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Import CPR changes from experimental branch.

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Oliver Jowett 2015-01-20 18:41:44 +00:00
parent b9b76da02d
commit ed4d481772
9 changed files with 925 additions and 357 deletions
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18
Makefile
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@ -19,13 +19,19 @@ CC=gcc
all: dump1090 view1090 all: dump1090 view1090
%.o: %.c dump1090.h %.o: %.c dump1090.h
$(CC) $(CPPFLAGS) $(CFLAGS) $(EXTRACFLAGS) -c $< $(CC) $(CPPFLAGS) $(CFLAGS) $(EXTRACFLAGS) -c $< -o $@
dump1090: dump1090.o anet.o interactive.o mode_ac.o mode_s.o net_io.o crc.o demod_2000.o demod_2400.o stats.o dump1090: dump1090.o anet.o interactive.o mode_ac.o mode_s.o net_io.o crc.o demod_2000.o demod_2400.o stats.o cpr.o
$(CC) -g -o dump1090 $^ $(LIBS) $(LIBS_RTL) $(LDFLAGS) $(CC) -g -o $@ $^ $(LIBS) $(LIBS_RTL) $(LDFLAGS)
view1090: view1090.o anet.o interactive.o mode_ac.o mode_s.o net_io.o crc.o stats.o view1090: view1090.o anet.o interactive.o mode_ac.o mode_s.o net_io.o crc.o stats.o cpr.o
$(CC) -g -o view1090 $^ $(LIBS) $(LDFLAGS) $(CC) -g -o $@ $^ $(LIBS) $(LDFLAGS)
clean: clean:
rm -f *.o dump1090 view1090 rm -f *.o dump1090 view1090 cprtests
test: cprtests
$(PWD)/cprtests
cprtests: cpr.o cprtests.o
$(CC) -g -o $@ $^ $(LIBS) $(LDFLAGS)

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cpr.c Normal file
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// Part of dump1090, a Mode S message decoder for RTLSDR devices.
//
// cpr.c - Compact Position Reporting decoder and tests
//
// Copyright (c) 2014,2015 Oliver Jowett <oliver@mutability.co.uk>
//
// This file is free software: you may copy, redistribute and/or modify it
// under the terms of the GNU General Public License as published by the
// Free Software Foundation, either version 2 of the License, or (at your
// option) any later version.
//
// This file is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
// This file incorporates work covered by the following copyright and
// permission notice:
//
// Copyright (C) 2012 by Salvatore Sanfilippo <antirez@gmail.com>
//
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <math.h>
#include <stdio.h>
//
//=========================================================================
//
// Always positive MOD operation, used for CPR decoding.
//
static int cprModInt(int a, int b) {
int res = a % b;
if (res < 0) res += b;
return res;
}
static double cprModDouble(double a, double b) {
double res = fmod(a, b);
if (res < 0) res += b;
return res;
}
//
//=========================================================================
//
// The NL function uses the precomputed table from 1090-WP-9-14
//
static int cprNLFunction(double lat) {
if (lat < 0) lat = -lat; // Table is simmetric about the equator
if (lat < 10.47047130) return 59;
if (lat < 14.82817437) return 58;
if (lat < 18.18626357) return 57;
if (lat < 21.02939493) return 56;
if (lat < 23.54504487) return 55;
if (lat < 25.82924707) return 54;
if (lat < 27.93898710) return 53;
if (lat < 29.91135686) return 52;
if (lat < 31.77209708) return 51;
if (lat < 33.53993436) return 50;
if (lat < 35.22899598) return 49;
if (lat < 36.85025108) return 48;
if (lat < 38.41241892) return 47;
if (lat < 39.92256684) return 46;
if (lat < 41.38651832) return 45;
if (lat < 42.80914012) return 44;
if (lat < 44.19454951) return 43;
if (lat < 45.54626723) return 42;
if (lat < 46.86733252) return 41;
if (lat < 48.16039128) return 40;
if (lat < 49.42776439) return 39;
if (lat < 50.67150166) return 38;
if (lat < 51.89342469) return 37;
if (lat < 53.09516153) return 36;
if (lat < 54.27817472) return 35;
if (lat < 55.44378444) return 34;
if (lat < 56.59318756) return 33;
if (lat < 57.72747354) return 32;
if (lat < 58.84763776) return 31;
if (lat < 59.95459277) return 30;
if (lat < 61.04917774) return 29;
if (lat < 62.13216659) return 28;
if (lat < 63.20427479) return 27;
if (lat < 64.26616523) return 26;
if (lat < 65.31845310) return 25;
if (lat < 66.36171008) return 24;
if (lat < 67.39646774) return 23;
if (lat < 68.42322022) return 22;
if (lat < 69.44242631) return 21;
if (lat < 70.45451075) return 20;
if (lat < 71.45986473) return 19;
if (lat < 72.45884545) return 18;
if (lat < 73.45177442) return 17;
if (lat < 74.43893416) return 16;
if (lat < 75.42056257) return 15;
if (lat < 76.39684391) return 14;
if (lat < 77.36789461) return 13;
if (lat < 78.33374083) return 12;
if (lat < 79.29428225) return 11;
if (lat < 80.24923213) return 10;
if (lat < 81.19801349) return 9;
if (lat < 82.13956981) return 8;
if (lat < 83.07199445) return 7;
if (lat < 83.99173563) return 6;
if (lat < 84.89166191) return 5;
if (lat < 85.75541621) return 4;
if (lat < 86.53536998) return 3;
if (lat < 87.00000000) return 2;
else return 1;
}
//
//=========================================================================
//
static int cprNFunction(double lat, int fflag) {
int nl = cprNLFunction(lat) - (fflag ? 1 : 0);
if (nl < 1) nl = 1;
return nl;
}
//
//=========================================================================
//
static double cprDlonFunction(double lat, int fflag, int surface) {
return (surface ? 90.0 : 360.0) / cprNFunction(lat, fflag);
}
//
//=========================================================================
//
// This algorithm comes from:
// http://www.lll.lu/~edward/edward/adsb/DecodingADSBposition.html.
//
// A few remarks:
// 1) 131072 is 2^17 since CPR latitude and longitude are encoded in 17 bits.
//
int decodeCPRairborne(int even_cprlat, int even_cprlon,
int odd_cprlat, int odd_cprlon,
int fflag,
double *out_lat, double *out_lon)
{
double AirDlat0 = 360.0 / 60.0;
double AirDlat1 = 360.0 / 59.0;
double lat0 = even_cprlat;
double lat1 = odd_cprlat;
double lon0 = even_cprlon;
double lon1 = odd_cprlon;
double rlat, rlon;
// Compute the Latitude Index "j"
int j = (int) floor(((59*lat0 - 60*lat1) / 131072) + 0.5);
double rlat0 = AirDlat0 * (cprModInt(j,60) + lat0 / 131072);
double rlat1 = AirDlat1 * (cprModInt(j,59) + lat1 / 131072);
if (rlat0 >= 270) rlat0 -= 360;
if (rlat1 >= 270) rlat1 -= 360;
// Check to see that the latitude is in range: -90 .. +90
if (rlat0 < -90 || rlat0 > 90 || rlat1 < -90 || rlat1 > 90)
return (-2); // bad data
// Check that both are in the same latitude zone, or abort.
if (cprNLFunction(rlat0) != cprNLFunction(rlat1))
return (-1); // positions crossed a latitude zone, try again later
// Compute ni and the Longitude Index "m"
if (fflag) { // Use odd packet.
int ni = cprNFunction(rlat1,1);
int m = (int) floor((((lon0 * (cprNLFunction(rlat1)-1)) -
(lon1 * cprNLFunction(rlat1))) / 131072.0) + 0.5);
rlon = cprDlonFunction(rlat1, 1, 0) * (cprModInt(m, ni)+lon1/131072);
rlat = rlat1;
} else { // Use even packet.
