| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // This file is part of INSTINCT, the INS Toolkit for Integrated | ||
| 2 | // Navigation Concepts and Training by the Institute of Navigation of | ||
| 3 | // the University of Stuttgart, Germany. | ||
| 4 | // | ||
| 5 | // This Source Code Form is subject to the terms of the Mozilla Public | ||
| 6 | // License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| 7 | // file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| 8 | |||
| 9 | #include "RinexNavFile.hpp" | ||
| 10 | |||
| 11 | #include <bitset> | ||
| 12 | #include <fmt/ranges.h> | ||
| 13 | |||
| 14 | #include "internal/NodeManager.hpp" | ||
| 15 | namespace nm = NAV::NodeManager; | ||
| 16 | #include "internal/FlowManager.hpp" | ||
| 17 | |||
| 18 | #include "util/StringUtil.hpp" | ||
| 19 | |||
| 20 | #include "Navigation/GNSS/Core/SatelliteSystem.hpp" | ||
| 21 | #include "Navigation/Atmosphere/Ionosphere/IonosphericCorrections.hpp" | ||
| 22 | #include "Navigation/GNSS/Satellite/Ephemeris/GPSEphemeris.hpp" | ||
| 23 | #include "Navigation/GNSS/Satellite/Ephemeris/GalileoEphemeris.hpp" | ||
| 24 | #include "Navigation/GNSS/Satellite/Ephemeris/GLONASSEphemeris.hpp" | ||
| 25 | #include "Navigation/GNSS/Satellite/Ephemeris/BDSEphemeris.hpp" | ||
| 26 | #include "Navigation/GNSS/Satellite/Ephemeris/QZSSEphemeris.hpp" | ||
| 27 | |||
| 28 | namespace NAV | ||
| 29 | { | ||
| 30 | 159 | RinexNavFile::RinexNavFile() | |
| 31 |
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159 | : Node(typeStatic()) |
| 32 | { | ||
| 33 | LOG_TRACE("{}: called", name); | ||
| 34 | |||
| 35 | 159 | _hasConfig = true; | |
| 36 | 159 | _guiConfigDefaultWindowSize = { 517, 87 }; | |
| 37 | |||
| 38 |
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636 | nm::CreateOutputPin(this, GnssNavInfo::type().c_str(), Pin::Type::Object, { GnssNavInfo::type() }, &_gnssNavInfo); |
| 39 | 318 | } | |
| 40 | |||
| 41 | 412 | RinexNavFile::~RinexNavFile() | |
| 42 | { | ||
| 43 | LOG_TRACE("{}: called", nameId()); | ||
| 44 | 412 | } | |
| 45 | |||
| 46 | 271 | std::string RinexNavFile::typeStatic() | |
| 47 | { | ||
| 48 |
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542 | return "RinexNavFile"; |
| 49 | } | ||
| 50 | |||
| 51 | ✗ | std::string RinexNavFile::type() const | |
| 52 | { | ||
| 53 | ✗ | return typeStatic(); | |
| 54 | } | ||
| 55 | |||
| 56 | 112 | std::string RinexNavFile::category() | |
| 57 | { | ||
| 58 |
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224 | return "Data Provider"; |
| 59 | } | ||
| 60 | |||
| 61 | ✗ | void RinexNavFile::guiConfig() | |
| 62 | { | ||
| 63 | ✗ | if (auto res = FileReader::guiConfig(R"(Rinex Nav (.nav .rnx .gal .geo .glo .*N .*P){.nav,.rnx,.gal,.geo,.glo,(.+[.]\d\d?[Nn]),(.+[.]\d\d?[Ll]),(.+[.]\d\d?[Pp])},.*)", | |
| 64 | ✗ | { ".nav", ".rnx", ".gal", ".geo", ".glo", "(.+[.]\\d\\d?[Nn])", "(.+[.]\\d\\d?[Ll])", "(.+[.]\\d\\d?[Pp])" }, size_t(id), nameId())) | |
| 65 | { | ||
| 66 | ✗ | LOG_DEBUG("{}: Path changed to {}", nameId(), _path); | |
| 67 | ✗ | flow::ApplyChanges(); | |
| 68 | ✗ | if (res == FileReader::PATH_CHANGED) | |
| 69 | { | ||
| 70 | ✗ | doReinitialize(); | |
| 71 | } | ||
| 72 | else | ||
| 73 | { | ||
| 74 | ✗ | doDeinitialize(); | |
| 75 | } | ||
| 76 | } | ||
| 77 | ✗ | ImGui::Text("Supported versions: "); | |
| 78 | ✗ | std::ranges::for_each(_supportedVersions, [](double x) { | |
| 79 | ✗ | ImGui::SameLine(); | |
| 80 | ✗ | ImGui::Text("%0.2f", x); | |
| 81 | ✗ | }); | |
| 82 | ✗ | } | |
| 83 | |||
| 84 | ✗ | [[nodiscard]] json RinexNavFile::save() const | |
| 85 | { | ||
| 86 | LOG_TRACE("{}: called", nameId()); | ||
| 87 | |||
| 88 | ✗ | json j; | |
| 89 | |||
| 90 | ✗ | j["FileReader"] = FileReader::save(); | |
| 91 | |||
| 92 | ✗ | return j; | |
| 93 | ✗ | } | |
| 94 | |||
| 95 | 47 | void RinexNavFile::restore(json const& j) | |
| 96 | { | ||
| 97 | LOG_TRACE("{}: called", nameId()); | ||
| 98 | |||
| 99 |
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47 | if (j.contains("FileReader")) |
| 100 | { | ||
| 101 | 47 | FileReader::restore(j.at("FileReader")); | |
| 102 | } | ||
| 103 | 47 | } | |
| 104 | |||
| 105 | 47 | bool RinexNavFile::initialize() | |
| 106 | { | ||
| 107 | LOG_TRACE("{}: called", nameId()); | ||
| 108 | |||
| 109 | { | ||
| 110 | // The guards needs to be released before FileReader::initialize() | ||
| 111 |
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47 | auto guard = requestOutputValueLock(OUTPUT_PORT_INDEX_GNSS_NAV_INFO); |
| 112 | 47 | _gnssNavInfo.reset(); | |
| 113 | 47 | } | |
| 114 | 47 | _version = 0.0; | |
| 115 | 47 | _sbasNotSupportedWarned = false; | |
| 116 | |||
| 117 |
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47 | if (!FileReader::initialize()) |
| 118 | { | ||
| 119 | ✗ | return false; | |
| 120 | } | ||
| 121 | |||
| 122 | 47 | readOrbits(); | |
| 123 | |||
| 124 | 47 | return true; | |
| 125 | } | ||
| 126 | |||
| 127 | 47 | void RinexNavFile::deinitialize() | |
| 128 | { | ||
| 129 | LOG_TRACE("{}: called", nameId()); | ||
| 130 | |||
| 131 | 47 | FileReader::deinitialize(); | |
| 132 | 47 | } | |
| 133 | |||
| 134 | 94 | bool RinexNavFile::resetNode() | |
| 135 | { | ||
| 136 | LOG_TRACE("{}: called", nameId()); | ||
| 137 | |||
| 138 | 94 | FileReader::resetReader(); | |
| 139 | |||
| 140 | 94 | return true; | |
| 141 | } | ||
| 142 | |||
| 143 | 47 | FileReader::FileType RinexNavFile::determineFileType() | |
| 144 | { | ||
| 145 | 344 | auto extHeaderLabel = [](const std::string& line) { | |
| 146 |
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344 | return str::trim_copy(std::string_view(line).substr(60, 20)); |
| 147 | }; | ||
| 148 | |||
| 149 |
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47 | std::filesystem::path filepath = getFilepath(); |
| 150 | |||
| 151 |
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47 | auto filestreamHeader = std::ifstream(filepath); |
| 152 |
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47 | if (filestreamHeader.good()) |
| 153 | { | ||
| 154 | 47 | std::string line; | |
| 155 | // --------------------------------------- RINEX VERSION / TYPE ------------------------------------------ | ||
| 156 |
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106 | while (line.find("RINEX VERSION / TYPE") == std::string::npos && !filestreamHeader.eof()) |
| 157 | { | ||
| 158 |
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59 | std::getline(filestreamHeader, line); |
| 159 | } | ||
| 160 |
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47 | if (filestreamHeader.eof()) |
| 161 | { | ||
| 162 | ✗ | LOG_ERROR("{}: Not a valid RINEX NAV file. Could not read 'RINEX VERSION / TYPE' line.", nameId()); | |
| 163 | ✗ | return FileReader::FileType::NONE; | |
| 164 | } | ||
| 165 |
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47 | str::rtrim(line); |
| 166 |
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47 | if (str::rtrim_copy(line).size() != 80) |
| 167 | { | ||
| 168 | ✗ | LOG_ERROR("{}: Not a valid RINEX NAV file. Lines should be 80 characters long but the file has {}.", nameId(), line.size() - 1); | |
| 169 | ✗ | return FileReader::FileType::NONE; | |
| 170 | } | ||
| 171 | |||
| 172 |
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47 | if (extHeaderLabel(line) != "RINEX VERSION / TYPE") |
| 173 | { | ||
| 174 | ✗ | LOG_ERROR("{}: Not a valid RINEX NAV file. Could not read 'RINEX VERSION / TYPE' line.", nameId()); | |
| 175 | ✗ | return FileReader::FileType::NONE; | |
| 176 | } | ||
| 177 | |||
| 178 |
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47 | _version = std::stod(str::trim_copy(line.substr(0, 20))); // FORMAT: F9.2,11X |
| 179 |
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47 | if (!_supportedVersions.contains(_version)) |
| 180 | { | ||
| 181 | ✗ | LOG_ERROR("{}: RINEX version {} is not supported. Supported versions are [{}]", nameId(), | |
| 182 | _version, fmt::join(_supportedVersions.begin(), _supportedVersions.end(), ", ")); | ||
| 183 | ✗ | _version = 0.0; | |
| 184 | ✗ | return FileReader::FileType::NONE; | |
| 185 | } | ||
| 186 | |||
| 187 |
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47 | std::string fileType = str::trim_copy(line.substr(20, 20)); // FORMAT: A1,19X |
| 188 |
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47 | if (fileType.at(0) != 'N' // N: GNSS NAV DATA |
| 189 |
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2 | && fileType != "NAVIGATION DATA" |
| 190 |
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49 | && fileType != "GLONASS NAV DATA") |
| 191 | { | ||
| 192 | ✗ | LOG_ERROR("{}: Not a valid RINEX NAV file. File type '{}' not recognized.", nameId(), fileType); | |
| 193 | ✗ | doDeinitialize(); | |
| 194 | ✗ | return FileReader::FileType::NONE; | |
| 195 | } | ||
| 196 | 47 | std::string satSystem; | |
| 197 |
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47 | if (_version < 3.0) |
| 198 | { | ||
| 199 |
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4 | if (fileType == "NAVIGATION DATA") |
| 200 | { | ||
| 201 |
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2 | satSystem = 'G'; |
| 202 | } | ||
| 203 |
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2 | else if (fileType == "GLONASS NAV DATA") |
| 204 | { | ||
| 205 |
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2 | satSystem = 'R'; |
| 206 | } | ||
| 207 | ✗ | else if (fileType.at(0) == 'N') | |
| 208 | { | ||
| 209 | ✗ | satSystem = fileType.substr(3, 3); | |
| 210 | } | ||
| 211 | } | ||
| 212 | else | ||
| 213 | { | ||
| 214 |
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43 | satSystem = str::trim_copy(line.substr(40, 20)); // FORMAT: A1,19X |
| 215 | } | ||
| 216 |
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47 | if (satSystem.empty() || (SatelliteSystem::fromChar(satSystem.at(0)) == SatSys_None && satSystem.at(0) != 'M')) |
| 217 | { | ||
| 218 | ✗ | LOG_ERROR("{}: Not a valid RINEX NAV file. Satellite System '{}' not recognized.", nameId(), satSystem); | |
| 219 | ✗ | doDeinitialize(); | |
| 220 | ✗ | return FileReader::FileType::NONE; | |
| 221 | } | ||
| 222 | // ---------------------------------------- PGM / RUN BY / DATE ------------------------------------------ | ||
| 223 |
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47 | std::getline(filestreamHeader, line); |
| 224 |
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47 | str::rtrim(line); |
| 225 |
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47 | if (extHeaderLabel(line) != "PGM / RUN BY / DATE") |
| 226 | { | ||
| 227 | ✗ | LOG_ERROR("{}: Not a valid RINEX NAV file. Could not read 'PGM / RUN BY / DATE' line.", nameId()); | |
| 228 | ✗ | return FileReader::FileType::NONE; | |
| 229 | } | ||
| 230 | |||
| 231 | // ----------------------------------------- END OF HEADER ------------------------------------------- | ||
| 232 |
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250 | while (std::getline(filestreamHeader, line) && !filestreamHeader.eof()) |
| 233 | { | ||
| 234 |
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250 | str::rtrim(line); |
| 235 |
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250 | if (extHeaderLabel(line) == "END OF HEADER") |
| 236 | { | ||
| 237 | 47 | return FileReader::FileType::ASCII; | |
| 238 | } | ||
| 239 | } | ||
| 240 | ✗ | LOG_ERROR("{}: Not a valid RINEX NAV file. Could not read 'END OF HEADER' line.", nameId()); | |
| 241 | ✗ | return FileReader::FileType::NONE; | |
| 242 | 47 | } | |
| 243 | |||
| 244 | ✗ | LOG_ERROR("{}: Could not determine file type because file could not be opened '{}' line.", nameId(), filepath.string()); | |
| 245 | ✗ | return FileReader::FileType::NONE; | |
| 246 | 47 | } | |
| 247 | |||
| 248 | namespace | ||
| 249 | { | ||
| 250 | |||
| 251 | 297 | std::string_view extHeaderLabel(const std::string& line) | |
| 252 | { | ||
| 253 |
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594 | return line.size() >= 60 ? str::trim_copy(std::string_view(line).substr(60, 20)) |
| 254 | 297 | : std::string_view{}; | |
| 255 | }; | ||
| 256 | |||
| 257 | } // namespace | ||
| 258 | |||
| 259 | 47 | void RinexNavFile::executeHeaderParser(double version) | |
| 260 | { | ||
| 261 |
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47 | if (version < 3.0) |
| 262 | { | ||
| 263 | 4 | parseHeader2(); | |
| 264 | } | ||
| 265 |
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43 | else if (version < 4.0) |
| 266 | { | ||
| 267 | 38 | parseHeader3(); | |
| 268 | } | ||
| 269 |
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5 | else if (version == 4.0) |
| 270 | { | ||
| 271 | 5 | parseHeader4(); | |
| 272 | } | ||
| 273 | else | ||
| 274 | { | ||
| 275 | ✗ | LOG_ERROR("{}: Unsupported RINEX version {}.", nameId(), version); | |
| 276 | // return nullptr; | ||
| 277 | } | ||
| 278 | 47 | } | |
| 279 | |||
| 280 | 47 | void RinexNavFile::executeOrbitParser(double version) | |
| 281 | { | ||
| 282 |
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47 | if (version < 3.0) |
| 283 | { | ||
| 284 | 4 | parseOrbit2(); | |
| 285 | } | ||
| 286 |
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43 | else if (version < 4.0) |
| 287 | { | ||
| 288 | 38 | parseOrbit3(); | |
| 289 | } | ||
| 290 |
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5 | else if (version == 4.0) |
| 291 | { | ||
| 292 | 5 | parseOrbit4(); | |
| 293 | } | ||
| 294 | else | ||
| 295 | { | ||
| 296 | ✗ | LOG_ERROR("{}: Unsupported RINEX version {}.", nameId(), version); | |
| 297 | // return nullptr; | ||
| 298 | } | ||
| 299 | 47 | } | |
| 300 | |||
| 301 | 4 | void RinexNavFile::parseHeader2() | |
| 302 | { | ||
| 303 | 4 | std::string line; | |
| 304 | // --------------------------------------- RINEX VERSION / TYPE ------------------------------------------ | ||
| 305 |
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8 | while (line.find("RINEX VERSION / TYPE") == std::string::npos && !eof()) |
| 306 | { | ||
| 307 |
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4 | getline(line); |
| 308 | } | ||
| 309 | 4 | SatelliteSystem satSys = SatSys_None; | |
| 310 |
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4 | LOG_DEBUG("{}: Version: {:3.2f}", nameId(), _version); // FORMAT: F9.2,11X |
