[1025] | 1 | #ifndef EPHEMERIS_H
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| 2 | #define EPHEMERIS_H
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| 3 |
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[2221] | 4 | #include <newmat.h>
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[3174] | 5 | #include <QtCore>
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[1025] | 6 | #include <stdio.h>
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| 7 | #include <string>
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[4018] | 8 | #include "bnctime.h"
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[5749] | 9 | #include "bncconst.h"
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[5776] | 10 | #include "t_prn.h"
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[6812] | 11 | #include "gnss.h"
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[6139] | 12 |
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[7054] | 13 |
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[6141] | 14 | class t_orbCorr;
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| 15 | class t_clkCorr;
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[5749] | 16 |
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[1025] | 17 | class t_eph {
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| 18 | public:
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[8168] | 19 | enum e_type {unknown, GPS, QZSS, GLONASS, Galileo, SBAS, BDS, IRNSS};
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[8215] | 20 | enum e_checkState {unchecked, ok, bad, outdated, unhealthy};
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[9765] | 21 | enum e_navType {undefined, LNAV, FDMA, FNAV, INAF, D1, D2, SBASL1, CNAV, CNV1, CNV2, CNV3};
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[4005] | 22 |
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[5749] | 23 | t_eph();
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[7278] | 24 | virtual ~t_eph();
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[4018] | 25 |
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[6109] | 26 | virtual e_type type() const = 0;
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[4013] | 27 | virtual QString toString(double version) const = 0;
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[7169] | 28 | virtual unsigned int IOD() const = 0;
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[8187] | 29 | virtual unsigned int isUnhealthy() const = 0;
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[6109] | 30 | virtual int slotNum() const {return 0;}
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[4018] | 31 | bncTime TOC() const {return _TOC;}
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[6109] | 32 | bool isNewerThan(const t_eph* eph) const {return earlierTime(eph, this);}
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[9765] | 33 | void setCheckState(e_checkState checkState) {_checkState = checkState;}
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[6518] | 34 | e_checkState checkState() const {return _checkState;}
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[9673] | 35 | QString checkStateToString() {
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| 36 | switch (_checkState) {
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[9765] | 37 | case unchecked: return "unchecked";
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| 38 | case ok: return "ok";
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| 39 | case bad: return "bad";
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| 40 | case outdated: return "outdated";
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| 41 | case unhealthy: return "unhealthy";
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| 42 | default: return "unknown";
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[9673] | 43 | }
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| 44 | }
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[9765] | 45 | e_navType navType() const {return _navType;}
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| 46 | t_irc setNavType(QString navTypeStr);
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| 47 |
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[6109] | 48 | t_prn prn() const {return _prn;}
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| 49 | t_irc getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const;
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[6141] | 50 | void setOrbCorr(const t_orbCorr* orbCorr);
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| 51 | void setClkCorr(const t_clkCorr* clkCorr);
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[3174] | 52 | const QDateTime& receptDateTime() const {return _receptDateTime;}
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[9212] | 53 | const QString receptStaID() const {return _receptStaID;}
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[6109] | 54 | static QString rinexDateStr(const bncTime& tt, const t_prn& prn, double version);
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| 55 | static QString rinexDateStr(const bncTime& tt, const QString& prnStr, double version);
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[9765] | 56 | static QString navTypeString(e_navType navType, const t_prn& prn, double version);
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[6109] | 57 | static bool earlierTime(const t_eph* eph1, const t_eph* eph2) {return eph1->_TOC < eph2->_TOC;}
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[8799] | 58 | static bool prnSort(const t_eph* eph1, const t_eph* eph2) {return eph1->prn() < eph2->prn();}
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[1025] | 59 |
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[7278] | 60 | protected:
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[6213] | 61 | virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const = 0;
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[9765] | 62 | t_prn _prn;
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| 63 | bncTime _TOC;
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| 64 | QDateTime _receptDateTime;
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| 65 | QString _receptStaID;
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| 66 | e_checkState _checkState;
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| 67 | e_navType _navType; // defined in RINEX 4
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| 68 | t_orbCorr* _orbCorr;
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| 69 | t_clkCorr* _clkCorr;
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[1025] | 70 | };
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| 71 |
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| 72 | class t_ephGPS : public t_eph {
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[5852] | 73 | friend class t_ephEncoder;
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[6812] | 74 | friend class RTCM3Decoder;
