source: ntrip/trunk/BNC/src/ephemeris.h@ 7141

Last change on this file since 7141 was 7054, checked in by stuerze, 10 years ago

two methods were added to compute IODs for BDS and SBAS from CRC over broadcasted ephemeris and clock parameters as described in the respective SSR proposal
File size: 9.3 KB
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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
14class t_orbCorr;
15class t_clkCorr;
16
17class t_eph {
18 public:
19 enum e_type {unknown, GPS, QZSS, GLONASS, Galileo, SBAS, BDS};
20 enum e_checkState {unchecked, ok, bad};
21
22 t_eph();
23 virtual ~t_eph() {};
24
25 virtual e_type type() const = 0;
26 virtual QString toString(double version) const = 0;
27 virtual unsigned long IOD() const = 0;
28 virtual int slotNum() const {return 0;}
29 bncTime TOC() const {return _TOC;}
30 bool isNewerThan(const t_eph* eph) const {return earlierTime(eph, this);}
31 e_checkState checkState() const {return _checkState;}
32 void setCheckState(e_checkState checkState) {_checkState = checkState;}
33 t_prn prn() const {return _prn;}
34 t_irc getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const;
35 void setOrbCorr(const t_orbCorr* orbCorr);
36 void setClkCorr(const t_clkCorr* clkCorr);
37 const QDateTime& receptDateTime() const {return _receptDateTime;}
38 static QString rinexDateStr(const bncTime& tt, const t_prn& prn, double version);
39 static QString rinexDateStr(const bncTime& tt, const QString& prnStr, double version);
40 static bool earlierTime(const t_eph* eph1, const t_eph* eph2) {return eph1->_TOC < eph2->_TOC;}
41
42 protected:
43 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const = 0;
44 t_prn _prn;
45 bncTime _TOC;
46 QDateTime _receptDateTime;
47 e_checkState _checkState;
48 t_orbCorr* _orbCorr;
49 t_clkCorr* _clkCorr;
50};
51
52
53class t_ephGPS : public t_eph {
54 friend class t_ephEncoder;
55 friend class RTCM3Decoder;
56 public:
57 t_ephGPS() { }
58 t_ephGPS(float rnxVersion, const QStringList& lines);
59 virtual ~t_ephGPS() {}
60
61 virtual e_type type() const {return (_prn.system() == 'J' ? t_eph::QZSS : t_eph::GPS); }
62 virtual QString toString(double version) const;
63 virtual unsigned long IOD() const { return static_cast<unsigned long>(_IODC); }
64 double TGD() const {return _TGD;} // Timing Group Delay (P1-P2 DCB)
65
66 private:
67 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
68
69 double _clock_bias; // [s]
70 double _clock_drift; // [s/s]
71 double _clock_driftrate; // [s/s^2]
72
73 double _IODE;
74 double _Crs; // [m]
75 double _Delta_n; // [rad/s]
76 double _M0; // [rad]
77
78 double _Cuc; // [rad]
79 double _e; //
80 double _Cus; // [rad]
81 double _sqrt_A; // [m^0.5]
82
83 double _TOEsec; // [s]
84 double _Cic; // [rad]
85 double _OMEGA0; // [rad]
86 double _Cis; // [rad]
87
88 double _i0; // [rad]
89 double _Crc; // [m]
90 double _omega; // [rad]
91 double _OMEGADOT; // [rad/s]
92
93 double _IDOT; // [rad/s]
94 double _L2Codes; // Codes on L2 channel
95 double _TOEweek;
96 double _L2PFlag; // L2 P data flag
97
98 mutable double _ura; // SV accuracy
99 double _health; // SV health
100 double _TGD; // [s]
101 double _IODC;
102
103 double _TOT; // Transmisstion time
104 double _fitInterval; // Fit interval
105};
106
107class t_ephGlo : public t_eph {
108 friend class t_ephEncoder;
109 friend class RTCM3Decoder;
110 public:
111 t_ephGlo() { _xv.ReSize(6); }
112 t_ephGlo(float rnxVersion, const QStringList& lines);
113 virtual ~t_ephGlo() {}
114
115 virtual e_type type() const {return t_eph::GLONASS;}
116 virtual QString toString(double version) const;
117 virtual unsigned long IOD() const;
118 virtual int slotNum() const {return int(_frequency_number);}
119
120 private:
121 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
122 static ColumnVector glo_deriv(double /* tt */, const ColumnVector& xv, double* acc);
123
124 mutable bncTime _tt; // time
125 mutable ColumnVector _xv; // status vector (position, velocity) at time _tt
126
127 double _gps_utc;
128 double _tau; // [s]
129 double _gamma; //
130 mutable double _tki; // message frame time
131
132 double _x_pos; // [km]
133 double _x_velocity; // [km/s]
134 double _x_acceleration; // [km/s^2]
135 double _health; // 0 = O.K.
