Index: trunk/BNC/RTCM3/RTCM3coDecoder.cpp =================================================================== --- trunk/BNC/RTCM3/RTCM3coDecoder.cpp (revision 2425) +++ trunk/BNC/RTCM3/RTCM3coDecoder.cpp (revision 2427) @@ -282,6 +282,6 @@ _co.messageType == COTYPE_GLONASSURA ) { QString line; - line.sprintf(" %3d %f", - _co.Sat[ii].IOD, _co.Sat[ii].UserRangeAccuracy); + line.sprintf(" %3d %d", + _co.Sat[ii].IOD, _co.Sat[ii].URA); printLine(linePart+line, coTime); } Index: trunk/BNC/RTCM3/clock_orbit_rtcm.c =================================================================== --- trunk/BNC/RTCM3/clock_orbit_rtcm.c (revision 2425) +++ trunk/BNC/RTCM3/clock_orbit_rtcm.c (revision 2427) @@ -3,10 +3,9 @@ Name: clock_orbit_rtcm.c Project: RTCM3 - Version: $Id: clock_orbit_rtcm.c,v 1.19 2010/04/14 13:11:26 mervart Exp $ + Version: $Id: clock_orbit_rtcm.c,v 1.20 2010/04/14 14:13:45 mervart Exp $ Authors: Dirk Stöcker Description: state space approach for RTCM3 */ -#include #include #include @@ -94,5 +93,4 @@ /* standard values */ #define T_MESSAGE_NUMBER(a) ADDBITS(12, a) /* DF002 */ -#define T_RESERVED4 ADDBITS(1, 0) /* DF001 */ #define T_RESERVED5 ADDBITS(5, 0) /* DF001 */ #define T_GPS_SATELLITE_ID(a) ADDBITS(6, a) /* DF068 */ @@ -107,4 +105,8 @@ #define T_DELTA_DOT_ALONG_TRACK(a) SCALEADDBITS(19, 250000.0, a) #define T_DELTA_DOT_CROSS_TRACK(a) SCALEADDBITS(19, 250000.0, a) +#define T_DELTA_DOT_DOT_RADIAL(a) SCALEADDBITS(27, 50000000.0, a) +#define T_DELTA_DOT_DOT_ALONG_TRACK(a) SCALEADDBITS(25, 12500000.0, a) +#define T_DELTA_DOT_DOT_CROSS_TRACK(a) SCALEADDBITS(25, 12500000.0, a) +#define T_SATELLITE_REFERENCE_POINT(a) ADDBITS(1, a) #define T_SATELLITE_REFERENCE_DATUM(a) ADDBITS(1, a) @@ -115,4 +117,5 @@ #define T_GPS_SIGNAL_IDENTIFIER(a) ADDBITS(5, a) #define T_GLONASS_SIGNAL_IDENTIFIER(a) ADDBITS(5, a) +#define T_GALILEO_SIGNAL_IDENTIFIER(a) ADDBITS(5, a) #define T_CODE_BIAS(a) SCALEADDBITS(14, 100.0, a) #define T_GLONASS_SATELLITE_ID(a) ADDBITS(5, a) @@ -122,31 +125,7 @@ #define T_NO_OF_SATELLITES(a) ADDBITS(6, a) #define T_MULTIPLE_MESSAGE_INDICATOR(a) ADDBITS(1, a) -#define T_SSR_URA(a) ADDBITS(6, a) +#define T_SSR_URA(a) ADDBITS(4, a) #define T_HR_CLOCK_CORRECTION(a) SCALEADDBITS(22, 10000.0, a) #define T_SSR_UPDATE_INTERVAL(a) ADDBITS(4, a) - -static double URAToValue(int ura) -{ - int urac, urav; - urac = ura >> 3; - urav = ura & 7; - if(!ura) - return 0; - else if(ura == 63) - return SSR_MAXURA; - return (pow(3,urac)*(1.0+urav/4.0)-1.0)/1000.0; -} - -static int ValueToURA(double val) -{ - int ura; - if(!val) - return 0; - else if(val > 5.4665) - return 63; - for(ura = 1; ura < 63 && val > URAToValue(ura); ++ura) - ; - return ura; -} size_t MakeClockOrbit(const struct ClockOrbit *co, enum ClockOrbitType type, @@ -205,6 +184,5 @@ T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0) --mmi; - T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) - T_RESERVED4 + T_RESERVED5 T_NO_OF_SATELLITES(co->NumberOfGPSSat) for(i = 0; i < co->NumberOfGPSSat; ++i) @@ -218,4 +196,9 @@ T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack) T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack) + T_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial) + T_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack) + T_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack) + T_SATELLITE_REFERENCE_POINT(co->SatRefPoint) + T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) } ENDBLOCK @@ -261,6 +244,5 @@ T_MULTIPLE_MESSAGE_INDICATOR(/*mmi || */ left ? 