int ni = cprNFunction(rlat0,0);
int m = (int) floor((((lon0 * (cprNLFunction(rlat0)-1)) -
(lon1 * cprNLFunction(rlat0))) / 131072) + 0.5);
rlon = cprDlonFunction(rlat0, 0, 0) * (cprModInt(m, ni)+lon0/131072);
rlat = rlat0;
}
// Renormalize to -180 .. +180
rlon -= floor( (rlon + 180) / 360 ) * 360;
*out_lat = rlat;
*out_lon = rlon;
return 0;
}
int decodeCPRsurface(double reflat, double reflon,
int even_cprlat, int even_cprlon,
int odd_cprlat, int odd_cprlon,
int fflag,
double *out_lat, double *out_lon)
{
double AirDlat0 = 90.0 / 60.0;
double AirDlat1 = 90.0 / 59.0;
double lat0 = even_cprlat;
double lat1 = odd_cprlat;
double lon0 = even_cprlon;
double lon1 = odd_cprlon;
double rlon, rlat;
// Compute the Latitude Index "j"
int j = (int) floor(((59*lat0 - 60*lat1) / 131072) + 0.5);
double rlat0 = AirDlat0 * (cprModInt(j,60) + lat0 / 131072);
double rlat1 = AirDlat1 * (cprModInt(j,59) + lat1 / 131072);
// Pick the quadrant that's closest to the reference location -
// this is not necessarily the same quadrant that contains the
// reference location.
//
// There are also only two valid quadrants: -90..0 and 0..90;
// no correct message would try to encoding a latitude in the
// ranges -180..-90 and 90..180.
//
// If the computed latitude is more than 45 degrees north of
// the reference latitude (using the northern hemisphere
// solution), then the southern hemisphere solution will be
// closer to the refernce latitude.
//
// e.g. reflat=0, rlat=44, use rlat=44
// reflat=0, rlat=46, use rlat=46-90 = -44
// reflat=40, rlat=84, use rlat=84
// reflat=40, rlat=86, use rlat=86-90 = -4
// reflat=-40, rlat=4, use rlat=4
// reflat=-40, rlat=6, use rlat=6-90 = -84
if ( (rlat0 - reflat) > 45 ) rlat0 -= 90;
if ( (rlat1 - reflat) > 45 ) rlat1 -= 90;
// Check to see that the latitude is in range: -90 .. +90
if (rlat0 < -90 || rlat0 > 90 || rlat1 < -90 || rlat1 > 90)
return (-2); // bad data
// Check that both are in the same latitude zone, or abort.
if (cprNLFunction(rlat0) != cprNLFunction(rlat1))
return (-1); // positions crossed a latitude zone, try again later
// Compute ni and the Longitude Index "m"
if (fflag) { // Use odd packet.
int ni = cprNFunction(rlat1,1);
int m = (int) floor((((lon0 * (cprNLFunction(rlat1)-1)) -
(lon1 * cprNLFunction(rlat1))) / 131072.0) + 0.5);
rlon = cprDlonFunction(rlat1, 1, 1) * (cprModInt(m, ni)+lon1/131072);
rlat = rlat1;
} else { // Use even packet.
int ni = cprNFunction(rlat0,0);
int m = (int) floor((((lon0 * (cprNLFunction(rlat0)-1)) -
(lon1 * cprNLFunction(rlat0))) / 131072) + 0.5);
rlon = cprDlonFunction(rlat0, 0, 1) * (cprModInt(m, ni)+lon0/131072);
rlat = rlat0;
}
// Pick the quadrant that's closest to the reference location -
// this is not necessarily the same quadrant that contains the
// reference location. Unlike the latitude case, all four
// quadrants are valid.
// if reflon is more than 45 degrees away, move some multiple of 90 degrees towards it
rlon += floor( (reflon - rlon + 45) / 90 ) * 90; // this might move us outside (-180..+180), we fix this below
// Renormalize to -180 .. +180
rlon -= floor( (rlon + 180) / 360 ) * 360;
*out_lat = rlat;
*out_lon = rlon;
return 0;
}
//
//=========================================================================
//
// This algorithm comes from:
// 1090-WP29-07-Draft_CPR101 (which also defines decodeCPR() )
//
// Despite what the earlier comment here said, we should *not* be using trunc().
// See Figure 5-5 / 5-6 and note that floor is applied to (0.5 + fRP - fEP), not
// directly to (fRP - fEP). Eq 38 is correct.
//
int decodeCPRrelative(double reflat, double reflon,
int cprlat, int cprlon,
int fflag, int surface,
double *out_lat, double *out_lon)
{
double AirDlat;
double AirDlon;
double fractional_lat = cprlat / 131072.0;
double fractional_lon = cprlon / 131072.0;
double rlon, rlat;
int j,m;
AirDlat = (surface ? 90.0 : 360.0) / (fflag ? 59.0 : 60.0);
// Compute the Latitude Index "j"
j = (int) (floor(reflat/AirDlat) +
floor(0.5 + cprModDouble(reflat, AirDlat)/AirDlat - fractional_lat));
rlat = AirDlat * (j + fractional_lat);
if (rlat >= 270) rlat -= 360;
// Check to see that the latitude is in range: -90 .. +90
if (rlat < -90 || rlat > 90) {
return (-1); // Time to give up - Latitude error
}
// Check to see that answer is reasonable - ie no more than 1/2 cell away
if (fabs(rlat - reflat) > (AirDlat/2)) {
return (-1); // Time to give up - Latitude error
}
// Compute the Longitude Index "m"
AirDlon = cprDlonFunction(rlat, fflag, surface);
m = (int) (floor(reflon/AirDlon) +
floor(0.5 + cprModDouble(reflon, AirDlon)/AirDlon - fractional_lon));
rlon = AirDlon * (m + fractional_lon);
if (rlon > 180) rlon -= 360;
// Check to see that answer is reasonable - ie no more than 1/2 cell away
if (fabs(rlon - reflon) > (AirDlon/2))
return (-1); // Time to give up - Longitude error
*out_lat = rlat;
*out_lon = rlon;
return (0);
}

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// Part of dump1090, a Mode S message decoder for RTLSDR devices.
//
// cpr.h - Compact Position Reporting prototypes
//
// Copyright (c) 2014,2015 Oliver Jowett <oliver@mutability.co.uk>
//
// This file is free software: you may copy, redistribute and/or modify it
// under the terms of the GNU General Public License as published by the
// Free Software Foundation, either version 2 of the License, or (at your
// option) any later version.
//
// This file is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
#ifndef DUMP1090_CPR_H
#define DUMP1090_CPR_H
int decodeCPRairborne(int even_cprlat, int even_cprlon,
int odd_cprlat, int odd_cprlon,
int fflag,
double *out_lat, double *out_lon);
int decodeCPRsurface(double reflat, double reflon,
int even_cprlat, int even_cprlon,
int odd_cprlat, int odd_cprlon,
int fflag,
double *out_lat, double *out_lon);
int decodeCPRrelative(double reflat, double reflon,
int cprlat, int cprlon,
int fflag, int surface,
double *out_lat, double *out_lon);
#endif

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// Part of dump1090, a Mode S message decoder for RTLSDR devices.
//
// cprtests.c - tests for CPR decoder
//
// Copyright (c) 2014,2015 Oliver Jowett <oliver@mutability.co.uk>
//
// This file is free software: you may copy, redistribute and/or modify it
// under the terms of the GNU General Public License as published by the
// Free Software Foundation, either version 2 of the License, or (at your
// option) any later version.
