source: ntrip/trunk/BNC/src/ephemeris.h@ 8350

Last change on this file since 8350 was 8215, checked in by stuerze, 7 years ago

unhealthy satellites are reported within log file but are remainig in stream and file output
File size: 14.9 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:
[8168]19 enum e_type {unknown, GPS, QZSS, GLONASS, Galileo, SBAS, BDS, IRNSS};
[8215]20 enum e_checkState {unchecked, ok, bad, outdated, unhealthy};
[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;
[8187]28 virtual unsigned int isUnhealthy() const = 0;
[6109]29 virtual int slotNum() const {return 0;}
[4018]30 bncTime TOC() const {return _TOC;}
[6109]31 bool isNewerThan(const t_eph* eph) const {return earlierTime(eph, this);}
[6518]32 e_checkState checkState() const {return _checkState;}
[6519]33 void setCheckState(e_checkState checkState) {_checkState = checkState;}
[6109]34 t_prn prn() const {return _prn;}
35 t_irc getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const;
[6141]36 void setOrbCorr(const t_orbCorr* orbCorr);
37 void setClkCorr(const t_clkCorr* clkCorr);
[3174]38 const QDateTime& receptDateTime() const {return _receptDateTime;}
[6109]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;}
[1025]42
[7278]43 protected:
[6213]44 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const = 0;
[6518]45 t_prn _prn;
46 bncTime _TOC;
47 QDateTime _receptDateTime;
48 e_checkState _checkState;
49 t_orbCorr* _orbCorr;
50 t_clkCorr* _clkCorr;
[1025]51};
52
53
54class t_ephGPS : public t_eph {
[5852]55 friend class t_ephEncoder;
[6812]56 friend class RTCM3Decoder;
[1025]57 public:
[7625]58 t_ephGPS() {
59 _clock_bias = 0.0;
60 _clock_drift = 0.0;
61 _clock_driftrate = 0.0;
62 _IODE = 0.0;
63 _Crs = 0.0;
64 _Delta_n = 0.0;
65 _M0 = 0.0;
66 _Cuc = 0.0;
67 _e = 0.0;
68 _Cus = 0.0;
69 _sqrt_A = 0.0;
70 _TOEsec = 0.0;
71 _Cic = 0.0;
72 _OMEGA0 = 0.0;
73 _Cis = 0.0;
74 _i0 = 0.0;
75 _Crc = 0.0;
76 _omega = 0.0;
77 _OMEGADOT = 0.0;
78 _IDOT = 0.0;
79 _L2Codes = 0.0;
80 _TOEweek = 0.0;
81 _L2PFlag = 0.0;
82 _ura = 0.0;
83 _health = 0.0;
84 _TGD = 0.0;
85 _IODC = 0.0;
86 _TOT = 0.0;
87 _fitInterval = 0.0;
88 }
[3659]89 t_ephGPS(float rnxVersion, const QStringList& lines);
[2221]90 virtual ~t_ephGPS() {}
[4005]91
[8168]92 virtual e_type type() const {
93 switch (_prn.system()) {
94 case 'J':
95 return t_eph::QZSS;
96 case 'I':
97 return t_eph::IRNSS;
98 };
99 return t_eph::GPS;
100 }
[4013]101 virtual QString toString(double version) const;
[8139]102 virtual unsigned int IOD() const { return static_cast<unsigned int>(_IODE); }
[8187]103 virtual unsigned int isUnhealthy() const { return static_cast<unsigned int>(_health); }
[4366]104 double TGD() const {return _TGD;} // Timing Group Delay (P1-P2 DCB)
105
[1025]106 private:
[6213]107 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
[6109]108
[7278]109 double _clock_bias; // [s]
110 double _clock_drift; // [s/s]
[4018]111 double _clock_driftrate; // [s/s^2]
[1025]112
[8168]113 double _IODE; // IODEC in case of IRNSS
[7278]114 double _Crs; // [m]
[4018]115 double _Delta_n; // [rad/s]
[7278]116 double _M0; // [rad]
[1025]117
[7278]118 double _Cuc; // [rad]
119 double _e; //
120 double _Cus; // [rad]
[4018]121 double _sqrt_A; // [m^0.5]
[1025]122
[7278]123 double _TOEsec; // [s]
124 double _Cic; // [rad]
125 double _OMEGA0; // [rad]
126 double _Cis; // [rad]
[4018]127
[7278]128 double _i0; // [rad]
129 double _Crc; // [m]
130 double _omega; // [rad]
