[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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[8168] | 19 | enum e_type {unknown, GPS, QZSS, GLONASS, Galileo, SBAS, BDS, IRNSS};
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[7208] | 20 | enum e_checkState {unchecked, ok, bad, outdated};
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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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[6109] | 28 | virtual int slotNum() const {return 0;}
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[4018] | 29 | bncTime TOC() const {return _TOC;}
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[6109] | 30 | bool isNewerThan(const t_eph* eph) const {return earlierTime(eph, this);}
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[6518] | 31 | e_checkState checkState() const {return _checkState;}
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[6519] | 32 | void setCheckState(e_checkState checkState) {_checkState = checkState;}
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[6109] | 33 | t_prn prn() const {return _prn;}
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| 34 | t_irc getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const;
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[6141] | 35 | void setOrbCorr(const t_orbCorr* orbCorr);
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| 36 | void setClkCorr(const t_clkCorr* clkCorr);
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[3174] | 37 | const QDateTime& receptDateTime() const {return _receptDateTime;}
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[6109] | 38 | static QString rinexDateStr(const bncTime& tt, const t_prn& prn, double version);
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| 39 | static QString rinexDateStr(const bncTime& tt, const QString& prnStr, double version);
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| 40 | static bool earlierTime(const t_eph* eph1, const t_eph* eph2) {return eph1->_TOC < eph2->_TOC;}
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[1025] | 41 |
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[7278] | 42 | protected:
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[6213] | 43 | virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const = 0;
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[6518] | 44 | t_prn _prn;
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| 45 | bncTime _TOC;
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| 46 | QDateTime _receptDateTime;
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| 47 | e_checkState _checkState;
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| 48 | t_orbCorr* _orbCorr;
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| 49 | t_clkCorr* _clkCorr;
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[1025] | 50 | };
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| 51 |
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| 52 |
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| 53 | class t_ephGPS : public t_eph {
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[5852] | 54 | friend class t_ephEncoder;
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[6812] | 55 | friend class RTCM3Decoder;
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[1025] | 56 | public:
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[7625] | 57 | t_ephGPS() {
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| 58 | _clock_bias = 0.0;
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| 59 | _clock_drift = 0.0;
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| 60 | _clock_driftrate = 0.0;
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| 61 | _IODE = 0.0;
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| 62 | _Crs = 0.0;
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| 63 | _Delta_n = 0.0;
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| 64 | _M0 = 0.0;
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| 65 | _Cuc = 0.0;
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| 66 | _e = 0.0;
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| 67 | _Cus = 0.0;
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| 68 | _sqrt_A = 0.0;
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| 69 | _TOEsec = 0.0;
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| 70 | _Cic = 0.0;
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| 71 | _OMEGA0 = 0.0;
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| 72 | _Cis = 0.0;
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| 73 | _i0 = 0.0;
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| 74 | _Crc = 0.0;
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| 75 | _omega = 0.0;
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| 76 | _OMEGADOT = 0.0;
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| 77 | _IDOT = 0.0;
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| 78 | _L2Codes = 0.0;
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| 79 | _TOEweek = 0.0;
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| 80 | _L2PFlag = 0.0;
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| 81 | _ura = 0.0;
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| 82 | _health = 0.0;
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| 83 | _TGD = 0.0;
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| 84 | _IODC = 0.0;
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| 85 | _TOT = 0.0;
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| 86 | _fitInterval = 0.0;
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| 87 | }
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[3659] | 88 | t_ephGPS(float rnxVersion, const QStringList& lines);
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[2221] | 89 | virtual ~t_ephGPS() {}
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[4005] | 90 |
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[8168] | 91 | virtual e_type type() const {
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| 92 | switch (_prn.system()) {
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| 93 | case 'J':
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| 94 | return t_eph::QZSS;
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| 95 | case 'I':
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| 96 | return t_eph::IRNSS;
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| 97 | };
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| 98 | return t_eph::GPS;
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| 99 | }
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[4013] | 100 | virtual QString toString(double version) const;
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[8139] | 101 | virtual unsigned int IOD() const { return static_cast<unsigned int>(_IODE); }
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[4366] | 102 | double TGD() const {return _TGD;} // Timing Group Delay (P1-P2 DCB)
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| 103 |
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[1025] | 104 | private:
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[6213] | 105 | virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
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[6109] | 106 |
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[7278] | 107 | double _clock_bias; // [s]
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| 108 | double _clock_drift; // [s/s]
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[4018] | 109 | double _clock_driftrate; // [s/s^2]
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[1025] | 110 |
