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update CPR NL calculation

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Junzi Sun
2015-09-18 16:20:25 +02:00
parent d15538296b
commit 4e1d91cc35
1 changed files with 89 additions and 113 deletions
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decoder.py
+89 -113
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@@ -1,5 +1,5 @@
""" """
This is a decoder of ABS-D date from Mode-S receiver. The inputs This is a decoder of ABS-D date from Mode-S receiver. The inputs
of most functions are the Hexdecial strings. of most functions are the Hexdecial strings.
Created by : Junzi Sun (TU Delft) Created by : Junzi Sun (TU Delft)
@@ -9,22 +9,37 @@ Date : March 2015
import math import math
MODES_CHECKSUM_TABLE = [ MODES_CHECKSUM_TABLE = [
0x3935ea, 0x1c9af5, 0xf1b77e, 0x78dbbf, 0xc397db, 0x9e31e9, 0xb0e2f0, 0x587178, 0x3935ea, 0x1c9af5, 0xf1b77e, 0x78dbbf,
0x2c38bc, 0x161c5e, 0x0b0e2f, 0xfa7d13, 0x82c48d, 0xbe9842, 0x5f4c21, 0xd05c14, 0xc397db, 0x9e31e9, 0xb0e2f0, 0x587178,
0x682e0a, 0x341705, 0xe5f186, 0x72f8c3, 0xc68665, 0x9cb936, 0x4e5c9b, 0xd8d449, 0x2c38bc, 0x161c5e, 0x0b0e2f, 0xfa7d13,
0x939020, 0x49c810, 0x24e408, 0x127204, 0x093902, 0x049c81, 0xfdb444, 0x7eda22, 0x82c48d, 0xbe9842, 0x5f4c21, 0xd05c14,
0x3f6d11, 0xe04c8c, 0x702646, 0x381323, 0xe3f395, 0x8e03ce, 0x4701e7, 0xdc7af7, 0x682e0a, 0x341705, 0xe5f186, 0x72f8c3,
0x91c77f, 0xb719bb, 0xa476d9, 0xadc168, 0x56e0b4, 0x2b705a, 0x15b82d, 0xf52612, 0xc68665, 0x9cb936, 0x4e5c9b, 0xd8d449,
0x7a9309, 0xc2b380, 0x6159c0, 0x30ace0, 0x185670, 0x0c2b38, 0x06159c, 0x030ace, 0x939020, 0x49c810, 0x24e408, 0x127204,
0x018567, 0xff38b7, 0x80665f, 0xbfc92b, 0xa01e91, 0xaff54c, 0x57faa6, 0x2bfd53, 0x093902, 0x049c81, 0xfdb444, 0x7eda22,
0xea04ad, 0x8af852, 0x457c29, 0xdd4410, 0x6ea208, 0x375104, 0x1ba882, 0x0dd441, 0x3f6d11, 0xe04c8c, 0x702646, 0x381323,
0xf91024, 0x7c8812, 0x3e4409, 0xe0d800, 0x706c00, 0x383600, 0x1c1b00, 0x0e0d80, 0xe3f395, 0x8e03ce, 0x4701e7, 0xdc7af7,
0x0706c0, 0x038360, 0x01c1b0, 0x00e0d8, 0x00706c, 0x003836, 0x001c1b, 0xfff409, 0x91c77f, 0xb719bb, 0xa476d9, 0xadc168,
0x000000, 0x000000, 0x000000, 0x000000, 0x000000, 0x000000, 0x000000, 0x000000, 0x56e0b4, 0x2b705a, 0x15b82d, 0xf52612,
0x000000, 0x000000, 0x000000, 0x000000, 0x000000, 0x000000, 0x000000, 0x000000, 0x7a9309, 0xc2b380, 0x6159c0, 0x30ace0,
