kopia lustrzana https://github.com/rs1729/RS
1706 wiersze
51 KiB
C
1706 wiersze
51 KiB
C
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/*
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* radiosonde RS92-AGP/BGP
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*
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*
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* broadcast ephemeris:
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* http://cddis.gsfc.nasa.gov/Data_and_Derived_Products/GNSS/broadcast_ephemeris_data.html
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* ftp://cddis.gsfc.nasa.gov/gnss/data/daily/YYYY/DDD/YYn/brdcDDD0.YYn.Z (updated)
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* ftp://cddis.gsfc.nasa.gov/gnss/data/daily/YYYY/brdc/brdcDDD0.YYn.Z (final)
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*
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* SEM almanac:
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* https://celestrak.com/GPS/almanac/SEM/
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*
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* GPS calendar:
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* http://navigationservices.agi.com/GNSSWeb/
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*
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* GPS-Hoehe ueber Ellipsoid, Geoid-Hoehe:
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* http://geographiclib.sourceforge.net/cgi-bin/GeoidEval
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*/
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/*
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gcc rs92agp_ecc.c -lm -o rs92agp_ecc
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(includes nav_gps_vel.c, bch_ecc.c)
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <math.h>
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#ifdef CYGWIN
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#include <fcntl.h> // cygwin: _setmode()
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#include <io.h>
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#endif
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typedef unsigned char ui8_t;
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typedef unsigned short ui16_t;
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typedef unsigned int ui32_t;
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#include "bch_ecc.c" // RS/ecc/
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#define rs_N 255
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#define rs_R 24
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#define rs_K (rs_N-rs_R)
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ui8_t cw[rs_N];
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typedef struct {
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int typ;
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int msglen;
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int msgpos;
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int parpos;
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int hdrlen;
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int frmlen;
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} rscfg_t;
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rscfg_t cfg_rs92agp = { 92, 230, 8, 238, 8, 300};
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typedef struct {
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int frnr;
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char id[11];
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int week; int gpssec;
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int jahr; int monat; int tag;
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int wday;
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int std; int min; float sek;
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double lat; double lon; double alt;
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double vH; double vD; double vU;
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int sats[4];
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double dop;
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int freq;
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unsigned short aux[4];
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double diter;
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} gpx_t;
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gpx_t gpx;
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int option_verbose = 0, // ausfuehrliche Anzeige
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option_raw = 0, // rohe Frames
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option_inv = 0, // invertiert Signal
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option_res = 0, // genauere Bitmessung
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option_crc = 0, // check CRC
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option_avg = 0, // moving average
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option_b = 0,
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option_ecc = 0, // Reed-Solomon ECC
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fileloaded = 0,
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option_vergps = 0,
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option_iter = 0,
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option_vel = 0, // velocity
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option_aux = 0, // Aux/Ozon
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option_der = 0, // linErr
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rawin = 0;
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double dop_limit = 9.9;
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double d_err = 10000;
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int rollover = 0,
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err_gps = 0;
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int almanac = 0,
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ephem = 0;
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int exSat = -1;
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/* --- RS92-SGP: 8N1 manchester --- */
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/*
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#define BITS (2*(1+8+1)) // 20
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#define HEADOFS 40 // HEADOFS+HEADLEN = 120 (bis 0x10)
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#define HEADLEN 80 // (HEADOFS+HEADLEN) mod BITS = 0
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#define FRAMESTART ((HEADOFS+HEADLEN)/BITS)
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// 2A 10
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char header[] = "10100110011001101001"
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"10100110011001101001"
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"10100110011001101001"
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"10100110011001101001"
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"1010011001100110100110101010100110101001";
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char buf[HEADLEN+1] = "x";
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int bufpos = -1;
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#define FRAME_LEN 240
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ui8_t frame[FRAME_LEN] = { 0x2A, 0x2A, 0x2A, 0x2A, 0x2A, 0x10};
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*/
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/* --- RS92-SGP ------------------- */
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/* --- RS92-AGP ------------------- */
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// raw: 9d 46 20 f0 b4 a2 6e d8 57 15
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// xor: 0b c5 1e a1 05 eb 66 40 65 10
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#define BITS (8)
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#define HEADLEN 32 // HEADOFS+HEADLEN <= strlen(header)=64
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#define HEADOFS 16
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#define FRAMESTART ((HEADOFS+HEADLEN)/BITS)
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// 10 B6 CA 11 22 96 12 F8 (rs41)
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// 9D 46 20 F0 B4 A2 6E D8 (rs92bgp)
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char header[] = "1011100101100010000001000000111100101101010001010111011000011011";
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char buf[HEADLEN+1] = "x";
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int bufpos = -1;
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#define FRAME_LEN 300
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ui8_t frame[FRAME_LEN] = { 0x0B, 0xC5, 0x1E, 0xA1, 0x05, 0xEB, 0x66, 0x40};
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char buffer_rawin[3*FRAME_LEN+8]; //## rawin1: buffer_rawin[2*FRAME_LEN+4];
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int frameofs = 0;
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#define MASK_LEN 64
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ui8_t mask[MASK_LEN] = { 0x96, 0x83, 0x3E, 0x51, 0xB1, 0x49, 0x08, 0x98,
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0x32, 0x05, 0x59, 0x0E, 0xF9, 0x44, 0xC6, 0x26,
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0x21, 0x60, 0xC2, 0xEA, 0x79, 0x5D, 0x6D, 0xA1,
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0x54, 0x69, 0x47, 0x0C, 0xDC, 0xE8, 0x5C, 0xF1,
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0xF7, 0x76, 0x82, 0x7F, 0x07, 0x99, 0xA2, 0x2C,
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0x93, 0x7C, 0x30, 0x63, 0xF5, 0x10, 0x2E, 0x61,
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0xD0, 0xBC, 0xB4, 0xB6, 0x06, 0xAA, 0xF4, 0x23,
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0x78, 0x6E, 0x3B, 0xAE, 0xBF, 0x7B, 0x4C, 0xC1};
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/* LFSR: ab i=8 (mod 64):
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* m[16+i] = m[i] ^ m[i+2] ^ m[i+4] ^ m[i+6]
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* ________________3205590EF944C6262160C2EA795D6DA15469470CDCE85CF1
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* F776827F0799A22C937C3063F5102E61D0BCB4B606AAF423786E3BAEBF7B4CC196833E51B1490898
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*/
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/* ------------------------------------------------------------------------------------ */
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#define BAUD_RATE 4800
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int sample_rate = 0, bits_sample = 0, channels = 0;
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float samples_per_bit = 0;
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int findstr(char *buff, char *str, int pos) {
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int i;
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for (i = 0; i < 4; i++) {
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if (buff[(pos+i)%4] != str[i]) break;
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}
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return i;
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}
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int read_wav_header(FILE *fp) {
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char txt[4+1] = "\0\0\0\0";
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unsigned char dat[4];
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int byte, p=0;
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if (fread(txt, 1, 4, fp) < 4) return -1;
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if (strncmp(txt, "RIFF", 4)) return -1;
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if (fread(txt, 1, 4, fp) < 4) return -1;
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// pos_WAVE = 8L
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if (fread(txt, 1, 4, fp) < 4) return -1;
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if (strncmp(txt, "WAVE", 4)) return -1;
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// pos_fmt = 12L
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for ( ; ; ) {
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if ( (byte=fgetc(fp)) == EOF ) return -1;
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txt[p % 4] = byte;
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p++; if (p==4) p=0;
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if (findstr(txt, "fmt ", p) == 4) break;
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}
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if (fread(dat, 1, 4, fp) < 4) return -1;
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if (fread(dat, 1, 2, fp) < 2) return -1;
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if (fread(dat, 1, 2, fp) < 2) return -1;
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channels = dat[0] + (dat[1] << 8);
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if (fread(dat, 1, 4, fp) < 4) return -1;
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memcpy(&sample_rate, dat, 4); //sample_rate = dat[0]|(dat[1]<<8)|(dat[2]<<16)|(dat[3]<<24);
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if (fread(dat, 1, 4, fp) < 4) return -1;
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if (fread(dat, 1, 2, fp) < 2) return -1;
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//byte = dat[0] + (dat[1] << 8);
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if (fread(dat, 1, 2, fp) < 2) return -1;
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bits_sample = dat[0] + (dat[1] << 8);
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// pos_dat = 36L + info
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for ( ; ; ) {
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if ( (byte=fgetc(fp)) == EOF ) return -1;
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txt[p % 4] = byte;
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p++; if (p==4) p=0;
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if (findstr(txt, "data", p) == 4) break;
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}
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if (fread(dat, 1, 4, fp) < 4) return -1;
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fprintf(stderr, "sample_rate: %d\n", sample_rate);
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fprintf(stderr, "bits : %d\n", bits_sample);
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fprintf(stderr, "channels : %d\n", channels);
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if ((bits_sample != 8) && (bits_sample != 16)) return -1;
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samples_per_bit = sample_rate/(float)BAUD_RATE;
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fprintf(stderr, "samples/bit: %.2f\n", samples_per_bit);
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return 0;
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}
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#define EOF_INT 0x1000000
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#define LEN_movAvg 3
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int movAvg[LEN_movAvg];
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unsigned long sample_count = 0;
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double bitgrenze = 0;
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int read_signed_sample(FILE *fp) { // int = i32_t
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int byte, i, sample, s=0; // EOF -> 0x1000000
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for (i = 0; i < channels; i++) {
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// i = 0: links bzw. mono
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byte = fgetc(fp);
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if (byte == EOF) return EOF_INT;
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if (i == 0) sample = byte;
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if (bits_sample == 16) {
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byte = fgetc(fp);
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if (byte == EOF) return EOF_INT;
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if (i == 0) sample += byte << 8;
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}
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}
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if (bits_sample == 8) s = sample-128; // 8bit: 00..FF, centerpoint 0x80=128
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if (bits_sample == 16) s = (short)sample;
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if (option_avg) {
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movAvg[sample_count % LEN_movAvg] = s;
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s = 0;
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for (i = 0; i < LEN_movAvg; i++) s += movAvg[i];
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s = (s+0.5) / LEN_movAvg;
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}
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sample_count++;
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return s;
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}
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int par=1, par_alt=1;
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int read_bits_fsk(FILE *fp, int *bit, int *len) {
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static int sample;
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int n, y0;
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float l, x1;
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static float x0;
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n = 0;
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do{
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y0 = sample;
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sample = read_signed_sample(fp);
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if (sample == EOF_INT) return EOF;
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//sample_count++; // in read_signed_sample()
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par_alt = par;
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par = (sample >= 0) ? 1 : -1; // 8bit: 0..127,128..255 (-128..-1,0..127)
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n++;
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} while (par*par_alt > 0);
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if (!option_res) l = (float)n / samples_per_bit;
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else { // genauere Bitlaengen-Messung
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x1 = sample/(float)(sample-y0); // hilft bei niedriger sample rate
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l = (n+x0-x1) / samples_per_bit; // meist mehr frames (nicht immer)
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x0 = x1;
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}
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*len = (int)(l+0.5);
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if (!option_inv) *bit = (1+par_alt)/2; // oben 1, unten -1
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else *bit = (1-par_alt)/2; // sdr#<rev1381?, invers: unten 1, oben -1
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/* Y-offset ? */
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return 0;
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}
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int bitstart = 0;
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int read_rawbit(FILE *fp, int *bit) {
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int sample;
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int n, sum;
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sum = 0;
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n = 0;
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if (bitstart) {
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n = 1; // d.h. bitgrenze = sample_count-1 (?)
