#ifndef RTCM3TORINEX_H #define RTCM3TORINEX_H /* Converter for RTCM3 data to RINEX. $Id: rtcm3torinex.h 6757 2015-04-02 13:41:56Z stoecker $ Copyright (C) 2005-2012 by Dirk StÃķcker <stoecker@alberding.eu> This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA or read http://www.gnu.org/licenses/gpl.txt */ #define RTCM3TORINEX_VERSION "2" #include <stdio.h> #define NUMRTCM3PARSERSATS 144 #define GNSS_MAXSATS 64 #define PRN_GPS_START 1 #define PRN_GPS_END 32 #define PRN_GLONASS_START 38 #define PRN_GLONASS_END 61 #define PRN_GALILEO_START 71 #define PRN_GALILEO_END 100 #define PRN_GIOVE_START 101 #define PRN_GIOVE_END 102 #define PRN_SBAS_START 120 #define PRN_SBAS_END 141 #define PRN_BDS_START 161 #define PRN_BDS_END 190 #define PRN_QZSS_START 193 #define PRN_QZSS_END 202 #define PRN_GALGIO_START PRN_GALILEO_START #define PRN_GALGIO_END PRN_GIOVE_END #define PRN_GLONASS_NUM (PRN_GLONASS_END-PRN_GLONASS_START+1) #define RTCM3_MSM_NUMSIG 32 #define RTCM3_MSM_NUMSAT 64 #define RTCM3_MSM_NUMCELLS 96 /* arbitrary limit */ /* system identifiers */ #define RTCM3_MSM_GPS 0 #define RTCM3_MSM_GLONASS 1 #define RTCM3_MSM_GALILEO 2 #define RTCM3_MSM_SBAS 3 #define RTCM3_MSM_QZSS 4 #define RTCM3_MSM_BDS 5 #define RTCM3_MSM_NUMSYS 6 #define GNSSENTRY_CODE 0 #define GNSSENTRY_PHASE 1 #define GNSSENTRY_DOPPLER 2 #define GNSSENTRY_SNR 3 #define GNSSENTRY_TYPEC1 (0<<2) #define GNSSENTRY_TYPEC2 (1<<2) #define GNSSENTRY_TYPEP1 (2<<2) #define GNSSENTRY_TYPEP2 (3<<2) #define GNSSENTRY_TYPEC5 (4<<2) #define GNSSENTRY_TYPEC6 (5<<2) #define GNSSENTRY_TYPEC5B (6<<2) #define GNSSENTRY_TYPEC5AB (7<<2) #define GNSSENTRY_TYPECSAIF (8<<2) #define GNSSENTRY_TYPEC1N (9<<2) #define GNSSENTRY_C1DATA (GNSSENTRY_TYPEC1+GNSSENTRY_CODE) #define GNSSENTRY_L1CDATA (GNSSENTRY_TYPEC1+GNSSENTRY_PHASE) #define GNSSENTRY_D1CDATA (GNSSENTRY_TYPEC1+GNSSENTRY_DOPPLER) #define GNSSENTRY_S1CDATA (GNSSENTRY_TYPEC1+GNSSENTRY_SNR) #define GNSSENTRY_C2DATA (GNSSENTRY_TYPEC2+GNSSENTRY_CODE) #define GNSSENTRY_L2CDATA (GNSSENTRY_TYPEC2+GNSSENTRY_PHASE) #define GNSSENTRY_D2CDATA (GNSSENTRY_TYPEC2+GNSSENTRY_DOPPLER) #define GNSSENTRY_S2CDATA (GNSSENTRY_TYPEC2+GNSSENTRY_SNR) #define GNSSENTRY_CB1DATA GNSSENTRY_C1DATA #define GNSSENTRY_LB1DATA GNSSENTRY_L1CDATA #define GNSSENTRY_DB1DATA GNSSENTRY_D1CDATA #define GNSSENTRY_SB1DATA GNSSENTRY_S1CDATA #define GNSSENTRY_P1DATA (GNSSENTRY_TYPEP1+GNSSENTRY_CODE) #define GNSSENTRY_L1PDATA (GNSSENTRY_TYPEP1+GNSSENTRY_PHASE) #define