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rtcm.c
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rtcm.c
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/*------------------------------------------------------------------------------
* rtcm3.c : RTCM ver.3 message decorder functions
*
* Copyright (C) 2009-2020 by T.TAKASU, All rights reserved.
*
* references :
* see rtcm.c
*
* version : $Revision:$ $Date:$
* history : 2012/05/14 1.0 separated from rtcm.c
* 2012/12/12 1.1 support gal/qzs ephemeris, gal/qzs ssr, msm
* add station id consistency test for obs data
* 2012/12/25 1.2 change compass msm id table
* 2013/01/31 1.3 change signal id by the latest draft (ref [13])
* 2013/02/23 1.4 change reference for rtcm 3 message (ref [14])
* 2013/05/19 1.5 gpst -> bdt of time-tag in beidou msm message
* 2014/05/02 1.6 fix bug on dropping last field of ssr message
* comply with rtcm 3.2 with amendment 1/2 (ref[15])
* delete MT 1046 according to ref [15]
* 2014/09/14 1.7 add receiver option -RT_INP
* 2014/12/06 1.8 support SBAS/BeiDou SSR messages (ref [16])
* 2015/03/22 1.9 add handling of iodcrc for beidou/sbas ssr messages
* 2015/04/27 1.10 support phase bias messages (MT2065-2070)
* 2015/09/07 1.11 add message count of MT 2000-2099
* 2015/10/21 1.12 add MT1046 support for IGS MGEX
* fix bug on decode of SSR 3/7 (code/phase bias)
* 2015/12/04 1.13 add MT63 beidou ephemeris (rtcm draft)
* fix bug on ssr 3 message decoding (#321)
* 2016/01/22 1.14 fix bug on L2C code in MT1004 (#131)
* 2016/08/20 1.15 fix bug on loss-of-lock detection in MSM 6/7 (#134)
* 2016/09/20 1.16 fix bug on MT1045 Galileo week rollover
* 2016/10/09 1.17 support MT1029 unicode text string
* 2017/04/11 1.18 fix bug on unchange-test of beidou ephemeris
* fix bug on week number in galileo ephemeris struct
* 2018/10/10 1.19 merge changes for 2.4.2 p13
* fix problem on eph.code for galileo ephemeris
* change mt for ssr 7 phase biases
* add rtcm option -GALINAV, -GALFNAV
* 2018/11/05 1.20 fix problem on invalid time in message monitor
* 2019/05/10 1.21 save galileo E5b data to obs index 2
* 2020/11/30 1.22 support MT1230 GLONASS code-phase biases
* support MT1131-1137,1041 (NavIC MSM and ephemeris)
* support MT4076 IGS SSR
* update MSM signal ID table (ref [17])
* update SSR signal and tracking mode ID table
* add week adjustment in MT1019,1044,1045,1046,1042
* use API code2idx() to get freq-index
* use API code2freq() to get carrier frequency
* use integer types in stdint.h
*-----------------------------------------------------------------------------*/
#include "rtcm.h"
#include "rtkcmn.h"
/* constants -----------------------------------------------------------------*/
#define PRUNIT_GPS 299792.458 /* rtcm ver.3 unit of gps pseudorange (m) */
#define PRUNIT_GLO 599584.916 /* rtcm ver.3 unit of glonass pseudorange (m) */
#define RANGE_MS (CLIGHT*0.001) /* range in 1 ms */
#define P2_10 0.0009765625 /* 2^-10 */
#define P2_28 3.725290298461914E-09 /* 2^-28 */
#define P2_34 5.820766091346740E-11 /* 2^-34 */
#define P2_41 4.547473508864641E-13 /* 2^-41 */
#define P2_46 1.421085471520200E-14 /* 2^-46 */
#define P2_59 1.734723475976810E-18 /* 2^-59 */
#define P2_66 1.355252715606880E-20 /* 2^-66 */
/* type definition -----------------------------------------------------------*/
typedef struct { /* multi-signal-message header type */
uint8_t iod; /* issue of data station */
uint8_t time_s; /* cumulative session transmitting time */
uint8_t clk_str; /* clock steering indicator */
uint8_t clk_ext; /* external clock indicator */
uint8_t smooth; /* divergence free smoothing indicator */
uint8_t tint_s; /* soothing interval */
uint8_t nsat,nsig; /* number of satellites/signals */
uint8_t sats[64]; /* satellites */
uint8_t sigs[32]; /* signals */
uint8_t cellmask[64]; /* cell mask */
} msm_h_t;
/* MSM signal ID table -------------------------------------------------------*/
const char *msm_sig_gps[32]={
/* GPS: ref [17] table 3.5-91 */
