430 lines
14 KiB
C
430 lines
14 KiB
C
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/*------------------------------------------------------------------------------
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* rtcm2.c : rtcm ver.2 message functions
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*
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* Copyright (C) 2009-2014 by T.TAKASU, All rights reserved.
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*
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* references :
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* see rtcm.c
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*
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* version : $Revision:$ $Date:$
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* history : 2011/11/28 1.0 separated from rtcm.c
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* 2014/10/21 1.1 fix problem on week rollover in rtcm 2 type 14
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*-----------------------------------------------------------------------------*/
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#include "rtklib.h"
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/* adjust hourly rollover of rtcm 2 time -------------------------------------*/
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static void adjhour(rtcm_t *rtcm, double zcnt)
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{
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double tow,hour,sec;
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int week;
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/* if no time, get cpu time */
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if (rtcm->time.time==0) rtcm->time=utc2gpst(timeget());
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tow=time2gpst(rtcm->time,&week);
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hour=floor(tow/3600.0);
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sec=tow-hour*3600.0;
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if (zcnt<sec-1800.0) zcnt+=3600.0;
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else if (zcnt>sec+1800.0) zcnt-=3600.0;
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rtcm->time=gpst2time(week,hour*3600+zcnt);
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}
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/* get observation data index ------------------------------------------------*/
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static int obsindex(obs_t *obs, gtime_t time, int sat)
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{
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int i,j;
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for (i=0;i<obs->n;i++) {
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if (obs->data[i].sat==sat) return i; /* field already exists */
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}
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if (i>=MAXOBS) return -1; /* overflow */
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/* add new field */
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obs->data[i].time=time;
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obs->data[i].sat=sat;
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for (j=0;j<NFREQ;j++) {
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obs->data[i].L[j]=obs->data[i].P[j]=0.0;
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obs->data[i].D[j]=0.0;
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obs->data[i].SNR[j]=obs->data[i].LLI[j]=obs->data[i].code[j]=0;
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}
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obs->n++;
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return i;
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}
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/* decode type 1/9: differential gps correction/partial correction set -------*/
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static int decode_type1(rtcm_t *rtcm)
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{
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int i=48,fact,udre,prn,sat,iod;
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double prc,rrc;
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trace(4,"decode_type1: len=%d\n",rtcm->len);
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while (i+40<=rtcm->len*8) {
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fact=getbitu(rtcm->buff,i, 1); i+= 1;
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udre=getbitu(rtcm->buff,i, 2); i+= 2;
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prn =getbitu(rtcm->buff,i, 5); i+= 5;
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prc =getbits(rtcm->buff,i,16); i+=16;
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rrc =getbits(rtcm->buff,i, 8); i+= 8;
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iod =getbits(rtcm->buff,i, 8); i+= 8;
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if (prn==0) prn=32;
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if (prc==0x80000000||rrc==0xFFFF8000) {
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trace(2,"rtcm2 1 prc/rrc indicates satellite problem: prn=%d\n",prn);
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continue;
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}
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if (rtcm->dgps) {
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sat=satno(SYS_GPS,prn);
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rtcm->dgps[sat-1].t0=rtcm->time;
