GNSS-SDR  0.0.13
An Open Source GNSS Software Defined Receiver
Galileo_INAV.h
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1 /*!
2  * \file Galileo_INAV.h
3  * \brief Galileo INAV mesage constants
4  * \author Carles Fernandez, 2020. cfernandez(at)cttc.es
5  *
6  *
7  * -----------------------------------------------------------------------------
8  *
9  * Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
10  *
11  * GNSS-SDR is a software defined Global Navigation
12  * Satellite Systems receiver
13  *
14  * This file is part of GNSS-SDR.
15  *
16  * SPDX-License-Identifier: GPL-3.0-or-later
17  *
18  * -----------------------------------------------------------------------------
19  */
20 
21 #ifndef GNSS_SDR_GALILEO_INAV_H
22 #define GNSS_SDR_GALILEO_INAV_H
23 
24 #include "MATH_CONSTANTS.h"
25 #include <cstdint>
26 #include <utility>
27 #include <vector>
28 
29 
30 // Galileo INAV message structure
31 constexpr int32_t GALILEO_INAV_PREAMBLE_LENGTH_BITS = 10;
32 constexpr double GALILEO_INAV_PAGE_PART_WITH_PREABLE_SECONDS = 2.04; //!< Page Duration + (Galileo I/NAV Preamble bits)*(Galileo E5b-I tiered Code Period(seconds))
33 constexpr int32_t GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS = 250;
34 constexpr int32_t GALILEO_INAV_PAGE_PART_SYMBOLS = 250; //!< Each Galileo INAV pages are composed of two parts (even and odd) each of 250 symbols, including preamble. See Galileo ICD 4.3.2
35 constexpr int32_t GALILEO_INAV_PAGE_SYMBOLS = 500; //!< The complete Galileo INAV page length
36 constexpr int32_t GALILEO_INAV_PAGE_PART_SECONDS = 1; // a page part last 1 sec
37 constexpr int32_t GALILEO_INAV_PAGE_PART_MS = 1000; // a page part last 1 sec
38 constexpr int32_t GALILEO_INAV_PAGE_SECONDS = 2; // a full page last 2 sec
39 constexpr int32_t GALILEO_INAV_INTERLEAVER_ROWS = 8;
40 constexpr int32_t GALILEO_INAV_INTERLEAVER_COLS = 30;
41 constexpr int32_t GALILEO_TELEMETRY_RATE_BITS_SECOND = 250; // bps
42 constexpr int32_t GALILEO_PAGE_TYPE_BITS = 6;
43 constexpr int32_t GALILEO_DATA_JK_BITS = 128;
44 constexpr int32_t GALILEO_DATA_FRAME_BITS = 196;
45 constexpr int32_t GALILEO_DATA_FRAME_BYTES = 25;
46 constexpr char GALILEO_INAV_PREAMBLE[11] = "0101100000";
47 
48 const std::vector<std::pair<int32_t, int32_t>> TYPE({{1, 6}});
49 const std::vector<std::pair<int32_t, int32_t>> PAGE_TYPE_BIT({{1, 6}});
50 
51 /* Page 1 - Word type 1: Ephemeris (1/4) */
52 const std::vector<std::pair<int32_t, int32_t>> IOD_NAV_1_BIT({{7, 10}});
53 const std::vector<std::pair<int32_t, int32_t>> T0_E_1_BIT({{17, 14}});
54 constexpr int32_t T0E_1_LSB = 60;
55 const std::vector<std::pair<int32_t, int32_t>> M0_1_BIT({{31, 32}});
56 constexpr double M0_1_LSB = PI_TWO_N31;
57 const std::vector<std::pair<int32_t, int32_t>> E_1_BIT({{63, 32}});
58 constexpr double E_1_LSB = TWO_N33;
59 const std::vector<std::pair<int32_t, int32_t>> A_1_BIT({{95, 32}});
60 constexpr double A_1_LSB_GAL = TWO_N19;
61 // last two bits are reserved
62 
63 
64 /* Page 2 - Word type 2: Ephemeris (2/4) */
65 const std::vector<std::pair<int32_t, int32_t>> IOD_NAV_2_BIT({{7, 10}});
66 const std::vector<std::pair<int32_t, int32_t>> OMEGA_0_2_BIT({{17, 32}});