1 : 0) --mmi; - T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) - T_RESERVED4 + T_RESERVED5 T_NO_OF_SATELLITES(nums) for(i = start; i < start+nums; ++i) @@ -274,4 +256,9 @@ T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack) T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack) + T_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial) + T_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack) + T_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack) + T_SATELLITE_REFERENCE_POINT(co->SatRefPoint) + T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0) T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1) @@ -313,5 +300,5 @@ { T_GPS_SATELLITE_ID(co->Sat[i].ID) - T_SSR_URA(ValueToURA(co->Sat[i].UserRangeAccuracy)) + T_SSR_URA(co->Sat[i].URA) } ENDBLOCK @@ -325,6 +312,5 @@ T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0) --mmi; - T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) - T_RESERVED4 + T_RESERVED5 T_NO_OF_SATELLITES(co->NumberOfGLONASSSat) for(i = CLOCKORBIT_NUMGPS; @@ -339,4 +325,9 @@ T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack) T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack) + T_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial) + T_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack) + T_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack) + T_SATELLITE_REFERENCE_POINT(co->SatRefPoint) + T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) } ENDBLOCK @@ -371,6 +362,5 @@ T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0) --mmi; - T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) - T_RESERVED4 + T_RESERVED5 T_NO_OF_SATELLITES(co->NumberOfGLONASSSat) for(i = CLOCKORBIT_NUMGPS; @@ -385,4 +375,9 @@ T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack) T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack) + T_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial) + T_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack) + T_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack) + T_SATELLITE_REFERENCE_POINT(co->SatRefPoint) + T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0) T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1) @@ -422,5 +417,5 @@ { T_GPS_SATELLITE_ID(co->Sat[i].ID) - T_SSR_URA(ValueToURA(co->Sat[i].UserRangeAccuracy)) + T_SSR_URA(co->Sat[i].URA) } ENDBLOCK @@ -537,5 +532,4 @@ #define G_SIZE(a) GETBITS(a, 10) #define G_MESSAGE_NUMBER(a) GETBITS(a, 12) /* DF002 */ -#define G_RESERVED4 SKIPBITS(4) /* DF001 */ #define G_RESERVED5 SKIPBITS(5) /* DF001 */ #define G_GPS_SATELLITE_ID(a) GETBITS(a, 6) /* DF068 */ @@ -550,4 +544,8 @@ #define G_DELTA_DOT_ALONG_TRACK(a) GETFLOATSIGN(a, 19, 1/250000.0) #define G_DELTA_DOT_CROSS_TRACK(a) GETFLOATSIGN(a, 19, 1/250000.0) +#define G_DELTA_DOT_DOT_RADIAL(a) GETFLOATSIGN(a, 27, 1/50000000.0) +#define G_DELTA_DOT_DOT_ALONG_TRACK(a) GETFLOATSIGN(a, 25, 1/12500000.0) +#define G_DELTA_DOT_DOT_CROSS_TRACK(a) GETFLOATSIGN(a, 25, 1/12500000.0) +#define G_SATELLITE_REFERENCE_POINT(a) GETBITS(a, 1) #define G_SATELLITE_REFERENCE_DATUM(a) GETBITS(a, 1) @@ -558,4 +556,5 @@ #define G_GPS_SIGNAL_IDENTIFIER(a) GETBITS(a, 5) #define G_GLONASS_SIGNAL_IDENTIFIER(a) GETBITS(a, 5) +#define G_GALILEO_SIGNAL_IDENTIFIER(a) GETBITS(a, 5) #define G_CODE_BIAS(a) GETFLOATSIGN(a, 14, 1/100.0) #define G_GLONASS_SATELLITE_ID(a) GETBITS(a, 5) @@ -567,6 +566,5 @@ #define G_NO_OF_SATELLITES(a) GETBITS(a, 6) #define G_MULTIPLE_MESSAGE_INDICATOR(a) GETBITS(a, 1) -#define G_SSR_URA(a) {int