#ifndef RTCM3_CLOCK_ORBIT_RTCM_H #define RTCM3_CLOCK_ORBIT_RTCM_H /* Programheader Name: clock_orbit_rtcm.h Project: RTCM3 Version: $Id: clock_orbit_rtcm.h 5664 2014-05-26 15:09:28Z stoecker $ Authors: Dirk Stöcker Description: state space approach for RTCM3 */ #include enum SatelliteReferenceDatum { DATUM_ITRF=0, DATUM_LOCAL=1 }; enum COR_BASE { COBBASE_GPS = 1057, COBBASE_GLONASS = 1063, COBBASE_GALILEO = 1240, COBBASE_QZSS = 1246, COBBASE_SBAS = 1252, COBBASE_BDS = 1258, }; enum COR_OFFSET { COBOFS_ORBIT = 0, COBOFS_CLOCK, COBOFS_BIAS, COBOFS_COMBINED, COBOFS_URA, COBOFS_HR, COBOFS_NUM }; enum ClockOrbitType { COTYPE_GPSORBIT = COBBASE_GPS + COBOFS_ORBIT, COTYPE_GPSCLOCK, COTYPE_GPSCOMBINED = COBBASE_GPS + COBOFS_COMBINED, COTYPE_GPSURA, COTYPE_GPSHR, COTYPE_GLONASSORBIT = COBBASE_GLONASS + COBOFS_ORBIT, COTYPE_GLONASSCLOCK, COTYPE_GLONASSCOMBINED = COBBASE_GLONASS + COBOFS_COMBINED, COTYPE_GLONASSURA, COTYPE_GLONASSHR, COTYPE_GALILEOORBIT = COBBASE_GALILEO + COBOFS_ORBIT, COTYPE_GALILEOCLOCK, COTYPE_GALILEOCOMBINED = COBBASE_GALILEO + COBOFS_COMBINED, COTYPE_GALILEOURA, COTYPE_GALILEOHR, COTYPE_QZSSORBIT = COBBASE_QZSS + COBOFS_ORBIT, COTYPE_QZSSCLOCK, COTYPE_QZSSCOMBINED = COBBASE_QZSS + COBOFS_COMBINED, COTYPE_QZSSURA, COTYPE_QZSSHR, COTYPE_SBASORBIT = COBBASE_SBAS + COBOFS_ORBIT, COTYPE_SBASCLOCK, COTYPE_SBASCOMBINED = COBBASE_QZSS + COBOFS_COMBINED, COTYPE_SBASURA, COTYPE_SBASHR, COTYPE_BDSORBIT = COBBASE_BDS + COBOFS_ORBIT, COTYPE_BDSCLOCK, COTYPE_BDSCOMBINED = COBBASE_BDS + COBOFS_COMBINED, COTYPE_BDSURA, COTYPE_BDSHR, COTYPE_AUTO = 0, }; enum CodeBiasType { BTYPE_GPS = COBBASE_GPS + COBOFS_BIAS, BTYPE_GLONASS = COBBASE_GLONASS + COBOFS_BIAS, BTYPE_GALILEO = COBBASE_GALILEO + COBOFS_BIAS, BTYPE_QZSS = COBBASE_QZSS + COBOFS_BIAS, BTYPE_SBAS = COBBASE_QZSS + COBOFS_BIAS, BTYPE_BDS = COBBASE_BDS + COBOFS_BIAS, BTYPE_AUTO = 0 }; enum PhaseBiasType { PBTYPE_BASE = 1265, PBTYPE_GPS = PBTYPE_BASE, PBTYPE_GLONASS, PBTYPE_GALILEO, PBTYPE_QZSS, PBTYPE_SBAS, PBTYPE_BDS, PBTYPE_AUTO = 0 }; enum VTECType { VTEC_BASE = 1264 }; /* if some systems aren't supported at all, change the following numbers to zero for these systems to save space */ enum COR_CONSTANTS { CLOCKORBIT_BUFFERSIZE=2048, CLOCKORBIT_NUMGPS=32, CLOCKORBIT_NUMGLONASS=24, CLOCKORBIT_NUMGALILEO=36, CLOCKORBIT_NUMQZSS=10, CLOCKORBIT_NUMSBAS=38, CLOCKORBIT_NUMBDS=37, CLOCKORBIT_NUMBIAS=10, CLOCKORBIT_NUMIONOLAYERS=4, CLOCKORBIT_MAXIONOORDER=8, CLOCKORBIT_MAXIONODEGREE=8 }; enum COR_SATSYSTEM { CLOCKORBIT_SATGPS=0, CLOCKORBIT_SATGLONASS, CLOCKORBIT_SATGALILEO, CLOCKORBIT_SATQZSS, CLOCKORBIT_SATSBAS, CLOCKORBIT_SATBDS, CLOCKORBIT_SATNUM }; enum COR_OFFSETS { CLOCKORBIT_OFFSETGPS=0, CLOCKORBIT_OFFSETGLONASS=CLOCKORBIT_NUMGPS, CLOCKORBIT_OFFSETGALILEO=CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS, CLOCKORBIT_OFFSETQZSS=CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS +CLOCKORBIT_NUMGALILEO, CLOCKORBIT_OFFSETSBAS=CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS +CLOCKORBIT_NUMGALILEO+CLOCKORBIT_NUMQZSS, CLOCKORBIT_OFFSETBDS=CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS +CLOCKORBIT_NUMGALILEO+CLOCKORBIT_NUMQZSS+CLOCKORBIT_NUMSBAS, CLOCKORBIT_COUNTSAT=CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS +CLOCKORBIT_NUMGALILEO+CLOCKORBIT_NUMQZSS+CLOCKORBIT_NUMSBAS +CLOCKORBIT_NUMBDS }; enum CodeType { CODETYPEGPS_L1_CA = 0, CODETYPEGPS_L1_P = 1, CODETYPEGPS_L1_Z = 2, /*CODETYPEGPS_L1_Y = 3, CODETYPEGPS_L1_M = 4,*/ CODETYPEGPS_L2_CA = 5, CODETYPEGPS_SEMI_CODELESS = 6, CODETYPEGPS_L2_CM = 7, CODETYPEGPS_L2_CL = 8, CODETYPEGPS_L2_CML = 9, CODETYPEGPS_L2_P = 10, CODETYPEGPS_L2_Z = 11, /*CODETYPEGPS_L2_Y = 12, CODETYPEGPS_L2_M = 13,*/ CODETYPEGPS_L5_I = 14, CODETYPEGPS_L5_Q = 15, /*CODETYPEGPS_L5_IQ = 16,*/ CODETYPEGLONASS_L1_CA = 0, CODETYPEGLONASS_L1_P = 1, CODETYPEGLONASS_L2_CA = 2, CODETYPEGLONASS_L2_P = 3, CODETYPEGALILEO_E1_A = 0, CODETYPEGALILEO_E1_B = 1, CODETYPEGALILEO_E1_C = 2, CODETYPEGALILEO_E5A_I = 5, CODETYPEGALILEO_E5A_Q = 6, CODETYPEGALILEO_E5B_I = 8, CODETYPEGALILEO_E5B_Q = 9, CODETYPEGALILEO_E5_I = 11, CODETYPEGALILEO_E5_Q = 12, CODETYPEGALILEO_E6_A = 14, CODETYPEGALILEO_E6_B = 15, CODETYPEGALILEO_E6_C = 16, CODETYPEQZSS_L1_CA = 0, CODETYPEQZSS_L1C_D = 1, CODETYPEQZSS_L1C_P = 2, CODETYPEQZSS_L2_CM = 3, CODETYPEQZSS_L2_CL = 4, CODETYPEQZSS_L2_CML = 5, CODETYPEQZSS_L5_I = 6, CODETYPEQZSS_L5_Q = 7, CODETYPEQZSS_L5_IQ = 8, CODETYPEQZSS_LEX_S = 9, CODETYPEQZSS_LEX_L = 10, CODETYPEQZSS_LEX_SL = 11, CODETYPEQZSS_L1C_DP = 12, CODETYPE_SBAS_L1_CA = 0, CODETYPE_SBAS_L5_I = 1, CODETYPE_SBAS_L5_Q = 2, CODETYPE_SBAS_L5_IQ = 3, CODETYPE_BDS_B1_I = 0, CODETYPE_BDS_B1_Q = 1, CODETYPE_BDS_B1_IQ = 2, CODETYPE_BDS_B3_I = 3, CODETYPE_BDS_B3_Q = 4, CODETYPE_BDS_B3_IQ = 5, CODETYPE_BDS_B2_I = 6, CODETYPE_BDS_B2_Q = 7, CODETYPE_BDS_B2_IQ = 8, }; #define SSR_MAXURA 5.5 /* > 5466.5mm in meter */ /* satellite system data data is stored with offset CLOCKORBIT_OFFSET... in the data structures. So first GLONASS satellite is at xxx->Sat[CLOCKORBIT_OFFSETGLONASS], first GPS satellite is xxx->Sat[CLOCKORBIT_OFFSETGPS]. */ #ifdef COR_LEGACY /* old names */ #define NumberOfGPSSat NumberOfSat[CLOCKORBIT_SATGPS] #define NumberOfGLONASSSat NumberOfSat[CLOCKORBIT_SATGLONASS] #define GPSEpochTime EpochTime[CLOCKORBIT_SATGPS] /* 0 .. 604799 s */ #define GLONASSEpochTime EpochTime[CLOCKORBIT_SATGLONASS] /* 0 .. 86399 s (86400 for leap second) */ #define ClockDataSupplied Supplied[COBOFS_CLOCK] #define HRDataSupplied Supplied[COBOFS_HR] #define OrbitDataSupplied Supplied[COBOFS_ORBIT] #define URADataSupplied Supplied[COBOFS_URA] #define GetClockOrbitBias(a,b,c,d,e) GetSSR(a,b,0,0,c,d,e) #endif /* COR_LEGACY */ /* latency check code, disabled by default */ #ifdef COR_LATENCY #define COR_LATENCYCOUNT 100 #endif struct ClockOrbit { enum ClockOrbitType messageType; unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */ unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */ unsigned int Supplied[COBOFS_NUM]; /* boolean */ #ifdef COR_LATENCY unsigned int epochGPS[COR_LATENCYCOUNT+1]; /* Weber, for latency */ unsigned int epochSize; /* Weber, for latency */ #endif unsigned int SSRIOD; unsigned int SSRProviderID; unsigned int SSRSolutionID; unsigned int UpdateInterval; enum SatelliteReferenceDatum SatRefDatum; struct SatData { unsigned int ID; /* all */ unsigned int IOD; /* all */ unsigned int toe; /* SBAS, BDS */ double UserRangeAccuracy; /* accuracy values in [m] */ double hrclock; struct OrbitPart { double DeltaRadial; /* m */ double DeltaAlongTrack; /* m */ double DeltaCrossTrack; /* m */ double DotDeltaRadial; /* m/s */ double DotDeltaAlongTrack; /* m/s */ double