GNSS-SDR  0.0.19
An Open Source GNSS Software Defined Receiver
Galileo_CNAV.h
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1 /*!
2  * \file Galileo_CNAV.h
3  * \brief Galileo CNAV mesage constants. Data from:
4  * Galileo High Accuracy Service Signal-In-Space Interface Control Document
5  * (HAS SIS ICD) Issue 1.0, May 2022
6  * \author Carles Fernandez-Prades, 2020-2022. cfernandez(at)cttc.es
7  *
8  *
9  * -----------------------------------------------------------------------------
10  *
11  * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
12  * This file is part of GNSS-SDR.
13  *
14  * Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
15  * SPDX-License-Identifier: GPL-3.0-or-later
16  *
17  * -----------------------------------------------------------------------------
18  */
19 
20 #ifndef GNSS_SDR_GALILEO_CNAV_H
21 #define GNSS_SDR_GALILEO_CNAV_H
22 
23 #include <cstddef>
24 #include <cstdint>
25 #include <string>
26 #include <unordered_map>
27 #include <utility>
28 
29 /** \addtogroup Core
30  * \{ */
31 /** \addtogroup System_Parameters
32  * \{ */
33 
34 // Galileo HAS message field lengths
35 constexpr size_t HAS_MSG_NSYS_LENGTH = 4; // HAS SIS ICD 1.0 Table 15
36 constexpr size_t HAS_MSG_ID_MASK_LENGTH = 4; // HAS SIS ICD 1.0 Table 16
37 constexpr size_t HAS_MSG_SATELLITE_MASK_LENGTH = 40; // HAS SIS ICD 1.0 Table 16
38 constexpr size_t HAS_MSG_SIGNAL_MASK_LENGTH = 16; // HAS SIS ICD 1.0 Table 16
39 constexpr size_t HAS_MSG_NAV_MESSAGE_LENGTH = 3; // HAS SIS ICD 1.0 Table 16
40 constexpr size_t HAS_MSG_MASK_RESERVED_LENGTH = 6; // HAS SIS ICD 1.0 Table 15
41 constexpr size_t HAS_MSG_VALIDITY_INDEX_LENGTH = 4; // HAS SIS ICD 1.0 Table 22
42 constexpr size_t HAS_MSG_IOD_GPS_LENGTH = 8; // HAS SIS ICD 1.0 Table 26
43 constexpr size_t HAS_MSG_IOD_GAL_LENGTH = 10; // HAS SIS ICD 1.0 Table 26
44 constexpr size_t HAS_MSG_DELTA_RADIAL_LENGTH = 13; // HAS SIS ICD 1.0 Table 25
45 constexpr size_t HAS_MSG_DELTA_IN_TRACK_LENGTH = 12; // HAS SIS ICD 1.0 Table 25
46 constexpr size_t HAS_MSG_DELTA_CROSS_TRACK_LENGTH = 12; // HAS SIS ICD 1.0 Table 25
47 constexpr size_t HAS_MSG_DELTA_CLOCK_MULTIPLIER_LENGTH = 2; // HAS SIS ICD 1.0 Table 28
48 constexpr size_t HAS_MSG_DELTA_CLOCK_CORRECTION_LENGTH = 13; // HAS SIS ICD 1.0 Table 31
49 constexpr size_t HAS_MSG_NSYS_SUB_LENGTH = 4; // HAS SIS ICD 1.0 Table 32
50 constexpr size_t HAS_MSG_ID_CLOCK_SUBSET_LENGTH = 4; // HAS SIS ICD 1.0 Table 32
51 constexpr size_t HAS_MSG_DELTA_CLOCK_MULTIPLIER_SUBSET_LENGTH = 2; // HAS SIS ICD 1.0 Table 33
52 constexpr size_t HAS_MSG_DELTA_CLOCK_CORRECTION_SUBSET_LENGTH = 13; // HAS SIS ICD 1.0 Table 34
53 constexpr size_t HAS_MSG_CODE_BIAS_LENGTH = 11; // HAS SIS ICD 1.0 Table 37
54 constexpr size_t HAS_MSG_PHASE_BIAS_LENGTH = 11; // HAS SIS ICD 1.0 Table 40
55 constexpr size_t HAS_MSG_PHASE_DISCONTINUITY_INDICATOR_LENGTH = 2; // HAS SIS ICD 1.0 Table 40
56 
