ogsstructs.h

OpenGPSSim是一个gps模拟程序

/* ************************************************************************ 
   *                                                                      *
   *                          GPS Simulation                              *
   *                                                                      *
   * -------------------------------------------------------------------- *
   *                                                                      *
   *    Module:   osgstrct.h                                              *
   *                                                                      *
   *   Version:   0.1                                                     *
   *      Date:   17.02.02                                                *
   *                                                                      *
   *    Author:   G. Beyerle                                              *
   *                                                                      *
   * -------------------------------------------------------------------- *
   *                                                                      *
   * Copyright (C) 2002-2006 Georg Beyerle                                *
   *                                                                      *
   * This program is free software; you can redistribute it and/or modify *
   * it under the terms of the GNU General Public License as published by *
   * the Free Software Foundation; either version 2 of the License, or    *
   * (at your option) any later version.                                  *
   *                                                                      *
   * This program is distributed in the hope that it will be useful,      *
   * but WITHOUT ANY WARRANTY; without even the implied warranty of       *
   * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the        *
   * GNU General Public License for more details.                         *
   *                                                                      *
   * You should have received a copy of the GNU General Public License    *
   * along with this program; if not, write to the Free Software          *
   * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.            *
   *                                                                      *
   * -------------------------------------------------------------------- *
   *                                                                      *
   * The files 'gpsfuncs.cpp', 'gpsrcvr.cpp' are modified versions of     *
   * the files with the same name from Clifford Kelley's OpenSourceGPS    *
   * distribution. The unmodified files can be obtained from              *
   *   http://www.home.earthlink.net/~cwkelley                            *
   *                                                                      *
   * -------------------------------------------------------------------- *
   *                                                                      *
   *                              Structures                              *
   *                                                                      *
   ************************************************************************ */

/* ******************************* changes ********************************

   dd.mm.yy -

   ************************************************************************ */

/* ------------------------------------------------------------------------ */

/* ------------------------------- structures ----------------------------- */

// --- broadcast ionospheric delay model ---
typedef struct ionodata
{ 
  float b0, b1, b2, b3, 
        al0, al1, al2, al3;
} IONODATA;

// --- broadcast UTC data ---
typedef struct utcdata
{
  float a0, a1, // first 2 polynomial coefficients
        tot,    // reference time for UTC data
        WNt,    // UTC refrence week number
        dtls,   // delta time due to leap seconds
        WNlsf,  // week number
        DN,     // day number
        dtlsf;  // delta time due to leap seconds
} UTCDATA;

// --- Approximate orbital parameters ---
typedef struct almanac                           
{
  long  how,
        tow;
  int   sfid,
        asflag,
        alertflag;
  int   prn,
        health, 
        week,     // week number
        sat_file;
  float ety,      // eccentricity
        inc,      // inclination angle at reference time relative to 0.3 semi-circles
        omegadot, // (was rra) rate of right ascension
        sqra,     // square root of semi-major axis
        omega0,   // (was lan) longitude of ascending node of orbit plane at weekly epoch
        w,        // argument of perigee
        ma,       // mean anomaly at reference time
        toa,      // almanac reference time
        af0, af1; // clock polynomial correction parameters
  char  text_message[23];
} ALMANAC;

// --- Precise orbital parameters ---
typedef struct ephemeris
{
  long   how,
         tow;
  int    sfid,
         asflag,
         alertflag;
  int    iode,     // issue of date, ephemeris
         iodc,     // issue of date, clock
         ura,      // user range accuracy
         valid, 
         health,   // satellite health
         week;
  double dn,       // delta n: mean motion correction term
         tgd,      // satellite group delay differential correction term
         toe,      // reference time ephemeris
         toc,      // clock data reference time
         omegadot, // rate of right ascension
         idot,     // rate of inclination angle
         cuc,      // amplitude of the cosine harmonic correction term to the argument of latitude
         cus,      // amplitude of the sine harmonic correction term to the argument of latitude
         crc,      // amplitude of the cosine harmonic correction term to the orbit radius
         crs,      // amplitude of the sine harmonic correction term to the orbit radius
         cic,      // amplitude of the cosine harmonic correction term to the angle of inclination 
         cis,      // amplitude of the sine harmonic correction term to the angle of inclination 
         ma,       // mean anomaly at reference time
         sqra,     // square root of semi-major axis
         omega0,   // (was w0) longitude of ascending node of orbit plane at weekly epoch
         inc0,     // inclination angle at reference time
         w,        // argument of perigee
         wm,       // mean motion [rad/sec]
         ety,      // eccentricity
         af0, af1, af2; // clock polynomial correction parameters
} EPHEMERIS;

