397 lines
17 KiB
C
397 lines
17 KiB
C
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/*------------------------------------------------------------------------------
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* rtcm.c : rtcm functions
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*
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* Copyright (C) 2009-2020 by T.TAKASU, All rights reserved.
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*
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* references :
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* [1] RTCM Recommended Standards for Differential GNSS (Global Navigation
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* Satellite Systems) Service version 2.3, August 20, 2001
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* [7] RTCM Standard 10403.1 - Amendment 5, Differential GNSS (Global
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* Navigation Satellite Systems) Services - version 3, July 1, 2011
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* [10] RTCM Paper 059-2011-SC104-635 (draft Galileo and QZSS ssr messages)
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* [15] RTCM Standard 10403.2, Differential GNSS (Global Navigation Satellite
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* Systems) Services - version 3, with amendment 1/2, November 7, 2013
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* [16] Proposal of new RTCM SSR Messages (ssr_1_gal_qzss_sbas_dbs_v05)
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* 2014/04/17
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* [17] RTCM Standard 10403.3, Differential GNSS (Global Navigation Satellite
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* Systems) Services - version 3, with amendment 1, April 28, 2020
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* [18] IGS State Space Representation (SSR) Format version 1.00, October 5,
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* 2020
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*
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* version : $Revision:$ $Date:$
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* history : 2009/04/10 1.0 new
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* 2009/06/29 1.1 support type 1009-1012 to get synchronous-gnss-flag
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* 2009/12/04 1.2 support type 1010,1012,1020
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* 2010/07/15 1.3 support type 1057-1068 for ssr corrections
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* support type 1007,1008,1033 for antenna info
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* 2010/09/08 1.4 fix problem of ephemeris and ssr sequence upset
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* (2.4.0_p8)
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* 2012/05/11 1.5 comply with RTCM 3 final SSR format (RTCM 3
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* Amendment 5) (ref [7]) (2.4.1_p6)
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* 2012/05/14 1.6 separate rtcm2.c, rtcm3.c
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* add options to select used codes for msm
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* 2013/04/27 1.7 comply with rtcm 3.2 with amendment 1/2 (ref[15])
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* 2013/12/06 1.8 support SBAS/BeiDou SSR messages (ref[16])
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* 2018/01/29 1.9 support RTCM 3.3 (ref[17])
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* crc24q() -> rtk_crc24q()
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* 2018/10/10 1.10 fix bug on initializing rtcm struct
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* add rtcm option -GALINAV, -GALFNAV
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* 2018/11/05 1.11 add notes for api gen_rtcm3()
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* 2020/11/30 1.12 modify API gen_rtcm3()
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* support NavIC/IRNSS MSM and ephemeris (ref [17])
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* allocate double size of ephemeris buffer to support
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* multiple ephemeris sets in init_rtcm()
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* delete references [2]-[6],[8],[9],[11]-[14]
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* update reference [17]
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* use integer types in stdint.h
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*-----------------------------------------------------------------------------*/
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#include "rtklib.h"
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/* function prototypes -------------------------------------------------------*/
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extern int decode_rtcm2(rtcm_t *rtcm);
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extern int decode_rtcm3(rtcm_t *rtcm);
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extern int encode_rtcm3(rtcm_t *rtcm, int type, int subtype, int sync);
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/* constants -----------------------------------------------------------------*/
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#define RTCM2PREAMB 0x66 /* rtcm ver.2 frame preamble */
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#define RTCM3PREAMB 0xD3 /* rtcm ver.3 frame preamble */
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/* initialize rtcm control -----------------------------------------------------
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* initialize rtcm control struct and reallocate memory for observation and
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* ephemeris buffer in rtcm control struct
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* args : rtcm_t *raw IO rtcm control struct
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* return : status (1:ok,0:memory allocation error)
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*-----------------------------------------------------------------------------*/
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extern int init_rtcm(rtcm_t *rtcm)
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{
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gtime_t time0={0};
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obsd_t data0={{0}};
