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gpssim.c
174
gpssim.c
@ -11,76 +11,7 @@
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#else
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#include <unistd.h>
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#endif
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#ifndef bool
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typedef int bool;
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#define true 1
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#define false 0
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#endif
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/*! \brief Maximum length of a line in a text file (RINEX, motion) */
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#define MAX_CHAR (100)
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/*! \brief Maximum number of satellites in RINEX file */
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#define MAX_SAT (32)
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/*! \brief Maximum number of channels we simulate */
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#define MAX_CHAN (16)
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/*! \brief Maximum number of user motion points */
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#define USER_MOTION_SIZE (3000) // max duration at 10Hz
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/*! \brief Number of subframes */
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#define N_SBF (5) // 5 subframes per frame
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/*! \brief Number of words per subframe */
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#define N_DWRD_SBF (10) // 10 word per subframe
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/*! \brief Number of words */
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#define N_DWRD ((N_SBF+1)*N_DWRD_SBF) // Subframe word buffer size
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/*! \brief C/A code sequence length */
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#define CA_SEQ_LEN (1023)
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#define SECONDS_IN_WEEK 604800.0
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#define SECONDS_IN_HALF_WEEK 302400.0
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#define SECONDS_IN_DAY 86400.0
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#define SECONDS_IN_HOUR 3600.0
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#define SECONDS_IN_MINUTE 60.0
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#define POW2_M5 0.03125
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#define POW2_M19 1.907348632812500e-6
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#define POW2_M29 1.862645149230957e-9
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#define POW2_M31 4.656612873077393e-10
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#define POW2_M33 1.164153218269348e-10
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#define POW2_M43 1.136868377216160e-13
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#define POW2_M55 2.775557561562891e-17
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// Conventional values employed in GPS ephemeris model (ICD-GPS-200)
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#define GM_EARTH 3.986005e14
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#define OMEGA_EARTH 7.2921151467e-5
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#define PI 3.1415926535898
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#define WGS84_RADIUS 6378137.0
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#define WGS84_ECCENTRICITY 0.0818191908426
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#define R2D 57.2957795131
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#define SPEED_OF_LIGHT 2.99792458e8
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#define LAMBDA_L1 0.190293672798365
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/*! \brief GPS L1 Carrier frequency */
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#define CARR_FREQ (1575.42e6)
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/*! \brief C/A code frequency */
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#define CODE_FREQ (1.023e6)
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#define CARR_TO_CODE (1.0/1540.0)
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// Sampling data format
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#define SC01 (1)
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#define SC08 (8)
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#define SC16 (16)
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#define EPHEM_ARRAY_SIZE (13) // for daily GPS broadcast ephemers file (brdc)
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#include "gpssim.h"
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int sinTable512[] = {
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2, 5, 8, 11, 14, 17, 20, 23, 26, 29, 32, 35, 38, 41, 44, 47,
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@ -162,94 +93,6 @@ double ant_pat_db[37] = {
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int allocatedSat[MAX_SAT];
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/*! \file gpssim.c
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* \brief GPS Satellite Simulator
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*/
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/*! \brief Structure representing GPS time */
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typedef struct
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{
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int week; /*!< GPS week number (since January 1980) */
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double sec; /*!< second inside the GPS \a week */
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} gpstime_t;
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/*! \brief Structure repreenting UTC time */
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typedef struct
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{
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int y; /*!< Calendar year */
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int m; /*!< Calendar month */
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int d; /*!< Calendar day */
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int hh; /*!< Calendar hour */
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int mm; /*!< Calendar minutes */
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double sec; /*!< Calendar seconds */
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} datetime_t;
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/*! \brief Structure representing ephemeris of a single satellite */
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typedef struct
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{
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int vflg; /*!< Valid Flag */
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datetime_t t;
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gpstime_t toc; /*!< Time of Clock */
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gpstime_t toe; /*!< Time of Ephemeris */
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int iodc; /*!< Issue of Data, Clock */
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int iode; /*!< Isuse of Data, Ephemeris */
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double deltan; /*!< Delta-N (radians/sec) */
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double cuc; /*!< Cuc (radians) */
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double cus; /*!< Cus (radians) */
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double cic; /*!< Correction to inclination cos (radians) */
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double cis; /*!< Correction to inclination sin (radians) */
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double crc; /*!< Correction to radius cos (meters) */
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double crs; /*!< Correction to radius sin (meters) */
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double ecc; /*!< e Eccentricity */
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double sqrta; /*!< sqrt(A) (sqrt(m)) */
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double m0; /*!< Mean anamoly (radians) */
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double omg0; /*!< Longitude of the ascending node (radians) */
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double inc0; /*!< Inclination (radians) */
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double aop;
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double omgdot; /*!< Omega dot (radians/s) */
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double idot; /*!< IDOT (radians/s) */
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double af0; /*!< Clock offset (seconds) */
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double af1; /*!< rate (sec/sec) */
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double af2; /*!< acceleration (sec/sec^2) */
