MAXIONOORDER=16,
114 CLOCKORBIT_MAXIONODEGREE=16
115};
116
117enum COR_SATSYSTEM {
118 CLOCKORBIT_SATGPS=0,
119 CLOCKORBIT_SATGLONASS,
120 CLOCKORBIT_SATGALILEO,
121 CLOCKORBIT_SATQZSS,
122 CLOCKORBIT_SATSBAS,
123 CLOCKORBIT_SATBDS,
124 CLOCKORBIT_SATNUM
125};
126
127enum COR_OFFSETS {
128 CLOCKORBIT_OFFSETGPS=0,
129 CLOCKORBIT_OFFSETGLONASS=CLOCKORBIT_NUMGPS,
130 CLOCKORBIT_OFFSETGALILEO=CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS,
131 CLOCKORBIT_OFFSETQZSS=CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS
132 +CLOCKORBIT_NUMGALILEO,
133 CLOCKORBIT_OFFSETSBAS=CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS
134 +CLOCKORBIT_NUMGALILEO+CLOCKORBIT_NUMQZSS,
135 CLOCKORBIT_OFFSETBDS=CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS
136 +CLOCKORBIT_NUMGALILEO+CLOCKORBIT_NUMQZSS+CLOCKORBIT_NUMSBAS,
137 CLOCKORBIT_COUNTSAT=CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS
138 +CLOCKORBIT_NUMGALILEO+CLOCKORBIT_NUMQZSS+CLOCKORBIT_NUMSBAS
139 +CLOCKORBIT_NUMBDS
140};
141
142enum CodeType {
143 CODETYPEGPS_L1_CA = 0,
144 CODETYPEGPS_L1_P = 1,
145 CODETYPEGPS_L1_Z = 2,
146 /*CODETYPEGPS_L1_Y = 3,
147 CODETYPEGPS_L1_M = 4,*/
148 CODETYPEGPS_L2_CA = 5,
149 CODETYPEGPS_SEMI_CODELESS = 6,
150 CODETYPEGPS_L2_CM = 7,
151 CODETYPEGPS_L2_CL = 8,
152 CODETYPEGPS_L2_CML = 9,
153 CODETYPEGPS_L2_P = 10,
154 CODETYPEGPS_L2_Z = 11,
155 /*CODETYPEGPS_L2_Y = 12,
156 CODETYPEGPS_L2_M = 13,*/
157 CODETYPEGPS_L5_I = 14,
158 CODETYPEGPS_L5_Q = 15,
159 CODETYPEGPS_L5_IQ = 16,
160 CODETYPEGPS_L1C_D = 17,
161 CODETYPEGPS_L1C_P = 18,
162 CODETYPEGPS_L1C_DP = 19,
163
164 CODETYPEGLONASS_L1_CA = 0,
165 CODETYPEGLONASS_L1_P = 1,
166 CODETYPEGLONASS_L2_CA = 2,
167 CODETYPEGLONASS_L2_P = 3,
168
169 CODETYPEGALILEO_E1_A = 0,
170 CODETYPEGALILEO_E1_B = 1,
171 CODETYPEGALILEO_E1_C = 2,
172 CODETYPEGALILEO_E1_BC = 3,
173 CODETYPEGALILEO_E1_ABC = 4,
174 CODETYPEGALILEO_E5A_I = 5,
175 CODETYPEGALILEO_E5A_Q = 6,
176 CODETYPEGALILEO_E5A_IQ = 7,
177 CODETYPEGALILEO_E5B_I = 8,
178 CODETYPEGALILEO_E5B_Q = 9,
179 CODETYPEGALILEO_E5B_IQ = 10,
180 CODETYPEGALILEO_E5_I = 11,
181 CODETYPEGALILEO_E5_Q = 12,
182 CODETYPEGALILEO_E5_IQ = 13,
183 CODETYPEGALILEO_E6_A = 14,
184 CODETYPEGALILEO_E6_B = 15,
185 CODETYPEGALILEO_E6_C = 16,
186 CODETYPEGALILEO_E6_BC = 17,
187 CODETYPEGALILEO_E6_ABC = 18,
188
189 CODETYPEQZSS_L1_CA = 0,
190 CODETYPEQZSS_L1C_D = 1,
191 CODETYPEQZSS_L1C_P = 2,
192 CODETYPEQZSS_L2C_M = 3,
193 CODETYPEQZSS_L2C_L = 4,
194 CODETYPEQZSS_L2C_ML = 5,
195 CODETYPEQZSS_L5_I = 6,
196 CODETYPEQZSS_L5_Q = 7,
197 CODETYPEQZSS_L5_IQ = 8,
198 CODETYPEQZSS_LEX_S = 9,
199 CODETYPEQZSS_LEX_L = 10,
200 CODETYPEQZSS_LEX_SL = 11,
201 CODETYPEQZSS_L1C_DP = 12,
202
203 CODETYPE_SBAS_L1_CA = 0,
204 CODETYPE_SBAS_L5_I = 1,
205 CODETYPE_SBAS_L5_Q = 2,
206 CODETYPE_SBAS_L5_IQ = 3,
207
208 CODETYPE_BDS_B1_I = 0,
209 CODETYPE_BDS_B1_Q = 1,
210 CODETYPE_BDS_B1_IQ = 2,
211 CODETYPE_BDS_B3_I = 3,
212 CODETYPE_BDS_B3_Q = 4,
213 CODETYPE_BDS_B3_IQ = 5,
214 CODETYPE_BDS_B2_I = 6,