//
// This file is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
#include <math.h>
#include <stdio.h>
#include "cpr.h"
// Global, airborne CPR test data:
static const struct {
int even_cprlat, even_cprlon; // input: raw CPR values, even message
int odd_cprlat, odd_cprlon; // input: raw CPR values, odd message
int even_result; // verify: expected result from decoding with fflag=0 (even message is latest)
double even_rlat, even_rlon; // verify: expected position from decoding with fflag=0 (even message is latest)
int odd_result; // verify: expected result from decoding with fflag=1 (odd message is latest)
double odd_rlat, odd_rlon; // verify: expected position from decoding with fflag=1 (odd message is latest)
} cprGlobalAirborneTests[] = {
{ 80536, 9432, 61720, 9192, 0, 51.686646, 0.700156, 0, 51.686763, 0.701294 },
{ 80534, 9413, 61714, 9144, 0, 51.686554, 0.698745, 0, 51.686484, 0.697632 },
// todo: more positions, bad data
};
// Global, surface CPR test data:
static const struct {
double reflat, reflon; // input: reference location for decoding
int even_cprlat, even_cprlon; // input: raw CPR values, even message
int odd_cprlat, odd_cprlon; // input: raw CPR values, odd message
int even_result; // verify: expected result from decoding with fflag=0 (even message is latest)
double even_rlat, even_rlon; // verify: expected position from decoding with fflag=0 (even message is latest)
int odd_result; // verify: expected result from decoding with fflag=1 (odd message is latest)
double odd_rlat, odd_rlon; // verify: expected position from decoding with fflag=1 (odd message is latest)
} cprGlobalSurfaceTests[] = {
// The real position received here was on the Cambridge (UK) airport apron at 52.21N 0.177E
// We mess with the reference location to check that the right quadrant is used.
// longitude quadrants:
{ 52.00, -180.00, 105730, 9259, 29693, 8997, 0, 52.209984, 0.176601 - 180.0, 0, 52.209976, 0.176507 - 180.0 },
{ 52.00, -140.00, 105730, 9259, 29693, 8997, 0, 52.209984, 0.176601 - 180.0, 0, 52.209976, 0.176507 - 180.0 },
{ 52.00, -130.00, 105730, 9259, 29693, 8997, 0, 52.209984, 0.176601 - 90.0, 0, 52.209976, 0.176507 - 90.0 },
{ 52.00, -50.00, 105730, 9259, 29693, 8997, 0, 52.209984, 0.176601 - 90.0, 0, 52.209976, 0.176507 - 90.0 },
{ 52.00, -40.00, 105730, 9259, 29693, 8997, 0, 52.209984, 0.176601, 0, 52.209976, 0.176507 },
{ 52.00, -10.00, 105730, 9259, 29693, 8997, 0, 52.209984, 0.176601, 0, 52.209976, 0.176507 },
{ 52.00, 0.00, 105730, 9259, 29693, 8997, 0, 52.209984, 0.176601, 0, 52.209976, 0.176507 },
{ 52.00, 10.00, 105730, 9259, 29693, 8997, 0, 52.209984, 0.176601, 0, 52.209976, 0.176507 },
{ 52.00, 40.00, 105730, 9259, 29693, 8997, 0, 52.209984, 0.176601, 0, 52.209976, 0.176507 },
{ 52.00, 50.00, 105730, 9259, 29693, 8997, 0, 52.209984, 0.176601 + 90.0, 0, 52.209976, 0.176507 + 90.0 },
{ 52.00, 130.00, 105730, 9259, 29693, 8997, 0, 52.209984, 0.176601 + 90.0, 0, 52.209976, 0.176507 + 90.0 },
{ 52.00, 140.00, 105730, 9259, 29693, 8997, 0, 52.209984, 0.176601 - 180.0, 0, 52.209976, 0.176507 - 180.0 },
{ 52.00, 180.00, 105730, 9259, 29693, 8997, 0, 52.209984, 0.176601 - 180.0, 0, 52.209976, 0.176507 - 180.0 },
// latitude quadrants (but only 2). The decoded longitude also changes because the cell size changes with latitude
{ 90.00, 0.00, 105730, 9259, 29693, 8997, 0, 52.209984, 0.176601, 0, 52.209976, 0.176507 },
{ 52.00, 0.00, 105730, 9259, 29693, 8997, 0, 52.209984, 0.176601, 0, 52.209976, 0.176507 },
{ 8.00, 0.00, 105730, 9259, 29693, 8997, 0, 52.209984, 0.176601, 0, 52.209976, 0.176507 },
{ 7.00, 0.00, 105730, 9259, 29693, 8997, 0, 52.209984 - 90.0, 0.135269, 0, 52.209976 - 90.0, 0.134299 },
{ -52.00, 0.00, 105730, 9259, 29693, 8997, 0, 52.209984 - 90.0, 0.135269, 0, 52.209976 - 90.0, 0.134299 },
{ -90.00, 0.00, 105730, 9259, 29693, 8997, 0, 52.209984 - 90.0, 0.135269, 0, 52.209976 - 90.0, 0.134299 },
};
// Relative CPR test data:
static const struct {
double reflat, reflon; // input: reference location for decoding
int cprlat, cprlon; // input: raw CPR values, even or odd message
int fflag; // input: fflag in raw message
int surface; // input: decode as air (0) or surface (1) position
int result; // verify: expected result
double rlat, rlon; // verify: expected position
} cprRelativeTests[] = {
//
// AIRBORNE
//
{ 52.00, 0.00, 80536, 9432, 0, 0, 0, 51.686646, 0.700156 }, // even, airborne
{ 52.00, 0.00, 61720, 9192, 1, 0, 0, 51.686763, 0.701294 }, // odd, airborne
{ 52.00, 0.00, 80534, 9413, 0, 0, 0, 51.686554, 0.698745 }, // even, airborne
{ 52.00, 0.00, 61714, 9144, 1, 0, 0, 51.686484, 0.697632 }, // odd, airborne
// test moving the receiver around a bit
// We cannot move it more than 1/2 cell away before ambiguity happens.
// latitude must be within about 3 degrees (cell size is 360/60 = 6 degrees)
{ 48.70, 0.00, 80536, 9432, 0, 0, 0, 51.686646, 0.700156 }, // even, airborne
{ 48.70, 0.00, 61720, 9192, 1, 0, 0, 51.686763, 0.701294 }, // odd, airborne
{ 48.70, 0.00, 80534, 9413, 0, 0, 0, 51.686554, 0.698745 }, // even, airborne
{ 48.70, 0.00, 61714, 9144, 1, 0, 0, 51.686484, 0.697632 }, // odd, airborne
{ 54.60, 0.00, 80536, 9432, 0, 0, 0, 51.686646, 0.700156 }, // even, airborne
{ 54.60, 0.00, 61720, 9192, 1, 0, 0, 51.686763, 0.701294 }, // odd, airborne
{ 54.60, 0.00, 80534, 9413, 0, 0, 0, 51.686554, 0.698745 }, // even, airborne
{ 54.60, 0.00, 61714, 9144, 1, 0, 0, 51.686484, 0.697632 }, // odd, airborne
// longitude must be within about 4.8 degrees at this latitude
{ 52.00, 5.40, 80536, 9432, 0, 0, 0, 51.686646, 0.700156 }, // even, airborne
{ 52.00, 5.40, 61720, 9192, 1, 0, 0, 51.686763, 0.701294 }, // odd, airborne
{ 52.00, 5.40, 80534, 9413, 0, 0, 0, 51.686554, 0.698745 }, // even, airborne
{ 52.00, 5.40, 61714, 9144, 1, 0, 0, 51.686484, 0.697632 }, // odd, airborne
{ 52.00, -4.10, 80536, 9432, 0, 0, 0, 51.686646, 0.700156 }, // even, airborne
{ 52.00, -4.10, 61720, 9192, 1, 0, 0, 51.686763, 0.701294 }, // odd, airborne
{ 52.00, -4.10, 80534, 9413, 0, 0, 0, 51.686554, 0.698745 }, // even, airborne
{ 52.00, -4.10, 61714, 9144, 1, 0, 0, 51.686484, 0.697632 }, // odd, airborne
//
// SURFACE
//
// Surface position on the Cambridge (UK) airport apron at 52.21N 0.18E
{ 52.00, 0.00, 105730, 9259, 0, 1, 0, 52.209984, 0.176601 }, // even, surface
{ 52.00, 0.00, 29693, 8997, 1, 1, 0, 52.209976, 0.176507 }, // odd, surface
// test moving the receiver around a bit
// We cannot move it more than 1/2 cell away before ambiguity happens.
