[1025] | 1 | #ifndef EPHEMERIS_H
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| 2 | #define EPHEMERIS_H
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| 3 |
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[2221] | 4 | #include <newmat.h>
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[3174] | 5 | #include <QtCore>
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[1025] | 6 | #include <stdio.h>
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| 7 | #include <string>
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[4018] | 8 | #include "bnctime.h"
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[5749] | 9 | #include "bncconst.h"
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[5776] | 10 | #include "t_prn.h"
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[6812] | 11 | #include "gnss.h"
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[6139] | 12 |
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[7054] | 13 |
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[6141] | 14 | class t_orbCorr;
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| 15 | class t_clkCorr;
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[5749] | 16 |
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[1025] | 17 | class t_eph {
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| 18 | public:
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[8167] | 19 | enum e_type {unknown, GPS, QZSS, GLONASS, Galileo, SBAS, BDS, IRNSS};
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[8216] | 20 | enum e_checkState {unchecked, ok, bad, outdated, unhealthy};
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[4005] | 21 |
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[5749] | 22 | t_eph();
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[7278] | 23 | virtual ~t_eph();
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[4018] | 24 |
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[6109] | 25 | virtual e_type type() const = 0;
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[4013] | 26 | virtual QString toString(double version) const = 0;
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[7169] | 27 | virtual unsigned int IOD() const = 0;
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[8188] | 28 | virtual unsigned int isUnhealthy() const = 0;
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[6109] | 29 | virtual int slotNum() const {return 0;}
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[4018] | 30 | bncTime TOC() const {return _TOC;}
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[6109] | 31 | bool isNewerThan(const t_eph* eph) const {return earlierTime(eph, this);}
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[6518] | 32 | e_checkState checkState() const {return _checkState;}
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[6519] | 33 | void setCheckState(e_checkState checkState) {_checkState = checkState;}
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[6109] | 34 | t_prn prn() const {return _prn;}
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| 35 | t_irc getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const;
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[6141] | 36 | void setOrbCorr(const t_orbCorr* orbCorr);
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| 37 | void setClkCorr(const t_clkCorr* clkCorr);
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[3174] | 38 | const QDateTime& receptDateTime() const {return _receptDateTime;}
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[6109] | 39 | static QString rinexDateStr(const bncTime& tt, const t_prn& prn, double version);
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| 40 | static QString rinexDateStr(const bncTime& tt, const QString& prnStr, double version);
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| 41 | static bool earlierTime(const t_eph* eph1, const t_eph* eph2) {return eph1->_TOC < eph2->_TOC;}
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[8804] | 42 | static bool prnSort(const t_eph* eph1, const t_eph* eph2) {return eph1->prn() < eph2->prn();}
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[1025] | 43 |
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[7278] | 44 | protected:
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[6213] | 45 | virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const = 0;
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[6518] | 46 | t_prn _prn;
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| 47 | bncTime _TOC;
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| 48 | QDateTime _receptDateTime;
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| 49 | e_checkState _checkState;
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| 50 | t_orbCorr* _orbCorr;
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| 51 | t_clkCorr* _clkCorr;
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[1025] | 52 | };
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| 53 |
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| 54 |
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| 55 | class t_ephGPS : public t_eph {
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[5852] | 56 | friend class t_ephEncoder;
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[6812] | 57 | friend class RTCM3Decoder;
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[1025] | 58 | public:
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[7625] | 59 | t_ephGPS() {
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| 60 | _clock_bias = 0.0;
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| 61 | _clock_drift = 0.0;
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| 62 | _clock_driftrate = 0.0;
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| 63 | _IODE = 0.0;
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| 64 | _Crs = 0.0;
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| 65 | _Delta_n = 0.0;
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| 66 | _M0 = 0.0;
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| 67 | _Cuc = 0.0;
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| 68 | _e = 0.0;
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| 69 | _Cus = 0.0;
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| 70 | _sqrt_A = 0.0;
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| 71 | _TOEsec = 0.0;
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| 72 | _Cic = 0.0;
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| 73 | _OMEGA0 = 0.0;
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| 74 | _Cis = 0.0;
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| 75 | _i0 = 0.0;
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| 76 | _Crc = 0.0;
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| 77 | _omega = 0.0;
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| 78 | _OMEGADOT = 0.0;