[4018]131 double _OMEGADOT; // [rad/s]
132
133 double _IDOT; // [rad/s]
[8168]134 double _L2Codes; // Codes on L2 channel (not valid for IRNSS)
[4018]135 double _TOEweek;
[8168]136 double _L2PFlag; // L2 P data flag (not valid for IRNSS)
[4018]137
[6798]138 mutable double _ura; // SV accuracy
[4018]139 double _health; // SV health
[7278]140 double _TGD; // [s]
[8168]141 double _IODC; // (not valid for IRNSS)
[4018]142
[7278]143 double _TOT; // Transmisstion time
[8168]144 double _fitInterval; // Fit interval (not valid for IRNSS)
[1025]145};
146
[2221]147class t_ephGlo : public t_eph {
[5853]148 friend class t_ephEncoder;
[6812]149 friend class RTCM3Decoder;
[2221]150 public:
[7625]151 t_ephGlo() {
152 _xv.ReSize(6);
153 _gps_utc = 0.0;
154 _tau = 0.0;
155 _gamma = 0.0;
156 _tki = 0.0;
157 _x_pos = 0.0;
158 _x_velocity = 0.0;
159 _x_acceleration = 0.0;
160 _health = 0.0;
161 _y_pos = 0.0;
162 _y_velocity = 0.0;
163 _y_acceleration = 0.0;
164 _frequency_number = 0.0;
165 _z_pos = 0.0;
166 _z_velocity = 0.0;
167 _z_acceleration = 0.0;
168 _E = 0.0;
[8182]169 _almanac_health = 0.0;
170 _almanac_health_availablility_indicator = 0.0;
171 _additional_data_availability = 0.0;
172 _tauC = 0.0;
173 _P1 = 0.0;
174 _P2 = 0.0;
175 _P3 = 0.0;
176 _NA = 0.0;
177 _M_P = 0.0;
178 _M_l3 = 0.0;
179 _M_delta_tau = 0.0;
180 _M_P4 = 0.0;
181 _M_FT = 0.0;
182 _M_NT = 0.0;
183 _M_M = 0.0;
184 _M_N4 = 0.0;
185 _M_tau_GPS = 0.0;
186 _M_l5 = 0.0;
[7625]187 }
[3659]188 t_ephGlo(float rnxVersion, const QStringList& lines);
[2221]189 virtual ~t_ephGlo() {}
190
[4005]191 virtual e_type type() const {return t_eph::GLONASS;}
[4013]192 virtual QString toString(double version) const;
[7169]193 virtual unsigned int IOD() const;
[8187]194 virtual unsigned int isUnhealthy() const;
[6109]195 virtual int slotNum() const {return int(_frequency_number);}
[2221]196
197 private:
[6213]198 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
[6109]199 static ColumnVector glo_deriv(double /* tt */, const ColumnVector& xv, double* acc);
[2221]200
[7278]201 mutable bncTime _tt; // time
[2221]202 mutable ColumnVector _xv; // status vector (position, velocity) at time _tt
203
[3255]204 double _gps_utc;
[7278]205 double _tau; // [s]
[8182]206 double _gamma; // [-]
[5853]207 mutable double _tki; // message frame time
[4018]208
[7278]209 double _x_pos; // [km]
210 double _x_velocity; // [km/s]
211 double _x_acceleration; // [km/s^2]
[8182]212 double _health; // 0 = O.K. MSB of Bn word
[4018]213
[7278]214 double _y_pos; // [km]
215 double _y_velocity; // [km/s]
216 double _y_acceleration; // [km/s^2]
217 double _frequency_number; // ICD-GLONASS data position
[4018]218
[7278]219 double _z_pos; // [km]
220 double _z_velocity; // [km/s]
221 double _z_acceleration; // [km/s^2]
222 double _E; // Age of Information [days]
[8182]223
224 double _almanac_health; // Cn word
225 double _almanac_health_availablility_indicator;
226
227 double _additional_data_availability; //
228 double _tauC; // GLONASS time scale correction to UTC(SU) time [sec]
229 double _P1; // flag of the immediate data updating [-]
230 double _P2; // flag of oddness or evenness of the value of tb for intervals 30 or 60 minutes [-]
231 double _P3; // flag indicating a number of satellites for which almanac is transmitted within given frame [-]
232 double _NA; // calendar day number within the 4-year period [days]
233
234 double _M_P; // control segment parameter that indicates the satellite operation mode with respect of time parameters