// latitude must be within about 0.75 degrees (cell size is 90/60 = 1.5 degrees)
{ 51.46, 0.00, 105730, 9259, 0, 1, 0, 52.209984, 0.176601 }, // even, surface
{ 51.46, 0.00, 29693, 8997, 1, 1, 0, 52.209976, 0.176507 }, // odd, surface
{ 52.95, 0.00, 105730, 9259, 0, 1, 0, 52.209984, 0.176601 }, // even, surface
{ 52.95, 0.00, 29693, 8997, 1, 1, 0, 52.209976, 0.176507 }, // odd, surface
// longitude must be within about 1.25 degrees at this latitude
{ 52.00, 1.40, 105730, 9259, 0, 1, 0, 52.209984, 0.176601 }, // even, surface
{ 52.00, 1.40, 29693, 8997, 1, 1, 0, 52.209976, 0.176507 }, // odd, surface
{ 52.00, -1.05, 105730, 9259, 0, 1, 0, 52.209984, 0.176601 }, // even, surface
{ 52.00, -1.05, 29693, 8997, 1, 1, 0, 52.209976, 0.176507 }, // odd, surface
};
static int testCPRGlobalAirborne() {
int ok = 1;
unsigned i;
for (i = 0; i < sizeof(cprGlobalAirborneTests)/sizeof(cprGlobalAirborneTests[0]); ++i) {
double rlat = 0, rlon = 0;
int res;
res = decodeCPRairborne(cprGlobalAirborneTests[i].even_cprlat, cprGlobalAirborneTests[i].even_cprlon,
cprGlobalAirborneTests[i].odd_cprlat, cprGlobalAirborneTests[i].odd_cprlon,
0,
&rlat, &rlon);
if (res != cprGlobalAirborneTests[i].even_result
|| fabs(rlat - cprGlobalAirborneTests[i].even_rlat) > 1e-6
|| fabs(rlon - cprGlobalAirborneTests[i].even_rlon) > 1e-6) {
ok = 0;
fprintf(stderr,
"testCPRGlobalAirborne[%d,EVEN]: FAIL: decodeCPRairborne(%d,%d,%d,%d,EVEN) failed:\n"
" result %d (expected %d)\n"
" lat %.6f (expected %.6f)\n"
" lon %.6f (expected %.6f)\n",
i,
cprGlobalAirborneTests[i].even_cprlat, cprGlobalAirborneTests[i].even_cprlon,
cprGlobalAirborneTests[i].odd_cprlat, cprGlobalAirborneTests[i].odd_cprlon,
res, cprGlobalAirborneTests[i].even_result,
rlat, cprGlobalAirborneTests[i].even_rlat,
rlon, cprGlobalAirborneTests[i].even_rlon);
} else {
fprintf(stderr, "testCPRGlobalAirborne[%d,EVEN]: PASS\n", i);
}
res = decodeCPRairborne(cprGlobalAirborneTests[i].even_cprlat, cprGlobalAirborneTests[i].even_cprlon,
cprGlobalAirborneTests[i].odd_cprlat, cprGlobalAirborneTests[i].odd_cprlon,
1,
&rlat, &rlon);
if (res != cprGlobalAirborneTests[i].odd_result
|| fabs(rlat - cprGlobalAirborneTests[i].odd_rlat) > 1e-6
|| fabs(rlon - cprGlobalAirborneTests[i].odd_rlon) > 1e-6) {
ok = 0;
fprintf(stderr,
"testCPRGlobalAirborne[%d,ODD]: FAIL: decodeCPRairborne(%d,%d,%d,%d,ODD) failed:\n"
" result %d (expected %d)\n"
" lat %.6f (expected %.6f)\n"
" lon %.6f (expected %.6f)\n",
i,
cprGlobalAirborneTests[i].even_cprlat, cprGlobalAirborneTests[i].even_cprlon,
cprGlobalAirborneTests[i].odd_cprlat, cprGlobalAirborneTests[i].odd_cprlon,
res, cprGlobalAirborneTests[i].odd_result,
rlat, cprGlobalAirborneTests[i].odd_rlat,
rlon, cprGlobalAirborneTests[i].odd_rlon);
} else {
fprintf(stderr, "testCPRGlobalAirborne[%d,ODD]: PASS\n", i);
}
}
return ok;
}
static int testCPRGlobalSurface() {
int ok = 1;
unsigned i;
for (i = 0; i < sizeof(cprGlobalSurfaceTests)/sizeof(cprGlobalSurfaceTests[0]); ++i) {
double rlat = 0, rlon = 0;
int res;
res = decodeCPRsurface(cprGlobalSurfaceTests[i].reflat, cprGlobalSurfaceTests[i].reflon,
cprGlobalSurfaceTests[i].even_cprlat, cprGlobalSurfaceTests[i].even_cprlon,
cprGlobalSurfaceTests[i].odd_cprlat, cprGlobalSurfaceTests[i].odd_cprlon,
0,
&rlat, &rlon);
if (res != cprGlobalSurfaceTests[i].even_result
|| fabs(rlat - cprGlobalSurfaceTests[i].even_rlat) > 1e-6
|| fabs(rlon - cprGlobalSurfaceTests[i].even_rlon) > 1e-6) {
ok = 0;
fprintf(stderr,
"testCPRGlobalSurface[%d]: FAIL: decodeCPRsurface(%.6f,%.6f,%d,%d,%d,%d,EVEN) failed:\n"
" result %d (expected %d)\n"
" lat %.6f (expected %.6f)\n"
" lon %.6f (expected %.6f)\n",
i,
cprGlobalSurfaceTests[i].reflat, cprGlobalSurfaceTests[i].reflon,
cprGlobalSurfaceTests[i].even_cprlat, cprGlobalSurfaceTests[i].even_cprlon,
cprGlobalSurfaceTests[i].odd_cprlat, cprGlobalSurfaceTests[i].odd_cprlon,
res, cprGlobalSurfaceTests[i].even_result,
rlat, cprGlobalSurfaceTests[i].even_rlat,
rlon, cprGlobalSurfaceTests[i].even_rlon);
} else {
fprintf(stderr, "testCPRGlobalSurface[%d,EVEN]: PASS\n", i);
}
res = decodeCPRsurface(cprGlobalSurfaceTests[i].reflat, cprGlobalSurfaceTests[i].reflon,
cprGlobalSurfaceTests[i].even_cprlat, cprGlobalSurfaceTests[i].even_cprlon,
cprGlobalSurfaceTests[i].odd_cprlat, cprGlobalSurfaceTests[i].odd_cprlon,
1,
&rlat, &rlon);
if (res != cprGlobalSurfaceTests[i].odd_result
|| fabs(rlat - cprGlobalSurfaceTests[i].odd_rlat) > 1e-6
|| fabs(rlon - cprGlobalSurfaceTests[i].odd_rlon) > 1e-6) {
ok = 0;
fprintf(stderr,
"testCPRGlobalSurface[%d,ODD]: FAIL: decodeCPRsurface(%.6f,%.6f,%d,%d,%d,%d,ODD) failed:\n"
" result %d (expected %d)\n"
" lat %.6f (expected %.6f)\n"
" lon %.6f (expected %.6f)\n",
i,
cprGlobalSurfaceTests[i].reflat, cprGlobalSurfaceTests[i].reflon,
cprGlobalSurfaceTests[i].even_cprlat, cprGlobalSurfaceTests[i].even_cprlon,
cprGlobalSurfaceTests[i].odd_cprlat, cprGlobalSurfaceTests[i].odd_cprlon,
res, cprGlobalSurfaceTests[i].odd_result,
rlat, cprGlobalSurfaceTests[i].odd_rlat,
rlon, cprGlobalSurfaceTests[i].odd_rlon);
} else {
fprintf(stderr, "testCPRGlobalSurface[%d,ODD]: PASS\n", i);
}
}
return ok;
}
static int testCPRRelative() {
int ok = 1;
unsigned i;
for (i = 0; i < sizeof(cprRelativeTests)/sizeof(cprRelativeTests[0]); ++i) {
double rlat = 0, rlon = 0;
int res;
res = decodeCPRrelative(cprRelativeTests[i].reflat, cprRelativeTests[i].reflon,
cprRelativeTests[i].cprlat, cprRelativeTests[i].cprlon,
cprRelativeTests[i].fflag, cprRelativeTests[i].surface,
&rlat, &rlon);
