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| /*! | |
| * \file galileo_inav_message.h | |
| * \brief Implementation of a Galileo I/NAV Data message | |
| * as described in Galileo OS SIS ICD Issue 2.0 (Jan. 2021) | |
| * \author Mara Branzanti 2013. mara.branzanti(at)gmail.com | |
| * \author Javier Arribas, 2013. jarribas(at)cttc.es | |
| * | |
| * ----------------------------------------------------------------------------- | |
| * | |
| * GNSS-SDR is a Global Navigation Satellite System software-defined receiver. | |
| * This file is part of GNSS-SDR. | |
| * | |
| * Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors) | |
| * SPDX-License-Identifier: GPL-3.0-or-later | |
| * | |
| * ----------------------------------------------------------------------------- | |
| */ | |
| #ifndef GNSS_SDR_GALILEO_INAV_MESSAGE_H | |
| #define GNSS_SDR_GALILEO_INAV_MESSAGE_H | |
| #include "Galileo_INAV.h" | |
| #include "galileo_almanac_helper.h" | |
| #include "galileo_ephemeris.h" | |
| #include "galileo_iono.h" | |
| #include "galileo_utc_model.h" | |
| #include "gnss_sdr_make_unique.h" // for std::unique_ptr in C++11 | |
| #include <bitset> | |
| #include <cstdint> | |
| #include <memory> | |
| #include <string> | |
| #include <utility> | |
| #include <vector> | |
| class ReedSolomon; // Forward declaration of the ReedSolomon class | |
| /** \addtogroup Core | |
| * \{ */ | |
| /** \addtogroup System_Parameters | |
| * \{ */ | |
| /*! | |
| * \brief This class handles the Galileo I/NAV Data message, as described in the | |
| * Galileo Open Service Signal in Space Interface Control Document (OS SIS ICD), Issue 2.0 (Jan. 2021). | |
| * See https://www.gsc-europa.eu/sites/default/files/sites/all/files/Galileo_OS_SIS_ICD_v2.0.pdf | |
| */ | |
| class Galileo_Inav_Message | |
| { | |
| public: | |
| Galileo_Inav_Message(); | |
| ~Galileo_Inav_Message(); | |
| /* | |
| * \brief Takes in input a page (Odd or Even) of 120 bit, split it according ICD 4.3.2.3 and join Data_k with Data_j | |
| */ | |
| void split_page(std::string page_string, int32_t flag_even_word); | |
| /* | |
| * \brief Takes in input Data_jk (128 bit) and split it in ephemeris parameters according ICD 4.3.5 | |
| * | |
| * Takes in input Data_jk (128 bit) and split it in ephemeris parameters according ICD 4.3.5 | |
| */ | |
| int32_t page_jk_decoder(const char* data_jk); | |
| /* | |
| * \brief Returns true if new Ephemeris has arrived. The flag is set to false when the function is executed | |
| */ | |
| bool have_new_ephemeris(); | |
| /* | |
| * \brief Returns true if new Iono model has arrived. The flag is set to false when the function is executed | |
| */ | |
| bool have_new_iono_and_GST(); | |
| /* | |
| * \brief Returns true if new UTC model has arrived. The flag is set to false when the function is executed | |
| */ | |
| bool have_new_utc_model(); | |
| /* | |
| * \brief Returns true if new UTC model has arrived. The flag is set to false when the function is executed | |
| */ | |
| bool have_new_almanac(); | |
| /* | |
| * \brief Returns true if new Reduced CED parameters have arrived. The flag is set to false when the function is executed | |
| */ | |
| bool have_new_reduced_ced(); | |
| /* | |
| * \brief Returns a Galileo_Ephemeris object filled with the latest navigation data received | |
| */ | |
| Galileo_Ephemeris get_ephemeris() const; | |
| /* | |
| * \brief Returns a Galileo_Iono object filled with the latest navigation data received | |
| */ | |
| Galileo_Iono get_iono() const; | |
| /* | |
| * \brief Returns a Galileo_Utc_Model object filled with the latest navigation data received | |
| */ | |
| Galileo_Utc_Model get_utc_model() const; | |
| /* | |
| * \brief Returns a Galileo_Almanac_Helper object filled with the latest navigation data received | |
