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- Decode Skytraq dual-freq observations from binary messages
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- Remove unsupported troposphere option from RTKPOST
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@rtklibexplorer
rtklibexplorer committed May 31, 2021
1 parent 64f1019 commit 1c4cb6f
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Showing 2 changed files with 124 additions and 103 deletions.
6 changes: 3 additions & 3 deletions app/winapp/rtkpost/postopt.dfm
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Original file line number Diff line number Diff line change
Expand Up @@ -203,17 +203,17 @@ object OptDialog: TOptDialog
Width = 76
Height = 21
Style = csDropDownList
ItemIndex = 0
ItemIndex = 1
TabOrder = 8
Text = 'OFF'
Text = 'Saastamoinen'
OnChange = TropOptChange
Items.Strings = (
'OFF'
'Saastamoinen'
'SBAS'
'Estimate ZTD'
'Estimate ZTD+Grad'
'Input ZTD')
'')
end
object PosMode: TComboBox
Left = 248
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221 changes: 121 additions & 100 deletions src/rcv/skytraq.c
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,9 @@
* [6] Skytraq, Application Note AN0030 Binary Message of Raw Measurement
* Data Extension of SkyTraq Venus 8 GNSS Receiver, ver.1.4.32,
* Sep 26, 2016
* [7] Skytraq, Application Note AN0039 Binary Messages of Raw Measurement
* Data Extension of SkyTraq Phoneix GNSS Receiver, ver.1.4.39,
* Dec 30, 2020
*
* notes :
* The byte order of S1315F raw message is big-endian inconsistent to [1].
Expand Down Expand Up @@ -55,6 +58,7 @@
#define ID_STQBDSD1 0xE2 /* skytraq message id: beidou d1 subframe */
#define ID_STQBDSD2 0xE3 /* skytraq message id: beidou d2 subframe */
#define ID_STQRAWX 0xE5 /* skytraq message id: extended raw meas v.1 */
#define ID_STQGENE 0xE6 /* skytraq message id: general subframe data - currently not supported*/
#define ID_STQGLOE 0x5C /* skytraq message id: glonass ephemeris */
#define ID_STQACK 0x83 /* skytraq message id: ack to request msg */
#define ID_STQNACK 0x84 /* skytraq message id: nack to request msg */
Expand Down Expand Up @@ -124,6 +128,71 @@ static void adj_utcweek(gtime_t time, double *utc)
if (utc[3]<week-128) utc[3]+=256.0;
else if (utc[3]>week+128) utc[3]-=256.0;
}
/* GNSSId to system ---------------------------------------------------------*/
static int sky_sys(int gnssid)
{
switch (gnssid) {
case 0: return SYS_GPS;
case 1: return SYS_SBS;
case 2: return SYS_GLO;
case 3: return SYS_GAL;
case 4: return SYS_QZS;
case 5: return SYS_CMP;
case 6: return SYS_IRN;
}
return 0;
}
/* UBX SigId to signal (ref [5] 1.5.4) ---------------------------------------*/
static int sky_sig(int sys, int signal_type) {
if (sys==SYS_GPS) {
switch (signal_type) {
case 1: return CODE_L1X;
case 2: return CODE_L2X;
case 4: return CODE_L5X;
default: return CODE_L1C;
}
}
else if (sys==SYS_SBS) {
return CODE_L1C;
}
else if (sys==SYS_GLO) {
switch (signal_type) {
case 2: return CODE_L2C;
case 4: return CODE_L3X;
default: return CODE_L1C;
}
}
else if (sys==SYS_GAL) {
switch (signal_type) {
case 4: return CODE_L5X;
case 5: return CODE_L7X;
case 6: return CODE_L6X;
default: return CODE_L1C;
}
}
else if (sys==SYS_QZS) {
switch (signal_type) {
case 1: return CODE_L1X;
case 2: return CODE_L2X;
case 4: return CODE_L5X;
case 6: return CODE_L6X;
default: return CODE_L1C;
}
}
else if (sys==SYS_CMP) { /* BeiDou */
switch (signal_type) {
case 1: return CODE_L1X;
case 4: return CODE_L5X;
case 5: return CODE_L7I;
case 7: return CODE_L6I;
default: return CODE_L2I;
}
}
else {
trace(2,"stq rawx gnss type error: type=%d\n",sys);
return(CODE_NONE);
}
}
/* decode skytraq measurement epoch (0xDC) -----------------------------------*/
static int decode_stqtime(raw_t *raw)
{
Expand Down Expand Up @@ -233,9 +302,8 @@ static int decode_stqrawx(raw_t *raw)
{
uint8_t *p=raw->buff+4,ind;
double tow,peri,pr1,cp1;
int i,j,ver,week,nsat,sys,sig,prn,sat,n=0;
int gnss_type, signal_type;