"" ,"1C","1P","1W","" ,"" ,"" ,"2C","2P","2W","" ,"" , /* 1-12 */
"" ,"" ,"2S","2L","2X","" ,"" ,"" ,"" ,"5I","5Q","5X", /* 13-24 */
"" ,"" ,"" ,"" ,"" ,"1S","1L","1X" /* 25-32 */
};
const char *msm_sig_glo[32]={
/* GLONASS: ref [17] table 3.5-96 */
"" ,"1C","1P","" ,"" ,"" ,"" ,"2C","2P","" ,"" ,"" ,
"" ,"" ,"" ,"" ,"" ,"" ,"" ,"" ,"" ,"" ,"" ,"" ,
"" ,"" ,"" ,"" ,"" ,"" ,"" ,""
};
const char *msm_sig_gal[32]={
/* Galileo: ref [17] table 3.5-99 */
"" ,"1C","1A","1B","1X","1Z","" ,"6C","6A","6B","6X","6Z",
"" ,"7I","7Q","7X","" ,"8I","8Q","8X","" ,"5I","5Q","5X",
"" ,"" ,"" ,"" ,"" ,"" ,"" ,""
};
const char *msm_sig_qzs[32]={
/* QZSS: ref [17] table 3.5-105 */
"" ,"1C","" ,"" ,"" ,"" ,"" ,"" ,"6S","6L","6X","" ,
"" ,"" ,"2S","2L","2X","" ,"" ,"" ,"" ,"5I","5Q","5X",
"" ,"" ,"" ,"" ,"" ,"1S","1L","1X"
};
const char *msm_sig_sbs[32]={
/* SBAS: ref [17] table 3.5-102 */
"" ,"1C","" ,"" ,"" ,"" ,"" ,"" ,"" ,"" ,"" ,"" ,
"" ,"" ,"" ,"" ,"" ,"" ,"" ,"" ,"" ,"5I","5Q","5X",
"" ,"" ,"" ,"" ,"" ,"" ,"" ,""
};
const char *msm_sig_cmp[32]={
/* BeiDou: ref [17] table 3.5-108 */
"" ,"2I","2Q","2X","" ,"" ,"" ,"6I","6Q","6X","" ,"" ,
"" ,"7I","7Q","7X","" ,"" ,"" ,"" ,"" ,"" ,"" ,"" ,
"" ,"" ,"" ,"" ,"" ,"" ,"" ,""
};
const char *msm_sig_irn[32]={
/* NavIC/IRNSS: ref [17] table 3.5-108.3 */
"" ,"" ,"" ,"" ,"" ,"" ,"" ,"" ,"" ,"" ,"" ,"" ,
"" ,"" ,"" ,"" ,"" ,"" ,"" ,"" ,"" ,"5A","" ,"" ,
"" ,"" ,"" ,"" ,"" ,"" ,"" ,""
};
/* SSR signal and tracking mode IDs ------------------------------------------*/
const uint8_t ssr_sig_gps[32]={
CODE_L1C,CODE_L1P,CODE_L1W,CODE_L1S,CODE_L1L,CODE_L2C,CODE_L2D,CODE_L2S,
CODE_L2L,CODE_L2X,CODE_L2P,CODE_L2W, 0, 0,CODE_L5I,CODE_L5Q
};
const uint8_t ssr_sig_glo[32]={
CODE_L1C,CODE_L1P,CODE_L2C,CODE_L2P,CODE_L4A,CODE_L4B,CODE_L6A,CODE_L6B,
CODE_L3I,CODE_L3Q
};
const uint8_t ssr_sig_gal[32]={
CODE_L1A,CODE_L1B,CODE_L1C, 0, 0,CODE_L5I,CODE_L5Q, 0,
CODE_L7I,CODE_L7Q, 0,CODE_L8I,CODE_L8Q, 0,CODE_L6A,CODE_L6B,
CODE_L6C
};
const uint8_t ssr_sig_qzs[32]={
CODE_L1C,CODE_L1S,CODE_L1L,CODE_L2S,CODE_L2L, 0,CODE_L5I,CODE_L5Q,
0,CODE_L6S,CODE_L6L, 0, 0, 0, 0, 0,
0,CODE_L6E
};
const uint8_t ssr_sig_cmp[32]={
CODE_L2I,CODE_L2Q, 0,CODE_L6I,CODE_L6Q, 0,CODE_L7I,CODE_L7Q,
0,CODE_L1D,CODE_L1P, 0,CODE_L5D,CODE_L5P, 0,CODE_L1A,
0, 0,CODE_L6A
};
const uint8_t ssr_sig_sbs[32]={
CODE_L1C,CODE_L5I,CODE_L5Q
};
/* SSR update intervals ------------------------------------------------------*/
static const double ssrudint[16]={
1,2,5,10,15,30,60,120,240,300,600,900,1800,3600,7200,10800
};
/* get sign-magnitude bits ---------------------------------------------------*/
static double getbitg(const uint8_t *buff, int pos, int len)
{
double value=getbitu(buff,pos+1,len-1);
return getbitu(buff,pos,1)?-value:value;
}
/* adjust weekly rollover of GPS time ----------------------------------------*/
static void adjweek(rtcm_t *rtcm, double tow)
{
double tow_p;
int week;
/* if no time, get cpu time */
if (rtcm->time.time==0) rtcm->time=utc2gpst(timeget());
tow_p=time2gpst(rtcm->time,&week);
if (tow<tow_p-302400.0) tow+=604800.0;
else if (tow>tow_p+302400.0) tow-=604800.0;
rtcm->time=gpst2time(week,tow);
}
/* adjust weekly rollover of BDS time ----------------------------------------*/
static int adjbdtweek(int week)
{
int w;
(void)time2bdt(gpst2bdt(utc2gpst(timeget())),&w);
if (w<1) w=1; /* use 2006/1/1 if time is earlier than 2006/1/1 */
return week+(w-week+512)/1024*1024;
}
/* adjust daily rollover of GLONASS time -------------------------------------*/
static void adjday_glot(rtcm_t *rtcm, double tod)
{
gtime_t time;
double tow,tod_p;
int week;
if (rtcm->time.time==0) rtcm->time=utc2gpst(timeget());
time=timeadd(gpst2utc(rtcm->time),10800.0); /* glonass time */
tow=time2gpst(time,&week);
tod_p=fmod(tow,86400.0); tow-=tod_p;
if (tod<tod_p-43200.0) tod+=86400.0;
else if (tod>tod_p+43200.0) tod-=86400.0;
time=gpst2time(week,tow+tod);
rtcm->time=utc2gpst(timeadd(time,-10800.0));
}
/* adjust carrier-phase rollover ---------------------------------------------*/