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rtcm->dgps[sat-1].prc=prc*(fact?0.32:0.02);
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rtcm->dgps[sat-1].rrc=rrc*(fact?0.032:0.002);
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rtcm->dgps[sat-1].iod=iod;
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rtcm->dgps[sat-1].udre=udre;
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}
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}
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return 7;
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}
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/* decode type 3: reference station parameter --------------------------------*/
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static int decode_type3(rtcm_t *rtcm)
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{
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int i=48;
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trace(4,"decode_type3: len=%d\n",rtcm->len);
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if (i+96<=rtcm->len*8) {
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rtcm->sta.pos[0]=getbits(rtcm->buff,i,32)*0.01; i+=32;
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rtcm->sta.pos[1]=getbits(rtcm->buff,i,32)*0.01; i+=32;
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rtcm->sta.pos[2]=getbits(rtcm->buff,i,32)*0.01;
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}
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else {
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trace(2,"rtcm2 3 length error: len=%d\n",rtcm->len);
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return -1;
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}
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return 5;
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}
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/* decode type 14: gps time of week ------------------------------------------*/
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static int decode_type14(rtcm_t *rtcm)
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{
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double zcnt;
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int i=48,week,hour,leaps;
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trace(4,"decode_type14: len=%d\n",rtcm->len);
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zcnt=getbitu(rtcm->buff,24,13);
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if (i+24<=rtcm->len*8) {
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week =getbitu(rtcm->buff,i,10); i+=10;
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hour =getbitu(rtcm->buff,i, 8); i+= 8;
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leaps=getbitu(rtcm->buff,i, 6);
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}
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else {
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trace(2,"rtcm2 14 length error: len=%d\n",rtcm->len);
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return -1;
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}
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week=adjgpsweek(week);
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rtcm->time=gpst2time(week,hour*3600.0+zcnt*0.6);
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rtcm->nav.utc_gps[4]=leaps;
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return 6;
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}
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/* decode type 16: gps special message ---------------------------------------*/
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static int decode_type16(rtcm_t *rtcm)
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{
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int i=48,n=0;
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trace(4,"decode_type16: len=%d\n",rtcm->len);
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while (i+8<=rtcm->len*8&&n<90) {
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rtcm->msg[n++]=getbitu(rtcm->buff,i,8); i+=8;
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}
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rtcm->msg[n]='\0';
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trace(3,"rtcm2 16 message: %s\n",rtcm->msg);
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return 9;
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}
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/* decode type 17: gps ephemerides -------------------------------------------*/
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static int decode_type17(rtcm_t *rtcm)
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{
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eph_t eph={0};
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double toc,sqrtA;
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int i=48,week,prn,sat;
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trace(4,"decode_type17: len=%d\n",rtcm->len);
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if (i+480<=rtcm->len*8) {
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week =getbitu(rtcm->buff,i,10); i+=10;
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eph.idot =getbits(rtcm->buff,i,14)*P2_43*SC2RAD; i+=14;
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eph.iode =getbitu(rtcm->buff,i, 8); i+= 8;
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toc =getbitu(rtcm->buff,i,16)*16.0; i+=16;
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eph.f1 =getbits(rtcm->buff,i,16)*P2_43; i+=16;
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eph.f2 =getbits(rtcm->buff,i, 8)*P2_55; i+= 8;
