source: ntrip/branches/BNC_2.12/src/ephemeris.h@ 8184

Last change on this file since 8184 was 8184, checked in by stuerze, 6 years ago

RTCM MT 1020 ephemeris parameter are now completed
File size: 14.5 KB
RevLine 
[1025]1#ifndef EPHEMERIS_H
2#define EPHEMERIS_H
3
[2221]4#include <newmat.h>
[3174]5#include <QtCore>
[1025]6#include <stdio.h>
7#include <string>
[4018]8#include "bnctime.h"
[5749]9#include "bncconst.h"
[5776]10#include "t_prn.h"
[6812]11#include "gnss.h"
[6139]12
[7054]13
[6141]14class t_orbCorr;
15class t_clkCorr;
[5749]16
[1025]17class t_eph {
18 public:
[8167]19 enum e_type {unknown, GPS, QZSS, GLONASS, Galileo, SBAS, BDS, IRNSS};
[7208]20 enum e_checkState {unchecked, ok, bad, outdated};
[4005]21
[5749]22 t_eph();
[7278]23 virtual ~t_eph();
[4018]24
[6109]25 virtual e_type type() const = 0;
[4013]26 virtual QString toString(double version) const = 0;
[7169]27 virtual unsigned int IOD() const = 0;
[6109]28 virtual int slotNum() const {return 0;}
[4018]29 bncTime TOC() const {return _TOC;}
[6109]30 bool isNewerThan(const t_eph* eph) const {return earlierTime(eph, this);}
[6518]31 e_checkState checkState() const {return _checkState;}
[6519]32 void setCheckState(e_checkState checkState) {_checkState = checkState;}
[6109]33 t_prn prn() const {return _prn;}
34 t_irc getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const;
[6141]35 void setOrbCorr(const t_orbCorr* orbCorr);
36 void setClkCorr(const t_clkCorr* clkCorr);
[3174]37 const QDateTime& receptDateTime() const {return _receptDateTime;}
[6109]38 static QString rinexDateStr(const bncTime& tt, const t_prn& prn, double version);
39 static QString rinexDateStr(const bncTime& tt, const QString& prnStr, double version);
40 static bool earlierTime(const t_eph* eph1, const t_eph* eph2) {return eph1->_TOC < eph2->_TOC;}
[1025]41
[7278]42 protected:
[6213]43 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const = 0;
[6518]44 t_prn _prn;
45 bncTime _TOC;
46 QDateTime _receptDateTime;
47 e_checkState _checkState;
48 t_orbCorr* _orbCorr;
49 t_clkCorr* _clkCorr;
[1025]50};
51
52
53class t_ephGPS : public t_eph {
[5852]54 friend class t_ephEncoder;
[6812]55 friend class RTCM3Decoder;
[1025]56 public:
[7625]57 t_ephGPS() {
58 _clock_bias = 0.0;
59 _clock_drift = 0.0;
60 _clock_driftrate = 0.0;
61 _IODE = 0.0;
62 _Crs = 0.0;
63 _Delta_n = 0.0;
64 _M0 = 0.0;
65 _Cuc = 0.0;
66 _e = 0.0;
67 _Cus = 0.0;
68 _sqrt_A = 0.0;
69 _TOEsec = 0.0;
70 _Cic = 0.0;
71 _OMEGA0 = 0.0;
72 _Cis = 0.0;
73 _i0 = 0.0;
74 _Crc = 0.0;
75 _omega = 0.0;
76 _OMEGADOT = 0.0;
77 _IDOT = 0.0;
78 _L2Codes = 0.0;
79 _TOEweek = 0.0;
80 _L2PFlag = 0.0;
81 _ura = 0.0;
82 _health = 0.0;
83 _TGD = 0.0;
84 _IODC = 0.0;
85 _TOT = 0.0;
86 _fitInterval = 0.0;
87 }
[3659]88 t_ephGPS(float rnxVersion, const QStringList& lines);
[2221]89 virtual ~t_ephGPS() {}
[4005]90
[8167]91 virtual e_type type() const {
92 switch (_prn.system()) {
93 case 'J':
94 return t_eph::QZSS;
95 case 'I':
96 return t_eph::IRNSS;
97 };
98 return t_eph::GPS;
99 }
[4013]100 virtual QString toString(double version) const;
[8140]101 virtual unsigned int IOD() const { return static_cast<unsigned int>(_IODE); }
[4366]102 double TGD() const {return _TGD;} // Timing Group Delay (P1-P2 DCB)
103
[1025]104 private:
[6213]105 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
[6109]106
[7278]107 double _clock_bias; // [s]
108 double _clock_drift; // [s/s]
[4018]109 double _clock_driftrate; // [s/s^2]
[1025]110
[8167]111 double _IODE; // IODEC in case of IRNSS