temp; GETBITS(temp, 6) \ - (a) = URAToValue(temp);} +#define G_SSR_URA(a) GETBITS(a, 4) #define G_HR_CLOCK_CORRECTION(a) GETFLOATSIGN(a, 22, 1/10000.0) #define G_SSR_UPDATE_INTERVAL(a) GETBITS(a, 4) @@ -616,11 +614,10 @@ G_SSR_UPDATE_INTERVAL(co->UpdateInterval) G_MULTIPLE_MESSAGE_INDICATOR(mmi) - G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) - G_RESERVED4 + G_RESERVED5 G_NO_OF_SATELLITES(nums) co->OrbitDataSupplied |= 1; #ifdef DEBUG -fprintf(stderr, "epochtime %d ui %d mmi %d sats %d/%d rd %d\n",co->GPSEpochTime, -co->UpdateInterval,mmi,co->NumberOfGPSSat,nums, co->SatRefDatum); +fprintf(stderr, "epochtime %d ui %d mmi %d sats %d/%d\n",co->GPSEpochTime, +co->UpdateInterval,mmi,co->NumberOfGPSSat,nums); #endif for(i = 0; i < nums; ++i) @@ -640,11 +637,21 @@ G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack) G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack) -#ifdef DEBUG -fprintf(stderr, "id %2d iod %3d dr %8.3f da %8.3f dc %8.3f dr %8.3f da %8.3f dc %8.3f\n", + G_DELTA_DOT_DOT_RADIAL(co->Sat[pos].Orbit.DotDotDeltaRadial) + G_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDotDeltaAlongTrack) + G_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDotDeltaCrossTrack) + G_SATELLITE_REFERENCE_POINT(co->SatRefPoint) + G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) +#ifdef DEBUG +fprintf(stderr, "id %2d iod %3d dr %8.3f da %8.3f dc %8.3f dr %8.3f da %8.3f dc %8.3f dr %8.3f da %8.3f dc %8.3f rp %d rd %d\n", co->Sat[pos].ID,co->Sat[pos].IOD,co->Sat[pos].Orbit.DeltaRadial, co->Sat[pos].Orbit.DeltaAlongTrack,co->Sat[pos].Orbit.DeltaCrossTrack, co->Sat[pos].Orbit.DotDeltaRadial, co->Sat[pos].Orbit.DotDeltaAlongTrack, -co->Sat[pos].Orbit.DotDeltaCrossTrack); +co->Sat[pos].Orbit.DotDeltaCrossTrack, +co->Sat[pos].Orbit.DotDotDeltaRadial, +co->Sat[pos].Orbit.DotDotDeltaAlongTrack, +co->Sat[pos].Orbit.DotDotDeltaCrossTrack, +co->SatRefPoint, +co->SatRefDatum); #endif } @@ -692,6 +699,5 @@ G_SSR_UPDATE_INTERVAL(co->UpdateInterval) G_MULTIPLE_MESSAGE_INDICATOR(mmi) - G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) - G_RESERVED4 + G_RESERVED5 G_NO_OF_SATELLITES(nums) co->OrbitDataSupplied |= 1; @@ -713,4 +719,9 @@ G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack) G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack) + G_DELTA_DOT_DOT_RADIAL(co->Sat[pos].Orbit.DotDotDeltaRadial) + G_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDotDeltaAlongTrack) + G_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDotDeltaCrossTrack) + G_SATELLITE_REFERENCE_POINT(co->SatRefPoint) + G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) G_DELTA_CLOCK_C0(co->Sat[pos].Clock.DeltaA0) G_DELTA_CLOCK_C1(co->Sat[pos].Clock.DeltaA1) @@ -737,5 +748,5 @@ co->Sat[pos].ID = id; - G_SSR_URA(co->Sat[pos].UserRangeAccuracy) + G_SSR_URA(co->Sat[pos].URA) } break; @@ -769,11 +780,10 @@ G_SSR_UPDATE_INTERVAL(co->UpdateInterval) G_MULTIPLE_MESSAGE_INDICATOR(mmi) - G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) - G_RESERVED4 + G_RESERVED5 G_NO_OF_SATELLITES(nums) co->OrbitDataSupplied |= 2; #ifdef DEBUG -fprintf(stderr, "epochtime %d ui %d mmi %d sats %d/%d rd %d\n",co->GLONASSEpochTime, -co->UpdateInterval,mmi,co->NumberOfGLONASSSat,nums, co->SatRefDatum); +fprintf(stderr, "epochtime %d ui %d mmi %d sats %d/%d\n",co->GLONASSEpochTime, +co->UpdateInterval,mmi,co->NumberOfGLONASSSat,nums); #endif for(i = 0; i < nums; ++i) @@ -793,11 +803,21 @@ G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack) G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack) -#ifdef