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| 79 | _IDOT = 0.0;
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| 80 | _L2Codes = 0.0;
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| 81 | _TOEweek = 0.0;
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| 82 | _L2PFlag = 0.0;
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| 83 | _ura = 0.0;
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| 84 | _health = 0.0;
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| 85 | _TGD = 0.0;
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| 86 | _IODC = 0.0;
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| 87 | _TOT = 0.0;
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| 88 | _fitInterval = 0.0;
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| 89 | }
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[3659] | 90 | t_ephGPS(float rnxVersion, const QStringList& lines);
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[2221] | 91 | virtual ~t_ephGPS() {}
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[4005] | 92 |
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[8167] | 93 | virtual e_type type() const {
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| 94 | switch (_prn.system()) {
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| 95 | case 'J':
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| 96 | return t_eph::QZSS;
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| 97 | case 'I':
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| 98 | return t_eph::IRNSS;
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| 99 | };
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| 100 | return t_eph::GPS;
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| 101 | }
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[4013] | 102 | virtual QString toString(double version) const;
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[8140] | 103 | virtual unsigned int IOD() const { return static_cast<unsigned int>(_IODE); }
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[8188] | 104 | virtual unsigned int isUnhealthy() const { return static_cast<unsigned int>(_health); }
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[4366] | 105 | double TGD() const {return _TGD;} // Timing Group Delay (P1-P2 DCB)
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| 106 |
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[1025] | 107 | private:
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[6213] | 108 | virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
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[6109] | 109 |
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[7278] | 110 | double _clock_bias; // [s]
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| 111 | double _clock_drift; // [s/s]
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[4018] | 112 | double _clock_driftrate; // [s/s^2]
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[1025] | 113 |
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[8167] | 114 | double _IODE; // IODEC in case of IRNSS
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[7278] | 115 | double _Crs; // [m]
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[4018] | 116 | double _Delta_n; // [rad/s]
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[7278] | 117 | double _M0; // [rad]
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[1025] | 118 |
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[7278] | 119 | double _Cuc; // [rad]
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| 120 | double _e; //
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| 121 | double _Cus; // [rad]
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[4018] | 122 | double _sqrt_A; // [m^0.5]
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[1025] | 123 |
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[7278] | 124 | double _TOEsec; // [s]
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| 125 | double _Cic; // [rad]
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| 126 | double _OMEGA0; // [rad]
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| 127 | double _Cis; // [rad]
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[4018] | 128 |
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[7278] | 129 | double _i0; // [rad]
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| 130 | double _Crc; // [m]
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| 131 | double _omega; // [rad]
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[4018] | 132 | double _OMEGADOT; // [rad/s]
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| 133 |
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| 134 | double _IDOT; // [rad/s]
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[8167] | 135 | double _L2Codes; // Codes on L2 channel (not valid for IRNSS)
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[4018] | 136 | double _TOEweek;
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[8804] | 137 | double _L2PFlag; // L2 P data flag (not valid for IRNSS and QZSS)
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[4018] | 138 |
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[6798] | 139 | mutable double _ura; // SV accuracy
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[4018] | 140 | double _health; // SV health
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[7278] | 141 | double _TGD; // [s]
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[8167] | 142 | double _IODC; // (not valid for IRNSS)
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[4018] | 143 |
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[8804] | 144 | double _TOT; // Transmission time
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[8167] | 145 | double _fitInterval; // Fit interval (not valid for IRNSS)
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| 146 |
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[1025] | 147 | };
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| 148 |
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[2221] | 149 | class t_ephGlo : public t_eph {
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[5853] | 150 | friend class t_ephEncoder;
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[6812] | 151 | friend class RTCM3Decoder;
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[2221] | 152 | public:
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[7625] | 153 | t_ephGlo() {
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[8496] | 154 | _xv.ReSize(6); _xv = 0.0;
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[7625] | 155 | _gps_utc = 0.0;
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| 156 | _tau = 0.0;
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| 157 | _gamma = 0.0;