235 double _M_l3; // health flag
236 double _M_delta_tau; // [sec]
237 double _M_P4; // flag to show that ephemeris parameters are present [-]
238 double _M_FT; // indicator for predicted satellite user range accuracy [-]
239 double _M_NT; // current date, calendar number of day within 4-year interval [days]
240 double _M_M; // type of satellite transmitting navigation signal: 0 = GLONASS, 1 = GLONASS-M satellite [-]
241 double _M_N4; // 4-year interval number starting from 1996
242 double _M_tau_GPS; // correction to GPS time relative to GLONASS time [days]
243 double _M_l5; // health flag
[2221]244};
245
[2770]246class t_ephGal : public t_eph {
[5853]247 friend class t_ephEncoder;
[6812]248 friend class RTCM3Decoder;
[2770]249 public:
[7625]250 t_ephGal() {
251 _clock_bias = 0.0;
252 _clock_drift = 0.0;
253 _clock_driftrate = 0.0;
254 _IODnav = 0.0;
255 _Crs = 0.0;
256 _Delta_n = 0.0;
257 _M0 = 0.0;
258 _Cuc = 0.0;
259 _e = 0.0;
260 _Cus = 0.0;
261 _sqrt_A = 0.0;
262 _TOEsec = 0.0;
263 _Cic = 0.0;
264 _OMEGA0 = 0.0;
265 _Cis = 0.0;
266 _i0 = 0.0;
267 _Crc = 0.0;
268 _omega = 0.0;
269 _OMEGADOT = 0.0;
270 _IDOT = 0.0;
271 _TOEweek = 0.0;
272 _SISA = 0.0;
273 _E5aHS = 0.0;
274 _E5bHS = 0.0;
275 _E1_bHS = 0.0;
276 _BGD_1_5A = 0.0;
277 _BGD_1_5B = 0.0;
278 _TOT = 0.0;
279 };
[3659]280 t_ephGal(float rnxVersion, const QStringList& lines);
[2770]281 virtual ~t_ephGal() {}
[4005]282
[4013]283 virtual QString toString(double version) const;
[4005]284 virtual e_type type() const {return t_eph::Galileo;}
[7169]285 virtual unsigned int IOD() const { return static_cast<unsigned long>(_IODnav); }
[8187]286 virtual unsigned int isUnhealthy() const;
[2770]287
[6109]288 private:
[6213]289 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
[2770]290
[7278]291 double _clock_bias; // [s]
292 double _clock_drift; // [s/s]
[2770]293 double _clock_driftrate; // [s/s^2]
[4018]294
[6812]295 double _IODnav;
[7278]296 double _Crs; // [m]
[2770]297 double _Delta_n; // [rad/s]
[7278]298 double _M0; // [rad]
[4018]299
[7278]300 double _Cuc; // [rad]
301 double _e; //
302 double _Cus; // [rad]
[2770]303 double _sqrt_A; // [m^0.5]
[4018]304
[7278]305 double _TOEsec; // [s]
306 double _Cic; // [rad]
307 double _OMEGA0; // [rad]
308 double _Cis; // [rad]
[4018]309
[7278]310 double _i0; // [rad]
311 double _Crc; // [m]
312 double _omega; // [rad]
[2770]313 double _OMEGADOT; // [rad/s]
[4018]314
[2770]315 double _IDOT; // [rad/s]
[6809]316 double _TOEweek;
[4018]317 // spare
318
[6798]319 mutable double _SISA; // Signal In Space Accuracy
[6794]320 double _E5aHS; // [0..3] E5a Health Status
321 double _E5bHS; // [0..3] E5b Health Status
322 double _E1_bHS; // [0..3] E1-b Health Status
[7278]323 double _BGD_1_5A; // group delay [s]
324 double _BGD_1_5B; // group delay [s]
[2770]325
[6809]326 double _TOT; // [s]
[6812]327 /** Data comes from I/NAV when <code>true</code> */
328 bool _inav;
329 /** Data comes from F/NAV when <code>true</code> */
330 bool _fnav;
331 /** EE Data is not valid */
332 bool _e1DataInValid;
333 /** E5A Data is not valid */
334 bool _e5aDataInValid;
335 /** E5B Data is not valid */
336 bool _e5bDataInValid;
[2770]337};
338
[6380]339class t_ephSBAS : public t_eph {
340 friend class t_ephEncoder;
[6812]341 friend class RTCM3Decoder;
[6380]342 public:
[7625]343 t_ephSBAS() {
344 _IODN = 0;
345 _TOW = 0.0;
346 _agf0 = 0.0;
347 _agf1 = 0.0;
348 _x_pos = 0.0;