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[8168] | 111 | double _IODE; // IODEC in case of IRNSS
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[7278] | 112 | double _Crs; // [m]
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[4018] | 113 | double _Delta_n; // [rad/s]
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[7278] | 114 | double _M0; // [rad]
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[1025] | 115 |
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[7278] | 116 | double _Cuc; // [rad]
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| 117 | double _e; //
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| 118 | double _Cus; // [rad]
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[4018] | 119 | double _sqrt_A; // [m^0.5]
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[1025] | 120 |
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[7278] | 121 | double _TOEsec; // [s]
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| 122 | double _Cic; // [rad]
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| 123 | double _OMEGA0; // [rad]
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| 124 | double _Cis; // [rad]
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[4018] | 125 |
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[7278] | 126 | double _i0; // [rad]
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| 127 | double _Crc; // [m]
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| 128 | double _omega; // [rad]
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[4018] | 129 | double _OMEGADOT; // [rad/s]
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| 130 |
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| 131 | double _IDOT; // [rad/s]
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[8168] | 132 | double _L2Codes; // Codes on L2 channel (not valid for IRNSS)
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[4018] | 133 | double _TOEweek;
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[8168] | 134 | double _L2PFlag; // L2 P data flag (not valid for IRNSS)
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[4018] | 135 |
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[6798] | 136 | mutable double _ura; // SV accuracy
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[4018] | 137 | double _health; // SV health
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[7278] | 138 | double _TGD; // [s]
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[8168] | 139 | double _IODC; // (not valid for IRNSS)
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[4018] | 140 |
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[7278] | 141 | double _TOT; // Transmisstion time
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[8168] | 142 | double _fitInterval; // Fit interval (not valid for IRNSS)
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[1025] | 143 | };
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| 144 |
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[2221] | 145 | class t_ephGlo : public t_eph {
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[5853] | 146 | friend class t_ephEncoder;
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[6812] | 147 | friend class RTCM3Decoder;
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[2221] | 148 | public:
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[7625] | 149 | t_ephGlo() {
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| 150 | _xv.ReSize(6);
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| 151 | _gps_utc = 0.0;
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| 152 | _tau = 0.0;
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| 153 | _gamma = 0.0;
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| 154 | _tki = 0.0;
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| 155 | _x_pos = 0.0;
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| 156 | _x_velocity = 0.0;
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| 157 | _x_acceleration = 0.0;
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| 158 | _health = 0.0;
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| 159 | _y_pos = 0.0;
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| 160 | _y_velocity = 0.0;
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| 161 | _y_acceleration = 0.0;
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| 162 | _frequency_number = 0.0;
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| 163 | _z_pos = 0.0;
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| 164 | _z_velocity = 0.0;
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| 165 | _z_acceleration = 0.0;
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| 166 | _E = 0.0;
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[8182] | 167 | _almanac_health = 0.0;
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| 168 | _almanac_health_availablility_indicator = 0.0;
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| 169 | _additional_data_availability = 0.0;
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| 170 | _tauC = 0.0;
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| 171 | _P1 = 0.0;
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| 172 | _P2 = 0.0;
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| 173 | _P3 = 0.0;
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| 174 | _NA = 0.0;
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| 175 | _M_P = 0.0;
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| 176 | _M_l3 = 0.0;
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| 177 | _M_delta_tau = 0.0;
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| 178 | _M_P4 = 0.0;
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| 179 | _M_FT = 0.0;
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| 180 | _M_NT = 0.0;
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| 181 | _M_M = 0.0;
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| 182 | _M_N4 = 0.0;
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| 183 | _M_tau_GPS = 0.0;
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| 184 | _M_l5 = 0.0;
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[7625] | 185 | }
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[3659] | 186 | t_ephGlo(float rnxVersion, const QStringList& lines);
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[2221] | 187 | virtual ~t_ephGlo() {}
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| 188 |
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[4005] | 189 | virtual e_type type() const {return t_eph::GLONASS;}
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[4013] | 190 | virtual QString toString(double version) const;
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[7169] | 191 | virtual unsigned int IOD() const;
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[6109] | 192 | virtual int slotNum() const {return int(_frequency_number);}
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[2221] | 193 |
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| 194 | private:
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[6213] | 195 | virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
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[6109] | 196 | static ColumnVector glo_deriv(double /* tt */, const ColumnVector& xv, double* acc);
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[2221] | 197 |
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[7278] | 198 | mutable bncTime _tt; // time
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[2221] | 199 | mutable ColumnVector _xv; // status vector (position, velocity) at time _tt
