source: ntrip/trunk/BNC/src/ephemeris.h@ 9180

Last change on this file since 9180 was 8925, checked in by stuerze, 5 years ago

bug fixed: RINEX 3.04 QZSS fit interval is specified as flag
File size: 15.0 KB
Line 
1#ifndef EPHEMERIS_H
2#define EPHEMERIS_H
3
4#include <newmat.h>
5#include <QtCore>
6#include <stdio.h>
7#include <string>
8#include "bnctime.h"
9#include "bncconst.h"
10#include "t_prn.h"
11#include "gnss.h"
12
13
14class t_orbCorr;
15class t_clkCorr;
16
17class t_eph {
18 public:
19 enum e_type {unknown, GPS, QZSS, GLONASS, Galileo, SBAS, BDS, IRNSS};
20 enum e_checkState {unchecked, ok, bad, outdated, unhealthy};
21
22 t_eph();
23 virtual ~t_eph();
24
25 virtual e_type type() const = 0;
26 virtual QString toString(double version) const = 0;
27 virtual unsigned int IOD() const = 0;
28 virtual unsigned int isUnhealthy() const = 0;
29 virtual int slotNum() const {return 0;}
30 bncTime TOC() const {return _TOC;}
31 bool isNewerThan(const t_eph* eph) const {return earlierTime(eph, this);}
32 e_checkState checkState() const {return _checkState;}
33 void setCheckState(e_checkState checkState) {_checkState = checkState;}
34 t_prn prn() const {return _prn;}
35 t_irc getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const;
36 void setOrbCorr(const t_orbCorr* orbCorr);
37 void setClkCorr(const t_clkCorr* clkCorr);
38 const QDateTime& receptDateTime() const {return _receptDateTime;}
39 static QString rinexDateStr(const bncTime& tt, const t_prn& prn, double version);
40 static QString rinexDateStr(const bncTime& tt, const QString& prnStr, double version);
41 static bool earlierTime(const t_eph* eph1, const t_eph* eph2) {return eph1->_TOC < eph2->_TOC;}
42 static bool prnSort(const t_eph* eph1, const t_eph* eph2) {return eph1->prn() < eph2->prn();}
43
44 protected:
45 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const = 0;
46 t_prn _prn;
47 bncTime _TOC;
48 QDateTime _receptDateTime;
49 e_checkState _checkState;
50 t_orbCorr* _orbCorr;
51 t_clkCorr* _clkCorr;
52};
53
54
55class t_ephGPS : public t_eph {
56 friend class t_ephEncoder;
57 friend class RTCM3Decoder;
58 public:
59 t_ephGPS() {
60 _clock_bias = 0.0;
61 _clock_drift = 0.0;
62 _clock_driftrate = 0.0;
63 _IODE = 0.0;
64 _Crs = 0.0;
65 _Delta_n = 0.0;
66 _M0 = 0.0;
67 _Cuc = 0.0;
68 _e = 0.0;
69 _Cus = 0.0;
70 _sqrt_A = 0.0;
71 _TOEsec = 0.0;
72 _Cic = 0.0;
73 _OMEGA0 = 0.0;
74 _Cis = 0.0;
75 _i0 = 0.0;
76 _Crc = 0.0;
77 _omega = 0.0;
78 _OMEGADOT = 0.0;
79 _IDOT = 0.0;
80 _L2Codes = 0.0;
81 _TOEweek = 0.0;
82 _L2PFlag = 0.0;
83 _ura = 0.0;
84 _health = 0.0;
85 _TGD = 0.0;
86 _IODC = 0.0;
87 _TOT = 0.0;
88 _fitInterval = 0.0;
89 }
90 t_ephGPS(float rnxVersion, const QStringList& lines);
91 virtual ~t_ephGPS() {}
92
93 virtual e_type type() const {
94 switch (_prn.system()) {
95 case 'J':
96 return t_eph::QZSS;
97 case 'I':
98 return t_eph::IRNSS;
99 };
100 return t_eph::GPS;
101 }
102 virtual QString toString(double version) const;
103 virtual unsigned int IOD() const { return static_cast<unsigned int>(_IODE); }
104 virtual unsigned int isUnhealthy() const { return static_cast<unsigned int>(_health); }
105 double TGD() const {return _TGD;} // Timing Group Delay (P1-P2 DCB)
106
107 private:
108 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
109
110 double _clock_bias; // [s]
111 double _clock_drift; // [s/s]