| 311 |
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8 | if ((line.substr(20, 15) == "N: GPS NAV DATA" || line.substr(20, 15) == "NAVIGATION DATA") |
| 312 |
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8 | && (line.substr(40, 3) == "GPS" || str::trim_copy(line.substr(40, 3)).empty())) |
| 313 | { | ||
| 314 |
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2 | LOG_DEBUG("{}: SatSys : {}", nameId(), "G: GPS"); // FORMAT: A1,19X |
| 315 | 2 | satSys = GPS; | |
| 316 | 2 | _gnssNavInfo.satelliteSystems |= satSys; | |
| 317 | } | ||
| 318 |
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2 | else if (line.substr(20, 16) == "GLONASS NAV DATA") |
| 319 | { | ||
| 320 |
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2 | LOG_DEBUG("{}: SatSys : {}", nameId(), "R: GLONASS"); // FORMAT: A1,19X |
| 321 | 2 | satSys = GLO; | |
| 322 | 2 | _gnssNavInfo.satelliteSystems |= satSys; | |
| 323 | } | ||
| 324 | // ####################################################################################################### | ||
| 325 |
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24 | while (getline(line) && !eof()) |
| 326 | { | ||
| 327 |
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24 | str::rtrim(line); |
| 328 |
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24 | auto headerLabel = extHeaderLabel(line); |
| 329 |
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24 | if (headerLabel == "PGM / RUN BY / DATE") |
| 330 | { | ||
| 331 | // Name of program creating current file | ||
| 332 | LOG_DATA("{}: Program: {}", nameId(), str::trim_copy(line.substr(0, 20))); // FORMAT: A20 | ||
| 333 | // Name of agency creating current file | ||
| 334 | LOG_DATA("{}: Run by : {}", nameId(), str::trim_copy(line.substr(20, 20))); // FORMAT: A20 | ||
| 335 | // Date and time of file creation | ||
| 336 | LOG_DATA("{}: Date : {}", nameId(), str::trim_copy(line.substr(40, 20))); // FORMAT: A20 | ||
| 337 | } | ||
| 338 |
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20 | else if (headerLabel == "COMMENT") |
| 339 | { | ||
| 340 | LOG_DATA("{}: Comment: {}", nameId(), line.substr(0, 60)); // FORMAT: A60 | ||
| 341 | } | ||
| 342 |
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16 | else if (headerLabel == "IONOSPHERIC CORR") |
| 343 | { | ||
| 344 | ✗ | auto correctionType = str::trim_copy(line.substr(0, 4)); // FORMAT: A4,1X, | |
| 345 | ✗ | std::array<double, 4> values{}; | |
| 346 | ✗ | values[0] = str::stod(str::replaceAll_copy(line.substr(5, 12), "d", "e", str::IgnoreCase), 0.0); // FORMAT: 4D12.4 | |
| 347 | ✗ | values[1] = str::stod(str::replaceAll_copy(line.substr(17, 12), "d", "e", str::IgnoreCase), 0.0); | |
| 348 | ✗ | values[2] = str::stod(str::replaceAll_copy(line.substr(29, 12), "d", "e", str::IgnoreCase), 0.0); | |
| 349 | ✗ | values[3] = str::stod(str::replaceAll_copy(line.substr(41, 12), "d", "e", str::IgnoreCase), 0.0); | |
| 350 | |||
| 351 | ✗ | auto satSys = SatelliteSystem::fromString(correctionType.substr(0, 3)); | |
| 352 | ✗ | IonosphericCorrections::AlphaBeta alphaBeta = (correctionType.size() == 4 && correctionType.at(3) == 'B') | |
| 353 | ✗ | ? IonosphericCorrections::Beta | |
| 354 | ✗ | : IonosphericCorrections::Alpha; | |
| 355 | ✗ | _gnssNavInfo.ionosphericCorrections.insert(satSys, alphaBeta, values); | |
| 356 | LOG_DATA("{}: Ionospheric Correction: {}-{}: [{}]", nameId(), | ||
| 357 | std::string(satSys), alphaBeta == IonosphericCorrections::Alpha ? "Alpha" : "Beta", | ||
| 358 | fmt::join(values.begin(), values.end(), ", ")); | ||
| 359 | ✗ | } | |
| 360 |
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16 | else if (headerLabel == "ION ALPHA" || headerLabel == "ION BETA") |
| 361 | { | ||
| 362 |
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4 | auto correctionType = headerLabel.substr(4, 1); |
| 363 |
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20 | auto valuesStr = str::split_wo_empty(str::replaceAll_copy(line.substr(4, 60 - 4), "d", "e", str::IgnoreCase), " "); |
| 364 | 4 | std::array<double, 4> values{}; | |
| 365 |
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20 | for (size_t i = 0; i < valuesStr.size(); i++) |
| 366 | { | ||
| 367 |
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16 | values.at(i) = std::stod(valuesStr.at(i)); |
| 368 | } | ||
| 369 |
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4 | IonosphericCorrections::AlphaBeta alphaBeta = correctionType == "B" ? IonosphericCorrections::Beta |
| 370 | 4 | : IonosphericCorrections::Alpha; | |
| 371 |
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4 | _gnssNavInfo.ionosphericCorrections.insert(satSys, alphaBeta, values); |
| 372 | LOG_DATA("{}: Ionospheric Correction: {}-{}: [{}]", nameId(), | ||
| 373 | std::string(satSys), alphaBeta == IonosphericCorrections::Alpha ? "Alpha" : "Beta", | ||
| 374 | fmt::join(values.begin(), values.end(), ", ")); | ||
| 375 | 4 | } | |
| 376 | 12 | else if (headerLabel == "TIME SYSTEM CORR" | |
| 377 |
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12 | || headerLabel == "CORR TO SYSTEM TIME") |
| 378 | { | ||
| 379 |
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6 | auto tau_c = str::stod(str::replaceAll_copy(line.substr(21, 19), "d", "e", str::IgnoreCase), 0.0); |
| 380 | LOG_DATA("{}: tau_c {}", nameId(), tau_c); | ||
| 381 |
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2 | if (tau_c != 0) |
| 382 | { | ||
| 383 |
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2 | _gnssNavInfo.timeSysCorr[{ satSys.getTimeSystem(), UTC }] = { .a0 = tau_c, .a1 = 0 }; |
| 384 | } | ||
| 385 | } | ||
| 386 |
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10 | else if (headerLabel == "DELTA-UTC: A0,A1,T,W") |
| 387 | { | ||
| 388 |
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8 | auto a0 = std::stod(str::replaceAll_copy(line.substr(3, 19), "d", "e", str::IgnoreCase)); |
| 389 | LOG_DATA("{}: a0 {}", nameId(), a0); | ||
| 390 |
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6 | auto a1 = std::stod(str::replaceAll_copy(line.substr(22, 19), "d", "e", str::IgnoreCase)); |
| 391 | LOG_DATA("{}: a1 {}", nameId(), a1); | ||
| 392 | |||
| 393 |
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2 | if (a0 != 0 || a1 != 0) |
| 394 | { | ||
| 395 |
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2 | _gnssNavInfo.timeSysCorr[{ satSys.getTimeSystem(), UTC }] = { .a0 = a0, .a1 = a1 }; |
| 396 | } | ||
| 397 | } | ||
| 398 |
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8 | else if (headerLabel == "LEAP SECONDS") |
| 399 | { | ||
| 400 | LOG_DATA("{}: Leap seconds: {}", nameId(), std::stoi(line.substr(0, 6))); | ||
| 401 | } | ||
| 402 |
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4 | else if (headerLabel == "END OF HEADER") |
| 403 | { | ||
| 404 | 4 | break; | |
| 405 | } | ||
| 406 | } | ||
| 407 | 4 | } | |
| 408 | |||
| 409 | 38 | void RinexNavFile::parseHeader3() | |
| 410 | { | ||
| 411 | 38 | std::string line; | |
| 412 | // --------------------------------------- RINEX VERSION / TYPE ------------------------------------------ | ||
| 413 |
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88 | while (line.find("RINEX VERSION / TYPE") == std::string::npos && !eof()) |
| 414 | { | ||
| 415 |
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50 | getline(line); |
| 416 | } | ||
| 417 | 38 | SatelliteSystem satSys = SatSys_None; | |
| 418 |
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38 | LOG_DEBUG("{}: Version: {:3.2f}", nameId(), _version); // FORMAT: F9.2,11X |
| 419 |
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38 | LOG_DEBUG("{}: SatSys : {}", nameId(), str::trim_copy(line.substr(40, 20))); // FORMAT: A1,19X |
| 420 | // ####################################################################################################### | ||
| 421 |
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258 | while (getline(line) && !eof()) |
| 422 | { | ||
| 423 |
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258 | str::rtrim(line); |
| 424 |
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258 | auto headerLabel = extHeaderLabel(line); |
| 425 |
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258 | if (headerLabel == "PGM / RUN BY / DATE") |
| 426 | { | ||
| 427 | // Name of program creating current file | ||
| 428 | LOG_DATA("{}: Program: {}", nameId(), str::trim_copy(line.substr(0, 20))); // FORMAT: A20 | ||
| 429 | // Name of agency creating current file | ||
| 430 | LOG_DATA("{}: Run by : {}", nameId(), str::trim_copy(line.substr(20, 20))); // FORMAT: A20 | ||
| 431 | // Date and time of file creation | ||
| 432 | LOG_DATA("{}: Date : {}", nameId(), str::trim_copy(line.substr(40, 20))); // FORMAT: A20 | ||
| 433 | } | ||
| 434 |
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220 | else if (headerLabel == "COMMENT") |
| 435 | { | ||
| 436 | LOG_DATA("{}: Comment: {}", nameId(), line.substr(0, 60)); // FORMAT: A60 | ||
| 437 | } | ||
| 438 |
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207 | else if (headerLabel == "IONOSPHERIC CORR") |
| 439 | { | ||
| 440 |
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100 | auto correctionType = str::trim_copy(line.substr(0, 4)); // FORMAT: A4,1X, |
| 441 | 100 | std::array<double, 4> values{}; | |
| 442 |
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400 | values[0] = str::stod(str::replaceAll_copy(line.substr(5, 12), "d", "e", str::IgnoreCase), 0.0); // FORMAT: 4D12.4 |
| 443 |
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400 | values[1] = str::stod(str::replaceAll_copy(line.substr(17, 12), "d", "e", str::IgnoreCase), 0.0); |
| 444 |
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400 | values[2] = str::stod(str::replaceAll_copy(line.substr(29, 12), "d", "e", str::IgnoreCase), 0.0); |
| 445 |
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300 | values[3] = str::stod(str::replaceAll_copy(line.substr(41, 12), "d", "e", str::IgnoreCase), 0.0); |
| 446 | |||
| 447 |
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100 | auto satSys = SatelliteSystem::fromString(correctionType.substr(0, 3)); |
| 448 |
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190 | IonosphericCorrections::AlphaBeta alphaBeta = (correctionType.size() == 4 && correctionType.at(3) == 'B') |
| 449 |
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190 | ? IonosphericCorrections::Beta |
| 450 | 100 | : IonosphericCorrections::Alpha; | |
| 451 |
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100 | _gnssNavInfo.ionosphericCorrections.insert(satSys, alphaBeta, values); |
| 452 | LOG_DATA("{}: Ionospheric Correction: {}-{}: [{}]", nameId(), | ||
| 453 | std::string(satSys), alphaBeta == IonosphericCorrections::Alpha ? "Alpha" : "Beta", | ||
| 454 | fmt::join(values.begin(), values.end(), ", ")); | ||
| 455 | 100 | } | |
| 456 |
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107 | else if (headerLabel == "ION ALPHA" || headerLabel == "ION BETA") |
| 457 | { | ||
| 458 | ✗ | auto correctionType = headerLabel.substr(4, 1); | |
| 459 | ✗ | auto valuesStr = str::split_wo_empty(str::replaceAll_copy(line.substr(4, 60 - 4), "d", "e", str::IgnoreCase), " "); | |
| 460 | ✗ | std::array<double, 4> values{}; | |
| 461 | ✗ | for (size_t i = 0; i < valuesStr.size(); i++) | |
| 462 | { | ||
| 463 | ✗ | values.at(i) = std::stod(valuesStr.at(i)); | |
| 464 | } | ||
| 465 | ✗ | IonosphericCorrections::AlphaBeta alphaBeta = correctionType == "B" ? IonosphericCorrections::Beta | |
| 466 | ✗ | : IonosphericCorrections::Alpha; | |
| 467 | ✗ | _gnssNavInfo.ionosphericCorrections.insert(satSys, alphaBeta, values); | |
| 468 | LOG_DATA("{}: Ionospheric Correction: {}-{}: [{}]", nameId(), | ||
| 469 | std::string(satSys), alphaBeta == IonosphericCorrections::Alpha ? "Alpha" : "Beta", | ||
| 470 | fmt::join(values.begin(), values.end(), ", ")); | ||
| 471 | ✗ | } | |
| 472 | 107 | else if (headerLabel == "TIME SYSTEM CORR" | |
| 473 |
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107 | || headerLabel == "CORR TO SYSTEM TIME") |
| 474 | { | ||
| 475 |
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41 | auto correctionType = str::trim_copy(line.substr(0, 4)); // FORMAT: A4,1X, |
| 476 | LOG_DATA("{}: Time System Correction: {}", nameId(), correctionType); | ||
| 477 | |||
| 478 | 41 | std::array<size_t, 2> x{ 5, 22 }; | |
| 479 | 41 | std::array<size_t, 2> n{ 17, 16 }; | |
| 480 | |||
| 481 |
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41 | if (correctionType == "SBUT") |
| 482 | { | ||
| 483 | ✗ | x = { 7, 26 }; | |
| 484 | ✗ | n = { 19, 19 }; | |
| 485 | } | ||
| 486 |
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41 | else if (correctionType == "GLUT") |
| 487 | { | ||
| 488 | 5 | x = { 5, 24 }; | |
| 489 | 5 | n = { 19, 19 }; | |
| 490 | } | ||
| 491 | |||
| 492 |
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164 | auto a0 = str::stod(str::replaceAll_copy(line.substr(x[0], n[0]), "d", "e", str::IgnoreCase), std::nan("")); |
| 493 | LOG_DATA("{}: a0 {}", nameId(), a0); | ||
| 494 |
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123 | auto a1 = str::stod(str::replaceAll_copy(line.substr(x[1], n[1]), "d", "e", str::IgnoreCase), std::nan("")); |
| 495 | LOG_DATA("{}: a1 {}", nameId(), a1); | ||
| 496 | |||
| 497 |
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41 | if (!std::isnan(a0) && !std::isnan(a1)) |
| 498 | { | ||
| 499 | 41 | std::pair<TimeSystem, TimeSystem> timeSystems; | |
| 500 |
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41 | if (correctionType == "GPUT") { timeSystems = { GPST, UTC }; } |
| 501 |
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28 | else if (correctionType == "GLUT") { timeSystems = { GLNT, UTC }; } |
| 502 |
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23 | else if (correctionType == "GAUT") { timeSystems = { GST, UTC }; } |
| 503 |
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13 | else if (correctionType == "BDUT") { timeSystems = { BDT, UTC }; } |
| 504 |
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8 | else if (correctionType == "QZUT") { timeSystems = { QZSST, UTC }; } |
| 505 |