67 constexpr double OMEGA_0_2_LSB = PI_TWO_N31;
68 const std::vector<std::pair<int32_t, int32_t>> I_0_2_BIT({{49, 32}});
69 constexpr double I_0_2_LSB = PI_TWO_N31;
70 const std::vector<std::pair<int32_t, int32_t>> OMEGA_2_BIT({{81, 32}});
71 constexpr double OMEGA_2_LSB = PI_TWO_N31;
72 const std::vector<std::pair<int32_t, int32_t>> I_DOT_2_BIT({{113, 14}});
73 constexpr double I_DOT_2_LSB = PI_TWO_N43;
74 // last two bits are reserved
75 
76 /* Word type 3: Ephemeris (3/4) and SISA */
77 const std::vector<std::pair<int32_t, int32_t>> IOD_NAV_3_BIT({{7, 10}});
78 const std::vector<std::pair<int32_t, int32_t>> OMEGA_DOT_3_BIT({{17, 24}});
79 constexpr double OMEGA_DOT_3_LSB = PI_TWO_N43;
80 const std::vector<std::pair<int32_t, int32_t>> DELTA_N_3_BIT({{41, 16}});
81 constexpr double DELTA_N_3_LSB = PI_TWO_N43;
82 const std::vector<std::pair<int32_t, int32_t>> C_UC_3_BIT({{57, 16}});
83 constexpr double C_UC_3_LSB = TWO_N29;
84 const std::vector<std::pair<int32_t, int32_t>> C_US_3_BIT({{73, 16}});
85 constexpr double C_US_3_LSB = TWO_N29;
86 const std::vector<std::pair<int32_t, int32_t>> C_RC_3_BIT({{89, 16}});
87 constexpr double C_RC_3_LSB = TWO_N5;
88 const std::vector<std::pair<int32_t, int32_t>> C_RS_3_BIT({{105, 16}});
89 constexpr double C_RS_3_LSB = TWO_N5;
90 const std::vector<std::pair<int32_t, int32_t>> SISA_3_BIT({{121, 8}});
91 
92 
93 /* Word type 4: Ephemeris (4/4) and Clock correction parameters */
94 const std::vector<std::pair<int32_t, int32_t>> IOD_NAV_4_BIT({{7, 10}});
95 const std::vector<std::pair<int32_t, int32_t>> SV_ID_PRN_4_BIT({{17, 6}});
96 const std::vector<std::pair<int32_t, int32_t>> C_IC_4_BIT({{23, 16}});
97 constexpr double C_IC_4_LSB = TWO_N29;
98 const std::vector<std::pair<int32_t, int32_t>> C_IS_4_BIT({{39, 16}});
99 constexpr double C_IS_4_LSB = TWO_N29;
100 const std::vector<std::pair<int32_t, int32_t>> T0C_4_BIT({{55, 14}}); //
101 constexpr int32_t T0C_4_LSB = 60;
102 const std::vector<std::pair<int32_t, int32_t>> AF0_4_BIT({{69, 31}}); //
103 constexpr double AF0_4_LSB = TWO_N34;
104 const std::vector<std::pair<int32_t, int32_t>> AF1_4_BIT({{100, 21}}); //
105 constexpr double AF1_4_LSB = TWO_N46;
106 const std::vector<std::pair<int32_t, int32_t>> AF2_4_BIT({{121, 6}});
107 constexpr double AF2_4_LSB = TWO_N59;
108 const std::vector<std::pair<int32_t, int32_t>> SPARE_4_BIT({{127, 2}});
109 // last two bits are reserved
110 
111 /* Word type 5: Ionospheric correction, BGD, signal health and data validity status and GST */
112 /* Ionospheric correction */
113 /* Az */
114 const std::vector<std::pair<int32_t, int32_t>> AI0_5_BIT({{7, 11}}); //
115 constexpr double AI0_5_LSB = TWO_N2;
116 const std::vector<std::pair<int32_t, int32_t>> AI1_5_BIT({{18, 11}}); //
117 constexpr double AI1_5_LSB = TWO_N8;
118 const std::vector<std::pair<int32_t, int32_t>> AI2_5_BIT({{29, 14}}); //
119 constexpr double AI2_5_LSB = TWO_N15;
120 /* Ionospheric disturbance flag */
121 const std::vector<std::pair<int32_t, int32_t>> REGION1_5_BIT({{43, 1}}); //
122 const std::vector<std::pair<int32_t, int32_t>> REGION2_5_BIT({{44, 1}}); //
123 const std::vector<std::pair<int32_t, int32_t>> REGION3_5_BIT({{45, 1}}); //