[7278]112 double _Crs; // [m]
[4018]113 double _Delta_n; // [rad/s]
[7278]114 double _M0; // [rad]
[1025]115
[7278]116 double _Cuc; // [rad]
117 double _e; //
118 double _Cus; // [rad]
[4018]119 double _sqrt_A; // [m^0.5]
[1025]120
[7278]121 double _TOEsec; // [s]
122 double _Cic; // [rad]
123 double _OMEGA0; // [rad]
124 double _Cis; // [rad]
[4018]125
[7278]126 double _i0; // [rad]
127 double _Crc; // [m]
128 double _omega; // [rad]
[4018]129 double _OMEGADOT; // [rad/s]
130
131 double _IDOT; // [rad/s]
[8167]132 double _L2Codes; // Codes on L2 channel (not valid for IRNSS)
[4018]133 double _TOEweek;
[8167]134 double _L2PFlag; // L2 P data flag (not valid for IRNSS)
[4018]135
[6798]136 mutable double _ura; // SV accuracy
[4018]137 double _health; // SV health
[7278]138 double _TGD; // [s]
[8167]139 double _IODC; // (not valid for IRNSS)
[4018]140
[7278]141 double _TOT; // Transmisstion time
[8167]142 double _fitInterval; // Fit interval (not valid for IRNSS)
143
[1025]144};
145
[2221]146class t_ephGlo : public t_eph {
[5853]147 friend class t_ephEncoder;
[6812]148 friend class RTCM3Decoder;
[2221]149 public:
[7625]150 t_ephGlo() {
151 _xv.ReSize(6);
152 _gps_utc = 0.0;
153 _tau = 0.0;
154 _gamma = 0.0;
155 _tki = 0.0;
156 _x_pos = 0.0;
157 _x_velocity = 0.0;
158 _x_acceleration = 0.0;
159 _health = 0.0;
160 _y_pos = 0.0;
161 _y_velocity = 0.0;
162 _y_acceleration = 0.0;
163 _frequency_number = 0.0;
164 _z_pos = 0.0;
165 _z_velocity = 0.0;
166 _z_acceleration = 0.0;
167 _E = 0.0;
[8184]168 _almanac_health = 0.0;
169 _almanac_health_availablility_indicator = 0.0;
170 _additional_data_availability = 0.0;
171 _tauC = 0.0;
172 _P1 = 0.0;
173 _P2 = 0.0;
174 _P3 = 0.0;
175 _NA = 0.0;
176 _M_P = 0.0;
177 _M_l3 = 0.0;
178 _M_delta_tau = 0.0;
179 _M_P4 = 0.0;
180 _M_FT = 0.0;
181 _M_NT = 0.0;
182 _M_M = 0.0;
183 _M_N4 = 0.0;
184 _M_tau_GPS = 0.0;
185 _M_l5 = 0.0;
[7625]186 }
[3659]187 t_ephGlo(float rnxVersion, const QStringList& lines);
[2221]188 virtual ~t_ephGlo() {}
189
[4005]190 virtual e_type type() const {return t_eph::GLONASS;}
[4013]191 virtual QString toString(double version) const;
[7169]192 virtual unsigned int IOD() const;
[6109]193 virtual int slotNum() const {return int(_frequency_number);}
[2221]194
195 private:
[6213]196 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
[6109]197 static ColumnVector glo_deriv(double /* tt */, const ColumnVector& xv, double* acc);
[2221]198
[7278]199 mutable bncTime _tt; // time
[2221]200 mutable ColumnVector _xv; // status vector (position, velocity) at time _tt
201
[3255]202 double _gps_utc;
[7278]203 double _tau; // [s]
[8184]204 double _gamma; // [-]
[5853]205 mutable double _tki; // message frame time
[4018]206
[7278]207 double _x_pos; // [km]
208 double _x_velocity; // [km/s]
209 double _x_acceleration; // [km/s^2]
[8184]210 double _health; // 0 = O.K. MSB of Bn word
[4018]211
[7278]212 double _y_pos; // [km]
213 double _y_velocity; // [km/s]
214 double _y_acceleration; // [km/s^2]
215 double _frequency_number; // ICD-GLONASS data position
[4018]216
[7278]217 double _z_pos; // [km]
218 double _z_velocity; // [km/s]
219 double _z_acceleration; // [km/s^2]
220 double _E; // Age of Information [days]
[8184]221
222 double _almanac_health; // Cn word
223 double _almanac_health_availablility_indicator;
224
225 double _additional_data_availability; //
226 double _tauC; // GLONASS time scale correction to UTC(SU) time [sec]
227 double _P1; // flag of the immediate data updating [-]