| */ | |
| Galileo_Almanac_Helper get_almanac() const; | |
| /* | |
| * \brief Returns a Galileo_Ephemeris object filled with the latest reduced CED received | |
| */ | |
| Galileo_Ephemeris get_reduced_ced() const; | |
| inline bool get_flag_CRC_test() const | |
| { | |
| return flag_CRC_test; | |
| } | |
| inline bool get_flag_TOW_set() const | |
| { | |
| return flag_TOW_set; | |
| } | |
| inline void set_flag_TOW_set(bool flag_tow) | |
| { | |
| flag_TOW_set = flag_tow; | |
| } | |
| inline int32_t get_Galileo_week() const | |
| { | |
| return WN_0; | |
| } | |
| inline int32_t get_TOW5() const | |
| { | |
| return TOW_5; | |
| } | |
| inline int32_t get_TOW6() const | |
| { | |
| return TOW_6; | |
| } | |
| inline bool is_TOW5_set() const | |
| { | |
| return flag_TOW_5; | |
| } | |
| inline void set_TOW5_flag(bool flag_tow5) | |
| { | |
| flag_TOW_5 = flag_tow5; | |
| } | |
| inline bool is_TOW6_set() const | |
| { | |
| return flag_TOW_6; | |
| } | |
| inline void set_TOW6_flag(bool flag_tow6) | |
| { | |
| flag_TOW_6 = flag_tow6; | |
| } | |
| inline int32_t get_TOW0() const | |
| { | |
| return TOW_0; | |
| } | |
| inline bool is_TOW0_set() const | |
| { | |
| return flag_TOW_0; | |
| } | |
| inline void set_TOW0_flag(bool flag_tow0) | |
| { | |
| flag_TOW_0 = flag_tow0; | |
| } | |
| inline bool get_flag_GGTO() const | |
| { | |
| return (flag_GGTO_1 == true and flag_GGTO_2 == true and flag_GGTO_3 == true and flag_GGTO_4 == true); | |
| } | |
| inline double get_A0G() const | |
| { | |
| return A_0G_10; | |
| } | |
| inline double get_A1G() const | |
| { | |
| return A_1G_10; | |
| } | |
| inline double get_t0G() const | |
| { | |
| return t_0G_10; | |
| } | |
| inline double get_WN0G() const | |
| { | |
| return WN_0G_10; | |
| } | |
| /* | |
| * \brief Initialize PRN field so we do not need to wait for page 4. | |
| */ | |
| inline void init_PRN(uint32_t prn) | |
| { | |
| SV_ID_PRN_4 = prn; | |
| } | |
| /* | |
| * \brief Enable Reed-Solomon in Galileo E1B | |
| */ | |
| inline void enable_reed_solomon() | |
| { | |
| enable_rs = true; | |
| } | |
| private: | |
| bool CRC_test(const std::bitset<GALILEO_DATA_FRAME_BITS>& bits, uint32_t checksum) const; | |
| bool read_navigation_bool(const std::bitset<GALILEO_DATA_JK_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const; | |
| uint64_t read_navigation_unsigned(const std::bitset<GALILEO_DATA_JK_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const; | |
| uint64_t read_page_type_unsigned(const std::bitset<GALILEO_PAGE_TYPE_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const; | |
| int64_t read_navigation_signed(const std::bitset<GALILEO_DATA_JK_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const; | |
| uint8_t read_octet_unsigned(const std::bitset<GALILEO_DATA_JK_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const; | |
| void read_page_1(const std::bitset<GALILEO_DATA_JK_BITS>& data_bits); | |
| void read_page_2(const std::bitset<GALILEO_DATA_JK_BITS>& data_bits); | |
| void read_page_3(const std::bitset<GALILEO_DATA_JK_BITS>& data_bits); | |
| void read_page_4(const std::bitset<GALILEO_DATA_JK_BITS>& data_bits); | |
| std::bitset<GALILEO_DATA_JK_BITS> regenerate_page_1(const std::vector<uint8_t>& decoded) const; | |
| std::bitset<GALILEO_DATA_JK_BITS> regenerate_page_2(const std::vector<uint8_t>& decoded) const; | |
| std::bitset<GALILEO_DATA_JK_BITS> regenerate_page_3(const std::vector<uint8_t>& decoded) const; | |
| std::bitset<GALILEO_DATA_JK_BITS> regenerate_page_4(const std::vector<uint8_t>& decoded) const; | |
| std::string page_Even{}; | |
| std::vector<uint8_t> rs_buffer; // Reed-Solomon buffer | |
| std::unique_ptr<ReedSolomon> rs; // The Reed-Solomon decoder | |
