[956] | 1 | #ifndef RTCM3_CLOCK_ORBIT_RTCM_H
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| 2 | #define RTCM3_CLOCK_ORBIT_RTCM_H
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| 3 |
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| 4 | /* Programheader
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| 5 |
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| 6 | Name: clock_orbit_rtcm.h
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| 7 | Project: RTCM3
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[3495] | 8 | Version: $Id: clock_orbit_rtcm.h 4241 2012-06-01 07:32:57Z stoecker $
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[956] | 9 | Authors: Dirk Stöcker
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| 10 | Description: state space approach for RTCM3
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| 11 | */
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| 12 |
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| 13 | #include <string.h>
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| 14 |
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| 15 | enum SatelliteReferenceDatum { DATUM_ITRF=0, DATUM_LOCAL=1 };
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[1581] | 16 | enum ClockOrbitType {
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[1840] | 17 | COTYPE_GPSORBIT=1057, COTYPE_GPSCLOCK=1058,
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| 18 | COTYPE_GPSCOMBINED=1060, COTYPE_GPSURA=1061, COTYPE_GPSHR=1062,
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[1581] | 19 |
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[1840] | 20 | COTYPE_GLONASSORBIT=1063, COTYPE_GLONASSCLOCK=1064,
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| 21 | COTYPE_GLONASSCOMBINED=1066, COTYPE_GLONASSURA=1067, COTYPE_GLONASSHR=1068,
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[1581] | 22 |
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[956] | 23 | COTYPE_AUTO=0 };
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[1840] | 24 | enum BiasType { BTYPE_GPS=1059, BTYPE_GLONASS=1065, BTYPE_AUTO = 0 };
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[956] | 25 |
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| 26 | enum COR_CONSTANTS {
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| 27 | CLOCKORBIT_BUFFERSIZE=2048,
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| 28 | CLOCKORBIT_NUMGPS=32,
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| 29 | CLOCKORBIT_NUMGLONASS=24,
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| 30 | CLOCKORBIT_NUMBIAS=10
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| 31 | };
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| 32 |
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| 33 | enum CodeType {
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| 34 | CODETYPEGPS_L1_CA = 0,
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| 35 | CODETYPEGPS_L1_P = 1,
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| 36 | CODETYPEGPS_L1_Z = 2,
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[4241] | 37 | /*CODETYPEGPS_L1_Y = 3,
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| 38 | CODETYPEGPS_L1_M = 4,*/
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| 39 | CODETYPEGPS_L2_CA = 5,
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[2432] | 40 | CODETYPEGPS_SEMI_CODELESS = 6,
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| 41 | CODETYPEGPS_L2_CM = 7,
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| 42 | CODETYPEGPS_L2_CL = 8,
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| 43 | CODETYPEGPS_L2_CML = 9,
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| 44 | CODETYPEGPS_L2_P = 10,
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| 45 | CODETYPEGPS_L2_Z = 11,
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[4241] | 46 | /*CODETYPEGPS_L2_Y = 12,
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| 47 | CODETYPEGPS_L2_M = 13,*/
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| 48 | CODETYPEGPS_L5_I = 14,
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| 49 | CODETYPEGPS_L5_Q = 15,
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| 50 | /*CODETYPEGPS_L5_IQ = 16,*/
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[956] | 51 |
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| 52 | CODETYPEGLONASS_L1_CA = 0,
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| 53 | CODETYPEGLONASS_L1_P = 1,
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| 54 | CODETYPEGLONASS_L2_CA = 2,
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| 55 | CODETYPEGLONASS_L2_P = 3,
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| 56 | };
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| 57 |
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[2421] | 58 | #define SSR_MAXURA 5.5 /* > 5466.5mm in meter */
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| 59 |
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[956] | 60 | /* GLONASS data is stored with offset CLOCKORBIT_NUMGPS in the data structures.