124 const std::vector<std::pair<int32_t, int32_t>> REGION4_5_BIT({{46, 1}}); //
125 const std::vector<std::pair<int32_t, int32_t>> REGION5_5_BIT({{47, 1}}); //
126 const std::vector<std::pair<int32_t, int32_t>> BGD_E1_E5A_5_BIT({{48, 10}}); //
127 constexpr double BGD_E1_E5A_5_LSB = TWO_N32;
128 const std::vector<std::pair<int32_t, int32_t>> BGD_E1_E5B_5_BIT({{58, 10}}); //
129 constexpr double BGD_E1_E5B_5_LSB = TWO_N32;
130 const std::vector<std::pair<int32_t, int32_t>> E5B_HS_5_BIT({{68, 2}}); //
131 const std::vector<std::pair<int32_t, int32_t>> E1_B_HS_5_BIT({{70, 2}}); //
132 const std::vector<std::pair<int32_t, int32_t>> E5B_DVS_5_BIT({{72, 1}}); //
133 const std::vector<std::pair<int32_t, int32_t>> E1_B_DVS_5_BIT({{73, 1}}); //
134 /* GST */
135 const std::vector<std::pair<int32_t, int32_t>> WN_5_BIT({{74, 12}});
136 const std::vector<std::pair<int32_t, int32_t>> TOW_5_BIT({{86, 20}});
137 const std::vector<std::pair<int32_t, int32_t>> SPARE_5_BIT({{106, 23}});
138 
139 
140 /* Page 6 */
141 const std::vector<std::pair<int32_t, int32_t>> A0_6_BIT({{7, 32}});
142 constexpr double A0_6_LSB = TWO_N30;
143 const std::vector<std::pair<int32_t, int32_t>> A1_6_BIT({{39, 24}});
144 constexpr double A1_6_LSB = TWO_N50;
145 const std::vector<std::pair<int32_t, int32_t>> DELTA_T_LS_6_BIT({{63, 8}});
146 const std::vector<std::pair<int32_t, int32_t>> T0T_6_BIT({{71, 8}});
147 constexpr int32_t T0T_6_LSB = 3600;
148 const std::vector<std::pair<int32_t, int32_t>> W_NOT_6_BIT({{79, 8}});
149 const std::vector<std::pair<int32_t, int32_t>> WN_LSF_6_BIT({{87, 8}});
150 const std::vector<std::pair<int32_t, int32_t>> DN_6_BIT({{95, 3}});
151 const std::vector<std::pair<int32_t, int32_t>> DELTA_T_LSF_6_BIT({{98, 8}});
152 const std::vector<std::pair<int32_t, int32_t>> TOW_6_BIT({{106, 20}});
153 
154 
155 /* Page 7 */
156 const std::vector<std::pair<int32_t, int32_t>> IOD_A_7_BIT({{7, 4}});
157 const std::vector<std::pair<int32_t, int32_t>> WN_A_7_BIT({{11, 2}});
158 const std::vector<std::pair<int32_t, int32_t>> T0A_7_BIT({{13, 10}});
159 constexpr int32_t T0A_7_LSB = 600;
160 const std::vector<std::pair<int32_t, int32_t>> SVI_D1_7_BIT({{23, 6}});
161 const std::vector<std::pair<int32_t, int32_t>> DELTA_A_7_BIT({{29, 13}});
162 constexpr double DELTA_A_7_LSB = TWO_N9;
163 const std::vector<std::pair<int32_t, int32_t>> E_7_BIT({{42, 11}});
164 constexpr double E_7_LSB = TWO_N16;
165 const std::vector<std::pair<int32_t, int32_t>> OMEGA_7_BIT({{53, 16}});
166 constexpr double OMEGA_7_LSB = TWO_N15;
167 const std::vector<std::pair<int32_t, int32_t>> DELTA_I_7_BIT({{69, 11}});
168 constexpr double DELTA_I_7_LSB = TWO_N14;
169 const std::vector<std::pair<int32_t, int32_t>> OMEGA0_7_BIT({{80, 16}});
170 constexpr double OMEGA0_7_LSB = TWO_N15;
171 const std::vector<std::pair<int32_t, int32_t>> OMEGA_DOT_7_BIT({{96, 11}});
172 constexpr double OMEGA_DOT_7_LSB = TWO_N33;
173 const std::vector<std::pair<int32_t, int32_t>> M0_7_BIT({{107, 16}});
174 constexpr double M0_7_LSB = TWO_N15;
175 
176 
177 /* Page 8 */
178 const std::vector<std::pair<int32_t, int32_t>> IOD_A_8_BIT({{7, 4}});