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8 | else if (correctionType == "IRUT") { timeSystems = { IRNSST, UTC }; } |
| 506 | // else if (correctionType == "SBUT") { timeSystems = { SBAST, UTC }; } | ||
| 507 |
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8 | else if (correctionType == "GLGP") { timeSystems = { GLNT, GPST }; } |
| 508 |
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8 | else if (correctionType == "GAGP") { timeSystems = { GST, GPST }; } |
| 509 |
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3 | else if (correctionType == "GPGA") { timeSystems = { GST, GPST }; } // Pre RINEX 3.04 |
| 510 | ✗ | else if (correctionType == "QZGP") { timeSystems = { QZSST, GPST }; } | |
| 511 | ✗ | else if (correctionType == "IRGP") { timeSystems = { IRNSST, GPST }; } | |
| 512 | else | ||
| 513 | { | ||
| 514 | LOG_TRACE("{}: Time System Correction '{}' not implemented yet", nameId(), correctionType); | ||
| 515 | ✗ | continue; | |
| 516 | } | ||
| 517 |
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41 | _gnssNavInfo.timeSysCorr[timeSystems] = { .a0 = a0, .a1 = a1 }; |
| 518 | } | ||
| 519 | 41 | } | |
| 520 |
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66 | else if (headerLabel == "DELTA-UTC: A0,A1,T,W") |
| 521 | { | ||
| 522 | ✗ | auto a0 = std::stod(str::replaceAll_copy(line.substr(3, 19), "d", "e", str::IgnoreCase)); | |
| 523 | LOG_DATA("{}: a0 {}", nameId(), a0); | ||
| 524 | ✗ | auto a1 = std::stod(str::replaceAll_copy(line.substr(22, 19), "d", "e", str::IgnoreCase)); | |
| 525 | LOG_DATA("{}: a1 {}", nameId(), a1); | ||
| 526 | |||
| 527 | ✗ | if (a0 != 0 || a1 != 0) | |
| 528 | { | ||
| 529 | ✗ | _gnssNavInfo.timeSysCorr[{ satSys.getTimeSystem(), UTC }] = { .a0 = a0, .a1 = a1 }; | |
| 530 | } | ||
| 531 | } | ||
| 532 |
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66 | else if (headerLabel == "LEAP SECONDS") |
| 533 | { | ||
| 534 | LOG_DATA("{}: Leap seconds: {}", nameId(), std::stoi(line.substr(0, 6))); | ||
| 535 | } | ||
| 536 |
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38 | else if (headerLabel == "END OF HEADER") |
| 537 | { | ||
| 538 | 38 | break; | |
| 539 | } | ||
| 540 | } | ||
| 541 | 38 | } | |
| 542 | |||
| 543 | 5 | void RinexNavFile::parseHeader4() | |
| 544 | { | ||
| 545 | 5 | std::string line; | |
| 546 | // --------------------------------------- RINEX VERSION / TYPE ------------------------------------------ | ||
| 547 |
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10 | while (line.find("RINEX VERSION / TYPE") == std::string::npos && !eof()) |
| 548 | { | ||
| 549 |
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5 | getline(line); |
| 550 | } | ||
| 551 | // SatelliteSystem satSys = SatSys_None; | ||
| 552 |
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5 | LOG_DEBUG("{}: Version: {:3.2f}", nameId(), _version); // FORMAT: F9.2,11X |
| 553 |
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5 | LOG_DEBUG("{}: SatSys : {}", nameId(), str::trim_copy(line.substr(40, 20))); // FORMAT: A1,19X |
| 554 | // ####################################################################################################### | ||
| 555 |
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15 | while (getline(line) && !eof()) |
| 556 | { | ||
| 557 |
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15 | str::rtrim(line); |
| 558 |
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15 | auto headerLabel = extHeaderLabel(line); |
| 559 |
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15 | if (headerLabel == "PGM / RUN BY / DATE") |
| 560 | { | ||
| 561 | // Name of program creating current file | ||
| 562 | LOG_DATA("{}: Program: {}", nameId(), str::trim_copy(line.substr(0, 20))); // FORMAT: A20 | ||
| 563 | // Name of agency creating current file | ||
| 564 | LOG_DATA("{}: Run by : {}", nameId(), str::trim_copy(line.substr(20, 20))); // FORMAT: A20 | ||
| 565 | // Date and time of file creation | ||
| 566 | LOG_DATA("{}: Date : {}", nameId(), str::trim_copy(line.substr(40, 20))); // FORMAT: A20 | ||
| 567 | } | ||
| 568 |
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10 | else if (headerLabel == "COMMENT") |
| 569 | { | ||
| 570 | LOG_DATA("{}: Comment: {}", nameId(), line.substr(0, 60)); // FORMAT: A60 | ||
| 571 | } | ||
| 572 |
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10 | else if (headerLabel == "REC # / TYPE / VERS") // Not in mixed station files |
| 573 | { | ||
| 574 | // Receiver number of station | ||
| 575 | LOG_DATA("{}: Receiver number : {}", nameId(), str::trim_copy(line.substr(0, 20))); // FORMAT: A20 | ||
| 576 | // Receiver type of station | ||
| 577 | LOG_DATA("{}: Receiver type : {}", nameId(), str::trim_copy(line.substr(20, 20))); // FORMAT: A20 | ||
| 578 | // Receiver software version of station | ||
| 579 | LOG_DATA("{}: Receiver version : {}", nameId(), str::trim_copy(line.substr(40, 20))); // FORMAT: A20 | ||
| 580 | } | ||
| 581 |
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10 | else if (headerLabel == "Merged File") |
| 582 | { | ||
| 583 | ✗ | if (!str::trim_copy(line.substr(0, 9)).empty()) | |
| 584 | { | ||
| 585 | // Numbers of files merged | ||
| 586 | LOG_DATA("{}: Number of files merged : {}", nameId(), str::trim_copy(line.substr(0, 9))); // FORMAT: I9 | ||
| 587 | } | ||
| 588 | } | ||
| 589 |
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10 | else if (headerLabel == "DOI") |
| 590 | { | ||
| 591 | // Digital Object Identifier | ||
| 592 | LOG_DATA("{}: Comment: {}", nameId(), line.substr(0, 60)); // FORMAT: A60 | ||
| 593 | } | ||
| 594 |
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10 | else if (headerLabel == "LICENSE OF USE") |
| 595 | { | ||
| 596 | // License of Use | ||
| 597 | LOG_DATA("{}: Comment: {}", nameId(), line.substr(0, 60)); // FORMAT: A60 | ||
| 598 | } | ||
| 599 |
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10 | else if (headerLabel == "LICENSE OF USE") |
| 600 | { | ||
| 601 | // License of Use | ||
| 602 | LOG_DATA("{}: Comment: {}", nameId(), line.substr(0, 60)); // FORMAT: A60 | ||
| 603 | } | ||
| 604 |
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10 | else if (headerLabel == "LEAP SECONDS") |
| 605 | { | ||
| 606 | LOG_DATA("{}: Leap seconds: {}", nameId(), std::stoi(line.substr(0, 6))); // I6 | ||
| 607 | } | ||
| 608 |
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5 | else if (headerLabel == "END OF HEADER") |
| 609 | { | ||
| 610 | 5 | break; | |
| 611 | } | ||
| 612 | } | ||
| 613 | 5 | } | |
| 614 | |||
| 615 | 4 | void RinexNavFile::parseOrbit2() | |
| 616 | { | ||
| 617 | 4 | std::string line; | |
| 618 | |||
| 619 | try | ||
| 620 | { | ||
| 621 |
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17 | while (getline(line) && !eof()) |
| 622 | { | ||
| 623 |
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13 | if (line.size() > 82) |
| 624 | { | ||
| 625 | ✗ | abortReading(); | |
| 626 | ✗ | return; | |
| 627 | } // 80 + \n\r | ||
| 628 | |||
| 629 | // -------------------------------------- SV / EPOCH / SV CLK ---------------------------------------- | ||
| 630 | |||
| 631 | // Satellite system (G), sat number (PRN) - A1,I2.2, | ||
| 632 | // Satellite system (E), satellite number - A1,I2.2, | ||
| 633 | // Satellite system (R), satellite number (slot number in sat. constellation) - A1,I2.2, | ||
| 634 | // Satellite system (J), Satellite PRN-192 - A1,I2, | ||
| 635 | // Satellite system (C), sat number (PRN) - A1,I2.2, | ||
| 636 | // Satellite system (S), satellite number (slot number in sat. constellation) - A1,I2.2, | ||
| 637 | // Satellite system (I), sat number (PRN) - A1,I2.2, | ||
| 638 | 13 | SatelliteSystem satSys = SatSys_None; | |
| 639 | |||
| 640 | // Offset for RINEX 2.xx versions. Has only 3 leading spaces | ||
| 641 | 13 | satSys = _gnssNavInfo.satelliteSystems; | |
| 642 | |||
| 643 |
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13 | if (satSys == SatSys_None) { continue; } // To intercept comment lines |
| 644 | |||
| 645 |
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13 | auto satNumStr = line.substr(0, 2); |
| 646 |
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13 | if (satNumStr == " ") { continue; } |
| 647 | |||
| 648 | 13 | auto satNum = static_cast<uint8_t>(str::stoi(satNumStr, 0)); | |
| 649 |
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13 | if (satNum == 0) { continue; } |
| 650 | // Epoch: Toc - Time of Clock (GPS) year (4 digits) - 1X,I4, | ||
| 651 | // month, day, hour, minute, second - 5(1X,I2.2), | ||
| 652 |
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13 | auto timeSplit = str::split_wo_empty(line.substr(2, 20), " "); |
| 653 |
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13 | auto timeSystem = satSys == GLO ? UTC : satSys.getTimeSystem(); |
| 654 | |||
| 655 |
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13 | int year = std::stoi(timeSplit.at(0)); |
| 656 | |||
| 657 | // RINEX 2.xx has 2-Digit Years | ||
| 658 |
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13 | year += (year >= 80 ? 1900 : 2000); |
| 659 | |||
| 660 | InsTime epoch{ static_cast<uint16_t>(year), | ||
| 661 |
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13 | static_cast<uint16_t>(std::stoi(timeSplit.at(1))), |
| 662 |
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13 | static_cast<uint16_t>(std::stoi(timeSplit.at(2))), |
| 663 |
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13 | static_cast<uint16_t>(std::stoi(timeSplit.at(3))), |
| 664 |
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13 | static_cast<uint16_t>(std::stoi(timeSplit.at(4))), |
| 665 | 26 | std::stold(timeSplit.at(5)), | |
| 666 |
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65 | timeSystem }; |
| 667 | |||
| 668 | LOG_DATA("{}: {}-{} {} (read as {} time)", nameId(), satSys, satNum, epoch.toYMDHMS(), std::string(timeSystem)); | ||
| 669 | |||
| 670 |
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13 | if (satSys == GPS || satSys == GAL || satSys == QZSS || satSys == BDS) // NOLINT(misc-redundant-expression) // bugged warning |
| 671 | { | ||
| 672 | // Polynomial coefficients for clock correction | ||
| 673 | 6 | std::array<double, 3> a{}; | |
| 674 | // SV clock bias [seconds] | ||
| 675 |
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24 | a[0] = std::stod(str::replaceAll_copy(line.substr(22, 19), "d", "e", str::IgnoreCase)); |
| 676 | // SV clock drift [sec/sec] | ||
| 677 |
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24 | a[1] = std::stod(str::replaceAll_copy(line.substr(41, 19), "d", "e", str::IgnoreCase)); |
| 678 | // SV clock drift rate [sec/sec^2] | ||
| 679 |
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18 | a[2] = std::stod(str::replaceAll_copy(line.substr(60, 19), "d", "e", str::IgnoreCase)); |
| 680 | |||
| 681 | LOG_DATA("{}: clkBias {}, clkDrift {}, clkDriftRate {}", nameId(), a[0], a[1], a[2]); | ||
| 682 | |||
| 683 | // ------------------------------------ BROADCAST ORBIT - 1 -------------------------------------- | ||
| 684 |
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6 | getline(line); |
| 685 |
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6 | if (line.size() > 82) |
| 686 | { | ||
| 687 | ✗ | abortReading(); | |
| 688 | ✗ | return; | |
| 689 | } // 80 + \n\r | ||
| 690 | |||
| 691 | // GPS/QZSS: Issue of Data, Ephemeris (IODE) | ||
| 692 | // GAL: IODnav Issue of Data of the nav batch | ||
| 693 | // BDS: AODE Age of Data, Ephemeris (as specified in BeiDou ICD Table Section 5.2.4.11 Table 5-8) | ||
| 694 | // and field range is: 0-31. | ||
| 695 | // IRNSS: IODEC Issue of Data, Ephemeris and Clock | ||
| 696 |
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24 | auto IODE_IODnav_AODE_IODEC = static_cast<size_t>(std::stod(str::replaceAll_copy(line.substr(3, 19), "d", "e", str::IgnoreCase))); |
| 697 | // Crs (meters) | ||
| 698 |
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24 | double Crs = std::stod(str::replaceAll_copy(line.substr(22, 19), "d", "e", str::IgnoreCase)); |
| 699 | // Delta n (radians/sec) | ||
| 700 |
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24 | double delta_n = std::stod(str::replaceAll_copy(line.substr(41, 19), "d", "e", str::IgnoreCase)); |
| 701 | // M0 (radians) | ||
| 702 |
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18 | double M_0 = std::stod(str::replaceAll_copy(line.substr(60, 19), "d", "e", str::IgnoreCase)); |
| 703 | |||
| 704 | LOG_DATA("{}: IODE_IODnav_AODE_IODEC {}, Crs {}, Delta_n {}, M0 {}", nameId(), IODE_IODnav_AODE_IODEC, Crs, delta_n, M_0); | ||
| 705 | |||
| 706 | // ------------------------------------ BROADCAST ORBIT - 2 -------------------------------------- | ||
| 707 |
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6 | getline(line); |
| 708 |
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6 | if (line.size() > 82) |
| 709 | { | ||
| 710 | ✗ | abortReading(); | |
| 711 | ✗ | return; | |
| 712 | } // 80 + \n\r | ||
| 713 | |||
| 714 | // Cuc (radians) | ||
| 715 |
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24 | double Cuc = std::stod(str::replaceAll_copy(line.substr(3, 19), "d", "e", str::IgnoreCase)); |
| 716 | // e Eccentricity | ||
| 717 |
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24 | double e = std::stod(str::replaceAll_copy(line.substr(22, 19), "d", "e", str::IgnoreCase)); |
| 718 | // Cus (radians) | ||
| 719 |
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24 | double Cus = std::stod(str::replaceAll_copy(line.substr(41, 19), "d", "e", str::IgnoreCase)); |
| 720 | // sqrt(A) (sqrt(m)) | ||
| 721 |
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18 | double sqrt_A = std::stod(str::replaceAll_copy(line.substr(60, 19), "d", "e", str::IgnoreCase)); |
| 722 | |||
| 723 | LOG_DATA("{}: Cuc {}, e {}, Cus {}, sqrt_A {}", nameId(), Cuc, e, Cus, sqrt_A); | ||
| 724 | |||
| 725 | // ------------------------------------ BROADCAST ORBIT - 3 -------------------------------------- | ||
| 726 |
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6 | getline(line); |
| 727 |
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6 | if (line.size() > 82) |
| 728 | { | ||
| 729 | ✗ | abortReading(); | |
| 730 | ✗ | return; | |
| 731 | } // 80 + \n\r | ||
| 732 | |||
