查表法计算CRC-24Q，并校验RTCM数据是否正确

利用RTK进行辅助的定位设备，有时需要分析定位设备接收到的RTCM数据是否正确，初步的校验方法是通过对接收到的数据进行CRC校验，以确定RTCM数据在传输过程中是否产生了错误。

RTCM3.2每条电文的结构如下：

因此，可对接收到的每帧RTCM电文计算其CRC校验码，并将计算得到的校验码与接收到的RTCM原始数据尾部带的24位校验码进行比对。若两者吻合，则说明数据传输无误；若两者不吻合，则说明RTCM数据传输过程中产生的错误。

本例通过查表法计算RTCM数据的校验码，并将计算的校验码与原校验码比对，python脚本如下：

#!/usr/bin/python
# -*- coding:gbk -*-

import os
import os.path as op

#-----------------------------------------------------------------------
#查表法，进行CRC校验码计算
def CalculateCRC2(rtcm_data):
	CRC_Tabel_file = 'C:\\Users\\Desktop\\RTK\CRC-24Q.txt'
	with open(CRC_Tabel_file,'r') as f:
		tbl_CRC24Q = f.readlines()
	tbl_CRC24Q = tbl_CRC24Q[0].split(',')	
	CRC = 0
	for k in range(len(rtcm_data)-3):
		rtcm_dec = int(rtcm_data[k],16)
		p1 = (CRC<<8)&int('FFFFFF',16)
		p2 = int(tbl_CRC24Q[(CRC>>16)^(rtcm_dec&int('FF',16))],16)
		CRC = p1^p2	
	CRC_hex = hex(CRC)[2:]
	return CRC_hex

#-----------------------------------------------------------------------
#比对校验码，验证计算的校验码与原校验码是否吻合
def CheckCRC(rtcm_data,CRC_hex):
	crc_pass = 1
	if len(CRC_hex) < 6:
		crc_pass = 0
		print('错误！计算的CRC长度小于24位！\n')
	else:
		for i in range(3):
			if int(CRC_hex[2*i:2*(i+1)],16) != int(rtcm_data[-3+i],16):
				crc_pass = 0
						
	if crc_pass == 1:
		print('CRC比对通过!\n')
	else:
		print('CRC比对失败!\n')	
	return crc_pass

#-----------------------------------------------------------------------
if (__name__== "__main__"):
	rtcm_file = 'C:\\Users\\Desktop\\RTK\RtcmData.txt'
	with open(rtcm_file,'r') as f:
		contents = f.readlines()
	k = 0
	for rtcm_data in contents:
		k = k + 1
		print('序号：',k)
		rtcm_data = rtcm_data.replace('\n','')
		CRC_hex = CalculateCRC2(rtcm_data)
		crc_pass = CheckCRC(rtcm_data,CRC_hex)

上面脚本中采用的CRC-24Q码表存于一个文本文件CRC-24Q.txt中，计算时读取该文件。码表具体如下：

000000,864CFB,8AD50D,0C99F6,93E6E1,15AA1A,1933EC,9F7F17,A18139,27CDC2,2B5434,AD18CF,3267D8,B42B23,B8B2D5,3EFE2E,C54E89,430272,4F9B84,C9D77F,56A868,D0E493,DC7D65,5A319E,64CFB0,E2834B,EE1ABD,685646,F72951,7165AA,7DFC5C,FBB0A7,0CD1E9,8A9D12,8604E4,00481F,9F3708,197BF3,15E205,93AEFE,AD50D0,2B1C2B,2785DD,A1C926,3EB631,B8FACA,B4633C,322FC7,C99F60,4FD39B,434A6D,C50696,5A7981,DC357A,D0AC8C,56E077,681E59,EE52A2,E2CB54,6487AF,FBF8B8,7DB443,712DB5,F7614E,19A3D2,9FEF29,9376DF,153A24,8A4533,0C09C8,00903E,86DCC5,B822EB,3E6E10,32F7E6,B4BB1D,2BC40A,AD88F1,A11107,275DFC,DCED5B,5AA1A0,563856,D074AD,4F0BBA,C94741,C5DEB7,43924C,7D6C62,FB2099,F7B96F,71F594,EE8A83,68C678,645F8E,E21375,15723B,933EC0,9FA736,19EBCD,8694DA,00D821,0C41D7,8A0D2C,B4F302,32BFF9,3E260F,B86AF4,2715E3,A15918,ADC0EE,2B8C15,D03CB2,567049,5AE9BF,DCA544,43DA53,C596A8,C90F5E,4F43A5,71BD8B,F7F170,FB6886,7D247D,E25B6A,641791,688E67,EEC29C,3347A4,B50B5F,B992A9,3FDE52,A0A145,26EDBE,2A7448,AC38B3,92C69D,148A66,181390,9E5F6B,01207C,876C87,8BF571,0DB98A,F6092D,7045D6,7CDC20,FA90DB,65EFCC,E3A337,EF3AC1,69763A,578814,D1C4EF,DD5D19,5B11E2,C46EF5,42220E,4EBBF8,C8F703,3F964D,B9DAB6,B54340,330FBB,AC70AC,2A3C57,26A5A1,A0E95A,9E1774,185B8F,14C279,928E82,0DF195,8BBD6E,872498,016863,FAD8C4,7C943F,700DC9,F64132,693E25,EF72DE,E3EB28,65A7D3,5B59FD,DD1506,D18CF0,57C00B,C8BF1C,4EF3E7,426A11,C426EA,2AE476,ACA88D,A0317B,267D80,B90297,3F4E6C,33D79A,B59B61,8B654F,0D29B4,01B042,87FCB9,1883AE,9ECF55,9256A3,141A58,EFAAFF,69E604,657FF2,E33309,7C4C1E,FA00E5,F69913,70D5E8,4E2BC6,C8673D,C4FECB,42B230,DDCD27,5B81DC,57182A,D154D1,26359F,A07964,ACE092,2AAC69,B5D37E,339F85,3F0673,B94A88,87B4A6,01F85D,0D61AB,8B2D50,145247,921EBC,9E874A,18CBB1,E37B16,6537ED,69AE1B,EFE2E0,709DF7,F6D10C,FA48FA,7C0401,42FA2F,C4B6D4,C82F22,4E63D9,D11CCE,575035,5BC9C3,DD8538

提供一帧示例的RTCM数据如下：

d300984320023e714a6200580a5a580000000000202000007fffea08a9a949c9c8c869808de24656bdf654031f20b8d501e0b9ea74d815312e1405881606d37dd85c9439f96b29d8d86928d910d001cd00d26583e0fdee6727a342215ee98603a401ec980d20fec09dfbcea1ebe34fca6e9ea987fb121018e4386a8380adfd03b365fffffffffffffffffe00004ade1bd0fdb2d33d2f63b61752e876ad0e