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20 | enum e_checkState {unchecked, ok, bad, outdated}; |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