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double tgd; /*!< Group delay L2 bias */
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// Working variables follow
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double n; /*!< Mean motion (Average angular velocity) */
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double sq1e2; /*!< sqrt(1-e^2) */
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double A; /*!< Semi-major axis */
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double omgkdot; /*!< OmegaDot-OmegaEdot */
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} ephem_t;
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typedef struct
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{
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gpstime_t g;
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double range; // pseudorange
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double rate;
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double d; // geometric distance
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double azel[2];
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} range_t;
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/*! \brief Structure representing a Channel */
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typedef struct
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{
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int prn; /*< PRN Number */
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int ca[CA_SEQ_LEN]; /*< C/A Sequence */
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double f_carr; /*< Carrier frequency */
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double f_code; /*< Code frequency */
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unsigned int carr_phase; /*< Carrier phase */
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int carr_phasestep; /*< Carrier phasestep */
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double code_phase; /*< Code phase */
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gpstime_t g0; /*!< GPS time at start */
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unsigned long sbf[5][N_DWRD_SBF]; /*!< current subframe */
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unsigned long dwrd[N_DWRD]; /*!< Data words of sub-frame */
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int iword; /*!< initial word */
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int ibit; /*!< initial bit */
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int icode; /*!< initial code */
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int dataBit; /*!< current data bit */
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int codeCA; /*!< current C/A code */
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double azel[2];
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range_t rho0;
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} channel_t;
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/*! \brief Subtract two vectors of double
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* \param[out] y Result of subtraction
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* \param[in] x1 Minuend of subtracion
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@ -1575,8 +1418,8 @@ int main(int argc, char *argv[])
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char umfile[MAX_CHAR];
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double xyz[USER_MOTION_SIZE][3];
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bool staticLocationMode = false;
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bool nmeaGGA = false;
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int staticLocationMode = FALSE;
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int nmeaGGA = FALSE;
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char navfile[MAX_CHAR];
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char outfile[MAX_CHAR];
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@ -1631,16 +1474,16 @@ int main(int argc, char *argv[])
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break;
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case 'u':
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strcpy(umfile, optarg);
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nmeaGGA = false;
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nmeaGGA = FALSE;
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break;
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case 'g':
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strcpy(umfile, optarg);
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nmeaGGA = true;
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nmeaGGA = TRUE;
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break;
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case 'l':
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// Static geodetic coordinates input mode
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// Added by scateu@gmail.com
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staticLocationMode = true;
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staticLocationMode = TRUE;
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sscanf(optarg,"%lf,%lf,%lf",&llh[0],&llh[1],&llh[2]);
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llh[0] = llh[0] / R2D; // convert to RAD
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llh[1] = llh[1] / R2D; // convert to RAD
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@ -1723,7 +1566,7 @@ int main(int argc, char *argv[])
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if (!staticLocationMode)
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{
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// Read user motion file
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if (nmeaGGA==true)
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if (nmeaGGA==TRUE)
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numd = readNmeaGGA(xyz, umfile);
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else
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numd = readUserMotion(xyz, umfile);
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@ -2039,9 +1882,10 @@ int main(int argc, char *argv[])
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}
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else // data_format==SC16
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{
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/*
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for (isamp=0; isamp<2*iq_buff_size; isamp++)
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iq_buff[isamp] = iq_buff[isamp]>0?1000:-1000; // Emulated 1-bit I/Q
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*/
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fwrite(iq_buff, 2, 2*iq_buff_size, fp);
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}
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155
gpssim.h
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155
gpssim.h
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@ -0,0 +1,155 @@
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#ifndef GPSSIM_H
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#define GPSSIM_H
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#define TRUE (1)
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#define FALSE (0)
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/*! \brief Maximum length of a line in a text file (RINEX, motion) */
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#define MAX_CHAR (100)
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/*! \brief Maximum number of satellites in RINEX file */
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#define MAX_SAT (32)
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/*! \brief Maximum number of channels we simulate */
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#define MAX_CHAN (16)
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/*! \brief Maximum number of user motion points */
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#define USER_MOTION_SIZE (3000) // max duration at 10Hz
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/*! \brief Number of subframes */
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#define N_SBF (5) // 5 subframes per frame
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/*! \brief Number of words per subframe */
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#define N_DWRD_SBF (10) // 10 word per subframe
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/*! \brief Number of words */
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#define N_DWRD ((N_SBF+1)*N_DWRD_SBF) // Subframe word buffer size
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/*! \brief C/A code sequence length */
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#define CA_SEQ_LEN (1023)
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#define SECONDS_IN_WEEK 604800.0
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#define SECONDS_IN_HALF_WEEK 302400.0
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#define SECONDS_IN_DAY 86400.0