0x000000, 0x000000, 0x000000, 0x000000, 0x000000, 0x000000, 0x000000, 0x000000 0x185670, 0x0c2b38, 0x06159c, 0x030ace,
0x018567, 0xff38b7, 0x80665f, 0xbfc92b,
0xa01e91, 0xaff54c, 0x57faa6, 0x2bfd53,
0xea04ad, 0x8af852, 0x457c29, 0xdd4410,
0x6ea208, 0x375104, 0x1ba882, 0x0dd441,
0xf91024, 0x7c8812, 0x3e4409, 0xe0d800,
0x706c00, 0x383600, 0x1c1b00, 0x0e0d80,
0x0706c0, 0x038360, 0x01c1b0, 0x00e0d8,
0x00706c, 0x003836, 0x001c1b, 0xfff409,
0x000000, 0x000000, 0x000000, 0x000000,
0x000000, 0x000000, 0x000000, 0x000000,
0x000000, 0x000000, 0x000000, 0x000000,
0x000000, 0x000000, 0x000000, 0x000000,
0x000000, 0x000000, 0x000000, 0x000000,
0x000000, 0x000000, 0x000000, 0x000000
] ]
def hex2bin(hexstr): def hex2bin(hexstr):
"""Convert a hexdecimal string to binary string, with zero fillings. """ """Convert a hexdecimal string to binary string, with zero fillings. """
length = len(hexstr) * 4 length = len(hexstr) * 4
@@ -33,14 +48,17 @@ def hex2bin(hexstr):
msgbin = '0' + msgbin msgbin = '0' + msgbin
return msgbin return msgbin
def bin2int(binstr): def bin2int(binstr):
return int(binstr, 2) return int(binstr, 2)
def hex2int(hexstr): def hex2int(hexstr):
return int(hexstr, 16) return int(hexstr, 16)
def checksum(msg): def checksum(msg):
if len(msg) == 28: if len(msg) == 28:
offset = 0 offset = 0
elif len(msg) == 14: elif len(msg) == 14:
offset = 112-56 offset = 112-56
@@ -61,30 +79,36 @@ def checksum(msg):
else: else:
return False return False
def get_df(msg): def get_df(msg):
"""Decode Downlink Format vaule, bits 1 to 5.""" """Decode Downlink Format vaule, bits 1 to 5."""
msgbin = hex2bin(msg) msgbin = hex2bin(msg)
return bin2int( msgbin[0:5] ) return bin2int(msgbin[0: 5])
def get_ca(msg):
def get_ca(msg):
"""Decode CA vaule, bits: 6 to 8.""" """Decode CA vaule, bits: 6 to 8."""
msgbin = hex2bin(msg) msgbin = hex2bin(msg)
return bin2int( msgbin[5:8] ) return bin2int(msgbin[5:8])
def get_icao_addr(msg): def get_icao_addr(msg):
"""Get the ICAO 24 bits address, bytes 3 to 8. """ """Get the ICAO 24 bits address, bytes 3 to 8. """
return msg[2:8] return msg[2:8]
def get_tc(msg): def get_tc(msg):
"""Get Type Code, bits 33 to 37 """ """Get Type Code, bits 33 to 37 """
msgbin = hex2bin(msg) msgbin = hex2bin(msg)
return bin2int(msgbin[32:37]) return bin2int(msgbin[32:37])
def get_oe_flag(msg): def get_oe_flag(msg):
"""Check the odd/even flag. Bit 54, 0 for even, 1 for odd.""" """Check the odd/even flag. Bit 54, 0 for even, 1 for odd."""