static double adjcp(rtcm_t *rtcm, int sat, int idx, double cp)
{
if (rtcm->cp[sat-1][idx]==0.0) ;
else if (cp<rtcm->cp[sat-1][idx]-750.0) cp+=1500.0;
else if (cp>rtcm->cp[sat-1][idx]+750.0) cp-=1500.0;
rtcm->cp[sat-1][idx]=cp;
return cp;
}
/* loss-of-lock indicator ----------------------------------------------------*/
static int lossoflock(rtcm_t *rtcm, int sat, int idx, int lock)
{
int lli=(!lock&&!rtcm->lock[sat-1][idx])||lock<rtcm->lock[sat-1][idx];
rtcm->lock[sat-1][idx]=(uint16_t)lock;
return lli;
}
/* S/N ratio -----------------------------------------------------------------*/
static uint16_t snratio(double snr)
{
return (uint16_t)(snr<=0.0||100.0<=snr?0.0:snr/SNR_UNIT+0.5);
}
/* get observation data index ------------------------------------------------*/
static int obsindex(obs_t *obs, gtime_t time, int sat)
{
int i,j;
for (i=0;i<obs->n;i++) {
if (obs->data[i].sat==sat) return i; /* field already exists */
}
if (i>=MAXOBS) return -1; /* overflow */
/* add new field */
obs->data[i].time=time;
obs->data[i].sat=sat;
for (j=0;j<NFREQ+NEXOBS;j++) {
obs->data[i].L[j]=obs->data[i].P[j]=0.0;
obs->data[i].D[j]=0.0;
obs->data[i].SNR[j]=obs->data[i].LLI[j]=obs->data[i].code[j]=0;
}
obs->n++;
return i;
}
/* test station ID consistency -----------------------------------------------*/
static int test_staid(rtcm_t *rtcm, int staid)
{
char *p;
int type,id;
/* test station id option */
if ((p=strstr(rtcm->opt,"-STA="))&&sscanf(p,"-STA=%d",&id)==1) {
if (staid!=id) return 0;
}
/* save station id */
if (rtcm->staid==0||rtcm->obsflag) {
rtcm->staid=staid;
}
else if (staid!=rtcm->staid) {
type=getbitu(rtcm->buff,24,12);
trace(2,"rtcm3 %d staid invalid id=%d %d\n",type,staid,rtcm->staid);
/* reset station id if station id error */
rtcm->staid=0;
return 0;
}
return 1;
}
/* decode type 1001-1004 message header --------------------------------------*/
static int decode_head1001(rtcm_t *rtcm, int *sync)
{
double tow;
char *msg,tstr[64];
int i=24,staid,nsat,type;
type=getbitu(rtcm->buff,i,12); i+=12;
if (i+52<=rtcm->len*8) {
staid=getbitu(rtcm->buff,i,12); i+=12;
tow =getbitu(rtcm->buff,i,30)*0.001; i+=30;
*sync=getbitu(rtcm->buff,i, 1); i+= 1;
nsat =getbitu(rtcm->buff,i, 5);
}
else {
trace(2,"rtcm3 %d length error: len=%d\n",type,rtcm->len);
return -1;
}
/* test station ID */
if (!test_staid(rtcm,staid)) return -1;
adjweek(rtcm,tow);
time2str(rtcm->time,tstr,2);
trace(4,"decode_head1001: time=%s nsat=%d sync=%d\n",tstr,nsat,*sync);
if (rtcm->outtype) {
msg=rtcm->msgtype+strlen(rtcm->msgtype);
sprintf(msg," staid=%4d %s nsat=%2d sync=%d",staid,tstr,nsat,*sync);
}
return nsat;
}
/* decode type 1001: L1-only GPS RTK observation -----------------------------*/
static int decode_type1001(rtcm_t *rtcm)
{
int sync;
if (decode_head1001(rtcm,&sync)<0) return -1;
rtcm->obsflag=!sync;
return sync?0:1;
}
/* decode type 1002: extended L1-only GPS RTK observables --------------------*/
static int decode_type1002(rtcm_t *rtcm)
{
double pr1,cnr1,tt,cp1,freq=FREQ1;
int i=24+64,j,index,nsat,sync,prn,code,sat,ppr1,lock1,amb,sys;
if ((nsat=decode_head1001(rtcm,&sync))<0) return -1;
for (j=0;j<nsat&&rtcm->obs.n<MAXOBS&&i+74<=rtcm->len*8;j++) {
prn =getbitu(rtcm->buff,i, 6); i+= 6;
code =getbitu(rtcm->buff,i, 1); i+= 1;
pr1 =getbitu(rtcm->buff,i,24); i+=24;
ppr1 =getbits(rtcm->buff,i,20); i+=20;
lock1=getbitu(rtcm->buff,i, 7); i+= 7;
amb =getbitu(rtcm->buff,i, 8); i+= 8;
cnr1 =getbitu(rtcm->buff,i, 8); i+= 8;
if (prn<40) {
sys=SYS_GPS;
}
else {
sys=SYS_SBS; prn+=80;
}
if (!(sat=satno(sys,prn))) {
trace(2,"rtcm3 1002 satellite number error: prn=%d\n",prn);
continue;
}
tt=timediff(rtcm->obs.data[0].time,rtcm->time);
if (rtcm->obsflag||fabs(tt)>1E-9) {
rtcm->obs.n=rtcm->obsflag=0;
}
if ((index=obsindex(&rtcm->obs,rtcm->time,sat))<0) continue;
pr1=pr1*0.02+amb*PRUNIT_GPS;
rtcm->obs.data[index].P[0]=pr1;
if (ppr1!=(int)0xFFF80000) {
cp1=adjcp(rtcm,sat,0,ppr1*0.0005*freq/CLIGHT);
rtcm->obs.data[index].L[0]=pr1*freq/CLIGHT+cp1;