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#define SECONDS_IN_HOUR 3600.0
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#define SECONDS_IN_MINUTE 60.0
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#define POW2_M5 0.03125
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#define POW2_M19 1.907348632812500e-6
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#define POW2_M29 1.862645149230957e-9
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#define POW2_M31 4.656612873077393e-10
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#define POW2_M33 1.164153218269348e-10
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#define POW2_M43 1.136868377216160e-13
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#define POW2_M55 2.775557561562891e-17
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// Conventional values employed in GPS ephemeris model (ICD-GPS-200)
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#define GM_EARTH 3.986005e14
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#define OMEGA_EARTH 7.2921151467e-5
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#define PI 3.1415926535898
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#define WGS84_RADIUS 6378137.0
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#define WGS84_ECCENTRICITY 0.0818191908426
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#define R2D 57.2957795131
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#define SPEED_OF_LIGHT 2.99792458e8
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#define LAMBDA_L1 0.190293672798365
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/*! \brief GPS L1 Carrier frequency */
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#define CARR_FREQ (1575.42e6)
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/*! \brief C/A code frequency */
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#define CODE_FREQ (1.023e6)
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#define CARR_TO_CODE (1.0/1540.0)
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// Sampling data format
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#define SC01 (1)
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#define SC08 (8)
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#define SC16 (16)
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#define EPHEM_ARRAY_SIZE (13) // for daily GPS broadcast ephemers file (brdc)
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/*! \brief Structure representing GPS time */
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typedef struct
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{
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int week; /*!< GPS week number (since January 1980) */
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double sec; /*!< second inside the GPS \a week */
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} gpstime_t;
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/*! \brief Structure repreenting UTC time */
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typedef struct
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{
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int y; /*!< Calendar year */
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int m; /*!< Calendar month */
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int d; /*!< Calendar day */
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int hh; /*!< Calendar hour */
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int mm; /*!< Calendar minutes */
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double sec; /*!< Calendar seconds */
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} datetime_t;
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/*! \brief Structure representing ephemeris of a single satellite */
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typedef struct
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{
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int vflg; /*!< Valid Flag */
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datetime_t t;
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gpstime_t toc; /*!< Time of Clock */
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gpstime_t toe; /*!< Time of Ephemeris */
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int iodc; /*!< Issue of Data, Clock */
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int iode; /*!< Isuse of Data, Ephemeris */
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double deltan; /*!< Delta-N (radians/sec) */
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double cuc; /*!< Cuc (radians) */
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double cus; /*!< Cus (radians) */
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double cic; /*!< Correction to inclination cos (radians) */
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double cis; /*!< Correction to inclination sin (radians) */
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double crc; /*!< Correction to radius cos (meters) */
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double crs; /*!< Correction to radius sin (meters) */
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double ecc; /*!< e Eccentricity */
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double sqrta; /*!< sqrt(A) (sqrt(m)) */
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double m0; /*!< Mean anamoly (radians) */
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double omg0; /*!< Longitude of the ascending node (radians) */
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double inc0; /*!< Inclination (radians) */
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double aop;
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double omgdot; /*!< Omega dot (radians/s) */
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double idot; /*!< IDOT (radians/s) */
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double af0; /*!< Clock offset (seconds) */
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double af1; /*!< rate (sec/sec) */
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double af2; /*!< acceleration (sec/sec^2) */
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double tgd; /*!< Group delay L2 bias */
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// Working variables follow
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double n; /*!< Mean motion (Average angular velocity) */
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double sq1e2; /*!< sqrt(1-e^2) */
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double A; /*!< Semi-major axis */
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double omgkdot; /*!< OmegaDot-OmegaEdot */
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} ephem_t;
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typedef struct
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{
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gpstime_t g;
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double range; // pseudorange
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double rate;
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double d; // geometric distance
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double azel[2];
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} range_t;
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/*! \brief Structure representing a Channel */
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typedef struct
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{
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int prn; /*< PRN Number */
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int ca[CA_SEQ_LEN]; /*< C/A Sequence */
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double f_carr; /*< Carrier frequency */
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double f_code; /*< Code frequency */
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unsigned int carr_phase; /*< Carrier phase */
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int carr_phasestep; /*< Carrier phasestep */
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double code_phase; /*< Code phase */
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gpstime_t g0; /*!< GPS time at start */
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unsigned long sbf[5][N_DWRD_SBF]; /*!< current subframe */
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unsigned long dwrd[N_DWRD]; /*!< Data words of sub-frame */
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int iword; /*!< initial word */
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int ibit; /*!< initial bit */
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int icode; /*!< initial code */
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int dataBit; /*!< current data bit */
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int codeCA; /*!< current C/A code */
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double azel[2];
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range_t rho0;
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} channel_t;
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#endif
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