| std::vector<int> inav_rs_pages; // Pages 1,2,3,4,17,18,19,20. Holds 1 if the page has arrived, 0 otherwise. | |
| int32_t Page_type_time_stamp{}; | |
| int32_t IOD_ephemeris{}; | |
| // Word type 1: Ephemeris (1/4) | |
| int32_t IOD_nav_1{}; // IOD_nav page 1 | |
| int32_t t0e_1{}; // Ephemeris reference time [s] | |
| double M0_1{}; // Mean anomaly at reference time [rad] | |
| double e_1{}; // Eccentricity | |
| double A_1{}; // Square root of the semi-major axis [meters^1/2] | |
| // Word type 2: Ephemeris (2/4) | |
| int32_t IOD_nav_2{}; // IOD_nav page 2 | |
| double OMEGA_0_2{}; // Longitude of ascending node of orbital plane at weekly epoch [rad] | |
| double i_0_2{}; // Inclination angle at reference time [rad] | |
| double omega_2{}; // Argument of perigee [rad] | |
| double iDot_2{}; // Rate of inclination angle [rad/sec] | |
| // Word type 3: Ephemeris (3/4) and SISA | |
| int32_t IOD_nav_3{}; | |
| int32_t SISA_3{}; | |
| double OMEGA_dot_3{}; // Rate of right ascension [rad/sec] | |
| double delta_n_3{}; // Mean motion difference from computed value [rad/sec] | |
| double C_uc_3{}; // Amplitude of the cosine harmonic correction term to the argument of latitude [radians] | |
| double C_us_3{}; // Amplitude of the sine harmonic correction term to the argument of latitude [radians] | |
| double C_rc_3{}; // Amplitude of the cosine harmonic correction term to the orbit radius [meters] | |
| double C_rs_3{}; // Amplitude of the sine harmonic correction term to the orbit radius [meters] | |
| // Word type 4: Ephemeris (4/4) and Clock correction parameters*/ | |
| int32_t IOD_nav_4{}; // | |
| int32_t SV_ID_PRN_4{}; // | |
| double C_ic_4{}; // Amplitude of the cosine harmonic correction term to the angle of inclination [radians] | |
| double C_is_4{}; // Amplitude of the sine harmonic correction term to the angle of inclination [radians] | |
| // Clock correction parameters | |
| int32_t t0c_4{}; // Clock correction data reference Time of Week [sec] | |
| double af0_4{}; // SV clock bias correction coefficient [s] | |
| double af1_4{}; // SV clock drift correction coefficient [s/s] | |
| double af2_4{}; // clock drift rate correction coefficient [s/s^2] | |
| double spare_4{}; | |
| // Word type 5: Ionospheric correction, BGD, signal health and data validity status and GST*/ | |
| // Ionospheric correction | |
| double ai0_5{}; // Effective Ionisation Level 1st order parameter [sfu] | |
| double ai1_5{}; // Effective Ionisation Level 2st order parameter [sfu/degree] | |
| double ai2_5{}; // Effective Ionisation Level 3st order parameter [sfu/degree] | |
| double BGD_E1E5a_5{}; // E1-E5a Broadcast Group Delay [s] | |
| double BGD_E1E5b_5{}; // E1-E5b Broadcast Group Delay [s] | |
| int32_t E5b_HS_5{}; // E5b Signal Health Status | |
| int32_t E1B_HS_5{}; // E1B Signal Health Status | |
| // Ionospheric disturbance flag | |
| bool Region1_flag_5{}; // Ionospheric Disturbance Flag for region 1 | |
| bool Region2_flag_5{}; // Ionospheric Disturbance Flag for region 2 | |
| bool Region3_flag_5{}; // Ionospheric Disturbance Flag for region 3 | |
| bool Region4_flag_5{}; // Ionospheric Disturbance Flag for region 4 | |
| bool Region5_flag_5{}; // Ionospheric Disturbance Flag for region 5 | |
| bool E5b_DVS_5{}; // E5b Data Validity Status | |
| bool E1B_DVS_5{}; // E1B Data Validity Status | |
| // GST | |
| int32_t WN_5{}; | |
| int32_t TOW_5{}; | |
| double spare_5{}; | |
| // Word type 6: GST-UTC conversion parameters | |
| double A0_6{}; | |
| double A1_6{}; | |
| int32_t Delta_tLS_6{}; | |
| int32_t t0t_6{}; | |
| int32_t WNot_6{}; | |
| int32_t WN_LSF_6{}; | |
| int32_t DN_6{}; | |
| int32_t Delta_tLSF_6{}; | |
| int32_t TOW_6{}; | |
| // Word type 7: Almanac for SVID1 (1/2), almanac reference time and almanac reference week number | |
| int32_t IOD_a_7{}; | |
