@@ -8,97 +8,51 @@ Don't forget to run a quick `cargo fmt` prior any submissions, so the CI/CD does
88on coding style "issues".
99
1010This crate and ecosystem is part of the [ RTK-rs framework and community] ( https://github.com/rtk-rs ) .
11- Contact us on [ Discord] ( https://discord.gg/duETmeGc ) .
11+ You can contact us on [ Discord] ( https://discord.com/invite/VwuKPcw6 )
1212
1313Crate architecture
1414==================
1515
16- For each supported RINEX types, we have one folder named after that format.
17- ` src/navigation ` is one of those.
16+ The RINEX library is architectured per RINEX formats. We support
1817
19- The module contains the record type definition. RINEX file contents vary a lot
20- depending on which type of RINEX we're talking about.
21- For complex RINEX formats like Navigation Data, that module will contain all possible inner types.
18+ - Observation RINEX
19+ - Navigation RINEX
20+ - IONEX
21+ - Clock RINEX
22+ - ANTEX
23+ - DORIS
24+ - and Meteo RINEX
2225
23- Other important structures :
24- - SV and Constellation support is provided by the GNSS lib (gnss-rs)
25- - ` src/epoch/mod.rs ` : the Epoch module basically provides
26- hifitime::Epoch parsing methods, because RINEX describes date in non standard formats.
27- Also, the ` Flag ` structure is used to mark Observations (valid or invalid).
28- - ` src/observable.rs ` : defines possible observations like raw phase
29- - ` src/carrier.rs ` : defines carrier signals in terms of frequency and bandwidth.
30- It also contains utilities to identify which GNSS signals we're dealing with,
31- from an ` Observable ` .
32- - ` src/hatanaka/mod.rs ` : the Hatanaka module contains the RINEX Compressor and Decompressor
33- - ` src/antex/antenna.rs ` : defines the index structure of ANTEX format
26+ For each supported RINEX types, you will find the related to section in a dedicated folder,
27+ for example ` src/navigation ` for Navigation RINEX.
3428
35- Navigation Data
36- ===============
29+ For each record type, we define two custom types, ` K ` and ` V ` to describe the file content and be
30+ indexed in a Map (either Hash or BTree). This principle has proved sufficient and very powerful.
31+ The crate is undergoing a simplification phase where the record types are being simplified.
32+ In otherwords, a simple ` Map<K, V> ` is then enough to represent the file content: that was not the case
33+ in previous versions. This is true for most types but not all of them as of today!
3734
38- Orbit broadcasted parameters are presented in different form depending on the RINEX revisions
39- and also may differ in their nature depending on which constellation we're talking about.
35+ For that reason, this parser requires the ` std ` lib and we don't have plans to remove that dependency.
4036
41- To solve that problem, we use a dictionary, in the form of ` src/db/NAV/orbits.json ` ,
42- which describes all fields per RINEX revision and GNSS constellation.
37+ ## Key external structures
4338
44- This file is processed at build time, by the build script and ends up as a static
45- pool we rely on when parsing a file.
39+ ` SV ` and ` Constellation ` support is provided by our general purposes GNSS library.
40+ ` Epoch ` , ` Duration ` and ` Timescales ` are defined within ` Hifitime ` .
4641
47- The dictionary is powerful enough to describe all revision, the default Navigation Message
48- is ` LNAV ` : Legacy NAV message, which can be omitted. Therefore, it is only declared
49- for modern Navigation messages.
42+ ## Key internal structures and elements
5043
51- Introducing a new RINEX type
52- ============================
44+ - ` src/observable ` desfines RINEX Observable, as used in many RINEX formats.
45+ - ` src/carrier ` defines carrier signals
5346
54- ` src/meteo/mod.rs ` is the easiest format and can serve as a guideline to follow.
47+ ## Notes on CRINEX (RINEX compression)
5548
56- When introducing a new Navigation Data, the dictionary will most likely have to be updated (see previous paragraph).
49+ Support for the CRINEX algorithm and compression technique
50+ is provided in the ` src/hatanaka ` module, named after Y. Hatanaka who invented this compression algorithm, dedicated to Observation RINEX.
5751
58- GNSS Constellations
59- ===================
52+ We have a very complete & powerful infrastructure that support the algorithm both ways and have demonstrated
53+ bit by bit reciprocity. The algorithm is tested in many ways in our CI and benchmarked on github.com.
54+ This makes our library the most complete when it comes to supporting this compression technique as of today.
6055
61- Supported constellations are defined in the Constellation Module.
62- This structure defines both Orbiting and Stationary vehicles.
56+ ## Build Script
6357
64- Adding new SBAS vehicles
65- ========================
66-
67- To add a newly launched SBAS vehicles, simply add it to the
68- gnss-rs/data/sbas.json database.
69-
70- This database is auto integrated to this library to provide
71- detailed SBAS supports. The only mandatory fields (in the databse) are:
72- - the "constellation" field
73- - the SBAS "prn" field (which is 100 + prn number)
74- - "id": the name of that vehicle, for example "ASTRA-5B"
75- - "launched\_ year": the year this vehicle was launched
76-
77- Other optional fields are:
78- - "launched\_ month": month ths vehicle was launched
79- - "launched\_ day": day of month this vehicle was launched
80-
81- We don't support undeployed vehicles (in advance).
82-
83- Modify or add Navigation Frames
84- ===============================
85-
86- Navigation frames are desc
87-
88- The build script is rinex/build.rs.
89-
90- It is responsible for building several important but hidden structures.
91-
92- 1 . Navigation RINEX specs, described by rinex/db/NAV
93- 2 . Geostationary vehicles identification in rinex/db/sbas/sbas.json,
94- that follows the L1-CA-PRN Code assignment specifications (see online specs).
95- 3 . rinex/db/SBAS/* .wkt contains geographic definitions for most
96- standard SBAS systems. We parse them as Geo::LineStrings to
97- define a contour area for a given SBAS system. This gives one method
98- to select a SBAS from given location on Earth
99-
100- External key dependencies
101- =========================
102-
103- - ` Hifitime ` for timing and timescales
104- - ` ANISE ` for navigation
58+ The crate comes with a build script that defines the Navigation messages to be supported (written as dictionary).
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