/* * rs92 * sync header: correlation/matched filter * files: rs92dm_dft.c nav_gps_vel.c bch_ecc.c demod_dft.h demod_dft.c * compile: * gcc -c demod_dft.c * gcc rs92dm_dft.c demod_dft.o -lm -o rs92dm_dft * * author: zilog80 */ #include #include #include #include #ifdef CYGWIN #include // cygwin: _setmode() #include #endif typedef unsigned char ui8_t; typedef unsigned short ui16_t; typedef unsigned int ui32_t; //#include "demod_dft.c" #include "demod_dft.h" #include "bch_ecc.c" // RS/ecc/ #define rs_N 255 #define rs_R 24 #define rs_K (rs_N-rs_R) ui8_t cw[rs_N]; typedef struct { int typ; int msglen; int msgpos; int parpos; int hdrlen; int frmlen; } rscfg_t; rscfg_t cfg_rs92 = { 92, 240-6-24, 6, 240-24, 6, 240}; typedef struct { int frnr; char id[11]; int week; int gpssec; int jahr; int monat; int tag; int wday; int std; int min; float sek; double lat; double lon; double alt; double vH; double vD; double vU; int sats[4]; double dop; int freq; unsigned short aux[4]; double diter; } gpx_t; gpx_t gpx; int option_verbose = 0, // ausfuehrliche Anzeige option_raw = 0, // rohe Frames option_inv = 0, // invertiert Signal option_res = 0, // genauere Bitmessung option_crc = 0, // check CRC option_ecc = 0, // Reed-Solomon ECC fileloaded = 0, option_vergps = 0, option_iter = 0, option_vel = 0, // velocity option_aux = 0, // Aux/Ozon option_der = 0, // linErr option_ths = 0, option_json = 0, // JSON output (auto_rx) rawin = 0; int wav_channel = 0; // audio channel: left double dop_limit = 9.9; double d_err = 10000; int rollover = 0, err_gps = 0; int almanac = 0, ephem = 0; int exSat = -1; /* --- RS92-SGP: 8N1 manchester --- */ #define BITS (1+8+1) // 10 //#define HEADLEN 60 #define FRAMESTART 6 //((HEADLEN)/BITS) /* 2A 10*/ char rawheader[] = //"10100110011001101001" //"10100110011001101001" //"10100110011001101001" "10100110011001101001" "1010011001100110100110101010100110101001"; #define FRAME_LEN 240 ui8_t frame[FRAME_LEN] = { 0x2A, 0x2A, 0x2A, 0x2A, 0x2A, 0x10}; /* --- RS92-SGP ------------------- */ #define MASK_LEN 64 ui8_t mask[MASK_LEN] = { 0x96, 0x83, 0x3E, 0x51, 0xB1, 0x49, 0x08, 0x98, 0x32, 0x05, 0x59, 0x0E, 0xF9, 0x44, 0xC6, 0x26, 0x21, 0x60, 0xC2, 0xEA, 0x79, 0x5D, 0x6D, 0xA1, 0x54, 0x69, 0x47, 0x0C, 0xDC, 0xE8, 0x5C, 0xF1, 0xF7, 0x76, 0x82, 0x7F, 0x07, 0x99, 0xA2, 0x2C, 0x93, 0x7C, 0x30, 0x63, 0xF5, 0x10, 0x2E, 0x61, 0xD0, 0xBC, 0xB4, 0xB6, 0x06, 0xAA, 0xF4, 0x23, 0x78, 0x6E, 0x3B, 0xAE, 0xBF, 0x7B, 0x4C, 0xC1}; /* LFSR: ab i=8 (mod 64): * m[16+i] = m[i] ^ m[i+2] ^ m[i+4] ^ m[i+6] * ________________3205590EF944C6262160C2EA795D6DA15469470CDCE85CF1 * F776827F0799A22C937C3063F5102E61D0BCB4B606AAF423786E3BAEBF7B4CC196833E51B1490898 */ /* ------------------------------------------------------------------------------------ */ #define BAUD_RATE 4800 /* ------------------------------------------------------------------------------------ */ // manchester1 1->10,0->01: 1.bit // manchester2 0->10,1->01: 2.bit // RS92-SGP: 8N1 manchester2 int bits2byte(char bits[]) { int i, byteval=0, d=1; //if (bits[0] != 0) return 0x100; // erasure? //if (bits[9] != 1) return 0x100; // erasure? for (i = 1; i <= 8; i++) { // little endian /* for (i = 8; i > 1; i--) { // big endian */ if (bits[i] == 1) byteval += d; else if (bits[i] == 0) byteval += 0; d <<= 1; } return byteval; } /* ui8_t xorbyte(int pos) { return xframe[pos] ^ mask[pos % MASK_LEN]; } */ ui8_t framebyte(int pos) { return frame[pos]; } /* ------------------------------------------------------------------------------------ */ #define GPS_WEEK1024 1 #define WEEKSEC 604800 /* * Convert GPS Week and Seconds to Modified Julian Day. * - Adapted from sci.astro FAQ. * - Ignores UTC