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eph_t eph0 ={0,-1,-1};
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geph_t geph0={0,-1};
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ssr_t ssr0={{{0}}};
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int i,j;
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trace(3,"init_rtcm:\n");
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rtcm->staid=rtcm->stah=rtcm->seqno=rtcm->outtype=0;
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rtcm->time=rtcm->time_s=time0;
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rtcm->sta.name[0]=rtcm->sta.marker[0]='\0';
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rtcm->sta.antdes[0]=rtcm->sta.antsno[0]='\0';
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rtcm->sta.rectype[0]=rtcm->sta.recver[0]=rtcm->sta.recsno[0]='\0';
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rtcm->sta.antsetup=rtcm->sta.itrf=rtcm->sta.deltype=0;
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for (i=0;i<3;i++) {
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rtcm->sta.pos[i]=rtcm->sta.del[i]=0.0;
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}
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rtcm->sta.hgt=0.0;
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rtcm->dgps=NULL;
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for (i=0;i<MAXSAT;i++) {
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rtcm->ssr[i]=ssr0;
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}
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rtcm->msg[0]=rtcm->msgtype[0]=rtcm->opt[0]='\0';
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for (i=0;i<6;i++) rtcm->msmtype[i][0]='\0';
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rtcm->obsflag=rtcm->ephsat=0;
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for (i=0;i<MAXSAT;i++) for (j=0;j<NFREQ+NEXOBS;j++) {
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rtcm->cp[i][j]=0.0;
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rtcm->lock[i][j]=rtcm->loss[i][j]=0;
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rtcm->lltime[i][j]=time0;
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}
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rtcm->nbyte=rtcm->nbit=rtcm->len=0;
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rtcm->word=0;
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for (i=0;i<100;i++) rtcm->nmsg2[i]=0;
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for (i=0;i<400;i++) rtcm->nmsg3[i]=0;
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rtcm->obs.data=NULL;
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rtcm->nav.eph =NULL;
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rtcm->nav.geph=NULL;
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/* reallocate memory for observation and ephemeris buffer */
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if (!(rtcm->obs.data=(obsd_t *)malloc(sizeof(obsd_t)*MAXOBS))||
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!(rtcm->nav.eph =(eph_t *)malloc(sizeof(eph_t )*MAXSAT*2))||
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!(rtcm->nav.geph=(geph_t *)malloc(sizeof(geph_t)*MAXPRNGLO))) {
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free_rtcm(rtcm);
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return 0;
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}
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rtcm->obs.n=0;
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rtcm->nav.n=MAXSAT*2;
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rtcm->nav.ng=MAXPRNGLO;
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for (i=0;i<MAXOBS ;i++) rtcm->obs.data[i]=data0;
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for (i=0;i<MAXSAT*2 ;i++) rtcm->nav.eph [i]=eph0;
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for (i=0;i<MAXPRNGLO;i++) rtcm->nav.geph[i]=geph0;
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return 1;
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}
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/* free rtcm control ----------------------------------------------------------
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* free observation and ephemeris buffer in rtcm control struct
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* args : rtcm_t *raw IO rtcm control struct
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* return : none
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*-----------------------------------------------------------------------------*/
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extern void free_rtcm(rtcm_t *rtcm)
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{
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trace(3,"free_rtcm:\n");
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/* free memory for observation and ephemeris buffer */
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free(rtcm->obs.data); rtcm->obs.data=NULL; rtcm->obs.n=0;
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free(rtcm->nav.eph ); rtcm->nav.eph =NULL; rtcm->nav.n=0;
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free(rtcm->nav.geph); rtcm->nav.geph=NULL; rtcm->nav.ng=0;
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}
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/* input RTCM 2 message from stream --------------------------------------------
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* fetch next RTCM 2 message and input a message from byte stream
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* args : rtcm_t *rtcm IO rtcm control struct
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* uint8_t data I stream data (1 byte)
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* return : status (-1: error message, 0: no message, 1: input observation data,
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* 2: input ephemeris, 5: input station pos/ant parameters,
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* 6: input time parameter, 7: input dgps corrections,
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* 9: input special message)
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* notes : before firstly calling the function, time in rtcm control struct has
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* to be set to the approximate time within 1/2 hour in order to resolve
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* ambiguity of time in rtcm messages.