| int32_t WN_a_7{}; | |
| int32_t t0a_7{}; | |
| int32_t SVID1_7{}; | |
| double DELTA_A_7{}; | |
| double e_7{}; | |
| double omega_7{}; | |
| double delta_i_7{}; | |
| double Omega0_7{}; | |
| double Omega_dot_7{}; | |
| double M0_7{}; | |
| // Word type 8: Almanac for SVID1 (2/2) and SVID2 (1/2) | |
| int32_t IOD_a_8{}; | |
| int32_t E5b_HS_8{}; | |
| int32_t E1B_HS_8{}; | |
| int32_t SVID2_8{}; | |
| double af0_8{}; | |
| double af1_8{}; | |
| double DELTA_A_8{}; | |
| double e_8{}; | |
| double omega_8{}; | |
| double delta_i_8{}; | |
| double Omega0_8{}; | |
| double Omega_dot_8{}; | |
| // Word type 9: Almanac for SVID2 (2/2) and SVID3 (1/2) | |
| int32_t IOD_a_9{}; | |
| int32_t WN_a_9{}; | |
| int32_t t0a_9{}; | |
| double M0_9{}; | |
| double af0_9{}; | |
| double af1_9{}; | |
| int32_t E5b_HS_9{}; | |
| int32_t E1B_HS_9{}; | |
| int32_t SVID3_9{}; | |
| double DELTA_A_9{}; | |
| double e_9{}; | |
| double omega_9{}; | |
| double delta_i_9{}; | |
| // Word type 10: Almanac for SVID3 (2/2) and GST-GPS conversion parameters | |
| int32_t IOD_a_10{}; | |
| double Omega0_10{}; | |
| double Omega_dot_10{}; | |
| double M0_10{}; | |
| double af0_10{}; | |
| double af1_10{}; | |
| int32_t E5b_HS_10{}; | |
| int32_t E1B_HS_10{}; | |
| // GST-GPS conversion | |
| double A_0G_10{}; // Constant term of the offset Delta t systems | |
| double A_1G_10{}; // Rate of change of the offset Delta t systems | |
| int32_t t_0G_10{}; // Reference time for Galileo/GPS Time Offset (GGTO) data | |
| int32_t WN_0G_10{}; // Week Number of Galileo/GPS Time Offset (GGTO) reference | |
| // Word type 0: I/NAV Spare Word | |
| int32_t Time_0{}; | |
| int32_t WN_0{}; | |
| int32_t TOW_0{}; | |
| // Word type 16: Reduced Clock and Ephemeris Data (CED) parameters | |
| double ced_DeltaAred{}; | |
| double ced_exred{}; | |
| double ced_eyred{}; | |
| double ced_Deltai0red{}; | |
| double ced_Omega0red{}; | |
| double ced_lambda0red{}; | |
| double ced_af0red{}; | |
| double ced_af1red{}; | |
| double Galileo_satClkDrift{}; | |
| int32_t current_IODnav{}; | |
| uint8_t IODnav_LSB17{}; | |
| uint8_t IODnav_LSB18{}; | |
| uint8_t IODnav_LSB19{}; | |
| uint8_t IODnav_LSB20{}; | |
| bool flag_CRC_test{}; | |
| bool flag_all_ephemeris{}; // Flag indicating that all words containing ephemeris have been received | |
| bool flag_ephemeris_1{}; // Flag indicating that ephemeris 1/4 (word 1) have been received | |
| bool flag_ephemeris_2{}; // Flag indicating that ephemeris 2/4 (word 2) have been received | |
| bool flag_ephemeris_3{}; // Flag indicating that ephemeris 3/4 (word 3) have been received | |
| bool flag_ephemeris_4{}; // Flag indicating that ephemeris 4/4 (word 4) have been received | |
| bool flag_iono_and_GST{}; // Flag indicating that ionospheric and GST parameters (word 5) have been received | |
| bool flag_TOW_5{}; | |
| bool flag_TOW_6{}; | |
| bool flag_TOW_0{}; | |
| bool flag_TOW_set{}; // it is true when page 5 or page 6 arrives | |
| bool flag_utc_model{}; // Flag indicating that utc model parameters (word 6) have been received | |
| bool flag_all_almanac{}; // Flag indicating that all Almanac data have been received | |
| bool flag_almanac_1{}; // Flag indicating that almanac 1/4 (word 7) have been received | |
| bool flag_almanac_2{}; // Flag indicating that almanac 2/4 (word 8) have been received | |
| bool flag_almanac_3{}; // Flag indicating that almanac 3/4 (word 9) have been received | |
| bool flag_almanac_4{}; // Flag indicating that almanac 4/4 (word 10) have been received | |
| bool flag_GGTO_1{}; | |
| bool flag_GGTO_2{}; | |
| bool flag_GGTO_3{}; | |
| bool flag_GGTO_4{}; | |
| bool flag_CED{}; | |
| bool enable_rs{}; | |
| }; | |
| /** \} */ | |
| /** \} */ | |
| #endif // GNSS_SDR_GALILEO_INAV_MESSAGE_H |