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| 200 |
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[3255] | 201 | double _gps_utc;
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[7278] | 202 | double _tau; // [s]
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[8182] | 203 | double _gamma; // [-]
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[5853] | 204 | mutable double _tki; // message frame time
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[4018] | 205 |
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[7278] | 206 | double _x_pos; // [km]
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| 207 | double _x_velocity; // [km/s]
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| 208 | double _x_acceleration; // [km/s^2]
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[8182] | 209 | double _health; // 0 = O.K. MSB of Bn word
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[4018] | 210 |
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[7278] | 211 | double _y_pos; // [km]
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| 212 | double _y_velocity; // [km/s]
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| 213 | double _y_acceleration; // [km/s^2]
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| 214 | double _frequency_number; // ICD-GLONASS data position
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[4018] | 215 |
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[7278] | 216 | double _z_pos; // [km]
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| 217 | double _z_velocity; // [km/s]
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| 218 | double _z_acceleration; // [km/s^2]
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| 219 | double _E; // Age of Information [days]
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[8182] | 220 |
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| 221 | double _almanac_health; // Cn word
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| 222 | double _almanac_health_availablility_indicator;
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| 223 |
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| 224 | double _additional_data_availability; //
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| 225 | double _tauC; // GLONASS time scale correction to UTC(SU) time [sec]
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| 226 | double _P1; // flag of the immediate data updating [-]
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| 227 | double _P2; // flag of oddness or evenness of the value of tb for intervals 30 or 60 minutes [-]
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| 228 | double _P3; // flag indicating a number of satellites for which almanac is transmitted within given frame [-]
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| 229 | double _NA; // calendar day number within the 4-year period [days]
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| 230 |
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| 231 | double _M_P; // control segment parameter that indicates the satellite operation mode with respect of time parameters
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| 232 | double _M_l3; // health flag
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| 233 | double _M_delta_tau; // [sec]
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| 234 | double _M_P4; // flag to show that ephemeris parameters are present [-]
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| 235 | double _M_FT; // indicator for predicted satellite user range accuracy [-]
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| 236 | double _M_NT; // current date, calendar number of day within 4-year interval [days]
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| 237 | double _M_M; // type of satellite transmitting navigation signal: 0 = GLONASS, 1 = GLONASS-M satellite [-]
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| 238 | double _M_N4; // 4-year interval number starting from 1996
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| 239 | double _M_tau_GPS; // correction to GPS time relative to GLONASS time [days]
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| 240 | double _M_l5; // health flag
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[2221] | 241 | };
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| 242 |
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[2770] | 243 | class t_ephGal : public t_eph {
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[5853] | 244 | friend class t_ephEncoder;
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[6812] | 245 | friend class RTCM3Decoder;
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[2770] | 246 | public:
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[7625] | 247 | t_ephGal() {
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| 248 | _clock_bias = 0.0;
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| 249 | _clock_drift = 0.0;
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| 250 | _clock_driftrate = 0.0;
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| 251 | _IODnav = 0.0;
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| 252 | _Crs = 0.0;
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| 253 | _Delta_n = 0.0;
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| 254 | _M0 = 0.0;
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| 255 | _Cuc = 0.0;
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| 256 | _e = 0.0;
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| 257 | _Cus = 0.0;
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| 258 | _sqrt_A = 0.0;
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| 259 | _TOEsec = 0.0;
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| 260 | _Cic = 0.0;
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| 261 | _OMEGA0 = 0.0;
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| 262 | _Cis = 0.0;
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| 263 | _i0 = 0.0;
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| 264 | _Crc = 0.0;
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| 265 | _omega = 0.0;
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| 266 | _OMEGADOT = 0.0;
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| 267 | _IDOT = 0.0;
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| 268 | _TOEweek = 0.0;
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| 269 | _SISA = 0.0;
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| 270 | _E5aHS = 0.0;
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| 271 | _E5bHS = 0.0;
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| 272 | _E1_bHS = 0.0;
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| 273 | _BGD_1_5A = 0.0;
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| 274 | _BGD_1_5B = 0.0;
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| 275 | _TOT = 0.0;
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| 276 | };
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[3659] | 277 | t_ephGal(float rnxVersion, const QStringList& lines);
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[2770] | 278 | virtual ~t_ephGal() {}
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[4005] | 279 |
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[4013] | 280 | virtual QString toString(double version) const;
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[4005] | 281 | virtual e_type type() const {return t_eph::Galileo;}
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[7169] | 282 | virtual unsigned int IOD() const { return static_cast<unsigned long>(_IODnav); }