if (res != cprRelativeTests[i].result
|| fabs(rlat - cprRelativeTests[i].rlat) > 1e-6
|| fabs(rlon - cprRelativeTests[i].rlon) > 1e-6) {
ok = 0;
fprintf(stderr,
"testCPRRelative[%d]: FAIL: decodeCPRrelative(%.6f,%.6f,%d,%d,%d,%d) failed:\n"
" result %d (expected %d)\n"
" lat %.6f (expected %.6f)\n"
" lon %.6f (expected %.6f)\n",
i,
cprRelativeTests[i].reflat, cprRelativeTests[i].reflon,
cprRelativeTests[i].cprlat, cprRelativeTests[i].cprlon,
cprRelativeTests[i].fflag, cprRelativeTests[i].surface,
res, cprRelativeTests[i].result,
rlat, cprRelativeTests[i].rlat,
rlon, cprRelativeTests[i].rlon);
} else {
fprintf(stderr, "testCPRRelative[%d]: PASS\n", i);
}
}
return ok;
}
int main(int __attribute__ ((unused)) argc, char __attribute__ ((unused)) **argv) {
int ok = 1;
ok = testCPRGlobalAirborne() && ok;
ok = testCPRGlobalSurface() && ok;
ok = testCPRRelative() && ok;
return ok ? 0 : 1;
}

6
dump1090.h
View file

@ -179,6 +179,7 @@
#define MODES_ACFLAGS_FS_VALID (1<<13) // Aircraft Flight Status is known #define MODES_ACFLAGS_FS_VALID (1<<13) // Aircraft Flight Status is known
#define MODES_ACFLAGS_NSEWSPD_VALID (1<<14) // Aircraft EW and NS Speed is known #define MODES_ACFLAGS_NSEWSPD_VALID (1<<14) // Aircraft EW and NS Speed is known
#define MODES_ACFLAGS_LATLON_REL_OK (1<<15) // Indicates it's OK to do a relative CPR #define MODES_ACFLAGS_LATLON_REL_OK (1<<15) // Indicates it's OK to do a relative CPR
#define MODES_ACFLAGS_REL_CPR_USED (1<<16) // Lat/lon derived from relative CPR
#define MODES_ACFLAGS_LLEITHER_VALID (MODES_ACFLAGS_LLEVEN_VALID | MODES_ACFLAGS_LLODD_VALID) #define MODES_ACFLAGS_LLEITHER_VALID (MODES_ACFLAGS_LLEVEN_VALID | MODES_ACFLAGS_LLODD_VALID)
#define MODES_ACFLAGS_LLBOTH_VALID (MODES_ACFLAGS_LLEVEN_VALID | MODES_ACFLAGS_LLODD_VALID) #define MODES_ACFLAGS_LLBOTH_VALID (MODES_ACFLAGS_LLEVEN_VALID | MODES_ACFLAGS_LLODD_VALID)
@ -224,11 +225,14 @@
#define MODES_NOTUSED(V) ((void) V) #define MODES_NOTUSED(V) ((void) V)
// Include subheaders after all the #defines are in place
#include "anet.h" #include "anet.h"
#include "crc.h" #include "crc.h"
#include "demod_2000.h" #include "demod_2000.h"
#include "demod_2400.h" #include "demod_2400.h"
#include "stats.h" #include "stats.h"
#include "cpr.h"
//======================== structure declarations ========================= //======================== structure declarations =========================
@ -467,8 +471,6 @@ void decodeModesMessage (struct modesMessage *mm, unsigned char *msg);
void displayModesMessage(struct modesMessage *mm); void displayModesMessage(struct modesMessage *mm);
void useModesMessage (struct modesMessage *mm); void useModesMessage (struct modesMessage *mm);
void computeMagnitudeVector(uint16_t *pData); void computeMagnitudeVector(uint16_t *pData);
int decodeCPR (struct aircraft *a, int fflag, int surface);
int decodeCPRrelative (struct aircraft *a, int fflag, int surface);
void modesInitErrorInfo (); void modesInitErrorInfo ();
// //
// Functions exported from interactive.c // Functions exported from interactive.c

221
interactive.c
View file

@ -195,13 +195,199 @@ void interactiveUpdateAircraftModeS() {
// //
// Receive new messages and populate the interactive mode with more info // Receive new messages and populate the interactive mode with more info
// //
// Distance between points on a spherical earth.
// This has up to 0.5% error because the earth isn't actually spherical
// (but we don't use it in situations where that matters)
static double greatcircle(double lat0, double lon0, double lat1, double lon1)
{
lat0 = lat0 * M_PI / 180.0;
lon0 = lon0 * M_PI / 180.0;
lat1 = lat1 * M_PI / 180.0;
lon1 = lon1 * M_PI / 180.0;
return 6371e3 * acos(sin(lat0) * sin(lat1) + cos(lat0) * cos(lat1) * cos(fabs(lon0 - lon1)));
}
static int doGlobalCPR(struct aircraft *a, int fflag, int surface)
{
int result;
double lat=0, lon=0;
if (surface) {
// surface global CPR
// find reference location
double reflat, reflon;
if (a->bFlags & MODES_ACFLAGS_LATLON_REL_OK) { // Ok to try aircraft relative first
reflat = a->lat;
reflon = a->lon;
} else if (Modes.bUserFlags & MODES_USER_LATLON_VALID) {
reflat = Modes.fUserLat;
reflon = Modes.fUserLon;
} else {
// No local reference, give up
return (-1);
}
result = decodeCPRsurface(reflat, reflon,
a->even_cprlat, a->even_cprlon,
a->odd_cprlat, a->odd_cprlon,
fflag,
&lat, &lon);
} else {
// airborne global CPR
result = decodeCPRairborne(a->even_cprlat, a->even_cprlon,
a->odd_cprlat, a->odd_cprlon,
fflag,
&lat, &lon);
}
if (result < 0)
return result;
// check max range
if (Modes.maxRange > 0 && (Modes.bUserFlags & MODES_USER_LATLON_VALID)) {
double range = greatcircle(Modes.fUserLat, Modes.fUserLon, lat, lon);
if (range > Modes.maxRange)
return (-2); // we consider an out-of-range value to be bad data
}
a->lat = lat;
a->lon = lon;
return 0;
}
static int doLocalCPR(struct aircraft *a, int fflag, int surface, time_t now)
{
// relative CPR
// find reference location
double reflat, reflon, lat=0, lon=0;
double range_limit = 0;
int result;
if (a->bFlags & MODES_ACFLAGS_LATLON_REL_OK) {
int elapsed = (int)(now - a->seenLatLon);
if (elapsed < 0) elapsed = 0;
reflat = a->lat;
reflon = a->lon;
// impose a range limit based on 2000km/h speed
range_limit = 5e3 + (2000e3 * elapsed / 3600); // 5km + 2000km/h
} else if (!surface && (Modes.bUserFlags & MODES_USER_LATLON_VALID)) {
reflat = Modes.fUserLat;
reflon = Modes.fUserLon;
// The cell size is at least 360NM, giving a nominal
// max range of 180NM (half a cell).
