source: ntrip/trunk/BNC/src/ephemeris.h@ 10584

Last change on this file since 10584 was 10580, checked in by stuerze, 2 months ago

updates regarding RINEX version 4.02 navigation information
File size: 19.1 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
[6141]13class t_orbCorr;
14class t_clkCorr;
[10580]15enum e_navType {EPH, STO, EOP, ION};
[5749]16
[1025]17class t_eph {
18 public:
[8168]19 enum e_type {unknown, GPS, QZSS, GLONASS, Galileo, SBAS, BDS, IRNSS};
[8215]20 enum e_checkState {unchecked, ok, bad, outdated, unhealthy};
[10577]21 enum e_ephType {undefined, LNAV, FDMA, FNAV, INAF, D1, D2, SBASL1, CNAV, CNV1, CNV2, CNV3, L1NV, L1OC, L3OC};
[4005]22
[5749]23 t_eph();
[7278]24 virtual ~t_eph();
[4018]25
[6109]26 virtual e_type type() const = 0;
[4013]27 virtual QString toString(double version) const = 0;
[7169]28 virtual unsigned int IOD() const = 0;
[8187]29 virtual unsigned int isUnhealthy() const = 0;
[10577]30 virtual int slotNum() const {return 0;}
[4018]31 bncTime TOC() const {return _TOC;}
[6109]32 bool isNewerThan(const t_eph* eph) const {return earlierTime(eph, this);}
[10577]33 void setCheckState(e_checkState checkState) {_checkState = checkState;}
[6518]34 e_checkState checkState() const {return _checkState;}
[9673]35 QString checkStateToString() {
36 switch (_checkState) {
[9765]37 case unchecked: return "unchecked";
38 case ok: return "ok";
39 case bad: return "bad";
40 case outdated: return "outdated";
41 case unhealthy: return "unhealthy";
42 default: return "unknown";
[9673]43 }
44 }
[10577]45 e_ephType ephType() const {return _ephType;}
46 t_irc setEphType(QString ephTypeStr);
[9765]47
[10577]48 t_prn prn() const {return _prn;}
49 t_irc getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const;
50 void setOrbCorr(const t_orbCorr* orbCorr);
51 void setClkCorr(const t_clkCorr* clkCorr);
[3174]52 const QDateTime& receptDateTime() const {return _receptDateTime;}
[9212]53 const QString receptStaID() const {return _receptStaID;}
[6109]54 static QString rinexDateStr(const bncTime& tt, const t_prn& prn, double version);
55 static QString rinexDateStr(const bncTime& tt, const QString& prnStr, double version);
[10577]56 static QString ephTypeStr(e_ephType ephType, const t_prn& prn, double version);
[6109]57 static bool earlierTime(const t_eph* eph1, const t_eph* eph2) {return eph1->_TOC < eph2->_TOC;}
[8799]58 static bool prnSort(const t_eph* eph1, const t_eph* eph2) {return eph1->prn() < eph2->prn();}
[1025]59
[7278]60 protected:
[6213]61 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const = 0;
[9765]62 t_prn _prn;
63 bncTime _TOC;
64 QDateTime _receptDateTime;
65 QString _receptStaID;
66 e_checkState _checkState;
[10577]67 e_ephType _ephType; // defined in RINEX 4
[9765]68 t_orbCorr* _orbCorr;
69 t_clkCorr* _clkCorr;
[1025]70};
71
72class t_ephGPS : public t_eph {
[5852]73 friend class t_ephEncoder;
[6812]74 friend class RTCM3Decoder;
[1025]75 public:
[7625]76 t_ephGPS() {
[9789]77 _clock_bias = 0.0;
78 _clock_drift = 0.0;
79 _clock_driftrate = 0.0;
80 _IODE = 0.0;
81 _Crs = 0.0;
82 _Delta_n = 0.0;
83 _M0 = 0.0;
84 _Cuc = 0.0;
85 _e = 0.0;
86 _Cus = 0.0;
87 _sqrt_A = 0.0;
88 _TOEsec = 0.0;
89 _Cic = 0.0;
90 _OMEGA0 = 0.0;
91 _Cis = 0.0;
92 _i0 = 0.0;
93 _Crc = 0.0;
94 _omega = 0.0;
95 _OMEGADOT = 0.0;
96 _IDOT = 0.0;
97 _L2Codes = 0.0;
98 _TOEweek = 0.0;
99 _L2PFlag = 0.0;
100 _ura = 0.0;
101 _health = 0.0;
102 _TGD = 0.0;
103 _IODC = 0.0;
104 _TOT = 0.0;