}
rtcm->obs.data[index].LLI[0]=lossoflock(rtcm,sat,0,lock1);
rtcm->obs.data[index].SNR[0]=snratio(cnr1*0.25);
rtcm->obs.data[index].code[0]=code?CODE_L1P:CODE_L1C;
}
return sync?0:1;
}
/* decode type 1003: L1&L2 gps rtk observables -------------------------------*/
static int decode_type1003(rtcm_t *rtcm)
{
int sync;
if (decode_head1001(rtcm,&sync)<0) return -1;
rtcm->obsflag=!sync;
return sync?0:1;
}
/* decode type 1004: extended L1&L2 GPS RTK observables ----------------------*/
static int decode_type1004(rtcm_t *rtcm)
{
const int L2codes[]={CODE_L2X,CODE_L2P,CODE_L2D,CODE_L2W};
double pr1,cnr1,cnr2,tt,cp1,cp2,freq[2]={FREQ1,FREQ2};
int i=24+64,j,index,nsat,sync,prn,sat,code1,code2,pr21,ppr1,ppr2;
int lock1,lock2,amb,sys;
if ((nsat=decode_head1001(rtcm,&sync))<0) return -1;
for (j=0;j<nsat&&rtcm->obs.n>0&&rtcm->obs.n<MAXOBS&&i+125<=rtcm->len*8;j++) {
prn =getbitu(rtcm->buff,i, 6); i+= 6;
code1=getbitu(rtcm->buff,i, 1); i+= 1;
pr1 =getbitu(rtcm->buff,i,24); i+=24;
ppr1 =getbits(rtcm->buff,i,20); i+=20;
lock1=getbitu(rtcm->buff,i, 7); i+= 7;
amb =getbitu(rtcm->buff,i, 8); i+= 8;
cnr1 =getbitu(rtcm->buff,i, 8); i+= 8;
code2=getbitu(rtcm->buff,i, 2); i+= 2;
pr21 =getbits(rtcm->buff,i,14); i+=14;
ppr2 =getbits(rtcm->buff,i,20); i+=20;
lock2=getbitu(rtcm->buff,i, 7); i+= 7;
cnr2 =getbitu(rtcm->buff,i, 8); i+= 8;
if (prn<40) {
sys=SYS_GPS;
}
else {
sys=SYS_SBS; prn+=80;
}
if (!(sat=satno(sys,prn))) {
trace(2,"rtcm3 1004 satellite number error: sys=%d prn=%d\n",sys,prn);
continue;
}
tt=timediff(rtcm->obs.data[0].time,rtcm->time);
if (rtcm->obsflag||fabs(tt)>1E-9) {
rtcm->obs.n=rtcm->obsflag=0;
}
if ((index=obsindex(&rtcm->obs,rtcm->time,sat))<0) continue;
pr1=pr1*0.02+amb*PRUNIT_GPS;
rtcm->obs.data[index].P[0]=pr1;
if (ppr1!=(int)0xFFF80000) {
cp1=adjcp(rtcm,sat,0,ppr1*0.0005*freq[0]/CLIGHT);
rtcm->obs.data[index].L[0]=pr1*freq[0]/CLIGHT+cp1;
}
rtcm->obs.data[index].LLI[0]=lossoflock(rtcm,sat,0,lock1);
rtcm->obs.data[index].SNR[0]=snratio(cnr1*0.25);
rtcm->obs.data[index].code[0]=code1?CODE_L1P:CODE_L1C;
if (pr21!=(int)0xFFFFE000) {
rtcm->obs.data[index].P[1]=pr1+pr21*0.02;
}
if (ppr2!=(int)0xFFF80000) {
cp2=adjcp(rtcm,sat,1,ppr2*0.0005*freq[1]/CLIGHT);
rtcm->obs.data[index].L[1]=pr1*freq[1]/CLIGHT+cp2;
}
rtcm->obs.data[index].LLI[1]=lossoflock(rtcm,sat,1,lock2);
rtcm->obs.data[index].SNR[1]=snratio(cnr2*0.25);
rtcm->obs.data[index].code[1]=L2codes[code2];
}
rtcm->obsflag=!sync;
return sync?0:1;
}
/* get signed 38bit field ----------------------------------------------------*/
static double getbits_38(const uint8_t *buff, int pos)
{
return (double)getbits(buff,pos,32)*64.0+getbitu(buff,pos+32,6);
}
/* decode type 1005: stationary RTK reference station ARP --------------------*/
static int decode_type1005(rtcm_t *rtcm)
{
double rr[3],re[3],pos[3];
char *msg;
int i=24+12,j,staid,itrf;
if (i+140==rtcm->len*8) {
staid=getbitu(rtcm->buff,i,12); i+=12;
itrf =getbitu(rtcm->buff,i, 6); i+= 6+4;
rr[0]=getbits_38(rtcm->buff,i); i+=38+2;
rr[1]=getbits_38(rtcm->buff,i); i+=38+2;
rr[2]=getbits_38(rtcm->buff,i);
}
else {
trace(2,"rtcm3 1005 length error: len=%d\n",rtcm->len);
return -1;
}
if (rtcm->outtype) {
msg=rtcm->msgtype+strlen(rtcm->msgtype);
for (j=0;j<3;j++) re[j]=rr[j]*0.0001;
ecef2pos(re,pos);
sprintf(msg," staid=%4d pos=%.8f %.8f %.3f",staid,pos[0]*R2D,pos[1]*R2D,
pos[2]);
}
/* test station id */
if (!test_staid(rtcm,staid)) return -1;
sprintf(rtcm->sta.name,"%04d",staid);
rtcm->sta.deltype=0; /* xyz */
for (j=0;j<3;j++) {
rtcm->sta.pos[j]=rr[j]*0.0001;
rtcm->sta.del[j]=0.0;
}
rtcm->sta.hgt=0.0;
rtcm->sta.itrf=itrf;
return 5;
}
/* decode type 1006: stationary RTK reference station ARP with height --------*/
static int decode_type1006(rtcm_t *rtcm)
{
double rr[3],re[3],pos[3],anth;
char *msg;
int i=24+12,j,staid,itrf;
if (i+156<=rtcm->len*8) {
staid=getbitu(rtcm->buff,i,12); i+=12;
itrf =getbitu(rtcm->buff,i, 6); i+= 6+4;
rr[0]=getbits_38(rtcm->buff,i); i+=38+2;
rr[1]=getbits_38(rtcm->buff,i); i+=38+2;