//
// If the receiver range is more than half a cell
// then we must limit this range further to avoid
// ambiguity. (e.g. if we receive a position report
// at 200NM distance, this may resolve to a position
// at (200-360) = 160NM in the wrong direction)
if (Modes.maxRange > 1852*180)
range_limit = (1852*360) - Modes.maxRange;
} else {
// No local reference, give up
return (-1);
}
result = decodeCPRrelative(reflat, reflon,
fflag ? a->odd_cprlat : a->even_cprlat,
fflag ? a->odd_cprlon : a->even_cprlon,
fflag, surface,
&lat, &lon);
if (result < 0)
return result;
// check range limit
if (range_limit > 0) {
double range = greatcircle(reflat, reflon, lat, lon);
if (range > range_limit)
return (-1);
}
// check max range
if (Modes.maxRange > 0 && (Modes.bUserFlags & MODES_USER_LATLON_VALID)) {
double range = greatcircle(Modes.fUserLat, Modes.fUserLon, lat, lon);
if (range > Modes.maxRange)
return (-2); // we consider an out-of-range value to be bad data
}
a->lat = lat;
a->lon = lon;
return 0;
}
static void updatePosition(struct aircraft *a, struct modesMessage *mm, time_t now)
{
int location_result = -1;
if (mm->bFlags & MODES_ACFLAGS_LLODD_VALID) {
a->odd_cprlat = mm->raw_latitude;
a->odd_cprlon = mm->raw_longitude;
a->odd_cprtime = mstime();
} else {
a->even_cprlat = mm->raw_latitude;
a->even_cprlon = mm->raw_longitude;
a->even_cprtime = mstime();
}
// If we have enough recent data, try global CPR
if (((mm->bFlags | a->bFlags) & MODES_ACFLAGS_LLEITHER_VALID) == MODES_ACFLAGS_LLBOTH_VALID && abs((int)(a->even_cprtime - a->odd_cprtime)) <= 10000) {
location_result = doGlobalCPR(a, (mm->bFlags & MODES_ACFLAGS_LLODD_VALID), (mm->bFlags & MODES_ACFLAGS_AOG));
if (location_result == -2) {
// Global CPR failed because an airborne position produced implausible results.
// This is bad data. Discard both odd and even messages and wait for a fresh pair.
// Also disable aircraft-relative positions until we have a new good position (but don't discard the
// recorded position itself)
Modes.stats_current.cpr_global_bad++;
mm->bFlags &= ~(MODES_ACFLAGS_LATLON_VALID | MODES_ACFLAGS_LLODD_VALID | MODES_ACFLAGS_LLEVEN_VALID);
a->bFlags &= ~(MODES_ACFLAGS_LATLON_REL_OK | MODES_ACFLAGS_LLODD_VALID | MODES_ACFLAGS_LLEVEN_VALID);
return;
} else if (location_result == -1) {
// No local reference for surface position available, or the two messages crossed a zone.
// Nonfatal, try again later.
Modes.stats_current.cpr_global_skipped++;
} else {
Modes.stats_current.cpr_global_ok++;
}
}
// Otherwise try relative CPR.
if (location_result == -1) {
location_result = doLocalCPR(a, (mm->bFlags & MODES_ACFLAGS_LLODD_VALID), (mm->bFlags & MODES_ACFLAGS_AOG), now);
if (location_result == -1) {
Modes.stats_current.cpr_local_skipped++;
} else {
Modes.stats_current.cpr_local_ok++;
mm->bFlags |= MODES_ACFLAGS_REL_CPR_USED;
}
}
if (location_result == 0) {
// If we sucessfully decoded, back copy the results to mm so that we can print them in list output
mm->bFlags |= MODES_ACFLAGS_LATLON_VALID;
mm->fLat = a->lat;
mm->fLon = a->lon;
// Update aircraft state
a->bFlags |= (MODES_ACFLAGS_LATLON_VALID | MODES_ACFLAGS_LATLON_REL_OK);
a->seenLatLon = a->seen;
a->timestampLatLon = a->timestamp;
}
}
struct aircraft *interactiveReceiveData(struct modesMessage *mm) { struct aircraft *interactiveReceiveData(struct modesMessage *mm) {
struct aircraft *a, *aux; struct aircraft *a, *aux;
time_t now;
// Return if (checking crc) AND (not crcok) AND (not fixed) // Return if (checking crc) AND (not crcok) AND (not fixed)
if (Modes.check_crc && (mm->crcok == 0) && (mm->correctedbits == 0)) if (Modes.check_crc && (mm->crcok == 0) && (mm->correctedbits == 0))
return NULL; return NULL;
now = time(NULL);
// Lookup our aircraft or create a new one // Lookup our aircraft or create a new one
a = interactiveFindAircraft(mm->addr); a = interactiveFindAircraft(mm->addr);
if (!a) { // If it's a currently unknown aircraft.... if (!a) { // If it's a currently unknown aircraft....
@ -216,7 +402,7 @@ struct aircraft *interactiveReceiveData(struct modesMessage *mm) {
* since the aircraft that is currently on head sent a message, * since the aircraft that is currently on head sent a message,
* othewise with multiple aircrafts at the same time we have an * othewise with multiple aircrafts at the same time we have an
* useless shuffle of positions on the screen. */ * useless shuffle of positions on the screen. */
if (0 && Modes.aircrafts != a && (time(NULL) - a->seen) >= 1) { if (0 && Modes.aircrafts != a && (now - a->seen) >= 1) {
aux = Modes.aircrafts; aux = Modes.aircrafts;
while(aux->next != a) aux = aux->next; while(aux->next != a) aux = aux->next;
/* Now we are a node before the aircraft to remove. */ /* Now we are a node before the aircraft to remove. */
@ -228,7 +414,7 @@ struct aircraft *interactiveReceiveData(struct modesMessage *mm) {
} }
a->signalLevel[a->messages & 7] = mm->signalLevel;// replace the 8th oldest signal strength a->signalLevel[a->messages & 7] = mm->signalLevel;// replace the 8th oldest signal strength
a->seen = time(NULL); a->seen = now;
a->timestamp = mm->timestampMsg; a->timestamp = mm->timestampMsg;
a->messages++; a->messages++;
@ -282,36 +468,7 @@ struct aircraft *interactiveReceiveData(struct modesMessage *mm) {
// If we've got a new cprlat or cprlon // If we've got a new cprlat or cprlon
if (mm->bFlags & MODES_ACFLAGS_LLEITHER_VALID) { if (mm->bFlags & MODES_ACFLAGS_LLEITHER_VALID) {
int location_ok = 0; updatePosition(a, mm, now);
if (mm->bFlags & MODES_ACFLAGS_LLODD_VALID) {
a->odd_cprlat = mm->raw_latitude;
a->odd_cprlon = mm->raw_longitude;
a->odd_cprtime = mstime();
} else {
a->even_cprlat = mm->raw_latitude;
a->even_cprlon = mm->raw_longitude;
a->even_cprtime = mstime();
}
// If we have enough recent data, try global CPR
if (((mm->bFlags | a->bFlags) & MODES_ACFLAGS_LLEITHER_VALID) == MODES_ACFLAGS_LLBOTH_VALID && abs((int)(a->even_cprtime - a->odd_cprtime)) <= 10000) {
if (decodeCPR(a, (mm->bFlags & MODES_ACFLAGS_LLODD_VALID), (mm->bFlags & MODES_ACFLAGS_AOG)) == 0) {
location_ok = 1;
}
}
// Otherwise try relative CPR.
if (!location_ok && decodeCPRrelative(a, (mm->bFlags & MODES_ACFLAGS_LLODD_VALID), (mm->bFlags & MODES_ACFLAGS_AOG)) == 0) {
location_ok = 1;
}
//If we sucessfully decoded, back copy the results to mm so that we can print them in list output
if (location_ok) {
mm->bFlags |= MODES_ACFLAGS_LATLON_VALID;
mm->fLat = a->lat;
mm->fLon = a->lon;
}
} }
// Update the aircrafts a->bFlags to reflect the newly received mm->bFlags; // Update the aircrafts a->bFlags to reflect the newly received mm->bFlags;

317
mode_s.c
View file

@ -949,324 +949,7 @@ void useModesMessage(struct modesMessage *mm) {
if (Modes.net) {modesQueueOutput(mm);} if (Modes.net) {modesQueueOutput(mm);}
} }
} }
//
//=========================================================================
//
// Always positive MOD operation, used for CPR decoding.