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eph.crs =getbits(rtcm->buff,i,16)*P2_5; i+=16;
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eph.deln =getbits(rtcm->buff,i,16)*P2_43*SC2RAD; i+=16;
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eph.cuc =getbits(rtcm->buff,i,16)*P2_29; i+=16;
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eph.e =getbitu(rtcm->buff,i,32)*P2_33; i+=32;
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eph.cus =getbits(rtcm->buff,i,16); i+=16;
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sqrtA =getbitu(rtcm->buff,i,32)*P2_19; i+=32;
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eph.toes =getbitu(rtcm->buff,i,16); i+=16;
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eph.OMG0 =getbits(rtcm->buff,i,32)*P2_31*SC2RAD; i+=32;
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eph.cic =getbits(rtcm->buff,i,16)*P2_29; i+=16;
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eph.i0 =getbits(rtcm->buff,i,32)*P2_31*SC2RAD; i+=32;
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eph.cis =getbits(rtcm->buff,i,16)*P2_29; i+=16;
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eph.omg =getbits(rtcm->buff,i,32)*P2_31*SC2RAD; i+=32;
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eph.crc =getbits(rtcm->buff,i,16)*P2_5; i+=16;
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eph.OMGd =getbits(rtcm->buff,i,24)*P2_43*SC2RAD; i+=24;
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eph.M0 =getbits(rtcm->buff,i,32)*P2_31*SC2RAD; i+=32;
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eph.iodc =getbitu(rtcm->buff,i,10); i+=10;
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eph.f0 =getbits(rtcm->buff,i,22)*P2_31; i+=22;
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prn =getbitu(rtcm->buff,i, 5); i+= 5+3;
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eph.tgd[0]=getbits(rtcm->buff,i, 8)*P2_31; i+= 8;
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eph.code =getbitu(rtcm->buff,i, 2); i+= 2;
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eph.sva =getbitu(rtcm->buff,i, 4); i+= 4;
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eph.svh =getbitu(rtcm->buff,i, 6); i+= 6;
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eph.flag =getbitu(rtcm->buff,i, 1);
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}
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else {
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trace(2,"rtcm2 17 length error: len=%d\n",rtcm->len);
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return -1;
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}
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if (prn==0) prn=32;
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sat=satno(SYS_GPS,prn);
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eph.sat=sat;
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eph.week=adjgpsweek(week);
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eph.toe=gpst2time(eph.week,eph.toes);
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eph.toc=gpst2time(eph.week,toc);
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eph.ttr=rtcm->time;
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eph.A=sqrtA*sqrtA;
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rtcm->nav.eph[sat-1]=eph;
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rtcm->ephset=0;
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rtcm->ephsat=sat;
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return 2;
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}
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/* decode type 18: rtk uncorrected carrier-phase -----------------------------*/
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static int decode_type18(rtcm_t *rtcm)
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{
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gtime_t time;
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double usec,cp,tt;
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int i=48,index,freq,sync=1,code,sys,prn,sat,loss;
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trace(4,"decode_type18: len=%d\n",rtcm->len);
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if (i+24<=rtcm->len*8) {
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freq=getbitu(rtcm->buff,i, 2); i+= 2+2;
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usec=getbitu(rtcm->buff,i,20); i+=20;
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}
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else {
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trace(2,"rtcm2 18 length error: len=%d\n",rtcm->len);
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return -1;
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}
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if (freq&0x1) {
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trace(2,"rtcm2 18 not supported frequency: freq=%d\n",freq);
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return -1;
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}
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freq>>=1;
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while (i+48<=rtcm->len*8&&rtcm->obs.n<MAXOBS) {
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sync=getbitu(rtcm->buff,i, 1); i+= 1;
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code=getbitu(rtcm->buff,i, 1); i+= 1;
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sys =getbitu(rtcm->buff,i, 1); i+= 1;
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prn =getbitu(rtcm->buff,i, 5); i+= 5+3;
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loss=getbitu(rtcm->buff,i, 5); i+= 5;
