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source: ntrip/trunk/BNC/src/ephemeris.h@ 10409

Last change on this file since 10409 was 10315, checked in by stuerze, 10 months ago
health status of the Galileo satellites is now defined by the combination of HS, DVS and SISA
File size: 18.2 KB

Line
1	#ifndef EPHEMERIS_H
2	#define EPHEMERIS_H
3
4	#include <newmat.h>
5	#include <QtCore>
6	#include <stdio.h>
7	#include <string>
8	#include "bnctime.h"
9	#include "bncconst.h"
10	#include "t_prn.h"
11	#include "gnss.h"
12
13
14	class t_orbCorr;
15	class t_clkCorr;
16
17	class t_eph {
18	public:
19	enum e_type {unknown, GPS, QZSS, GLONASS, Galileo, SBAS, BDS, IRNSS};
20	enum e_checkState {unchecked, ok, bad, outdated, unhealthy};
21	enum e_navType {undefined, LNAV, FDMA, FNAV, INAF, D1, D2, SBASL1, CNAV, CNV1, CNV2, CNV3};
22
23	t_eph();
24	virtual ~t_eph();
25
26	virtual e_type type() const = 0;
27	virtual QString toString(double version) const = 0;
28	virtual unsigned int IOD() const = 0;
29	virtual unsigned int isUnhealthy() const = 0;
30	virtual int slotNum() const {return 0;}
31	bncTime TOC() const {return _TOC;}
32	bool isNewerThan(const t_eph* eph) const {return earlierTime(eph, this);}
33	void setCheckState(e_checkState checkState) {_checkState = checkState;}
34	e_checkState checkState() const {return _checkState;}
35	QString checkStateToString() {
36	switch (_checkState) {
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40	case outdated: return "outdated";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";
43	}
44	}
45	e_navType navType() const {return _navType;}
46	t_irc setNavType(QString navTypeStr);
47
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);
52	const QDateTime& receptDateTime() const {return _receptDateTime;}
53	const QString receptStaID() const {return _receptStaID;}
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);
56	static QString navTypeString(e_navType navType, const t_prn& prn, double version);
57	static bool earlierTime(const t_eph* eph1, const t_eph* eph2) {return eph1->_TOC < eph2->_TOC;}
58	static bool prnSort(const t_eph* eph1, const t_eph* eph2) {return eph1->prn() < eph2->prn();}
59
60	protected:
61	virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const = 0;
62	t_prn _prn;
63	bncTime _TOC;
64	QDateTime _receptDateTime;
65	QString _receptStaID;
66	e_checkState _checkState;
67	e_navType _navType; // defined in RINEX 4
68	t_orbCorr* _orbCorr;
69	t_clkCorr* _clkCorr;
70	};
71
72	class t_ephGPS : public t_eph {
73	friend class t_ephEncoder;
74	friend class RTCM3Decoder;
75	public:
76	t_ephGPS() {
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;
109	_URAI_NED0 = 0.0;
110	_URAI_NED1 = 0.0;
111	_URAI_NED2 = 0.0;
112	_URAI_ED = 0.0;
113	_ISC_L1CA = 0.0;
114	_ISC_L2C = 0.0;
115	_ISC_L5I5 = 0.0;
116	_ISC_L5Q5 = 0.0;
117	_ISC_L1Cd = 0.0;
118	_ISC_L1Cp = 0.0;
119	_wnop = 0.0;
120	_receptStaID = "";
121	}
122	t_ephGPS(double rnxVersion, const QStringList& lines);
123	virtual ~t_ephGPS() {}
124
125	virtual e_type type() const {
126	switch (_prn.system()) {
127	case 'J':