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[2770] | 283 |
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[6109] | 284 | private:
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[6213] | 285 | virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
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[2770] | 286 |
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[7278] | 287 | double _clock_bias; // [s]
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| 288 | double _clock_drift; // [s/s]
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[2770] | 289 | double _clock_driftrate; // [s/s^2]
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[4018] | 290 |
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[6812] | 291 | double _IODnav;
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[7278] | 292 | double _Crs; // [m]
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[2770] | 293 | double _Delta_n; // [rad/s]
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[7278] | 294 | double _M0; // [rad]
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[4018] | 295 |
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[7278] | 296 | double _Cuc; // [rad]
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| 297 | double _e; //
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| 298 | double _Cus; // [rad]
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[2770] | 299 | double _sqrt_A; // [m^0.5]
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[4018] | 300 |
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[7278] | 301 | double _TOEsec; // [s]
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| 302 | double _Cic; // [rad]
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| 303 | double _OMEGA0; // [rad]
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| 304 | double _Cis; // [rad]
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[4018] | 305 |
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[7278] | 306 | double _i0; // [rad]
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| 307 | double _Crc; // [m]
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| 308 | double _omega; // [rad]
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[2770] | 309 | double _OMEGADOT; // [rad/s]
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[4018] | 310 |
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[2770] | 311 | double _IDOT; // [rad/s]
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[6809] | 312 | double _TOEweek;
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[4018] | 313 | // spare
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| 314 |
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[6798] | 315 | mutable double _SISA; // Signal In Space Accuracy
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[6794] | 316 | double _E5aHS; // [0..3] E5a Health Status
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| 317 | double _E5bHS; // [0..3] E5b Health Status
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| 318 | double _E1_bHS; // [0..3] E1-b Health Status
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[7278] | 319 | double _BGD_1_5A; // group delay [s]
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| 320 | double _BGD_1_5B; // group delay [s]
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[2770] | 321 |
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[6809] | 322 | double _TOT; // [s]
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[6812] | 323 | /** Data comes from I/NAV when <code>true</code> */
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| 324 | bool _inav;
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| 325 | /** Data comes from F/NAV when <code>true</code> */
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| 326 | bool _fnav;
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| 327 | /** EE Data is not valid */
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| 328 | bool _e1DataInValid;
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| 329 | /** E5A Data is not valid */
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| 330 | bool _e5aDataInValid;
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| 331 | /** E5B Data is not valid */
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| 332 | bool _e5bDataInValid;
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[2770] | 333 | };
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| 334 |
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[6380] | 335 | class t_ephSBAS : public t_eph {
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| 336 | friend class t_ephEncoder;
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[6812] | 337 | friend class RTCM3Decoder;
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[6380] | 338 | public:
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[7625] | 339 | t_ephSBAS() {
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| 340 | _IODN = 0;
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| 341 | _TOW = 0.0;
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| 342 | _agf0 = 0.0;
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| 343 | _agf1 = 0.0;
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| 344 | _x_pos = 0.0;
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| 345 | _x_velocity = 0.0;
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| 346 | _x_acceleration = 0.0;
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| 347 | _y_pos = 0.0;
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| 348 | _y_velocity = 0.0;
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| 349 | _y_acceleration = 0.0;
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| 350 | _z_pos = 0.0;
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| 351 | _z_velocity = 0.0;
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| 352 | _z_acceleration = 0.0;
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| 353 | _ura = 0.0;
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| 354 | _health = 0.0;
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| 355 | }
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[6380] | 356 | t_ephSBAS(float rnxVersion, const QStringList& lines);
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| 357 | virtual ~t_ephSBAS() {}
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| 358 |
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| 359 | virtual e_type type() const {return t_eph::SBAS;}
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[7169] | 360 | virtual unsigned int IOD() const;
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[6380] | 361 | virtual QString toString(double version) const;
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| 362 |
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| 363 | private:
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[6381] | 364 | virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
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[6380] | 365 |
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[6536] | 366 | int _IODN;
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[6390] | 367 | double _TOW; // not used (set to 0.9999e9)
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[6380] | 368 | double _agf0; // [s] clock correction
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| 369 | double _agf1; // [s/s] clock correction drift
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| 370 |
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[7278] | 371 | double _x_pos; // [m]
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| 372 | double _x_velocity; // [m/s]