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| 158 | _tki = 0.0;
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| 159 | _x_pos = 0.0;
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| 160 | _x_velocity = 0.0;
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| 161 | _x_acceleration = 0.0;
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| 162 | _health = 0.0;
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| 163 | _y_pos = 0.0;
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| 164 | _y_velocity = 0.0;
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| 165 | _y_acceleration = 0.0;
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| 166 | _frequency_number = 0.0;
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| 167 | _z_pos = 0.0;
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| 168 | _z_velocity = 0.0;
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| 169 | _z_acceleration = 0.0;
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| 170 | _E = 0.0;
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[8184] | 171 | _almanac_health = 0.0;
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| 172 | _almanac_health_availablility_indicator = 0.0;
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| 173 | _additional_data_availability = 0.0;
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| 174 | _tauC = 0.0;
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| 175 | _P1 = 0.0;
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| 176 | _P2 = 0.0;
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| 177 | _P3 = 0.0;
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| 178 | _NA = 0.0;
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| 179 | _M_P = 0.0;
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| 180 | _M_l3 = 0.0;
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| 181 | _M_delta_tau = 0.0;
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| 182 | _M_P4 = 0.0;
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| 183 | _M_FT = 0.0;
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| 184 | _M_NT = 0.0;
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| 185 | _M_M = 0.0;
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| 186 | _M_N4 = 0.0;
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| 187 | _M_tau_GPS = 0.0;
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[8216] | 188 | _M_l5 = 0.0;
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[7625] | 189 | }
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[3659] | 190 | t_ephGlo(float rnxVersion, const QStringList& lines);
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[2221] | 191 | virtual ~t_ephGlo() {}
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| 192 |
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[4005] | 193 | virtual e_type type() const {return t_eph::GLONASS;}
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[4013] | 194 | virtual QString toString(double version) const;
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[7169] | 195 | virtual unsigned int IOD() const;
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[8188] | 196 | virtual unsigned int isUnhealthy() const;
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[6109] | 197 | virtual int slotNum() const {return int(_frequency_number);}
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[2221] | 198 |
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| 199 | private:
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[6213] | 200 | virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
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[6109] | 201 | static ColumnVector glo_deriv(double /* tt */, const ColumnVector& xv, double* acc);
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[2221] | 202 |
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[7278] | 203 | mutable bncTime _tt; // time
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[2221] | 204 | mutable ColumnVector _xv; // status vector (position, velocity) at time _tt
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| 205 |
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[3255] | 206 | double _gps_utc;
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[7278] | 207 | double _tau; // [s]
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[8184] | 208 | double _gamma; // [-]
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[5853] | 209 | mutable double _tki; // message frame time
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[4018] | 210 |
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[7278] | 211 | double _x_pos; // [km]
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| 212 | double _x_velocity; // [km/s]
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| 213 | double _x_acceleration; // [km/s^2]
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[8184] | 214 | double _health; // 0 = O.K. MSB of Bn word
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[4018] | 215 |
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[7278] | 216 | double _y_pos; // [km]
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| 217 | double _y_velocity; // [km/s]
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| 218 | double _y_acceleration; // [km/s^2]
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| 219 | double _frequency_number; // ICD-GLONASS data position
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[4018] | 220 |
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[7278] | 221 | double _z_pos; // [km]
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| 222 | double _z_velocity; // [km/s]
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| 223 | double _z_acceleration; // [km/s^2]
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| 224 | double _E; // Age of Information [days]
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[8184] | 225 |
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| 226 | double _almanac_health; // Cn word
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| 227 | double _almanac_health_availablility_indicator;
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| 228 |
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| 229 | double _additional_data_availability; //
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| 230 | double _tauC; // GLONASS time scale correction to UTC(SU) time [sec]
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| 231 | double _P1; // flag of the immediate data updating [-]
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| 232 | double _P2; // flag of oddness or evenness of the value of tb for intervals 30 or 60 minutes [-]
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| 233 | double _P3; // flag indicating a number of satellites for which almanac is transmitted within given frame [-]