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bitgrenze = sample_count-1;
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bitstart = 0;
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}
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bitgrenze += samples_per_bit;
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do {
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sample = read_signed_sample(fp);
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if (sample == EOF_INT) return EOF;
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//sample_count++; // in read_signed_sample()
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//par = (sample >= 0) ? 1 : -1; // 8bit: 0..127,128..255 (-128..-1,0..127)
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sum += sample;
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n++;
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} while (sample_count < bitgrenze); // n < samples_per_bit
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if (sum >= 0) *bit = 1;
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else *bit = 0;
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if (option_inv) *bit ^= 1;
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return 0;
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}
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/* ------------------------------------------------------------------------------------ */
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// manchester1 1->10,0->01: 1.bit
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// manchester2 0->10,1->01: 2.bit
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// RS92-SGP: 8N1 manchester2
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char manch(char *mbits) {
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if ((mbits[0] == 1) && (mbits[1] == 0)) return 0;
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else if ((mbits[0] == 0) && (mbits[1] == 1)) return 1;
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else return -1;
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}
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int bits2byte_SGP(char bits[]) {
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int i, byteval=0, d=1;
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int bit8[8];
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if (manch(bits+0) != 0) return 0x100;
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for (i = 0; i < 8; i++) {
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bit8[i] = manch(bits+2*(i+1));
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}
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if (manch(bits+(2*(8+1))) != 1) return 0x100;
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for (i = 0; i < 8; i++) { // little endian
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/* for (i = 7; i >= 0; i--) { // big endian */
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if (bit8[i] == 1) byteval += d;
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else if (bit8[i] == 0) byteval += 0;
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else return 0x100;
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d <<= 1;
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}
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return byteval;
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}
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int bits2byte(char bits[]) {
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int i, byteval=0, d=1;
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for (i = 0; i < 8; i++) { // little endian
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/* for (i = 7; i >= 0; i--) { // big endian */
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if (bits[i] == 1) byteval += d;
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else if (bits[i] == 0) byteval += 0;
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else return 0x100;
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d <<= 1;
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}
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return byteval;
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}
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void inc_bufpos() {
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bufpos = (bufpos+1) % HEADLEN;
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}
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int compare() {
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int i=0, j = bufpos;
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while (i < HEADLEN) {
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if (j < 0) j = HEADLEN-1;
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if (buf[j] != header[HEADOFS+HEADLEN-1-i]) break;
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j--;
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i++;
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}
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return i;
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}
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/*
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ui8_t xorbyte(int pos) {
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return xframe[pos] ^ mask[pos % MASK_LEN];
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}
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*/
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ui8_t framebyte(int pos) {
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return frame[pos];
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}
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/* ------------------------------------------------------------------------------------ */
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#define GPS_WEEK1024 1
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#define WEEKSEC 604800
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/*
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* Convert GPS Week and Seconds to Modified Julian Day.
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* - Adapted from sci.astro FAQ.
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* - Ignores UTC leap seconds.
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*/
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void Gps2Date(long GpsWeek, long GpsSeconds, int *Year, int *Month, int *Day) {
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long GpsDays, Mjd;
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long J, C, Y, M;
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GpsDays = GpsWeek * 7 + (GpsSeconds / 86400);
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Mjd = 44244 + GpsDays;
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J = Mjd + 2468570;
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C = 4 * J / 146097;
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J = J - (146097 * C + 3) / 4;
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Y = 4000 * (J + 1) / 1461001;
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J = J - 1461 * Y / 4 + 31;
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M = 80 * J / 2447;
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*Day = J - 2447 * M / 80;
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J = M / 11;
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*Month = M + 2 - (12 * J);
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*Year = 100 * (C - 49) + Y + J;
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}
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/* ------------------------------------------------------------------------------------ */
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#define OFS (0x02) //
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#define pos_FrameNb (OFS+0x08) // 2 byte
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#define pos_SondeID (OFS+0x0C) // 8 byte // oder: 0x0A, 10 byte?
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#define pos_CalData (OFS+0x17) // 1 byte, counter 0x00..0x1f
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#define pos_Calfreq (OFS+0x1A) // 2 byte, calfr 0x00
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#define posGPS_TOW (OFS+0x48) // 4 byte
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#define posGPS_PRN (OFS+0x4E) // 12*5 bit in 8 byte
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#define posGPS_STATUS (OFS+0x56) // 12 byte
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#define posGPS_DATA (OFS+0x62) // 12*8 byte
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#define pos_PTU (OFS+0x2C) // 24 byte
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#define pos_AuxData (OFS+0xC8) // 8 byte
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#define BLOCK_CFG 0x6510 // frame[pos_FrameNb-2], frame[pos_FrameNb-1]
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#define BLOCK_PTU 0x690C
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#define BLOCK_GPS 0x673D // 0x6c3d frame[posGPS_TOW-2], frame[posGPS_TOW-1]
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#define BLOCK_AUX 0x6812 // sgp: 0x6805
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#define LEN_CFG (2*(BLOCK_CFG & 0xFF))
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#define LEN_GPS (2*(BLOCK_GPS & 0xFF))
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#define LEN_PTU (2*(BLOCK_PTU & 0xFF))
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int crc16(int start, int len) {
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int crc16poly = 0x1021;
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int rem = 0xFFFF, i, j;
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int byte;
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if (start+len >= FRAME_LEN) return -1;
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for (i = 0; i < len; i++) {
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byte = framebyte(start+i);
|
|
rem = rem ^ (byte << 8);
|
|
for (j = 0; j < 8; j++) {
|
|
if (rem & 0x8000) {
|
|
rem = (rem << 1) ^ crc16poly;
|
|
}
|
|
else {
|
|
rem = (rem << 1);
|
|
}
|
|
rem &= 0xFFFF;
|
|
}
|
|
}
|
|
return rem;
|
|
}
|
|
|
|
int get_FrameNb() {
|
|
int i;
|
|
unsigned byte;
|
|
ui8_t frnr_bytes[2];
|
|
int frnr;
|
|
|
|
for (i = 0; i < 2; i++) {
|
|
byte = framebyte(pos_FrameNb + i);
|
|
frnr_bytes[i] = byte;
|
|
}
|
|
|
|
frnr = frnr_bytes[0] + (frnr_bytes[1] << 8);
|
|
gpx.frnr = frnr;
|
|
|
|
return 0;
|
|
}
|
|
|
|
int get_SondeID() {
|
|
int i, ret=0;
|
|
unsigned byte;
|
|
ui8_t sondeid_bytes[10];
|
|
int crc_frame, crc;
|
|
|
|
// BLOCK_CFG == frame[pos_FrameNb-2 .. pos_FrameNb-1] ?