//
int cprModInt(int a, int b) {
int res = a % b;
if (res < 0) res += b;
return res;
}
double cprModDouble(double a, double b) {
double res = fmod(a,b);
if (res < 0) res += b;
return res;
}
//
//=========================================================================
//
// The NL function uses the precomputed table from 1090-WP-9-14
//
int cprNLFunction(double lat) {
if (lat < 0) lat = -lat; // Table is simmetric about the equator
if (lat < 10.47047130) return 59;
if (lat < 14.82817437) return 58;
if (lat < 18.18626357) return 57;
if (lat < 21.02939493) return 56;
if (lat < 23.54504487) return 55;
if (lat < 25.82924707) return 54;
if (lat < 27.93898710) return 53;
if (lat < 29.91135686) return 52;
if (lat < 31.77209708) return 51;
if (lat < 33.53993436) return 50;
if (lat < 35.22899598) return 49;
if (lat < 36.85025108) return 48;
if (lat < 38.41241892) return 47;
if (lat < 39.92256684) return 46;
if (lat < 41.38651832) return 45;
if (lat < 42.80914012) return 44;
if (lat < 44.19454951) return 43;
if (lat < 45.54626723) return 42;
if (lat < 46.86733252) return 41;
if (lat < 48.16039128) return 40;
if (lat < 49.42776439) return 39;
if (lat < 50.67150166) return 38;
if (lat < 51.89342469) return 37;
if (lat < 53.09516153) return 36;
if (lat < 54.27817472) return 35;
if (lat < 55.44378444) return 34;
if (lat < 56.59318756) return 33;
if (lat < 57.72747354) return 32;
if (lat < 58.84763776) return 31;
if (lat < 59.95459277) return 30;
if (lat < 61.04917774) return 29;
if (lat < 62.13216659) return 28;
if (lat < 63.20427479) return 27;
if (lat < 64.26616523) return 26;
if (lat < 65.31845310) return 25;
if (lat < 66.36171008) return 24;
if (lat < 67.39646774) return 23;
if (lat < 68.42322022) return 22;
if (lat < 69.44242631) return 21;
if (lat < 70.45451075) return 20;
if (lat < 71.45986473) return 19;
if (lat < 72.45884545) return 18;
if (lat < 73.45177442) return 17;
if (lat < 74.43893416) return 16;
if (lat < 75.42056257) return 15;
if (lat < 76.39684391) return 14;
if (lat < 77.36789461) return 13;
if (lat < 78.33374083) return 12;
if (lat < 79.29428225) return 11;
if (lat < 80.24923213) return 10;
if (lat < 81.19801349) return 9;
if (lat < 82.13956981) return 8;
if (lat < 83.07199445) return 7;
if (lat < 83.99173563) return 6;
if (lat < 84.89166191) return 5;
if (lat < 85.75541621) return 4;
if (lat < 86.53536998) return 3;
if (lat < 87.00000000) return 2;
else return 1;
}
//
//=========================================================================
//
int cprNFunction(double lat, int fflag) {
int nl = cprNLFunction(lat) - (fflag ? 1 : 0);
if (nl < 1) nl = 1;
return nl;
}
//
//=========================================================================
//
double cprDlonFunction(double lat, int fflag, int surface) {
return (surface ? 90.0 : 360.0) / cprNFunction(lat, fflag);
}
// Distance between points on a spherical earth.
// This has up to 0.5% error because the earth isn't actually spherical
// (but we don't use it in situations where that matters)
static double greatcircle(double lat0, double lon0, double lat1, double lon1)
{
lat0 = lat0 * M_PI / 180.0;
lon0 = lon0 * M_PI / 180.0;
lat1 = lat1 * M_PI / 180.0;
lon1 = lon1 * M_PI / 180.0;
return 6371e3 * acos(sin(lat0) * sin(lat1) + cos(lat0) * cos(lat1) * cos(fabs(lon0 - lon1)));
}
//
//=========================================================================
//
// This algorithm comes from:
// http://www.lll.lu/~edward/edward/adsb/DecodingADSBposition.html.
//
// A few remarks:
// 1) 131072 is 2^17 since CPR latitude and longitude are encoded in 17 bits.
//
int decodeCPR(struct aircraft *a, int fflag, int surface) {
double AirDlat0 = (surface ? 90.0 : 360.0) / 60.0;
double AirDlat1 = (surface ? 90.0 : 360.0) / 59.0;
double lat0 = a->even_cprlat;
double lat1 = a->odd_cprlat;
double lon0 = a->even_cprlon;
double lon1 = a->odd_cprlon;
// Compute the Latitude Index "j"
int j = (int) floor(((59*lat0 - 60*lat1) / 131072) + 0.5);
double rlat0 = AirDlat0 * (cprModInt(j,60) + lat0 / 131072);
double rlat1 = AirDlat1 * (cprModInt(j,59) + lat1 / 131072);
time_t now = time(NULL);
double surface_rlat = MODES_USER_LATITUDE_DFLT;
double surface_rlon = MODES_USER_LONGITUDE_DFLT;
double rlat, rlon;
if (surface) {
// If we're on the ground, make sure we have a (likely) valid Lat/Lon
if ((a->bFlags & MODES_ACFLAGS_LATLON_VALID) && (((int)(now - a->seenLatLon)) < Modes.interactive_display_ttl)) {
surface_rlat = a->lat;
surface_rlon = a->lon;
} else if (Modes.bUserFlags & MODES_USER_LATLON_VALID) {
surface_rlat = Modes.fUserLat;
surface_rlon = Modes.fUserLon;
} else {
// No local reference, give up
return (-1);
}
// Pick the quadrant that's closest to the reference location -
// this is not necessarily the same quadrant that contains the
// reference location. Note there are only two valid quadrants
// here (northern/southern hemisphere)
if ( (rlat0 - surface_rlat) > 45 ) rlat0 -= 90;
if ( (rlat1 - surface_rlat) > 45 ) rlat1 -= 90;
} else {
if (rlat0 >= 270) rlat0 -= 360;
if (rlat1 >= 270) rlat1 -= 360;
}
// Check to see that the latitude is in range: -90 .. +90
if (rlat0 < -90 || rlat0 > 90 || rlat1 < -90 || rlat1 > 90)
return (-1);
// Check that both are in the same latitude zone, or abort.
if (cprNLFunction(rlat0) != cprNLFunction(rlat1))
return (-1);
// Compute ni and the Longitude Index "m"
if (fflag) { // Use odd packet.
int ni = cprNFunction(rlat1,1);
int m = (int) floor((((lon0 * (cprNLFunction(rlat1)-1)) -
(lon1 * cprNLFunction(rlat1))) / 131072.0) + 0.5);
rlon = cprDlonFunction(rlat1, 1, surface) * (cprModInt(m, ni)+lon1/131072);
rlat = rlat1;
} else { // Use even packet.