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* supported msgs RTCM ver.2: 1,3,9,14,16,17,18,19,22
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* refer [1] for RTCM ver.2
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*-----------------------------------------------------------------------------*/
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extern int input_rtcm2(rtcm_t *rtcm, uint8_t data)
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{
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uint8_t preamb;
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int i;
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trace(5,"input_rtcm2: data=%02x\n",data);
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if ((data&0xC0)!=0x40) return 0; /* ignore if upper 2bit != 01 */
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for (i=0;i<6;i++,data>>=1) { /* decode 6-of-8 form */
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rtcm->word=(rtcm->word<<1)+(data&1);
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/* synchronize frame */
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if (rtcm->nbyte==0) {
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preamb=(uint8_t)(rtcm->word>>22);
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if (rtcm->word&0x40000000) preamb^=0xFF; /* decode preamble */
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if (preamb!=RTCM2PREAMB) continue;
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/* check parity */
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if (!decode_word(rtcm->word,rtcm->buff)) continue;
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rtcm->nbyte=3; rtcm->nbit=0;
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continue;
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}
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if (++rtcm->nbit<30) continue; else rtcm->nbit=0;
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/* check parity */
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if (!decode_word(rtcm->word,rtcm->buff+rtcm->nbyte)) {
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trace(2,"rtcm2 partity error: i=%d word=%08x\n",i,rtcm->word);
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rtcm->nbyte=0; rtcm->word&=0x3;
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continue;
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}
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rtcm->nbyte+=3;
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if (rtcm->nbyte==6) rtcm->len=(rtcm->buff[5]>>3)*3+6;
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if (rtcm->nbyte<rtcm->len) continue;
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rtcm->nbyte=0; rtcm->word&=0x3;
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/* decode rtcm2 message */
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return decode_rtcm2(rtcm);
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}
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return 0;
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}
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/* input RTCM 3 message from stream --------------------------------------------
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* fetch next RTCM 3 message and input a message from byte stream
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* args : rtcm_t *rtcm IO rtcm control struct
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* uint8_t data I stream data (1 byte)
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* return : status (-1: error message, 0: no message, 1: input observation data,
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* 2: input ephemeris, 5: input station pos/ant parameters,
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* 10: input ssr messages)
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* notes : before firstly calling the function, time in rtcm control struct has
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* to be set to the approximate time within 1/2 week in order to resolve
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* ambiguity of time in rtcm messages.
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*
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* to specify input options, set rtcm->opt to the following option
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* strings separated by spaces.
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*
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* -EPHALL : input all ephemerides (default: only new)
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* -STA=nnn : input only message with STAID=nnn (default: all)
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* -GLss : select signal ss for GPS MSM (ss=1C,1P,...)
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* -RLss : select signal ss for GLO MSM (ss=1C,1P,...)
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* -ELss : select signal ss for GAL MSM (ss=1C,1B,...)
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* -JLss : select signal ss for QZS MSM (ss=1C,2C,...)
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* -CLss : select signal ss for BDS MSM (ss=2I,7I,...)
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* -ILss : select signal ss for IRN MSM (ss=5A,9A,...)
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* -GALINAV : select I/NAV for Galileo ephemeris (default: all)
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* -GALFNAV : select F/NAV for Galileo ephemeris (default: all)
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*
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* supported RTCM 3 messages (ref [7][10][15][16][17][18])
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*
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* TYPE : GPS GLONASS Galileo QZSS BDS SBAS NavIC
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* ----------------------------------------------------------------------
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* OBS COMP L1 : 1001~ 1009~ - - - - -
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* FULL L1 : 1002 1010 - - - - -
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* COMP L1L2: 1003~ 1011~ - - - - -
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* FULL L1L2: 1004 1012 - - - - -
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*
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* NAV : 1019 1020 1045** 1044 1042 - 1041
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* - - 1046** - 63* - -
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*
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* MSM 1 : 1071~ 1081~ 1091~ 1111~ 1121~ 1101~ 1131~
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* 2 : 1072~ 1082~ 1092~ 1112~ 1122~ 1102~ 1132~
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* 3 : 1073~ 1083~ 1093~ 1113~ 1123~ 1103~ 1133~
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* 4 : 1074 1084 1094 1114 1124 1104 1134
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* 5 : 1075 1085 1095 1115 1125 1105 1135
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* 6 : 1076 1086 1096 1116 1126 1106 1136
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* 7 : 1077 1087 1097 1117 1127 1107 1137
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*
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* SSR ORBIT : 1057 1063 1240* 1246* 1258* - -
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* CLOCK : 1058 1064 1241* 1247* 1259* - -
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* CODE BIAS: 1059 1065 1242* 1248* 1260* - -
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* OBT/CLK : 1060 1066 1243* 1249* 1261* - -
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* URA : 1061 1067 1244* 1250* 1262* - -
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* HR-CLOCK : 1062 1068 1245* 1251* 1263* - -
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* PHAS BIAS: 11* - 12* 13* 14* - -
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*
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* ANT/RCV INFO : 1007 1008 1033
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* STA POSITION : 1005 1006
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*
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* PROPRIETARY : 4076 (IGS)
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* ----------------------------------------------------------------------
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* (* draft, ** 1045:F/NAV,1046:I/NAV, ~ only encode)
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*
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* for MSM observation data with multiple signals for a frequency,
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* a signal is selected according to internal priority. to select
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* a specified signal, use the input options.