GNSSENTRY_D1PDATA (GNSSENTRY_TYPEP1+GNSSENTRY_DOPPLER) #define GNSSENTRY_S1PDATA (GNSSENTRY_TYPEP1+GNSSENTRY_SNR) #define GNSSENTRY_P2DATA (GNSSENTRY_TYPEP2+GNSSENTRY_CODE) #define GNSSENTRY_L2PDATA (GNSSENTRY_TYPEP2+GNSSENTRY_PHASE) #define GNSSENTRY_D2PDATA (GNSSENTRY_TYPEP2+GNSSENTRY_DOPPLER) #define GNSSENTRY_S2PDATA (GNSSENTRY_TYPEP2+GNSSENTRY_SNR) #define GNSSENTRY_C5DATA (GNSSENTRY_TYPEC5+GNSSENTRY_CODE) #define GNSSENTRY_L5DATA (GNSSENTRY_TYPEC5+GNSSENTRY_PHASE) #define GNSSENTRY_D5DATA (GNSSENTRY_TYPEC5+GNSSENTRY_DOPPLER) #define GNSSENTRY_S5DATA (GNSSENTRY_TYPEC5+GNSSENTRY_SNR) #define GNSSENTRY_C6DATA (GNSSENTRY_TYPEC6+GNSSENTRY_CODE) #define GNSSENTRY_L6DATA (GNSSENTRY_TYPEC6+GNSSENTRY_PHASE) #define GNSSENTRY_D6DATA (GNSSENTRY_TYPEC6+GNSSENTRY_DOPPLER) #define GNSSENTRY_S6DATA (GNSSENTRY_TYPEC6+GNSSENTRY_SNR) #define GNSSENTRY_CB3DATA GNSSENTRY_C6DATA #define GNSSENTRY_LB3DATA GNSSENTRY_L6DATA #define GNSSENTRY_DB3DATA GNSSENTRY_D6DATA #define GNSSENTRY_SB3DATA GNSSENTRY_S6DATA #define GNSSENTRY_CLEXDATA GNSSENTRY_C6DATA #define GNSSENTRY_LLEXDATA GNSSENTRY_L6DATA #define GNSSENTRY_DLEXDATA GNSSENTRY_D6DATA #define GNSSENTRY_SLEXDATA GNSSENTRY_S6DATA #define GNSSENTRY_C5BDATA (GNSSENTRY_TYPEC5B+GNSSENTRY_CODE) #define GNSSENTRY_L5BDATA (GNSSENTRY_TYPEC5B+GNSSENTRY_PHASE) #define GNSSENTRY_D5BDATA (GNSSENTRY_TYPEC5B+GNSSENTRY_DOPPLER) #define GNSSENTRY_S5BDATA (GNSSENTRY_TYPEC5B+GNSSENTRY_SNR) #define GNSSENTRY_CB2DATA GNSSENTRY_C5BDATA #define GNSSENTRY_LB2DATA GNSSENTRY_L5BDATA #define GNSSENTRY_DB2DATA GNSSENTRY_D5BDATA #define GNSSENTRY_SB2DATA GNSSENTRY_S5BDATA #define GNSSENTRY_C5ABDATA (GNSSENTRY_TYPEC5AB+GNSSENTRY_CODE) #define GNSSENTRY_L5ABDATA (GNSSENTRY_TYPEC5AB+GNSSENTRY_PHASE) #define GNSSENTRY_D5ABDATA (GNSSENTRY_TYPEC5AB+GNSSENTRY_DOPPLER) #define GNSSENTRY_S5ABDATA (GNSSENTRY_TYPEC5AB+GNSSENTRY_SNR) #define GNSSENTRY_CSAIFDATA (GNSSENTRY_TYPECSAIF+GNSSENTRY_CODE) #define GNSSENTRY_LSAIFDATA (GNSSENTRY_TYPECSAIF+GNSSENTRY_PHASE) #define GNSSENTRY_DSAIFDATA (GNSSENTRY_TYPECSAIF+GNSSENTRY_DOPPLER) #define GNSSENTRY_SSAIFDATA (GNSSENTRY_TYPECSAIF+GNSSENTRY_SNR) #define GNSSENTRY_C1NDATA (GNSSENTRY_TYPEC1N+GNSSENTRY_CODE) #define GNSSENTRY_L1NDATA (GNSSENTRY_TYPEC1N+GNSSENTRY_PHASE) #define GNSSENTRY_D1NDATA (GNSSENTRY_TYPEC1N+GNSSENTRY_DOPPLER) #define GNSSENTRY_S1NDATA (GNSSENTRY_TYPEC1N+GNSSENTRY_SNR) #define GNSSENTRY_NUMBER 40 /* number of types!!! */ /* Data flags. These flags are used in the dataflags