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[1025] | 75 | public:
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[7625] | 76 | t_ephGPS() {
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| 77 | _clock_bias = 0.0;
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| 78 | _clock_drift = 0.0;
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| 79 | _clock_driftrate = 0.0;
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| 80 | _IODE = 0.0;
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| 81 | _Crs = 0.0;
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| 82 | _Delta_n = 0.0;
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| 83 | _M0 = 0.0;
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| 84 | _Cuc = 0.0;
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| 85 | _e = 0.0;
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| 86 | _Cus = 0.0;
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| 87 | _sqrt_A = 0.0;
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| 88 | _TOEsec = 0.0;
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| 89 | _Cic = 0.0;
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| 90 | _OMEGA0 = 0.0;
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| 91 | _Cis = 0.0;
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| 92 | _i0 = 0.0;
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| 93 | _Crc = 0.0;
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| 94 | _omega = 0.0;
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| 95 | _OMEGADOT = 0.0;
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| 96 | _IDOT = 0.0;
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| 97 | _L2Codes = 0.0;
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| 98 | _TOEweek = 0.0;
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| 99 | _L2PFlag = 0.0;
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| 100 | _ura = 0.0;
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| 101 | _health = 0.0;
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| 102 | _TGD = 0.0;
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| 103 | _IODC = 0.0;
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| 104 | _TOT = 0.0;
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| 105 | _fitInterval = 0.0;
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[9212] | 106 | _receptStaID = "";
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[7625] | 107 | }
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[9367] | 108 | t_ephGPS(double rnxVersion, const QStringList& lines);
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[2221] | 109 | virtual ~t_ephGPS() {}
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[4005] | 110 |
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[8168] | 111 | virtual e_type type() const {
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| 112 | switch (_prn.system()) {
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| 113 | case 'J':
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| 114 | return t_eph::QZSS;
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| 115 | case 'I':
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| 116 | return t_eph::IRNSS;
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| 117 | };
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| 118 | return t_eph::GPS;
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| 119 | }
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[4013] | 120 | virtual QString toString(double version) const;
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[8139] | 121 | virtual unsigned int IOD() const { return static_cast<unsigned int>(_IODE); }
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[8187] | 122 | virtual unsigned int isUnhealthy() const { return static_cast<unsigned int>(_health); }
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[4366] | 123 | double TGD() const {return _TGD;} // Timing Group Delay (P1-P2 DCB)
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| 124 |
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[1025] | 125 | private:
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[6213] | 126 | virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
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[6109] | 127 |
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[7278] | 128 | double _clock_bias; // [s]
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| 129 | double _clock_drift; // [s/s]
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[4018] | 130 | double _clock_driftrate; // [s/s^2]
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[1025] | 131 |
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[8168] | 132 | double _IODE; // IODEC in case of IRNSS
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[7278] | 133 | double _Crs; // [m]
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[4018] | 134 | double _Delta_n; // [rad/s]
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[7278] | 135 | double _M0; // [rad]
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[1025] | 136 |
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[7278] | 137 | double _Cuc; // [rad]
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| 138 | double _e; //
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| 139 | double _Cus; // [rad]
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[4018] | 140 | double _sqrt_A; // [m^0.5]
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[1025] | 141 |
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[7278] | 142 | double _TOEsec; // [s]
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| 143 | double _Cic; // [rad]
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| 144 | double _OMEGA0; // [rad]
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| 145 | double _Cis; // [rad]
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[4018] | 146 |
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[7278] | 147 | double _i0; // [rad]
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| 148 | double _Crc; // [m]
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| 149 | double _omega; // [rad]
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[4018] | 150 | double _OMEGADOT; // [rad/s]
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| 151 |
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| 152 | double _IDOT; // [rad/s]
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[8168] | 153 | double _L2Codes; // Codes on L2 channel (not valid for IRNSS)
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[4018] | 154 | double _TOEweek;
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[8790] | 155 | double _L2PFlag; // L2 P data flag (not valid for IRNSS and QZSS)
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[4018] | 156 |
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[9316] | 157 | mutable double _ura; // SV accuracy [m]
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[4018] | 158 | double _health; // SV health