|
|
crc_frame = framebyte(pos_FrameNb+LEN_CFG) | (framebyte(pos_FrameNb+LEN_CFG+1) << 8);
|
|
crc = crc16(pos_FrameNb, LEN_CFG);
|
|
/*
|
|
if (option_crc) {
|
|
//fprintf(stdout, " (%04X:%02X%02X) ", BLOCK_CFG, frame[pos_FrameNb-2], frame[pos_FrameNb-1]);
|
|
fprintf(stdout, " [%04X:%04X] ", crc_frame, crc);
|
|
}
|
|
*/
|
|
ret = 0;
|
|
if ( 0 && option_crc && crc != crc_frame) {
|
|
ret = -2; // erst wichtig, wenn Cal/Cfg-Data
|
|
}
|
|
|
|
for (i = 0; i < 8; i++) {
|
|
byte = framebyte(pos_SondeID + i);
|
|
if ((byte < 0x20) || (byte > 0x7E)) return -1;
|
|
sondeid_bytes[i] = byte;
|
|
}
|
|
|
|
for (i = 0; i < 8; i++) {
|
|
gpx.id[i] = sondeid_bytes[i];
|
|
}
|
|
gpx.id[8] = '\0';
|
|
|
|
return ret;
|
|
}
|
|
|
|
char weekday[7][3] = { "So", "Mo", "Di", "Mi", "Do", "Fr", "Sa"};
|
|
|
|
int get_GPStime() {
|
|
int i, ret=0;
|
|
unsigned byte;
|
|
ui8_t gpstime_bytes[4];
|
|
int gpstime = 0, // 32bit
|
|
day;
|
|
int ms;
|
|
int crc_frame, crc;
|
|
|
|
// BLOCK_GPS == frame[posGPS_TOW-2 .. posGPS_TOW-1] ?
|
|
crc_frame = framebyte(posGPS_TOW+LEN_GPS) | (framebyte(posGPS_TOW+LEN_GPS+1) << 8);
|
|
crc = crc16(posGPS_TOW, LEN_GPS);
|
|
/*
|
|
if (option_crc) {
|
|
//fprintf(stdout, " (%04X:%02X%02X) ", BLOCK_GPS, frame[posGPS_TOW-2], frame[posGPS_TOW-1]);
|
|
fprintf(stdout, " [%04X:%04X] ", crc_frame, crc);
|
|
}
|
|
*/
|
|
ret = 0;
|
|
if (option_crc && crc != crc_frame) {
|
|
ret = -2;
|
|
}
|
|
|
|
for (i = 0; i < 4; i++) {
|
|
byte = framebyte(posGPS_TOW + i);
|
|
gpstime_bytes[i] = byte;
|
|
}
|
|
|
|
memcpy(&gpstime, gpstime_bytes, 4);
|
|
ms = gpstime % 1000;
|
|
gpstime /= 1000;
|
|
|
|
gpx.gpssec = gpstime;
|
|
|
|
day = (gpstime / (24 * 3600)) % 7; // besser CRC-check, da auch
|
|
if ((day < 0) || (day > 6)) return -1; // gpssec=604800,604801 beobachtet
|
|
|
|
gpstime %= (24*3600);
|
|
|
|
gpx.wday = day;
|
|
gpx.std = gpstime / 3600;
|
|
gpx.min = (gpstime % 3600) / 60;
|
|
gpx.sek = gpstime % 60 + ms/1000.0;
|
|
|
|
return ret;
|
|
}
|
|
|
|
int get_Aux() {
|
|
int i;
|
|
unsigned short byte;
|
|
|
|
for (i = 0; i < 4; i++) {
|
|
byte = framebyte(pos_AuxData+2*i)+(framebyte(pos_AuxData+2*i+1)<<8);
|
|
gpx.aux[i] = byte;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
int get_Cal() {
|
|
int i;
|
|
unsigned byte;
|
|
ui8_t calfr = 0;
|
|
//ui8_t burst = 0;
|
|
int freq = 0;
|
|
ui8_t freq_bytes[2];
|
|
|
|
byte = framebyte(pos_CalData);
|
|
calfr = byte;
|
|
|
|
if (option_verbose == 4) {
|
|
fprintf(stdout, "\n");
|
|
fprintf(stdout, "[%5d] ", gpx.frnr);
|
|
fprintf(stdout, " 0x%02x:", calfr);
|
|
}
|
|
for (i = 0; i < 16; i++) {
|
|
byte = framebyte(pos_CalData+1+i);
|
|
if (option_verbose == 4) {
|
|
fprintf(stdout, " %02x", byte);
|
|
}
|
|
}
|
|
if (option_aux) {
|
|
get_Aux();
|
|
if (option_verbose == 4) {
|
|
fprintf(stdout, " # ");
|
|
for (i = 0; i < 8; i++) {
|
|
byte = framebyte(pos_AuxData+i);
|
|
fprintf(stdout, "%02x ", byte);
|
|
}
|
|
}
|
|
else {
|
|
if (gpx.aux[0] != 0 || gpx.aux[1] != 0 || gpx.aux[2] != 0 || gpx.aux[3] != 0) {
|
|
fprintf(stdout, " # %04x %04x %04x %04x", gpx.aux[0], gpx.aux[1], gpx.aux[2], gpx.aux[3]);
|
|
}
|
|
}
|
|
}
|
|
|
|
if (calfr == 0x00) {
|
|
for (i = 0; i < 2; i++) {
|
|
byte = framebyte(pos_Calfreq + i);
|
|
freq_bytes[i] = byte;
|
|
}
|
|
byte = freq_bytes[0] + (freq_bytes[1] << 8);
|
|
//fprintf(stdout, ":%04x ", byte);
|
|
freq = 400000 + 10*byte; // kHz;
|
|
gpx.freq = freq;
|
|
fprintf(stdout, " : fq %d kHz", freq);
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
|
|
/* ---------------------------------------------------------------------------------------------------- */
|
|
|
|
|
|
#include "nav_gps_vel.c"
|
|
|
|
EPHEM_t alm[33];
|
|
//EPHEM_t eph[33][24];
|
|
EPHEM_t *ephs = NULL;
|
|
|
|
SAT_t sat[33],
|
|
sat1s[33];
|
|
|
|
|
|
ui8_t prn_le[12*5+4];
|
|
/* le - little endian */
|
|
int prnbits_le(ui16_t byte16, ui8_t bits[64], int block) {
|
|
int i; /* letztes bit Ueberlauf, wenn 3. PRN = 32 */
|
|
for (i = 0; i < 15; i++) {
|
|
bits[15*block+i] = byte16 & 1;
|
|
byte16 >>= 1;
|
|
}
|
|
bits[60+block] = byte16 & 1;
|
|
return byte16 & 1;
|
|
}
|
|
ui8_t prns[12], // PRNs in data
|
|
sat_status[12];
|
|
int prn32toggle = 0x1, ind_prn32, prn32next;
|
|
void prn12(ui8_t *prn_le, ui8_t prns[12]) {
|
|
int i, j, d;
|
|
for (i = 0; i < 12; i++) {
|
|
prns[i] = 0;
|
|
d = 1;
|
|
for (j = 0; j < 5; j++) {
|
|
if (prn_le[5*i+j]) prns[i] += d;
|
|
d <<= 1;
|
|
}
|
|
}
|
|
ind_prn32 = 32;
|
|
for (i = 0; i < 12; i++) {
|
|
// PRN-32 overflow
|
|
if ( (prns[i] == 0) && (sat_status[i] & 0x0F) ) { // 5 bit: 0..31
|
|
if ( ((i % 3 == 2) && (prn_le[60+i/3] & 1)) // Spalte 2
|
|
|| ((i % 3 != 2) && (prn_le[5*(i+1)] & 1)) ) { // Spalte 0,1
|
|
prns[i] = 32; ind_prn32 = i;
|
|
}
|
|
}
|
|
else if ((sat_status[i] & 0x0F) == 0) { // erste beiden bits: 0x03 ?
|
|
prns[i] = 0;
|
|
}
|
|
}
|
|
|
|
prn32next = 0;
|
|
if (ind_prn32 < 12) {
|
|
// PRN-32 overflow
|
|
if (ind_prn32 % 3 != 2) { // -> ind_prn32<11 // vorausgesetzt im Block folgt auf PRN-32
|
|
if ((sat_status[ind_prn32+1] & 0x0F) && prns[ind_prn32+1] > 1) { // entweder PRN-1 oder PRN-gerade
|
|
// && prns[ind_prn32+1] != 3 ?
