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various rtcm improvements, some documentation, navdump emitted 0x0 values for af2. rtcm can now parse ephemerides for Galileo.

eph-store
bert hubert 2020-07-16 14:33:17 +02:00
parent 38899e9379
commit bcc42cd789
5 changed files with 80 additions and 10 deletions
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4
influxdb.md
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@ -84,8 +84,8 @@ These measurements are tagged by gnssid, sv
* tow
* udi
* rtcm-clock-correction
* dclock0
* dclock1
* dclock0: in meters
* dclock1: meters/s
* dclock2
* ssr-iod
* ssr-provider

33
navdump.cc
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@ -535,7 +535,13 @@ try
if(gm.alma3.e1bhs != 0) {
cout <<" gm.tow "<<gm.tow<<" gmwtypes.tow "<< gmwtypes[{sv,9}].tow <<" ";
}
cout<<" "<<gmwtypes[{sv,9}].alma3.svid <<" af0 "<<gm.alma3.af0<<" af1 "<< gm.alma3.af1 <<" e5bhs "<< gm.alma3.e5bhs<<" e1bhs "<< gm.alma3.e1bhs <<" a0g " << gm.a0g <<" a1g "<< gm.a1g <<" t0g "<<gm.t0g <<" wn0g "<<gm.wn0g;
cout<<" "<<gmwtypes[{sv,9}].alma3.svid <<" af0 "<<gm.alma3.af0<<" af1 "<< gm.alma3.af1 <<" e5bhs "<< gm.alma3.e5bhs<<" e1bhs "<< gm.alma3.e1bhs <<" a0g " << gm.a0g <<" a1g "<< gm.a1g <<" t0g "<<gm.t0g <<" wn0g "<<gm.wn0g <<" delta-gps "<< gm.getGPSOffset(gm.tow, gm.wn).first<<"ns";
int dw = (int)(gm.wn%64) - (int)(gm.wn0g);
if(dw > 31)
dw = 31- dw;
int delta = dw*7*86400 + gm.tow - gm.getT0g(); // NOT ephemeris age tricks
cout<<" wn%64 "<< (gm.wn%64) << " dw " << dw <<" delta " << delta;
}
cout<<endl;
@ -561,7 +567,7 @@ try
if(frame == 1) {
gpswn = gs.wn;
cout << "gpshealth = "<<(int)gs.gpshealth<<", wn "<<gs.wn << " t0c "<<gs.t0c << " af0 " << gs.af0 << " af1 " << gs.af1 <<" af2 " << gs.af2;
cout << "gpshealth = "<<(int)gs.gpshealth<<", wn "<<gs.wn << " t0c "<<gs.t0c << " af0 " << gs.af0 << " af1 " << gs.af1 <<" af2 " << (int)gs.af2;
if(auto iter = oldgs1s.find(sv); iter != oldgs1s.end() && iter->second.t0c != gs.t0c) {
auto oldOffset = getGPSAtomicOffset(gs.tow, iter->second);
auto newOffset = getGPSAtomicOffset(gs.tow, gs);
@ -693,8 +699,25 @@ try
cout<<makeSatIDName(cd.id)<<": dclock0 "<< cd.dclock0 <<" dclock1 " << cd.dclock1 <<" dclock2 "<< cd.dclock2 << endl;
}
}
else
cout<<endl;
else if(rm.type == 1045 || rm.type == 1046) {
SatID sid;
sid.gnss = 2;
sid.sv = rm.d_sv;
sid.sigid = (rm.type == 1045) ? 5 : 1;
cout<< makeSatIDName(sid)<<" ";
if(rm.type == 1045)
cout<<"F/NAV ";
else
cout <<"I/NAV ";
cout <<" iode " << rm.d_gm.iodnav << " sisa " << (unsigned int) rm.d_gm.sisa << " af0 "<<rm.d_gm.af0 <<" af1 " << rm.d_gm.af1 <<" af2 " << (int) rm.d_gm.af2 << endl;
}
else {
cout<<" len " << nmm.rm().contents().size() << endl;
}
}
else if(nmm.type() == NavMonMessage::GPSCnavType) {
@ -746,7 +769,7 @@ try
cout<<" Timejump: "<<oldOffset.first - newOffset.first<<" after "<<(bm.getT0c() - msgs[sv].getT0c() )<<" seconds";
}
msgs[sv]=bm;
cout<<" wn "<<bm.wn<<" t0c "<<(int)bm.t0c<<" aodc "<< (int)bm.aodc <<" aode "<< (int)bm.aode <<" sath1 "<< (int)bm.sath1 << " urai "<<(int)bm.urai << " af0 "<<bm.a0 <<" af1 " <<bm.a1 <<" af2 "<<bm.a2;
cout<<" wn "<<bm.wn<<" t0c "<<(int)bm.t0c<<" aodc "<< (int)bm.aodc <<" aode "<< (int)bm.aode <<" sath1 "<< (int)bm.sath1 << " urai "<<(int)bm.urai << " af0 "<<bm.a0 <<" af1 " <<bm.a1 <<" af2 "<< (int)bm.a2;
auto offset = bm.getAtomicOffset();
cout<< ", "<<offset.first<<"ns " << (offset.second * 3600) <<" ns/hour "<< ephAge(bm.sow, bm.t0c*8);
}