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[7278] | 159 | double _TGD; // [s]
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[8168] | 160 | double _IODC; // (not valid for IRNSS)
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[4018] | 161 |
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[8790] | 162 | double _TOT; // Transmission time
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[8925] | 163 | double _fitInterval; // Fit interval in hours (not valid for IRNSS)
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[1025] | 164 | };
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| 165 |
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[2221] | 166 | class t_ephGlo : public t_eph {
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[5853] | 167 | friend class t_ephEncoder;
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[6812] | 168 | friend class RTCM3Decoder;
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[2221] | 169 | public:
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[7625] | 170 | t_ephGlo() {
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[8495] | 171 | _xv.ReSize(6); _xv = 0.0;
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[7625] | 172 | _gps_utc = 0.0;
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| 173 | _tau = 0.0;
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| 174 | _gamma = 0.0;
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| 175 | _tki = 0.0;
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| 176 | _x_pos = 0.0;
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| 177 | _x_velocity = 0.0;
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| 178 | _x_acceleration = 0.0;
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| 179 | _health = 0.0;
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| 180 | _y_pos = 0.0;
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| 181 | _y_velocity = 0.0;
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| 182 | _y_acceleration = 0.0;
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| 183 | _frequency_number = 0.0;
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| 184 | _z_pos = 0.0;
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| 185 | _z_velocity = 0.0;
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| 186 | _z_acceleration = 0.0;
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| 187 | _E = 0.0;
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[8182] | 188 | _almanac_health = 0.0;
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| 189 | _almanac_health_availablility_indicator = 0.0;
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| 190 | _additional_data_availability = 0.0;
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| 191 | _tauC = 0.0;
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| 192 | _P1 = 0.0;
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| 193 | _P2 = 0.0;
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| 194 | _P3 = 0.0;
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| 195 | _NA = 0.0;
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| 196 | _M_P = 0.0;
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| 197 | _M_l3 = 0.0;
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| 198 | _M_delta_tau = 0.0;
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| 199 | _M_P4 = 0.0;
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| 200 | _M_FT = 0.0;
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| 201 | _M_NT = 0.0;
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| 202 | _M_M = 0.0;
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| 203 | _M_N4 = 0.0;
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| 204 | _M_tau_GPS = 0.0;
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| 205 | _M_l5 = 0.0;
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[9212] | 206 | _receptStaID = "";
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[9367] | 207 | _flags_unknown = true;
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[7625] | 208 | }
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[9367] | 209 | t_ephGlo(double rnxVersion, const QStringList& lines);
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[2221] | 210 | virtual ~t_ephGlo() {}
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| 211 |
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[4005] | 212 | virtual e_type type() const {return t_eph::GLONASS;}
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[4013] | 213 | virtual QString toString(double version) const;
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[7169] | 214 | virtual unsigned int IOD() const;
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[8187] | 215 | virtual unsigned int isUnhealthy() const;
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[6109] | 216 | virtual int slotNum() const {return int(_frequency_number);}
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[2221] | 217 |
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| 218 | private:
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[6213] | 219 | virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
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[6109] | 220 | static ColumnVector glo_deriv(double /* tt */, const ColumnVector& xv, double* acc);
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[2221] | 221 |
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[7278] | 222 | mutable bncTime _tt; // time
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[2221] | 223 | mutable ColumnVector _xv; // status vector (position, velocity) at time _tt
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| 224 |
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[3255] | 225 | double _gps_utc;
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[7278] | 226 | double _tau; // [s]
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[8182] | 227 | double _gamma; // [-]
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[5853] | 228 | mutable double _tki; // message frame time
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[4018] | 229 |
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[7278] | 230 | double _x_pos; // [km]
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| 231 | double _x_velocity; // [km/s]
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| 232 | double _x_acceleration; // [km/s^2]
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[8182] | 233 | double _health; // 0 = O.K. MSB of Bn word
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[4018] | 234 |
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[7278] | 235 | double _y_pos; // [km]
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| 236 | double _y_velocity; // [km/s]
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| 237 | double _y_acceleration; // [km/s^2]
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| 238 | double _frequency_number; // ICD-GLONASS data position
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[4018] | 239 |