112 double _clock_driftrate; // [s/s^2]
113
114 double _IODE; // IODEC in case of IRNSS
115 double _Crs; // [m]
116 double _Delta_n; // [rad/s]
117 double _M0; // [rad]
118
119 double _Cuc; // [rad]
120 double _e; //
121 double _Cus; // [rad]
122 double _sqrt_A; // [m^0.5]
123
124 double _TOEsec; // [s]
125 double _Cic; // [rad]
126 double _OMEGA0; // [rad]
127 double _Cis; // [rad]
128
129 double _i0; // [rad]
130 double _Crc; // [m]
131 double _omega; // [rad]
132 double _OMEGADOT; // [rad/s]
133
134 double _IDOT; // [rad/s]
135 double _L2Codes; // Codes on L2 channel (not valid for IRNSS)
136 double _TOEweek;
137 double _L2PFlag; // L2 P data flag (not valid for IRNSS and QZSS)
138
139 mutable double _ura; // SV accuracy
140 double _health; // SV health
141 double _TGD; // [s]
142 double _IODC; // (not valid for IRNSS)
143
144 double _TOT; // Transmission time
145 double _fitInterval; // Fit interval in hours (not valid for IRNSS)
146};
147
148class t_ephGlo : public t_eph {
149 friend class t_ephEncoder;
150 friend class RTCM3Decoder;
151 public:
152 t_ephGlo() {
153 _xv.ReSize(6); _xv = 0.0;
154 _gps_utc = 0.0;
155 _tau = 0.0;
156 _gamma = 0.0;
157 _tki = 0.0;
158 _x_pos = 0.0;
159 _x_velocity = 0.0;
160 _x_acceleration = 0.0;
161 _health = 0.0;
162 _y_pos = 0.0;
163 _y_velocity = 0.0;
164 _y_acceleration = 0.0;
165 _frequency_number = 0.0;
166 _z_pos = 0.0;
167 _z_velocity = 0.0;
168 _z_acceleration = 0.0;
169 _E = 0.0;
170 _almanac_health = 0.0;
171 _almanac_health_availablility_indicator = 0.0;
172 _additional_data_availability = 0.0;
173 _tauC = 0.0;
174 _P1 = 0.0;
175 _P2 = 0.0;
176 _P3 = 0.0;
177 _NA = 0.0;
178 _M_P = 0.0;
179 _M_l3 = 0.0;
180 _M_delta_tau = 0.0;
181 _M_P4 = 0.0;
182 _M_FT = 0.0;
183 _M_NT = 0.0;
184 _M_M = 0.0;
185 _M_N4 = 0.0;
186 _M_tau_GPS = 0.0;
187 _M_l5 = 0.0;
188 }
189 t_ephGlo(float rnxVersion, const QStringList& lines);
190 virtual ~t_ephGlo() {}
191
192 virtual e_type type() const {return t_eph::GLONASS;}
193 virtual QString toString(double version) const;
194 virtual unsigned int IOD() const;
195 virtual unsigned int isUnhealthy() const;
196 virtual int slotNum() const {return int(_frequency_number);}
197
198 private:
199 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
200 static ColumnVector glo_deriv(double /* tt */, const ColumnVector& xv, double* acc);
201
202 mutable bncTime _tt; // time
203 mutable ColumnVector _xv; // status vector (position, velocity) at time _tt
204
205 double _gps_utc;
206 double _tau; // [s]
207 double _gamma; // [-]
208 mutable double _tki; // message frame time
209
210 double _x_pos; // [km]
211 double _x_velocity; // [km/s]
212 double _x_acceleration; // [km/s^2]
213 double _health; // 0 = O.K. MSB of Bn word
214
215 double _y_pos; // [km]
216 double _y_velocity; // [km/s]
217 double _y_acceleration; // [km/s^2]
218 double _frequency_number; // ICD-GLONASS data position
219
220 double _z_pos; // [km]
221 double _z_velocity; // [km/s]
222 double _z_acceleration; // [km/s^2]
223 double _E; // Age of Information [days]
224
225 double _almanac_health; // Cn word
226 double _almanac_health_availablility_indicator;
227
228 double _additional_data_availability; //
229 double _tauC; // GLONASS time scale correction to UTC(SU) time [sec]
230 double _P1; // flag of the immediate data updating [-]