| 733 | // Toe Time of Ephemeris (sec of GPS week) | ||
| 734 |
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24 | double toeSec = std::stod(str::replaceAll_copy(line.substr(3, 19), "d", "e", str::IgnoreCase)); |
| 735 | // Cic (radians) | ||
| 736 |
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24 | double Cic = std::stod(str::replaceAll_copy(line.substr(22, 19), "d", "e", str::IgnoreCase)); |
| 737 | // OMEGA0 (radians) | ||
| 738 |
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24 | double Omega_0 = std::stod(str::replaceAll_copy(line.substr(41, 19), "d", "e", str::IgnoreCase)); |
| 739 | // Cis (radians) | ||
| 740 |
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18 | double Cis = std::stod(str::replaceAll_copy(line.substr(60, 19), "d", "e", str::IgnoreCase)); |
| 741 | |||
| 742 | LOG_DATA("{}: toe {}, Cic {}, Omega_0 {}, Cis {}", nameId(), toeSec, Cic, Omega_0, Cis); | ||
| 743 | |||
| 744 | // ------------------------------------ BROADCAST ORBIT - 4 -------------------------------------- | ||
| 745 |
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6 | getline(line); |
| 746 |
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6 | if (line.size() > 82) |
| 747 | { | ||
| 748 | ✗ | abortReading(); | |
| 749 | ✗ | return; | |
| 750 | } // 80 + \n\r | ||
| 751 | |||
| 752 | // i0 (radians) | ||
| 753 |
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24 | double i_0 = std::stod(str::replaceAll_copy(line.substr(3, 19), "d", "e", str::IgnoreCase)); |
| 754 | // Crc (meters) | ||
| 755 |
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24 | double Crc = std::stod(str::replaceAll_copy(line.substr(22, 19), "d", "e", str::IgnoreCase)); |
| 756 | // omega (radians) | ||
| 757 |
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24 | double omega = std::stod(str::replaceAll_copy(line.substr(41, 19), "d", "e", str::IgnoreCase)); |
| 758 | // OMEGA DOT (radians/sec) | ||
| 759 |
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18 | double Omega_dot = std::stod(str::replaceAll_copy(line.substr(60, 19), "d", "e", str::IgnoreCase)); |
| 760 | |||
| 761 | LOG_DATA("{}: i_0 {}, Crc {}, omega {}, Omega_dot {}", nameId(), i_0, Crc, omega, Omega_dot); | ||
| 762 | |||
| 763 | // ------------------------------------ BROADCAST ORBIT - 5 -------------------------------------- | ||
| 764 |
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6 | getline(line); |
| 765 |
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6 | if (line.size() > 82) |
| 766 | { | ||
| 767 | ✗ | abortReading(); | |
| 768 | ✗ | return; | |
| 769 | } // 80 + \n\r | ||
| 770 | |||
| 771 | // IDOT (radians/sec) | ||
| 772 |
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24 | double i_dot = std::stod(str::replaceAll_copy(line.substr(3, 19), "d", "e", str::IgnoreCase)); |
| 773 | // GPS: Codes on L2 channel | ||
| 774 | // QZSS: Codes on L2 channel (fixed to 2, see IS-QZSS-PNT 4.1.2.7) | ||
| 775 | // GAL: Data sources (FLOAT --> INTEGER) | ||
| 776 | // Bit 0 set: I/NAV E1-B | ||
| 777 | // Bit 1 set: F/NAV E5a-I | ||
| 778 | // Bit 2 set: I/NAV E5b-I | ||
| 779 | // Bits 0 and 2 : Both can be set if the navigation messages were merged, however, bits 0-2 | ||
| 780 | // cannot all be set, as the I/NAV and F/NAV messages contain different information | ||
| 781 | // Bit 3 reserved for Galileo internal use | ||
| 782 | // Bit 4 reserved for Galileo internal use | ||
| 783 | // Bit 8 set: af0-af2, Toc, SISA are for E5a,E1 | ||
| 784 | // Bit 9 set: af0-af2, Toc, SISA are for E5b,E1 | ||
| 785 | // Bits 8-9 : exclusive (only one bit can be set) | ||
| 786 | // BDS/IRNSS: Spare | ||
| 787 |
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18 | auto codesOnL2Channel_dataSources = static_cast<uint16_t>(str::stod(str::replaceAll_copy(line.substr(22, 19), "d", "e", str::IgnoreCase), 0)); |
| 788 | |||
| 789 | // GPS Week # (to go with TOE) Continuous number, not mod(1024)! | ||
| 790 |
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24 | auto gpsWeek = static_cast<int32_t>(str::stod(str::replaceAll_copy(line.substr(41, 19), "d", "e", str::IgnoreCase), epoch.toGPSweekTow().gpsWeek)); |
| 791 |
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6 | if (satSys == BDS) { gpsWeek += InsTimeUtil::DIFF_BDT_WEEK_TO_GPST_WEEK; } |
| 792 |
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6 | auto toe = InsTime(0, gpsWeek, toeSec, satSys.getTimeSystem()); |
| 793 | |||
| 794 | // GPS: L2 P data flag | ||
| 795 | // QZSS: L2P data flag set to 1 since QZSS does not track L2P | ||
| 796 | // GAL/BDS/IRNSS: Spare | ||
| 797 |
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18 | bool L2PdataFlag = static_cast<bool>(str::stod(str::replaceAll_copy(line.substr(60, 19), "d", "e", str::IgnoreCase), 0.0)); |
| 798 | |||
| 799 | LOG_DATA("{}: i_dot {}, codesOnL2Channel/dataSources {} ({}), gpsWeek {}, L2PdataFlag {}", nameId(), | ||
| 800 | i_dot, codesOnL2Channel_dataSources, std::bitset<10>(codesOnL2Channel_dataSources).to_string(), gpsWeek, L2PdataFlag); | ||
| 801 | |||
| 802 | // ------------------------------------ BROADCAST ORBIT - 6 -------------------------------------- | ||
| 803 |
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6 | getline(line); |
| 804 |
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6 | if (line.size() > 82) |
| 805 | { | ||
| 806 | ✗ | abortReading(); | |
| 807 | ✗ | return; | |
| 808 | } // 80 + \n\r | ||
| 809 | |||
| 810 | // GPS: SV accuracy (meters) See GPS ICD 200H Section 20.3.3.3.1.3 use specified equations to define | ||
| 811 | // nominal values, N = 0-6: use 2(1+N/2) (round to one decimal place i.e. 2.8, 5.7 and 11.3) , | ||
| 812 | // N= 7-15:use 2 (N-2), 8192 specifies use at own risk | ||
| 813 | // QZSS: SV accuracy (meters) (IS -QZSS-PNT, Section 5.4.3.1) which refers to: IS GPS 200H Section 20.3.3.3.1.3 | ||
| 814 | // use specified equations to define nominal values, N = 0-6: use 2(1+N/2) (round to one decimal | ||
| 815 | // place i.e. 2.8, 5.7 and 11.3) , N= 7-15:use 2 (N-2), 8192 specifies use at own risk | ||
| 816 | // IRNSS: User Range Accuracy(m), See IRNSS ICD Section 6.2.1.4 , use specified equations to define | ||
| 817 | // nominal values, N = 0-6: use 2(1+N/2) (round to one decimal place i.e. 2.8, 5.7 and 11.3) , | ||
| 818 | // N= 7-15:use 2 (N-2), 8192 specifies use at own risk | ||
| 819 |
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24 | double signalAccuracy = std::stod(str::replaceAll_copy(line.substr(3, 19), "d", "e", str::IgnoreCase)); |
| 820 | // GPS/QZSS: SV health (bits 17-22 w 3 sf 1) | ||
| 821 | // GAL: SV health (FLOAT converted to INTEGER) See Galileo ICD Section 5.1.9.3 | ||
| 822 | // Bit 0: E1B DVS Bits 1-2: E1B HS Bit 3: E5a DVS | ||
| 823 | // Bits 4-5: E5a HS Bit 6: E5b DVS Bits 7-8: E5b HS | ||
| 824 | // BDS: SatH1 | ||
| 825 | // IRNSS: Health (Sub frame 1,bits 155(most significant) and 156(least significant)), | ||
| 826 | // where 0 = L5 and S healthy, 1 = L5 healthy and S unhealthy, 2= L5 unhealthy | ||
| 827 | // and S healthy, 3= both L5 and S unhealthy | ||
| 828 |
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24 | auto svHealth = static_cast<uint16_t>(std::stod(str::replaceAll_copy(line.substr(22, 19), "d", "e", str::IgnoreCase))); |
| 829 | // GPS: TGD (seconds) | ||
| 830 | // QZSS: TGD (seconds) The QZSS ICD specifies a do not use bit pattern "10000000" this condition is represented by a blank field. | ||
| 831 | // GAL: BGD E5a/E1 (seconds) | ||
| 832 | // BDS: TGD1 B1/B3 (seconds) | ||
| 833 |
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24 | double tgd_bgd5a_TGD1 = str::stod(str::replaceAll_copy(line.substr(41, 19), "d", "e", str::IgnoreCase), 0.0); |
| 834 | |||
| 835 | // GPS/QZSS: IODC Issue of Data, Clock | ||
| 836 | // GAL: BGD E5b/E1 (seconds) | ||
| 837 | // BDS: TGD2 B2/B3 (seconds) | ||
| 838 | // IRNSS: Blank | ||
| 839 |
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18 | double IODC_bgd5b_TGD2 = str::stod(str::replaceAll_copy(line.substr(60, 19), "d", "e", str::IgnoreCase), 0.0); |
| 840 | |||
| 841 | LOG_DATA("{}: svAccuracy {}, svHealth {}, TGD {}, IODC {}", nameId(), signalAccuracy, svHealth, tgd_bgd5a_TGD1, IODC_bgd5b_TGD2); | ||
| 842 | |||
| 843 | // ------------------------------------ BROADCAST ORBIT - 7 -------------------------------------- | ||
| 844 |
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6 | getline(line); |
| 845 |
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6 | if (line.size() > 82) |
| 846 | { | ||
| 847 | ✗ | abortReading(); | |
| 848 | ✗ | return; | |
| 849 | } // 80 + \n\r | ||
| 850 | |||
| 851 | // Transmission time of message (sec of GPS week, derived e.g.from Z-count in Hand Over Word (HOW)) | ||
| 852 |
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24 | [[maybe_unused]] auto transmissionTime = str::stod(str::replaceAll_copy(line.substr(3, 19), "d", "e", str::IgnoreCase), 0.0); |
| 853 | // GPS/QZSS: Fit Interval in hours see section 6.11. (BNK). | ||
| 854 | // GAL: Spare | ||
| 855 | // BDS: AODC Age of Data Clock (as specified in BeiDou ICD Table Section 5.2.4.9 Table 5-6) and field range is: 0-31. | ||
| 856 |
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18 | auto fitInterval_AODC = str::stod(str::replaceAll_copy(line.substr(22, 19), "d", "e", str::IgnoreCase), 0.0); |
| 857 | // Spare | ||
| 858 | // std::stod(str::replaceAll_copy(line.substr(41, 19), "d", "e", str::IgnoreCase)); | ||
| 859 | // Spare | ||
| 860 | // std::stod(str::replaceAll_copy(line.substr(60, 19), "d", "e", str::IgnoreCase)); | ||
| 861 | |||
| 862 | LOG_DATA("{}: transmissionTime {}, fitInterval/AODC {}", nameId(), transmissionTime, fitInterval_AODC); | ||
| 863 | |||
| 864 |
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6 | if (satSys == GPS) |
| 865 | { | ||
| 866 |
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6 | _gnssNavInfo.addSatelliteNavData({ satSys, satNum }, std::make_shared<GPSEphemeris>(epoch, toe, |
| 867 | IODE_IODnav_AODE_IODEC, IODC_bgd5b_TGD2, a, | ||
| 868 | sqrt_A, e, i_0, Omega_0, omega, M_0, | ||
| 869 | delta_n, Omega_dot, i_dot, Cus, Cuc, | ||
| 870 | Cis, Cic, Crs, Crc, | ||
| 871 | signalAccuracy, svHealth, | ||
| 872 | codesOnL2Channel_dataSources, L2PdataFlag, | ||
| 873 | tgd_bgd5a_TGD1, fitInterval_AODC)); | ||
| 874 | } | ||
| 875 | ✗ | else if (satSys == GAL) | |
| 876 | { | ||
| 877 | // The same satellite can appear multiple times with different dataSource bits | ||
| 878 | // We want to prefer 'I/NAV E1-B' (Bit 0 set) over 'F/NAV E5a-I' (Bit 1 set) or 'I/NAV E5b-I' (Bit 2 set) | ||
| 879 | |||
| 880 | ✗ | if (_gnssNavInfo.satellites().contains({ satSys, satNum }) // We have this satellite already | |
| 881 | ✗ | && !std::bitset<10>(codesOnL2Channel_dataSources)[0]) // This message is not 'I/NAV E1-B' | |
| 882 | { | ||
| 883 | ✗ | const auto& navData = _gnssNavInfo.satellites().at({ satSys, satNum }).getNavigationData(); | |
| 884 | ✗ | auto existingEph = std::ranges::find_if(navData, [&](const std::shared_ptr<SatNavData>& satNavData) { | |
| 885 | ✗ | return satNavData->type == SatNavData::GalileoEphemeris && satNavData->refTime == epoch | |
| 886 | ✗ | && std::dynamic_pointer_cast<GalileoEphemeris>(satNavData)->dataSource[0]; | |
| 887 | }); | ||
| 888 | ✗ | if (existingEph != navData.end()) // There is already a 'I/NAV E1-B' message | |
| 889 | { | ||
| 890 | LOG_DATA("{}: Skipping ephemeris data because of dataSource priority", nameId()); | ||
| 891 | ✗ | continue; | |
| 892 | } | ||
| 893 | } | ||
| 894 | |||
| 895 | ✗ | GalileoEphemeris::SvHealth health = { .E5a_DataValidityStatus = static_cast<GalileoEphemeris::SvHealth::DataValidityStatus>((svHealth & 0b000001000) >> 3), | |
| 896 | ✗ | .E5b_DataValidityStatus = static_cast<GalileoEphemeris::SvHealth::DataValidityStatus>((svHealth & 0b001000000) >> 6), | |
| 897 | ✗ | .E1B_DataValidityStatus = static_cast<GalileoEphemeris::SvHealth::DataValidityStatus>((svHealth & 0b000000001) >> 0), | |
| 898 | ✗ | .E5a_SignalHealthStatus = static_cast<GalileoEphemeris::SvHealth::SignalHealthStatus>((svHealth & 0b000110000) >> 4), | |
| 899 | ✗ | .E5b_SignalHealthStatus = static_cast<GalileoEphemeris::SvHealth::SignalHealthStatus>((svHealth & 0b110000000) >> 7), | |
| 900 | ✗ | .E1B_SignalHealthStatus = static_cast<GalileoEphemeris::SvHealth::SignalHealthStatus>((svHealth & 0b000000110) >> 1) }; | |
| 901 | ✗ | _gnssNavInfo.addSatelliteNavData({ satSys, satNum }, std::make_shared<GalileoEphemeris>(epoch, toe, IODE_IODnav_AODE_IODEC, a, | |
| 902 | sqrt_A, e, i_0, Omega_0, omega, M_0, | ||
| 903 | delta_n, Omega_dot, i_dot, Cus, Cuc, | ||
| 904 | Cis, Cic, Crs, Crc, | ||
| 905 | codesOnL2Channel_dataSources, signalAccuracy, health, | ||
| 906 | tgd_bgd5a_TGD1, IODC_bgd5b_TGD2)); | ||
| 907 | } | ||
| 908 | ✗ | else if (satSys == BDS) | |
| 909 | { | ||
| 910 | ✗ | _gnssNavInfo.addSatelliteNavData({ satSys, satNum }, std::make_shared<BDSEphemeris>(satNum, epoch, toe, | |
| 911 | IODE_IODnav_AODE_IODEC, fitInterval_AODC, a, | ||
| 912 | sqrt_A, e, i_0, Omega_0, omega, M_0, | ||
| 913 | delta_n, Omega_dot, i_dot, Cus, Cuc, | ||
| 914 | Cis, Cic, Crs, Crc, | ||
| 915 | signalAccuracy, svHealth, | ||
| 916 | tgd_bgd5a_TGD1, IODC_bgd5b_TGD2)); | ||
| 917 | } | ||
| 918 | ✗ | else if (satSys == QZSS) | |
| 919 | { | ||
| 920 | ✗ | _gnssNavInfo.addSatelliteNavData({ satSys, satNum }, std::make_shared<QZSSEphemeris>(epoch, toe, | |
| 921 | IODE_IODnav_AODE_IODEC, IODC_bgd5b_TGD2, a, | ||
| 922 | sqrt_A, e, i_0, Omega_0, omega, M_0, | ||
| 923 | delta_n, Omega_dot, i_dot, Cus, Cuc, | ||
| 924 | Cis, Cic, Crs, Crc, | ||
| 925 | signalAccuracy, svHealth, | ||
| 926 | codesOnL2Channel_dataSources, L2PdataFlag, | ||
| 927 | tgd_bgd5a_TGD1, fitInterval_AODC)); | ||
| 928 | } | ||
| 929 | } | ||
| 930 |
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7 | else if (satSys == GLO || satSys == SBAS) // NOLINT(misc-redundant-expression) // bugged warning |
| 931 | { | ||
| 932 | // TODO: Offset | ||
| 933 | |||
| 934 |
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7 | Eigen::Vector3d pos; |
| 935 |
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7 | Eigen::Vector3d vel; |
| 936 |
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7 | Eigen::Vector3d accelLuniSolar; |
