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- Javad decoder: added glonass CDMA, NavIC L1
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@hirokawa
hirokawa committed Jan 5, 2025
1 parent be80611 commit b9715dc
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Showing 3 changed files with 134 additions and 102 deletions.
109 changes: 95 additions & 14 deletions receiver/decode_jps.py
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Original file line number Diff line number Diff line change
@@ -1,8 +1,8 @@
"""
Javad Receiver GREIS messages decoder
[1] GREIS: GNSS Receiver External Interface Specification for 4.3.00,
June, 2023
[1] GREIS: GNSS Receiver External Interface Specification for 4.5.00,
October, 2024
@author: Rui Hirokawa
"""
Expand All @@ -12,7 +12,7 @@
import struct as st
import bitstruct.c as bs
from cssrlib.gnss import epoch2time, time2gpst, prn2sat, uGNSS, uTYP, rSigRnx
from cssrlib.gnss import Obs, rCST, gpst2time, uSIG
from cssrlib.gnss import Obs, rCST, gpst2time, uSIG, copy_buff
from cssrlib.rawnav import rcvDec, rcvOpt
from glob import glob
from enum import IntEnum
Expand Down Expand Up @@ -114,7 +114,7 @@ class jps(rcvDec):
[uSIG.L2I, uSIG.L8X, uSIG.L7I, uSIG.L6I, uSIG.L5X, uSIG.L1X],
[uSIG.L9A, 0, 0, 0, uSIG.L5A, uSIG.L1X],
[0, 0, 0, 0, 0, 0],
[uSIG.L4X, 0, 0, 0, uSIG.L6X, uSIG.L3X]]
[uSIG.L4X, 0, 0, uSIG.L6X, uSIG.L3X, 0]]
freqs = [[1, 1, 2, 2, 3, 1], [1, 1, 2, 2, 3, 0], [1, 0, 0, 0, 3, 0],
[1, 6, 2, 4, 3, 0], [1, 1, 4, 2, 3, 1], [1, 6, 2, 3, 3, 1],
[0, 0, 0, 0, 3, 1]]
Expand Down Expand Up @@ -142,6 +142,7 @@ def __init__(self, opt=None, prefix=''):
self.CNO = np.zeros((self.nmax, self.nsigmax))
self.CNOd = np.zeros((self.nmax, self.nsigmax))

self.nsat = 0
self.qzl6_time_p = -1
self.tod = -1

Expand Down Expand Up @@ -405,7 +406,7 @@ def decode_nd(self, buff, sys=uGNSS.GPS):
def decode(self, buff, len_, sys=[], prn=[]):
head = buff[0:2].decode()
if head == 'RE':
if self.monlevel >= 1:
if self.monlevel > 1:
print("[{:2s}] {:}".format(head, buff[5:5+len_].decode()))

elif self.crc8(buff, len_-1) != buff[-1]:
Expand All @@ -414,19 +415,26 @@ def decode(self, buff, len_, sys=[], prn=[]):

if head == '~~': # receiver time [RT] (epoch start)
self.tod = st.unpack_from('<L', buff, 5)[0]*1e-3
if self.monlevel >= 0:
if self.monlevel > 1:
print("[RT] tod={:.1f}".format(self.tod))
elif head == 'RE':
return
elif head == '::': # epoch time [ET] (epoch end)
self.tod = st.unpack_from('<L', buff, 5)[0]*1e-3
if self.monlevel >= 0:
if self.monlevel > 1:
print("[ET] tod={:.1f}".format(self.tod))

obs = self.decode_obs()
if self.flg_rnxobs and obs is not None:
self.obs = obs
self.re.rnx_obs_header(obs.time, self.fh_rnxobs)
self.re.rnx_obs_body(obs, self.fh_rnxobs)

elif head == 'GT': # GPS time [GT]
tow, wn, cycle = st.unpack_from('<LHB', buff, 5) # ms
self.week = wn+cycle*1024
self.tow = tow*1e-3
if self.monlevel >= 0:
if self.monlevel > 1:
print("[GT] tow={:.1f} week={:4d}".format(self.tow, self.week))
elif head == 'RD': # Receiver Date and Receiver Time
# base 0:GPS,1:UTC USNO,2:GLO,3:UTC SU
Expand All @@ -439,14 +447,15 @@ def decode(self, buff, len_, sys=[], prn=[]):
ep = [year, month, day, h, m, s]
self.week, self.tow = time2gpst(epoch2time(ep))

if self.monlevel >= 0:
if self.monlevel > 1:
print("[RD] {:d}/{:d}/{:d} {:d}".
format(year, month, day, base))
elif head == 'SX': # satellite index
sys = []
prn = []
nsat = (len_-6)//2
esi = st.unpack_from('<'+'B'*2*nsat, buff, 5)
self.nsat = nsat
self.freqn = np.zeros(nsat, dtype=int)
for k in range(nsat):
ssid = esi[k*2]
Expand Down Expand Up @@ -494,7 +503,7 @@ def decode(self, buff, len_, sys=[], prn=[]):

