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- added log message for RTCM SSR Integrity messages.
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@hirokawa
hirokawa committed Jan 11, 2025
1 parent bb1760f commit 423014b
Showing 1 changed file with 78 additions and 18 deletions.
96 changes: 78 additions & 18 deletions src/cssrlib/rtcm.py
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@
from cssrlib.gnss import uGNSS, sat2id, gpst2time, timediff, time2str, sat2prn
from cssrlib.gnss import uTYP, uSIG, rSigRnx, bdt2time, bdt2gpst, glo2time
from cssrlib.gnss import time2bdt, gpst2bdt, rCST, time2gpst, utc2gpst, timeadd
from cssrlib.gnss import gtime_t
from cssrlib.gnss import gtime_t, sys2str, sat2prn, sat2id
from crccheck.crc import Crc24LteA
from enum import IntEnum
from cssrlib.gnss import Eph, Obs, Geph, Seph
Expand All @@ -42,9 +42,17 @@ class sRTCM(IntEnum):
SBS_EPH = 1016

# test messages
INTEG_SSR = 11
INTEG_SSR_IONO = 12
INTEG_SSR_TROP = 13
INTEG_MIN = 2003
INTEG_EXT = 2004
INTEG_EXT_SIS = 2005
INTEG_EXT_AREA = 2006
INTEG_QUALITY = 2007
INTEG_CNR = 2008
INTEG_VMAP = 2009
INTEG_MMAP = 2010
INTEG_SSR = 2011
INTEG_SSR_IONO = 2012
INTEG_SSR_TROP = 2013


class Integrity():
Expand Down Expand Up @@ -1097,6 +1105,37 @@ def out_log(self, obs=None, eph=None, geph=None, seph=None):
self.fh.write(" {:20s}{:6d}\n".format("Number of Signals:",
self.nsig))

if self.subtype in (sRTCM.INTEG_SSR, sRTCM.INTEG_SSR_IONO,
sRTCM.INTEG_SSR_TROP):
self.fh.write(" {:20s}{:6d} TOW={:6d}\n".
format("INTEG-SSR:", self.msgtype,
int(self.integ.tow)))
self.fh.write(" {:20s}{:6d}\n".format("ProviderID:",
self.integ.pid))

if self.subtype == sRTCM.INTEG_SSR:
self.fh.write(" {:20s}{:6d}\n".format("Varidity Period:",
self.integ.vp))
self.fh.write(" {:20s}{:6d}\n".format("Update Interval:",
self.integ.uri))

self.fh.write(" {:20s}{:04x}\n".format("Constellation Mask:",
self.integ.mask_sys))
self.fh.write(" IOD GNSS Mask: ")
for sys in self.integ.iod_sys.keys():
self.fh.write(" {:8s}: {:1d}".format(
sys2str(sys), self.integ.iod_sys[sys]))
self.fh.write("\n")

for sys in self.integ.flag.keys():
self.fh.write(" Network ID:{:3d} Integrity Flag: ".format(
self.integ.nid[sys]))
for sat in self.integ.flag[sys]:
self.fh.write(" {:3s}:{:2d}".format(
sat2id(sat), self.integ.flag[sys][sat]))
self.fh.write("\n")
self.fh.flush()

if eph is not None:
sys, prn = sat2prn(eph.sat)
self.fh.write(" {:20s}{:6d} ({:s})\n".format("PRN:", prn,
Expand All @@ -1121,6 +1160,9 @@ def out_log(self, obs=None, eph=None, geph=None, seph=None):
if self.msgtype == 1029: # Unicode Text
self.fh.write("{:s}\n".format(self.ustr))

if self.subtype == sRTCM.INTEG_SSR:
None

def decode_msm_time(self, sys, week, t):
if sys == uGNSS.GLO:
dow = (t >> 27) & 0x1f
Expand All @@ -1135,8 +1177,8 @@ def decode_msm_time(self, sys, week, t):
def decode_msm(self, msg, i):
sys, msm = self.msmtype(self.msgtype)

self.refid, tow_, self.mi, self.iods = \
bs.unpack_from('u12u30u1u3', msg, i)
self.refid, tow_, self.mi, self.iods = bs.unpack_from(
'u12u30u1u3', msg, i)
i += 53
self.time, self.tow = self.decode_msm_time(sys, self.week, tow_)

