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20 | enum e_checkState {unchecked, ok, bad, outdated, unhealthy};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