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[7278] | 240 | double _z_pos; // [km]
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| 241 | double _z_velocity; // [km/s]
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| 242 | double _z_acceleration; // [km/s^2]
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| 243 | double _E; // Age of Information [days]
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[8182] | 244 |
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| 245 | double _almanac_health; // Cn word
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| 246 | double _almanac_health_availablility_indicator;
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| 247 |
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| 248 | double _additional_data_availability; //
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| 249 | double _tauC; // GLONASS time scale correction to UTC(SU) time [sec]
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| 250 | double _P1; // flag of the immediate data updating [-]
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| 251 | double _P2; // flag of oddness or evenness of the value of tb for intervals 30 or 60 minutes [-]
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| 252 | double _P3; // flag indicating a number of satellites for which almanac is transmitted within given frame [-]
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| 253 | double _NA; // calendar day number within the 4-year period [days]
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| 254 |
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| 255 | double _M_P; // control segment parameter that indicates the satellite operation mode with respect of time parameters
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| 256 | double _M_l3; // health flag
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| 257 | double _M_delta_tau; // [sec]
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| 258 | double _M_P4; // flag to show that ephemeris parameters are present [-]
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[9367] | 259 | double _M_FT; // Indicator for predicted satellite User Range Accuracy (URAI) [-]
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[8182] | 260 | double _M_NT; // current date, calendar number of day within 4-year interval [days]
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| 261 | double _M_M; // type of satellite transmitting navigation signal: 0 = GLONASS, 1 = GLONASS-M satellite [-]
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| 262 | double _M_N4; // 4-year interval number starting from 1996
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| 263 | double _M_tau_GPS; // correction to GPS time relative to GLONASS time [days]
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| 264 | double _M_l5; // health flag
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[9367] | 265 | bool _flags_unknown; // status and health flags are unknown (rnx version < 3.05) or known (rnx version >= 3.05)
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[2221] | 266 | };
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| 267 |
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[2770] | 268 | class t_ephGal : public t_eph {
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[5853] | 269 | friend class t_ephEncoder;
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[6812] | 270 | friend class RTCM3Decoder;
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[2770] | 271 | public:
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[7625] | 272 | t_ephGal() {
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| 273 | _clock_bias = 0.0;
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| 274 | _clock_drift = 0.0;
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| 275 | _clock_driftrate = 0.0;
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| 276 | _IODnav = 0.0;
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| 277 | _Crs = 0.0;
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| 278 | _Delta_n = 0.0;
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| 279 | _M0 = 0.0;
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| 280 | _Cuc = 0.0;
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| 281 | _e = 0.0;
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| 282 | _Cus = 0.0;
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| 283 | _sqrt_A = 0.0;
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| 284 | _TOEsec = 0.0;
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| 285 | _Cic = 0.0;
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| 286 | _OMEGA0 = 0.0;
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| 287 | _Cis = 0.0;
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| 288 | _i0 = 0.0;
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| 289 | _Crc = 0.0;
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| 290 | _omega = 0.0;
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| 291 | _OMEGADOT = 0.0;
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| 292 | _IDOT = 0.0;
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| 293 | _TOEweek = 0.0;
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| 294 | _SISA = 0.0;
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| 295 | _E5aHS = 0.0;
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| 296 | _E5bHS = 0.0;
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| 297 | _E1_bHS = 0.0;
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| 298 | _BGD_1_5A = 0.0;
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| 299 | _BGD_1_5B = 0.0;
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| 300 | _TOT = 0.0;
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[9212] | 301 | _receptStaID = "";
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[7625] | 302 | };
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[9367] | 303 | t_ephGal(double rnxVersion, const QStringList& lines);
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[2770] | 304 | virtual ~t_ephGal() {}
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[4005] | 305 |
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[4013] | 306 | virtual QString toString(double version) const;
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[4005] | 307 | virtual e_type type() const {return t_eph::Galileo;}
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[7169] | 308 | virtual unsigned int IOD() const { return static_cast<unsigned long>(_IODnav); }
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[8187] | 309 | virtual unsigned int isUnhealthy() const;
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[2770] | 310 |
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[6109] | 311 | private:
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[6213] | 312 | virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
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[2770] | 313 |
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[7278] | 314 | double _clock_bias; // [s]