| 937 | |||
| 938 | 7 | double tau_c{}; | |
| 939 | // Coefficient of linear polynomial of time system difference [s] | ||
| 940 |
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7 | if (_gnssNavInfo.timeSysCorr.contains({ satSys.getTimeSystem(), UTC })) |
| 941 | { | ||
| 942 |
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7 | tau_c = _gnssNavInfo.timeSysCorr.at({ satSys.getTimeSystem(), UTC }).a0; |
| 943 | } | ||
| 944 | |||
| 945 | // GLO: SV clock bias (sec) (-TauN) | ||
| 946 | // SBAS: SV clock bias (sec) (aGf0) | ||
| 947 |
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28 | double m_tau_n = std::stod(str::replaceAll_copy(line.substr(22, 19), "d", "e", str::IgnoreCase)); |
| 948 | // GLO: SV relative frequency bias (+GammaN) | ||
| 949 | // SBAS: SV relative frequency bias (aGf1) | ||
| 950 |
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28 | double gamma_n = std::stod(str::replaceAll_copy(line.substr(41, 19), "d", "e", str::IgnoreCase)); |
| 951 | // GLO: Message frame time (tk+nd*86400) in seconds of the UTC week | ||
| 952 | // SBAS: Transmission time of message (start of the message) in GPS seconds of the week | ||
| 953 |
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21 | [[maybe_unused]] auto msgFrameTime = std::stod(str::replaceAll_copy(line.substr(60, 19), "d", "e", str::IgnoreCase)); |
| 954 | LOG_DATA("{}: clkBias {}, relFreqBias {}, msgFrameTime {}", nameId(), m_tau_n, gamma_n, msgFrameTime); | ||
| 955 | |||
| 956 | // ------------------------------------ BROADCAST ORBIT - 1 -------------------------------------- | ||
| 957 |
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7 | getline(line); |
| 958 |
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7 | if (line.size() > 82) |
| 959 | { | ||
| 960 | ✗ | abortReading(); | |
| 961 | ✗ | return; | |
| 962 | } // 80 + \n\r | ||
| 963 | |||
| 964 | // Satellite position X (km) | ||
| 965 |
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28 | pos.x() = std::stod(str::replaceAll_copy(line.substr(3, 19), "d", "e", str::IgnoreCase)) * 1e3; |
| 966 | // velocity X dot (km/sec) | ||
| 967 |
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28 | vel.x() = std::stod(str::replaceAll_copy(line.substr(22, 19), "d", "e", str::IgnoreCase)) * 1e3; |
| 968 | // X acceleration (km/sec2) | ||
| 969 |
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28 | accelLuniSolar.x() = std::stod(str::replaceAll_copy(line.substr(41, 19), "d", "e", str::IgnoreCase)) * 1e3; |
| 970 | // GLO: health (0=healthy, 1=unhealthy) (MSB of 3-bit Bn) | ||
| 971 | // SBAS: Health: SBAS: See Section 8.3.3 bit mask for: health, health availability and User Range Accuracy. | ||
| 972 |
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21 | [[maybe_unused]] auto health = std::stod(str::replaceAll_copy(line.substr(60, 19), "d", "e", str::IgnoreCase)); |
| 973 | |||
| 974 | LOG_DATA("{}: satPosX {}, velX {}, accelX {}, health {}", nameId(), pos.x(), vel.x(), accelLuniSolar.x(), health); | ||
| 975 | |||
| 976 | // ------------------------------------ BROADCAST ORBIT - 2 -------------------------------------- | ||
| 977 |
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7 | getline(line); |
| 978 |
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7 | if (line.size() > 82) |
| 979 | { | ||
| 980 | ✗ | abortReading(); | |
| 981 | ✗ | return; | |
| 982 | } // 80 + \n\r | ||
| 983 | |||
| 984 | // Satellite position Y (km) | ||
| 985 |
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28 | pos.y() = std::stod(str::replaceAll_copy(line.substr(3, 19), "d", "e", str::IgnoreCase)) * 1e3; |
| 986 | // velocity Y dot (km/sec) | ||
| 987 |
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28 | vel.y() = std::stod(str::replaceAll_copy(line.substr(22, 19), "d", "e", str::IgnoreCase)) * 1e3; |
| 988 | // Y acceleration (km/sec2) | ||
| 989 |
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28 | accelLuniSolar.y() = std::stod(str::replaceAll_copy(line.substr(41, 19), "d", "e", str::IgnoreCase)) * 1e3; |
| 990 | // GLO: frequency number(-7...+13) (-7...+6 ICD 5.1) | ||
| 991 | // SBAS: Accuracy code (URA, meters) | ||
| 992 |
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21 | double frequencyNumber_accuracyCode = std::stod(str::replaceAll_copy(line.substr(60, 19), "d", "e", str::IgnoreCase)); |
| 993 | |||
| 994 | LOG_DATA("{}: satPosY {}, velY {}, accelY {}, freqNum/accuracyCode {}", nameId(), pos.y(), vel.y(), accelLuniSolar.y(), frequencyNumber_accuracyCode); | ||
| 995 | |||
| 996 | // ------------------------------------ BROADCAST ORBIT - 3 -------------------------------------- | ||
| 997 |
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7 | getline(line); |
| 998 |
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7 | if (line.size() > 82) |
| 999 | { | ||
| 1000 | ✗ | abortReading(); | |
| 1001 | ✗ | return; | |
| 1002 | } // 80 + \n\r | ||
| 1003 | |||
| 1004 | // Satellite position Z (km) | ||
| 1005 |
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28 | pos.z() = std::stod(str::replaceAll_copy(line.substr(3, 19), "d", "e", str::IgnoreCase)) * 1e3; |
| 1006 | // velocity Z dot (km/sec) | ||
| 1007 |
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28 | vel.z() = std::stod(str::replaceAll_copy(line.substr(22, 19), "d", "e", str::IgnoreCase)) * 1e3; |
| 1008 | // Z acceleration (km/sec2) | ||
| 1009 |
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28 | accelLuniSolar.z() = std::stod(str::replaceAll_copy(line.substr(41, 19), "d", "e", str::IgnoreCase)) * 1e3; |
| 1010 | // GLO: Age of oper. information (days) (E) | ||
| 1011 | // SBAS: IODN (Issue of Data Navigation, DO229, 8 first bits after Message Type if MT9) | ||
| 1012 |
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|
21 | [[maybe_unused]] auto ageOfOperation_IODN = str::stod(str::replaceAll_copy(line.substr(60, 19), "d", "e", str::IgnoreCase), 0.0); |
| 1013 | |||
| 1014 | LOG_DATA("{}: satPosZ {}, velZ {}, accelZ {}, ageOfOperation/IODN {}", nameId(), pos.z(), vel.z(), accelLuniSolar.z(), ageOfOperation_IODN); | ||
| 1015 | |||
| 1016 |
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7 | if (satSys == GLO) |
| 1017 | { | ||
| 1018 |
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7 | _gnssNavInfo.addSatelliteNavData({ satSys, satNum }, std::make_shared<GLONASSEphemeris>(epoch, tau_c, |
| 1019 |
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14 | -m_tau_n, gamma_n, static_cast<bool>(health), |
| 1020 | pos, vel, accelLuniSolar, | ||
| 1021 | frequencyNumber_accuracyCode)); | ||
| 1022 | } | ||
| 1023 | ✗ | else if (satSys == SBAS && !_sbasNotSupportedWarned) | |
| 1024 | { | ||
| 1025 | ✗ | LOG_WARN("SBAS is not yet supported. Therefore the Navigation file data will be skipped."); | |
| 1026 | ✗ | _sbasNotSupportedWarned = true; | |
| 1027 | } | ||
| 1028 | } | ||
| 1029 | 13 | } | |
| 1030 | } | ||
| 1031 | ✗ | catch (const std::exception& e) | |
| 1032 | { | ||
| 1033 | ✗ | abortReading(); | |
| 1034 | ✗ | } | |
| 1035 | 4 | } | |
| 1036 | |||
| 1037 | 38 | void RinexNavFile::parseOrbit3() | |
| 1038 | { | ||
| 1039 | 38 | std::string line; | |
| 1040 | try | ||
| 1041 | { | ||
| 1042 |
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|
6587 | while (getline(line) && !eof()) |
| 1043 | { | ||
| 1044 |
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6553 | if (line.size() > 82) |
| 1045 | { | ||
| 1046 |
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2 | abortReading(); |
| 1047 | 2 | return; | |
| 1048 | } // 80 + \n\r | ||
| 1049 | |||
| 1050 | // -------------------------------------- SV / EPOCH / SV CLK ---------------------------------------- | ||
| 1051 | |||
| 1052 | // Satellite system (G), sat number (PRN) - A1,I2.2, | ||
| 1053 | // Satellite system (E), satellite number - A1,I2.2, | ||
| 1054 | // Satellite system (R), satellite number (slot number in sat. constellation) - A1,I2.2, | ||
| 1055 | // Satellite system (J), Satellite PRN-192 - A1,I2, | ||
| 1056 | // Satellite system (C), sat number (PRN) - A1,I2.2, | ||
| 1057 | // Satellite system (S), satellite number (slot number in sat. constellation) - A1,I2.2, | ||
| 1058 | // Satellite system (I), sat number (PRN) - A1,I2.2, | ||
| 1059 | 6551 | SatelliteSystem satSys = SatSys_None; | |
| 1060 | |||
| 1061 |
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6551 | satSys = SatelliteSystem::fromChar(line.at(0)); |
| 1062 | 6550 | _gnssNavInfo.satelliteSystems |= satSys; | |
| 1063 | |||
| 1064 |
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13077 | if (satSys == SatSys_None) { continue; } // To intercept comment lines |
| 1065 | |||
| 1066 |
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6544 | auto satNumStr = line.substr(1, 2); |
| 1067 |
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6545 | if (satNumStr == " ") { continue; } |
| 1068 | |||
| 1069 | 6545 | auto satNum = static_cast<uint8_t>(str::stoi(satNumStr, 0)); | |
| 1070 |
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6545 | if (satNum == 0) { continue; } |
| 1071 | |||
| 1072 |
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|
6545 | if (parseEphemeris(line, satSys, satNum)) |
| 1073 | { | ||
| 1074 | 6528 | continue; | |
| 1075 | } | ||
| 1076 | 6545 | } | |
| 1077 | } | ||
| 1078 |
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2 | catch (const std::exception& e) |
| 1079 | { | ||
| 1080 |
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2 | abortReading(); |
| 1081 | 2 | } | |
| 1082 | 38 | } | |
| 1083 | |||
| 1084 | 5 | void RinexNavFile::parseOrbit4() | |
| 1085 | { | ||
| 1086 | 5 | std::string line; | |
| 1087 | try | ||
| 1088 | { | ||
| 1089 |
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74 | while (getline(line) && !eof()) |
| 1090 | { | ||
| 1091 |
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64 | if (line.size() > 82) |
| 1092 | { | ||
| 1093 | ✗ | abortReading(); | |
| 1094 | ✗ | return; | |
| 1095 | } // 80 + \n\r | ||
| 1096 | |||
| 1097 |
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64 | if (line.at(0) == '>') |
| 1098 | { | ||
| 1099 | // -------------------------------------- Type / SV / MSSG ---------------------------------------- | ||
| 1100 | |||
| 1101 | // Satellite system (G), sat number (PRN) - A1,I2.2, | ||
| 1102 | // Satellite system (E), satellite number - A1,I2.2, | ||
| 1103 | // Satellite system (R), satellite number (slot number in sat. constellation) - A1,I2.2, | ||
| 1104 | // Satellite system (J), Satellite PRN-192 - A1,I2, | ||
| 1105 | // Satellite system (C), sat number (PRN) - A1,I2.2, | ||
| 1106 | // Satellite system (S), satellite number (slot number in sat. constellation) - A1,I2.2, | ||
| 1107 | // Satellite system (I), sat number (PRN) - A1,I2.2, | ||
| 1108 | |||
| 1109 | 64 | SatelliteSystem satSys = SatSys_None; | |
| 1110 |
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64 | satSys = SatelliteSystem::fromChar(line.at(6)); |
| 1111 | 64 | _gnssNavInfo.satelliteSystems |= satSys; | |
| 1112 |
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101 | if (satSys == SatSys_None) { continue; } // To intercept comment lines |
| 1113 | |||
| 1114 |
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64 | auto satNumStr = line.substr(7, 2); |
| 1115 |
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64 | if (satNumStr == " ") { continue; } |
| 1116 | |||
| 1117 | 64 | auto satNum = static_cast<uint8_t>(str::stoi(satNumStr, 0)); | |
| 1118 |
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64 | if (satNum == 0) { continue; } |
| 1119 | |||
| 1120 |
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64 | std::string msgType = line.substr(2, 3); |
| 1121 |
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64 | NavMsgType navMsgType = getNavMsgType(msgType); |
| 1122 | |||
| 1123 | // std::string satMsgType = line.substr(10, 4); | ||
| 1124 | |||
| 1125 |
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64 | switch (navMsgType) |
| 1126 | { | ||
| 1127 | 41 | case NavMsgType::EPH: | |
| 1128 | { | ||
| 1129 | // Code for EPH | ||
| 1130 |
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41 | getline(line); |
| 1131 |
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41 | if (line.size() > 82) |
| 1132 | { | ||
| 1133 | ✗ | abortReading(); | |
| 1134 | ✗ | return; | |
| 1135 | } | ||
| 1136 | |||
| 1137 |
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41 | if (satSys != SatelliteSystem::fromChar(line.at(0)) || satNumStr != line.substr(1, 2)) { continue; } |
| 1138 | |||
| 1139 |
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41 | if (parseEphemeris(line, satSys, satNum)) |
| 1140 | { | ||
| 1141 | 37 | continue; | |
| 1142 | } | ||
| 1143 | } | ||
| 1144 | 4 | break; | |
| 1145 | 18 | case NavMsgType::STO: | |
| 1146 | { | ||
| 1147 | // Code for STO | ||
| 1148 |
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18 | getline(line); |
| 1149 |
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18 | if (line.size() > 82) |
| 1150 | { | ||
| 1151 | ✗ | abortReading(); | |
| 1152 | ✗ | return; | |
| 1153 | } | ||
| 1154 | |||
| 1155 | // Epoch: Toc - Time of Clock (GPS) year (4 digits) - 4X,I4, | ||
| 1156 | // month, day, hour, minute, second - 5(1X,I2.2), | ||
| 1157 |
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18 | auto timeSplit = str::split_wo_empty(line.substr(4, 20), " "); |
| 1158 |
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18 | auto timeSystem = satSys == GLO ? UTC : satSys.getTimeSystem(); |
| 1159 | |||
| 1160 |
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18 | int year = std::stoi(timeSplit.at(0)); |
| 1161 | |||
| 1162 | InsTime epoch{ static_cast<uint16_t>(year), | ||
| 1163 |
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18 | static_cast<uint16_t>(std::stoi(timeSplit.at(1))), |
| 1164 |
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18 | static_cast<uint16_t>(std::stoi(timeSplit.at(2))), |
| 1165 |
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18 | static_cast<uint16_t>(std::stoi(timeSplit.at(3))), |
| 1166 |
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18 | static_cast<uint16_t>(std::stoi(timeSplit.at(4))), |
| 1167 | 36 | std::stold(timeSplit.at(5)), | |
