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 | extern "C" {
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9 | #include "rtcm3torinex.h"
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10 | }
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11 |
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12 | class t_eph {
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13 | public:
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14 |
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15 | enum e_type {unknown, GPS, GLONASS, Galileo};
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16 |
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17 | static bool earlierTime(const t_eph* eph1, const t_eph* eph2) {
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18 | if (eph1->_GPSweek < eph2->_GPSweek) {
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19 | return true;
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20 | }
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21 | else if (eph1->_GPSweek == eph2->_GPSweek) {
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22 | return eph1->_GPSweeks < eph2->_GPSweeks;
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23 | }
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24 | else {
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25 | return false;
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26 | }
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27 | }
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28 |
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29 | t_eph() {_ok = false;}
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30 | virtual ~t_eph() {};
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31 |
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32 | virtual e_type type() const = 0;
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33 |
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34 | bool ok() const {return _ok;}
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35 | bool isNewerThan(const t_eph* eph) const;
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36 | QString prn() const {return _prn;}
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37 | void setReceptDateTime(const QDateTime& dateTime) {
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38 | _receptDateTime = dateTime;
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39 | }
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40 | const QDateTime& receptDateTime() const {return _receptDateTime;}
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41 |
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42 | int GPSweek() const { return _GPSweek; }
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43 | double GPSweeks() const { return _GPSweeks; }
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44 |
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45 | virtual void position(int GPSweek, double GPSweeks,
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46 | double* xc, double* vv) const = 0;
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47 |
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48 | void position(int GPSweek, double GPSweeks,
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49 | double& xx, double& yy, double& zz, double& cc) const {
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50 | double tmp_xx[4];
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51 | double tmp_vv[4];
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52 |
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53 | position(GPSweek, GPSweeks, tmp_xx, tmp_vv);
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54 |
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55 | xx = tmp_xx[0];
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56 | yy = tmp_xx[1];
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57 | zz = tmp_xx[2];
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58 | cc = tmp_xx[3];
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59 | }
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60 |
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61 | virtual int IOD() const = 0;
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62 |
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63 | virtual int RTCM3(unsigned char *) = 0;
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64 |
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65 | protected:
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66 | QString _prn;
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67 | int _GPSweek;
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68 | double _GPSweeks;
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69 | QDateTime _receptDateTime;
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70 | bool _ok;
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71 | };
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72 |
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73 |
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74 | class t_ephGPS : public t_eph {
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75 | public:
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76 | t_ephGPS() { }
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77 | t_ephGPS(float rnxVersion, const QStringList& lines);
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78 | virtual ~t_ephGPS() {}
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79 |
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80 | virtual e_type type() const {return t_eph::GPS;}
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81 |
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82 | double TOC() const {return _TOC;}
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83 |
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84 | void set(const gpsephemeris* ee);
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85 |
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86 | virtual void position(int GPSweek, double GPSweeks,
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87 | double* xc,
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88 | double* vv) const;
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89 |
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90 | virtual int IOD() const { return static_cast<int>(_IODC); }
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91 |
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92 | virtual int RTCM3(unsigned char *);
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93 |
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94 | private:
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95 | double _TOW; // [s]
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96 | double _TOC; // [s]
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97 | double _TOE; // [s]
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98 | double _IODE;
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99 | double _IODC;
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100 |
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101 | double _clock_bias; // [s]
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102 | double _clock_drift; // [s/s]
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103 | double _clock_driftrate; // [s/s^2]
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104 |
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105 | double _Crs; // [m]
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106 | double _Delta_n; // [rad/s]
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107 | double _M0; // [rad]
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108 | double _Cuc; // [rad]
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109 | double _e; //
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110 | double _Cus; // [rad]
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111 | double _sqrt_A; // [m^0.5]
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112 | double _Cic; // [rad]
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113 | double _OMEGA0; // [rad]
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114 | double _Cis; // [rad]
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115 | double _i0; // [rad]
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116 | double _Crc; // [m]
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117 | double _omega; // [rad]
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118 | double _OMEGADOT; // [rad/s]