105 _fitInterval = 0.0;
106 _ADOT = 0.0;
107 _top = 0.0;
108 _Delta_n_dot = 0.0;
[10577]109 _URAI = 0.0;
110 _URAI_NED0 = 0.0;
111 _URAI_NED1 = 0.0;
112 _URAI_NED2 = 0.0;
113 _URAI_ED = 0.0;
114 _ISC_L1CA = 0.0;
115 _ISC_L2C = 0.0;
116 _ISC_L5I5 = 0.0;
117 _ISC_L5Q5 = 0.0;
118 _ISC_L1Cd = 0.0;
119 _ISC_L1Cp = 0.0;
120 _RSF = 0.0;
121 _ISC_S = 0.0;
122 _ISC_L1D = 0.0;
123 _ISC_L1P = 0.0;
124 _wnop = 0.0;
125 _intSF = -1;
126 _ephSF = -1;
127 _L2Cphasing = -1;
128 _alert = -1;
[9789]129 _receptStaID = "";
[7625]130 }
[9367]131 t_ephGPS(double rnxVersion, const QStringList& lines);
[2221]132 virtual ~t_ephGPS() {}
[4005]133
[8168]134 virtual e_type type() const {
135 switch (_prn.system()) {
136 case 'J':
137 return t_eph::QZSS;
138 case 'I':
139 return t_eph::IRNSS;
140 };
141 return t_eph::GPS;
142 }
[4013]143 virtual QString toString(double version) const;
[8139]144 virtual unsigned int IOD() const { return static_cast<unsigned int>(_IODE); }
[8187]145 virtual unsigned int isUnhealthy() const { return static_cast<unsigned int>(_health); }
[4366]146 double TGD() const {return _TGD;} // Timing Group Delay (P1-P2 DCB)
147
[1025]148 private:
[6213]149 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
[6109]150
[7278]151 double _clock_bias; // [s]
152 double _clock_drift; // [s/s]
[4018]153 double _clock_driftrate; // [s/s^2]
[1025]154
[8168]155 double _IODE; // IODEC in case of IRNSS
[7278]156 double _Crs; // [m]
[4018]157 double _Delta_n; // [rad/s]
[7278]158 double _M0; // [rad]
[1025]159
[7278]160 double _Cuc; // [rad]
[9786]161 double _e; // []
[7278]162 double _Cus; // [rad]
[4018]163 double _sqrt_A; // [m^0.5]
[1025]164
[9786]165 double _TOEsec; // [s of GPS week]
[7278]166 double _Cic; // [rad]
167 double _OMEGA0; // [rad]
168 double _Cis; // [rad]
[4018]169
[7278]170 double _i0; // [rad]
171 double _Crc; // [m]
172 double _omega; // [rad]
[4018]173 double _OMEGADOT; // [rad/s]
174
175 double _IDOT; // [rad/s]
[8168]176 double _L2Codes; // Codes on L2 channel (not valid for IRNSS)
[9786]177 double _TOEweek; // GPS week # to go with TOE, cont. number, not mode 1024
[8790]178 double _L2PFlag; // L2 P data flag (not valid for IRNSS and QZSS)
[4018]179
[9316]180 mutable double _ura; // SV accuracy [m]
[4018]181 double _health; // SV health
[7278]182 double _TGD; // [s]
[8168]183 double _IODC; // (not valid for IRNSS)
[4018]184
[8790]185 double _TOT; // Transmission time
[8925]186 double _fitInterval; // Fit interval in hours (not valid for IRNSS)
[9786]187
188 double _ADOT; // [m/s]
189 double _top; // [s]
[9788]190 double _Delta_n_dot; // [rad/s^2]
[9786]191
[10577]192 double _URAI; // [] user range accuracy index
[9786]193 double _URAI_NED0; // []
194 double _URAI_NED1; // []
195 double _URAI_NED2; // []
196 double _URAI_ED; // []
197
[10577]198 double _ISC_L1CA; // [s] inter signal correction
[9786]199 double _ISC_L2C; // [s]
200 double _ISC_L5I5; // [s]
201 double _ISC_L5Q5; // [s]
202 double _ISC_L1Cd; // [s]
203 double _ISC_L1Cp; // [s]
204
[10577]205 double _RSF; // [-] Reference Signal Flag for IRNSS
206 double _ISC_S; // [s]
207 double _ISC_L1D; // [s]
208 double _ISC_L1P; // [s]
209
[10580]210 int _intSF; // [-] integrity status flag
211 int _ephSF; // [-] ephemeris status flag (QZSS)
212 int _L2Cphasing; // [-] L2C phasing flag
213 int _alert; // [-] alert flag
[10577]214
215 double _wnop; // GPS continuous week number with the ambiguity resolved (same as _TOEweek?)
