GNSS-SDR 0.0.21
An Open Source GNSS Software Defined Receiver
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Galileo_CNAV.h
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1/*!
2 * \file Galileo_CNAV.h
3 * \brief Galileo CNAV message 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
35constexpr size_t HAS_MSG_NSYS_LENGTH = 4; // HAS SIS ICD 1.0 Table 15
36constexpr size_t HAS_MSG_ID_MASK_LENGTH = 4; // HAS SIS ICD 1.0 Table 16
37constexpr size_t HAS_MSG_SATELLITE_MASK_LENGTH = 40; // HAS SIS ICD 1.0 Table 16
38constexpr size_t HAS_MSG_SIGNAL_MASK_LENGTH = 16; // HAS SIS ICD 1.0 Table 16
39constexpr size_t HAS_MSG_NAV_MESSAGE_LENGTH = 3; // HAS SIS ICD 1.0 Table 16
40constexpr size_t HAS_MSG_MASK_RESERVED_LENGTH = 6; // HAS SIS ICD 1.0 Table 15
41constexpr size_t HAS_MSG_VALIDITY_INDEX_LENGTH = 4; // HAS SIS ICD 1.0 Table 22
42constexpr size_t HAS_MSG_IOD_GPS_LENGTH = 8; // HAS SIS ICD 1.0 Table 26
43constexpr size_t HAS_MSG_IOD_GAL_LENGTH = 10; // HAS SIS ICD 1.0 Table 26
44constexpr size_t HAS_MSG_DELTA_RADIAL_LENGTH = 13; // HAS SIS ICD 1.0 Table 25
45constexpr size_t HAS_MSG_DELTA_IN_TRACK_LENGTH = 12; // HAS SIS ICD 1.0 Table 25
46constexpr size_t HAS_MSG_DELTA_CROSS_TRACK_LENGTH = 12; // HAS SIS ICD 1.0 Table 25
47constexpr size_t HAS_MSG_DELTA_CLOCK_MULTIPLIER_LENGTH = 2; // HAS SIS ICD 1.0 Table 28
48constexpr size_t HAS_MSG_DELTA_CLOCK_CORRECTION_LENGTH = 13; // HAS SIS ICD 1.0 Table 31
49constexpr size_t HAS_MSG_NSYS_SUB_LENGTH = 4; // HAS SIS ICD 1.0 Table 32
50constexpr size_t HAS_MSG_ID_CLOCK_SUBSET_LENGTH = 4; // HAS SIS ICD 1.0 Table 32
51constexpr size_t HAS_MSG_DELTA_CLOCK_MULTIPLIER_SUBSET_LENGTH = 2; // HAS SIS ICD 1.0 Table 33
52constexpr size_t HAS_MSG_DELTA_CLOCK_CORRECTION_SUBSET_LENGTH = 13; // HAS SIS ICD 1.0 Table 34
53constexpr size_t HAS_MSG_CODE_BIAS_LENGTH = 11; // HAS SIS ICD 1.0 Table 37
54constexpr size_t HAS_MSG_PHASE_BIAS_LENGTH = 11; // HAS SIS ICD 1.0 Table 40
55constexpr size_t HAS_MSG_PHASE_DISCONTINUITY_INDICATOR_LENGTH = 2; // HAS SIS ICD 1.0 Table 40
56
57constexpr 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
60constexpr int32_t GALILEO_CNAV_SYMBOLS_PER_PAGE = 1000; // Total number of symbols per HAS page including the sync pattern
61constexpr int32_t GALILEO_CNAV_PREAMBLE_PERIOD_SYMBOLS = 1000;
62constexpr int32_t GALILEO_CNAV_PAGE_MS = 1; // Duration in ms of a CNAV page
63constexpr int32_t GALILEO_CNAV_INTERLEAVER_ROWS = 8; // HAS SIS ICD 1.0 Table 4
64constexpr int32_t GALILEO_CNAV_INTERLEAVER_COLS = 123; // HAS SIS ICD 1.0 Table 4
65constexpr int32_t GALILEO_CNAV_TELEMETRY_RATE_BITS_SECOND = 1000; // bps
66constexpr int32_t GALILEO_CNAV_HAS_PAGE_DATA_BITS = 448; // HAS SIS ICD 1.0 Table 5
67constexpr int32_t GALILEO_CNAV_PAGE_RESERVED_BITS = 14; // HAS SIS ICD 1.0 Table 5
68constexpr int32_t GALILEO_CNAV_BYTES_FOR_CRC = 58; // ceil(462 / 8)
69constexpr int32_t GALILEO_CNAV_CRC_LENGTH = 24; // HAS SIS ICD 1.0 Table 5
70constexpr int32_t GALILEO_CNAV_MESSAGE_BITS_PER_PAGE = 424; // HAS SIS ICD 1.0 Table 6
71constexpr int32_t GALILEO_CNAV_PAGE_HEADER_BITS = 24; // HAS SIS ICD 1.0 Table 6
72constexpr int32_t GALILEO_CNAV_PREAMBLE_LENGTH_BITS = 16; // HAS SIS ICD 1.0 Table 5
73constexpr int32_t GALILEO_CNAV_MAX_NUMBER_SYMBOLS_ENCODED_BLOCK = 255; // HAS SIS ICD 1.0 Section 6.2 Reed-Solomon Code