| 1168 |
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90 | timeSystem }; |
| 1169 | |||
| 1170 | LOG_DATA("{}: {}-{} {} (read as {} time)", nameId(), satSys, satNum, epoch.toYMDHMS(), std::string(timeSystem)); | ||
| 1171 |
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18 | auto correctionType = str::trim_copy(line.substr(24, 4)); // FORMAT: 1X,A18 |
| 1172 | LOG_DATA("{}: Time System Correction: {}", nameId(), correctionType); | ||
| 1173 | |||
| 1174 |
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18 | getline(line); |
| 1175 |
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18 | if (line.size() > 82) |
| 1176 | { | ||
| 1177 | ✗ | abortReading(); | |
| 1178 | ✗ | return; | |
| 1179 | } | ||
| 1180 | |||
| 1181 | // auto t_tm = str::stod(str::trim_copy(line.substr(4, 19)), std::nan("")); | ||
| 1182 | // LOG_DATA("{}: t_tm {}", nameId(), t_tm); | ||
| 1183 |
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18 | auto a0 = str::stod(str::trim_copy(line.substr(23, 19)), std::nan("")); |
| 1184 | LOG_DATA("{}: a0 {}", nameId(), a0); | ||
| 1185 |
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18 | auto a1 = str::stod(str::trim_copy(line.substr(42, 19)), std::nan("")); |
| 1186 | LOG_DATA("{}: a1 {}", nameId(), a1); | ||
| 1187 | // auto a2 = str::stod(str::trim_copy(line.substr(61, 19)), std::nan("")); | ||
| 1188 | // LOG_DATA("{}: a2 {}", nameId(), a2); | ||
| 1189 | |||
| 1190 |
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18 | if (!std::isnan(a0) && !std::isnan(a1)) |
| 1191 | { | ||
| 1192 | 18 | std::pair<TimeSystem, TimeSystem> timeSystems; | |
| 1193 |
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18 | if (correctionType == "GPUT") |
| 1194 | { | ||
| 1195 | 2 | timeSystems = { GPST, UTC }; | |
| 1196 | } | ||
| 1197 |
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16 | else if (correctionType == "GLUT") |
| 1198 | { | ||
| 1199 | 2 | timeSystems = { GLNT, UTC }; | |
| 1200 | } | ||
| 1201 |
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14 | else if (correctionType == "GAUT") |
| 1202 | { | ||
| 1203 | 8 | timeSystems = { GST, UTC }; | |
| 1204 | } | ||
| 1205 |
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6 | else if (correctionType == "BDUT") |
| 1206 | { | ||
| 1207 | 2 | timeSystems = { BDT, UTC }; | |
| 1208 | } | ||
| 1209 |
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4 | else if (correctionType == "QZUT") |
| 1210 | { | ||
| 1211 | ✗ | timeSystems = { QZSST, UTC }; | |
| 1212 | } | ||
| 1213 |
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4 | else if (correctionType == "IRUT") |
| 1214 | { | ||
| 1215 | ✗ | timeSystems = { IRNSST, UTC }; | |
| 1216 | } | ||
| 1217 | // else if (correctionType == "SBUT") { timeSystems = { SBAST, UTC }; } | ||
| 1218 |
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4 | else if (correctionType == "GLGP") |
| 1219 | { | ||
| 1220 | 2 | timeSystems = { GLNT, GPST }; | |
| 1221 | } | ||
| 1222 |
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|
2 | else if (correctionType == "GAGP") |
| 1223 | { | ||
| 1224 | 2 | timeSystems = { GST, GPST }; | |
| 1225 | } | ||
| 1226 | ✗ | else if (correctionType == "GPGA") | |
| 1227 | { | ||
| 1228 | ✗ | timeSystems = { GST, GPST }; | |
| 1229 | } // Pre RINEX 3.04 | ||
| 1230 | ✗ | else if (correctionType == "QZGP") | |
| 1231 | { | ||
| 1232 | ✗ | timeSystems = { QZSST, GPST }; | |
| 1233 | } | ||
| 1234 | ✗ | else if (correctionType == "IRGP") | |
| 1235 | { | ||
| 1236 | ✗ | timeSystems = { IRNSST, GPST }; | |
| 1237 | } | ||
| 1238 | else | ||
| 1239 | { | ||
| 1240 | LOG_TRACE("{}: Time System Correction '{}' not implemented yet", nameId(), correctionType); | ||
| 1241 | ✗ | continue; | |
| 1242 | } | ||
| 1243 |
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|
18 | _gnssNavInfo.timeSysCorr[timeSystems] = { .a0 = a0, .a1 = a1 }; |
| 1244 | } | ||
| 1245 | 18 | } | |
| 1246 | 18 | break; | |
| 1247 | ✗ | case NavMsgType::EOP: | |
| 1248 | // Code for EOP | ||
| 1249 | // TODO: Implement EOP | ||
| 1250 | ✗ | break; | |
| 1251 | 5 | case NavMsgType::ION: | |
| 1252 | { | ||
| 1253 | // Code for ION | ||
| 1254 |
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|
5 | getline(line); |
| 1255 |
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5 | if (line.size() > 82) |
| 1256 | { | ||
| 1257 | ✗ | abortReading(); | |
| 1258 | ✗ | return; | |
| 1259 | } | ||
| 1260 | |||
| 1261 | // Epoch: t_tm - Transmission timne of ION data, year (4 digits) - 4X,I4, | ||
| 1262 | // month, day, hour, minute, second - 5(1X,I2.2), | ||
| 1263 |
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5 | auto timeSplit = str::split_wo_empty(line.substr(4, 20), " "); |
| 1264 |
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5 | auto timeSystem = satSys == GLO ? UTC : satSys.getTimeSystem(); |
| 1265 | |||
| 1266 |
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5 | int year = std::stoi(timeSplit.at(0)); |
| 1267 | |||
| 1268 | InsTime t_tm{ static_cast<uint16_t>(year), | ||
| 1269 |
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5 | static_cast<uint16_t>(std::stoi(timeSplit.at(1))), |
| 1270 |
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5 | static_cast<uint16_t>(std::stoi(timeSplit.at(2))), |
| 1271 |
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5 | static_cast<uint16_t>(std::stoi(timeSplit.at(3))), |
| 1272 |
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5 | static_cast<uint16_t>(std::stoi(timeSplit.at(4))), |
| 1273 | 10 | std::stold(timeSplit.at(5)), | |
| 1274 |
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25 | timeSystem }; |
| 1275 | |||
| 1276 | LOG_DATA("{}: {}-{} {} (read as {} time)", nameId(), satSys, satNum, t_tm.toYMDHMS(), std::string(timeSystem)); | ||
| 1277 | |||
| 1278 | // TODO: Destinction of BDS unclear in RINEX versin 4.00 BDGIM or Klobuchar model | ||
| 1279 | // Klobuchar | ||
| 1280 |
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|
5 | if (satSys == GPS || satSys == QZSS || satSys == IRNSS || satSys == BDS) // NOLINT(misc-redundant-expression) // bugged warning |
| 1281 | { | ||
| 1282 | 3 | std::array<double, 4> alpha{}; | |
| 1283 | 3 | std::array<double, 4> beta{}; | |
| 1284 |
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3 | alpha[0] = str::stod(str::trim_copy(line.substr(23, 19)), 0.0); |
| 1285 |
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3 | alpha[1] = str::stod(str::trim_copy(line.substr(42, 19)), 0.0); |
| 1286 |
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3 | alpha[2] = str::stod(str::trim_copy(line.substr(61, 19)), 0.0); |
| 1287 |
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3 | getline(line); |
| 1288 |
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3 | if (line.size() > 82) |
| 1289 | { | ||
| 1290 | ✗ | abortReading(); | |
| 1291 | ✗ | return; | |
| 1292 | } | ||
| 1293 |
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3 | alpha[3] = str::stod(str::trim_copy(line.substr(4, 19)), 0.0); |
| 1294 |
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3 | beta[0] = str::stod(str::trim_copy(line.substr(23, 19)), 0.0); |
| 1295 |
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3 | beta[1] = str::stod(str::trim_copy(line.substr(42, 19)), 0.0); |
| 1296 |
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3 | beta[2] = str::stod(str::trim_copy(line.substr(61, 19)), 0.0); |
| 1297 |
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3 | getline(line); |
| 1298 |
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3 | if (line.size() > 82) |
| 1299 | { | ||
| 1300 | ✗ | abortReading(); | |
| 1301 | ✗ | return; | |
| 1302 | } | ||
| 1303 |
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3 | beta[3] = str::stod(str::trim_copy(line.substr(4, 19)), 0.0); |
| 1304 |
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3 | _gnssNavInfo.ionosphericCorrections.insert(satSys, IonosphericCorrections::Alpha, alpha); |
| 1305 |
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3 | _gnssNavInfo.ionosphericCorrections.insert(satSys, IonosphericCorrections::Beta, beta); |
| 1306 | LOG_DATA("{}: Ionospheric Correction: {}-Alpha: [{}]", nameId(), | ||
| 1307 | std::string(satSys), fmt::join(alpha.begin(), alpha.end(), ", ")); | ||
| 1308 | LOG_DATA("{}: Ionospheric Correction: {}-Beta: [{}]", nameId(), | ||
| 1309 | std::string(satSys), fmt::join(beta.begin(), beta.end(), ", ")); | ||
| 1310 |
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3 | [[maybe_unused]] auto regionCode = str::stod(str::trim_copy(line.substr(23, 19)), std::nan("")); |
| 1311 | } | ||
| 1312 |
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2 | else if (satSys == GAL) // Nequick-G |
| 1313 | { | ||
| 1314 | 2 | std::array<double, 4> alpha{}; | |
| 1315 |
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2 | alpha[0] = str::stod(str::trim_copy(line.substr(23, 19)), 0.0); |
| 1316 |
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2 | alpha[1] = str::stod(str::trim_copy(line.substr(42, 19)), 0.0); |
| 1317 |
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2 | alpha[2] = str::stod(str::trim_copy(line.substr(61, 19)), 0.0); |
| 1318 |
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2 | getline(line); |
| 1319 |
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2 | if (line.size() > 82) |
| 1320 | { | ||
| 1321 | ✗ | abortReading(); | |
| 1322 | ✗ | return; | |
| 1323 | } | ||
| 1324 | // TODO: Change Correction format to support Nequick-G | ||
| 1325 | // This is a hack this data is not an alpha value but a disturbance flag | ||
| 1326 |
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2 | alpha[3] = str::stod(str::trim_copy(line.substr(4, 19)), 0.0); |
| 1327 |
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2 | _gnssNavInfo.ionosphericCorrections.insert(satSys, IonosphericCorrections::Alpha, alpha); |
| 1328 | LOG_DATA("{}: Ionospheric Correction: {}-Alpha: [{}]", nameId(), | ||
| 1329 | std::string(satSys), fmt::join(alpha.begin(), alpha.end(), ", ")); | ||
| 1330 | } /* | ||
| 1331 | else if (satSys == BDS) // BDGIM | ||
| 1332 | { | ||
| 1333 | // TODO: Implement Beidou ION message | ||
| 1334 | }*/ | ||
| 1335 | else | ||
| 1336 | { | ||
| 1337 | ✗ | continue; | |
| 1338 | } | ||
| 1339 | 5 | } | |
| 1340 | 5 | break; | |
| 1341 | ✗ | default: | |
| 1342 | // Abort | ||
| 1343 | ✗ | break; | |
| 1344 | } | ||
| 1345 | 101 | } | |
| 1346 | } | ||
| 1347 | } | ||
| 1348 | ✗ | catch (const std::exception& e) | |
| 1349 | { | ||
| 1350 | ✗ | abortReading(); | |
| 1351 | ✗ | } | |
| 1352 | 5 | } | |
| 1353 | |||
| 1354 | 6586 | bool RinexNavFile::parseEphemeris(std::string& line, SatelliteSystem satSys, uint8_t satNum) | |
| 1355 | { | ||
| 1356 | // Epoch: Toc - Time of Clock (GPS) year (4 digits) - 1X,I4, | ||
| 1357 | // month, day, hour, minute, second - 5(1X,I2.2), | ||
| 1358 |
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6586 | auto timeSplit = str::split_wo_empty(line.substr(3, 20), " "); |
| 1359 |
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6584 | auto timeSystem = satSys == GLO ? UTC : satSys.getTimeSystem(); |
| 1360 | |||
| 1361 |
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6586 | int year = std::stoi(timeSplit.at(0)); |
| 1362 | |||
| 1363 | InsTime epoch{ static_cast<uint16_t>(year), | ||
| 1364 |
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6585 | static_cast<uint16_t>(std::stoi(timeSplit.at(1))), |
| 1365 |
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6585 | static_cast<uint16_t>(std::stoi(timeSplit.at(2))), |
| 1366 |
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6586 | static_cast<uint16_t>(std::stoi(timeSplit.at(3))), |
| 1367 |
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6586 | static_cast<uint16_t>(std::stoi(timeSplit.at(4))), |
| 1368 | 13171 | std::stold(timeSplit.at(5)), | |
| 1369 |
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32926 | timeSystem }; |
| 1370 | |||
| 1371 | LOG_DATA("{}: {}-{} {} (read as {} time)", nameId(), satSys, satNum, epoch.toYMDHMS(), std::string(timeSystem)); | ||
| 1372 | |||
| 1373 |
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6586 | if (satSys == GPS || satSys == GAL || satSys == QZSS || satSys == BDS) // NOLINT(misc-redundant-expression) // bugged warning |
| 1374 | { | ||
| 1375 | // Polynomial coefficients for clock correction | ||
| 1376 | 2959 | std::array<double, 3> a{}; | |
| 1377 | // SV clock bias [seconds] | ||
| 1378 |
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11836 | a[0] = std::stod(str::replaceAll_copy(line.substr(23, 19), "d", "e", str::IgnoreCase)); |
| 1379 | // SV clock drift [sec/sec] | ||
| 1380 |
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11836 | a[1] = std::stod(str::replaceAll_copy(line.substr(42, 19), "d", "e", str::IgnoreCase)); |
| 1381 | // SV clock drift rate [sec/sec^2] | ||
| 1382 |
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8877 | a[2] = std::stod(str::replaceAll_copy(line.substr(61, 19), "d", "e", str::IgnoreCase)); |
| 1383 | |||
| 1384 | LOG_DATA("{}: clkBias {}, clkDrift {}, clkDriftRate {}", nameId(), a[0], a[1], a[2]); | ||
| 1385 | |||
| 1386 | // ------------------------------------ BROADCAST ORBIT - 1 -------------------------------------- | ||
| 1387 |
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2959 | getline(line); |
| 1388 |
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2959 | if (line.size() > 82) |
| 1389 | { | ||
| 1390 | ✗ | abortReading(); | |
| 1391 | 19 | return false; | |
| 1392 | } // 80 + \n\r | ||
| 1393 | |||
| 1394 | // GPS/QZSS: Issue of Data, Ephemeris (IODE) | ||
| 1395 | // GAL: IODnav Issue of Data of the nav batch | ||
| 1396 | // BDS: AODE Age of Data, Ephemeris (as specified in BeiDou ICD Table Section 5.2.4.11 Table 5-8) | ||
| 1397 | // and field range is: 0-31. | ||
| 1398 | // IRNSS: IODEC Issue of Data, Ephemeris and Clock | ||
| 1399 |
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11836 | auto IODE_IODnav_AODE_IODEC = static_cast<size_t>(std::stod(str::replaceAll_copy(line.substr(4, 19), "d", "e", str::IgnoreCase))); |
| 1400 | // Crs (meters) | ||
| 1401 |
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11836 | double Crs = std::stod(str::replaceAll_copy(line.substr(23, 19), "d", "e", str::IgnoreCase)); |