231 double _P2; // flag of oddness or evenness of the value of tb for intervals 30 or 60 minutes [-]
232 double _P3; // flag indicating a number of satellites for which almanac is transmitted within given frame [-]
233 double _NA; // calendar day number within the 4-year period [days]
234
235 double _M_P; // control segment parameter that indicates the satellite operation mode with respect of time parameters
236 double _M_l3; // health flag
237 double _M_delta_tau; // [sec]
238 double _M_P4; // flag to show that ephemeris parameters are present [-]
239 double _M_FT; // indicator for predicted satellite user range accuracy [-]
240 double _M_NT; // current date, calendar number of day within 4-year interval [days]
241 double _M_M; // type of satellite transmitting navigation signal: 0 = GLONASS, 1 = GLONASS-M satellite [-]
242 double _M_N4; // 4-year interval number starting from 1996
243 double _M_tau_GPS; // correction to GPS time relative to GLONASS time [days]
244 double _M_l5; // health flag
245};
246
247class t_ephGal : public t_eph {
248 friend class t_ephEncoder;
249 friend class RTCM3Decoder;
250 public:
251 t_ephGal() {
252 _clock_bias = 0.0;
253 _clock_drift = 0.0;
254 _clock_driftrate = 0.0;
255 _IODnav = 0.0;
256 _Crs = 0.0;
257 _Delta_n = 0.0;
258 _M0 = 0.0;
259 _Cuc = 0.0;
260 _e = 0.0;
261 _Cus = 0.0;
262 _sqrt_A = 0.0;
263 _TOEsec = 0.0;
264 _Cic = 0.0;
265 _OMEGA0 = 0.0;
266 _Cis = 0.0;
267 _i0 = 0.0;
268 _Crc = 0.0;
269 _omega = 0.0;
270 _OMEGADOT = 0.0;
271 _IDOT = 0.0;
272 _TOEweek = 0.0;
273 _SISA = 0.0;
274 _E5aHS = 0.0;
275 _E5bHS = 0.0;
276 _E1_bHS = 0.0;
277 _BGD_1_5A = 0.0;
278 _BGD_1_5B = 0.0;
279 _TOT = 0.0;
280 };
281 t_ephGal(float rnxVersion, const QStringList& lines);
282 virtual ~t_ephGal() {}
283
284 virtual QString toString(double version) const;
285 virtual e_type type() const {return t_eph::Galileo;}
286 virtual unsigned int IOD() const { return static_cast<unsigned long>(_IODnav); }
287 virtual unsigned int isUnhealthy() const;
288
289 private:
290 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
291
292 double _clock_bias; // [s]
293 double _clock_drift; // [s/s]
294 double _clock_driftrate; // [s/s^2]
295
296 double _IODnav;
297 double _Crs; // [m]
298 double _Delta_n; // [rad/s]
299 double _M0; // [rad]
300
301 double _Cuc; // [rad]
302 double _e; //
303 double _Cus; // [rad]
304 double _sqrt_A; // [m^0.5]
305
306 double _TOEsec; // [s]
307 double _Cic; // [rad]
308 double _OMEGA0; // [rad]
309 double _Cis; // [rad]
310
311 double _i0; // [rad]
312 double _Crc; // [m]
313 double _omega; // [rad]
314 double _OMEGADOT; // [rad/s]
315
316 double _IDOT; // [rad/s]
317 double _TOEweek;
318 // spare
319
320 mutable double _SISA; // Signal In Space Accuracy
321 double _E5aHS; // [0..3] E5a Health Status
322 double _E5bHS; // [0..3] E5b Health Status
323 double _E1_bHS; // [0..3] E1-b Health Status
324 double _BGD_1_5A; // group delay [s]
325 double _BGD_1_5B; // group delay [s]
326
327 double _TOT; // [s]
328 /** Data comes from I/NAV when <code>true</code> */
329 bool _inav;
330 /** Data comes from F/NAV when <code>true</code> */
331 bool _fnav;
332 /** EE Data is not valid */
333 bool _e1DataInValid;
334 /** E5A Data is not valid */
335 bool _e5aDataInValid;
336 /** E5B Data is not valid */
337 bool _e5bDataInValid;
338};
339
340class t_ephSBAS : public t_eph {