349 _x_velocity = 0.0;
350 _x_acceleration = 0.0;
351 _y_pos = 0.0;
352 _y_velocity = 0.0;
353 _y_acceleration = 0.0;
354 _z_pos = 0.0;
355 _z_velocity = 0.0;
356 _z_acceleration = 0.0;
357 _ura = 0.0;
358 _health = 0.0;
359 }
[6380]360 t_ephSBAS(float rnxVersion, const QStringList& lines);
361 virtual ~t_ephSBAS() {}
362
363 virtual e_type type() const {return t_eph::SBAS;}
[7169]364 virtual unsigned int IOD() const;
[8187]365 virtual unsigned int isUnhealthy() const { return static_cast<unsigned int>(_health); }
[6380]366 virtual QString toString(double version) const;
367
368 private:
[6381]369 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
[6380]370
[6536]371 int _IODN;
[6390]372 double _TOW; // not used (set to 0.9999e9)
[6380]373 double _agf0; // [s] clock correction
374 double _agf1; // [s/s] clock correction drift
375
[7278]376 double _x_pos; // [m]
377 double _x_velocity; // [m/s]
378 double _x_acceleration; // [m/s^2]
[6380]379
[7278]380 double _y_pos; // [m]
381 double _y_velocity; // [m/s]
382 double _y_acceleration; // [m/s^2]
[6380]383
[7278]384 double _z_pos; // [m]
385 double _z_velocity; // [m/s]
386 double _z_acceleration; // [m/s^2]
[6380]387
[6798]388 mutable double _ura;
[6390]389 double _health;
[6380]390};
391
[6600]392class t_ephBDS : public t_eph {
[6400]393 friend class t_ephEncoder;
[6812]394 friend class RTCM3Decoder;
[6400]395 public:
[7625]396 t_ephBDS() : _TOEweek(-1.0) {
397 _TOT = 0.0;
398 _AODE = 0;
399 _AODC = 0;
400 _URAI = 0;
401 _URA = 0.0;
402 _clock_bias = 0.0;
403 _clock_drift = 0.0;
404 _clock_driftrate = 0.0;
405 _Crs = 0.0;
406 _Delta_n = 0.0;
407 _M0 = 0.0;
408 _Cuc = 0.0;
409 _e = 0.0;
410 _Cus = 0.0;
411 _sqrt_A = 0.0;
412 _Cic = 0.0;
413 _OMEGA0 = 0.0;
414 _Cis = 0.0;
415 _i0 = 0.0;
416 _Crc = 0.0;
417 _omega = 0.0;
418 _OMEGADOT = 0.0;
419 _IDOT = 0.0;
420 _TGD1 = 0.0;
421 _TGD2 = 0.0;
422 _SatH1 = 0.0;
423 _TOW = 0.0;
424 _TOEsec = 0.0;
425 _TOEweek = 0.0;
426 }
[6600]427 t_ephBDS(float rnxVersion, const QStringList& lines);
428 virtual ~t_ephBDS() {}
[6400]429
[6602]430 virtual e_type type() const {return t_eph::BDS;}
[7169]431 virtual unsigned int IOD() const;
[8187]432 virtual unsigned int isUnhealthy() const { return static_cast<unsigned int>(_SatH1); }
[6400]433 virtual QString toString(double version) const;
434
435 private:
436 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
437
[6812]438 double _TOT;
[6400]439 bncTime _TOE;
440 int _AODE;
441 int _AODC;
[6812]442 int _URAI; // [0..15] index from RTCM stream
[6798]443 mutable double _URA; // user range accuracy
[7278]444 double _clock_bias; // [s]
445 double _clock_drift; // [s/s]
[6400]446 double _clock_driftrate; // [s/s^2]
[7278]447 double _Crs; // [m]
[6400]448 double _Delta_n; // [rad/s]
[7278]449 double _M0; // [rad]
450 double _Cuc; // [rad]
451 double _e; //
452 double _Cus; // [rad]
[6400]453 double _sqrt_A; // [m^0.5]
[7278]454 double _Cic; // [rad]
455 double _OMEGA0; // [rad]
456 double _Cis; // [rad]
457 double _i0; // [rad]
458 double _Crc; // [m]
459 double _omega; // [rad]
[6400]460 double _OMEGADOT; // [rad/s]
461 double _IDOT; // [rad/s]
[7278]462 double _TGD1; // [s]
463 double _TGD2; // [s]
464 int _SatH1; //
[6843]465 double _TOW; // [s] of BDT week
466 double _TOEsec; // [s] of BDT week
467 double _TOEweek; // BDT week will be set only in case of RINEX file input
[6400]468};
[1025]469#endif
Note: See TracBrowser for help on using the repository browser.