|
|
for (j = 0; j < ind_prn32; j++) {
|
|
if (prns[j] == (prns[ind_prn32+1]^prn32toggle) && (sat_status[j] & 0x0F)) break;
|
|
}
|
|
if (j < ind_prn32) { prn32toggle ^= 0x1; }
|
|
else {
|
|
for (j = ind_prn32+2; j < 12; j++) {
|
|
if (prns[j] == (prns[ind_prn32+1]^prn32toggle) && (sat_status[j] & 0x0F)) break;
|
|
}
|
|
if (j < 12) { prn32toggle ^= 0x1; }
|
|
}
|
|
prns[ind_prn32+1] ^= prn32toggle;
|
|
/*
|
|
// nochmal testen
|
|
for (j = 0; j < ind_prn32; j++) { if (prns[j] == prns[ind_prn32+1]) break; }
|
|
if (j < ind_prn32) prns[ind_prn32+1] = 0;
|
|
else {
|
|
for (j = ind_prn32+2; j < 12; j++) { if (prns[j] == prns[ind_prn32+1]) break; }
|
|
if (j < 12) prns[ind_prn32+1] = 0;
|
|
}
|
|
if (prns[ind_prn32+1] == 0) { prn32toggle ^= 0x1; }
|
|
*/
|
|
}
|
|
prn32next = prns[ind_prn32+1]; // -> ind_prn32<11 && ind_prn32 % 3 != 2
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
int calc_satpos_alm(EPHEM_t alm[], double t, SAT_t *satp) {
|
|
double X, Y, Z, vX, vY, vZ;
|
|
int j;
|
|
int week;
|
|
double cl_corr, cl_drift;
|
|
|
|
for (j = 1; j < 33; j++) {
|
|
if (alm[j].prn > 0) { // prn==j
|
|
|
|
// Woche hat 604800 sec
|
|
if (t-alm[j].toa > WEEKSEC/2) rollover = +1;
|
|
else if (t-alm[j].toa < -WEEKSEC/2) rollover = -1;
|
|
else rollover = 0;
|
|
week = alm[j].week - rollover;
|
|
/*if (j == 1)*/ gpx.week = week + GPS_WEEK1024*1024;
|
|
|
|
if (option_vel >= 2) {
|
|
GPS_SatellitePositionVelocity_Ephem(
|
|
week, t, alm[j],
|
|
&cl_corr, &cl_drift, &X, &Y, &Z, &vX, &vY, &vZ
|
|
);
|
|
satp[alm[j].prn].clock_drift = cl_drift;
|
|
satp[alm[j].prn].vX = vX;
|
|
satp[alm[j].prn].vY = vY;
|
|
satp[alm[j].prn].vZ = vZ;
|
|
}
|
|
else {
|
|
GPS_SatellitePosition_Ephem(
|
|
week, t, alm[j],
|
|
&cl_corr, &X, &Y, &Z
|
|
);
|
|
}
|
|
|
|
satp[alm[j].prn].X = X;
|
|
satp[alm[j].prn].Y = Y;
|
|
satp[alm[j].prn].Z = Z;
|
|
satp[alm[j].prn].clock_corr = cl_corr;
|
|
|
|
}
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
int calc_satpos_rnx(EPHEM_t eph[][24], double t, SAT_t *satp) {
|
|
double X, Y, Z, vX, vY, vZ;
|
|
int j, i, ti;
|
|
int week;
|
|
double cl_corr, cl_drift;
|
|
double tdiff, td;
|
|
|
|
for (j = 1; j < 33; j++) {
|
|
|
|
// Woche hat 604800 sec
|
|
tdiff = WEEKSEC;
|
|
ti = 0;
|
|
for (i = 0; i < 24; i++) {
|
|
if (eph[j][i].prn > 0) {
|
|
if (t-eph[j][i].toe > WEEKSEC/2) rollover = +1;
|
|
else if (t-eph[j][i].toe < -WEEKSEC/2) rollover = -1;
|
|
else rollover = 0;
|
|
td = t-eph[j][i].toe - rollover*WEEKSEC;
|
|
if (td < 0) td *= -1;
|
|
|
|
if ( td < tdiff ) {
|
|
tdiff = td;
|
|
ti = i;
|
|
week = eph[j][ti].week - rollover;
|
|
gpx.week = eph[j][ti].gpsweek - rollover;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (option_vel >= 2) {
|
|
GPS_SatellitePositionVelocity_Ephem(
|
|
week, t, eph[j][ti],
|
|
&cl_corr, &cl_drift, &X, &Y, &Z, &vX, &vY, &vZ
|
|
);
|
|
satp[eph[j][ti].prn].clock_drift = cl_drift;
|
|
satp[eph[j][ti].prn].vX = vX;
|
|
satp[eph[j][ti].prn].vY = vY;
|
|
satp[eph[j][ti].prn].vZ = vZ;
|
|
}
|
|
else {
|
|
GPS_SatellitePosition_Ephem(
|
|
week, t, eph[j][ti],
|
|
&cl_corr, &X, &Y, &Z
|
|
);
|
|
}
|
|
|
|
satp[eph[j][ti].prn].X = X;
|
|
satp[eph[j][ti].prn].Y = Y;
|
|
satp[eph[j][ti].prn].Z = Z;
|
|
satp[eph[j][ti].prn].clock_corr = cl_corr;
|
|
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
int calc_satpos_rnx2(EPHEM_t *eph, double t, SAT_t *satp) {
|
|
double X, Y, Z, vX, vY, vZ;
|
|
int j;
|
|
int week;
|
|
double cl_corr, cl_drift;
|
|
double tdiff, td;
|
|
int count, count0, satfound;
|
|
|
|
for (j = 1; j < 33; j++) {
|
|
|
|
count = count0 = 0;
|
|
satfound = 0;
|
|
|
|
// Woche hat 604800 sec
|
|
tdiff = WEEKSEC;
|
|
|
|
while (eph[count].prn > 0) {
|
|
|
|
if (eph[count].prn == j) {
|
|
|
|
satfound += 1;
|
|
|
|
if (t - eph[count].toe > WEEKSEC/2) rollover = +1;
|
|
else if (t - eph[count].toe < -WEEKSEC/2) rollover = -1;
|
|
else rollover = 0;
|
|
td = fabs( t - eph[count].toe - rollover*WEEKSEC);
|
|
|
|
if ( td < tdiff ) {
|
|
tdiff = td;
|
|
week = eph[count].week - rollover;
|
|
gpx.week = eph[count].gpsweek - rollover;
|
|
count0 = count;
|
|
}
|
|
}
|
|
count += 1;
|
|
}
|
|
|
|
if ( satfound )
|
|
{
|
|
if (option_vel >= 2) {
|
|
GPS_SatellitePositionVelocity_Ephem(
|
|
week, t, eph[count0],
|
|
&cl_corr, &cl_drift, &X, &Y, &Z, &vX, &vY, &vZ
|
|
);
|
|
satp[j].clock_drift = cl_drift;
|
|
satp[j].vX = vX;
|
|
satp[j].vY = vY;
|
|
satp[j].vZ = vZ;
|
|
}
|
|
else {
|
|
GPS_SatellitePosition_Ephem(
|
|
week, t, eph[count0],
|
|
&cl_corr, &X, &Y, &Z
|
|
);
|
|
}
|
|
|
|
satp[j].X = X;
|
|
satp[j].Y = Y;
|
|
satp[j].Z = Z;
|
|
satp[j].clock_corr = cl_corr;
|
|
satp[j].ephtime = eph[count0].toe;
|
|
}
|
|
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
|
|
typedef struct {
|
|
ui32_t tow;
|
|
ui8_t status;
|
|
int chips;
|
|
int deltachips;
|
|
} RANGE_t;
|
|
RANGE_t range[33];
|
|
|
|
int prn[12]; // valide PRN 0,..,k-1
|
|
|
|
|
|
// pseudo.range = -df*pseudo.chips
|
|
// df = lightspeed/(chips/sec)/2^10
|
|
const double df = 299792.458/1023.0/1024.0; //0.286183844 // c=299792458m/s, 1023000chips/s
|
|
// dl = L1/(chips/sec)/4
|
|
const double dl = 1575.42/1.023/4.0/2.0; //385.0 // GPS L1 1575.42MHz=154*10.23MHz, dl=154*10/4
|
|
// 2Hz: 385.0/2.0
|
|
|
|
int get_pseudorange() {
|
|
ui32_t gpstime;
|
|
ui8_t gpstime_bytes[4];
|
|
ui8_t pseudobytes[4];
|
|
unsigned chipbytes, deltabytes;
|
|
int i, j, k;
|
|
ui8_t bytes[4];
|
|
ui16_t byte16;
|
|
double pr0, prj;
|
|
|
|
// GPS-TOW in ms
|
|
for (i = 0; i < 4; i++) {
|
|
gpstime_bytes[i] = framebyte(posGPS_TOW + i);
|
|
}
|
|
memcpy(&gpstime, gpstime_bytes, 4);
|
|
|
|
// Sat Status
|
|
for (i = 0; i < 12; i++) {
|
|
sat_status[i] = framebyte(posGPS_STATUS + i);
|
|
}
|
|
|
|
// PRN-Nummern
|
|
for (i = 0; i < 4; i++) {
|
|
for (j = 0; j < 2; j++) {
|
|
bytes[j] = frame[posGPS_PRN+2*i+j];
|
|
}
|
|
memcpy(&byte16, bytes, 2);
|
|
prnbits_le(byte16, prn_le, i);
|
|
}
|
|
prn12(prn_le, prns);
|
|
|
|
|
|
// GPS Sat Pos (& Vel)
|
|
if (almanac) calc_satpos_alm( alm, gpstime/1000.0, sat);
|
|
if (ephem) calc_satpos_rnx2(ephs, gpstime/1000.0, sat);
|
|
|
|
// GPS Sat Pos t -= 1s // AGP: 2 frames/sec (2Hz)
|
|
if (option_vel == 1) { // wenn -0.5s, dann normal dl
|
|
if (almanac) calc_satpos_alm( alm, gpstime/1000.0-1, sat1s);
|
|
if (ephem) calc_satpos_rnx2(ephs, gpstime/1000.0-1, sat1s);
|
|
}
|
|
|
|
k = 0;
|
|
for (j = 0; j < 12; j++) {
|
|
|
|
// Pseudorange/chips
|
|
for (i = 0; i < 4; i++) {
|
|
pseudobytes[i] = frame[posGPS_DATA+8*j+i];
|
|
}
|
|
memcpy(&chipbytes, pseudobytes, 4);
|
|
|
|
// delta_pseudochips / 385
|
|
for (i = 0; i < 3; i++) {
|
|
pseudobytes[i] = frame[posGPS_DATA+8*j+4+i];
|
|
}
|
|
deltabytes = 0; // bzw. pseudobytes[3]=0 (24 bit); deltabytes & (0xFF<<24) als
|
|
memcpy(&deltabytes, pseudobytes, 3); // gemeinsamer offset relevant in --vel1 !