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| 373 | double _x_acceleration; // [m/s^2]
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[6380] | 374 |
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[7278] | 375 | double _y_pos; // [m]
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| 376 | double _y_velocity; // [m/s]
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| 377 | double _y_acceleration; // [m/s^2]
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[6380] | 378 |
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[7278] | 379 | double _z_pos; // [m]
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| 380 | double _z_velocity; // [m/s]
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| 381 | double _z_acceleration; // [m/s^2]
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[6380] | 382 |
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[6798] | 383 | mutable double _ura;
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[6390] | 384 | double _health;
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[6380] | 385 | };
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| 386 |
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[6600] | 387 | class t_ephBDS : public t_eph {
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[6400] | 388 | friend class t_ephEncoder;
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[6812] | 389 | friend class RTCM3Decoder;
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[6400] | 390 | public:
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[7625] | 391 | t_ephBDS() : _TOEweek(-1.0) {
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| 392 | _TOT = 0.0;
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| 393 | _AODE = 0;
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| 394 | _AODC = 0;
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| 395 | _URAI = 0;
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| 396 | _URA = 0.0;
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| 397 | _clock_bias = 0.0;
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| 398 | _clock_drift = 0.0;
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| 399 | _clock_driftrate = 0.0;
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| 400 | _Crs = 0.0;
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| 401 | _Delta_n = 0.0;
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| 402 | _M0 = 0.0;
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| 403 | _Cuc = 0.0;
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| 404 | _e = 0.0;
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| 405 | _Cus = 0.0;
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| 406 | _sqrt_A = 0.0;
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| 407 | _Cic = 0.0;
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| 408 | _OMEGA0 = 0.0;
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| 409 | _Cis = 0.0;
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| 410 | _i0 = 0.0;
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| 411 | _Crc = 0.0;
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| 412 | _omega = 0.0;
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| 413 | _OMEGADOT = 0.0;
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| 414 | _IDOT = 0.0;
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| 415 | _TGD1 = 0.0;
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| 416 | _TGD2 = 0.0;
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| 417 | _SatH1 = 0.0;
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| 418 | _TOW = 0.0;
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| 419 | _TOEsec = 0.0;
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| 420 | _TOEweek = 0.0;
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| 421 | }
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[6600] | 422 | t_ephBDS(float rnxVersion, const QStringList& lines);
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| 423 | virtual ~t_ephBDS() {}
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[6400] | 424 |
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[6602] | 425 | virtual e_type type() const {return t_eph::BDS;}
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[7169] | 426 | virtual unsigned int IOD() const;
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[6400] | 427 | virtual QString toString(double version) const;
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| 428 |
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| 429 | private:
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| 430 | virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
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| 431 |
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[6812] | 432 | double _TOT;
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[6400] | 433 | bncTime _TOE;
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| 434 | int _AODE;
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| 435 | int _AODC;
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[6812] | 436 | int _URAI; // [0..15] index from RTCM stream
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[6798] | 437 | mutable double _URA; // user range accuracy
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[7278] | 438 | double _clock_bias; // [s]
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| 439 | double _clock_drift; // [s/s]
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[6400] | 440 | double _clock_driftrate; // [s/s^2]
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[7278] | 441 | double _Crs; // [m]
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[6400] | 442 | double _Delta_n; // [rad/s]
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[7278] | 443 | double _M0; // [rad]
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| 444 | double _Cuc; // [rad]
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| 445 | double _e; //
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| 446 | double _Cus; // [rad]
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[6400] | 447 | double _sqrt_A; // [m^0.5]
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[7278] | 448 | double _Cic; // [rad]
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| 449 | double _OMEGA0; // [rad]
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| 450 | double _Cis; // [rad]
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| 451 | double _i0; // [rad]
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| 452 | double _Crc; // [m]
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| 453 | double _omega; // [rad]
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[6400] | 454 | double _OMEGADOT; // [rad/s]
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| 455 | double _IDOT; // [rad/s]
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[7278] | 456 | double _TGD1; // [s]
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| 457 | double _TGD2; // [s]
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| 458 | int _SatH1; //
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[6843] | 459 | double _TOW; // [s] of BDT week
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| 460 | double _TOEsec; // [s] of BDT week
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| 461 | double _TOEweek; // BDT week will be set only in case of RINEX file input
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[6400] | 462 | };
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[1025] | 463 | #endif
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