rr[2]=getbits_38(rtcm->buff,i); i+=38;
anth =getbitu(rtcm->buff,i,16);
}
else {
trace(2,"rtcm3 1006 length error: len=%d\n",rtcm->len);
return -1;
}
if (rtcm->outtype) {
msg=rtcm->msgtype+strlen(rtcm->msgtype);
for (j=0;j<3;j++) re[j]=rr[j]*0.0001;
ecef2pos(re,pos);
sprintf(msg," staid=%4d pos=%.8f %.8f %.3f anth=%.3f",staid,pos[0]*R2D,
pos[1]*R2D,pos[2],anth*0.0001);
}
/* test station id */
if (!test_staid(rtcm,staid)) return -1;
sprintf(rtcm->sta.name,"%04d",staid);
rtcm->sta.deltype=1; /* xyz */
for (j=0;j<3;j++) {
rtcm->sta.pos[j]=rr[j]*0.0001;
rtcm->sta.del[j]=0.0;
}
rtcm->sta.hgt=anth*0.0001;
rtcm->sta.itrf=itrf;
return 5;
}
/* decode type 1007: antenna descriptor --------------------------------------*/
static int decode_type1007(rtcm_t *rtcm)
{
char des[32]="";
char *msg;
int i=24+12,j,staid,n,setup;
n=getbitu(rtcm->buff,i+12,8);
if (i+28+8*n<=rtcm->len*8) {
staid=getbitu(rtcm->buff,i,12); i+=12+8;
for (j=0;j<n&&j<31;j++) {
des[j]=(char)getbitu(rtcm->buff,i,8); i+=8;
}
setup=getbitu(rtcm->buff,i, 8);
}
else {
trace(2,"rtcm3 1007 length error: len=%d\n",rtcm->len);
return -1;
}
if (rtcm->outtype) {
msg=rtcm->msgtype+strlen(rtcm->msgtype);
sprintf(msg," staid=%4d",staid);
}
/* test station ID */
if (!test_staid(rtcm,staid)) return -1;
sprintf(rtcm->sta.name,"%04d",staid);
strncpy(rtcm->sta.antdes,des,n); rtcm->sta.antdes[n]='\0';
rtcm->sta.antsetup=setup;
rtcm->sta.antsno[0]='\0';
return 5;
}
/* decode type 1008: antenna descriptor & serial number ----------------------*/
static int decode_type1008(rtcm_t *rtcm)
{
char des[32]="",sno[32]="";
char *msg;
int i=24+12,j,staid,n,m,setup;
n=getbitu(rtcm->buff,i+12,8);
m=getbitu(rtcm->buff,i+28+8*n,8);
if (i+36+8*(n+m)<=rtcm->len*8) {
staid=getbitu(rtcm->buff,i,12); i+=12+8;
for (j=0;j<n&&j<31;j++) {
des[j]=(char)getbitu(rtcm->buff,i,8); i+=8;
}
setup=getbitu(rtcm->buff,i, 8); i+=8+8;
for (j=0;j<m&&j<31;j++) {
sno[j]=(char)getbitu(rtcm->buff,i,8); i+=8;
}
}
else {
trace(2,"rtcm3 1008 length error: len=%d\n",rtcm->len);
return -1;
}
if (rtcm->outtype) {
msg=rtcm->msgtype+strlen(rtcm->msgtype);
sprintf(msg," staid=%4d",staid);
}
/* test station ID */
if (!test_staid(rtcm,staid)) return -1;
sprintf(rtcm->sta.name,"%04d",staid);
strncpy(rtcm->sta.antdes,des,n); rtcm->sta.antdes[n]='\0';
rtcm->sta.antsetup=setup;
strncpy(rtcm->sta.antsno,sno,m); rtcm->sta.antsno[m]='\0';
return 5;
}
/* decode type 1009-1012 message header --------------------------------------*/
static int decode_head1009(rtcm_t *rtcm, int *sync)
{
double tod;
char *msg,tstr[64];
int i=24,staid,nsat,type;
type=getbitu(rtcm->buff,i,12); i+=12;
if (i+49<=rtcm->len*8) {
staid=getbitu(rtcm->buff,i,12); i+=12;
tod =getbitu(rtcm->buff,i,27)*0.001; i+=27; /* sec in a day */
*sync=getbitu(rtcm->buff,i, 1); i+= 1;
nsat =getbitu(rtcm->buff,i, 5);
}
else {
trace(2,"rtcm3 %d length error: len=%d\n",type,rtcm->len);
return -1;
}
/* test station ID */
if (!test_staid(rtcm,staid)) return -1;
adjday_glot(rtcm,tod);
time2str(rtcm->time,tstr,2);
trace(4,"decode_head1009: time=%s nsat=%d sync=%d\n",tstr,nsat,*sync);
if (rtcm->outtype) {
msg=rtcm->msgtype+strlen(rtcm->msgtype);
sprintf(msg," staid=%4d %s nsat=%2d sync=%d",staid,tstr,nsat,*sync);
}
return nsat;
}
/* decode type 1009: L1-only glonass rtk observables -------------------------*/
static int decode_type1009(rtcm_t *rtcm)
{
int sync;
if (decode_head1009(rtcm,&sync)<0) return -1;
rtcm->obsflag=!sync;
return sync?0:1;
}
/* decode type 1010: extended L1-only glonass rtk observables ----------------*/
static int decode_type1010(rtcm_t *rtcm)
{
double pr1,cnr1,tt,cp1,freq1;
int i=24+61,j,index,nsat,sync,prn,sat,code,fcn,ppr1,lock1,amb,sys=SYS_GLO;
if ((nsat=decode_head1009(rtcm,&sync))<0) return -1;
for (j=0;j<nsat&&rtcm->obs.n<MAXOBS&&i+79<=rtcm->len*8;j++) {
prn =getbitu(rtcm->buff,i, 6); i+= 6;
code =getbitu(rtcm->buff,i, 1); i+= 1;
fcn =getbitu(rtcm->buff,i, 5); i+= 5; /* fcn+7 */
pr1 =getbitu(rtcm->buff,i,25); i+=25;
ppr1 =getbits(rtcm->buff,i,20); i+=20;