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| 61 | So first GLONASS satellite is at xxx->Sat[CLOCKORBIT_NUMGPS], first
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| 62 | GPS satellite is xxx->Sat[0]. */
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| 63 |
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| 64 | struct ClockOrbit
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| 65 | {
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[2323] | 66 | enum ClockOrbitType messageType;
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[956] | 67 | int GPSEpochTime; /* 0 .. 604799 s */
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| 68 | int GLONASSEpochTime; /* 0 .. 86399 s (86400 for leap second) */
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| 69 | int NumberOfGPSSat; /* 0 .. 32 */
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| 70 | int NumberOfGLONASSSat; /* 0 .. 24 */
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| 71 | int ClockDataSupplied; /* boolean */
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[1581] | 72 | int HRDataSupplied; /* boolean */
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[956] | 73 | int OrbitDataSupplied; /* boolean */
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[1581] | 74 | int URADataSupplied; /* boolean */
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[1238] | 75 | int epochGPS[101]; /* Weber, for latency */
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| 76 | int epochSize; /* Weber, for latency */
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[3511] | 77 | int SSRIOD;
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| 78 | int SSRProviderID;
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| 79 | int SSRSolutionID;
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[1581] | 80 | int UpdateInterval;
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[956] | 81 | enum SatelliteReferenceDatum SatRefDatum;
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| 82 | struct SatData {
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| 83 | int ID; /* GPS or GLONASS */
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| 84 | int IOD; /* GPS or GLONASS */
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[2421] | 85 | double UserRangeAccuracy; /* accuracy values in [m] */
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[1581] | 86 | double hrclock;
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[956] | 87 | struct OrbitPart
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| 88 | {
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| 89 | double DeltaRadial; /* m */
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| 90 | double DeltaAlongTrack; /* m */
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| 91 | double DeltaCrossTrack; /* m */
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| 92 | double DotDeltaRadial; /* m/s */
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| 93 | double DotDeltaAlongTrack; /* m/s */
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| 94 | double DotDeltaCrossTrack; /* m/s */
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| 95 | } Orbit;
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| 96 | struct ClockPart
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| 97 | {
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| 98 | double DeltaA0; /* m */
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| 99 | double DeltaA1; /* m/s */
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| 100 | double DeltaA2; /* m/ss */
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| 101 | } Clock;
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| 102 | } Sat[CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS];
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| 103 | };
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| 104 |
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| 105 | struct Bias
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| 106 | {
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[2323] | 107 | enum BiasType messageType;
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[956] | 108 | int GPSEpochTime; /* 0 .. 604799 s */
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| 109 | int GLONASSEpochTime; /* 0 .. 86399 s (86400 for leap second) */
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| 110 | int NumberOfGPSSat; /* 0 .. 32 */
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| 111 | int NumberOfGLONASSSat; /* 0 .. 24 */
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[1581] | 112 | int UpdateInterval;
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[3511] | 113 | int SSRIOD;
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| 114 | int SSRProviderID;
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| 115 | int SSRSolutionID;
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[956] | 116 | struct BiasSat
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| 117 | {
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| 118 | int ID; /* GPS or GLONASS */
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| 119 | int NumberOfCodeBiases;
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| 120 | struct CodeBias
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| 121 | {
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| 122 | enum CodeType Type;
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| 123 | float Bias; /* m */
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| 124 | } Biases[CLOCKORBIT_NUMBIAS];
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| 125 | } Sat[CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS];
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| 126 | };
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| 127 |
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| 128 | /* return size of resulting data or 0 in case of an error */
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| 129 | size_t MakeClockOrbit(const struct ClockOrbit *co, enum ClockOrbitType type,
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| 130 | int moremessagesfollow, char *buffer, size_t size);
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| 131 | size_t MakeBias(const struct Bias *b, enum BiasType type,
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| 132 | int moremessagesfollow, char *buffer, size_t size);
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| 133 |
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| 134 | enum GCOB_RETURN {
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| 135 | /* all well */
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| 136 | GCOBR_MESSAGEFOLLOWS = 1,
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| 137 | GCOBR_OK = 0,
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| 138 | /* unknown data, a warning */
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| 139 | GCOBR_UNKNOWNTYPE = -1,
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| 140 | GCOBR_UNKNOWNDATA = -2,
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| 141 | GCOBR_CRCMISMATCH = -3,
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[1842] | 142 | GCOBR_SHORTMESSAGE = -4,
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[956] | 143 | /* failed to do the work */
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| 144 | GCOBR_NOCLOCKORBITPARAMETER = -10,
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| 145 | GCOBR_NOBIASPARAMETER = -11,
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| 146 | /* data mismatch - data in storage does not match new data */
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| 147 | GCOBR_TIMEMISMATCH = -20,
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| 148 | GCOBR_DATAMISMATCH = -21,
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| 149 | /* not enough data - can decode the block completely */
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| 150 | GCOBR_SHORTBUFFER = -30,
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[1842] | 151 | GCOBR_MESSAGEEXCEEDSBUFFER = -31};
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[956] | 152 |
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| 153 | /* 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
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| 154 | function to have a clean state. */
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| 155 |
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| 156 | /* buffer should point to a RTCM3 block */
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| 157 | enum GCOB_RETURN GetClockOrbitBias(struct ClockOrbit *co, struct Bias *b,
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| 158 | const char *buffer, size_t size, int *bytesused);
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| 159 |
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| 160 | #endif /* RTCM3_CLOCK_ORBIT_RTCM_H */
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