[1025]216};
217
[2221]218class t_ephGlo : public t_eph {
[5853]219 friend class t_ephEncoder;
[6812]220 friend class RTCM3Decoder;
[2221]221 public:
[7625]222 t_ephGlo() {
[8495]223 _xv.ReSize(6); _xv = 0.0;
[7625]224 _gps_utc = 0.0;
225 _tau = 0.0;
226 _gamma = 0.0;
227 _tki = 0.0;
228 _x_pos = 0.0;
229 _x_velocity = 0.0;
230 _x_acceleration = 0.0;
231 _health = 0.0;
232 _y_pos = 0.0;
233 _y_velocity = 0.0;
234 _y_acceleration = 0.0;
235 _frequency_number = 0.0;
236 _z_pos = 0.0;
237 _z_velocity = 0.0;
238 _z_acceleration = 0.0;
239 _E = 0.0;
[8182]240 _almanac_health = 0.0;
241 _almanac_health_availablility_indicator = 0.0;
242 _additional_data_availability = 0.0;
243 _tauC = 0.0;
244 _P1 = 0.0;
245 _P2 = 0.0;
246 _P3 = 0.0;
247 _NA = 0.0;
248 _M_P = 0.0;
249 _M_l3 = 0.0;
250 _M_delta_tau = 0.0;
251 _M_P4 = 0.0;
252 _M_FT = 0.0;
253 _M_NT = 0.0;
254 _M_M = 0.0;
255 _M_N4 = 0.0;
256 _M_tau_GPS = 0.0;
257 _M_l5 = 0.0;
[9212]258 _receptStaID = "";
[9367]259 _flags_unknown = true;
[7625]260 }
[9367]261 t_ephGlo(double rnxVersion, const QStringList& lines);
[2221]262 virtual ~t_ephGlo() {}
263
[4005]264 virtual e_type type() const {return t_eph::GLONASS;}
[4013]265 virtual QString toString(double version) const;
[7169]266 virtual unsigned int IOD() const;
[8187]267 virtual unsigned int isUnhealthy() const;
[6109]268 virtual int slotNum() const {return int(_frequency_number);}
[2221]269
270 private:
[6213]271 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
[6109]272 static ColumnVector glo_deriv(double /* tt */, const ColumnVector& xv, double* acc);
[2221]273
[7278]274 mutable bncTime _tt; // time
[2221]275 mutable ColumnVector _xv; // status vector (position, velocity) at time _tt
276
[3255]277 double _gps_utc;
[7278]278 double _tau; // [s]
[8182]279 double _gamma; // [-]
[5853]280 mutable double _tki; // message frame time
[4018]281
[7278]282 double _x_pos; // [km]
283 double _x_velocity; // [km/s]
284 double _x_acceleration; // [km/s^2]
[8182]285 double _health; // 0 = O.K. MSB of Bn word
[4018]286
[7278]287 double _y_pos; // [km]
288 double _y_velocity; // [km/s]
289 double _y_acceleration; // [km/s^2]
290 double _frequency_number; // ICD-GLONASS data position
[4018]291
[7278]292 double _z_pos; // [km]
293 double _z_velocity; // [km/s]
294 double _z_acceleration; // [km/s^2]
295 double _E; // Age of Information [days]
[8182]296
297 double _almanac_health; // Cn word
298 double _almanac_health_availablility_indicator;
299
300 double _additional_data_availability; //
301 double _tauC; // GLONASS time scale correction to UTC(SU) time [sec]
302 double _P1; // flag of the immediate data updating [-]
303 double _P2; // flag of oddness or evenness of the value of tb for intervals 30 or 60 minutes [-]
304 double _P3; // flag indicating a number of satellites for which almanac is transmitted within given frame [-]