//
// put all in one struct
//
typedef struct navdata
{
  long      sf1how,
            sf2how,
            sf3how,
            sf4how,
            sf5how;
  EPHEMERIS eph;
  int       sf4pageno,      // subframe 4 page number (1,...,25)
            sf5pageno,      // subframe 5 page number (1,...,25)
            sf4svid,        // subframe 4 SV id (1,...,63)
            sf5svid;        // subframe 5 SV id (1,...,63)
  ALMANAC   alm;            // sf5/p1-24;sf4/p2-5,7-10
  IONODATA  iono;           // sf4/p18: ionospheric par & UTC  
  UTCDATA   utc;
  int       SVh[NOFSAT+1],  // sf5/p25: satellite vehicle health
            ASV[NOFSAT+1];  // sf4/p25: anti-spoofing & satellite vehicle configuration
  char      text_msg[23];   // sf4/p17: 22 ASCII chars and '\0'
} NAVDATA;

#if 0
typedef struct
{
  long      how,
            tow;
  int       sfid,
            asflag,    
            alertflag;
  EPHEMERIS gps_eph;
} SUBFRAME1TO3;

typedef struct
{
  long      how,
            tow;
  int       sfid,
            asflag,    
            alertflag;
  ALMANAC   gps_alm;        // sf5/p1-24;sf4/p2-5,7-10
  char      text_msg[23];   // sf4/p17: 22 ASCII chars and '\0'
  IONODATA  iono;           // sf4/p18: ionospheric par & UTC  
  UTCDATA   utc;
  int       ASV[NOFSAT+1];  // sf4/p25: anti-spoofing & satellite vehicle configuration
} SUBFRAME4;

typedef struct
{
  long      how,
            tow;
  int       sfid,
            asflag,    
            alertflag;
  ALMANAC   gps_alm;        // sf5/p1-24;sf4/p2-5,7-10
  int       SVh[NOFSAT+1];  // sf5/p25: satellite vehicle health
} SUBFRAME5;

// --- frame consists of 5 subframes
typedef struct navdata
{
  SUBFRAME1TO3 sf123;
  SUBFRAME4    sf4;
  SUBFRAME5    sf5;
} NAVDATA;
#endif