Expand Down Expand Up @@ -1443,8 +1485,8 @@ def decode_glo_eph(self, msg, i):
i += 56
P3, gamn, P, ln, taun, dtaun = bs.unpack_from('u1s11u2u1s22s5', msg, i)
i += 42
En, P4, Ft, Nt, M, ad, Na, tauc, N4, taugps, ln = \
bs.unpack_from('u5u1u4u11u2u1u11s32u5s22u1', msg, i)
En, P4, Ft, Nt, M, ad, Na, tauc, N4, taugps, ln = bs.unpack_from(
'u5u1u4u11u2u1u11s32u5s22u1', msg, i)
i += 102

geph = Geph()
Expand Down Expand Up @@ -1959,8 +2001,8 @@ def decode_integrity_ext(self, msg, i):
# Augmentation Message Error under Fault-Free Scenario DFi038
# Overbounding Bias of the Long-Term Carrier Phase
# Augmentation Message Bias Error under Fault-Free DFi039
Pa_sp, sig_a, Pa_sc, ob_p, sig_ob_c, ob_c = \
bs.unpack_from('u4u5u4u4u5u4', msg, i)
Pa_sp, sig_a, Pa_sc, ob_p, sig_ob_c, ob_c = bs.unpack_from(
'u4u5u4u4u5u4', msg, i)
i += 26

def decode_integrity_ext_sis_local(self, msg, i):
Expand Down Expand Up @@ -2027,17 +2069,17 @@ def decode_integrity_ext_sis_local(self, msg, i):
# Nominal pseudorange bias rate of change DFi125
# Bounding sigma on phase-range-rate error DFi122
# Phase-range-rate error rate integrity index DFi123
idx_c, idx_p, cbr, sig_dp, idx_dp = \
bs.unpack_from('u4u4u3u4u4', msg, i)
idx_c, idx_p, cbr, sig_dp, idx_dp = bs.unpack_from(
'u4u4u3u4u4', msg, i)
i += 19

# Orbit and clock error rate integrity parameter DFi127
# Residual ionospheric error standard deviation DFi128
# Index of bounding parameter on change in iono error DFi129
# Residual tropospheric error standard deviation DFi130
# Index of bounding parameter on change in tropo error DFi131
oc, sig_ion, idx_ion, sig_trp, idx_trp = \
bs.unpack_from('u3u3u3u3u3', msg, i)
oc, sig_ion, idx_ion, sig_trp, idx_trp = bs.unpack_from(
'u3u3u3u3u3', msg, i)
i += 15

def decode_integrity_ext_service_area(self, msg, i):
Expand Down Expand Up @@ -2255,9 +2297,11 @@ def decode_integrity_ssr(self, msg, i):
for svid in svid_t:
ofst = 192 if sys == uGNSS.QZS else 0
prn = svid+ofst
flag_t[sys][prn] = bs.unpack_from('u2', msg, i)[0]
sat = prn2sat(sys, prn)
flag_t[sys][sat] = bs.unpack_from('u2', msg, i)[0]
i += 2

self.integ.mask_sys = mask_sys
self.integ.pid = pid
self.integ.tow = tow
self.integ.iod_sys = iod_sys
Expand Down Expand Up @@ -2346,22 +2390,37 @@ def decode(self, msg):

# test messages for SC-134
elif self.msgtype == 3: # minimum integrity
self.subtype = sRTCM.INTEG_MIN
self.decode_integrity_min(msg, i)
elif self.msgtype == 4: # extended integrity
self.subtype = sRTCM.INTEG_EXT
self.decode_integrity_ext(msg, i)
elif self.msgtype == 5: # sis integrity/local error
self.subtype = sRTCM.INTEG_EXT_SIS
self.decode_integrity_ext_sis_local(msg, i)
elif self.msgtype == 6: # extended sercice area
self.subtype = sRTCM.INTEG_EXT_AREA
self.decode_integrity_ext_service_area(msg, i)
elif self.msgtype == 7: # quality indicator
self.subtype = sRTCM.INTEG_QUALITY
self.decode_integrity_quality(msg, i)
elif self.msgtype == 8: # CNR/ACG SIS Monitoring
self.subtype = sRTCM.INTEG_CNR
self.decode_integrity_cnr_acg(msg, i)
elif self.msgtype == 9: # satellite visibility map
self.subtype = sRTCM.INTEG_VMAP
self.decode_integrity_vmap(msg, i)
elif self.msgtype == 10: # multipath map
self.subtype = sRTCM.INTEG_MMAP
self.decode_integrity_mmap(msg, i)
elif self.msgtype in (11, 12, 13): # SSR integrity
elif self.msgtype == 11: # SSR integrity
self.subtype = sRTCM.INTEG_SSR
self.decode_integrity_ssr(msg, i)
elif self.msgtype == 12: # SSR integrity Iono
self.subtype = sRTCM.INTEG_SSR_IONO
self.decode_integrity_ssr(msg, i)
elif self.msgtype == 13: # SSR integrity Trop
self.subtype = sRTCM.INTEG_SSR_TROP
self.decode_integrity_ssr(msg, i)
else:
self.subtype = -1
Expand Down Expand Up @@ -2433,9 +2492,10 @@ def encode_integrity_ssr(self, msg, i):

for sys in sys_t:
flag = self.integ.flag[sys]
prn_t = flag.keys()
sat_t = flag.keys()
svid_t = []
for prn in prn_t:
for sat in sat_t:
sys, prn = sat2prn(sat)
ofst = 192 if sys == uGNSS.QZS else 0
svid_t.append(prn-ofst)

Expand Down

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