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| 234 | double _NA; // calendar day number within the 4-year period [days]
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| 235 |
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| 236 | double _M_P; // control segment parameter that indicates the satellite operation mode with respect of time parameters
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| 237 | double _M_l3; // health flag
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| 238 | double _M_delta_tau; // [sec]
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| 239 | double _M_P4; // flag to show that ephemeris parameters are present [-]
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| 240 | double _M_FT; // indicator for predicted satellite user range accuracy [-]
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| 241 | double _M_NT; // current date, calendar number of day within 4-year interval [days]
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| 242 | double _M_M; // type of satellite transmitting navigation signal: 0 = GLONASS, 1 = GLONASS-M satellite [-]
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| 243 | double _M_N4; // 4-year interval number starting from 1996
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| 244 | double _M_tau_GPS; // correction to GPS time relative to GLONASS time [days]
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| 245 | double _M_l5; // health flag
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[2221] | 246 | };
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| 247 |
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[2770] | 248 | class t_ephGal : public t_eph {
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[5853] | 249 | friend class t_ephEncoder;
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[6812] | 250 | friend class RTCM3Decoder;
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[2770] | 251 | public:
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[7625] | 252 | t_ephGal() {
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| 253 | _clock_bias = 0.0;
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| 254 | _clock_drift = 0.0;
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| 255 | _clock_driftrate = 0.0;
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| 256 | _IODnav = 0.0;
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| 257 | _Crs = 0.0;
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| 258 | _Delta_n = 0.0;
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| 259 | _M0 = 0.0;
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| 260 | _Cuc = 0.0;
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| 261 | _e = 0.0;
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| 262 | _Cus = 0.0;
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| 263 | _sqrt_A = 0.0;
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| 264 | _TOEsec = 0.0;
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| 265 | _Cic = 0.0;
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| 266 | _OMEGA0 = 0.0;
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| 267 | _Cis = 0.0;
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| 268 | _i0 = 0.0;
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| 269 | _Crc = 0.0;
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| 270 | _omega = 0.0;
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| 271 | _OMEGADOT = 0.0;
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| 272 | _IDOT = 0.0;
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| 273 | _TOEweek = 0.0;
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| 274 | _SISA = 0.0;
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| 275 | _E5aHS = 0.0;
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| 276 | _E5bHS = 0.0;
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| 277 | _E1_bHS = 0.0;
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| 278 | _BGD_1_5A = 0.0;
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| 279 | _BGD_1_5B = 0.0;
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| 280 | _TOT = 0.0;
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| 281 | };
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[3659] | 282 | t_ephGal(float rnxVersion, const QStringList& lines);
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[2770] | 283 | virtual ~t_ephGal() {}
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[4005] | 284 |
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[4013] | 285 | virtual QString toString(double version) const;
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[4005] | 286 | virtual e_type type() const {return t_eph::Galileo;}
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[7169] | 287 | virtual unsigned int IOD() const { return static_cast<unsigned long>(_IODnav); }
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[8188] | 288 | virtual unsigned int isUnhealthy() const;
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[2770] | 289 |
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[6109] | 290 | private:
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[6213] | 291 | virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
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[2770] | 292 |
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[7278] | 293 | double _clock_bias; // [s]
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| 294 | double _clock_drift; // [s/s]
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[2770] | 295 | double _clock_driftrate; // [s/s^2]
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[4018] | 296 |
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[6812] | 297 | double _IODnav;
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[7278] | 298 | double _Crs; // [m]
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[2770] | 299 | double _Delta_n; // [rad/s]
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[7278] | 300 | double _M0; // [rad]
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[4018] | 301 |
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[7278] | 302 | double _Cuc; // [rad]
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| 303 | double _e; //
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| 304 | double _Cus; // [rad]
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[2770] | 305 | double _sqrt_A; // [m^0.5]
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[4018] | 306 |
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[7278] | 307 | double _TOEsec; // [s]
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| 308 | double _Cic; // [rad]
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| 309 | double _OMEGA0; // [rad]
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| 310 | double _Cis; // [rad]
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[4018] | 311 |