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*
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* RTCM 3 message format:
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* +----------+--------+-----------+--------------------+----------+
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* | preamble | 000000 | length | data message | parity |
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* +----------+--------+-----------+--------------------+----------+
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* |<-- 8 --->|<- 6 -->|<-- 10 --->|<--- length x 8 --->|<-- 24 -->|
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*
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*-----------------------------------------------------------------------------*/
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extern int input_rtcm3(rtcm_t *rtcm, uint8_t data)
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{
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trace(5,"input_rtcm3: data=%02x\n",data);
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/* synchronize frame */
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if (rtcm->nbyte==0) {
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if (data!=RTCM3PREAMB) return 0;
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rtcm->buff[rtcm->nbyte++]=data;
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return 0;
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}
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rtcm->buff[rtcm->nbyte++]=data;
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if (rtcm->nbyte==3) {
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rtcm->len=getbitu(rtcm->buff,14,10)+3; /* length without parity */
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}
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if (rtcm->nbyte<3||rtcm->nbyte<rtcm->len+3) return 0;
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rtcm->nbyte=0;
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/* check parity */
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if (rtk_crc24q(rtcm->buff,rtcm->len)!=getbitu(rtcm->buff,rtcm->len*8,24)) {
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trace(2,"rtcm3 parity error: len=%d\n",rtcm->len);
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return 0;
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}
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/* decode rtcm3 message */
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return decode_rtcm3(rtcm);
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}
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/* input RTCM 2 message from file ----------------------------------------------
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* fetch next RTCM 2 message and input a messsage from file
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* args : rtcm_t *rtcm IO rtcm control struct
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* FILE *fp I file pointer
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* return : status (-2: end of file, -1...10: same as above)
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* notes : same as above
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*-----------------------------------------------------------------------------*/
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extern int input_rtcm2f(rtcm_t *rtcm, FILE *fp)
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{
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int i,data=0,ret;
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trace(4,"input_rtcm2f: data=%02x\n",data);
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for (i=0;i<4096;i++) {
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if ((data=fgetc(fp))==EOF) return -2;
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if ((ret=input_rtcm2(rtcm,(uint8_t)data))) return ret;