57 constexpr uint64_t MAX_SECONDS_REMEMBERING_MID = 150; // HAS SIS ICD 1.0 Section 6.4.1 HAS Message Completion Time-out
58 
59 // Galileo CNAV message structure
60 constexpr int32_t GALILEO_CNAV_SYMBOLS_PER_PAGE = 1000; // Total numer of symbols per HAS page including the sync pattern
61 constexpr int32_t GALILEO_CNAV_PREAMBLE_PERIOD_SYMBOLS = 1000;
62 constexpr int32_t GALILEO_CNAV_PAGE_MS = 1; // Duration in ms of a CNAV page
63 constexpr int32_t GALILEO_CNAV_INTERLEAVER_ROWS = 8; // HAS SIS ICD 1.0 Table 4
64 constexpr int32_t GALILEO_CNAV_INTERLEAVER_COLS = 123; // HAS SIS ICD 1.0 Table 4
65 constexpr int32_t GALILEO_CNAV_TELEMETRY_RATE_BITS_SECOND = 1000; // bps
66 constexpr int32_t GALILEO_CNAV_HAS_PAGE_DATA_BITS = 448; // HAS SIS ICD 1.0 Table 5
67 constexpr int32_t GALILEO_CNAV_PAGE_RESERVED_BITS = 14; // HAS SIS ICD 1.0 Table 5
68 constexpr int32_t GALILEO_CNAV_BYTES_FOR_CRC = 58; // ceil(462 / 8)
69 constexpr int32_t GALILEO_CNAV_CRC_LENGTH = 24; // HAS SIS ICD 1.0 Table 5
70 constexpr int32_t GALILEO_CNAV_MESSAGE_BITS_PER_PAGE = 424; // HAS SIS ICD 1.0 Table 6
71 constexpr int32_t GALILEO_CNAV_PAGE_HEADER_BITS = 24; // HAS SIS ICD 1.0 Table 6
72 constexpr int32_t GALILEO_CNAV_PREAMBLE_LENGTH_BITS = 16; // HAS SIS ICD 1.0 Table 5
73 constexpr int32_t GALILEO_CNAV_MAX_NUMBER_SYMBOLS_ENCODED_BLOCK = 255; // HAS SIS ICD 1.0 Section 6.2 Reed-Solomon Code
74 constexpr int32_t GALILEO_CNAV_MT1_HEADER_BITS = 32; // HAS SIS ICD 1.0 Table 11
75 constexpr int32_t GALILEO_CNAV_OCTETS_IN_SUBPAGE = 53; // HAS SIS ICD 1.0 Section 6.3 HAS Encoding and Transmission
76 constexpr int32_t GALILEO_CNAV_INFORMATION_VECTOR_LENGTH = 32; // HAS SIS ICD 1.0 Section 6.2 Reed-Solomon Code
77 
78 constexpr int32_t GALILEO_CNAV_BITS_FOR_CRC = GALILEO_CNAV_HAS_PAGE_DATA_BITS + GALILEO_CNAV_PAGE_RESERVED_BITS; // 462
79 
80 constexpr int32_t HAS_MSG_NUMBER_MASK_IDS = 32; // HAS SIS ICD 1.0 Table 13
81 constexpr int32_t HAS_MSG_NUMBER_GNSS_IDS = 16; // HAS SIS ICD 1.0 Table 18
82 constexpr int32_t HAS_MSG_NUMBER_MESSAGE_IDS = 32; // HAS SIS ICD 1.0 Table 8
83 constexpr int32_t HAS_MSG_NUMBER_SATELLITE_IDS = 40; // HAS SIS ICD 1.0 Table 19
84 constexpr int32_t HAS_MSG_NUMBER_SIGNAL_MASKS = 16; // HAS SIS ICD 1.0 Table 20
85 
86 constexpr float HAS_MSG_DELTA_RADIAL_SCALE_FACTOR = 0.0025; // HAS SIS ICD 1.0 Table 25
87 constexpr float HAS_MSG_DELTA_IN_TRACK_SCALE_FACTOR = 0.008; // HAS SIS ICD 1.0 Table 25
88 constexpr float HAS_MSG_DELTA_CROSS_TRACK_SCALE_FACTOR = 0.008; // HAS SIS ICD 1.0 Table 25
89 constexpr float HAS_MSG_DELTA_CLOCK_SCALE_FACTOR = 0.0025; // HAS SIS ICD 1.0 Table 31
90 constexpr float HAS_MSG_CODE_BIAS_SCALE_FACTOR = 0.02; // HAS SIS ICD 1.0 Table 37
91 constexpr float HAS_MSG_PHASE_BIAS_SCALE_FACTOR = 0.01; // HAS SIS ICD 1.0 Table 40
92 
93 constexpr uint16_t HAS_MSG_NUMBER_MAX_TOH = 3599; // HAS SIS ICD 1.0 Table 13
94 
95 constexpr uint8_t HAS_MSG_GPS_SYSTEM = 0; // HAS SIS ICD 1.0 Table 18