lock1=getbitu(rtcm->buff,i, 7); i+= 7;
amb =getbitu(rtcm->buff,i, 7); i+= 7;
cnr1 =getbitu(rtcm->buff,i, 8); i+= 8;
if (!(sat=satno(sys,prn))) {
trace(2,"rtcm3 1010 satellite number error: prn=%d\n",prn);
continue;
}
if (!rtcm->nav.glo_fcn[prn-1]) {
rtcm->nav.glo_fcn[prn-1]=fcn-7+8; /* fcn+8 */
}
tt=timediff(rtcm->obs.data[0].time,rtcm->time);
if (rtcm->obsflag||fabs(tt)>1E-9) {
rtcm->obs.n=rtcm->obsflag=0;
}
if ((index=obsindex(&rtcm->obs,rtcm->time,sat))<0) continue;
pr1=pr1*0.02+amb*PRUNIT_GLO;
rtcm->obs.data[index].P[0]=pr1;
if (ppr1!=(int)0xFFF80000) {
freq1=code2freq(SYS_GLO,CODE_L1C,fcn-7);
cp1=adjcp(rtcm,sat,0,ppr1*0.0005*freq1/CLIGHT);
rtcm->obs.data[index].L[0]=pr1*freq1/CLIGHT+cp1;
}
rtcm->obs.data[index].LLI[0]=lossoflock(rtcm,sat,0,lock1);
rtcm->obs.data[index].SNR[0]=snratio(cnr1*0.25);
rtcm->obs.data[index].code[0]=code?CODE_L1P:CODE_L1C;
}
return sync?0:1;
}
/* decode type 1011: L1&L2 GLONASS RTK observables ---------------------------*/
static int decode_type1011(rtcm_t *rtcm)
{
int sync;
if (decode_head1009(rtcm,&sync)<0) return -1;
rtcm->obsflag=!sync;
return sync?0:1;
}
/* decode type 1012: extended L1&L2 GLONASS RTK observables ------------------*/
static int decode_type1012(rtcm_t *rtcm)
{
double pr1,cnr1,cnr2,tt,cp1,cp2,freq1,freq2;
int i=24+61,j,index,nsat,sync,prn,sat,fcn,code1,code2,pr21,ppr1,ppr2;
int lock1,lock2,amb,sys=SYS_GLO;
if ((nsat=decode_head1009(rtcm,&sync))<0) return -1;
for (j=0;j<nsat&&rtcm->obs.n<MAXOBS&&i+130<=rtcm->len*8;j++) {
prn =getbitu(rtcm->buff,i, 6); i+= 6;
code1=getbitu(rtcm->buff,i, 1); i+= 1;
fcn =getbitu(rtcm->buff,i, 5); i+= 5; /* fcn+7 */
pr1 =getbitu(rtcm->buff,i,25); i+=25;
ppr1 =getbits(rtcm->buff,i,20); i+=20;
lock1=getbitu(rtcm->buff,i, 7); i+= 7;
amb =getbitu(rtcm->buff,i, 7); i+= 7;
cnr1 =getbitu(rtcm->buff,i, 8); i+= 8;
code2=getbitu(rtcm->buff,i, 2); i+= 2;
pr21 =getbits(rtcm->buff,i,14); i+=14;
ppr2 =getbits(rtcm->buff,i,20); i+=20;
lock2=getbitu(rtcm->buff,i, 7); i+= 7;
cnr2 =getbitu(rtcm->buff,i, 8); i+= 8;
if (!(sat=satno(sys,prn))) {
trace(2,"rtcm3 1012 satellite number error: sys=%d prn=%d\n",sys,prn);
continue;
}
if (!rtcm->nav.glo_fcn[prn-1]) {
rtcm->nav.glo_fcn[prn-1]=fcn-7+8; /* fcn+8 */
}
tt=timediff(rtcm->obs.data[0].time,rtcm->time);
if (rtcm->obsflag||fabs(tt)>1E-9) {
rtcm->obs.n=rtcm->obsflag=0;
}
if ((index=obsindex(&rtcm->obs,rtcm->time,sat))<0) continue;
pr1=pr1*0.02+amb*PRUNIT_GLO;
rtcm->obs.data[index].P[0]=pr1;
if (ppr1!=(int)0xFFF80000) {
freq1=code2freq(SYS_GLO,CODE_L1C,fcn-7);
cp1=adjcp(rtcm,sat,0,ppr1*0.0005*freq1/CLIGHT);
rtcm->obs.data[index].L[0]=pr1*freq1/CLIGHT+cp1;
}
rtcm->obs.data[index].LLI[0]=lossoflock(rtcm,sat,0,lock1);
rtcm->obs.data[index].SNR[0]=snratio(cnr1*0.25);
rtcm->obs.data[index].code[0]=code1?CODE_L1P:CODE_L1C;
if (pr21!=(int)0xFFFFE000) {
rtcm->obs.data[index].P[1]=pr1+pr21*0.02;
}
if (ppr2!=(int)0xFFF80000) {
freq2=code2freq(SYS_GLO,CODE_L2C,fcn-7);
cp2=adjcp(rtcm,sat,1,ppr2*0.0005*freq2/CLIGHT);
rtcm->obs.data[index].L[1]=pr1*freq2/CLIGHT+cp2;
}
rtcm->obs.data[index].LLI[1]=lossoflock(rtcm,sat,1,lock2);
rtcm->obs.data[index].SNR[1]=snratio(cnr2*0.25);
rtcm->obs.data[index].code[1]=code2?CODE_L2P:CODE_L2C;
}
rtcm->obsflag=!sync;
return sync?0:1;
}
/* decode type 1013: system parameters ---------------------------------------*/
static int decode_type1013(rtcm_t *rtcm)
{
return 0;
}
/* decode type 1019: GPS ephemerides -----------------------------------------*/
static int decode_type1019(rtcm_t *rtcm)
{
eph_t eph={0};
double toc,sqrtA,tt;
char *msg;
int i=24+12,prn,sat,week,sys=SYS_GPS;
if (i+476<=rtcm->len*8) {
prn =getbitu(rtcm->buff,i, 6); i+= 6;
week =getbitu(rtcm->buff,i,10); i+=10;
eph.sva =getbitu(rtcm->buff,i, 4); i+= 4;
eph.code =getbitu(rtcm->buff,i, 2); i+= 2;
eph.idot =getbits(rtcm->buff,i,14)*P2_43*SC2RAD; i+=14;
eph.iode =getbitu(rtcm->buff,i, 8); i+= 8;
toc =getbitu(rtcm->buff,i,16)*16.0; i+=16;
eph.f2 =getbits(rtcm->buff,i, 8)*P2_55; i+= 8;
eph.f1 =getbits(rtcm->buff,i,16)*P2_43; i+=16;
