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RTKLIB with support L2 and L5 #4

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RTKLIB with support L2 and L5 #4

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98 changes: 70 additions & 28 deletions src/rcv/nvs.c
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Original file line number Diff line number Diff line change
Expand Up @@ -71,7 +71,8 @@ static int decode_xf5raw(raw_t *raw)
int i,j,prn,sat,n=0,nsat,week;
unsigned char *p=raw->buff+2;
char *q,tstr[32],flag;
int bandnum = 0;
int bandnum = 0;
int initnum = 0;

trace(4,"decode_xf5raw: len=%d\n",raw->len);

Expand Down Expand Up @@ -118,23 +119,29 @@ static int decode_xf5raw(raw_t *raw)
time2str(time,tstr,3);
trace(2,"nvs xf5raw time tag jump error: time=%s\n",tstr);
return 0;
}
}
if (fabs(timediff(time,raw->time))<=1e-3) {
time2str(time,tstr,3);
trace(2,"nvs xf5raw time tag duplicated: time=%s\n",tstr);
time2str(time,tstr,3);
trace(2,"nvs xf5raw time tag duplicated: time=%s\n",tstr);
return 0;
}
for (i=0,p+=27;(i<nsat) && (n<MAXOBS); i++,p+=30) {
for (i=0,p+=27;(i<nsat) && (n<MAXOBS); i++,p+=30) {
raw->obs.data[n].time = time;
sys = (U1(p)==1 || U1(p)==33)?SYS_GLO:((U1(p)==2)?SYS_GPS:((U1(p)==4)?SYS_SBS:SYS_NONE));
if (U1(p)==33) {
sys = (U1(p)==1 || U1(p)==33)?SYS_GLO:((U1(p)==2 || U1(p)==34 ||U1(p)==66)?SYS_GPS:((U1(p)==4)?SYS_SBS:SYS_NONE));
if (U1(p)==66) {
initnum = 2; /* L5 */
}
else {
initnum = 0;
}
if (U1(p)==33 || U1(p)==34) {
bandnum = 1; /* L2 */
} else
bandnum = 0;
bandnum = 0;

prn = U1(p+1);
prn = U1(p+1);
if (sys == SYS_SBS) prn += 120; /* Correct this */
if (!(sat=satno(sys,prn))) {
if (!(sat=satno(sys,prn))) {
trace(2,"nvs xf5raw satellite number error: sys=%d prn=%d\n",sys,prn);
continue;
}
Expand All @@ -143,7 +150,7 @@ static int decode_xf5raw(raw_t *raw)
Pb = R8(p+12);
Db = R8(p+20);

if (bandnum == 1){
if (bandnum == 1 || initnum == 2){
if (n > 0) {
if (raw->obs.data[n-1].sat != sat || raw->obs.data[n-1].time.time != time.time || raw->obs.data[n-1].time.sec != time.sec)
continue;
Expand All @@ -159,16 +166,29 @@ static int decode_xf5raw(raw_t *raw)
continue;
}
raw->obs.data[n].SNR[bandnum]=(unsigned char)(I1(p+3)*4.0+0.5);
if (sys==SYS_GLO) {
if (bandnum == 0)
raw->obs.data[n].L[0] = Lb - toff*(FREQ1_GLO+DFRQ1_GLO*carrNo);
else
raw->obs.data[n].L[1] = Lb - toff*(FREQ2_GLO+DFRQ2_GLO*carrNo);
} else {
raw->obs.data[n].L[0] = Lb - toff*FREQ1;
}
raw->obs.data[n].P[bandnum] = (Pb-dTowFrac)*CLIGHT*0.001 - toff*CLIGHT; /* in ms, needs to be converted */
raw->obs.data[n].D[bandnum] = (float)Db;
if (sys==SYS_GPS) {
if (bandnum+initnum == 0) {
raw->obs.data[n].L[0] = Lb - toff*(FREQ1); }
else {
if (initnum == 2) {
raw->obs.data[n].L[2] = Lb - toff*(FREQ5); }
else {
raw->obs.data[n].L[1] = Lb - toff*(FREQ2); }
}

} else {
if (bandnum == 0) {
raw->obs.data[n].L[0] = Lb - toff*(FREQ1_GLO+DFRQ1_GLO*carrNo);
}
else {
raw->obs.data[n].L[1] = Lb - toff*(FREQ2_GLO+DFRQ2_GLO*carrNo);
} }
if (initnum == 0) {
raw->obs.data[n].P[bandnum] = (Pb-dTowFrac)*CLIGHT*0.001 - toff*CLIGHT; /* in ms, needs to be converted */
raw->obs.data[n].D[bandnum] = (float)Db; }
else {
raw->obs.data[n].P[initnum] = (Pb-dTowFrac)*CLIGHT*0.001 - toff*CLIGHT; /* in ms, needs to be converted */
raw->obs.data[n].D[initnum] = (float)Db; }

/* set LLI if meas flag 4 (carrier phase present) off -> on */
flag=U1(p+28);
Expand All @@ -182,21 +202,43 @@ static int decode_xf5raw(raw_t *raw)
n, (raw->obs.data[n].SNR[0])/4.0, U1(p+28) );
}
#endif
if (bandnum == 0) {
raw->obs.data[n].code[bandnum] = CODE_L1C;
raw->obs.data[n].sat = sat;
} else
raw->obs.data[n].code[bandnum] = CODE_L2C;
if (bandnum+initnum == 0) {
raw->obs.data[n].code[0] = CODE_L1C;
raw->obs.data[n].sat = sat;
} else {
if(sys==SYS_GPS) {
if(initnum == 2) {
raw->obs.data[n].code[initnum] = CODE_L5I;
}
else {
if(bandnum == 1) {
raw->obs.data[n].code[initnum] = CODE_L2C;
}
else {
raw->obs.data[n].code[initnum] = CODE_L1C;
}
}
}
else{
if(bandnum == 1) {
raw->obs.data[n].code[bandnum] = CODE_L2C; }
else {
raw->obs.data[n].code[bandnum] = CODE_L1C;
}
}
}


if (bandnum == 0)

if (bandnum == 0 && initnum == 0)
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->time=time;
raw->obs.n=n;
return 1;
Expand Down