DotDeltaCrossTrack; /* m/s */ } Orbit; struct ClockPart { double DeltaA0; /* m */ double DeltaA1; /* m/s */ double DeltaA2; /* m/ss */ } Clock; } Sat[CLOCKORBIT_COUNTSAT]; }; struct CodeBias { enum CodeBiasType messageType; unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */ unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */ unsigned int UpdateInterval; unsigned int SSRIOD; unsigned int SSRProviderID; unsigned int SSRSolutionID; struct BiasSat { unsigned int ID; /* all */ unsigned int NumberOfCodeBiases; struct CodeBiasEntry { enum CodeType Type; float Bias; /* m */ } Biases[CLOCKORBIT_NUMBIAS]; } Sat[CLOCKORBIT_COUNTSAT]; }; struct PhaseBias { enum PhaseBiasType messageType; unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */ unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */ unsigned int UpdateInterval; unsigned int SSRIOD; unsigned int SSRProviderID; unsigned int SSRSolutionID; unsigned int DispersiveBiasConsistencyIndicator; unsigned int MWConsistencyIndicator; struct PhaseBiasSat { unsigned int ID; /* all */ unsigned int NumberOfPhaseBiases; double YawAngle; /* radiant */ double YawRate; /* radiant/s */ struct PhaseBiasEntry { enum CodeType Type; unsigned int SignalIntegerIndicator; unsigned int SignalsWideLaneIntegerIndicator; unsigned int SignalDiscontinuityCounter; float Bias; /* m */ } Biases[CLOCKORBIT_NUMBIAS]; } Sat[CLOCKORBIT_COUNTSAT]; }; struct VTEC { unsigned int EpochTime; /* GPS */ unsigned int UpdateInterval; unsigned int SSRIOD; unsigned int SSRProviderID; unsigned int SSRSolutionID; unsigned int NumLayers; /* 1-4 */ double Quality; struct IonoLayers { double Height; /* m */ unsigned int Degree; /* 1-8 */ unsigned int Order; /* 1-8 */ double Sinus[CLOCKORBIT_MAXIONODEGREE][CLOCKORBIT_MAXIONOORDER]; double Cosinus[CLOCKORBIT_MAXIONODEGREE][CLOCKORBIT_MAXIONOORDER]; } Layers[CLOCKORBIT_NUMIONOLAYERS]; }; /* return size of resulting data or 0 in case of an error */ size_t MakeClockOrbit(const struct ClockOrbit *co, enum ClockOrbitType type, int moremessagesfollow, char *buffer, size_t size); size_t MakeCodeBias(const struct CodeBias *b, enum CodeBiasType type, int moremessagesfollow, char *buffer, size_t size); size_t MakePhaseBias(const struct PhaseBias *b, enum PhaseBiasType type, int moremessagesfollow, char *buffer, size_t size); size_t MakeVTEC(const struct VTEC *b, int moremessagesfollow, char *buffer, size_t size); enum GCOB_RETURN { /* all well */ GCOBR_MESSAGEFOLLOWS = 1, GCOBR_OK = 0, /* unknown data, a warning */ GCOBR_UNKNOWNTYPE = -1, GCOBR_UNKNOWNDATA = -2, GCOBR_CRCMISMATCH = -3, GCOBR_SHORTMESSAGE = -4, /* failed to do the work */ GCOBR_NOCLOCKORBITPARAMETER = -10, GCOBR_NOCODEBIASPARAMETER = -11, GCOBR_NOPHASEBIASPARAMETER = -12, GCOBR_NOVTECPARAMETER = -13, /* data mismatch - data in storage does not match new data */ GCOBR_TIMEMISMATCH = -20, GCOBR_DATAMISMATCH = -21, /* not enough data - can decode the block completely */ GCOBR_SHORTBUFFER = -30, GCOBR_MESSAGEEXCEEDSBUFFER = -31}; /* 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 function to have a clean state. */ /* buffer should point to a RTCM3 block */ enum GCOB_RETURN GetSSR(struct ClockOrbit *co, struct CodeBias *b, struct VTEC *v, struct PhaseBias *pb, const char *buffer, size_t size, int *bytesused); #endif /* RTCM3_CLOCK_ORBIT_RTCM_H */