eph.f0 =getbits(rtcm->buff,i,22)*P2_31; i+=22;
eph.iodc =getbitu(rtcm->buff,i,10); i+=10;
eph.crs =getbits(rtcm->buff,i,16)*P2_5; i+=16;
eph.deln =getbits(rtcm->buff,i,16)*P2_43*SC2RAD; i+=16;
eph.M0 =getbits(rtcm->buff,i,32)*P2_31*SC2RAD; i+=32;
eph.cuc =getbits(rtcm->buff,i,16)*P2_29; i+=16;
eph.e =getbitu(rtcm->buff,i,32)*P2_33; i+=32;
eph.cus =getbits(rtcm->buff,i,16)*P2_29; i+=16;
sqrtA =getbitu(rtcm->buff,i,32)*P2_19; i+=32;
eph.toes =getbitu(rtcm->buff,i,16)*16.0; i+=16;
eph.cic =getbits(rtcm->buff,i,16)*P2_29; i+=16;
eph.OMG0 =getbits(rtcm->buff,i,32)*P2_31*SC2RAD; i+=32;
eph.cis =getbits(rtcm->buff,i,16)*P2_29; i+=16;
eph.i0 =getbits(rtcm->buff,i,32)*P2_31*SC2RAD; i+=32;
eph.crc =getbits(rtcm->buff,i,16)*P2_5; i+=16;
eph.omg =getbits(rtcm->buff,i,32)*P2_31*SC2RAD; i+=32;
eph.OMGd =getbits(rtcm->buff,i,24)*P2_43*SC2RAD; i+=24;
eph.tgd[0]=getbits(rtcm->buff,i, 8)*P2_31; i+= 8;
eph.svh =getbitu(rtcm->buff,i, 6); i+= 6;
eph.flag =getbitu(rtcm->buff,i, 1); i+= 1;
eph.fit =getbitu(rtcm->buff,i, 1)?0.0:4.0; /* 0:4hr,1:>4hr */
}
else {
trace(2,"rtcm3 1019 length error: len=%d\n",rtcm->len);
return -1;
}
if (prn>=40) {
sys=SYS_SBS; prn+=80;
}
trace(4,"decode_type1019: prn=%d iode=%d toe=%.0f\n",prn,eph.iode,eph.toes);
if (rtcm->outtype) {
msg=rtcm->msgtype+strlen(rtcm->msgtype);
sprintf(msg," prn=%2d iode=%3d iodc=%3d week=%d toe=%6.0f toc=%6.0f svh=%02X",
prn,eph.iode,eph.iodc,week,eph.toes,toc,eph.svh);
}
if (!(sat=satno(sys,prn))) {
trace(2,"rtcm3 1019 satellite number error: prn=%d\n",prn);
return -1;
}
eph.sat=sat;
eph.week=adjgpsweek(week);
if (rtcm->time.time==0) rtcm->time=utc2gpst(timeget());
tt=timediff(gpst2time(eph.week,eph.toes),rtcm->time);
if (tt<-302400.0) eph.week++;
else if (tt>=302400.0) eph.week--;
eph.toe=gpst2time(eph.week,eph.toes);
eph.toc=gpst2time(eph.week,toc);
eph.ttr=rtcm->time;
eph.A=sqrtA*sqrtA;
if (!strstr(rtcm->opt,"-EPHALL")) {
if (eph.iode==rtcm->nav.eph[sat-1].iode) return 0; /* unchanged */
}
rtcm->nav.eph[sat-1]=eph;
rtcm->ephsat=sat;
rtcm->ephset=0;
return 2;
}
/* decode type 1020: GLONASS ephemerides -------------------------------------*/
static int decode_type1020(rtcm_t *rtcm)
{
geph_t geph={0};
double tk_h,tk_m,tk_s,toe,tow,tod,tof;
char *msg;
int i=24+12,prn,sat,week,tb,bn,sys=SYS_GLO;
if (i+348<=rtcm->len*8) {
prn =getbitu(rtcm->buff,i, 6); i+= 6;
geph.frq =getbitu(rtcm->buff,i, 5)-7; i+= 5+2+2;
tk_h =getbitu(rtcm->buff,i, 5); i+= 5;
tk_m =getbitu(rtcm->buff,i, 6); i+= 6;
tk_s =getbitu(rtcm->buff,i, 1)*30.0; i+= 1;
bn =getbitu(rtcm->buff,i, 1); i+= 1+1;
tb =getbitu(rtcm->buff,i, 7); i+= 7;
geph.vel[0]=getbitg(rtcm->buff,i,24)*P2_20*1E3; i+=24;
geph.pos[0]=getbitg(rtcm->buff,i,27)*P2_11*1E3; i+=27;
geph.acc[0]=getbitg(rtcm->buff,i, 5)*P2_30*1E3; i+= 5;
geph.vel[1]=getbitg(rtcm->buff,i,24)*P2_20*1E3; i+=24;
geph.pos[1]=getbitg(rtcm->buff,i,27)*P2_11*1E3; i+=27;
geph.acc[1]=getbitg(rtcm->buff,i, 5)*P2_30*1E3; i+= 5;
geph.vel[2]=getbitg(rtcm->buff,i,24)*P2_20*1E3; i+=24;
geph.pos[2]=getbitg(rtcm->buff,i,27)*P2_11*1E3; i+=27;
geph.acc[2]=getbitg(rtcm->buff,i, 5)*P2_30*1E3; i+= 5+1;
geph.gamn =getbitg(rtcm->buff,i,11)*P2_40; i+=11+3;
geph.taun =getbitg(rtcm->buff,i,22)*P2_30; i+=22;
geph.dtaun =getbitg(rtcm->buff,i, 5)*P2_30; i+=5;
geph.age =getbitu(rtcm->buff,i, 5);
}
else {
trace(2,"rtcm3 1020 length error: len=%d\n",rtcm->len);
return -1;
}
if (!(sat=satno(sys,prn))) {
trace(2,"rtcm3 1020 satellite number error: prn=%d\n",prn);
return -1;
}
trace(4,"decode_type1020: prn=%d tk=%02.0f:%02.0f:%02.0f\n",prn,tk_h,tk_m,tk_s);
if (rtcm->outtype) {
msg=rtcm->msgtype+strlen(rtcm->msgtype);
sprintf(msg," prn=%2d tk=%02.0f:%02.0f:%02.0f frq=%2d bn=%d tb=%d",
prn,tk_h,tk_m,tk_s,geph.frq,bn,tb);
}
geph.sat=sat;
geph.svh=bn;
geph.iode=tb&0x7F;
if (rtcm->time.time==0) rtcm->time=utc2gpst(timeget());
tow=time2gpst(gpst2utc(rtcm->time),&week);
tod=fmod(tow,86400.0); tow-=tod;
tof=tk_h*3600.0+tk_m*60.0+tk_s-10800.0; /* lt->utc */
if (tof<tod-43200.0) tof+=86400.0;