341 friend class t_ephEncoder;
342 friend class RTCM3Decoder;
343 public:
344 t_ephSBAS() {
345 _IODN = 0;
346 _TOT = 0.0;
347 _agf0 = 0.0;
348 _agf1 = 0.0;
349 _x_pos = 0.0;
350 _x_velocity = 0.0;
351 _x_acceleration = 0.0;
352 _y_pos = 0.0;
353 _y_velocity = 0.0;
354 _y_acceleration = 0.0;
355 _z_pos = 0.0;
356 _z_velocity = 0.0;
357 _z_acceleration = 0.0;
358 _ura = 0.0;
359 _health = 0.0;
360 }
361 t_ephSBAS(float rnxVersion, const QStringList& lines);
362 virtual ~t_ephSBAS() {}
363
364 virtual e_type type() const {return t_eph::SBAS;}
365 virtual unsigned int IOD() const;
366 virtual unsigned int isUnhealthy() const { return static_cast<unsigned int>(_health); }
367 virtual QString toString(double version) const;
368
369 private:
370 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
371
372 int _IODN;
373 double _TOT; // not used (set to 0.9999e9)
374 double _agf0; // [s] clock correction
375 double _agf1; // [s/s] clock correction drift
376
377 double _x_pos; // [m]
378 double _x_velocity; // [m/s]
379 double _x_acceleration; // [m/s^2]
380
381 double _y_pos; // [m]
382 double _y_velocity; // [m/s]
383 double _y_acceleration; // [m/s^2]
384
385 double _z_pos; // [m]
386 double _z_velocity; // [m/s]
387 double _z_acceleration; // [m/s^2]
388
389 mutable double _ura;
390 double _health;
391};
392
393class t_ephBDS : public t_eph {
394 friend class t_ephEncoder;
395 friend class RTCM3Decoder;
396 public:
397 t_ephBDS() {
398 _TOT = 0.0;
399 _AODE = 0;
400 _AODC = 0;
401 _URAI = 0;
402 _URA = 0.0;
403 _clock_bias = 0.0;
404 _clock_drift = 0.0;
405 _clock_driftrate = 0.0;
406 _Crs = 0.0;
407 _Delta_n = 0.0;
408 _M0 = 0.0;
409 _Cuc = 0.0;
410 _e = 0.0;
411 _Cus = 0.0;
412 _sqrt_A = 0.0;
413 _Cic = 0.0;
414 _OMEGA0 = 0.0;
415 _Cis = 0.0;
416 _i0 = 0.0;
417 _Crc = 0.0;
418 _omega = 0.0;
419 _OMEGADOT = 0.0;
420 _IDOT = 0.0;
421 _TGD1 = 0.0;
422 _TGD2 = 0.0;
423 _SatH1 = 0.0;
424 _TOW = 0.0;
425 _TOEsec = 0.0;
426 _TOEweek =-1.0;
427 }
428 t_ephBDS(float rnxVersion, const QStringList& lines);
429 virtual ~t_ephBDS() {}
430
431 virtual e_type type() const {return t_eph::BDS;}
432 virtual unsigned int IOD() const;
433 virtual unsigned int isUnhealthy() const { return static_cast<unsigned int>(_SatH1); }
434 virtual QString toString(double version) const;
435
436 private:
437 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
438
439 double _TOT;
440 bncTime _TOE;
441 int _AODE;
442 int _AODC;
443 int _URAI; // [0..15] index from RTCM stream
444 mutable double _URA; // user range accuracy
445 double _clock_bias; // [s]
446 double _clock_drift; // [s/s]
447 double _clock_driftrate; // [s/s^2]
448 double _Crs; // [m]
449 double _Delta_n; // [rad/s]
450 double _M0; // [rad]
451 double _Cuc; // [rad]
452 double _e; //
453 double _Cus; // [rad]
454 double _sqrt_A; // [m^0.5]
455 double _Cic; // [rad]
456 double _OMEGA0; // [rad]
457 double _Cis; // [rad]
458 double _i0; // [rad]
459 double _Crc; // [m]
460 double _omega; // [rad]
461 double _OMEGADOT; // [rad/s]
462 double _IDOT; // [rad/s]
463 double _TGD1; // [s]
464 double _TGD2; // [s]
465 int _SatH1; //
466 double _TOW; // [s] of BDT week
467 double _TOEsec; // [s] of BDT week
468 double _TOEweek; // BDT week will be set only in case of RINEX file input
469};
470#endif
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