128	return t_eph::QZSS;
129	case 'I':
130	return t_eph::IRNSS;
131	};
132	return t_eph::GPS;
133	}
134	virtual QString toString(double version) const;
135	virtual unsigned int IOD() const { return static_cast<unsigned int>(_IODE); }
136	virtual unsigned int isUnhealthy() const { return static_cast<unsigned int>(_health); }
137	double TGD() const {return _TGD;} // Timing Group Delay (P1-P2 DCB)
138
139	private:
140	virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
141
142	double _clock_bias; // [s]
143	double _clock_drift; // [s/s]
144	double _clock_driftrate; // [s/s^2]
145
146	double _IODE; // IODEC in case of IRNSS
147	double _Crs; // [m]
148	double _Delta_n; // [rad/s]
149	double _M0; // [rad]
150
151	double _Cuc; // [rad]
152	double _e; // []
153	double _Cus; // [rad]
154	double _sqrt_A; // [m^0.5]
155
156	double _TOEsec; // [s of GPS week]
157	double _Cic; // [rad]
158	double _OMEGA0; // [rad]
159	double _Cis; // [rad]
160
161	double _i0; // [rad]
162	double _Crc; // [m]
163	double _omega; // [rad]
164	double _OMEGADOT; // [rad/s]
165
166	double _IDOT; // [rad/s]
167	double _L2Codes; // Codes on L2 channel (not valid for IRNSS)
168	double _TOEweek; // GPS week # to go with TOE, cont. number, not mode 1024
169	double _L2PFlag; // L2 P data flag (not valid for IRNSS and QZSS)
170
171	mutable double _ura; // SV accuracy [m]
172	double _health; // SV health
173	double _TGD; // [s]
174	double _IODC; // (not valid for IRNSS)
175
176	double _TOT; // Transmission time
177	double _fitInterval; // Fit interval in hours (not valid for IRNSS)
178
179	double _ADOT; // [m/s]
180	double _top; // [s]
181	double _Delta_n_dot; // [rad/s^2]
182
183	double _URAI_NED0; // []
184	double _URAI_NED1; // []
185	double _URAI_NED2; // []
186	double _URAI_ED; // []
187
188	double _ISC_L1CA; // [s]
189	double _ISC_L2C; // [s]
190	double _ISC_L5I5; // [s]
191	double _ISC_L5Q5; // [s]
192	double _ISC_L1Cd; // [s]
193	double _ISC_L1Cp; // [s]
194
195	double _wnop; // GPS continuous week number with the ambiguity resolved
196	};
197
198	class t_ephGlo : public t_eph {
199	friend class t_ephEncoder;
200	friend class RTCM3Decoder;
201	public:
202	t_ephGlo() {
203	_xv.ReSize(6); _xv = 0.0;
204	_gps_utc = 0.0;
205	_tau = 0.0;
206	_gamma = 0.0;
207	_tki = 0.0;
208	_x_pos = 0.0;
209	_x_velocity = 0.0;
210	_x_acceleration = 0.0;
211	_health = 0.0;
212	_y_pos = 0.0;
213	_y_velocity = 0.0;
214	_y_acceleration = 0.0;
215	_frequency_number = 0.0;
216	_z_pos = 0.0;
217	_z_velocity = 0.0;
218	_z_acceleration = 0.0;
219	_E = 0.0;
220	_almanac_health = 0.0;
221	_almanac_health_availablility_indicator = 0.0;
222	_additional_data_availability = 0.0;
223	_tauC = 0.0;
224	_P1 = 0.0;
225	_P2 = 0.0;
226	_P3 = 0.0;
227	_NA = 0.0;
228	_M_P = 0.0;
229	_M_l3 = 0.0;
230	_M_delta_tau = 0.0;
231	_M_P4 = 0.0;
232	_M_FT = 0.0;
233	_M_NT = 0.0;
234	_M_M = 0.0;
235	_M_N4 = 0.0;
236	_M_tau_GPS = 0.0;
237	_M_l5 = 0.0;
238	_receptStaID = "";
239	_flags_unknown = true;
240	}
241	t_ephGlo(double rnxVersion, const QStringList& lines);
242	virtual ~t_ephGlo() {}
243
244	virtual e_type type() const {return t_eph::GLONASS;}