| 1402 | // Delta n (radians/sec) | ||
| 1403 |
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11838 | double delta_n = std::stod(str::replaceAll_copy(line.substr(42, 19), "d", "e", str::IgnoreCase)); |
| 1404 | // M0 (radians) | ||
| 1405 |
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8871 | double M_0 = std::stod(str::replaceAll_copy(line.substr(61, 19), "d", "e", str::IgnoreCase)); |
| 1406 | |||
| 1407 | LOG_DATA("{}: IODE_IODnav_AODE_IODEC {}, Crs {}, Delta_n {}, M0 {}", nameId(), IODE_IODnav_AODE_IODEC, Crs, delta_n, M_0); | ||
| 1408 | |||
| 1409 | // ------------------------------------ BROADCAST ORBIT - 2 -------------------------------------- | ||
| 1410 |
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2957 | getline(line); |
| 1411 |
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2957 | if (line.size() > 82) |
| 1412 | { | ||
| 1413 | ✗ | abortReading(); | |
| 1414 | ✗ | return false; | |
| 1415 | } // 80 + \n\r | ||
| 1416 | |||
| 1417 | // Cuc (radians) | ||
| 1418 |
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11828 | double Cuc = std::stod(str::replaceAll_copy(line.substr(4, 19), "d", "e", str::IgnoreCase)); |
| 1419 | // e Eccentricity | ||
| 1420 |
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11828 | double e = std::stod(str::replaceAll_copy(line.substr(23, 19), "d", "e", str::IgnoreCase)); |
| 1421 | // Cus (radians) | ||
| 1422 |
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11828 | double Cus = std::stod(str::replaceAll_copy(line.substr(42, 19), "d", "e", str::IgnoreCase)); |
| 1423 | // sqrt(A) (sqrt(m)) | ||
| 1424 |
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8871 | double sqrt_A = std::stod(str::replaceAll_copy(line.substr(61, 19), "d", "e", str::IgnoreCase)); |
| 1425 | |||
| 1426 | LOG_DATA("{}: Cuc {}, e {}, Cus {}, sqrt_A {}", nameId(), Cuc, e, Cus, sqrt_A); | ||
| 1427 | |||
| 1428 | // ------------------------------------ BROADCAST ORBIT - 3 -------------------------------------- | ||
| 1429 |
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2957 | getline(line); |
| 1430 |
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2957 | if (line.size() > 82) |
| 1431 | { | ||
| 1432 | ✗ | abortReading(); | |
| 1433 | ✗ | return false; | |
| 1434 | } // 80 + \n\r | ||
| 1435 | |||
| 1436 | // Toe Time of Ephemeris (sec of GPS week) | ||
| 1437 |
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11828 | double toeSec = std::stod(str::replaceAll_copy(line.substr(4, 19), "d", "e", str::IgnoreCase)); |
| 1438 | // Cic (radians) | ||
| 1439 |
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11827 | double Cic = std::stod(str::replaceAll_copy(line.substr(23, 19), "d", "e", str::IgnoreCase)); |
| 1440 | // OMEGA0 (radians) | ||
| 1441 |
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11828 | double Omega_0 = std::stod(str::replaceAll_copy(line.substr(42, 19), "d", "e", str::IgnoreCase)); |
| 1442 | // Cis (radians) | ||
| 1443 |
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8871 | double Cis = std::stod(str::replaceAll_copy(line.substr(61, 19), "d", "e", str::IgnoreCase)); |
| 1444 | |||
| 1445 | LOG_DATA("{}: toe {}, Cic {}, Omega_0 {}, Cis {}", nameId(), toeSec, Cic, Omega_0, Cis); | ||
| 1446 | |||
| 1447 | // ------------------------------------ BROADCAST ORBIT - 4 -------------------------------------- | ||
| 1448 |
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2957 | getline(line); |
| 1449 |
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2957 | if (line.size() > 82) |
| 1450 | { | ||
| 1451 |
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1 | abortReading(); |
| 1452 | 1 | return false; | |
| 1453 | } // 80 + \n\r | ||
| 1454 | |||
| 1455 | // i0 (radians) | ||
| 1456 |
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11824 | double i_0 = std::stod(str::replaceAll_copy(line.substr(4, 19), "d", "e", str::IgnoreCase)); |
| 1457 | // Crc (meters) | ||
| 1458 |
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11824 | double Crc = std::stod(str::replaceAll_copy(line.substr(23, 19), "d", "e", str::IgnoreCase)); |
| 1459 | // omega (radians) | ||
| 1460 |
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11824 | double omega = std::stod(str::replaceAll_copy(line.substr(42, 19), "d", "e", str::IgnoreCase)); |
| 1461 | // OMEGA DOT (radians/sec) | ||
| 1462 |
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8868 | double Omega_dot = std::stod(str::replaceAll_copy(line.substr(61, 19), "d", "e", str::IgnoreCase)); |
| 1463 | |||
| 1464 | LOG_DATA("{}: i_0 {}, Crc {}, omega {}, Omega_dot {}", nameId(), i_0, Crc, omega, Omega_dot); | ||
| 1465 | |||
| 1466 | // ------------------------------------ BROADCAST ORBIT - 5 -------------------------------------- | ||
| 1467 |
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2956 | getline(line); |
| 1468 |
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2956 | if (line.size() > 82) |
| 1469 | { | ||
| 1470 | ✗ | abortReading(); | |
| 1471 | ✗ | return false; | |
| 1472 | } // 80 + \n\r | ||
| 1473 | |||
| 1474 | // IDOT (radians/sec) | ||
| 1475 |
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11824 | double i_dot = std::stod(str::replaceAll_copy(line.substr(4, 19), "d", "e", str::IgnoreCase)); |
| 1476 | // GPS: Codes on L2 channel | ||
| 1477 | // QZSS: Codes on L2 channel (fixed to 2, see IS-QZSS-PNT 4.1.2.7) | ||
| 1478 | // GAL: Data sources (FLOAT --> INTEGER) | ||
| 1479 | // Bit 0 set: I/NAV E1-B | ||
| 1480 | // Bit 1 set: F/NAV E5a-I | ||
| 1481 | // Bit 2 set: I/NAV E5b-I | ||
| 1482 | // Bits 0 and 2 : Both can be set if the navigation messages were merged, however, bits 0-2 | ||
| 1483 | // cannot all be set, as the I/NAV and F/NAV messages contain different information | ||
| 1484 | // Bit 3 reserved for Galileo internal use | ||
| 1485 | // Bit 4 reserved for Galileo internal use | ||
| 1486 | // Bit 8 set: af0-af2, Toc, SISA are for E5a,E1 | ||
| 1487 | // Bit 9 set: af0-af2, Toc, SISA are for E5b,E1 | ||
| 1488 | // Bits 8-9 : exclusive (only one bit can be set) | ||
| 1489 | // BDS/IRNSS: Spare | ||
| 1490 |
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8868 | auto codesOnL2Channel_dataSources = static_cast<uint16_t>(str::stod(str::replaceAll_copy(line.substr(23, 19), "d", "e", str::IgnoreCase), 0)); |
| 1491 | |||
| 1492 | // GPS Week # (to go with TOE) Continuous number, not mod(1024)! | ||
| 1493 |
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11824 | auto gpsWeek = static_cast<int32_t>(str::stod(str::replaceAll_copy(line.substr(42, 19), "d", "e", str::IgnoreCase), epoch.toGPSweekTow().gpsWeek)); |
| 1494 |
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2956 | if (satSys == BDS) { gpsWeek += InsTimeUtil::DIFF_BDT_WEEK_TO_GPST_WEEK; } |
| 1495 |
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2956 | auto toe = InsTime(0, gpsWeek, toeSec, satSys.getTimeSystem()); |
| 1496 | |||
| 1497 | // GPS: L2 P data flag | ||
| 1498 | // QZSS: L2P data flag set to 1 since QZSS does not track L2P | ||
| 1499 | // GAL/BDS/IRNSS: Spare | ||
| 1500 |
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8868 | bool L2PdataFlag = static_cast<bool>(str::stod(str::replaceAll_copy(line.substr(61, 19), "d", "e", str::IgnoreCase), 0.0)); |
| 1501 | |||
| 1502 | LOG_DATA("{}: i_dot {}, codesOnL2Channel/dataSources {} ({}), gpsWeek {}, L2PdataFlag {}", nameId(), | ||
| 1503 | i_dot, codesOnL2Channel_dataSources, std::bitset<10>(codesOnL2Channel_dataSources).to_string(), gpsWeek, L2PdataFlag); | ||
| 1504 | |||
| 1505 | // ------------------------------------ BROADCAST ORBIT - 6 -------------------------------------- | ||
| 1506 |
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2956 | getline(line); |
| 1507 |
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2956 | if (line.size() > 82) |
| 1508 | { | ||
| 1509 |
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1 | abortReading(); |
| 1510 | 1 | return false; | |
| 1511 | } // 80 + \n\r | ||
| 1512 | |||
| 1513 | // GPS: SV accuracy (meters) See GPS ICD 200H Section 20.3.3.3.1.3 use specified equations to define | ||
| 1514 | // nominal values, N = 0-6: use 2(1+N/2) (round to one decimal place i.e. 2.8, 5.7 and 11.3) , | ||
| 1515 | // N= 7-15:use 2 (N-2), 8192 specifies use at own risk | ||
| 1516 | // QZSS: SV accuracy (meters) (IS -QZSS-PNT, Section 5.4.3.1) which refers to: IS GPS 200H Section 20.3.3.3.1.3 | ||
| 1517 | // use specified equations to define nominal values, N = 0-6: use 2(1+N/2) (round to one decimal | ||
| 1518 | // place i.e. 2.8, 5.7 and 11.3) , N= 7-15:use 2 (N-2), 8192 specifies use at own risk | ||
| 1519 | // IRNSS: User Range Accuracy(m), See IRNSS ICD Section 6.2.1.4 , use specified equations to define | ||
| 1520 | // nominal values, N = 0-6: use 2(1+N/2) (round to one decimal place i.e. 2.8, 5.7 and 11.3) , | ||
| 1521 | // N= 7-15:use 2 (N-2), 8192 specifies use at own risk | ||
| 1522 |
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11820 | double signalAccuracy = std::stod(str::replaceAll_copy(line.substr(4, 19), "d", "e", str::IgnoreCase)); |
| 1523 | // GPS/QZSS: SV health (bits 17-22 w 3 sf 1) | ||
| 1524 | // GAL: SV health (FLOAT converted to INTEGER) See Galileo ICD Section 5.1.9.3 | ||
| 1525 | // Bit 0: E1B DVS Bits 1-2: E1B HS Bit 3: E5a DVS | ||
| 1526 | // Bits 4-5: E5a HS Bit 6: E5b DVS Bits 7-8: E5b HS | ||
| 1527 | // BDS: SatH1 | ||
| 1528 | // IRNSS: Health (Sub frame 1,bits 155(most significant) and 156(least significant)), | ||
| 1529 | // where 0 = L5 and S healthy, 1 = L5 healthy and S unhealthy, 2= L5 unhealthy | ||
| 1530 | // and S healthy, 3= both L5 and S unhealthy | ||
| 1531 |
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11820 | auto svHealth = static_cast<uint16_t>(std::stod(str::replaceAll_copy(line.substr(23, 19), "d", "e", str::IgnoreCase))); |
| 1532 | // GPS: TGD (seconds) | ||
| 1533 | // QZSS: TGD (seconds) The QZSS ICD specifies a do not use bit pattern "10000000" this condition is represented by a blank field. | ||
| 1534 | // GAL: BGD E5a/E1 (seconds) | ||
| 1535 | // BDS: TGD1 B1/B3 (seconds) | ||
| 1536 |
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11820 | double tgd_bgd5a_TGD1 = str::stod(str::replaceAll_copy(line.substr(42, 19), "d", "e", str::IgnoreCase), 0.0); |
| 1537 | |||
| 1538 | // GPS/QZSS: IODC Issue of Data, Clock | ||
| 1539 | // GAL: BGD E5b/E1 (seconds) | ||
| 1540 | // BDS: TGD2 B2/B3 (seconds) | ||
| 1541 | // IRNSS: Blank | ||
| 1542 |
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8865 | double IODC_bgd5b_TGD2 = str::stod(str::replaceAll_copy(line.substr(61, 19), "d", "e", str::IgnoreCase), 0.0); |
| 1543 | |||
| 1544 | LOG_DATA("{}: svAccuracy {}, svHealth {}, TGD {}, IODC {}", nameId(), signalAccuracy, svHealth, tgd_bgd5a_TGD1, IODC_bgd5b_TGD2); | ||
| 1545 | |||
| 1546 | // ------------------------------------ BROADCAST ORBIT - 7 -------------------------------------- | ||
| 1547 |
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2955 | getline(line); |
| 1548 |
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2955 | if (line.size() > 82) |
| 1549 | { | ||
| 1550 | ✗ | abortReading(); | |
| 1551 | ✗ | return false; | |
| 1552 | } // 80 + \n\r | ||
| 1553 | |||
| 1554 | // Transmission time of message (sec of GPS week, derived e.g.from Z-count in Hand Over Word (HOW)) | ||
| 1555 |
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11819 | [[maybe_unused]] auto transmissionTime = str::stod(str::replaceAll_copy(line.substr(4, 19), "d", "e", str::IgnoreCase), 0.0); |
| 1556 | // GPS/QZSS: Fit Interval in hours see section 6.11. (BNK). | ||
| 1557 | // GAL: Spare | ||
| 1558 | // BDS: AODC Age of Data Clock (as specified in BeiDou ICD Table Section 5.2.4.9 Table 5-6) and field range is: 0-31. | ||
| 1559 |
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8865 | auto fitInterval_AODC = str::stod(str::replaceAll_copy(line.substr(23, 19), "d", "e", str::IgnoreCase), 0.0); |
| 1560 | // Spare | ||
| 1561 | // std::stod(str::replaceAll_copy(line.substr(42, 19), "d", "e", str::IgnoreCase)); | ||
| 1562 | // Spare | ||
| 1563 | // std::stod(str::replaceAll_copy(line.substr(61, 19), "d", "e", str::IgnoreCase)); | ||
| 1564 | |||
| 1565 | LOG_DATA("{}: transmissionTime {}, fitInterval/AODC {}", nameId(), transmissionTime, fitInterval_AODC); | ||
| 1566 | |||
| 1567 |
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2955 | if (satSys == GPS) |
| 1568 | { | ||
| 1569 |
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1167 | _gnssNavInfo.addSatelliteNavData({ satSys, satNum }, std::make_shared<GPSEphemeris>(epoch, toe, |
| 1570 | IODE_IODnav_AODE_IODEC, IODC_bgd5b_TGD2, a, | ||
| 1571 | sqrt_A, e, i_0, Omega_0, omega, M_0, | ||
| 1572 | delta_n, Omega_dot, i_dot, Cus, Cuc, | ||
| 1573 | Cis, Cic, Crs, Crc, | ||
| 1574 | signalAccuracy, svHealth, | ||
| 1575 | codesOnL2Channel_dataSources, L2PdataFlag, | ||
| 1576 | tgd_bgd5a_TGD1, fitInterval_AODC)); | ||
| 1577 | } | ||
| 1578 |
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1788 | else if (satSys == GAL) |
| 1579 | { | ||
| 1580 | // The same satellite can appear multiple times with different dataSource bits | ||
| 1581 | // We want to prefer 'I/NAV E1-B' (Bit 0 set) over 'F/NAV E5a-I' (Bit 1 set) or 'I/NAV E5b-I' (Bit 2 set) | ||
| 1582 | |||
| 1583 |
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1624 | if (_gnssNavInfo.satellites().contains({ satSys, satNum }) // We have this satellite already |
| 1584 |
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3248 | && !std::bitset<10>(codesOnL2Channel_dataSources)[0]) // This message is not 'I/NAV E1-B' |
| 1585 | { | ||
| 1586 |
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21 | const auto& navData = _gnssNavInfo.satellites().at({ satSys, satNum }).getNavigationData(); |
| 1587 |
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21 | auto existingEph = std::ranges::find_if(navData, [&](const std::shared_ptr<SatNavData>& satNavData) { |
| 1588 |
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25 | return satNavData->type == SatNavData::GalileoEphemeris && satNavData->refTime == epoch |
| 1589 |