74constexpr int32_t GALILEO_CNAV_MT1_HEADER_BITS = 32; // HAS SIS ICD 1.0 Table 11
75constexpr int32_t GALILEO_CNAV_OCTETS_IN_SUBPAGE = 53; // HAS SIS ICD 1.0 Section 6.3 HAS Encoding and Transmission
76constexpr int32_t GALILEO_CNAV_INFORMATION_VECTOR_LENGTH = 32; // HAS SIS ICD 1.0 Section 6.2 Reed-Solomon Code
77
78constexpr int32_t GALILEO_CNAV_BITS_FOR_CRC = GALILEO_CNAV_HAS_PAGE_DATA_BITS + GALILEO_CNAV_PAGE_RESERVED_BITS; // 462
79
80constexpr int32_t HAS_MSG_NUMBER_MASK_IDS = 32; // HAS SIS ICD 1.0 Table 13
81constexpr int32_t HAS_MSG_NUMBER_GNSS_IDS = 16; // HAS SIS ICD 1.0 Table 18
82constexpr int32_t HAS_MSG_NUMBER_MESSAGE_IDS = 32; // HAS SIS ICD 1.0 Table 8
83constexpr int32_t HAS_MSG_NUMBER_SATELLITE_IDS = 40; // HAS SIS ICD 1.0 Table 19
84constexpr int32_t HAS_MSG_NUMBER_SIGNAL_MASKS = 16; // HAS SIS ICD 1.0 Table 20
85
86constexpr float HAS_MSG_DELTA_RADIAL_SCALE_FACTOR = 0.0025; // HAS SIS ICD 1.0 Table 25
87constexpr float HAS_MSG_DELTA_IN_TRACK_SCALE_FACTOR = 0.008; // HAS SIS ICD 1.0 Table 25
88constexpr float HAS_MSG_DELTA_CROSS_TRACK_SCALE_FACTOR = 0.008; // HAS SIS ICD 1.0 Table 25
89constexpr float HAS_MSG_DELTA_CLOCK_SCALE_FACTOR = 0.0025; // HAS SIS ICD 1.0 Table 31
90constexpr float HAS_MSG_CODE_BIAS_SCALE_FACTOR = 0.02; // HAS SIS ICD 1.0 Table 37
91constexpr float HAS_MSG_PHASE_BIAS_SCALE_FACTOR = 0.01; // HAS SIS ICD 1.0 Table 40
92
93constexpr uint16_t HAS_MSG_NUMBER_MAX_TOH = 3599; // HAS SIS ICD 1.0 Table 13
94
95constexpr uint8_t HAS_MSG_GPS_SYSTEM = 0; // HAS SIS ICD 1.0 Table 18
96constexpr uint8_t HAS_MSG_GALILEO_SYSTEM = 2; // HAS SIS ICD 1.0 Table 18
97constexpr uint8_t HAS_MSG_WRONG_SYSTEM = 255;
98
99constexpr char GALILEO_CNAV_PREAMBLE[17] = "1011011101110000"; // HAS SIS ICD 1.0 Section 2.3.1
100
101// HAS SIS ICD 1.0 Table 7
102const std::pair<int32_t, int32_t> GALILEO_HAS_STATUS({1, 2});
103const std::pair<int32_t, int32_t> GALILEO_HAS_RESERVED({3, 2});
104const std::pair<int32_t, int32_t> GALILEO_HAS_MESSAGE_TYPE({5, 2});
105const std::pair<int32_t, int32_t> GALILEO_HAS_MESSAGE_ID({7, 5});
106const std::pair<int32_t, int32_t> GALILEO_HAS_MESSAGE_SIZE({12, 5});
107const std::pair<int32_t, int32_t> GALILEO_HAS_MESSAGE_PAGE_ID({17, 8});
108
109// HAS SIS ICD 1.0 Table 12
110const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_TOH({1, 12});
111const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_MASK_FLAG({13, 1});
112const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_ORBIT_CORRECTION_FLAG({14, 1});
113const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_CLOCK_FULLSET_FLAG({15, 1});
114const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_CLOCK_SUBSET_FLAG({16, 1});
115const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_CODE_BIAS_FLAG({17, 1});
116const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_PHASE_BIAS_FLAG({18, 1});
117const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_RESERVED({19, 4});
118const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_MASK_ID({23, 5});
119const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_IOD_SET_ID({28, 5});
120
121// HAS SIS ICD v1.0 Table 20
122const 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
161const 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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