int i,j,k,ver,week,nsat,sys,sig,prn,sat,n=0,idx;

trace(4,"decode_stqraw: len=%d\n",raw->len);

if (raw->outtype) {
Expand All @@ -254,134 +322,86 @@ static int decode_stqrawx(raw_t *raw)
return -1;
}
for (i=0,p+=14;i<nsat&&i<MAXOBS;i++,p+=31) {
gnss_type=U1(p)&0xF;
signal_type=(U1(p)>>4)&0xF;
if (gnss_type==0) { /* GPS */
sys=SYS_GPS;
switch (signal_type) {
case 1: sig=CODE_L1X; break;
case 2: sig=CODE_L2X; break;
case 4: sig=CODE_L5X; break;
default: sig=CODE_L1C; break;
}
prn=U1(p+1);
}
else if (gnss_type==1) { /* SBAS */
sys=SYS_SBS;
sig=CODE_L1C;
prn=U1(p+1);
}
else if (gnss_type==2) { /* GLONASS */
sys=SYS_GLO;
switch (signal_type) {
case 2: sig=CODE_L2C; break;
case 4: sig=CODE_L3X; break;
default: sig=CODE_L1C; break;
}
prn=U1(p+1);
}
else if (gnss_type==3) { /* Galileo */
sys=SYS_GAL;
switch (signal_type) {
case 4: sig=CODE_L5X; break;
case 5: sig=CODE_L7X; break;
case 6: sig=CODE_L6X; break;
default: sig=CODE_L1C; break;
}
prn=U1(p+1);
}
else if (gnss_type==4) { /* QZSS */
sys=SYS_QZS;
switch (signal_type) {
case 1: sig=CODE_L1X; break;
case 2: sig=CODE_L2X; break;
case 4: sig=CODE_L5X; break;
case 6: sig=CODE_L6X; break;
default: sig=CODE_L1C; break;
}
prn=U1(p+1);
}
else if (gnss_type==5) { /* BeiDou */
sys=SYS_CMP;
switch (signal_type) {
case 4: sig=CODE_L7I; break;
case 6: sig=CODE_L6I; break;
default: sig=CODE_L2I; break;
}
prn=U1(p+1);
}
else {
trace(2,"stq rawx gnss type error: type=%d\n",U1(p));
continue;
}
sys = sky_sys(U1(p)&0xF);
sig = sky_sig(sys,(U1(p)>>4)&0xF);
idx=code2idx(sys,sig);
prn=U1(p+1);
if (!(sat=satno(sys,prn))) {
trace(2,"stq raw satellite number error: sys=%d prn=%d\n",sys,prn);
continue;
}
/* set glonass freq channel number */
if (gnss_type==2) {
if (sys==SYS_GLO) {
raw->nav.geph[prn-1].frq=(int)(U1(p+2)&0xF)-7;
}
ind=U2(p+27);
pr1=!(ind&1)?0.0:R8(p+ 4);
cp1=!(ind&4)?0.0:R8(p+12);
cp1-=floor((cp1+1E9)/2E9)*2E9; /* -10^9 < cp1 < 10^9 */

raw->obs.data[n].P[0]=pr1;
raw->obs.data[n].L[0]=cp1;
raw->obs.data[n].D[0]=!(ind&2)?0.0:R4(p+20);
raw->obs.data[n].SNR[0]=(uint16_t)(U1(p+3)/SNR_UNIT+0.5);
raw->obs.data[n].LLI[0]=0;
raw->obs.data[n].code[0]=sys==SYS_CMP?CODE_L2I:CODE_L1C;

raw->lockt[sat-1][0]=ind&8?1:0; /* cycle slip */

if (raw->obs.data[n].L[0]!=0.0) {
raw->obs.data[n].LLI[0]=(uint8_t)raw->lockt[sat-1][0];
raw->lockt[sat-1][0]=0;