179 const std::vector<std::pair<int32_t, int32_t>> AF0_8_BIT({{11, 16}});
180 constexpr double AF0_8_LSB = TWO_N19;
181 const std::vector<std::pair<int32_t, int32_t>> AF1_8_BIT({{27, 13}});
182 constexpr double AF1_8_LSB = TWO_N38;
183 const std::vector<std::pair<int32_t, int32_t>> E5B_HS_8_BIT({{40, 2}});
184 const std::vector<std::pair<int32_t, int32_t>> E1_B_HS_8_BIT({{42, 2}});
185 const std::vector<std::pair<int32_t, int32_t>> SVI_D2_8_BIT({{44, 6}});
186 const std::vector<std::pair<int32_t, int32_t>> DELTA_A_8_BIT({{50, 13}});
187 constexpr double DELTA_A_8_LSB = TWO_N9;
188 const std::vector<std::pair<int32_t, int32_t>> E_8_BIT({{63, 11}});
189 constexpr double E_8_LSB = TWO_N16;
190 const std::vector<std::pair<int32_t, int32_t>> OMEGA_8_BIT({{74, 16}});
191 constexpr double OMEGA_8_LSB = TWO_N15;
192 const std::vector<std::pair<int32_t, int32_t>> DELTA_I_8_BIT({{90, 11}});
193 constexpr double DELTA_I_8_LSB = TWO_N14;
194 const std::vector<std::pair<int32_t, int32_t>> OMEGA0_8_BIT({{101, 16}});
195 constexpr double OMEGA0_8_LSB = TWO_N15;
196 const std::vector<std::pair<int32_t, int32_t>> OMEGA_DOT_8_BIT({{117, 11}});
197 constexpr double OMEGA_DOT_8_LSB = TWO_N33;
198 
199 
200 /* Page 9 */
201 const std::vector<std::pair<int32_t, int32_t>> IOD_A_9_BIT({{7, 4}});
202 const std::vector<std::pair<int32_t, int32_t>> WN_A_9_BIT({{11, 2}});
203 const std::vector<std::pair<int32_t, int32_t>> T0A_9_BIT({{13, 10}});
204 constexpr int32_t T0A_9_LSB = 600;
205 const std::vector<std::pair<int32_t, int32_t>> M0_9_BIT({{23, 16}});
206 constexpr double M0_9_LSB = TWO_N15;
207 const std::vector<std::pair<int32_t, int32_t>> AF0_9_BIT({{39, 16}});
208 constexpr double AF0_9_LSB = TWO_N19;
209 const std::vector<std::pair<int32_t, int32_t>> AF1_9_BIT({{55, 13}});
210 constexpr double AF1_9_LSB = TWO_N38;
211 const std::vector<std::pair<int32_t, int32_t>> E5B_HS_9_BIT({{68, 2}});
212 const std::vector<std::pair<int32_t, int32_t>> E1_B_HS_9_BIT({{70, 2}});
213 const std::vector<std::pair<int32_t, int32_t>> SVI_D3_9_BIT({{72, 6}});
214 const std::vector<std::pair<int32_t, int32_t>> DELTA_A_9_BIT({{78, 13}});
215 constexpr double DELTA_A_9_LSB = TWO_N9;
216 const std::vector<std::pair<int32_t, int32_t>> E_9_BIT({{91, 11}});
217 constexpr double E_9_LSB = TWO_N16;
218 const std::vector<std::pair<int32_t, int32_t>> OMEGA_9_BIT({{102, 16}});
219 constexpr double OMEGA_9_LSB = TWO_N15;
220 const std::vector<std::pair<int32_t, int32_t>> DELTA_I_9_BIT({{118, 11}});
221 constexpr double DELTA_I_9_LSB = TWO_N14;
222 
223 
224 /* Page 10 */
225 const std::vector<std::pair<int32_t, int32_t>> IOD_A_10_BIT({{7, 4}});
226 const std::vector<std::pair<int32_t, int32_t>> OMEGA0_10_BIT({{11, 16}});
227 constexpr double OMEGA0_10_LSB = TWO_N15;
228 const std::vector<std::pair<int32_t, int32_t>> OMEGA_DOT_10_BIT({{27, 11}});
229 constexpr double OMEGA_DOT_10_LSB = TWO_N33;
230 const std::vector<std::pair<int32_t, int32_t>> M0_10_BIT({{38, 16}});
231 constexpr double M0_10_LSB = TWO_N15;
232 const std::vector<std::pair<int32_t, int32_t>> AF0_10_BIT({{54, 16}});
233 constexpr double AF0_10_LSB = TWO_N19;
234 const std::vector<std::pair<int32_t, int32_t>> AF1_10_BIT({{70, 13}});