msgbin = hex2bin(msg) msgbin = hex2bin(msg)
return msgbin[53] return msgbin[53]
def get_alt(msg): def get_alt(msg):
"""Calculate the altitude from the message. Bit 41 to 52, Q-bit at 48""" """Calculate the altitude from the message. Bit 41 to 52, Q-bit at 48"""
msgbin = hex2bin(msg) msgbin = hex2bin(msg)
@@ -96,14 +120,17 @@ def get_alt(msg):
else: else:
return None return None
def get_cprlat(msg): def get_cprlat(msg):
msgbin = hex2bin(msg) msgbin = hex2bin(msg)
return bin2int(msgbin[54:71]) return bin2int(msgbin[54:71])
def get_cprlon(msg): def get_cprlon(msg):
msgbin = hex2bin(msg) msgbin = hex2bin(msg)
return bin2int(msgbin[71:88]) return bin2int(msgbin[71:88])
def get_position(msg0, msg1, t0, t1): def get_position(msg0, msg1, t0, t1):
cprlat0 = get_cprlat(msg0) cprlat0 = get_cprlat(msg0)
cprlat1 = get_cprlat(msg1) cprlat1 = get_cprlat(msg1)
@@ -111,26 +138,28 @@ def get_position(msg0, msg1, t0, t1):
cprlon1 = get_cprlon(msg1) cprlon1 = get_cprlon(msg1)
return cpr2position(cprlat0, cprlat1, cprlon0, cprlon1, t0, t1) return cpr2position(cprlat0, cprlat1, cprlon0, cprlon1, t0, t1)
def cpr2position(cprlat0, cprlat1, cprlon0, cprlon1, t0, t1): def cpr2position(cprlat0, cprlat1, cprlon0, cprlon1, t0, t1):
''' '''
This algorithm comes from: This algorithm comes from:
http://www.lll.lu/~edward/edward/adsb/DecodingADSBposition.html. http://www.lll.lu/~edward/edward/adsb/DecodingADSBposition.html.
131072 is 2^17 since CPR latitude and longitude are encoded in 17 bits. 131072 is 2^17 since CPR latitude and longitude are encoded in 17 bits.
''' '''
cprlat_even = cprlat0 / 131072.0
cprlat_odd = cprlat1 / 131072.0
cprlon_even = cprlon0 / 131072.0
cprlon_odd = cprlon1 / 131072.0
air_d_lat_even = 360.0 / 60 cprlat_even = cprlat0 / 131072.0
air_d_lat_odd = 360.0 / 59 cprlat_odd = cprlat1 / 131072.0
cprlon_even = cprlon0 / 131072.0
cprlon_odd = cprlon1 / 131072.0
air_d_lat_even = 360.0 / 60
air_d_lat_odd = 360.0 / 59
# compute latitude index 'j' # compute latitude index 'j'
j = int(59 * cprlat_even - 60 * cprlat_odd + 0.5) j = int(59 * cprlat_even - 60 * cprlat_odd + 0.5)
lat_even = float(air_d_lat_even * (j % 60 + cprlat_even)) lat_even = float(air_d_lat_even * (j % 60 + cprlat_even))
lat_odd = float(air_d_lat_odd * (j % 59 + cprlat_odd)) lat_odd = float(air_d_lat_odd * (j % 59 + cprlat_odd))
if lat_even >= 270: if lat_even >= 270:
lat_even = lat_even - 360 lat_even = lat_even - 360
@@ -140,22 +169,24 @@ def cpr2position(cprlat0, cprlat1, cprlon0, cprlon1, t0, t1):
# check if both are in the same latidude zone, exit if not # check if both are in the same latidude zone, exit if not
if cprNL(lat_even) != cprNL(lat_odd): if cprNL(lat_even) != cprNL(lat_odd):
return None return None
# compute ni, longitude index m, and longitude # compute ni, longitude index m, and longitude
if (t0 > t1): if (t0 > t1):
ni = cprN(lat_even, 0) ni = cprN(lat_even, 0)
m = math.floor( cprlon_even * (cprNL(lat_even)-1) - cprlon_odd * cprNL(lat_even) + 0.5 ) m = math.floor(cprlon_even * (cprNL(lat_even)-1)
lon = (360.0 / ni) * (m % ni + cprlon_even) - cprlon_odd * cprNL(lat_even) + 0.5)
lat = lat_even lon = (360.0 / ni) * (m % ni + cprlon_even)
lat = lat_even
else: else:
ni = cprN(lat_odd, 1) ni = cprN(lat_odd, 1)