for (j=0;j<n;j++) {
if (raw->obs.data[j].sat==sat) break;
}
if (j>=n) {
raw->obs.data[n].time=raw->time;
raw->obs.data[n].sat=sat;
raw->obs.data[n].rcv=0;
for (k=0;k<NFREQ+NEXOBS;k++) {
raw->obs.data[n].L[k]=raw->obs.data[n].P[k]=0.0;
raw->obs.data[n].qualL[k]=raw->obs.data[n].qualP[k]=0;
raw->obs.data[n].D[k]=0.0;
raw->obs.data[n].SNR[k]=raw->obs.data[n].LLI[k]=0;
raw->obs.data[n].code[k]=CODE_NONE;
}
n++;
}
raw->obs.data[j].P[idx]=pr1;
raw->obs.data[j].L[idx]=cp1;
raw->obs.data[j].D[idx]=!(ind&2)?0.0:R4(p+20);
raw->obs.data[j].SNR[idx]=(uint16_t)(U1(p+3)/SNR_UNIT+0.5);
raw->obs.data[j].LLI[idx]=0;
raw->obs.data[j].code[idx]=sig;

raw->lockt[sat-1][idx]=ind&8?1:0; /* cycle slip */

if (raw->obs.data[j].L[idx]!=0.0) {
raw->obs.data[j].LLI[idx]=(uint8_t)raw->lockt[sat-1][idx];
raw->lockt[sat-1][idx]=0;
}
/* receiver dependent options */
if (strstr(raw->opt,"-INVCP")) {
raw->obs.data[n].L[0]*=-1.0;
raw->obs.data[n].L[idx]*=-1.0;
}
raw->obs.data[n].time=raw->time;
raw->obs.data[n].sat =sat;

for (j=1;j<NFREQ+NEXOBS;j++) {
raw->obs.data[n].L[j]=raw->obs.data[n].P[j]=0.0;
raw->obs.data[n].D[j]=0.0;
raw->obs.data[n].SNR[j]=raw->obs.data[n].LLI[j]=0;
raw->obs.data[n].code[j]=CODE_NONE;
}
n++;
}
raw->obs.n=n;
return n>0?1:0;
}
/* save subframe -------------------------------------------------------------*/
static int save_subfrm(int sat, raw_t *raw)
/* save gps/qzss subframe -------------------------------------------------------------*/
static int save_subfrm_gps(int sat, raw_t *raw)
{
uint8_t *p=raw->buff+7,*q;
int i,id;
trace(4,"save_subfrm: sat=%2d\n",sat);

trace(4,"save_subfrm_gps: sat=%2d\n",sat);

/* check navigation subframe preamble */
if (p[0]!=0x8B) {
trace(2,"stq subframe preamble error: 0x%02X\n",p[0]);
return 0;
}
id=(p[5]>>2)&0x7;

/* check subframe id */
if (id<1||5<id) {
trace(2,"stq subframe id error: id=%d\n",id);
return 0;
}
q=raw->subfrm[sat-1]+(id-1)*30;

for (i=0;i<30;i++) q[i]=p[i];

return id;
}
/* decode ephemeris ----------------------------------------------------------*/
Expand Down Expand Up @@ -444,9 +464,9 @@ static int decode_stqgps(raw_t *raw)
{
int prn,sat,id;
uint8_t *p=raw->buff+4;

trace(4,"decode_stqgps: len=%d\n",raw->len);

if (raw->len<40) {
trace(2,"stq gps/qzss subframe length error: len=%d\n",raw->len);
return -1;
Expand All @@ -460,7 +480,7 @@ static int decode_stqgps(raw_t *raw)
trace(2,"stq gps/qzss subframe satellite number error: prn=%d\n",prn);
return -1;
}
id=save_subfrm(sat,raw);
id=save_subfrm_gps(sat,raw);
if (id==3) return decode_ephem(sat,raw);
if (id==4) return decode_alm1 (sat,raw);
if (id==5) return decode_alm2 (sat,raw);
Expand All @@ -472,9 +492,9 @@ static int decode_stqglo(raw_t *raw)
geph_t geph={0};
int i,prn,sat,m;
uint8_t *p=raw->buff+4;

trace(4,"decode_stqglo: len=%d\n",raw->len);

if (raw->len<19) {
trace(2,"stq glo string length error: len=%d\n",raw->len);
return -1;
Expand Down Expand Up @@ -606,7 +626,7 @@ static int decode_stqack(raw_t *raw)
uint8_t *p=raw->buff+4;

trace(4,"decode_stqack: len=%d\n",raw->len);

if (raw->len<9) {
trace(2,"stq ack length error: len=%d\n",raw->len);
return -1;
Expand Down Expand Up @@ -662,6 +682,7 @@ static int decode_stq(raw_t *raw)
case ID_STQGLOE : return decode_stqgloe(raw);
case ID_STQBDSD1: return decode_stqbds (raw);
case ID_STQBDSD2: return decode_stqbds (raw);
/* case ID_STQGENE : return decode_stqgene(raw); */
case ID_STQACK : return decode_stqack (raw);
case ID_STQNACK : return decode_stqnack(raw);
}
Expand Down

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