leap seconds. */ void Gps2Date(long GpsWeek, long GpsSeconds, int *Year, int *Month, int *Day) { long GpsDays, Mjd; long J, C, Y, M; GpsDays = GpsWeek * 7 + (GpsSeconds / 86400); Mjd = 44244 + GpsDays; J = Mjd + 2468570; C = 4 * J / 146097; J = J - (146097 * C + 3) / 4; Y = 4000 * (J + 1) / 1461001; J = J - 1461 * Y / 4 + 31; M = 80 * J / 2447; *Day = J - 2447 * M / 80; J = M / 11; *Month = M + 2 - (12 * J); *Year = 100 * (C - 49) + Y + J; } /* ------------------------------------------------------------------------------------ */ #define pos_FrameNb 0x08 // 2 byte #define pos_SondeID 0x0C // 8 byte // oder: 0x0A, 10 byte? #define pos_CalData 0x17 // 1 byte, counter 0x00..0x1f #define pos_Calfreq 0x1A // 2 byte, calfr 0x00 #define posGPS_TOW 0x48 // 4 byte #define posGPS_PRN 0x4E // 12*5 bit in 8 byte #define posGPS_STATUS 0x56 // 12 byte #define posGPS_DATA 0x62 // 12*8 byte #define pos_PTU 0x2C // 24 byte #define pos_AuxData 0xC8 // 8 byte #define BLOCK_CFG 0x6510 // frame[pos_FrameNb-2], frame[pos_FrameNb-1] #define BLOCK_PTU 0x690C #define BLOCK_GPS 0x673D // frame[posGPS_TOW-2], frame[posGPS_TOW-1] #define BLOCK_AUX 0x6805 #define LEN_CFG (2*(BLOCK_CFG & 0xFF)) #define LEN_GPS (2*(BLOCK_GPS & 0xFF)) #define LEN_PTU (2*(BLOCK_PTU & 0xFF)) int crc16(int start, int len) { int crc16poly = 0x1021; int rem = 0xFFFF, i, j; int byte; if (start+len >= FRAME_LEN) return -1; for (i = 0; i < len; i++) { 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; ui8_t bytes[2]; int freq = 0; unsigned int killtime = 0; 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++) { bytes[i] = framebyte(pos_Calfreq + i); } byte = bytes[0] + (bytes[1] << 8); //fprintf(stdout, ":%04x ", byte); freq = 400000 + 10*byte; // kHz; gpx.freq = freq; fprintf(stdout, " : fq %d kHz", freq); for (i = 0; i < 2; i++) { bytes[i] = framebyte(pos_Calfreq + 2 + i); } killtime = bytes[0] + (bytes[1] << 8); if (killtime < 0xFFFF && option_verbose == 4) { fprintf(stdout, " ; KT:%ds", killtime); } } 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 && alm[j].health == 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 && eph[count].health == 0) { 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; //385.0 // GPS L1 1575.42MHz=154*10.23MHz, dl=154*10/4 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 if (option_vel == 1) { 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 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 rs92_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_rs92.parpos+i]; for (i = 0; i < cfg_rs92.msglen; i++) cw[rs_R+i] = frame[cfg_rs92.msgpos+i]; errors = rs_decode(cw, err_pos, err_val); //for (i = 0; i < cfg_rs92.hdrlen; i++) frame[i] = data[i]; for (i = 0; i < rs_R; i++) frame[cfg_rs92.parpos+i] = cw[i]; for (i = 0; i < cfg_rs92.msglen; i++) frame[cfg_rs92.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); } } } } if (option_json) { // Print out telemetry data as JSON, even if we don't have a valid GPS lock. if (!err1 && !err2){ if (gpx.aux[0] != 0 || gpx.aux[1] != 0 || gpx.aux[2] != 0 || gpx.aux[3] != 0) { printf("\n{ \"frame\": %d, \"id\": \"%s\", \"datetime\": \"%04d-%02d-%02dT%02d:%02d:%06.3fZ\", \"lat\": %.5f, \"lon\": %.5f, \"alt\": %.5f, \"vel_h\": %.5f, \"heading\": %.5f, \"vel_v\": %.5f, \"aux\": \"%04x%04x%04x%04x\"}\n", gpx.frnr, gpx.id, gpx.jahr, gpx.monat, gpx.tag, gpx.std, gpx.min, gpx.sek, gpx.lat, gpx.lon, gpx.alt, gpx.vH, gpx.vD, gpx.vU , gpx.aux[0], gpx.aux[1], gpx.aux[2], gpx.aux[3]); } else { printf("\n{ \"frame\": %d, \"id\": \"%s\", \"datetime\": \"%04d-%02d-%02dT%02d:%02d:%06.3fZ\", \"lat\": %.5f, \"lon\": %.5f, \"alt\": %.5f, \"vel_h\": %.5f, \"heading\": %.5f, \"vel_v\": %.5f }\n", gpx.frnr, gpx.id, gpx.jahr, gpx.monat, gpx.tag, gpx.std, gpx.min, gpx.sek, gpx.lat, gpx.lon, gpx.alt, gpx.vH, gpx.vD, gpx.vU ); } } } 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 = rs92_ecc(len); } for (i = len; i < FRAME_LEN; i++) { frame[i] = 0; } if (option_raw) { /* for (i = 0; i < len; i++) { byte = framebyte(i); fprintf(stdout, "%02x", byte); } fprintf(stdout, "\n"); */ 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"); // fprintf(stdout, "\n"); } else print_position(); } int main(int argc, char *argv[]) { FILE *fp, *fp_alm = NULL, *fp_eph = NULL; char *fpname = NULL; float spb = 0.0; char bitbuf[BITS]; int bit_count = 0, bitpos = 0, byte_count = FRAMESTART, header_found = 0; int bit, byte; int bitQ; int herrs, herr1; int headerlen = 0; int k,K; float mv; unsigned int mv_pos, mv0_pos; int mp = 0; float thres = 0.7; int bitofs = 0; int symlen = 2; #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] \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 \n"); fprintf(stderr, " -e, --ephem \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, " --ths (peak threshold; default=%.1f)\n", thres); fprintf(stderr, " --json (JSON output)\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; if (fp_alm == NULL) fprintf(stderr, "[almanac] %s konnte nicht geoeffnet werden\n", *argv); } else if ( (strcmp(*argv, "-e") == 0) || (strncmp(*argv, "--ephem", 7) == 0) ) { ++argv; if (*argv) fp_eph = fopen(*argv, "rb"); // bin-mode else return -1; if (fp_eph == NULL) fprintf(stderr, "[rinex] %s konnte nicht geoeffnet werden\n", *argv); } 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, "--ecc") == 0) { option_ecc = 1; } else if (strcmp(*argv, "--json") == 0) { option_json = 1; } // JSON output (for auto_rx) else if (strcmp(*argv, "--ch2") == 0) { wav_channel = 1; } // right channel (default: 0=left) else if (strcmp(*argv, "--ths") == 0) { ++argv; if (*argv) { thres = atof(*argv); } else return -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) { if (read_SEMalmanac(fp_alm, alm) == 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; } spb = read_wav_header(fp, (float)BAUD_RATE, wav_channel); if ( spb < 0 ) { fclose(fp); fprintf(stderr, "error: wav header\n"); return -1; } if ( spb < 8 ) { fprintf(stderr, "note: sample rate low\n"); } if (option_ecc) { rs_init_RS255(); } symlen = 2; headerlen = strlen(rawheader); bitofs = 2; // +1 .. +2 K = init_buffers(rawheader, headerlen, 2); // shape=2 if ( K < 0 ) { fprintf(stderr, "error: init buffers\n"); return -1; }; k = 0; mv = -1; mv_pos = 0; while ( f32buf_sample(fp, option_inv, 1) != EOF ) { k += 1; if (k >= K-4) { mv0_pos = mv_pos; mp = getCorrDFT(0, K, 0, &mv, &mv_pos); k = 0; } else { mv = 0.0; continue; } if (mv > thres && mp > 0) { if (mv_pos > mv0_pos) { header_found = 0; herrs = headcmp(symlen, rawheader, headerlen, mv_pos, mv<0, 0); // symlen=2 herr1 = 0; if (herrs <= 3 && herrs > 0) { herr1 = headcmp(symlen, rawheader, headerlen, mv_pos+1, mv<0, 0); if (herr1 < herrs) { herrs = herr1; herr1 = 1; } } if (herrs <= 2) header_found = 1; // herrs <= 2 bitfehler in header if (header_found) { byte_count = FRAMESTART; bit_count = 0; bitpos = 0; while ( byte_count < FRAME_LEN ) { header_found = !(byte_count>=FRAME_LEN-2); bitQ = read_sbit(fp, symlen, &bit, option_inv, bitofs, bit_count==0, !header_found); // symlen=2, return: zeroX/bit if ( bitQ == EOF) break; bit_count += 1; bitbuf[bitpos] = bit; bitpos++; if (bitpos >= BITS) { bitpos = 0; byte = bits2byte(bitbuf); frame[byte_count] = byte; byte_count++; } } header_found = 0; print_frame(byte_count); byte_count = FRAMESTART; } } } } free_buffers(); free(ephs); fclose(fp); return 0; }