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}
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return 0; /* return at every 4k bytes */
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}
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||
|
|
/* input RTCM 3 message from file ----------------------------------------------
|
||
|
|
* fetch next RTCM 3 message and input a messsage from file
|
||
|
|
* args : rtcm_t *rtcm IO rtcm control struct
|
||
|
|
* FILE *fp I file pointer
|
||
|
|
* return : status (-2: end of file, -1...10: same as above)
|
||
|
|
* notes : same as above
|
||
|
|
*-----------------------------------------------------------------------------*/
|
||
|
|
extern int input_rtcm3f(rtcm_t *rtcm, FILE *fp)
|
||
|
|
{
|
||
|
|
int i,data=0,ret;
|
||
|
|
|
||
|
|
trace(4,"input_rtcm3f: data=%02x\n",data);
|
||
|
|
|
||
|
|
for (i=0;i<4096;i++) {
|
||
|
|
if ((data=fgetc(fp))==EOF) return -2;
|
||
|
|
if ((ret=input_rtcm3(rtcm,(uint8_t)data))) return ret;
|
||
|
|
}
|
||
|
|
return 0; /* return at every 4k bytes */
|
||
|
|
}
|
||
|
|
/* generate RTCM 2 message -----------------------------------------------------
|
||
|
|
* generate RTCM 2 message
|
||
|
|
* args : rtcm_t *rtcm IO rtcm control struct
|
||
|
|
* int type I message type
|
||
|
|
* int sync I sync flag (1:another message follows)
|
||
|
|
* return : status (1:ok,0:error)
|
||
|
|
*-----------------------------------------------------------------------------*/
|
||
|
|
extern int gen_rtcm2(rtcm_t *rtcm, int type, int sync)
|
||
|
|
{
|
||
|
|
trace(4,"gen_rtcm2: type=%d sync=%d\n",type,sync);
|
||
|
|
|
||
|
|
rtcm->nbit=rtcm->len=rtcm->nbyte=0;
|
||
|
|
|
||
|
|
/* not yet implemented */
|
||
|
|
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
/* generate RTCM 3 message -----------------------------------------------------
|
||
|
|
* generate RTCM 3 message
|
||
|
|
* args : rtcm_t *rtcm IO rtcm control struct
|
||
|
|
* int type I message type
|
||
|
|
* int subtype I message subtype
|
||
|
|
* int sync I sync flag (1:another message follows)
|
||
|
|
* return : status (1:ok,0:error)
|
||
|
|
* notes : For rtcm 3 msm, the {nsat} x {nsig} in rtcm->obs should not exceed
|
||
|
|
* 64. If {nsat} x {nsig} of the input obs data exceeds 64, separate
|
||
|
|
* them to multiple ones and call gen_rtcm3() multiple times as user
|
||
|
|
* responsibility.
|
||
|
|
* ({nsat} = number of valid satellites, {nsig} = number of signals in
|
||
|
|
* the obs data)
|
||
|
|
*-----------------------------------------------------------------------------*/
|
||
|
|
extern int gen_rtcm3(rtcm_t *rtcm, int type, int subtype, int sync)
|
||
|
|
{
|
||
|
|
uint32_t crc;
|
||
|
|
int i=0;
|
||
|
|
|
||
|
|
trace(4,"gen_rtcm3: type=%d subtype=%d sync=%d\n",type,subtype,sync);
|
||
|
|
|
||
|
|
rtcm->nbit=rtcm->len=rtcm->nbyte=0;
|
||
|
|
|
||
|
|
/* set preamble and reserved */
|
||
|
|
setbitu(rtcm->buff,i, 8,RTCM3PREAMB); i+= 8;
|
||
|
|
setbitu(rtcm->buff,i, 6,0 ); i+= 6;
|
||
|
|
setbitu(rtcm->buff,i,10,0 ); i+=10;
|
||
|
|
|
||
|
|
/* encode rtcm 3 message body */
|
||
|
|
if (!encode_rtcm3(rtcm,type,subtype,sync)) return 0;
|
||
|
|
|
||
|
|
/* padding to align 8 bit boundary */
|
||
|
|
for (i=rtcm->nbit;i%8;i++) {
|
||
|
|
setbitu(rtcm->buff,i,1,0);
|
||
|
|
}
|
||
|
|
/* message length (header+data) (bytes) */
|
||
|
|
if ((rtcm->len=i/8)>=3+1024) {
|
||
|
|
trace(2,"generate rtcm 3 message length error len=%d\n",rtcm->len-3);
|
||
|
|
rtcm->nbit=rtcm->len=0;
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
/* message length without header and parity */
|
||
|
|
setbitu(rtcm->buff,14,10,rtcm->len-3);
|
||
|
|
|
||
|
|
/* crc-24q */
|
||
|
|
crc=rtk_crc24q(rtcm->buff,rtcm->len);
|
||
|
|
setbitu(rtcm->buff,i,24,crc);
|
||
|
|
|
||
|
|
/* length total (bytes) */
|
||
|
|
rtcm->nbyte=rtcm->len+3;
|
||
|
|
|
||
|
|
return 1;
|
||
|
|
}
|