|
|
|
|
//if ( (prns[j] == 0) && (sat_status[j] & 0x0F) ) prns[j] = 32;
|
|
range[prns[j]].tow = gpstime;
|
|
range[prns[j]].status = sat_status[j];
|
|
|
|
if ( chipbytes == 0x7FFFFFFF || chipbytes == 0x55555555 ) {
|
|
range[prns[j]].chips = 0;
|
|
continue;
|
|
}
|
|
if (option_vergps != 8) {
|
|
if ( chipbytes > 0x10000000 && chipbytes < 0xF0000000 ) {
|
|
range[prns[j]].chips = 0;
|
|
continue;
|
|
}}
|
|
|
|
range[prns[j]].chips = chipbytes;
|
|
range[prns[j]].deltachips = deltabytes;
|
|
|
|
/*
|
|
if (range[prns[j]].deltachips == 0x555555) {
|
|
range[prns[j]].deltachips = 0;
|
|
continue;
|
|
}
|
|
*/
|
|
if ( (prns[j] > 0) && ((sat_status[j] & 0x0F) == 0xF)
|
|
&& (dist(sat[prns[j]].X, sat[prns[j]].Y, sat[prns[j]].Z, 0, 0, 0) > 6700000) )
|
|
{
|
|
for (i = 0; i < k; i++) { if (prn[i] == prns[j]) break; }
|
|
if (i == k && prns[j] != exSat) {
|
|
//if ( range[prns[j]].status & 0xF0 ) // Signalstaerke > 0 ?
|
|
{
|
|
prn[k] = prns[j];
|
|
k++;
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
|
|
for (j = 0; j < 12; j++) { // 0x013FB0A4
|
|
sat[prns[j]].pseudorange = /*0x01400000*/ - range[prns[j]].chips * df;
|
|
sat1s[prns[j]].pseudorange = -(range[prns[j]].chips - range[prns[j]].deltachips/dl)*df;
|
|
//+ sat[prns[j]].clock_corr - sat1s[prns[j]].clock_corr
|
|
sat[prns[j]].pseudorate = - range[prns[j]].deltachips * df / dl;
|
|
|
|
sat[prns[j]].prn = prns[j];
|
|
sat1s[prns[j]].prn = prns[j];
|
|
}
|
|
|
|
|
|
pr0 = (double)0x01400000;
|
|
for (j = 0; j < k; j++) {
|
|
prj = sat[prn[j]].pseudorange + sat[prn[j]].clock_corr;
|
|
if (prj < pr0) pr0 = prj;
|
|
}
|
|
for (j = 0; j < k; j++) sat[prn[j]].PR = sat[prn[j]].pseudorange + sat[prn[j]].clock_corr - pr0 + 20e6;
|
|
// es kann PRNs geben, die zeitweise stark abweichende PR liefern;
|
|
// eventuell Standardabweichung ermitteln und fehlerhafte Sats weglassen
|
|
for (j = 0; j < k; j++) { // sat/sat1s... PR-check
|
|
sat1s[prn[j]].PR = sat1s[prn[j]].pseudorange + sat[prn[j]].clock_corr - pr0 + 20e6;
|
|
}
|
|
|
|
return k;
|
|
}
|
|
|
|
int get_GPSvel(double lat, double lon, double vel_ecef[3],
|
|
double *vH, double *vD, double *vU) {
|
|
// ECEF-Velocities
|
|
// ECEF-Vel -> NorthEastUp
|
|
double phi = lat*M_PI/180.0;
|
|
double lam = lon*M_PI/180.0;
|
|
double vN = -vel_ecef[0]*sin(phi)*cos(lam) - vel_ecef[1]*sin(phi)*sin(lam) + vel_ecef[2]*cos(phi);
|
|
double vE = -vel_ecef[0]*sin(lam) + vel_ecef[1]*cos(lam);
|
|
*vU = vel_ecef[0]*cos(phi)*cos(lam) + vel_ecef[1]*cos(phi)*sin(lam) + vel_ecef[2]*sin(phi);
|
|
// NEU -> HorDirVer
|
|
*vH = sqrt(vN*vN+vE*vE);
|
|
*vD = atan2(vE, vN) * 180 / M_PI;
|
|
if (*vD < 0) *vD += 360;
|
|
|
|
return 0;
|
|
}
|
|
|
|
double DOP[4];
|
|
|
|
int get_GPSkoord(int N) {
|
|
double lat, lon, alt, rx_cl_bias;
|
|
double vH, vD, vU;
|
|
double lat1s, lon1s, alt1s,
|
|
lat0 , lon0 , alt0 , pos0_ecef[3];
|
|
double pos_ecef[3], pos1s_ecef[3], dpos_ecef[3],
|
|
vel_ecef[3], dvel_ecef[3];
|
|
double gdop, gdop0 = 1000.0;
|
|
//double hdop, vdop, pdop;
|
|
int i0, i1, i2, i3, j, k, n;
|
|
int nav_ret = 0;
|
|
int num = 0;
|
|
SAT_t Sat_A[4];
|
|
SAT_t Sat_B[12]; // N <= 12
|
|
SAT_t Sat_B1s[12];
|
|
SAT_t Sat_C[12]; // 11
|
|
double diter;
|
|
int exN = -1;
|
|
|
|
if (option_vergps == 8) {
|
|
fprintf(stdout, " sats: ");
|
|
for (j = 0; j < N; j++) fprintf(stdout, "%02d ", prn[j]);
|
|
fprintf(stdout, "\n");
|
|
}
|
|
|
|
gpx.lat = gpx.lon = gpx.alt = 0;
|
|
|
|
if (option_vergps != 2) {
|
|
for (i0=0;i0<N;i0++) { for (i1=i0+1;i1<N;i1++) { for (i2=i1+1;i2<N;i2++) { for (i3=i2+1;i3<N;i3++) {
|
|
|
|
Sat_A[0] = sat[prn[i0]];
|
|
Sat_A[1] = sat[prn[i1]];
|
|
Sat_A[2] = sat[prn[i2]];
|
|
Sat_A[3] = sat[prn[i3]];
|
|
nav_ret = NAV_ClosedFormSolution_FromPseudorange( Sat_A, &lat, &lon, &alt, &rx_cl_bias, pos_ecef );
|
|
|
|
if (nav_ret == 0) {
|
|
num += 1;
|
|
if (calc_DOPn(4, Sat_A, pos_ecef, DOP) == 0) {
|
|
gdop = sqrt(DOP[0]+DOP[1]+DOP[2]+DOP[3]);
|
|
//fprintf(stdout, " DOP : %.1f ", gdop);
|
|
|
|
NAV_LinP(4, Sat_A, pos_ecef, rx_cl_bias, dpos_ecef, &rx_cl_bias);
|
|
diter = dist(0, 0, 0, dpos_ecef[0], dpos_ecef[1], dpos_ecef[2]);
|
|
for (j = 0; j < 3; j++) pos_ecef[j] += dpos_ecef[j];
|
|
ecef2elli(pos_ecef[0], pos_ecef[1], pos_ecef[2], &lat, &lon, &alt);
|
|
if ( option_vel == 4 ) {
|
|
vel_ecef[0] = vel_ecef[1] = vel_ecef[2] = 0;
|
|
NAV_LinV(4, Sat_A, pos_ecef, vel_ecef, 0.0, dvel_ecef, &rx_cl_bias);
|
|
for (j=0; j<3; j++) vel_ecef[j] += dvel_ecef[j];
|
|
NAV_LinV(4, Sat_A, pos_ecef, vel_ecef, rx_cl_bias, dvel_ecef, &rx_cl_bias);
|
|
for (j=0; j<3; j++) vel_ecef[j] += dvel_ecef[j];
|
|
get_GPSvel(lat, lon, vel_ecef, &vH, &vD, &vU);
|
|
}
|
|
if (option_vergps == 8) {
|
|
// gdop = sqrt(DOP[0]+DOP[1]+DOP[2]+DOP[3]); // s.o.