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| 315 | double _clock_drift; // [s/s]
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[2770] | 316 | double _clock_driftrate; // [s/s^2]
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[4018] | 317 |
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[6812] | 318 | double _IODnav;
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[7278] | 319 | double _Crs; // [m]
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[2770] | 320 | double _Delta_n; // [rad/s]
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[7278] | 321 | double _M0; // [rad]
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[4018] | 322 |
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[7278] | 323 | double _Cuc; // [rad]
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| 324 | double _e; //
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| 325 | double _Cus; // [rad]
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[2770] | 326 | double _sqrt_A; // [m^0.5]
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[4018] | 327 |
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[7278] | 328 | double _TOEsec; // [s]
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| 329 | double _Cic; // [rad]
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| 330 | double _OMEGA0; // [rad]
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| 331 | double _Cis; // [rad]
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[4018] | 332 |
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[7278] | 333 | double _i0; // [rad]
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| 334 | double _Crc; // [m]
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| 335 | double _omega; // [rad]
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[2770] | 336 | double _OMEGADOT; // [rad/s]
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[4018] | 337 |
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[2770] | 338 | double _IDOT; // [rad/s]
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[6809] | 339 | double _TOEweek;
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[4018] | 340 | // spare
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| 341 |
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[6798] | 342 | mutable double _SISA; // Signal In Space Accuracy
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[6794] | 343 | double _E5aHS; // [0..3] E5a Health Status
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| 344 | double _E5bHS; // [0..3] E5b Health Status
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| 345 | double _E1_bHS; // [0..3] E1-b Health Status
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[7278] | 346 | double _BGD_1_5A; // group delay [s]
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| 347 | double _BGD_1_5B; // group delay [s]
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[2770] | 348 |
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[6809] | 349 | double _TOT; // [s]
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[6812] | 350 | /** Data comes from I/NAV when <code>true</code> */
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| 351 | bool _inav;
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| 352 | /** Data comes from F/NAV when <code>true</code> */
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| 353 | bool _fnav;
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| 354 | /** EE Data is not valid */
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| 355 | bool _e1DataInValid;
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| 356 | /** E5A Data is not valid */
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| 357 | bool _e5aDataInValid;
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| 358 | /** E5B Data is not valid */
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| 359 | bool _e5bDataInValid;
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[2770] | 360 | };
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| 361 |
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[6380] | 362 | class t_ephSBAS : public t_eph {
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| 363 | friend class t_ephEncoder;
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[6812] | 364 | friend class RTCM3Decoder;
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[6380] | 365 | public:
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[7625] | 366 | t_ephSBAS() {
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| 367 | _IODN = 0;
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[8456] | 368 | _TOT = 0.0;
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[7625] | 369 | _agf0 = 0.0;
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| 370 | _agf1 = 0.0;
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| 371 | _x_pos = 0.0;
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| 372 | _x_velocity = 0.0;
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| 373 | _x_acceleration = 0.0;
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| 374 | _y_pos = 0.0;
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| 375 | _y_velocity = 0.0;
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| 376 | _y_acceleration = 0.0;
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| 377 | _z_pos = 0.0;
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| 378 | _z_velocity = 0.0;
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| 379 | _z_acceleration = 0.0;
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| 380 | _ura = 0.0;
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| 381 | _health = 0.0;
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[9212] | 382 | _receptStaID = "";
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[7625] | 383 | }
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[9367] | 384 | t_ephSBAS(double rnxVersion, const QStringList& lines);
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[6380] | 385 | virtual ~t_ephSBAS() {}
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| 386 |
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| 387 | virtual e_type type() const {return t_eph::SBAS;}
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[7169] | 388 | virtual unsigned int IOD() const;
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[9774] | 389 | virtual unsigned int isUnhealthy() const;
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[6380] | 390 | virtual QString toString(double version) const;
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| 391 |
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| 392 | private:
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[6381] | 393 | virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
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[6380] | 394 |
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[6536] | 395 | int _IODN;
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[8456] | 396 | double _TOT; // not used (set to 0.9999e9)