235 constexpr double AF1_10_LSB = TWO_N38;
236 const std::vector<std::pair<int32_t, int32_t>> E5B_HS_10_BIT({{83, 2}});
237 const std::vector<std::pair<int32_t, int32_t>> E1_B_HS_10_BIT({{85, 2}});
238 const std::vector<std::pair<int32_t, int32_t>> A_0_G_10_BIT({{87, 16}});
239 constexpr double A_0G_10_LSB = TWO_N35;
240 const std::vector<std::pair<int32_t, int32_t>> A_1_G_10_BIT({{103, 12}});
241 constexpr double A_1G_10_LSB = TWO_N51;
242 const std::vector<std::pair<int32_t, int32_t>> T_0_G_10_BIT({{115, 8}});
243 constexpr int32_t T_0_G_10_LSB = 3600;
244 const std::vector<std::pair<int32_t, int32_t>> WN_0_G_10_BIT({{123, 6}});
245 
246 
247 /* Page 0 */
248 const std::vector<std::pair<int32_t, int32_t>> TIME_0_BIT({{7, 2}});
249 const std::vector<std::pair<int32_t, int32_t>> WN_0_BIT({{97, 12}});
250 const std::vector<std::pair<int32_t, int32_t>> TOW_0_BIT({{109, 20}});
251 
252 #endif // GNSS_SDR_GALILEO_INAV_H
TWO_N14
constexpr double TWO_N14
2^-14
Definition: MATH_CONSTANTS.h:75
GALILEO_INAV_PAGE_PART_WITH_PREABLE_SECONDS
constexpr double GALILEO_INAV_PAGE_PART_WITH_PREABLE_SECONDS
Page Duration + (Galileo I/NAV Preamble bits)*(Galileo E5b-I tiered Code Period(seconds)) ...
Definition: Galileo_INAV.h:32
TWO_N19
constexpr double TWO_N19
2^-19
Definition: MATH_CONSTANTS.h:80
TWO_N50
constexpr double TWO_N50
2^-50
Definition: MATH_CONSTANTS.h:102
TWO_N2
constexpr double TWO_N2
2^-2
Definition: MATH_CONSTANTS.h:68
TWO_N16
constexpr double TWO_N16
2^-16
Definition: MATH_CONSTANTS.h:77
TWO_N59
constexpr double TWO_N59
2^-59
Definition: MATH_CONSTANTS.h:106
TWO_N32
constexpr double TWO_N32
2^-32
Definition: MATH_CONSTANTS.h:90
TWO_N35
constexpr double TWO_N35
2^-35
Definition: MATH_CONSTANTS.h:93
MATH_CONSTANTS.h
Defines useful mathematical constants and their scaled versions.
GALILEO_INAV_PAGE_SYMBOLS
constexpr int32_t GALILEO_INAV_PAGE_SYMBOLS
The complete Galileo INAV page length.
Definition: Galileo_INAV.h:35
TWO_N46
constexpr double TWO_N46
2^-46
Definition: MATH_CONSTANTS.h:99
GALILEO_INAV_PAGE_PART_SYMBOLS
constexpr int32_t GALILEO_INAV_PAGE_PART_SYMBOLS
Each Galileo INAV pages are composed of two parts (even and odd) each of 250 symbols, including preamble. See Galileo ICD 4.3.2.
Definition: Galileo_INAV.h:34
TWO_N30
constexpr double TWO_N30
2^-30
Definition: MATH_CONSTANTS.h:88
TWO_N5
constexpr double TWO_N5
2^-5
Definition: MATH_CONSTANTS.h:69
PI_TWO_N43
constexpr double PI_TWO_N43
Pi*2^-43.
Definition: MATH_CONSTANTS.h:112
TWO_N8
constexpr double TWO_N8
2^-8
Definition: MATH_CONSTANTS.h:71
TWO_N38
constexpr double TWO_N38
2^-38
Definition: MATH_CONSTANTS.h:94
TWO_N15
constexpr double TWO_N15
2^-15
Definition: MATH_CONSTANTS.h:76
TWO_N29
constexpr double TWO_N29
2^-29
Definition: MATH_CONSTANTS.h:87
TWO_N33
constexpr double TWO_N33
2^-33
Definition: MATH_CONSTANTS.h:91
PI_TWO_N31
constexpr double PI_TWO_N31
Pi*2^-31.
Definition: MATH_CONSTANTS.h:113
TWO_N34
constexpr double TWO_N34
2^-34
Definition: MATH_CONSTANTS.h:92
TWO_N51
constexpr double TWO_N51
2^-51
Definition: MATH_CONSTANTS.h:103
TWO_N9
constexpr double TWO_N9
2^-9
Definition: MATH_CONSTANTS.h:72
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