else if (tof>tod+43200.0) tof-=86400.0;
geph.tof=utc2gpst(gpst2time(week,tow+tof));
toe=tb*900.0-10800.0; /* lt->utc */
if (toe<tod-43200.0) toe+=86400.0;
else if (toe>tod+43200.0) toe-=86400.0;
geph.toe=utc2gpst(gpst2time(week,tow+toe)); /* utc->gpst */
if (!strstr(rtcm->opt,"-EPHALL")) {
if (fabs(timediff(geph.toe,rtcm->nav.geph[prn-1].toe))<1.0&&
geph.svh==rtcm->nav.geph[prn-1].svh) return 0; /* unchanged */
}
rtcm->nav.geph[prn-1]=geph;
rtcm->ephsat=sat;
rtcm->ephset=0;
return 2;
}
/* decode type 1021: helmert/abridged molodenski -----------------------------*/
static int decode_type1021(rtcm_t *rtcm)
{
trace(2,"rtcm3 1021: not supported message\n");
return 0;
}
/* decode type 1022: Moledenski-Badekas transfromation -----------------------*/
static int decode_type1022(rtcm_t *rtcm)
{
trace(2,"rtcm3 1022: not supported message\n");
return 0;
}
/* decode type 1023: residual, ellipsoidal grid representation ---------------*/
static int decode_type1023(rtcm_t *rtcm)
{
trace(2,"rtcm3 1023: not supported message\n");
return 0;
}
/* decode type 1024: residual, plane grid representation ---------------------*/
static int decode_type1024(rtcm_t *rtcm)
{
trace(2,"rtcm3 1024: not supported message\n");
return 0;
}
/* decode type 1025: projection (types except LCC2SP,OM) ---------------------*/
static int decode_type1025(rtcm_t *rtcm)
{
trace(2,"rtcm3 1025: not supported message\n");
return 0;
}
/* decode type 1026: projection (LCC2SP - lambert conic conformal (2sp)) -----*/
static int decode_type1026(rtcm_t *rtcm)
{
trace(2,"rtcm3 1026: not supported message\n");
return 0;
}
/* decode type 1027: projection (type OM - oblique mercator) -----------------*/
static int decode_type1027(rtcm_t *rtcm)
{
trace(2,"rtcm3 1027: not supported message\n");
return 0;
}
/* decode type 1029: UNICODE text string -------------------------------------*/
static int decode_type1029(rtcm_t *rtcm)
{
char *msg;
int i=24+12,j,staid,mjd,tod,nchar,cunit;
if (i+60<=rtcm->len*8) {
staid=getbitu(rtcm->buff,i,12); i+=12;
mjd =getbitu(rtcm->buff,i,16); i+=16;
tod =getbitu(rtcm->buff,i,17); i+=17;
nchar=getbitu(rtcm->buff,i, 7); i+= 7;
cunit=getbitu(rtcm->buff,i, 8); i+= 8;
}
else {
trace(2,"rtcm3 1029 length error: len=%d\n",rtcm->len);
return -1;
}
if (i+nchar*8>rtcm->len*8) {
trace(2,"rtcm3 1029 length error: len=%d nchar=%d\n",rtcm->len,nchar);
return -1;
}
for (j=0;j<nchar&&j<126;j++) {
rtcm->msg[j]=getbitu(rtcm->buff,i,8); i+=8;
}
rtcm->msg[j]='\0';
if (rtcm->outtype) {
msg=rtcm->msgtype+strlen(rtcm->msgtype);
sprintf(msg," staid=%4d text=%s",staid,rtcm->msg);
}
return 0;
}
/* decode type 1030: network RTK residual ------------------------------------*/
static int decode_type1030(rtcm_t *rtcm)
{
trace(2,"rtcm3 1030: not supported message\n");
return 0;
}
/* decode type 1031: GLONASS network RTK residual ----------------------------*/
static int decode_type1031(rtcm_t *rtcm)
{
trace(2,"rtcm3 1031: not supported message\n");
return 0;
}
/* decode type 1032: physical reference station position information ---------*/
static int decode_type1032(rtcm_t *rtcm)
{
trace(2,"rtcm3 1032: not supported message\n");
return 0;
}
/* decode type 1033: receiver and antenna descriptor -------------------------*/
static int decode_type1033(rtcm_t *rtcm)
{
char des[32]="",sno[32]="",rec[32]="",ver[32]="",rsn[32]="";
char *msg;
int i=24+12,j,staid,n,m,n1,n2,n3,setup;
n =getbitu(rtcm->buff,i+12,8);
m =getbitu(rtcm->buff,i+28+8*n,8);
n1=getbitu(rtcm->buff,i+36+8*(n+m),8);
n2=getbitu(rtcm->buff,i+44+8*(n+m+n1),8);
n3=getbitu(rtcm->buff,i+52+8*(n+m+n1+n2),8);
if (i+60+8*(n+m+n1+n2+n3)<=rtcm->len*8) {
staid=getbitu(rtcm->buff,i,12); i+=12+8;
for (j=0;j<n&&j<31;j++) {
des[j]=(char)getbitu(rtcm->buff,i,8); i+=8;
}
setup=getbitu(rtcm->buff,i, 8); i+=8+8;
for (j=0;j<m&&j<31;j++) {
sno[j]=(char)getbitu(rtcm->buff,i,8); i+=8;
}
i+=8;
for (j=0;j<n1&&j<31;j++) {
rec[j]=(char)getbitu(rtcm->buff,i,8); i+=8;
}
i+=8;
for (j=0;j<n2&&j<31;j++) {
ver[j]=(char)getbitu(rtcm->buff,i,8); i+=8;
}
i+=8;