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50 | && std::dynamic_pointer_cast<GalileoEphemeris>(satNavData)->dataSource[0]; |
| 1590 | }); | ||
| 1591 |
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21 | if (existingEph != navData.end()) // There is already a 'I/NAV E1-B' message |
| 1592 | { | ||
| 1593 | LOG_DATA("{}: Skipping ephemeris data because of dataSource priority", nameId()); | ||
| 1594 | 17 | return false; | |
| 1595 | } | ||
| 1596 | } | ||
| 1597 | |||
| 1598 | 1607 | GalileoEphemeris::SvHealth health = { .E5a_DataValidityStatus = static_cast<GalileoEphemeris::SvHealth::DataValidityStatus>((svHealth & 0b000001000) >> 3), | |
| 1599 | 1607 | .E5b_DataValidityStatus = static_cast<GalileoEphemeris::SvHealth::DataValidityStatus>((svHealth & 0b001000000) >> 6), | |
| 1600 | 1607 | .E1B_DataValidityStatus = static_cast<GalileoEphemeris::SvHealth::DataValidityStatus>((svHealth & 0b000000001) >> 0), | |
| 1601 | 1607 | .E5a_SignalHealthStatus = static_cast<GalileoEphemeris::SvHealth::SignalHealthStatus>((svHealth & 0b000110000) >> 4), | |
| 1602 | 1607 | .E5b_SignalHealthStatus = static_cast<GalileoEphemeris::SvHealth::SignalHealthStatus>((svHealth & 0b110000000) >> 7), | |
| 1603 | 1607 | .E1B_SignalHealthStatus = static_cast<GalileoEphemeris::SvHealth::SignalHealthStatus>((svHealth & 0b000000110) >> 1) }; | |
| 1604 |
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1607 | _gnssNavInfo.addSatelliteNavData({ satSys, satNum }, std::make_shared<GalileoEphemeris>(epoch, toe, IODE_IODnav_AODE_IODEC, a, |
| 1605 | sqrt_A, e, i_0, Omega_0, omega, M_0, | ||
| 1606 | delta_n, Omega_dot, i_dot, Cus, Cuc, | ||
| 1607 | Cis, Cic, Crs, Crc, | ||
| 1608 | codesOnL2Channel_dataSources, signalAccuracy, health, | ||
| 1609 | tgd_bgd5a_TGD1, IODC_bgd5b_TGD2)); | ||
| 1610 | } | ||
| 1611 |
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164 | else if (satSys == BDS) |
| 1612 | { | ||
| 1613 |
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160 | _gnssNavInfo.addSatelliteNavData({ satSys, satNum }, std::make_shared<BDSEphemeris>(satNum, epoch, toe, |
| 1614 | IODE_IODnav_AODE_IODEC, fitInterval_AODC, a, | ||
| 1615 | sqrt_A, e, i_0, Omega_0, omega, M_0, | ||
| 1616 | delta_n, Omega_dot, i_dot, Cus, Cuc, | ||
| 1617 | Cis, Cic, Crs, Crc, | ||
| 1618 | signalAccuracy, svHealth, | ||
| 1619 | tgd_bgd5a_TGD1, IODC_bgd5b_TGD2)); | ||
| 1620 | } | ||
| 1621 |
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4 | else if (satSys == QZSS) |
| 1622 | { | ||
| 1623 |
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4 | _gnssNavInfo.addSatelliteNavData({ satSys, satNum }, std::make_shared<QZSSEphemeris>(epoch, toe, |
| 1624 | IODE_IODnav_AODE_IODEC, IODC_bgd5b_TGD2, a, | ||
| 1625 | sqrt_A, e, i_0, Omega_0, omega, M_0, | ||
| 1626 | delta_n, Omega_dot, i_dot, Cus, Cuc, | ||
| 1627 | Cis, Cic, Crs, Crc, | ||
| 1628 | signalAccuracy, svHealth, | ||
| 1629 | codesOnL2Channel_dataSources, L2PdataFlag, | ||
| 1630 | tgd_bgd5a_TGD1, fitInterval_AODC)); | ||
| 1631 | } | ||
| 1632 | } | ||
| 1633 |
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3627 | else if (satSys == GLO || satSys == SBAS) // NOLINT(misc-redundant-expression) // bugged warning |
| 1634 | { | ||
| 1635 | // TODO: Offset | ||
| 1636 | |||
| 1637 |
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3627 | Eigen::Vector3d pos; |
| 1638 |
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3627 | Eigen::Vector3d vel; |
| 1639 |
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3627 | Eigen::Vector3d accelLuniSolar; |
| 1640 | |||
| 1641 | 3627 | double tau_c{}; | |
| 1642 | // Coefficient of linear polynomial of time system difference [s] | ||
| 1643 |
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3627 | if (_gnssNavInfo.timeSysCorr.contains({ satSys.getTimeSystem(), UTC })) |
| 1644 | { | ||
| 1645 |
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527 | tau_c = _gnssNavInfo.timeSysCorr.at({ satSys.getTimeSystem(), UTC }).a0; |
| 1646 | } | ||
| 1647 | |||
| 1648 | // GLO: SV clock bias (sec) (-TauN) | ||
| 1649 | // SBAS: SV clock bias (sec) (aGf0) | ||
| 1650 |
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14508 | double m_tau_n = std::stod(str::replaceAll_copy(line.substr(23, 19), "d", "e", str::IgnoreCase)); |
| 1651 | // GLO: SV relative frequency bias (+GammaN) | ||
| 1652 | // SBAS: SV relative frequency bias (aGf1) | ||
| 1653 |
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14508 | double gamma_n = std::stod(str::replaceAll_copy(line.substr(42, 19), "d", "e", str::IgnoreCase)); |
| 1654 | // GLO: Message frame time (tk+nd*86400) in seconds of the UTC week | ||
| 1655 | // SBAS: Transmission time of message (start of the message) in GPS seconds of the week | ||
| 1656 |
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10881 | [[maybe_unused]] auto msgFrameTime = std::stod(str::replaceAll_copy(line.substr(61, 19), "d", "e", str::IgnoreCase)); |
| 1657 | LOG_DATA("{}: clkBias {}, relFreqBias {}, msgFrameTime {}", nameId(), m_tau_n, gamma_n, msgFrameTime); | ||
| 1658 | |||
| 1659 | // ------------------------------------ BROADCAST ORBIT - 1 -------------------------------------- | ||
| 1660 |
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3627 | getline(line); |
| 1661 |
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3627 | if (line.size() > 82) |
| 1662 | { | ||
| 1663 | ✗ | abortReading(); | |
| 1664 | ✗ | return false; | |
| 1665 | } // 80 + \n\r | ||
| 1666 | |||
| 1667 | // Satellite position X (km) | ||
| 1668 |
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14508 | pos.x() = std::stod(str::replaceAll_copy(line.substr(4, 19), "d", "e", str::IgnoreCase)) * 1e3; |
| 1669 | // velocity X dot (km/sec) | ||
| 1670 |
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14508 | vel.x() = std::stod(str::replaceAll_copy(line.substr(23, 19), "d", "e", str::IgnoreCase)) * 1e3; |
| 1671 | // X acceleration (km/sec2) | ||
| 1672 |
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14508 | accelLuniSolar.x() = std::stod(str::replaceAll_copy(line.substr(42, 19), "d", "e", str::IgnoreCase)) * 1e3; |
| 1673 | // GLO: health (0=healthy, 1=unhealthy) (MSB of 3-bit Bn) | ||
| 1674 | // SBAS: Health: SBAS: See Section 8.3.3 bit mask for: health, health availability and User Range Accuracy. | ||
| 1675 |
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10881 | [[maybe_unused]] auto health = std::stod(str::replaceAll_copy(line.substr(61, 19), "d", "e", str::IgnoreCase)); |
| 1676 | |||
| 1677 | LOG_DATA("{}: satPosX {}, velX {}, accelX {}, health {}", nameId(), pos.x(), vel.x(), accelLuniSolar.x(), health); | ||
| 1678 | |||
| 1679 | // ------------------------------------ BROADCAST ORBIT - 2 -------------------------------------- | ||
| 1680 |
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3627 | getline(line); |
| 1681 |
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3627 | if (line.size() > 82) |
| 1682 | { | ||
| 1683 | ✗ | abortReading(); | |
| 1684 | ✗ | return false; | |
| 1685 | } // 80 + \n\r | ||
| 1686 | |||
| 1687 | // Satellite position Y (km) | ||
| 1688 |
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14508 | pos.y() = std::stod(str::replaceAll_copy(line.substr(4, 19), "d", "e", str::IgnoreCase)) * 1e3; |
| 1689 | // velocity Y dot (km/sec) | ||
| 1690 |
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14508 | vel.y() = std::stod(str::replaceAll_copy(line.substr(23, 19), "d", "e", str::IgnoreCase)) * 1e3; |
| 1691 | // Y acceleration (km/sec2) | ||
| 1692 |
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14508 | accelLuniSolar.y() = std::stod(str::replaceAll_copy(line.substr(42, 19), "d", "e", str::IgnoreCase)) * 1e3; |
| 1693 | // GLO: frequency number(-7...+13) (-7...+6 ICD 5.1) | ||
| 1694 | // SBAS: Accuracy code (URA, meters) | ||
| 1695 |
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10881 | double frequencyNumber_accuracyCode = std::stod(str::replaceAll_copy(line.substr(61, 19), "d", "e", str::IgnoreCase)); |
| 1696 | |||
| 1697 | LOG_DATA("{}: satPosY {}, velY {}, accelY {}, freqNum/accuracyCode {}", nameId(), pos.y(), vel.y(), accelLuniSolar.y(), frequencyNumber_accuracyCode); | ||
| 1698 | |||
| 1699 | // ------------------------------------ BROADCAST ORBIT - 3 -------------------------------------- | ||
| 1700 |
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3627 | getline(line); |
| 1701 |
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3627 | if (line.size() > 82) |
| 1702 | { | ||
| 1703 | ✗ | abortReading(); | |
| 1704 | ✗ | return false; | |
| 1705 | } // 80 + \n\r | ||
| 1706 | |||
| 1707 | // Satellite position Z (km) | ||
| 1708 |
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14508 | pos.z() = std::stod(str::replaceAll_copy(line.substr(4, 19), "d", "e", str::IgnoreCase)) * 1e3; |
| 1709 | // velocity Z dot (km/sec) | ||
| 1710 |
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14508 | vel.z() = std::stod(str::replaceAll_copy(line.substr(23, 19), "d", "e", str::IgnoreCase)) * 1e3; |
| 1711 | // Z acceleration (km/sec2) | ||
| 1712 |
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14508 | accelLuniSolar.z() = std::stod(str::replaceAll_copy(line.substr(42, 19), "d", "e", str::IgnoreCase)) * 1e3; |
| 1713 | // GLO: Age of oper. information (days) (E) | ||
| 1714 | // SBAS: IODN (Issue of Data Navigation, DO229, 8 first bits after Message Type if MT9) | ||
| 1715 |
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10881 | [[maybe_unused]] auto ageOfOperation_IODN = str::stod(str::replaceAll_copy(line.substr(61, 19), "d", "e", str::IgnoreCase), 0.0); |
| 1716 | |||
| 1717 | LOG_DATA("{}: satPosZ {}, velZ {}, accelZ {}, ageOfOperation/IODN {}", nameId(), pos.z(), vel.z(), accelLuniSolar.z(), ageOfOperation_IODN); | ||
| 1718 | |||
| 1719 | // ------------------------------------ BROADCAST ORBIT - 4 -------------------------------------- | ||
| 1720 | // since version 3.05 GLONASS has an additional line | ||
| 1721 |
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3627 | if (satSys == GLO && _version >= 3.05) |
| 1722 | { | ||
| 1723 |
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12 | getline(line); |
| 1724 |
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12 | if (line.size() > 82) |
| 1725 | { | ||
| 1726 | ✗ | abortReading(); | |
| 1727 | ✗ | return false; | |
| 1728 | } // 80 + \n\r | ||
| 1729 | |||
| 1730 | // status flags (FLOAT converted to INTEGER) (can be blank) | ||
| 1731 | // M Bit 7-8: GLO type indicator (00=GLO, 01=GLO-M/K) | ||
| 1732 | // P4 Bit 6: GLO-M/K only, 1=data updated, 0=data not updated | ||
| 1733 | // P3 Bit 5: num of satellites in current frame alamanc (0=4 sats, 1=5 sats) | ||
| 1734 | // P2 Bit 4: indicate even (0) or odd (1) of time interval | ||
| 1735 | // P1 Bit 2-3: update and validity interval (00=0 min, 01=30 min, 10=45 min, 11=60 min) | ||
| 1736 | // P Bit 0-1: GLO-M/K only, time offset parameters tau_c, tau_GPS source (00=ground, 01 = tau_c ground, tau_GPS on-board, 10 = tau_c on-board, tau_GPS ground, 11 = on-board) | ||
| 1737 |
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48 | [[maybe_unused]] double statusFlags = str::stod(str::replaceAll_copy(str::trim_copy(line.substr(4, 19)), "d", "e", str::IgnoreCase), std::nan("")); |
| 1738 | // L1/L2 group delay difference Δτ [sec] | ||
| 1739 |
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48 | [[maybe_unused]] double L1L2groupDelayDifference = std::stod(str::replaceAll_copy(line.substr(23, 19), "d", "e", str::IgnoreCase)); |
| 1740 | // URAI raw accuracy index F_T (GLO-M/K only)r | ||
| 1741 |
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48 | [[maybe_unused]] double URAI = std::stod(str::replaceAll_copy(line.substr(42, 19), "d", "e", str::IgnoreCase)); |
| 1742 | // health flags (FLOAT converted to INTEGER) (can be blank) | ||
| 1743 | // l(3) Bit 2: GLO-M/K only, health bit of string 3 | ||
| 1744 | // A_C Bit 1: 1=almanac health reported in ephemerides record, 0=not reported | ||
| 1745 | // C Bit 0: almanac health bit (1=healthy, 0=not healthy) | ||
| 1746 |
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48 | [[maybe_unused]] double healthFlags = str::stod(str::replaceAll_copy(str::trim_copy(line.substr(61, 19)), "d", "e", str::IgnoreCase), std::nan("")); |
| 1747 | |||
| 1748 | LOG_DATA("{}: statusFlags {}, L1L2groupDelayDifference {}, URAI {}, healthFlags {}", nameId(), statusFlags, L1L2groupDelayDifference, URAI, healthFlags); | ||
| 1749 | } | ||
| 1750 | |||
| 1751 |
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3627 | if (satSys == GLO) |
| 1752 | { | ||
| 1753 |
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3621 | _gnssNavInfo.addSatelliteNavData({ satSys, satNum }, std::make_shared<GLONASSEphemeris>(epoch, tau_c, |
| 1754 |
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7242 | -m_tau_n, gamma_n, static_cast<bool>(health), |
| 1755 | pos, vel, accelLuniSolar, | ||
| 1756 | frequencyNumber_accuracyCode)); | ||
| 1757 | } | ||
| 1758 |
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6 | else if (satSys == SBAS && !_sbasNotSupportedWarned) |
| 1759 | { | ||
| 1760 |
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2 | LOG_WARN("SBAS is not yet supported. Therefore the Navigation file data will be skipped."); |
| 1761 | 2 | _sbasNotSupportedWarned = true; | |
| 1762 | } | ||
| 1763 | } | ||
| 1764 | 6564 | return true; | |
| 1765 | 6585 | } | |
| 1766 | |||
| 1767 | 47 | void RinexNavFile::readHeader() | |
| 1768 | { | ||
| 1769 | LOG_TRACE("{}: called", nameId()); | ||
| 1770 |
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47 | auto guard = requestOutputValueLock(OUTPUT_PORT_INDEX_GNSS_NAV_INFO); |
| 1771 |
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47 | executeHeaderParser(_version); |
| 1772 | 47 | } | |
| 1773 | |||
| 1774 | 47 | void RinexNavFile::readOrbits() | |
| 1775 | { | ||
| 1776 | LOG_TRACE("{}: called", nameId()); | ||
| 1777 |
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47 | auto guard = requestOutputValueLock(OUTPUT_PORT_INDEX_GNSS_NAV_INFO); |
| 1778 |
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47 | executeOrbitParser(_version); |
| 1779 | 47 | } | |
| 1780 | |||
| 1781 | } // namespace NAV | ||
| 1782 |