|
|
//hdop = sqrt(DOP[0]+DOP[1]);
|
|
//vdop = sqrt(DOP[2]);
|
|
//pdop = sqrt(DOP[0]+DOP[1]+DOP[2]);
|
|
if (gdop < dop_limit) {
|
|
fprintf(stdout, " ");
|
|
fprintf(stdout, "lat: %.5f , lon: %.5f , alt: %.1f ", lat, lon, alt);
|
|
fprintf(stdout, " (d:%.1f)", diter);
|
|
if ( option_vel == 4 ) {
|
|
fprintf(stdout, " vH: %4.1f D: %5.1f° vV: %3.1f ", vH, vD, vU);
|
|
}
|
|
fprintf(stdout, " sats: ");
|
|
fprintf(stdout, "%02d %02d %02d %02d ", prn[i0], prn[i1], prn[i2], prn[i3]);
|
|
fprintf(stdout, " GDOP : %.1f ", gdop);
|
|
//fprintf(stdout, " HDOP: %.1f VDOP: %.1f ", hdop, vdop);
|
|
//fprintf(stdout, " PDOP: %.1f ", pdop);
|
|
fprintf(stdout, "\n");
|
|
}
|
|
}
|
|
}
|
|
else gdop = -1;
|
|
|
|
if (gdop > 0 && gdop < gdop0) { // wenn fehlerhafter Sat, diter wohl besserer Indikator
|
|
gpx.lat = lat;
|
|
gpx.lon = lon;
|
|
gpx.alt = alt;
|
|
gpx.dop = gdop;
|
|
gpx.diter = diter;
|
|
gpx.sats[0] = prn[i0]; gpx.sats[1] = prn[i1]; gpx.sats[2] = prn[i2]; gpx.sats[3] = prn[i3];
|
|
gdop0 = gdop;
|
|
|
|
if (option_vel == 4) {
|
|
gpx.vH = vH;
|
|
gpx.vD = vD;
|
|
gpx.vU = vU;
|
|
}
|
|
}
|
|
}
|
|
|
|
}}}}
|
|
}
|
|
|
|
if (option_vergps == 8 || option_vergps == 2) {
|
|
|
|
for (j = 0; j < N; j++) Sat_B[j] = sat[prn[j]];
|
|
for (j = 0; j < N; j++) Sat_B1s[j] = sat1s[prn[j]];
|
|
|
|
NAV_bancroft1(N, Sat_B, pos_ecef, &rx_cl_bias);
|
|
ecef2elli(pos_ecef[0], pos_ecef[1], pos_ecef[2], &lat, &lon, &alt);
|
|
gdop = -1;
|
|
if (calc_DOPn(N, Sat_B, pos_ecef, DOP) == 0) {
|
|
gdop = sqrt(DOP[0]+DOP[1]+DOP[2]+DOP[3]);
|
|
}
|
|
|
|
NAV_LinP(N, Sat_B, pos_ecef, rx_cl_bias, dpos_ecef, &rx_cl_bias);
|
|
if (option_iter) {
|
|
for (j = 0; j < 3; j++) pos_ecef[j] += dpos_ecef[j];
|
|
ecef2elli(pos_ecef[0], pos_ecef[1], pos_ecef[2], &lat, &lon, &alt);
|
|
}
|
|
gpx.diter = dist(0, 0, 0, dpos_ecef[0], dpos_ecef[1], dpos_ecef[2]);
|
|
|
|
// Sat mit schlechten Daten suchen
|
|
if (gpx.diter > d_err) {
|
|
if (N > 5) { // N > 4 kann auch funktionieren
|
|
for (n = 0; n < N; n++) {
|
|
k = 0;
|
|
for (j = 0; j < N; j++) {
|
|
if (j != n) {
|
|
Sat_C[k] = Sat_B[j];
|
|
k++;
|
|
}
|
|
}
|
|
for (j = 0; j < 3; j++) pos0_ecef[j] = 0;
|
|
NAV_bancroft1(N-1, Sat_C, pos0_ecef, &rx_cl_bias);
|
|
NAV_LinP(N-1, Sat_C, pos0_ecef, rx_cl_bias, dpos_ecef, &rx_cl_bias);
|
|
diter = dist(0, 0, 0, dpos_ecef[0], dpos_ecef[1], dpos_ecef[2]);
|
|
ecef2elli(pos0_ecef[0], pos0_ecef[1], pos0_ecef[2], &lat0, &lon0, &alt0);
|
|
if (diter < gpx.diter) {
|
|
gpx.diter = diter;
|
|
for (j = 0; j < 3; j++) pos_ecef[j] = pos0_ecef[j];
|
|
lat = lat0;
|
|
lon = lon0;
|
|
alt = alt0;
|
|
exN = n;
|
|
}
|
|
}
|
|
if (exN >= 0) {
|
|
if (prn[exN] == prn32next) prn32toggle ^= 0x1;
|
|
for (k = exN; k < N-1; k++) {
|
|
Sat_B[k] = Sat_B[k+1];
|
|
prn[k] = prn[k+1];
|
|
if (option_vel == 1) {
|
|
Sat_B1s[k] = Sat_B1s[k+1];
|
|
}
|
|
}
|
|
N = N-1;
|
|
if (calc_DOPn(N, Sat_B, pos_ecef, DOP) == 0) {
|
|
gdop = sqrt(DOP[0]+DOP[1]+DOP[2]+DOP[3]);
|
|
}
|
|
}
|
|
}
|
|
/*
|
|
if (exN < 0 && prn32next > 0) {
|
|
//prn32next used in pre-fix? prn32toggle ^= 0x1;
|
|
}
|
|
*/
|
|
}
|
|
|
|
if (option_vel == 1) {
|
|
NAV_bancroft1(N, Sat_B1s, pos1s_ecef, &rx_cl_bias);
|
|
if (option_iter) {
|
|
NAV_LinP(N, Sat_B1s, pos1s_ecef, rx_cl_bias, dpos_ecef, &rx_cl_bias);
|
|
for (j = 0; j < 3; j++) pos1s_ecef[j] += dpos_ecef[j];
|
|
}
|
|
for (j = 0; j < 3; j++) vel_ecef[j] = pos_ecef[j] - pos1s_ecef[j];
|
|
get_GPSvel(lat, lon, vel_ecef, &vH, &vD, &vU);
|
|
ecef2elli(pos1s_ecef[0], pos1s_ecef[1], pos1s_ecef[2], &lat1s, &lon1s, &alt1s);
|
|
if (option_vergps == 8) {
|
|
fprintf(stdout, "\ndeltachips1s lat: %.6f , lon: %.6f , alt: %.2f ", lat1s, lon1s, alt1s);
|
|
fprintf(stdout, " vH: %4.1f D: %5.1f° vV: %3.1f ", vH, vD, vU);
|
|
fprintf(stdout, "\n");
|
|
}
|
|
}
|
|
if (option_vel >= 2) {
|
|
//fprintf(stdout, "\nP(%.1f,%.1f,%.1f) \n", pos_ecef[0], pos_ecef[1], pos_ecef[2]);
|
|
vel_ecef[0] = vel_ecef[1] = vel_ecef[2] = 0;
|
|
NAV_LinV(N, Sat_B, pos_ecef, vel_ecef, 0.0, dvel_ecef, &rx_cl_bias);
|
|
for (j=0; j<3; j++) vel_ecef[j] += dvel_ecef[j];
|
|
//fprintf(stdout, " V(%.1f,%.1f,%.1f) ", vel_ecef[0], vel_ecef[1], vel_ecef[2]);
|
|
//fprintf(stdout, " rx_vel_bias: %.1f \n", rx_cl_bias);
|
|
/* 2. Iteration:
|
|
NAV_LinV(N, Sat_B, pos_ecef, vel_ecef, rx_cl_bias, dvel_ecef, &rx_cl_bias);
|
|
for (j=0; j<3; j++) vel_ecef[j] += dvel_ecef[j];
|
|
//fprintf(stdout, " V(%.1f,%.1f,%.1f) ", vel_ecef[0], vel_ecef[1], vel_ecef[2]);
|
|
//fprintf(stdout, " rx_vel_bias: %.1f \n", rx_cl_bias);
|
|
*/
|
|
get_GPSvel(lat, lon, vel_ecef, &vH, &vD, &vU);
|
|
}
|
|
|
|
if (option_vergps == 8) {
|
|
fprintf(stdout, "bancroft[%2d] lat: %.6f , lon: %.6f , alt: %.2f ", N, lat, lon, alt);
|
|
fprintf(stdout, " (d:%.1f)", gpx.diter);
|
|
if (option_vel) {
|
|
fprintf(stdout, " vH: %4.1f D: %5.1f° vV: %3.1f ", vH, vD, vU);
|
|
}
|
|
fprintf(stdout, " DOP[");
|
|
for (j = 0; j < N; j++) {
|
|
fprintf(stdout, "%d", prn[j]);
|
|
if (j < N-1) fprintf(stdout, ","); else fprintf(stdout, "] %.1f ", gdop);
|
|
}
|
|
fprintf(stdout, "\n");
|
|
}
|
|
|
|
if (option_vergps == 2) {
|
|
gpx.lat = lat;
|
|
gpx.lon = lon;
|
|
gpx.alt = alt;
|
|
gpx.dop = gdop;
|
|
num = N;
|
|
|
|
if (option_vel) {
|
|
gpx.vH = vH;
|
|
gpx.vD = vD;
|
|
gpx.vU = vU;
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
return num;
|
|
}
|
|
|
|
|
|