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cp =getbits(rtcm->buff,i,32); i+=32;
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if (prn==0) prn=32;
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if (!(sat=satno(sys?SYS_GLO:SYS_GPS,prn))) {
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trace(2,"rtcm2 18 satellite number error: sys=%d prn=%d\n",sys,prn);
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continue;
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}
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time=timeadd(rtcm->time,usec*1E-6);
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if (sys) time=utc2gpst(time); /* convert glonass time to gpst */
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tt=timediff(rtcm->obs.data[0].time,time);
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if (rtcm->obsflag||fabs(tt)>1E-9) {
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rtcm->obs.n=rtcm->obsflag=0;
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}
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if ((index=obsindex(&rtcm->obs,time,sat))>=0) {
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rtcm->obs.data[index].L[freq]=-cp/256.0;
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rtcm->obs.data[index].LLI[freq]=rtcm->loss[sat-1][freq]!=loss;
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rtcm->obs.data[index].code[freq]=
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!freq?(code?CODE_L1P:CODE_L1C):(code?CODE_L2P:CODE_L2C);
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rtcm->loss[sat-1][freq]=loss;
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}
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}
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rtcm->obsflag=!sync;
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return sync?0:1;
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}
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/* decode type 19: rtk uncorrected pseudorange -------------------------------*/
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static int decode_type19(rtcm_t *rtcm)
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{
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gtime_t time;
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double usec,pr,tt;
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int i=48,index,freq,sync=1,code,sys,prn,sat;
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trace(4,"decode_type19: len=%d\n",rtcm->len);
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if (i+24<=rtcm->len*8) {
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freq=getbitu(rtcm->buff,i, 2); i+= 2+2;
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usec=getbitu(rtcm->buff,i,20); i+=20;
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}
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else {
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trace(2,"rtcm2 19 length error: len=%d\n",rtcm->len);
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return -1;
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}
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if (freq&0x1) {
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trace(2,"rtcm2 19 not supported frequency: freq=%d\n",freq);
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return -1;
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}
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freq>>=1;
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while (i+48<=rtcm->len*8&&rtcm->obs.n<MAXOBS) {
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sync=getbitu(rtcm->buff,i, 1); i+= 1;
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code=getbitu(rtcm->buff,i, 1); i+= 1;
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sys =getbitu(rtcm->buff,i, 1); i+= 1;
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prn =getbitu(rtcm->buff,i, 5); i+= 5+8;
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pr =getbitu(rtcm->buff,i,32); i+=32;
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if (prn==0) prn=32;
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if (!(sat=satno(sys?SYS_GLO:SYS_GPS,prn))) {
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trace(2,"rtcm2 19 satellite number error: sys=%d prn=%d\n",sys,prn);
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continue;
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}
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time=timeadd(rtcm->time,usec*1E-6);
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if (sys) time=utc2gpst(time); /* convert glonass time to gpst */
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tt=timediff(rtcm->obs.data[0].time,time);
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if (rtcm->obsflag||fabs(tt)>1E-9) {
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rtcm->obs.n=rtcm->obsflag=0;
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}
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if ((index=obsindex(&rtcm->obs,time,sat))>=0) {
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rtcm->obs.data[index].P[freq]=pr*0.02;
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rtcm->obs.data[index].code[freq]=
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!freq?(code?CODE_L1P:CODE_L1C):(code?CODE_L2P:CODE_L2C);
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}
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}
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rtcm->obsflag=!sync;
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return sync?0:1;
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}