41
rtcm.cc
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@ -9,10 +9,23 @@ void RTCMMessage::parse(const std::string& str)
auto gbu=[&str](int offset, int bits) {
return getbitu((const unsigned char*)str.c_str(), offset, bits);
};
auto gbum=[&str](int& offset, int bits) {
unsigned int ret = getbitu((const unsigned char*)str.c_str(), offset, bits);
offset += bits;
return ret;
};
auto gbs=[&str](int offset, int bits) {
return getbits((const unsigned char*)str.c_str(), offset, bits);
};
auto gbsm=[&str](int& offset, int bits) {
int ret = getbits((const unsigned char*)str.c_str(), offset, bits);
offset += bits;
return ret;
};
type = gbu(0, 12);
// cout<<"Message number: "<<type << " of size "<<str.size()<<"\n";
if(type == 1057 || type == 1240) {
@ -165,5 +178,31 @@ DF 385: Full seconds since the beginning of the GPS week
d_clocks.push_back(cd);
}
}
else if(type == 1045 || type == 1046) { // F/NAV or I/NAV respectively ephemeris
int off=12;
d_sv = gbum(off, 6);
d_gm.wn = gbum(off, 12);
d_gm.iodnav = gbum(off, 10);
d_gm.sisa = gbum(off, 8);
off += 14;
d_gm.t0c = gbum(off, 14);
d_gm.af2 = gbsm(off, 6);
d_gm.af1 = gbsm(off, 21);
d_gm.af0 = gbsm(off, 31);
/*
setbitu(rtcm->buff,i,12,1045 ); i+=12;
setbitu(rtcm->buff,i, 6,prn ); i+= 6;
setbitu(rtcm->buff,i,12,week ); i+=12;
setbitu(rtcm->buff,i,10,eph->iode); i+=10;
setbitu(rtcm->buff,i, 8,eph->sva ); i+= 8;
setbits(rtcm->buff,i,14,idot ); i+=14;
setbitu(rtcm->buff,i,14,toc ); i+=14;
setbits(rtcm->buff,i, 6,af2 ); i+= 6;
setbits(rtcm->buff,i,21,af1 ); i+=21;
setbits(rtcm->buff,i,31,af0 ); i+=31;
*/
}
}

5
rtcm.hh
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@ -3,6 +3,8 @@
#include <stdio.h>
#include "navmon.hh"
#include <vector>
#include "galileo.hh"
struct RTCMFrame
{
std::string payload;
@ -50,5 +52,6 @@ struct RTCMMessage
std::vector<EphemerisDelta> d_ephs;
std::vector<ClockDelta> d_clocks;
GalileoMessage d_gm;
int d_sv;
};

7
rtcmtool.cc
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@ -13,10 +13,14 @@ using namespace std;
bool RTCMReader::get(RTCMFrame& rf)
{
int c;
bool skipped=false;
while( ((c=fgetc(d_fp)) != -1) && c != 211) {
cerr<<"Skipped, not yet 211 character "<<endl;
skipped=true;
cerr<<".";
continue;
}
if(skipped)
cerr<<endl;
if(c != 211) {
cerr<<"EOF"<<endl;
@ -148,6 +152,7 @@ int main(int argc, char** argv)
RTCMReader rr(0);
RTCMFrame rf;
cerr<<"Station "<<g_srcid<<endl;
while(rr.get(rf)) {
// cerr<<"Got a "<<rf.payload.size()<<" byte frame"<<endl;
RTCMMessage rm;