228 double _P2; // flag of oddness or evenness of the value of tb for intervals 30 or 60 minutes [-]
229 double _P3; // flag indicating a number of satellites for which almanac is transmitted within given frame [-]
230 double _NA; // calendar day number within the 4-year period [days]
231
232 double _M_P; // control segment parameter that indicates the satellite operation mode with respect of time parameters
233 double _M_l3; // health flag
234 double _M_delta_tau; // [sec]
235 double _M_P4; // flag to show that ephemeris parameters are present [-]
236 double _M_FT; // indicator for predicted satellite user range accuracy [-]
237 double _M_NT; // current date, calendar number of day within 4-year interval [days]
238 double _M_M; // type of satellite transmitting navigation signal: 0 = GLONASS, 1 = GLONASS-M satellite [-]
239 double _M_N4; // 4-year interval number starting from 1996
240 double _M_tau_GPS; // correction to GPS time relative to GLONASS time [days]
241 double _M_l5; // health flag
[2221]242};
243
[2770]244class t_ephGal : public t_eph {
[5853]245 friend class t_ephEncoder;
[6812]246 friend class RTCM3Decoder;
[2770]247 public:
[7625]248 t_ephGal() {
249 _clock_bias = 0.0;
250 _clock_drift = 0.0;
251 _clock_driftrate = 0.0;
252 _IODnav = 0.0;
253 _Crs = 0.0;
254 _Delta_n = 0.0;
255 _M0 = 0.0;
256 _Cuc = 0.0;
257 _e = 0.0;
258 _Cus = 0.0;
259 _sqrt_A = 0.0;
260 _TOEsec = 0.0;
261 _Cic = 0.0;
262 _OMEGA0 = 0.0;
263 _Cis = 0.0;
264 _i0 = 0.0;
265 _Crc = 0.0;
266 _omega = 0.0;
267 _OMEGADOT = 0.0;
268 _IDOT = 0.0;
269 _TOEweek = 0.0;
270 _SISA = 0.0;
271 _E5aHS = 0.0;
272 _E5bHS = 0.0;
273 _E1_bHS = 0.0;
274 _BGD_1_5A = 0.0;
275 _BGD_1_5B = 0.0;
276 _TOT = 0.0;
277 };
[3659]278 t_ephGal(float rnxVersion, const QStringList& lines);
[2770]279 virtual ~t_ephGal() {}
[4005]280
[4013]281 virtual QString toString(double version) const;
[4005]282 virtual e_type type() const {return t_eph::Galileo;}
[7169]283 virtual unsigned int IOD() const { return static_cast<unsigned long>(_IODnav); }
[2770]284
[6109]285 private:
[6213]286 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
[2770]287
[7278]288 double _clock_bias; // [s]
289 double _clock_drift; // [s/s]
[2770]290 double _clock_driftrate; // [s/s^2]
[4018]291
[6812]292 double _IODnav;
[7278]293 double _Crs; // [m]
[2770]294 double _Delta_n; // [rad/s]
[7278]295 double _M0; // [rad]
[4018]296
[7278]297 double _Cuc; // [rad]
298 double _e; //
299 double _Cus; // [rad]
[2770]300 double _sqrt_A; // [m^0.5]
[4018]301
[7278]302 double _TOEsec; // [s]
303 double _Cic; // [rad]
304 double _OMEGA0; // [rad]
305 double _Cis; // [rad]
[4018]306
[7278]307 double _i0; // [rad]
308 double _Crc; // [m]
309 double _omega; // [rad]
[2770]310 double _OMEGADOT; // [rad/s]
[4018]311
[2770]312 double _IDOT; // [rad/s]
[6809]313 double _TOEweek;
[4018]314 // spare
315
[6798]316 mutable double _SISA; // Signal In Space Accuracy
[6794]317 double _E5aHS; // [0..3] E5a Health Status
318 double _E5bHS; // [0..3] E5b Health Status
319 double _E1_bHS; // [0..3] E1-b Health Status
[7278]320 double _BGD_1_5A; // group delay [s]
321 double _BGD_1_5B; // group delay [s]
[2770]322
[6809]323 double _TOT; // [s]
[6812]324 /** Data comes from I/NAV when <code>true</code> */
325 bool _inav;
326 /** Data comes from F/NAV when <code>true</code> */
327 bool _fnav;
328 /** EE Data is not valid */
329 bool _e1DataInValid;
330 /** E5A Data is not valid */
331 bool _e5aDataInValid;
332 /** E5B Data is not valid */
333 bool _e5bDataInValid;