305 double _NA; // calendar day number within the 4-year period [days]
306
307 double _M_P; // control segment parameter that indicates the satellite operation mode with respect of time parameters
308 double _M_l3; // health flag
309 double _M_delta_tau; // [sec]
310 double _M_P4; // flag to show that ephemeris parameters are present [-]
[9367]311 double _M_FT; // Indicator for predicted satellite User Range Accuracy (URAI) [-]
[8182]312 double _M_NT; // current date, calendar number of day within 4-year interval [days]
313 double _M_M; // type of satellite transmitting navigation signal: 0 = GLONASS, 1 = GLONASS-M satellite [-]
314 double _M_N4; // 4-year interval number starting from 1996
315 double _M_tau_GPS; // correction to GPS time relative to GLONASS time [days]
316 double _M_l5; // health flag
[9367]317 bool _flags_unknown; // status and health flags are unknown (rnx version < 3.05) or known (rnx version >= 3.05)
[2221]318};
319
[2770]320class t_ephGal : public t_eph {
[5853]321 friend class t_ephEncoder;
[6812]322 friend class RTCM3Decoder;
[2770]323 public:
[7625]324 t_ephGal() {
325 _clock_bias = 0.0;
326 _clock_drift = 0.0;
327 _clock_driftrate = 0.0;
328 _IODnav = 0.0;
329 _Crs = 0.0;
330 _Delta_n = 0.0;
331 _M0 = 0.0;
332 _Cuc = 0.0;
333 _e = 0.0;
334 _Cus = 0.0;
335 _sqrt_A = 0.0;
336 _TOEsec = 0.0;
337 _Cic = 0.0;
338 _OMEGA0 = 0.0;
339 _Cis = 0.0;
340 _i0 = 0.0;
341 _Crc = 0.0;
342 _omega = 0.0;
343 _OMEGADOT = 0.0;
344 _IDOT = 0.0;
345 _TOEweek = 0.0;
346 _SISA = 0.0;
347 _E5aHS = 0.0;
348 _E5bHS = 0.0;
349 _E1_bHS = 0.0;
350 _BGD_1_5A = 0.0;
351 _BGD_1_5B = 0.0;
352 _TOT = 0.0;
[10579]353 _inav = false;
354 _fnav = false;
355 _e1DataInvalid = false;
356 _e5aDataInvalid = false;
357 _e5bDataInvalid = false;
[9212]358 _receptStaID = "";
[7625]359 };
[9367]360 t_ephGal(double rnxVersion, const QStringList& lines);
[2770]361 virtual ~t_ephGal() {}
[4005]362
[4013]363 virtual QString toString(double version) const;
[4005]364 virtual e_type type() const {return t_eph::Galileo;}
[7169]365 virtual unsigned int IOD() const { return static_cast<unsigned long>(_IODnav); }
[8187]366 virtual unsigned int isUnhealthy() const;
[2770]367
[6109]368 private:
[6213]369 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
[2770]370
[7278]371 double _clock_bias; // [s]
372 double _clock_drift; // [s/s]
[2770]373 double _clock_driftrate; // [s/s^2]
[4018]374
[6812]375 double _IODnav;
[7278]376 double _Crs; // [m]
[2770]377 double _Delta_n; // [rad/s]
[7278]378 double _M0; // [rad]
[4018]379
[7278]380 double _Cuc; // [rad]
381 double _e; //
382 double _Cus; // [rad]
[2770]383 double _sqrt_A; // [m^0.5]
[4018]384
[7278]385 double _TOEsec; // [s]
386 double _Cic; // [rad]
387 double _OMEGA0; // [rad]