field of gpsdata structure and are required to determine, which data fields are filled with valid data. */ #define GNSSDF_C1DATA (1<<GNSSENTRY_C1DATA) #define GNSSDF_L1CDATA (1<<GNSSENTRY_L1CDATA) #define GNSSDF_D1CDATA (1<<GNSSENTRY_D1CDATA) #define GNSSDF_S1CDATA (1<<GNSSENTRY_S1CDATA) #define GNSSDF_C2DATA (1<<GNSSENTRY_C2DATA) #define GNSSDF_L2CDATA (1<<GNSSENTRY_L2CDATA) #define GNSSDF_D2CDATA (1<<GNSSENTRY_D2CDATA) #define GNSSDF_S2CDATA (1<<GNSSENTRY_S2CDATA) #define GNSSDF_CB1DATA (1<<GNSSENTRY_CB1DATA) #define GNSSDF_LB1DATA (1<<GNSSENTRY_LB1DATA) #define GNSSDF_DB1DATA (1<<GNSSENTRY_DB1DATA) #define GNSSDF_SB1DATA (1<<GNSSENTRY_SB1DATA) #define GNSSDF_P1DATA (1<<GNSSENTRY_P1DATA) #define GNSSDF_L1PDATA (1<<GNSSENTRY_L1PDATA) #define GNSSDF_D1PDATA (1<<GNSSENTRY_D1PDATA) #define GNSSDF_S1PDATA (1<<GNSSENTRY_S1PDATA) #define GNSSDF_P2DATA (1<<GNSSENTRY_P2DATA) #define GNSSDF_L2PDATA (1<<GNSSENTRY_L2PDATA) #define GNSSDF_D2PDATA (1<<GNSSENTRY_D2PDATA) #define GNSSDF_S2PDATA (1<<GNSSENTRY_S2PDATA) #define GNSSDF_C5DATA (1<<GNSSENTRY_C5DATA) #define GNSSDF_L5DATA (1<<GNSSENTRY_L5DATA) #define GNSSDF_D5DATA (1<<GNSSENTRY_D5DATA) #define GNSSDF_S5DATA (1<<GNSSENTRY_S5DATA) #define GNSSDF_C6DATA (1<<GNSSENTRY_C6DATA) #define GNSSDF_L6DATA (1<<GNSSENTRY_L6DATA) #define GNSSDF_D6DATA (1<<GNSSENTRY_D6DATA) #define GNSSDF_S6DATA (1<<GNSSENTRY_S6DATA) #define GNSSDF_CB3DATA (1<<GNSSENTRY_CB3DATA) #define GNSSDF_LB3DATA (1<<GNSSENTRY_LB3DATA) #define GNSSDF_DB3DATA (1<<GNSSENTRY_DB3DATA) #define GNSSDF_SB3DATA (1<<GNSSENTRY_SB3DATA) #define GNSSDF_C5BDATA (1<<GNSSENTRY_C5BDATA) #define GNSSDF_L5BDATA (1<<GNSSENTRY_L5BDATA) #define GNSSDF_D5BDATA (1<<GNSSENTRY_D5BDATA) #define GNSSDF_S5BDATA (1<<GNSSENTRY_S5BDATA) #define GNSSDF_CB2DATA (1<<GNSSENTRY_CB2DATA) #define GNSSDF_LB2DATA (1<<GNSSENTRY_LB2DATA) #define GNSSDF_DB2DATA (1<<GNSSENTRY_DB2DATA) #define GNSSDF_SB2DATA (1<<GNSSENTRY_SB2DATA) #define GNSSDF_C5ABDATA (1<<GNSSENTRY_C5ABDATA) #define GNSSDF_L5ABDATA (1<<GNSSENTRY_L5ABDATA) #define GNSSDF_D5ABDATA (1<<GNSSENTRY_D5ABDATA) #define GNSSDF_S5ABDATA (1<<GNSSENTRY_S5ABDATA) #define GNSSDF_CSAIFDATA (1LL<<GNSSENTRY_CSAIFDATA) #define GNSSDF_LSAIFDATA (1LL<<GNSSENTRY_LSAIFDATA) #define GNSSDF_DSAIFDATA (1LL<<GNSSENTRY_DSAIFDATA) #define GNSSDF_SSAIFDATA (1LL<<GNSSENTRY_SSAIFDATA) #define GNSSDF_C1NDATA (1LL<<GNSSENTRY_C1NDATA) #define GNSSDF_L1NDATA (1LL<<GNSSENTRY_L1NDATA) #define GNSSDF_D1NDATA (1LL<<GNSSENTRY_D1NDATA) #define