elif head == 'xd': # QZSS L6 Message Data
prn, time_, type_, len_ = st.unpack_from('<BLBB', buff, 5)
if self.monlevel >= 1:
if self.monlevel > 1:
print("[xd] prn={:d} tow={:d} type={:d} len={:d}".
format(prn, time_, type_, len_))
if self.week >= 0:
Expand Down Expand Up @@ -555,13 +564,78 @@ def decode(self, buff, len_, sys=[], prn=[]):

elif head == 'id': # NavIC Navigation data
prn, time_, type_, len_ = st.unpack_from('<BLBB', buff, 5)
sat = prn2sat(uGNSS.IRN, prn)
# type 0 - L5, 1 - S, 2 - L1
msg = st.unpack_from('>'+len_*'L', buff, 12)
b = bytes(np.array(msg, dtype='uint32'))

if self.flg_rnxnav:
eph = None
if type_ == 0:
eph = self.rn.decode_irn_lnav(self.week, time_, sat, b)
elif type_ == 2:
# for L1
# data[0] – subframe 1 (toi)
# data[1…19] – subframe 2
# data[20…28] – subframe 3

msg = bytearray(228) # recover original L1C msg structure
# toi: 9b, data2: 600b, data3: 274b
toi = bs.unpack_from('u32', b, 0)[0]
bs.pack_into('u9', msg, 0, toi)
copy_buff(b, msg, 32, 52, 600)
copy_buff(b, msg, 640, 1252, 274)
msg = bytes(msg)
eph = self.rn.decode_irn_l1nav(self.week, time_, sat, msg)

if eph is not None:
self.re.rnx_nav_body(eph, self.fh_rnxnav)

if self.monlevel >= 2:
print(f"[id] time={time_:6d} prn={prn:2d} type={type_}")

elif head == 'lD': # Glonass Raw Navigation data
svn, fcn, time_, type_, len_ = st.unpack_from('<BbLBB', buff, 5)
elif head == 'ED': # Galileo Navigation data
# type 0 - L1, 2 - L2C, 3 - P1, 4 - P2
msg = st.unpack_from('>'+len_*'L', buff, 12)
b = bytes(np.array(msg, dtype='uint32'))

if self.flg_rnxnav:
geph = None
geph = self.rn.decode_glo_fdma(self.week, time_, sat, b)

if geph is not None:
self.re.rnx_gnav_body(geph, self.fh_rnxnav)

if self.monlevel >= 2:
print(f"[lD] time={time_:6d} svn={svn:2d} fcn{fcn:2d} " +
f"type={type_}")

elif head == 'ud': # Glonass CDMA Raw Navigation data
prn, time_, type_, len_ = st.unpack_from('<BLBB', buff, 5)
# type: 0 - L1, 1 - L2, 3 - L3
sat = prn2sat(uGNSS.GLO, prn)
msg = st.unpack_from('>'+len_*'L', buff, 12)
b = bytes(np.array(msg, dtype='uint32'))

if self.flg_rnxnav:
geph = None
if type_ == 0:
geph = self.rn.decode_glo_l1oc(self.week, time_, sat, b)
elif type_ == 2:
geph = self.rn.decode_glo_l3oc(self.week, time_, sat, b)

if geph is not None:
self.re.rnx_gnav_body(geph, self.fh_rnxnav)

if self.monlevel >= 2:
print(f"[ud] time={time_:6d} prn={prn:2d} type={type_}")

elif head == 'ED': # Galileo Raw Navigation data
prn, time_, type_, len_ = st.unpack_from('<BLBB', buff, 5)
sat = prn2sat(uGNSS.GAL, prn)
if self.monlevel >= 2:
print("[ED] time={:6d} prn={:2d}".format(time_, prn))
print(f"[ED] time={time_:6d} prn={prn:2d} type={type_}")

# [I/NAV]
# even/odd,page-type,data(1/2),tail => 1,1,112,6
Expand Down Expand Up @@ -795,6 +869,12 @@ def decode(self, buff, len_, sys=[], prn=[]):
ch = self.ch_t[head[0]]
nsat = (len_-6)//2
# srdp = st.unpack_from('h'*nsat, buff, 5)
elif head in ('ST', 'SP', 'PV', 'PG'):
# [ST] Solution Time-Tag
# [SP] Position Covariance Matrix
# [PV] Cartesian Position and Velocity
# [PG] Geodetic Position
None
else:
print("[{:s}] undef".format(head))
return 0
Expand Down Expand Up @@ -826,7 +906,8 @@ def decode(self, buff, len_, sys=[], prn=[]):
opt.flg_sbas = False
opt.flg_rnxnav = True

prn_ref = 199
# prn_ref = 199
prn_ref = -1
sbs_ref = -1

for f in glob(bdir+fnames):
Expand All @@ -837,7 +918,7 @@ def decode(self, buff, len_, sys=[], prn=[]):

prefix = bdir+fname[4:].removesuffix('.jps')+'_'
jpsdec = jps(opt=opt, prefix=bdir+fname[4:].removesuffix('.jps')+'_')
jpsdec.monlevel = 2
jpsdec.monlevel = 1

jpsdec.re.anttype = "JAVRINGANT_DM JVDM"
jpsdec.re.rectype = "JAVAD DELTA-3"
Expand Down
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