m = math.floor( cprlon_even * (cprNL(lat_odd)-1) - cprlon_odd * cprNL(lat_odd) + 0.5 ) m = math.floor(cprlon_even * (cprNL(lat_odd)-1)
lon = (360.0 / ni) * (m % ni + cprlon_odd) - cprlon_odd * cprNL(lat_odd) + 0.5)
lat = lat_odd lon = (360.0 / ni) * (m % ni + cprlon_odd)
lat = lat_odd
if lon > 180: if lon > 180:
lon = lon - 360 lon = lon - 360
return [lat, lon] return [lat, lon]
@@ -165,10 +196,10 @@ def get_speed_heading(msg):
msgbin = hex2bin(msg) msgbin = hex2bin(msg)
v_ew_dir = bin2int(msgbin[45]) v_ew_dir = bin2int(msgbin[45])
v_ew = bin2int(msgbin[46:56]) # east-west velocity v_ew = bin2int(msgbin[46:56]) # east-west velocity
v_ns_dir = bin2int(msgbin[56]) v_ns_dir = bin2int(msgbin[56])
v_ns = bin2int(msgbin[57:67]) # north-south velocity v_ns = bin2int(msgbin[57:67]) # north-south velocity
v_ew = -1*v_ew if v_ew_dir else v_ew v_ew = -1*v_ew if v_ew_dir else v_ew
v_ns = -1*v_ns if v_ns_dir else v_ns v_ns = -1*v_ns if v_ns_dir else v_ns
@@ -179,26 +210,27 @@ def get_speed_heading(msg):
speed = math.sqrt(v_ns*v_ns + v_ew*v_ew) # unit in kts speed = math.sqrt(v_ns*v_ns + v_ew*v_ew) # unit in kts
heading = math.atan2(v_ew, v_ns) heading = math.atan2(v_ew, v_ns)
heading = heading * 360.0 / (2 * math.pi) #convert to degrees heading = heading * 360.0 / (2 * math.pi) # convert to degrees
heading = heading if heading >= 0 else heading + 360 # no negative val heading = heading if heading >= 0 else heading + 360 # no negative val
return [speed, heading] return [speed, heading]
def get_callsign(msg): def get_callsign(msg):
"""Decode aircraft identification, aka. Callsign""" """Decode aircraft identification, aka. Callsign"""
charset = '#ABCDEFGHIJKLMNOPQRSTUVWXYZ#####_###############0123456789######' chars = '#ABCDEFGHIJKLMNOPQRSTUVWXYZ#####_###############0123456789######'
msgbin = hex2bin(msg) msgbin = hex2bin(msg)
csbin = msgbin[40:96] csbin = msgbin[40:96]
cs = '' cs = ''
cs += charset[ bin2int(csbin[0:6]) ] cs += chars[bin2int(csbin[0:6])]
cs += charset[ bin2int(csbin[6:12]) ] cs += chars[bin2int(csbin[6:12])]
cs += charset[ bin2int(csbin[12:18]) ] cs += chars[bin2int(csbin[12:18])]
cs += charset[ bin2int(csbin[18:24]) ] cs += chars[bin2int(csbin[18:24])]
cs += charset[ bin2int(csbin[24:30]) ] cs += chars[bin2int(csbin[24:30])]
cs += charset[ bin2int(csbin[30:36]) ] cs += chars[bin2int(csbin[30:36])]
cs += charset[ bin2int(csbin[36:42]) ] cs += chars[bin2int(csbin[36:42])]
cs += charset[ bin2int(csbin[42:48]) ] cs += chars[bin2int(csbin[42:48])]
# clean string, remove spaces and marks, if any. # clean string, remove spaces and marks, if any.
cs = cs.replace('_', '') cs = cs.replace('_', '')
@@ -206,70 +238,14 @@ def get_callsign(msg):
return cs return cs
def cprN (lat, isodd): def cprN(lat, isodd):
nl = cprNL(lat) - isodd nl = cprNL(lat) - isodd
return nl if nl > 1 else 1 return nl if nl > 1 else 1
def cprNL(lat): def cprNL(lat):
"""Lookup table to convert the latitude to index. """ nz = 60
if lat < 0 : lat = -lat # Table is simmetric about the equator. a = 1 - math.cos(math.pi * 2 / nz)
if lat < 10.47047130 : return 59 b = math.cos(math.pi / 180.0 * abs(lat)) ** 2
if lat < 14.82817437 : return 58 nl = 2 * math.pi / (math.acos(1 - a/b))
if lat < 18.18626357 : return 57 return int(nl)
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