245	virtual QString toString(double version) const;
246	virtual unsigned int IOD() const;
247	virtual unsigned int isUnhealthy() const;
248	virtual int slotNum() const {return int(_frequency_number);}
249
250	private:
251	virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
252	static ColumnVector glo_deriv(double /* tt /, const ColumnVector& xv, double acc);
253
254	mutable bncTime _tt; // time
255	mutable ColumnVector _xv; // status vector (position, velocity) at time _tt
256
257	double _gps_utc;
258	double _tau; // [s]
259	double _gamma; // [-]
260	mutable double _tki; // message frame time
261
262	double _x_pos; // [km]
263	double _x_velocity; // [km/s]
264	double _x_acceleration; // [km/s^2]
265	double _health; // 0 = O.K. MSB of Bn word
266
267	double _y_pos; // [km]
268	double _y_velocity; // [km/s]
269	double _y_acceleration; // [km/s^2]
270	double _frequency_number; // ICD-GLONASS data position
271
272	double _z_pos; // [km]
273	double _z_velocity; // [km/s]
274	double _z_acceleration; // [km/s^2]
275	double _E; // Age of Information [days]
276
277	double _almanac_health; // Cn word
278	double _almanac_health_availablility_indicator;
279
280	double _additional_data_availability; //
281	double _tauC; // GLONASS time scale correction to UTC(SU) time [sec]
282	double _P1; // flag of the immediate data updating [-]
283	double _P2; // flag of oddness or evenness of the value of tb for intervals 30 or 60 minutes [-]
284	double _P3; // flag indicating a number of satellites for which almanac is transmitted within given frame [-]
285	double _NA; // calendar day number within the 4-year period [days]
286
287	double _M_P; // control segment parameter that indicates the satellite operation mode with respect of time parameters
288	double _M_l3; // health flag
289	double _M_delta_tau; // [sec]
290	double _M_P4; // flag to show that ephemeris parameters are present [-]
291	double _M_FT; // Indicator for predicted satellite User Range Accuracy (URAI) [-]
292	double _M_NT; // current date, calendar number of day within 4-year interval [days]
293	double _M_M; // type of satellite transmitting navigation signal: 0 = GLONASS, 1 = GLONASS-M satellite [-]
294	double _M_N4; // 4-year interval number starting from 1996
295	double _M_tau_GPS; // correction to GPS time relative to GLONASS time [days]
296	double _M_l5; // health flag
297	bool _flags_unknown; // status and health flags are unknown (rnx version < 3.05) or known (rnx version >= 3.05)
298	};
299
300	class t_ephGal : public t_eph {
301	friend class t_ephEncoder;
302	friend class RTCM3Decoder;
303	public:
304	t_ephGal() {
305	_clock_bias = 0.0;
306	_clock_drift = 0.0;
307	_clock_driftrate = 0.0;
308	_IODnav = 0.0;
309	_Crs = 0.0;
310	_Delta_n = 0.0;
311	_M0 = 0.0;
312	_Cuc = 0.0;
313	_e = 0.0;
314	_Cus = 0.0;
315	_sqrt_A = 0.0;
316	_TOEsec = 0.0;
317	_Cic = 0.0;
318	_OMEGA0 = 0.0;
319	_Cis = 0.0;
320	_i0 = 0.0;
321	_Crc = 0.0;
322	_omega = 0.0;
323	_OMEGADOT = 0.0;
324	_IDOT = 0.0;
325	_TOEweek = 0.0;
326	_SISA = 0.0;
327	_E5aHS = 0.0;
328	_E5bHS = 0.0;
329	_E1_bHS = 0.0;