96 constexpr uint8_t HAS_MSG_GALILEO_SYSTEM = 2; // HAS SIS ICD 1.0 Table 18
97 constexpr uint8_t HAS_MSG_WRONG_SYSTEM = 255;
98 
99 constexpr char GALILEO_CNAV_PREAMBLE[17] = "1011011101110000"; // HAS SIS ICD 1.0 Section 2.3.1
100 
101 // HAS SIS ICD 1.0 Table 7
102 const std::pair<int32_t, int32_t> GALILEO_HAS_STATUS({1, 2});
103 const std::pair<int32_t, int32_t> GALILEO_HAS_RESERVED({3, 2});
104 const std::pair<int32_t, int32_t> GALILEO_HAS_MESSAGE_TYPE({5, 2});
105 const std::pair<int32_t, int32_t> GALILEO_HAS_MESSAGE_ID({7, 5});
106 const std::pair<int32_t, int32_t> GALILEO_HAS_MESSAGE_SIZE({12, 5});
107 const std::pair<int32_t, int32_t> GALILEO_HAS_MESSAGE_PAGE_ID({17, 8});
108 
109 // HAS SIS ICD 1.0 Table 12
110 const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_TOH({1, 12});
111 const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_MASK_FLAG({13, 1});
112 const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_ORBIT_CORRECTION_FLAG({14, 1});
113 const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_CLOCK_FULLSET_FLAG({15, 1});
114 const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_CLOCK_SUBSET_FLAG({16, 1});
115 const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_CODE_BIAS_FLAG({17, 1});
116 const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_PHASE_BIAS_FLAG({18, 1});
117 const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_RESERVED({19, 4});
118 const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_MASK_ID({23, 5});
119 const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_IOD_SET_ID({28, 5});
120 
121 // HAS SIS ICD v1.0 Table 20
122 const std::unordered_map<uint8_t, std::unordered_map<uint8_t, std::string>> HAS_SIGNAL_INDEX_TABLE = {
123  {0, {
124  {0, "L1 C/A"},
125  {1, "Reserved"},
126  {2, "Reserved"},
127  {3, "L1C(D)"},
128  {4, "L1C(P)"},
129  {5, "L1C(D+P)"},
130  {6, "L2 CM"},
131  {7, "L2 CL"},
132  {8, "L2 CM+CL"},
133  {9, "L2 P"},
134  {10, "Reserved"},
135  {11, "L5 I"},
136  {12, "L5 Q"},
137  {13, "L5 I + L5 Q"},
138  {14, "Reserved"},
139  {15, "Reserved"},
140  }},
141  {2, {
142  {0, "E1-B I/NAV OS"},
143  {1, "E1-C"},
144  {2, "E1-B + E1-C"},
145  {3, "E5a-I F/NAV OS"},
146  {4, "E5a-Q"},
147  {5, "E5a-I+E5a-Q"},
148  {6, "E5b-I I/NAV OS"},
149  {7, "E5b-Q"},
150  {8, "E5b-I+E5b-Q"},
151  {9, "E5-I"},
152  {10, "E5-Q"},
153  {11, "E5-I + E5-Q"},
154  {12, "E6-B C/NAV HAS"},
155  {13, "E6-C"},
156  {14, "E6-B + E6-C"},
157  {15, "Reserved"},
158  }}};
159 
160 // HAS SIS ICD v1.0 Table 23
161 const std::unordered_map<uint8_t, uint16_t> HAS_VALIDITY_INTERVALS = {
162  {0, 5},
163  {1, 10},
164  {2, 15},
165  {3, 20},
166  {4, 30},
167  {5, 60},
168  {6, 90},
169  {7, 120},
170  {8, 180},
171  {9, 240},
172  {10, 300},
173  {11, 600},
174  {12, 900},
175  {13, 1800},
176  {14, 3600}};
177 
178 
179 /** \} */
180 /** \} */
181 #endif // GNSS_SDR_GALILEO_CNAV_H
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