// --- receiver channel info ---
typedef struct
{
  int    state;
  long   code_freq,        // frq of code DCO in units of 42.6 mHz
         carrier_freq,     // frq of carrier DCO in units of 42.6 mHz
         doppler,          // same as chan[].carrier_freq
         carrier_corr;
  char   message[1500],    // navigation message
         tow_sync, 
         prn, 
         bit, 
         frame_ready;
  int    offset, 
         codes,            // index of C/A code start
         n_freq,           // index in carrier frq list, 1 step corresponds to frq shift 'd_freq'
         del_freq;
  int    t_count,          // range: 0,...,1499;  increment every 20 msec (in total 30 sec)
         ms_count,         // range: 0,...,19; increment every 1 msec
         i_confirm;
  int    ms_epoch, 
         n_frame,          // frame counter, increases when 't_count' wraps
         ch_time, 
         i_count;
  int    con_thresh, 
         n_thresh, 
         sfid, 
         missed, 
         page5;
  int    i_dith,              // in-phase early/late arm
         q_dith,              // quad-phase early/late arm
         i_prmt,              // in-phase prompt arm
         q_prmt;              // quad-phase promt arm
  unsigned long iq2_prmt,     // squared in/quad-phase prompt arm
                iq2_dith;     // 
  long   i_prmt_sum,          // in-phase prompt arm, summed over N msec (N<=20)
         q_prmt_sum,          // quad-phase prompt arm, summed over N msec (N<=20)
         i_dith_sum,          // in-phase early/late arm, summed over N msec (N<=20)
         q_dith_sum;          // quad-phase early/late arm, summed over N msec (N<=20)
  unsigned long iq2_prmt_sum;   // squared in/quad-phase prompt arm, summed over N msec (N<=20)
  int    i_prmt_sav[NOFCOHINT], // save array for prompt sum 'i_prmt_sum' (tracking)
         q_prmt_sav[NOFCOHINT],  
         i_dith_sav[NOFCOHINT], // save array for dither sum 'i_dith_sum' (tracking)
         q_dith_sav[NOFCOHINT];  
  unsigned long iq2_prmt_sav[NOFCOHINT];  // save array for squared prompt sum
#if 0
  long   i_prmt_sum_evn,          // in-phase prompt arm, summed over N msec (N<=20)
         q_prmt_sum_evn,          // quad-phase prompt arm, summed over N msec (N<=20)
         i_dith_sum_evn,          // in-phase early/late arm, summed over N msec (N<=20)
         q_dith_sum_evn;          // quad-phase early/late arm, summed over N msec (N<=20)
  int    i_prmt_sav_evn[NOFCOHINTPULLIN], // nav bit flip either in *_even or in *_odd, not in both!
         q_prmt_sav_evn[NOFCOHINTPULLIN],  
         i_dith_sav_evn[NOFCOHINTPULLIN], 
         q_dith_sav_evn[NOFCOHINTPULLIN];  
  unsigned long iq2_prmt_sav_evn[NOFCOHINTPULLIN];  // save array for squared prompt sum
  unsigned long iq2_prmt_sum_evn;   // squared in/quad-phase prompt arm, summed over N msec (N<=20)
  long   i_prmt_sum_odd,          // in-phase prompt arm, summed over N msec (N<=20)
         q_prmt_sum_odd,          // quad-phase prompt arm, summed over N msec (N<=20)
         i_dith_sum_odd,          // in-phase early/late arm, summed over N msec (N<=20)
         q_dith_sum_odd;          // quad-phase early/late arm, summed over N msec (N<=20)
  int    i_prmt_sav_odd[NOFCOHINTPULLIN], 
         q_prmt_sav_odd[NOFCOHINTPULLIN],  
         i_dith_sav_odd[NOFCOHINTPULLIN], 
         q_dith_sav_odd[NOFCOHINTPULLIN];  
  unsigned long iq2_prmt_sav_odd[NOFCOHINTPULLIN];  // save array for squared prompt sum
  unsigned long iq2_prmt_sum_odd;   // squared in/quad-phase prompt arm, summed over N msec (N<=20)
#endif
  long   sum, 
         avg, 
         old_theta, 
         old_i_sum, 
         old_q_sum, 
         th_rms;              // phase angle 'theta' RMS
  long   dfreq,               // discriminator code frq
         old_dfreq,           //   previous value 
         dcarr,               // discriminator carrier frq
         old_dcarr;           //   previous value
  int    iq_sav_idx,
         bitsign;
  long   prompt_mag, 
         dith_mag;
  long   tr_bit_time, 
         meas_bit_time, 
         TOW;                   // time of week
  unsigned int carr_dco_phase, 
               carr_cycle_l, 
               carr_cycle_h;
  unsigned int epoch, 
               code_phase, 
               code_dco_phase;
  unsigned int databithist[NOFMSECPERDATABIT];
  float        CNo;             // signal to noise ratio
  double dsc_car_phs,         // discriminator carrier frq
         dsc_cod_phs,         // discriminator code frq
         car_lock_det,        // carrier lock detector
         cod_lock_det;        // carrier lock detector
} CHANNEL;

// --- GPS satellite position ---
typedef struct satvis
{
  float azimuth, elevation, doppler,
        x, y, z;
} SATVIS;

typedef struct ecef
{
  double x, y, z;
} ECEF;

typedef struct eceft
{
  double x, y, z, tb;
  float  az, el;
} ECEFT;

typedef struct llh
{
  double lat, lon, hae;
} LLH;

typedef struct pvt
{
   double x, y, z, 
          dt,
          xv, yv, zv, 
          df;
} PVT;

/* --------------------------------- enums -------------------------------- */

// --- tracking is in one the following 5 states ---
enum { off, acquisition, confirm, pull_in, track};

//enum {none,o_gdop,o_pdop,o_hdop,o_vdop};
enum { cold_start, warm_start, hot_start, tracking, navigating};

/* ------------------------------ end of file ----------------------------- */