330	_BGD_1_5A = 0.0;
331	_BGD_1_5B = 0.0;
332	_TOT = 0.0;
333	_receptStaID = "";
334	};
335	t_ephGal(double rnxVersion, const QStringList& lines);
336	virtual ~t_ephGal() {}
337
338	virtual QString toString(double version) const;
339	virtual e_type type() const {return t_eph::Galileo;}
340	virtual unsigned int IOD() const { return static_cast<unsigned long>(_IODnav); }
341	virtual unsigned int isUnhealthy() const;
342
343	private:
344	virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
345
346	double _clock_bias; // [s]
347	double _clock_drift; // [s/s]
348	double _clock_driftrate; // [s/s^2]
349
350	double _IODnav;
351	double _Crs; // [m]
352	double _Delta_n; // [rad/s]
353	double _M0; // [rad]
354
355	double _Cuc; // [rad]
356	double _e; //
357	double _Cus; // [rad]
358	double _sqrt_A; // [m^0.5]
359
360	double _TOEsec; // [s]
361	double _Cic; // [rad]
362	double _OMEGA0; // [rad]
363	double _Cis; // [rad]
364
365	double _i0; // [rad]
366	double _Crc; // [m]
367	double _omega; // [rad]
368	double _OMEGADOT; // [rad/s]
369
370	double _IDOT; // [rad/s]
371	double _TOEweek;
372	// spare
373
374	mutable double _SISA; // Signal In Space Accuracy
375	double _E5aHS; // [0..3] E5a Health Status
376	double _E5bHS; // [0..3] E5b Health Status
377	double _E1_bHS; // [0..3] E1-b Health Status
378	double _BGD_1_5A; // group delay [s]
379	double _BGD_1_5B; // group delay [s]
380
381	double _TOT; // [s]
382	/** Data comes from I/NAV when <code>true</code> */
383	bool _inav;
384	/** Data comes from F/NAV when <code>true</code> */
385	bool _fnav;
386	/** E1 Data is not valid */
387	bool _e1DataInValid;
388	/** E5A Data is not valid */
389	bool _e5aDataInValid;
390	/** E5B Data is not valid */
391	bool _e5bDataInValid;
392	};
393
394	class t_ephSBAS : public t_eph {
395	friend class t_ephEncoder;
396	friend class RTCM3Decoder;
397	public:
398	t_ephSBAS() {
399	_IODN = 0;
400	_TOT = 0.0;
401	_agf0 = 0.0;
402	_agf1 = 0.0;
403	_x_pos = 0.0;
404	_x_velocity = 0.0;
405	_x_acceleration = 0.0;
406	_y_pos = 0.0;
407	_y_velocity = 0.0;
408	_y_acceleration = 0.0;
409	_z_pos = 0.0;
410	_z_velocity = 0.0;
411	_z_acceleration = 0.0;
412	_ura = 0.0;
413	_health = 0.0;
414	_receptStaID = "";
415	}
416	t_ephSBAS(double rnxVersion, const QStringList& lines);
417	virtual ~t_ephSBAS() {}
418
419	virtual e_type type() const {return t_eph::SBAS;}
420	virtual unsigned int IOD() const;
421	virtual unsigned int isUnhealthy() const;
422	virtual QString toString(double version) const;
423
424	private:
425	virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
426
427	int _IODN;
428	double _TOT; // not used (set to 0.9999e9)
429	double _agf0; // [s] clock correction
430	double _agf1; // [s/s] clock correction drift
431
432	double _x_pos; // [m]
433	double _x_velocity; // [m/s]
434	double _x_acceleration; // [m/s^2]
435
436	double _y_pos; // [m]
437	double _y_velocity; // [m/s]
438	double _y_acceleration; // [m/s^2]
439
440	double _z_pos; // [m]
441	double _z_velocity; // [m/s]
442	double _z_acceleration; // [m/s^2]
443
444	mutable double _ura;
445	double _health;