DEBUG -fprintf(stderr, "id %2d iod %3d dr %8.3f da %8.3f dc %8.3f dr %8.3f da %8.3f dc %8.3f\n", + G_DELTA_DOT_DOT_RADIAL(co->Sat[pos].Orbit.DotDotDeltaRadial) + G_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDotDeltaAlongTrack) + G_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDotDeltaCrossTrack) + G_SATELLITE_REFERENCE_POINT(co->SatRefPoint) + G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) +#ifdef DEBUG +fprintf(stderr, "id %2d iod %3d dr %8.3f da %8.3f dc %8.3f dr %8.3f da %8.3f dc %8.3f dr %8.3f da %8.3f dc %8.3f rp %d rd %d\n", co->Sat[pos].ID,co->Sat[pos].IOD,co->Sat[pos].Orbit.DeltaRadial, co->Sat[pos].Orbit.DeltaAlongTrack,co->Sat[pos].Orbit.DeltaCrossTrack, co->Sat[pos].Orbit.DotDeltaRadial, co->Sat[pos].Orbit.DotDeltaAlongTrack, -co->Sat[pos].Orbit.DotDeltaCrossTrack); +co->Sat[pos].Orbit.DotDeltaCrossTrack, +co->Sat[pos].Orbit.DotDotDeltaRadial, +co->Sat[pos].Orbit.DotDotDeltaAlongTrack, +co->Sat[pos].Orbit.DotDotDeltaCrossTrack, +co->SatRefPoint, +co->SatRefDatum); #endif } @@ -841,6 +861,5 @@ G_SSR_UPDATE_INTERVAL(co->UpdateInterval) G_MULTIPLE_MESSAGE_INDICATOR(mmi) - G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) - G_RESERVED4 + G_RESERVED5 G_NO_OF_SATELLITES(nums) co->OrbitDataSupplied |= 2; @@ -862,4 +881,9 @@ G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack) G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack) + G_DELTA_DOT_DOT_RADIAL(co->Sat[pos].Orbit.DotDotDeltaRadial) + G_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDotDeltaAlongTrack) + G_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDotDeltaCrossTrack) + G_SATELLITE_REFERENCE_POINT(co->SatRefPoint) + G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) G_DELTA_CLOCK_C0(co->Sat[pos].Clock.DeltaA0) G_DELTA_CLOCK_C1(co->Sat[pos].Clock.DeltaA1) @@ -884,5 +908,5 @@ co->Sat[pos].ID = id; - G_SSR_URA(co->Sat[pos].UserRangeAccuracy) + G_SSR_URA(co->Sat[pos].URA) } break; Index: trunk/BNC/RTCM3/clock_orbit_rtcm.h =================================================================== --- trunk/BNC/RTCM3/clock_orbit_rtcm.h (revision 2425) +++ trunk/BNC/RTCM3/clock_orbit_rtcm.h (revision 2427) @@ -6,5 +6,5 @@ Name: clock_orbit_rtcm.h Project: RTCM3 - Version: $Id: clock_orbit_rtcm.h,v 1.14 2010/04/14 13:11:26 mervart Exp $ + Version: $Id: clock_orbit_rtcm.h,v 1.15 2010/04/14 14:13:45 mervart Exp $ Authors: Dirk Stöcker Description: state space approach for RTCM3 @@ -14,4 +14,5 @@ enum SatelliteReferenceDatum { DATUM_ITRF=0, DATUM_LOCAL=1 }; +enum SatelliteReferencePoint { POINT_IONOFREE=0, POINT_CENTER=1 }; enum ClockOrbitType { COTYPE_GPSORBIT=1057, COTYPE_GPSCLOCK=1058, @@ -45,6 +46,4 @@ }; -#define SSR_MAXURA 5.5 /* > 5466.5mm in meter */ - /* GLONASS data is stored with offset CLOCKORBIT_NUMGPS in the data structures. So first GLONASS satellite is at xxx->Sat[CLOCKORBIT_NUMGPS], first @@ -65,9 +64,10 @@ int epochSize; /* Weber, for latency */ int UpdateInterval; + enum SatelliteReferencePoint SatRefPoint; enum SatelliteReferenceDatum SatRefDatum; struct SatData { int ID; /* GPS or GLONASS */ int IOD; /* GPS or GLONASS */ - double UserRangeAccuracy; /* accuracy values in [m] */ + int URA; double hrclock; struct OrbitPart @@ -79,4 +79,7 @@ double DotDeltaAlongTrack; /* m/s */ double DotDeltaCrossTrack; /* m/s */ + double DotDotDeltaRadial; /* m/ss */ + double DotDotDeltaAlongTrack; /* m/ss */ + double DotDotDeltaCrossTrack; /* m/ss */ } Orbit; struct ClockPart