388 double _Cis; // [rad]
[4018]389
[7278]390 double _i0; // [rad]
391 double _Crc; // [m]
392 double _omega; // [rad]
[2770]393 double _OMEGADOT; // [rad/s]
[4018]394
[2770]395 double _IDOT; // [rad/s]
[6809]396 double _TOEweek;
[4018]397 // spare
398
[6798]399 mutable double _SISA; // Signal In Space Accuracy
[6794]400 double _E5aHS; // [0..3] E5a Health Status
401 double _E5bHS; // [0..3] E5b Health Status
402 double _E1_bHS; // [0..3] E1-b Health Status
[7278]403 double _BGD_1_5A; // group delay [s]
404 double _BGD_1_5B; // group delay [s]
[2770]405
[6809]406 double _TOT; // [s]
[10579]407 bool _inav; // Data comes from I/NAV when <code>true</code>
408 bool _fnav; // Data comes from F/NAV when <code>true</code>
409 bool _e1DataInvalid; // E1 Data is not valid
410 bool _e5aDataInvalid; // E5A Data is not valid
411 bool _e5bDataInvalid; // E5B Data is not valid
[2770]412};
413
[6380]414class t_ephSBAS : public t_eph {
415 friend class t_ephEncoder;
[6812]416 friend class RTCM3Decoder;
[6380]417 public:
[7625]418 t_ephSBAS() {
419 _IODN = 0;
[8456]420 _TOT = 0.0;
[7625]421 _agf0 = 0.0;
422 _agf1 = 0.0;
423 _x_pos = 0.0;
424 _x_velocity = 0.0;
425 _x_acceleration = 0.0;
426 _y_pos = 0.0;
427 _y_velocity = 0.0;
428 _y_acceleration = 0.0;
429 _z_pos = 0.0;
430 _z_velocity = 0.0;
431 _z_acceleration = 0.0;
432 _ura = 0.0;
433 _health = 0.0;
[9212]434 _receptStaID = "";
[7625]435 }
[9367]436 t_ephSBAS(double rnxVersion, const QStringList& lines);
[6380]437 virtual ~t_ephSBAS() {}
438
439 virtual e_type type() const {return t_eph::SBAS;}
[7169]440 virtual unsigned int IOD() const;
[9774]441 virtual unsigned int isUnhealthy() const;
[6380]442 virtual QString toString(double version) const;
443
444 private:
[6381]445 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
[6380]446
[6536]447 int _IODN;
[8456]448 double _TOT; // not used (set to 0.9999e9)
[6380]449 double _agf0; // [s] clock correction
450 double _agf1; // [s/s] clock correction drift
451
[7278]452 double _x_pos; // [m]
453 double _x_velocity; // [m/s]
454 double _x_acceleration; // [m/s^2]
[6380]455
[7278]456 double _y_pos; // [m]
457 double _y_velocity; // [m/s]
458 double _y_acceleration; // [m/s^2]
[6380]459
[7278]460 double _z_pos; // [m]
461 double _z_velocity; // [m/s]
462 double _z_acceleration; // [m/s^2]
[6380]463
[6798]464 mutable double _ura;
[6390]465 double _health;
[6380]466};
467
[6600]468class t_ephBDS : public t_eph {
[6400]469 friend class t_ephEncoder;
[6812]470 friend class RTCM3Decoder;
[6400]471 public:
[8482]472 t_ephBDS() {
[9789]473 _TOT = 0.0;
474 _AODE = 0;
475 _AODC = 0;
476 _URAI = 0;
477 _URA = 0.0;
478 _clock_bias = 0.0;
479 _clock_drift = 0.0;
480 _clock_driftrate = 0.0;
481 _Crs = 0.0;
482 _Delta_n = 0.0;
483 _M0 = 0.0;
484 _Cuc = 0.0;
485 _e = 0.0;
486 _Cus = 0.0;