446	};
447
448	class t_ephBDS : public t_eph {
449	friend class t_ephEncoder;
450	friend class RTCM3Decoder;
451	public:
452	t_ephBDS() {
453	_TOT = 0.0;
454	_AODE = 0;
455	_AODC = 0;
456	_URAI = 0;
457	_URA = 0.0;
458	_clock_bias = 0.0;
459	_clock_drift = 0.0;
460	_clock_driftrate = 0.0;
461	_Crs = 0.0;
462	_Delta_n = 0.0;
463	_M0 = 0.0;
464	_Cuc = 0.0;
465	_e = 0.0;
466	_Cus = 0.0;
467	_sqrt_A = 0.0;
468	_Cic = 0.0;
469	_OMEGA0 = 0.0;
470	_Cis = 0.0;
471	_i0 = 0.0;
472	_Crc = 0.0;
473	_omega = 0.0;
474	_OMEGADOT = 0.0;
475	_IDOT = 0.0;
476	_TOEsec = 0.0;
477	_BDTweek = 0.0;
478	_Delta_n_dot = 0.0;
479	_satType = 0.0;
480	_top = 0.0;
481	_SISAI_oe = 0.0;
482	_SISAI_ocb = 0.0;
483	_SISAI_oc1 = 0.0;
484	_SISAI_oc2 = 0.0;
485	_ISC_B1Cd = 0.0;
486	_ISC_B2ad = 0.0;
487	_TGD1 = 0.0;
488	_TGD2 = 0.0;
489	_TGD_B1Cp = 0.0;
490	_TGD_B2ap = 0.0;
491	_TGD_B2bI = 0.0;
492	_SISMAI = 0.0;
493	_SatH1 = 0;
494	_health = 0;
495	_INTEGRITYF_B1C = 0.0;
496	_INTEGRITYF_B2aB1C = 0.0;
497	_INTEGRITYF_B2b = 0.0;
498	_IODC = 0.0;
499	_IODE = 0.0;
500	_receptStaID = "";
501	}
502	t_ephBDS(double rnxVersion, const QStringList& lines);
503	virtual ~t_ephBDS() {}
504
505	virtual e_type type() const {return t_eph::BDS;}
506	virtual unsigned int IOD() const;
507	virtual unsigned int isUnhealthy() const;
508	virtual QString toString(double version) const;
509
510	private:
511	virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
512
513	double _TOT; // [s] of BDT week
514	bncTime _TOE;
515	int _AODE;
516	int _AODC;
517	int _URAI; // [0..15] index from RTCM stream
518	mutable double _URA; // user range accuracy [m]
519	double _clock_bias; // [s]
520	double _clock_drift; // [s/s]
521	double _clock_driftrate; // [s/s^2]
522	double _Crs; // [m]
523	double _Delta_n; // [rad/s]
524	double _M0; // [rad]
525	double _Cuc; // [rad]
526	double _e; //
527	double _Cus; // [rad]
528	double _sqrt_A; // [m^0.5]
529	double _Cic; // [rad]
530	double _OMEGA0; // [rad]
531	double _Cis; // [rad]
532	double _i0; // [rad]
533	double _Crc; // [m]
534	double _omega; // [rad]
535	double _OMEGADOT; // [rad/s]
536	double _IDOT; // [rad/s]
537	double _TOEsec; // [s] of BDT week
538	double _BDTweek; // BDT week
539
540	double _Delta_n_dot; // [rad/s^2]
541	double _satType; // 0..reserved, 1..GEO, 2..IGSO, 3..MEO
542	double _top; // [s]
543
544	double _SISAI_oe; // []
545	double _SISAI_ocb; // []
546	double _SISAI_oc1; // []
547	double _SISAI_oc2; // []
548
549	double _ISC_B1Cd; // [s]
550	double _ISC_B2ad; // [s]
551
552	double _TGD1; // [s]
553	double _TGD2; // [s]
554	double _TGD_B1Cp; // [s]
555	double _TGD_B2ap; // [s]
556	double _TGD_B2bI; // [s]
557
558	double _SISMAI; // []
559
560	int _SatH1; //
561	int _health; //
562
563	double _INTEGRITYF_B1C; // 3 bits word from sf 3
564	double _INTEGRITYF_B2aB1C;// 6 bits word with integrity bits in msg 10-11, 30.34 or 40
565	double _INTEGRITYF_B2b; // 3 bits word from msg 10
566
567	double _IODC; // []
568	double _IODE; // [] IODE are the same as the 8 LSBs of IODC
569
570	};
571	#endif

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