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[7278] | 312 | double _i0; // [rad]
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| 313 | double _Crc; // [m]
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| 314 | double _omega; // [rad]
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[2770] | 315 | double _OMEGADOT; // [rad/s]
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[4018] | 316 |
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[2770] | 317 | double _IDOT; // [rad/s]
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[6809] | 318 | double _TOEweek;
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[4018] | 319 | // spare
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| 320 |
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[6798] | 321 | mutable double _SISA; // Signal In Space Accuracy
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[6794] | 322 | double _E5aHS; // [0..3] E5a Health Status
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| 323 | double _E5bHS; // [0..3] E5b Health Status
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| 324 | double _E1_bHS; // [0..3] E1-b Health Status
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[7278] | 325 | double _BGD_1_5A; // group delay [s]
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| 326 | double _BGD_1_5B; // group delay [s]
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[2770] | 327 |
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[6809] | 328 | double _TOT; // [s]
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[6812] | 329 | /** Data comes from I/NAV when <code>true</code> */
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| 330 | bool _inav;
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| 331 | /** Data comes from F/NAV when <code>true</code> */
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| 332 | bool _fnav;
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| 333 | /** EE Data is not valid */
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| 334 | bool _e1DataInValid;
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| 335 | /** E5A Data is not valid */
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| 336 | bool _e5aDataInValid;
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| 337 | /** E5B Data is not valid */
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| 338 | bool _e5bDataInValid;
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[2770] | 339 | };
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| 340 |
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[6380] | 341 | class t_ephSBAS : public t_eph {
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| 342 | friend class t_ephEncoder;
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[6812] | 343 | friend class RTCM3Decoder;
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[6380] | 344 | public:
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[7625] | 345 | t_ephSBAS() {
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| 346 | _IODN = 0;
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[8455] | 347 | _TOT = 0.0;
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[7625] | 348 | _agf0 = 0.0;
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| 349 | _agf1 = 0.0;
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| 350 | _x_pos = 0.0;
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| 351 | _x_velocity = 0.0;
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| 352 | _x_acceleration = 0.0;
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| 353 | _y_pos = 0.0;
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| 354 | _y_velocity = 0.0;
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| 355 | _y_acceleration = 0.0;
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| 356 | _z_pos = 0.0;
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| 357 | _z_velocity = 0.0;
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| 358 | _z_acceleration = 0.0;
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| 359 | _ura = 0.0;
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| 360 | _health = 0.0;
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| 361 | }
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[6380] | 362 | t_ephSBAS(float rnxVersion, const QStringList& lines);
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| 363 | virtual ~t_ephSBAS() {}
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| 364 |
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| 365 | virtual e_type type() const {return t_eph::SBAS;}
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[7169] | 366 | virtual unsigned int IOD() const;
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[8216] | 367 | virtual unsigned int isUnhealthy() const { return static_cast<unsigned int>(_health); }
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[6380] | 368 | virtual QString toString(double version) const;
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| 369 |
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| 370 | private:
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[6381] | 371 | virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
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[6380] | 372 |
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[6536] | 373 | int _IODN;
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[8455] | 374 | double _TOT; // not used (set to 0.9999e9)
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[6380] | 375 | double _agf0; // [s] clock correction
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| 376 | double _agf1; // [s/s] clock correction drift
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| 377 |
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[7278] | 378 | double _x_pos; // [m]
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| 379 | double _x_velocity; // [m/s]
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| 380 | double _x_acceleration; // [m/s^2]
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[6380] | 381 |
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[7278] | 382 | double _y_pos; // [m]
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| 383 | double _y_velocity; // [m/s]
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| 384 | double _y_acceleration; // [m/s^2]
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[6380] | 385 |
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[7278] | 386 | double _z_pos; // [m]
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| 387 | double _z_velocity; // [m/s]
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| 388 | double _z_acceleration; // [m/s^2]
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[6380] | 389 |
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[6798] | 390 | mutable double _ura;