GNSSDF_S1NDATA (1LL<<GNSSENTRY_S1NDATA) #define RINEXENTRY_C1DATA 0 #define RINEXENTRY_C2DATA 1 #define RINEXENTRY_P1DATA 2 #define RINEXENTRY_P2DATA 3 #define RINEXENTRY_L1DATA 4 #define RINEXENTRY_L2DATA 5 #define RINEXENTRY_D1DATA 6 #define RINEXENTRY_D2DATA 7 #define RINEXENTRY_S1DATA 8 #define RINEXENTRY_S2DATA 9 #define RINEXENTRY_C5DATA 10 #define RINEXENTRY_L5DATA 11 #define RINEXENTRY_D5DATA 12 #define RINEXENTRY_S5DATA 13 #define RINEXENTRY_C6DATA 14 #define RINEXENTRY_L6DATA 15 #define RINEXENTRY_D6DATA 16 #define RINEXENTRY_S6DATA 17 #define RINEXENTRY_C7DATA 18 /* 5B */ #define RINEXENTRY_L7DATA 19 #define RINEXENTRY_D7DATA 20 #define RINEXENTRY_S7DATA 21 #define RINEXENTRY_C8DATA 22 /* 5AB */ #define RINEXENTRY_L8DATA 23 #define RINEXENTRY_D8DATA 24 #define RINEXENTRY_S8DATA 25 #define RINEXENTRY_NUMBER 26 #define LIGHTSPEED 2.99792458e8 /* m/sec */ #define GPS_FREQU_L1 1575420000.0 /* Hz */ #define GPS_FREQU_L2 1227600000.0 /* Hz */ #define GPS_FREQU_L5 1176450000.0 /* Hz */ #define GPS_WAVELENGTH_L1 (LIGHTSPEED / GPS_FREQU_L1) /* m */ #define GPS_WAVELENGTH_L2 (LIGHTSPEED / GPS_FREQU_L2) /* m */ #define GPS_WAVELENGTH_L5 (LIGHTSPEED / GPS_FREQU_L5) /* m */ #define GLO_FREQU_L1_BASE 1602000000.0 /* Hz */ #define GLO_FREQU_L2_BASE 1246000000.0 /* Hz */ #define GLO_FREQU_L1_STEP 562500.0 /* Hz */ #define GLO_FREQU_L2_STEP 437500.0 /* Hz */ #define GLO_FREQU_L1(a) (GLO_FREQU_L1_BASE+(a)*GLO_FREQU_L1_STEP) #define GLO_FREQU_L2(a) (GLO_FREQU_L2_BASE+(a)*GLO_FREQU_L2_STEP) #define GLO_WAVELENGTH_L1(a) (LIGHTSPEED / GLO_FREQU_L1(a)) /* m */ #define GLO_WAVELENGTH_L2(a) (LIGHTSPEED / GLO_FREQU_L2(a)) /* m */ #define GAL_FREQU_E1 1575420000.0 /* Hz */ #define GAL_FREQU_E5A 1176450000.0 /* Hz */ #define GAL_FREQU_E5AB 1191795000.0 /* Hz */ #define GAL_FREQU_E5B 1207140000.0 /* Hz */ #define GAL_FREQU_E6 1278750000.0 /* Hz */ #define GAL_WAVELENGTH_E1 (LIGHTSPEED / GAL_FREQU_E1) /* m */ #define GAL_WAVELENGTH_E5A (LIGHTSPEED / GAL_FREQU_E5A) /* m */ #define GAL_WAVELENGTH_E5AB (LIGHTSPEED / GAL_FREQU_E5AB) /* m */ #define GAL_WAVELENGTH_E5B (LIGHTSPEED / GAL_FREQU_E5B) /* m */ #define GAL_WAVELENGTH_E6 (LIGHTSPEED / GAL_FREQU_E6) /* m */ #define QZSS_FREQU_L1 1575420000.0 /* Hz */ #define QZSS_FREQU_L2 1227600000.0 /* Hz */ #define QZSS_FREQU_L5 1176450000.0 /* Hz */ #define QZSS_FREQU_LEX 1278750000.0 /* Hz */ #define QZSS_WAVELENGTH_L1 (LIGHTSPEED / QZSS_FREQU_L1) /* m */ #define QZSS_WAVELENGTH_L2 (LIGHTSPEED / QZSS_FREQU_L2) /* m */ #define QZSS_WAVELENGTH_L5 (LIGHTSPEED / QZSS_FREQU_L5) /* m */ #define QZSS_WAVELENGTH_LEX (LIGHTSPEED / QZSS_FREQU_LEX) /* m */ #define BDS_FREQU_B1 1561098000.0 /* Hz */ #define BDS_FREQU_B2 1207140000.0 /* Hz */ #define BDS_FREQU_B3 1268520000.0 /* Hz */ #define BDS_WAVELENGTH_B1 (LIGHTSPEED / BDS_FREQU_B1) /* m */ #define BDS_WAVELENGTH_B2 (LIGHTSPEED / BDS_FREQU_B2) /* m */ #define BDS_WAVELENGTH_B3 (LIGHTSPEED / BDS_FREQU_B3) /* m */ #define PRN_GIOVE_OFFSET 51 /* Additional flags for the data field, which tell us more. */ #define GNSSDF2_XCORRL2 (1<<0) /* cross-correlated L2 */ #define GNSSDF2_LOCKLOSSL1 (1<<1) /* lost lock on L1 */ #define GNSSDF2_LOCKLOSSL2 (1<<2) /* lost lock on L2 */ #define GNSSDF2_LOCKLOSSL5 (1<<3) /* lost lock on L5 */ #define GNSSDF2_LOCKLOSSE6 (1<<4) /* lost lock on E6 */ #define GNSSDF2_LOCKLOSSE5B (1<<5) /* lost lock on E5B */ #define GNSSDF2_LOCKLOSSE5AB (1<<6) /* lost lock on E5AB */ #define GNSSDF2_LOCKLOSSB1 GNSSDF2_LOCKLOSSL1 #define GNSSDF2_LOCKLOSSB2 GNSSDF2_LOCKLOSSE5B #define GNSSDF2_LOCKLOSSB3 GNSSDF2_LOCKLOSSE6 #define GNSSDF2_LOCKLOSSLEX GNSSDF2_LOCKLOSSE6 #define GNSSDF2_LOCKLOSSSAIF (1<<9) /* lost lock on SAIF signal */ #define UINT64(c) c ## ULL struct converttimeinfo { int second; /* seconds of GPS time [0..59] */ int minute; /* minutes of GPS time [0..59] */ int hour; /* hour of GPS time [0..24] */ int day; /* day of GPS time [1..28..30(31)*/ int month; /* month of GPS time [1..12]*/ int year; /* year of GPS time [1980..] */ }; struct gnssdata { int flags; /* GNSSF_xxx */ int week; /* week number of GPS date */ int numsats; double timeofweek; /* milliseconds in GPS week */ double measdata[GNSS_MAXSATS][GNSSENTRY_NUMBER]; /* data fields */ unsigned long long dataflags[GNSS_MAXSATS]; /* GNSSDF_xxx */ unsigned int dataflags2[GNSS_MAXSATS]; /* GNSSDF2_xxx */ int satellites[GNSS_MAXSATS]; /* SV - IDs */ int snrL1[GNSS_MAXSATS]; /* Important: all the 6 SV-specific fields must */ int snrL2[GNSS_MAXSATS]; /* have the same SV-order */ const char * codetype[GNSS_MAXSATS][GNSSENTRY_NUMBER]; }; #define GPSEPHF_L2PCODEDATA (1<<0) /* set, if NAV data OFF on L2 P-code, s1w4b01 */ #define GPSEPHF_L2PCODE (1<<1) /* set, if P-code available, s1w3b12 */ #define GPSEPHF_L2CACODE (1<<2) /* set, if CA-code available, s1w3b11 */ #define GPSEPHF_VALIDATED (1<<3) /* data is completely valid */ #define GPSEPHF_6HOURSFIT (1<<4) /* Bit 17 Word 10 of subframe 2 is set to 1 */ #define R2R_PI 3.1415926535898 struct gpsephemeris { int flags; /* GPSEPHF_xxx */ int satellite; /* SV ID ICD-GPS data position */ int IODE; /* [s2w3b01-08] */ int URAindex; /* [1..15] [s1w3b13-16] */ int SVhealth; /* [s1w3b17-22] */ int GPSweek; /* [s1w3b01-10] */ int IODC; /* [s1w3b23-32,w8b01-08] */ int TOW; /* [s] [s1w2b01-17] */ int TOC; /* [s] [s1w8b09-24] */ int TOE; /* [s] [s2w10b1-16] */ double clock_bias; /* [s] [s1w10b1-22, af0] */ double clock_drift; /* [s/s] [s1w9b09-24, af1] */ double clock_driftrate; /* [s/s^2] [s1w9b01-08, af2] */ double Crs; /* [m] [s2w3b09-24] */ double Delta_n; /* [rad/s] [s2w4b01-16 * Pi] */ double M0; /* [rad] [s2w4b17-24,w5b01-24 * Pi]*/ double Cuc; /* [rad] [s2w6b01-16] */ double e; /* [s2w6b17-24,w6b01-24] */ double Cus; /* [rad] [s2w8b01-16] */ double sqrt_A; /* [m^0.5] [s2w8b16-24,w9b01-24] */ double Cic; /* [rad] [s3w3b01-16] */ double OMEGA0; /* [rad] [s3w3b17-24,w4b01-24 * Pi]*/ double Cis; /* [rad] [s3w5b01-16] */ double i0; /* [rad] [s3w5b17-24,w6b01-24 * Pi]*/ double Crc; /* [m] [s3w701-16] */ double omega; /* [rad] [s3w7b17-24,w8b01-24 * Pi]*/ double OMEGADOT; /* [rad/s] [s3w9b01-24 * Pi] */ double IDOT; /* [rad/s] [s3w10b9-22 * Pi] */ double TGD; /* [s] [s1w7b17-24] */ }; #define GLOEPHF_UNHEALTHY (1<<0) /* set if unhealty satellite, f2b78 */ #define GLOEPHF_ALMANACHEALTHOK (1<<1) /* set if ALM health is available */ #define GLOEPHF_ALMANACHEALTHY (1<<2) /* set if Cn word is true */ #define GLOEPHF_PAVAILABLE (1<<3) /* set if the 3 P flags are available */ #define GLOEPHF_P10TRUE (1<<4) #define GLOEPHF_P11TRUE (1<<5) #define GLOEPHF_P2TRUE (1<<6) #define GLOEPHF_P3TRUE (1<<7) struct glonassephemeris { int GPSWeek; int GPSTOW; int flags; /* GLOEPHF_xxx */ int almanac_number; int frequency_number; /* ICD-GLONASS data position */ int tb; /* [s] [f2b70-76] */ int tk; /* [s] [f1b65-76] */ int E; /* [days] [f4b49-53] */ double tau; /* [s] [f4b59-80] */ double gamma; /* [f3b69-79] */ double x_pos; /* [km] [f1b09-35] */ double x_velocity; /* [km/s] [f1b41-64] */ double x_acceleration; /* [km/s^2][f1b36-40] */ double y_pos; /* [km] [f2b09-35] */ double y_velocity; /* [km/s] [f2b41-64] */ double y_acceleration; /* [km/s^2][f2b36-40] */ double z_pos; /* [km] [f3b09-35] */ double z_velocity; /* [km/s] [f3b41-64] */ double z_acceleration; /* [km/s^2][f3b36-40] */ }; struct sbasephemeris { int satellite; int IODN; /* [bits 14- 21] */ int GPSweek_TOE; int TOW; int TOE; /* [s] [bits 22- 