215 CODETYPE_BDS_B2_Q = 7,
216 CODETYPE_BDS_B2_IQ = 8,
217};
218
219#define SSR_MAXURA 5.5 /* > 5466.5mm in meter */
220
221/* satellite system data is stored with offset CLOCKORBIT_OFFSET...
222in the data structures. So first GLONASS satellite is at
223xxx->Sat[CLOCKORBIT_OFFSETGLONASS], first GPS satellite is
224xxx->Sat[CLOCKORBIT_OFFSETGPS]. */
225
226#ifdef COR_LEGACY
227/* old names */
228#define NumberOfGPSSat NumberOfSat[CLOCKORBIT_SATGPS]
229#define NumberOfGLONASSSat NumberOfSat[CLOCKORBIT_SATGLONASS]
230#define GPSEpochTime EpochTime[CLOCKORBIT_SATGPS] /* 0 .. 604799 s */
231#define GLONASSEpochTime EpochTime[CLOCKORBIT_SATGLONASS] /* 0 .. 86399 s (86400 for leap second) */
232#define ClockDataSupplied Supplied[COBOFS_CLOCK]
233#define HRDataSupplied Supplied[COBOFS_HR]
234#define OrbitDataSupplied Supplied[COBOFS_ORBIT]
235#define URADataSupplied Supplied[COBOFS_URA]
236#define GetClockOrbitBias(a,b,c,d,e) GetSSR(a,b,0,0,c,d,e)
237#endif /* COR_LEGACY */
238
239/* latency check code, disabled by default */
240#ifdef COR_LATENCY
241#define COR_LATENCYCOUNT 100
242#endif
243
244struct ClockOrbit
245{
246 enum ClockOrbitType messageType;
247 unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */
248 unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
249
250 unsigned int Supplied[COBOFS_NUM]; /* boolean */
251#ifdef COR_LATENCY
252 unsigned int epochGPS[COR_LATENCYCOUNT+1]; /* Weber, for latency */
253 unsigned int epochSize; /* Weber, for latency */
254#endif
255 unsigned int SSRIOD;
256 unsigned int SSRProviderID;
257 unsigned int SSRSolutionID;
258 unsigned int UpdateInterval;
259 enum SatelliteReferenceDatum SatRefDatum;
260 struct SatData {
261 unsigned int ID; /* all */
262 unsigned int IOD; /* all */
263 unsigned int toe; /* SBAS, BDS */
264 double UserRangeAccuracy; /* accuracy values in [m] */
265 double hrclock;
266 struct OrbitPart
267 {
268 double DeltaRadial; /* m */
269 double DeltaAlongTrack; /* m */
270 double DeltaCrossTrack; /* m */
271 double DotDeltaRadial; /* m/s */
272 double DotDeltaAlongTrack; /* m/s */
273 double DotDeltaCrossTrack; /* m/s */
274 } Orbit;
275 struct ClockPart
276 {
277 double DeltaA0; /* m */
278 double DeltaA1; /* m/s */
279 double DeltaA2; /* m/ss */
280 } Clock;
281 } Sat[CLOCKORBIT_COUNTSAT];
282};
283
284struct CodeBias
285{
286 enum CodeBiasType messageType;
287 unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */
288 unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
289 unsigned int UpdateInterval;
290 unsigned int SSRIOD;
291 unsigned int SSRProviderID;
292 unsigned int SSRSolutionID;
293 struct BiasSat
294 {
295 unsigned int ID; /* all */
296 unsigned int NumberOfCodeBiases;
297 struct CodeBiasEntry
298 {
299 enum CodeType Type;
300 float Bias; /* m */
301 } Biases[CLOCKORBIT_NUMBIAS];
302 } Sat[CLOCKORBIT_COUNTSAT];
303};
304
305struct PhaseBias
306{
307 enum PhaseBiasType messageType;
308 unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */
309 unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
310 unsigned int UpdateInterval;
311 unsigned int SSRIOD;
312 unsigned int SSRProviderID;
313 unsigned int SSRSolutionID;
314 unsigned int DispersiveBiasConsistencyIndicator;
315 unsigned int MWConsistencyIndicator;
316 struct PhaseBiasSat
317 {
318 unsigned int ID; /* all */
319 unsigned int NumberOfPhaseBiases;
320 double YawAngle; /* radiant */
321 double YawRate; /* radiant/s */
322 struct PhaseBiasEntry
323 {
324 enum CodeType Type;
325 unsigned int SignalIntegerIndicator;
326 unsigned int SignalsWideLaneIntegerIndicator;
327 unsigned int SignalDiscontinuityCounter;
328 float Bias; /* m */
329 } Biases[CLOCKORBIT_NUMBIAS];
330 } Sat[CLOCKORBIT_COUNTSAT];
331};
332
333struct VTEC
334{
335 unsigned int EpochTime; /* GPS */
336 unsigned int UpdateInterval;
337 unsigned int SSRIOD;
338 unsigned int SSRProviderID;
339 unsigned int SSRSolutionID;
340 unsigned int NumLayers; /* 1-4 */
341 double Quality;
342 struct IonoLayers {
343 double Height; /* m */
344 unsigned int Degree; /* 1-16 */
345 unsigned int Order; /* 1-16 */
346 double Sinus[CLOCKORBIT_MAXIONODEGREE][CLOCKORBIT_MAXIONOORDER];
347 double Cosinus[CLOCKORBIT_MAXIONODEGREE][CLOCKORBIT_MAXIONOORDER];
348 } Layers[CLOCKORBIT_NUMIONOLAYERS];
349};
350
351/* return size of resulting data or 0 in case of an error */
352size_t MakeClockOrbit(const struct ClockOrbit *co, enum ClockOrbitType type,
353 int moremessagesfollow, char *buffer, size_t size);
354size_t MakeCodeBias(const struct CodeBias *b, enum CodeBiasType type,
355 int moremessagesfollow, char *buffer, size_t size);
356size_t MakePhaseBias(const struct PhaseBias *b, enum PhaseBiasType type,
357 int moremessagesfollow, char *buffer, size_t size);
358size_t MakeVTEC(const struct VTEC *b, int moremessagesfollow, char *buffer,
359 size_t size);
360
361enum GCOB_RETURN {
362 /* all well */
363 GCOBR_MESSAGEFOLLOWS = 1,
364 GCOBR_OK = 0,
365 /* unknown data, a warning */
366 GCOBR_UNKNOWNTYPE = -1,
367 GCOBR_UNKNOWNDATA = -2,
368 GCOBR_CRCMISMATCH = -3,
369 GCOBR_SHORTMESSAGE = -4,
370 /* failed to do the work */
371 GCOBR_NOCLOCKORBITPARAMETER = -10,
372 GCOBR_NOCODEBIASPARAMETER = -11,
373 GCOBR_NOPHASEBIASPARAMETER = -12,
374 GCOBR_NOVTECPARAMETER = -13,
375 /* data mismatch - data in storage does not match new data */
376 GCOBR_TIMEMISMATCH = -20,
377 GCOBR_DATAMISMATCH = -21,
378 /* not enough data - can decode the block completely */
379 GCOBR_SHORTBUFFER = -30,
380 GCOBR_MESSAGEEXCEEDSBUFFER = -31};
381
382/* NOTE: When an error message has been emitted, the output structures may have been modified. Make a copy of the previous variant before calling the
383function to have a clean state. */
384
385/* buffer should point to a RTCM3 block */
386enum GCOB_RETURN GetSSR(struct ClockOrbit *co, struct CodeBias *b, struct VTEC *v,
387 struct PhaseBias *pb, const char *buffer, size_t size, int *bytesused);
388
389#endif /* RTCM3_CLOCK_ORBIT_RTCM_H */
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