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[6390] | 391 | double _health;
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[6380] | 392 | };
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| 393 |
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[6600] | 394 | class t_ephBDS : public t_eph {
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[6400] | 395 | friend class t_ephEncoder;
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[6812] | 396 | friend class RTCM3Decoder;
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[6400] | 397 | public:
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[8481] | 398 | t_ephBDS() {
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[7625] | 399 | _TOT = 0.0;
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| 400 | _AODE = 0;
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| 401 | _AODC = 0;
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| 402 | _URAI = 0;
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| 403 | _URA = 0.0;
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| 404 | _clock_bias = 0.0;
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| 405 | _clock_drift = 0.0;
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| 406 | _clock_driftrate = 0.0;
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| 407 | _Crs = 0.0;
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| 408 | _Delta_n = 0.0;
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| 409 | _M0 = 0.0;
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| 410 | _Cuc = 0.0;
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| 411 | _e = 0.0;
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| 412 | _Cus = 0.0;
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| 413 | _sqrt_A = 0.0;
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| 414 | _Cic = 0.0;
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| 415 | _OMEGA0 = 0.0;
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| 416 | _Cis = 0.0;
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| 417 | _i0 = 0.0;
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| 418 | _Crc = 0.0;
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| 419 | _omega = 0.0;
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| 420 | _OMEGADOT = 0.0;
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| 421 | _IDOT = 0.0;
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| 422 | _TGD1 = 0.0;
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| 423 | _TGD2 = 0.0;
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| 424 | _SatH1 = 0.0;
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| 425 | _TOW = 0.0;
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| 426 | _TOEsec = 0.0;
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[8481] | 427 | _TOEweek =-1.0;
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[7625] | 428 | }
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[6600] | 429 | t_ephBDS(float rnxVersion, const QStringList& lines);
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| 430 | virtual ~t_ephBDS() {}
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[6400] | 431 |
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[6602] | 432 | virtual e_type type() const {return t_eph::BDS;}
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[7169] | 433 | virtual unsigned int IOD() const;
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[8188] | 434 | virtual unsigned int isUnhealthy() const { return static_cast<unsigned int>(_SatH1); }
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[6400] | 435 | virtual QString toString(double version) const;
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| 436 |
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| 437 | private:
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| 438 | virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
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| 439 |
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[6812] | 440 | double _TOT;
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[6400] | 441 | bncTime _TOE;
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| 442 | int _AODE;
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| 443 | int _AODC;
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[6812] | 444 | int _URAI; // [0..15] index from RTCM stream
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[6798] | 445 | mutable double _URA; // user range accuracy
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[7278] | 446 | double _clock_bias; // [s]
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| 447 | double _clock_drift; // [s/s]
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[6400] | 448 | double _clock_driftrate; // [s/s^2]
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[7278] | 449 | double _Crs; // [m]
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[6400] | 450 | double _Delta_n; // [rad/s]
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[7278] | 451 | double _M0; // [rad]
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| 452 | double _Cuc; // [rad]
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| 453 | double _e; //
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| 454 | double _Cus; // [rad]
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[6400] | 455 | double _sqrt_A; // [m^0.5]
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[7278] | 456 | double _Cic; // [rad]
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| 457 | double _OMEGA0; // [rad]
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| 458 | double _Cis; // [rad]
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| 459 | double _i0; // [rad]
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| 460 | double _Crc; // [m]
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| 461 | double _omega; // [rad]
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[6400] | 462 | double _OMEGADOT; // [rad/s]
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| 463 | double _IDOT; // [rad/s]
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[7278] | 464 | double _TGD1; // [s]
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| 465 | double _TGD2; // [s]
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| 466 | int _SatH1; //
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[6843] | 467 | double _TOW; // [s] of BDT week
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| 468 | double _TOEsec; // [s] of BDT week
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| 469 | double _TOEweek; // BDT week will be set only in case of RINEX file input
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[6400] | 470 | };
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| 471 |
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[1025] | 472 | #endif
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