34] */ double agf0; /* [s] [bits 206-217] */ double agf1; /* [s/s] [bits 218-225] */ double x_pos; /* [km] [bits 39- 68] */ double x_velocity; /* [km/s] [bits 124-140] */ double x_acceleration; /* [km/s^2][bits 176-185] */ double y_pos; /* [km] [bits 69- 98] */ double y_velocity; /* [km/s] [bits 141-157] */ double y_acceleration; /* [km/s^2][bits 186-195] */ double z_pos; /* [km] [bits 99-123] */ double z_velocity; /* [km/s] [bits 158-175] */ double z_acceleration; /* [km/s^2][bits 196-205] */ int URA; /* [bits 35- 38] */ }; #define GALEPHF_E5ADINVALID (1<<0) /* E5aDVS set invalid */ #define GALEPHF_E5BDINVALID (1<<1) /* E5bDVS set invalid */ #define GALEPHF_INAV (1<<2) /* INAV data */ #define GALEPHF_FNAV (1<<3) /* FNAV data */ #define GALEPHF_E1DINVALID (1<<4) /* E1DVS set invalid */ struct galileoephemeris { int flags; /* GALEPHF_xxx */ int satellite; /* SV ID */ int IODnav; int TOC; /* [s] */ int TOE; /* [s] */ double clock_bias; /* [s] */ double clock_drift; /* [s/s] */ double clock_driftrate; /* [s/s^2] */ double Crs; /* [m] */ double Delta_n; /* [rad/s] */ double M0; /* [rad] */ double Cuc; /* [rad] */ double e; double Cus; /* [rad] */ double sqrt_A; /* [m^0.5] */ double Cic; /* [rad] */ double OMEGA0; /* [rad] */ double Cis; /* [rad] */ double i0; /* [rad] */ double Crc; /* [m] */ double omega; /* [rad] */ double OMEGADOT; /* [rad/s] */ double IDOT; /* [rad/s] */ double BGD_1_5A; /* [s] */ double BGD_1_5B; /* [s] */ int Week; int SISA; int E5aHS; int E5bHS; int E1_HS; }; #define RTCM3ID_BDS 63 #define BDSEPHF_SATH1 (1<<0) /* SatH1 is 1 */ struct bdsephemeris { int flags; /* BDSEPHF_xxx */ int satellite; /* SV ID */ int AODE; /* */ int URAI; /* [1..15] */ int BDSweek; /* */ int AODC; /* */ int TOW; /* [s] */ int TOC; /* [s] */ int TOE; /* [s] */ double clock_bias; /* [s] */ double clock_drift; /* [s/s] */ double clock_driftrate; /* [s/s^2] */ double Crs; /* [m] */ double Delta_n; /* [rad/s] */ double M0; /* [rad] */ double Cuc; /* [rad] */ double e; /* */ double Cus; /* [rad] */ double sqrt_A; /* [m^0.5] */ double Cic; /* [rad] */ double OMEGA0; /* [rad] */ double Cis; /* [rad] */ double i0; /* [rad] */ double Crc; /* [m] */ double omega; /* [rad] */ double OMEGADOT; /* [rad/s] */ double IDOT; /* [rad/s] */ double TGD_B1_B3; /* [s] */ double TGD_B2_B3; /* [s] */ }; struct DataInfo { long long flags[RINEXENTRY_NUMBER]; int pos[RINEXENTRY_NUMBER]; int numtypes; char type[GNSSENTRY_NUMBER]; }; struct RTCM3ParserData { unsigned char Message[2048]; /* input-buffer */ int MessageSize; /* current buffer size */ int NeedBytes; /* bytes wanted for next run */ int SkipBytes; /* bytes to skip in next round */ int GPSWeek; int GPSTOW; /* in seconds */ struct gnssdata Data; struct gpsephemeris ephemerisGPS; struct galileoephemeris ephemerisGALILEO; struct glonassephemeris ephemerisGLONASS; struct sbasephemeris ephemerisSBAS; struct bdsephemeris ephemerisBDS; struct gnssdata DataNew; int GLOFreq[PRN_GLONASS_NUM]; /* frequency numbers of GLONASS + 100 */ int size; int lastlockGPSl1[64]; int lastlockGPSl2[64]; int lastlockGLOl1[64]; int lastlockGLOl2[64]; int lastlockmsm[RTCM3_MSM_NUMCELLS][NUMRTCM3PARSERSATS]; #ifdef NO_RTCM3_MAIN double antX; double antY; double antZ; double antH; char antenna[256+1]; int blocktype; int allflags; int modjulday; int secofday; int leapsec; #endif /* NO_RTCM3_MAIN */ int pos[RINEXENTRY_NUMBER]; long long flags[RINEXENTRY_NUMBER]; /* For RINEX2 only field GPS is used */ struct DataInfo info[RTCM3_MSM_NUMSYS]; int datafields[RINEXENTRY_NUMBER]; /* for RTCM2 header */ char fieldbuffer[6*RINEXENTRY_NUMBER+1]; char fieldbufferSBAS[4*RINEXENTRY_NUMBER+1]; char fieldbufferGPS[4*RINEXENTRY_NUMBER+1]; char fieldbufferGLONASS[4*RINEXENTRY_NUMBER+1]; char fieldbufferGALILEO[4*RINEXENTRY_NUMBER+1]; char fieldbufferBDS[4*RINEXENTRY_NUMBER+1]; char fieldbufferQZSS[4*RINEXENTRY_NUMBER+1]; int numdatafields; /* for RTCM2 */ int validwarning; int init; int startflags; int rinex3; int changeobs; const char * headerfile; const char * glonassephemeris; const char * gpsephemeris; const char * qzssephemeris; const char * sbasephemeris; const char * bdsephemeris; const char * mixedephemeris; FILE * glonassfile; FILE * gpsfile; FILE * qzssfile; FILE * sbasfile; FILE * bdsfile; FILE * mixedfile; }; #ifndef PRINTFARG #ifdef __GNUC__ #define PRINTFARG(a,b) __attribute__ ((format(printf, a, b))) #else /* __GNUC__ */ #define PRINTFARG(a,b) #endif /* __GNUC__ */ #endif /* PRINTFARG */ int gnumleap(int year, int month, int day); void updatetime(int *week, int *tow, int tk, int fixnumleap); void converttime(struct converttimeinfo *c, int week, int tow); void HandleHeader(struct RTCM3ParserData *Parser); int RTCM3Parser(struct RTCM3ParserData *handle); void HandleByte(struct RTCM3ParserData *Parser, unsigned int byte); void PRINTFARG(1,2) RTCM3Error(const char *fmt, ...); void PRINTFARG(1,2) RTCM3Text(const char *fmt, ...); #endif /* RTCM3TORINEX_H */