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/* decode type 22: extended reference station parameter ----------------------*/
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static int decode_type22(rtcm_t *rtcm)
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{
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double del[2][3]={{0}},hgt=0.0;
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int i=48,j,noh;
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trace(4,"decode_type22: len=%d\n",rtcm->len);
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if (i+24<=rtcm->len*8) {
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del[0][0]=getbits(rtcm->buff,i,8)/25600.0; i+=8;
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del[0][1]=getbits(rtcm->buff,i,8)/25600.0; i+=8;
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del[0][2]=getbits(rtcm->buff,i,8)/25600.0; i+=8;
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}
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|
|
else {
|
||
|
|
trace(2,"rtcm2 22 length error: len=%d\n",rtcm->len);
|
||
|
|
return -1;
|
||
|
|
}
|
||
|
|
if (i+24<=rtcm->len*8) {
|
||
|
|
i+=5; noh=getbits(rtcm->buff,i,1); i+=1;
|
||
|
|
hgt=noh?0.0:getbitu(rtcm->buff,i,18)/25600.0;
|
||
|
|
i+=18;
|
||
|
|
}
|
||
|
|
if (i+24<=rtcm->len*8) {
|
||
|
|
del[1][0]=getbits(rtcm->buff,i,8)/1600.0; i+=8;
|
||
|
|
del[1][1]=getbits(rtcm->buff,i,8)/1600.0; i+=8;
|
||
|
|
del[1][2]=getbits(rtcm->buff,i,8)/1600.0;
|
||
|
|
}
|
||
|
|
rtcm->sta.deltype=1; /* xyz */
|
||
|
|
for (j=0;j<3;j++) rtcm->sta.del[j]=del[0][j];
|
||
|
|
rtcm->sta.hgt=hgt;
|
||
|
|
return 5;
|
||
|
|
}
|
||
|
|
/* decode type 23: antenna type definition record ----------------------------*/
|
||
|
|
static int decode_type23(rtcm_t *rtcm)
|
||
|
|
{
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
/* decode type 24: antenna reference point (arp) -----------------------------*/
|
||
|
|
static int decode_type24(rtcm_t *rtcm)
|
||
|
|
{
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
/* decode type 31: differential glonass correction ---------------------------*/
|
||
|
|
static int decode_type31(rtcm_t *rtcm)
|
||
|
|
{
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
/* decode type 32: differential glonass reference station parameters ---------*/
|
||
|
|
static int decode_type32(rtcm_t *rtcm)
|
||
|
|
{
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
/* decode type 34: glonass partial differential correction set ---------------*/
|
||
|
|
static int decode_type34(rtcm_t *rtcm)
|
||
|
|
{
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
/* decode type 36: glonass special message -----------------------------------*/
|
||
|
|
static int decode_type36(rtcm_t *rtcm)
|
||
|
|
{
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
/* decode type 37: gnss system time offset -----------------------------------*/
|
||
|
|
static int decode_type37(rtcm_t *rtcm)
|
||
|
|
{
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
/* decode type 59: proprietary message ---------------------------------------*/
|
||
|
|
static int decode_type59(rtcm_t *rtcm)
|
||
|
|
{
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
/* decode rtcm ver.2 message -------------------------------------------------*/
|
||
|
|
extern int decode_rtcm2(rtcm_t *rtcm)
|
||
|
|
{
|
||
|
|
double zcnt;
|
||
|
|
int staid,seqno,stah,ret=0,type=getbitu(rtcm->buff,8,6);
|
||
|
|
|
||
|
|
trace(3,"decode_rtcm2: type=%2d len=%3d\n",type,rtcm->len);
|
||
|
|
|
||
|
|
if ((zcnt=getbitu(rtcm->buff,24,13)*0.6)>=3600.0) {
|
||
|
|
trace(2,"rtcm2 modified z-count error: zcnt=%.1f\n",zcnt);
|
||
|
|
return -1;
|
||
|
|
}
|
||
|
|
adjhour(rtcm,zcnt);
|
||
|
|
staid=getbitu(rtcm->buff,14,10);
|
||
|
|
seqno=getbitu(rtcm->buff,37, 3);
|
||
|
|
stah =getbitu(rtcm->buff,45, 3);
|
||
|
|
if (seqno-rtcm->seqno!=1&&seqno-rtcm->seqno!=-7) {
|
||
|
|
trace(2,"rtcm2 message outage: seqno=%d->%d\n",rtcm->seqno,seqno);
|
||
|
|
}
|
||
|
|
rtcm->seqno=seqno;
|
||
|
|
rtcm->stah =stah;
|
||
|
|
|
||
|
|
if (rtcm->outtype) {
|
||
|
|
sprintf(rtcm->msgtype,"RTCM %2d (%4d) zcnt=%7.1f staid=%3d seqno=%d",
|
||
|
|
type,rtcm->len,zcnt,staid,seqno);
|
||
|
|
}
|
||
|
|
if (type==3||type==22||type==23||type==24) {
|
||
|
|
if (rtcm->staid!=0&&staid!=rtcm->staid) {
|
||
|
|
trace(2,"rtcm2 station id changed: %d->%d\n",rtcm->staid,staid);
|
||
|
|
}
|
||
|
|
rtcm->staid=staid;
|
||
|
|
}
|
||
|
|
if (rtcm->staid!=0&&staid!=rtcm->staid) {
|
||
|
|
trace(2,"rtcm2 station id invalid: %d %d\n",staid,rtcm->staid);
|
||
|
|
return -1;
|
||
|
|
}
|
||
|
|
switch (type) {
|
||
|
|
case 1: ret=decode_type1 (rtcm); break;
|
||
|
|
case 3: ret=decode_type3 (rtcm); break;
|
||
|
|
case 9: ret=decode_type1 (rtcm); break;
|
||
|
|
case 14: ret=decode_type14(rtcm); break;
|
||
|
|
case 16: ret=decode_type16(rtcm); break;
|
||
|
|
case 17: ret=decode_type17(rtcm); break;
|
||
|
|
case 18: ret=decode_type18(rtcm); break;
|
||
|
|
case 19: ret=decode_type19(rtcm); break;
|
||
|
|
case 22: ret=decode_type22(rtcm); break;
|
||
|
|
case 23: ret=decode_type23(rtcm); break; /* not supported */
|
||
|
|
case 24: ret=decode_type24(rtcm); break; /* not supported */
|
||
|
|
case 31: ret=decode_type31(rtcm); break; /* not supported */
|
||
|
|
case 32: ret=decode_type32(rtcm); break; /* not supported */
|
||
|
|
case 34: ret=decode_type34(rtcm); break; /* not supported */
|
||
|
|
case 36: ret=decode_type36(rtcm); break; /* not supported */
|
||
|
|
case 37: ret=decode_type37(rtcm); break; /* not supported */
|
||
|
|
case 59: ret=decode_type59(rtcm); break; /* not supported */
|
||
|
|
}
|
||
|
|
if (ret>=0) {
|
||
|
|
if (1<=type&&type<=99) rtcm->nmsg2[type]++; else rtcm->nmsg2[0]++;
|
||
|
|
}
|
||
|
|
return ret;
|
||
|
|
}
|