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[6380] | 397 | double _agf0; // [s] clock correction
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| 398 | double _agf1; // [s/s] clock correction drift
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| 399 |
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[7278] | 400 | double _x_pos; // [m]
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| 401 | double _x_velocity; // [m/s]
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| 402 | double _x_acceleration; // [m/s^2]
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[6380] | 403 |
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[7278] | 404 | double _y_pos; // [m]
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| 405 | double _y_velocity; // [m/s]
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| 406 | double _y_acceleration; // [m/s^2]
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[6380] | 407 |
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[7278] | 408 | double _z_pos; // [m]
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| 409 | double _z_velocity; // [m/s]
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| 410 | double _z_acceleration; // [m/s^2]
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[6380] | 411 |
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[6798] | 412 | mutable double _ura;
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[6390] | 413 | double _health;
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[6380] | 414 | };
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| 415 |
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[6600] | 416 | class t_ephBDS : public t_eph {
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[6400] | 417 | friend class t_ephEncoder;
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[6812] | 418 | friend class RTCM3Decoder;
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[6400] | 419 | public:
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[8482] | 420 | t_ephBDS() {
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[7625] | 421 | _TOT = 0.0;
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| 422 | _AODE = 0;
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| 423 | _AODC = 0;
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| 424 | _URAI = 0;
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| 425 | _URA = 0.0;
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| 426 | _clock_bias = 0.0;
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| 427 | _clock_drift = 0.0;
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| 428 | _clock_driftrate = 0.0;
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| 429 | _Crs = 0.0;
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| 430 | _Delta_n = 0.0;
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| 431 | _M0 = 0.0;
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| 432 | _Cuc = 0.0;
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| 433 | _e = 0.0;
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| 434 | _Cus = 0.0;
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| 435 | _sqrt_A = 0.0;
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| 436 | _Cic = 0.0;
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| 437 | _OMEGA0 = 0.0;
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| 438 | _Cis = 0.0;
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| 439 | _i0 = 0.0;
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| 440 | _Crc = 0.0;
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| 441 | _omega = 0.0;
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| 442 | _OMEGADOT = 0.0;
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| 443 | _IDOT = 0.0;
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| 444 | _TGD1 = 0.0;
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| 445 | _TGD2 = 0.0;
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| 446 | _SatH1 = 0.0;
|
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| 447 | _TOW = 0.0;
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| 448 | _TOEsec = 0.0;
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[8482] | 449 | _TOEweek =-1.0;
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[9212] | 450 | _receptStaID = "";
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[7625] | 451 | }
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[9367] | 452 | t_ephBDS(double rnxVersion, const QStringList& lines);
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[6600] | 453 | virtual ~t_ephBDS() {}
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[6400] | 454 |
|
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[6602] | 455 | virtual e_type type() const {return t_eph::BDS;}
|
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[7169] | 456 | virtual unsigned int IOD() const;
|
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[9673] | 457 | virtual unsigned int isUnhealthy() const {return static_cast<unsigned int>(_SatH1);}
|
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[6400] | 458 | virtual QString toString(double version) const;
|
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| 459 |
|
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| 460 | private:
|
---|
| 461 | virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
|
---|
| 462 |
|
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[6812] | 463 | double _TOT;
|
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[6400] | 464 | bncTime _TOE;
|
---|
| 465 | int _AODE;
|
---|
| 466 | int _AODC;
|
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[6812] | 467 | int _URAI; // [0..15] index from RTCM stream
|
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[9316] | 468 | mutable double _URA; // user range accuracy [m]
|
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[7278] | 469 | double _clock_bias; // [s]
|
---|
| 470 | double _clock_drift; // [s/s]
|
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[6400] | 471 | double _clock_driftrate; // [s/s^2]
|
---|
[7278] | 472 | double _Crs; // [m]
|
---|
[6400] | 473 | double _Delta_n; // [rad/s]
|
---|
[7278] | 474 | double _M0; // [rad]
|
---|
| 475 | double _Cuc; // [rad]
|
---|
| 476 | double _e; //
|
---|
| 477 | double _Cus; // [rad]
|
---|
[6400] | 478 | double _sqrt_A; // [m^0.5]
|
---|
[7278] | 479 | double _Cic; // [rad]
|
---|
| 480 | double _OMEGA0; // [rad]
|
---|
| 481 | double _Cis; // [rad]
|
---|
| 482 | double _i0; // [rad]
|
---|
| 483 | double _Crc; // [m]
|
---|
| 484 | double _omega; // [rad]
|
---|
[6400] | 485 | double _OMEGADOT; // [rad/s]
|
---|
| 486 | double _IDOT; // [rad/s]
|
---|
[7278] | 487 | double _TGD1; // [s]
|
---|
| 488 | double _TGD2; // [s]
|
---|
| 489 | int _SatH1; //
|
---|
[6843] | 490 | double _TOW; // [s] of BDT week
|
---|
| 491 | double _TOEsec; // [s] of BDT week
|
---|
| 492 | double _TOEweek; // BDT week will be set only in case of RINEX file input
|
---|
[6400] | 493 | };
|
---|
[1025] | 494 | #endif
|
---|