added RINEX navigation message for SBAS.

hirokawa · Jan 8, 2025 · 0ac09be · 0ac09be
1 parent 325b809
commit 0ac09be
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Showing 3 changed files with 39 additions and 5 deletions.
diff --git a/receiver/decode_jps.py b/receiver/decode_jps.py
@@ -698,12 +698,19 @@ def decode(self, buff, len_, sys=[], prn=[]):
                 print("[WD] prn={:d} tow={:d} type={:d}".
                       format(prn, time_, type_))
 
+            sat = prn2sat(uGNSS.SBS, prn)
+            b = buff[12:]
+            if self.flg_sbas and self.flg_rnxnav:
+                seph = self.rn.decode_sbs_l1(self.week, time_, sat, b)
+                if seph is not None:
+                    self.re.rnx_snav_body(seph, self.fh_rnxnav)
+
             if self.flg_sbas and self.week >= 0:
                 if sbs_ref > 0 and prn != sbs_ref:
                     return
                 self.fh_sbas.write("{:4d}\t{:6d}\t{:3d}\t{:1d}\t{:3d}\t{:s}\n".
                                    format(self.week, time_, prn, type_, len_,
-                                          hexlify(buff[12:]).decode()))
+                                          hexlify(b).decode()))
 
         elif head[0] == 'r' and head[1] in self.ch_t.keys():
             # Integer Pseudo-ranges

diff --git a/receiver/decode_sbf.py b/receiver/decode_sbf.py
@@ -558,12 +558,21 @@ def decode(self, buff, len_, sys=[], prn=[]):
                 self.fh_sbas.write("{:4d}\t{:6d}\t{:3d}\t{:2d}\t{:3d}\t".
                                    format(self.week, int(self.tow), prn,
                                           src-24, 32))
+                msg = bytearray(32)
                 for i in range(8):
                     d = st.unpack_from('<L', buff, k)[0]
                     self.fh_sbas.write("{:08x}".format(d))
+                    st.pack_into('>L', msg, i*4, d)
                     k += 4
                 self.fh_sbas.write("\n")
 
+                sat = prn2sat(uGNSS.SBS, prn)
+                seph = None
+                if blk_num == 4020:
+                    seph = self.rn.decode_sbs_l1(self.week, self.tow, sat, msg)
+                if seph is not None:
+                    self.re.rnx_snav_body(seph, self.fh_rnxnav)
+
         elif blk_num == 4022:  # GalRawFNAV
             sys, prn = self.decode_head(buff, k)
             sat = prn2sat(sys, prn)
@@ -683,6 +692,7 @@ def decode(self, buff, len_, sys=[], prn=[]):
             k += 7
             crcpass, cnt, src, freq, ch = st.unpack_from('<BBBBB', buff, k)
             k += 5
+            freq -= 8
             if self.flg_gloca:
                 if crcpass != 1:
                     if self.monlevel > 0:

diff --git a/receiver/decode_ubx.py b/receiver/decode_ubx.py
@@ -246,6 +246,7 @@ def decode_nav(self, buff, k=6):
         fh_ = None
         eph = None
         geph = None
+        seph = None
         type_ = sigid
         blen = len_*4
         if sys == uGNSS.GPS:
@@ -287,8 +288,18 @@ def decode_nav(self, buff, k=6):
                 fh_ = self.fh_galcnav
                 type_ = 6
         elif sys == uGNSS.BDS:
-            if sigid == 4 and self.flg_bdsd12:  # B3I D1
+            if sigid == 0 and self.flg_bdsd12:  # B1I D1
+                type_ = 0
+                # eph = self.rn.decode_bds_d1(self.week, self.tow, sat, b)
+            elif sigid == 1 and self.flg_bdsd12:  # B1I D2
+                type_ = 0
+            elif sigid == 2 and self.flg_bdsd12:  # B2I D1
+                type_ = 1
+            elif sigid == 3 and self.flg_bdsd12:  # B2I D2
+                type_ = 1
+            elif sigid == 4 and self.flg_bdsd12:  # B3I D1
                 type_ = 2
+                # eph = self.rn.decode_bds_d1(self.week, self.tow, sat, b, 2)
             elif sigid == 6 and self.flg_bdsb1c:  # B1Cd
                 fh_ = self.fh_bdsb1c
                 type_ = 3
@@ -312,7 +323,10 @@ def decode_nav(self, buff, k=6):
                             self.week, self.tow, sat, b)
             elif sigid == 8 and self.flg_bdsb2a:  # B2ad
                 type_ = 5
+            elif sigid == 10 and self.flg_bdsd12:  # B3I D2
+                type_ = 2
         elif sys == uGNSS.GLO:
+            freqid -= 7
             if sigid == 0 and self.flg_gloca:  # L1 OF
                 type_ = 0
                 geph = self.rn.decode_glo_fdma(self.week, self.tow,
@@ -325,6 +339,7 @@ def decode_nav(self, buff, k=6):
             if sigid == 0 and self.flg_sbas:  # L1C/A
                 fh_ = self.fh_sbas
                 type_ = 0
+                seph = self.rn.decode_sbs_l1(self.week, self.tow, sat, b)
         elif sys == uGNSS.QZS:
             if sigid == 0 and self.flg_qzslnav:  # L1C/A
                 fh_ = self.fh_qzslnav
@@ -344,6 +359,8 @@ def decode_nav(self, buff, k=6):
                 self.re.rnx_nav_body(eph, self.fh_rnxnav)
             if geph is not None:
                 self.re.rnx_gnav_body(geph, self.fh_rnxnav)
+            if seph is not None:
+                self.re.rnx_snav_body(seph, self.fh_rnxnav)
 
         if fh_ is not None and blen > 0:
             fh_.write("{:4d}\t{:6d}\t{:3d}\t{:1d}\t{:3d}\t{:s}\n".
@@ -417,10 +434,10 @@ def decode(self, buff, len_, sys=[], prn=[]):
     opt.flg_bdsb1c = True
     opt.flg_bdsb2a = False
     opt.flg_bdsb2b = False
-    opt.flg_bdsd12 = False
-    opt.flg_gloca = False
+    opt.flg_bdsd12 = True
+    opt.flg_gloca = True
     opt.flg_irnnav = False
-    opt.flg_sbas = False
+    opt.flg_sbas = True
     opt.flg_rnxnav = True
     opt.flg_rnxobs = True