int ni = cprNFunction(rlat0,0);
int m = (int) floor((((lon0 * (cprNLFunction(rlat0)-1)) -
(lon1 * cprNLFunction(rlat0))) / 131072) + 0.5);
rlon = cprDlonFunction(rlat0, 0, surface) * (cprModInt(m, ni)+lon0/131072);
rlat = rlat0;
}
if (surface) {
// Pick the quadrant that's closest to the reference location -
// this is not necessarily the same quadrant that contains the
// reference location.
rlon += floor( (surface_rlon - rlon + 45) / 90 ) * 90; // if we are >45 degrees away, move towards the reference position
rlon -= floor( (rlon + 180) / 360 ) * 360; // normalize to (-180..+180)
} else if (rlon > 180) {
rlon -= 360;
}
// check max range
if (Modes.maxRange > 0 && (Modes.bUserFlags & MODES_USER_LATLON_VALID)) {
double range = greatcircle(Modes.fUserLat, Modes.fUserLon, rlat, rlon);
if (range > Modes.maxRange)
return (-2); // we consider an out-of-range value to be bad data
}
a->lat = rlat;
a->lon = rlon;
a->seenLatLon = a->seen;
a->timestampLatLon = a->timestamp;
a->bFlags |= (MODES_ACFLAGS_LATLON_VALID | MODES_ACFLAGS_LATLON_REL_OK);
return 0;
}
//
//=========================================================================
//
// This algorithm comes from:
// 1090-WP29-07-Draft_CPR101 (which also defines decodeCPR() )
//
// Despite what the earlier comment here said, we should *not* be using trunc().
// See Figure 5-5 / 5-6 and note that floor() is applied to (0.5 + fRP - fEP), not
// directly to (fRP - fEP). Eq 38 is correct. and we should use floor().
int decodeCPRrelative(struct aircraft *a, int fflag, int surface) {
double AirDlat;
double AirDlon;
double lat;
double lon;
double lonr, latr;
double rlon, rlat;
double range_limit = 0;
int j,m;
if (a->bFlags & MODES_ACFLAGS_LATLON_REL_OK) { // Ok to try aircraft relative first
int elapsed = (int)(time(NULL) - a->seenLatLon);
latr = a->lat;
lonr = a->lon;
// impose a range limit based on 2000km/h speed
range_limit = 5e3 + (2000e3 * elapsed / 3600); // 5km + 2000km/h
} else if (Modes.bUserFlags & MODES_USER_LATLON_VALID) { // Try ground station relative next
latr = Modes.fUserLat;
lonr = Modes.fUserLon;
// The cell size is at least 360NM, giving a nominal
// max range of 180NM (half a cell).
//
// If the receiver range is more than half a cell
// then we must limit this range further to avoid
// ambiguity. (e.g. if we receive a position report
// at 200NM distance, this may resolve to a position
// at (200-360) = 160NM in the wrong direction)
if (Modes.maxRange > 1852*180)
range_limit = (1852*360) - Modes.maxRange;
} else {
return (-1); // Exit with error - can't do relative if we don't have ref.
}
if (fflag) { // odd
AirDlat = (surface ? 90.0 : 360.0) / 59.0;
lat = a->odd_cprlat;
lon = a->odd_cprlon;
} else { // even
AirDlat = (surface ? 90.0 : 360.0) / 60.0;
lat = a->even_cprlat;
lon = a->even_cprlon;
}
// Compute the Latitude Index "j"
j = (int) (floor(latr/AirDlat) +
floor(0.5 + cprModDouble(latr, AirDlat)/AirDlat - lat/131072));
rlat = AirDlat * (j + lat/131072);
if (rlat >= 270) rlat -= 360;
// Check to see that the latitude is in range: -90 .. +90
if (rlat < -90 || rlat > 90) {
a->bFlags &= ~MODES_ACFLAGS_LATLON_REL_OK; // This will cause a quick exit next time if no global has been done
return (-1); // Time to give up - Latitude error
}
// Check to see that answer is reasonable - ie no more than 1/2 cell away
if (fabs(rlat - latr) > (AirDlat/2)) {
a->bFlags &= ~MODES_ACFLAGS_LATLON_REL_OK; // This will cause a quick exit next time if no global has been done
return (-1); // Time to give up - Latitude error
}
// Compute the Longitude Index "m"
AirDlon = cprDlonFunction(rlat, fflag, surface);
m = (int) (floor(lonr/AirDlon) +
floor(0.5 + cprModDouble(lonr, AirDlon)/AirDlon - lon/131072));
rlon = AirDlon * (m + lon/131072);
if (rlon > 180) rlon -= 360;
// Check to see that answer is reasonable - ie no more than 1/2 cell away
if (fabs(rlon - lonr) > (AirDlon/2)) {
a->bFlags &= ~MODES_ACFLAGS_LATLON_REL_OK; // This will cause a quick exit next time if no global has been done
return (-1); // Time to give up - Longitude error
}
// check range limit
if (range_limit > 0) {
double range = greatcircle(latr, lonr, rlat, rlon);
if (range > range_limit)
return (-1);
}
// check max range
if (Modes.maxRange > 0 && (Modes.bUserFlags & MODES_USER_LATLON_VALID)) {
double range = greatcircle(Modes.fUserLat, Modes.fUserLon, rlat, rlon);
if (range > Modes.maxRange)
return (-2); // we consider an out-of-range value to be bad data
}
a->lat = rlat;
a->lon = rlon;
a->seenLatLon = a->seen;
a->timestampLatLon = a->timestamp;
a->bFlags |= (MODES_ACFLAGS_LATLON_VALID | MODES_ACFLAGS_LATLON_REL_OK);
return (0);
}
// //
// ===================== Mode S detection and decoding =================== // ===================== Mode S detection and decoding ===================
// //

21
stats.c
View file

@ -120,6 +120,19 @@ void display_stats(struct stats *st) {
printf("%d total usable messages\n", printf("%d total usable messages\n",
st->messages_total); st->messages_total);
printf("%d global CPR attempts with valid positions\n"
"%d global CPR attempts with bad data\n"
"%d global CPR attempts with insufficient data\n"
"%d local CPR attempts with valid positions\n"
"%d local CPR attempts with insufficient data\n"
"%d CPR messages that look like transponder failures filtered\n",
st->cpr_global_ok,
st->cpr_global_bad,
st->cpr_global_skipped,
st->cpr_local_ok,
st->cpr_local_skipped,
st->cpr_filtered);
fflush(stdout); fflush(stdout);
} }
@ -192,5 +205,13 @@ void add_stats(const struct stats *st1, const struct stats *st2, struct stats *t
// total messages: // total messages:
target->messages_total = st1->messages_total + st2->messages_total; target->messages_total = st1->messages_total + st2->messages_total;
// CPR decoding:
target->cpr_global_ok = st1->cpr_global_ok + st2->cpr_global_ok;
target->cpr_global_bad = st1->cpr_global_bad + st2->cpr_global_bad;
target->cpr_global_skipped = st1->cpr_global_skipped + st2->cpr_global_skipped;
target->cpr_local_ok = st1->cpr_local_ok + st2->cpr_local_ok;
target->cpr_local_skipped = st1->cpr_local_skipped + st2->cpr_local_skipped;
target->cpr_filtered = st1->cpr_filtered + st2->cpr_filtered;
} }

8
stats.h
View file

@ -97,6 +97,14 @@ struct stats {
// total messages: // total messages:
unsigned int messages_total; unsigned int messages_total;
// CPR decoding:
unsigned int cpr_global_ok;
unsigned int cpr_global_bad;
unsigned int cpr_global_skipped;
unsigned int cpr_local_ok;
unsigned int cpr_local_skipped;
unsigned int cpr_filtered;
}; };
void add_stats(const struct stats *st1, const struct stats *st2, struct stats *target); void add_stats(const struct stats *st1, const struct stats *st2, struct stats *target);