/* ------------------------------------------------------------------------------------ */
|
|
|
|
int rs92agp_ecc(int msglen) {
|
|
|
|
int i, ret = 0;
|
|
int errors;
|
|
ui8_t err_pos[rs_R], err_val[rs_R];
|
|
|
|
if (msglen > FRAME_LEN) msglen = FRAME_LEN;
|
|
for (i = msglen; i < FRAME_LEN; i++) frame[i] = 0;//xFF;
|
|
|
|
|
|
for (i = 0; i < rs_R; i++) cw[i] = frame[cfg_rs92agp.parpos+i];
|
|
for (i = 0; i < cfg_rs92agp.msglen; i++) cw[rs_R+i] = frame[cfg_rs92agp.msgpos+i];
|
|
|
|
errors = rs_decode(cw, err_pos, err_val);
|
|
|
|
//for (i = 0; i < cfg_rs92agp.hdrlen; i++) frame[i] = data[i];
|
|
for (i = 0; i < rs_R; i++) frame[cfg_rs92agp.parpos+i] = cw[i];
|
|
for (i = 0; i < cfg_rs92agp.msglen; i++) frame[cfg_rs92agp.msgpos+i] = cw[rs_R+i];
|
|
|
|
ret = errors;
|
|
|
|
return ret;
|
|
}
|
|
|
|
/* ------------------------------------------------------------------------------------ */
|
|
|
|
|
|
int print_position() { // GPS-Hoehe ueber Ellipsoid
|
|
int j, k, n = 0;
|
|
int err1, err2;
|
|
|
|
err1 = 0;
|
|
if (!option_verbose) err1 = err_gps;
|
|
err1 |= get_FrameNb();
|
|
err1 |= get_SondeID();
|
|
|
|
err2 = err1 | err_gps;
|
|
//err2 |= get_GPSweek();
|
|
err2 |= get_GPStime();
|
|
|
|
if (!err2 && (almanac || ephem)) {
|
|
k = get_pseudorange();
|
|
if (k >= 4) {
|
|
n = get_GPSkoord(k);
|
|
}
|
|
}
|
|
|
|
if (!err1) {
|
|
fprintf(stdout, "[%5d] ", gpx.frnr);
|
|
fprintf(stdout, "(%s) ", gpx.id);
|
|
}
|
|
|
|
if (!err2) {
|
|
if (option_verbose) {
|
|
Gps2Date(gpx.week, gpx.gpssec, &gpx.jahr, &gpx.monat, &gpx.tag);
|
|
//fprintf(stdout, "(W %d) ", gpx.week);
|
|
fprintf(stdout, "(%04d-%02d-%02d) ", gpx.jahr, gpx.monat, gpx.tag);
|
|
}
|
|
fprintf(stdout, "%s ", weekday[gpx.wday]); // %04.1f: wenn sek >= 59.950, wird auf 60.0 gerundet
|
|
fprintf(stdout, "%02d:%02d:%06.3f", gpx.std, gpx.min, gpx.sek);
|
|
|
|
if (n > 0) {
|
|
fprintf(stdout, " ");
|
|
|
|
if (almanac) fprintf(stdout, " lat: %.4f lon: %.4f alt: %.1f ", gpx.lat, gpx.lon, gpx.alt);
|
|
else fprintf(stdout, " lat: %.5f lon: %.5f alt: %.1f ", gpx.lat, gpx.lon, gpx.alt);
|
|
|
|
if (option_verbose && option_vergps != 8) {
|
|
fprintf(stdout, " (d:%.1f)", gpx.diter);
|
|
}
|
|
if (option_vel /*&& option_vergps >= 2*/) {
|
|
fprintf(stdout," vH: %4.1f D: %5.1f° vV: %3.1f ", gpx.vH, gpx.vD, gpx.vU);
|
|
}
|
|
if (option_verbose) {
|
|
if (option_vergps != 2) {
|
|
fprintf(stdout, " DOP[%02d,%02d,%02d,%02d] %.1f",
|
|
gpx.sats[0], gpx.sats[1], gpx.sats[2], gpx.sats[3], gpx.dop);
|
|
}
|
|
else { // wenn option_vergps=2, dann n=N=k(-1)
|
|
fprintf(stdout, " DOP[");
|
|
for (j = 0; j < n; j++) {
|
|
fprintf(stdout, "%d", prn[j]);
|
|
if (j < n-1) fprintf(stdout, ","); else fprintf(stdout, "] %.1f ", gpx.dop);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
get_Cal();
|
|
|
|
if (option_vergps == 8 /*|| option_vergps == 2*/)
|
|
{
|
|
fprintf(stdout, "\n");
|
|
for (j = 0; j < 60; j++) { fprintf(stdout, "%d", prn_le[j]); if (j % 5 == 4) fprintf(stdout, " "); }
|
|
fprintf(stdout, ": ");
|
|
for (j = 0; j < 12; j++) fprintf(stdout, "%2d ", prns[j]);
|
|
fprintf(stdout, "\n");
|
|
fprintf(stdout, " status: ");
|
|
for (j = 0; j < 12; j++) fprintf(stdout, "%02X ", sat_status[j]); //range[prns[j]].status
|
|
fprintf(stdout, "\n");
|
|
}
|
|
|
|
}
|
|
|
|
if (!err1) {
|
|
fprintf(stdout, "\n");
|
|
//if (option_vergps == 8) fprintf(stdout, "\n");
|
|
}
|
|
|
|
return err2;
|
|
}
|
|
|
|
void print_frame(int len) {
|
|
int i, ret = 0;
|
|
ui8_t byte;
|
|
|
|
if (option_ecc) {
|
|
ret = rs92agp_ecc(len);
|
|
}
|
|
|
|
for (i = len; i < FRAME_LEN; i++) {
|
|
frame[i] = 0;
|
|
}
|
|
|
|
|
|
if (option_raw) {
|
|
for (i = 0; i < len; i++) {
|
|
//byte = frame[i];
|
|
byte = framebyte(i);
|
|
fprintf(stdout, "%02x", byte);
|
|
}
|
|
if (option_ecc && option_verbose) {
|
|
fprintf(stdout, " ");
|
|
if (ret >= 0) fprintf(stdout, " [OK]"); else fprintf(stdout, " [NO]");
|
|
fprintf(stdout, " errors: %d", ret);
|
|
}
|
|
fprintf(stdout, "\n");
|
|
}
|
|
else print_position();
|
|
}
|
|
|
|
|
|
int main(int argc, char *argv[]) {
|
|
|
|
FILE *fp, *fp_alm = NULL, *fp_eph = NULL;
|
|
char *fpname;
|
|
char bitbuf[BITS];
|
|
int bit_count = 0,
|
|
byte_count = FRAMESTART,
|
|
header_found = 0,
|
|
byte, i;
|
|
int bit, len;
|
|
char *pbuf = NULL;
|
|
|
|
#ifdef CYGWIN
|
|
_setmode(_fileno(stdin), _O_BINARY);
|
|
#endif
|
|
setbuf(stdout, NULL);
|
|
|
|
fpname = argv[0];
|
|
++argv;
|
|
while ((*argv) && (!fileloaded)) {
|
|
if ( (strcmp(*argv, "-h") == 0) || (strcmp(*argv, "--help") == 0) ) {
|
|
fprintf(stderr, "%s [options] <file>\n", fpname);
|
|
fprintf(stderr, " file: audio.wav or raw_data\n");
|
|
fprintf(stderr, " options:\n");
|
|
fprintf(stderr, " --vel; --vel1, --vel2 (-g2)\n");
|
|
fprintf(stderr, " -v, -vx, -vv\n");
|
|
fprintf(stderr, " -r, --raw\n");
|
|
fprintf(stderr, " -i, --invert\n");
|
|
fprintf(stderr, " -a, --almanac <almanacSEM>\n");
|
|
fprintf(stderr, " -e, --ephem <ephemperisRinex>\n");
|
|
fprintf(stderr, " -g1 (verbose GPS: 4 sats)\n");
|
|
fprintf(stderr, " -g2 (verbose GPS: all sats)\n");
|
|
fprintf(stderr, " -gg (vverbose GPS)\n");
|
|
fprintf(stderr, " --crc (CRC check GPS)\n");
|
|
fprintf(stderr, " --ecc (Reed-Solomon)\n");
|
|
fprintf(stderr, " --rawin1,2 (raw_data file)\n");
|
|
return 0;
|
|
}
|
|
else if ( (strcmp(*argv, "--vel") == 0) ) {
|
|
option_vel = 4;
|
|
}
|
|