487 _sqrt_A = 0.0;
488 _Cic = 0.0;
489 _OMEGA0 = 0.0;
490 _Cis = 0.0;
491 _i0 = 0.0;
492 _Crc = 0.0;
493 _omega = 0.0;
494 _OMEGADOT = 0.0;
495 _IDOT = 0.0;
496 _TOEsec = 0.0;
497 _BDTweek = 0.0;
498 _Delta_n_dot = 0.0;
499 _satType = 0.0;
500 _top = 0.0;
501 _SISAI_oe = 0.0;
502 _SISAI_ocb = 0.0;
503 _SISAI_oc1 = 0.0;
504 _SISAI_oc2 = 0.0;
505 _ISC_B1Cd = 0.0;
506 _ISC_B2ad = 0.0;
507 _TGD1 = 0.0;
508 _TGD2 = 0.0;
509 _TGD_B1Cp = 0.0;
510 _TGD_B2ap = 0.0;
511 _TGD_B2bI = 0.0;
512 _SISMAI = 0.0;
513 _SatH1 = 0;
514 _health = 0;
515 _INTEGRITYF_B1C = 0.0;
516 _INTEGRITYF_B2aB1C = 0.0;
517 _INTEGRITYF_B2b = 0.0;
518 _IODC = 0.0;
519 _IODE = 0.0;
520 _receptStaID = "";
[7625]521 }
[9367]522 t_ephBDS(double rnxVersion, const QStringList& lines);
[6600]523 virtual ~t_ephBDS() {}
[6400]524
[6602]525 virtual e_type type() const {return t_eph::BDS;}
[7169]526 virtual unsigned int IOD() const;
[9789]527 virtual unsigned int isUnhealthy() const;
[6400]528 virtual QString toString(double version) const;
529
530 private:
531 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
532
[9788]533 double _TOT; // [s] of BDT week
[6400]534 bncTime _TOE;
535 int _AODE;
536 int _AODC;
[9788]537 int _URAI; // [0..15] index from RTCM stream
538 mutable double _URA; // user range accuracy [m]
539 double _clock_bias; // [s]
540 double _clock_drift; // [s/s]
541 double _clock_driftrate; // [s/s^2]
542 double _Crs; // [m]
543 double _Delta_n; // [rad/s]
544 double _M0; // [rad]
545 double _Cuc; // [rad]
[7278]546 double _e; //
[9788]547 double _Cus; // [rad]
548 double _sqrt_A; // [m^0.5]
549 double _Cic; // [rad]
550 double _OMEGA0; // [rad]
551 double _Cis; // [rad]
552 double _i0; // [rad]
553 double _Crc; // [m]
554 double _omega; // [rad]
555 double _OMEGADOT; // [rad/s]
556 double _IDOT; // [rad/s]
557 double _TOEsec; // [s] of BDT week
558 double _BDTweek; // BDT week
559
560 double _Delta_n_dot; // [rad/s^2]
561 double _satType; // 0..reserved, 1..GEO, 2..IGSO, 3..MEO
562 double _top; // [s]
563
564 double _SISAI_oe; // []
565 double _SISAI_ocb; // []
566 double _SISAI_oc1; // []
567 double _SISAI_oc2; // []
568
569 double _ISC_B1Cd; // [s]
570 double _ISC_B2ad; // [s]
571
572 double _TGD1; // [s]
573 double _TGD2; // [s]
574 double _TGD_B1Cp; // [s]
575 double _TGD_B2ap; // [s]
576 double _TGD_B2bI; // [s]
577
578 double _SISMAI; // []
579
[7278]580 int _SatH1; //
[9789]581 int _health; //
[9788]582
583 double _INTEGRITYF_B1C; // 3 bits word from sf 3
584 double _INTEGRITYF_B2aB1C;// 6 bits word with integrity bits in msg 10-11, 30.34 or 40
585 double _INTEGRITYF_B2b; // 3 bits word from msg 10
586
587 double _IODC; // []
588 double _IODE; // [] IODE are the same as the 8 LSBs of IODC
589
[6400]590};
[10533]591
[1025]592#endif
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