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119 | double _IDOT; // [rad/s]
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120 |
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121 | double _TGD; // [s]
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122 | double _health; // SV health
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123 | double _ura; // SV accuracy
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124 | double _L2PFlag; // L2 P data flag
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125 | double _L2Codes; // Codes on L2 channel
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126 | };
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127 |
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128 | class t_ephGlo : public t_eph {
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129 | public:
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130 | t_ephGlo() { _xv.ReSize(6); }
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131 | t_ephGlo(float rnxVersion, const QStringList& lines);
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132 |
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133 | virtual ~t_ephGlo() {}
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134 |
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135 | virtual e_type type() const {return t_eph::GLONASS;}
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136 |
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137 | virtual void position(int GPSweek, double GPSweeks,
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138 | double* xc,
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139 | double* vv) const;
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140 |
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141 | virtual int IOD() const;
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142 |
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143 | virtual int RTCM3(unsigned char *);
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144 |
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145 | void set(const glonassephemeris* ee);
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146 |
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147 | int slotNum() const {return int(_frequency_number);}
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148 |
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149 | private:
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150 | static ColumnVector glo_deriv(double /* tt */, const ColumnVector& xv,
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151 | double* acc);
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152 |
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153 | mutable double _tt; // time in seconds of GPSweek
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154 | mutable ColumnVector _xv; // status vector (position, velocity) at time _tt
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155 |
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156 | double _gps_utc;
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157 | double _E; // [days]
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158 | double _tau; // [s]
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159 | double _gamma; //
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160 | double _x_pos; // [km]
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161 | double _x_velocity; // [km/s]
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162 | double _x_acceleration; // [km/s^2]
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163 | double _y_pos; // [km]
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164 | double _y_velocity; // [km/s]
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165 | double _y_acceleration; // [km/s^2]
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166 | double _z_pos; // [km]
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167 | double _z_velocity; // [km/s]
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168 | double _z_acceleration; // [km/s^2]
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169 | double _health; // 0 = O.K.
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170 | double _frequency_number; // ICD-GLONASS data position
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171 | double _tki; // message frame time
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172 | };
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173 |
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174 | class t_ephGal : public t_eph {
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175 | public:
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176 | t_ephGal() { }
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177 | t_ephGal(float rnxVersion, const QStringList& lines);
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178 | virtual ~t_ephGal() {}
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179 |
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180 | virtual e_type type() const {return t_eph::Galileo;}
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181 |
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182 | double TOC() const {return _TOC;}
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183 |
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184 | void set(const galileoephemeris* ee);
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185 |
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186 | virtual void position(int GPSweek, double GPSweeks,
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187 | double* xc,
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188 | double* vv) const;
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189 |
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190 | virtual int IOD() const { return static_cast<int>(_IODnav); }
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191 |
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192 | virtual int RTCM3(unsigned char *);
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193 |
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194 | private:
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195 | double _IODnav;
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196 | double _TOC; // [s]
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197 | double _TOE; // [s]
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198 | double _clock_bias; // [s]
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199 | double _clock_drift; // [s/s]
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200 | double _clock_driftrate; // [s/s^2]
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201 | double _Crs; // [m]
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202 | double _Delta_n; // [rad/s]
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203 | double _M0; // [rad]
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204 | double _Cuc; // [rad]
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205 | double _e; //
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206 | double _Cus; // [rad]
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207 | double _sqrt_A; // [m^0.5]
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208 | double _Cic; // [rad]
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209 | double _OMEGA0; // [rad]
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210 | double _Cis; // [rad]
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211 | double _i0; // [rad]
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212 | double _Crc; // [m]
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213 | double _omega; // [rad]
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214 | double _OMEGADOT; // [rad/s]
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215 | double _IDOT; // [rad/s]
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216 | double _BGD_1_5A; // group delay [s]
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217 | double _BGD_1_5B; // group delay [s]
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218 | int _SISA; // Signal In Space Accuracy
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219 | int _E5aHS; // E5a Health Status
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220 |
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221 | };
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222 |
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223 | #endif
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