else if ( (strcmp(*argv, "--vel1") == 0) ) {
|
|
option_vel = 1;
|
|
if (option_vergps < 1) option_vergps = 2;
|
|
}
|
|
else if ( (strcmp(*argv, "--vel2") == 0) ) {
|
|
option_vel = 2;
|
|
if (option_vergps < 1) option_vergps = 2;
|
|
}
|
|
else if ( (strcmp(*argv, "--iter") == 0) ) {
|
|
option_iter = 1;
|
|
}
|
|
else if ( (strcmp(*argv, "-v") == 0) ) {
|
|
option_verbose = 1;
|
|
}
|
|
else if ( (strcmp(*argv, "-vv") == 0) ) {
|
|
option_verbose = 4;
|
|
}
|
|
else if ( (strcmp(*argv, "-vx") == 0) ) {
|
|
option_aux = 1;
|
|
}
|
|
else if (strcmp(*argv, "--crc") == 0) { option_crc = 1; }
|
|
else if ( (strcmp(*argv, "-r") == 0) || (strcmp(*argv, "--raw") == 0) ) {
|
|
option_raw = 1;
|
|
}
|
|
else if ( (strcmp(*argv, "-i") == 0) || (strcmp(*argv, "--invert") == 0) ) {
|
|
option_inv = 1;
|
|
}
|
|
else if ( (strcmp(*argv, "-a") == 0) || (strcmp(*argv, "--almanac") == 0) ) {
|
|
++argv;
|
|
if (*argv) fp_alm = fopen(*argv, "r"); // txt-mode
|
|
else return -1;
|
|
}
|
|
else if ( (strcmp(*argv, "-e") == 0) || (strncmp(*argv, "--ephem", 7) == 0) ) {
|
|
++argv;
|
|
if (*argv) fp_eph = fopen(*argv, "r"); // txt-mode
|
|
else return -1;
|
|
}
|
|
else if ( (strcmp(*argv, "--dop") == 0) ) {
|
|
++argv;
|
|
if (*argv) {
|
|
dop_limit = atof(*argv);
|
|
if (dop_limit <= 0 || dop_limit >= 100) dop_limit = 9.9;
|
|
}
|
|
else return -1;
|
|
}
|
|
else if ( (strcmp(*argv, "--der") == 0) ) {
|
|
++argv;
|
|
if (*argv) {
|
|
d_err = atof(*argv);
|
|
if (d_err <= 0 || d_err >= 100000) d_err = 10000;
|
|
else option_der = 1;
|
|
}
|
|
else return -1;
|
|
}
|
|
else if ( (strcmp(*argv, "--exsat") == 0) ) {
|
|
++argv;
|
|
if (*argv) {
|
|
exSat = atoi(*argv);
|
|
if (exSat < 1 || exSat > 32) exSat = -1;
|
|
}
|
|
else return -1;
|
|
}
|
|
else if (strcmp(*argv, "-g1") == 0) { option_vergps = 1; } // verbose1 GPS
|
|
else if (strcmp(*argv, "-g2") == 0) { option_vergps = 2; } // verbose2 GPS (bancroft)
|
|
else if (strcmp(*argv, "-gg") == 0) { option_vergps = 8; } // vverbose GPS
|
|
else if (strcmp(*argv, "--rawin1") == 0) { rawin = 2; } // raw_txt input1
|
|
else if (strcmp(*argv, "--rawin2") == 0) { rawin = 3; } // raw_txt input2 (SM)
|
|
else if ( (strcmp(*argv, "--avg") == 0) ) {
|
|
option_avg = 1;
|
|
}
|
|
else if (strcmp(*argv, "-b") == 0) { option_b = 1; }
|
|
else if (strcmp(*argv, "--ecc") == 0) { option_ecc = 1; }
|
|
else {
|
|
if (!rawin) fp = fopen(*argv, "rb");
|
|
else fp = fopen(*argv, "r");
|
|
if (fp == NULL) {
|
|
fprintf(stderr, "%s konnte nicht geoeffnet werden\n", *argv);
|
|
return -1;
|
|
}
|
|
fileloaded = 1;
|
|
}
|
|
++argv;
|
|
}
|
|
if (!fileloaded) fp = stdin;
|
|
|
|
if (fp_alm) {
|
|
i = read_SEMalmanac(fp_alm, alm);
|
|
if (i == 0) {
|
|
almanac = 1;
|
|
}
|
|
fclose(fp_alm);
|
|
if (!option_der) d_err = 4000;
|
|
}
|
|
if (fp_eph) {
|
|
/* i = read_RNXephemeris(fp_eph, eph);
|
|
if (i == 0) {
|
|
ephem = 1;
|
|
almanac = 0;
|
|
}
|
|
fclose(fp_eph); */
|
|
ephs = read_RNXpephs(fp_eph);
|
|
if (ephs) {
|
|
ephem = 1;
|
|
almanac = 0;
|
|
}
|
|
fclose(fp_eph);
|
|
if (!option_der) d_err = 1000;
|
|
}
|
|
|
|
if (option_ecc) {
|
|
rs_init_RS255();
|
|
}
|
|
|
|
|
|
if (!rawin) {
|
|
|
|
i = read_wav_header(fp);
|
|
if (i) {
|
|
fclose(fp);
|
|
return -1;
|
|
}
|
|
|
|
while (!read_bits_fsk(fp, &bit, &len)) {
|
|
|
|
if (len == 0) { // reset_frame();
|
|
if (byte_count > pos_SondeID+8) {
|
|
if (byte_count < FRAME_LEN-20) err_gps = 1;
|
|
print_frame(byte_count);
|
|
err_gps = 0;
|
|
}
|
|
bit_count = 0;
|
|
byte_count = FRAMESTART;
|
|
header_found = 0;
|
|
inc_bufpos();
|
|
buf[bufpos] = 'x';
|
|
continue; // ...
|
|
}
|
|
|
|
for (i = 0; i < len; i++) {
|
|
|
|
inc_bufpos();
|
|
buf[bufpos] = 0x30 + bit; // Ascii
|
|
|
|
if (!header_found) {
|
|
if (compare() >= HEADLEN) header_found = 1;
|
|
}
|
|
else {
|
|
bitbuf[bit_count] = bit;
|
|
bit_count++;
|
|
|
|
if (bit_count == BITS) {
|
|
bit_count = 0;
|
|
byte = bits2byte(bitbuf);
|
|
frame[byte_count] = byte ^ mask[byte_count % MASK_LEN];
|
|
byte_count++;
|
|
if (byte_count == FRAME_LEN) {
|
|
byte_count = FRAMESTART;
|
|
header_found = 0;
|
|
//inc_bufpos();
|
|
//buf[bufpos] = 'x';
|
|
print_frame(FRAME_LEN);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
if (header_found && option_b) {
|
|
bitstart = 1;
|
|
|
|
while ( byte_count < FRAME_LEN ) {
|
|
if (read_rawbit(fp, &bit) == EOF) break;
|
|
bitbuf[bit_count] = bit;
|
|
bit_count++;
|
|
if (bit_count == BITS) {
|
|
bit_count = 0;
|
|
byte = bits2byte(bitbuf);
|
|
frame[byte_count] = byte ^ mask[byte_count % MASK_LEN];
|
|
byte_count++;
|
|
}
|
|
}
|
|
header_found = 0;
|
|
print_frame(byte_count);
|
|
byte_count = FRAMESTART;
|
|
|
|
}
|
|
}
|
|
|
|
}
|
|
else //if (rawin)
|
|
{
|
|
if (rawin == 3) frameofs = 5;
|
|
|
|
while (1 > 0) {
|
|
|
|
pbuf = fgets(buffer_rawin, rawin*FRAME_LEN+4, fp);
|
|
if (pbuf == NULL) break;
|
|
buffer_rawin[rawin*FRAME_LEN+1] = '\0';
|
|
len = strlen(buffer_rawin) / rawin;
|
|
if (len > pos_SondeID+8) {
|
|
for (i = 0; i < len-frameofs; i++) { //%2x SCNx8=%hhx(inttypes.h)
|
|
sscanf(buffer_rawin+rawin*i, "%2hhx", frame+frameofs+i);
|
|
// wenn ohne %hhx: sscanf(buffer_rawin+rawin*i, "%2x", &byte); frame[frameofs+i] = (ui8_t)byte;
|
|
}
|
|
if (len < FRAME_LEN-20) err_gps = 1;
|
|
print_frame(len);
|
|
err_gps = 0;
|
|
}
|
|
}
|
|
}
|
|
|
|
free(ephs);
|
|
fclose(fp);
|
|
|
|
return 0;
|
|
}
|
|
|
|
|