[2770]334};
335
[6380]336class t_ephSBAS : public t_eph {
337 friend class t_ephEncoder;
[6812]338 friend class RTCM3Decoder;
[6380]339 public:
[7625]340 t_ephSBAS() {
341 _IODN = 0;
342 _TOW = 0.0;
343 _agf0 = 0.0;
344 _agf1 = 0.0;
345 _x_pos = 0.0;
346 _x_velocity = 0.0;
347 _x_acceleration = 0.0;
348 _y_pos = 0.0;
349 _y_velocity = 0.0;
350 _y_acceleration = 0.0;
351 _z_pos = 0.0;
352 _z_velocity = 0.0;
353 _z_acceleration = 0.0;
354 _ura = 0.0;
355 _health = 0.0;
356 }
[6380]357 t_ephSBAS(float rnxVersion, const QStringList& lines);
358 virtual ~t_ephSBAS() {}
359
360 virtual e_type type() const {return t_eph::SBAS;}
[7169]361 virtual unsigned int IOD() const;
[6380]362 virtual QString toString(double version) const;
363
364 private:
[6381]365 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
[6380]366
[6536]367 int _IODN;
[6390]368 double _TOW; // not used (set to 0.9999e9)
[6380]369 double _agf0; // [s] clock correction
370 double _agf1; // [s/s] clock correction drift
371
[7278]372 double _x_pos; // [m]
373 double _x_velocity; // [m/s]
374 double _x_acceleration; // [m/s^2]
[6380]375
[7278]376 double _y_pos; // [m]
377 double _y_velocity; // [m/s]
378 double _y_acceleration; // [m/s^2]
[6380]379
[7278]380 double _z_pos; // [m]
381 double _z_velocity; // [m/s]
382 double _z_acceleration; // [m/s^2]
[6380]383
[6798]384 mutable double _ura;
[6390]385 double _health;
[6380]386};
387
[6600]388class t_ephBDS : public t_eph {
[6400]389 friend class t_ephEncoder;
[6812]390 friend class RTCM3Decoder;
[6400]391 public:
[7625]392 t_ephBDS() : _TOEweek(-1.0) {
393 _TOT = 0.0;
394 _AODE = 0;
395 _AODC = 0;
396 _URAI = 0;
397 _URA = 0.0;
398 _clock_bias = 0.0;
399 _clock_drift = 0.0;
400 _clock_driftrate = 0.0;
401 _Crs = 0.0;
402 _Delta_n = 0.0;
403 _M0 = 0.0;
404 _Cuc = 0.0;
405 _e = 0.0;
406 _Cus = 0.0;
407 _sqrt_A = 0.0;
408 _Cic = 0.0;
409 _OMEGA0 = 0.0;
410 _Cis = 0.0;
411 _i0 = 0.0;
412 _Crc = 0.0;
413 _omega = 0.0;
414 _OMEGADOT = 0.0;
415 _IDOT = 0.0;
416 _TGD1 = 0.0;
417 _TGD2 = 0.0;
418 _SatH1 = 0.0;
419 _TOW = 0.0;
420 _TOEsec = 0.0;
421 _TOEweek = 0.0;
422 }
[6600]423 t_ephBDS(float rnxVersion, const QStringList& lines);
424 virtual ~t_ephBDS() {}
[6400]425
[6602]426 virtual e_type type() const {return t_eph::BDS;}
[7169]427 virtual unsigned int IOD() const;
[6400]428 virtual QString toString(double version) const;
429
430 private:
431 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
432
[6812]433 double _TOT;
[6400]434 bncTime _TOE;
435 int _AODE;
436 int _AODC;
[6812]437 int _URAI; // [0..15] index from RTCM stream
[6798]438 mutable double _URA; // user range accuracy
[7278]439 double _clock_bias; // [s]
440 double _clock_drift; // [s/s]
[6400]441 double _clock_driftrate; // [s/s^2]
[7278]442 double _Crs; // [m]
[6400]443 double _Delta_n; // [rad/s]
[7278]444 double _M0; // [rad]
445 double _Cuc; // [rad]
446 double _e; //
447 double _Cus; // [rad]
[6400]448 double _sqrt_A; // [m^0.5]
[7278]449 double _Cic; // [rad]
450 double _OMEGA0; // [rad]
451 double _Cis; // [rad]
452 double _i0; // [rad]
453 double _Crc; // [m]
454 double _omega; // [rad]
[6400]455 double _OMEGADOT; // [rad/s]
456 double _IDOT; // [rad/s]
[7278]457 double _TGD1; // [s]
458 double _TGD2; // [s]
459 int _SatH1; //
[6843]460 double _TOW; // [s] of BDT week
461 double _TOEsec; // [s] of BDT week
462 double _TOEweek; // BDT week will be set only in case of RINEX file input
[6400]463};
464
[1025]465#endif
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