136
137 double _y_pos; // [km]
138 double _y_velocity; // [km/s]
139 double _y_acceleration; // [km/s^2]
140 double _frequency_number; // ICD-GLONASS data position
141
142 double _z_pos; // [km]
143 double _z_velocity; // [km/s]
144 double _z_acceleration; // [km/s^2]
145 double _E; // Age of Information [days]
146};
147
148class t_ephGal : public t_eph {
149 friend class t_ephEncoder;
150 friend class RTCM3Decoder;
151 public:
152 t_ephGal() { };
153 t_ephGal(float rnxVersion, const QStringList& lines);
154 virtual ~t_ephGal() {}
155
156 virtual QString toString(double version) const;
157 virtual e_type type() const {return t_eph::Galileo;}
158 virtual unsigned long IOD() const { return static_cast<unsigned long>(_IODnav); }
159
160 private:
161 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
162
163 double _clock_bias; // [s]
164 double _clock_drift; // [s/s]
165 double _clock_driftrate; // [s/s^2]
166
167 double _IODnav;
168 double _Crs; // [m]
169 double _Delta_n; // [rad/s]
170 double _M0; // [rad]
171
172 double _Cuc; // [rad]
173 double _e; //
174 double _Cus; // [rad]
175 double _sqrt_A; // [m^0.5]
176
177 double _TOEsec; // [s]
178 double _Cic; // [rad]
179 double _OMEGA0; // [rad]
180 double _Cis; // [rad]
181
182 double _i0; // [rad]
183 double _Crc; // [m]
184 double _omega; // [rad]
185 double _OMEGADOT; // [rad/s]
186
187 double _IDOT; // [rad/s]
188 double _TOEweek;
189 // spare
190
191 mutable double _SISA; // Signal In Space Accuracy
192 double _E5aHS; // [0..3] E5a Health Status
193 double _E5bHS; // [0..3] E5b Health Status
194 double _E1_bHS; // [0..3] E1-b Health Status
195 double _BGD_1_5A; // group delay [s]
196 double _BGD_1_5B; // group delay [s]
197
198 double _TOT; // [s]
199 /** Data comes from I/NAV when <code>true</code> */
200 bool _inav;
201 /** Data comes from F/NAV when <code>true</code> */
202 bool _fnav;
203 /** EE Data is not valid */
204 bool _e1DataInValid;
205 /** E5A Data is not valid */
206 bool _e5aDataInValid;
207 /** E5B Data is not valid */
208 bool _e5bDataInValid;
209};
210
211class t_ephSBAS : public t_eph {
212 friend class t_ephEncoder;
213 friend class RTCM3Decoder;
214 public:
215 t_ephSBAS() {}
216 t_ephSBAS(float rnxVersion, const QStringList& lines);
217 virtual ~t_ephSBAS() {}
218
219 virtual e_type type() const {return t_eph::SBAS;}
220 virtual unsigned long IOD() const;
221 virtual QString toString(double version) const;
222
223 private:
224 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
225
226 int _IODN;
227 double _TOW; // not used (set to 0.9999e9)
228 double _agf0; // [s] clock correction
229 double _agf1; // [s/s] clock correction drift
230
231 double _x_pos; // [m]
232 double _x_velocity; // [m/s]
233 double _x_acceleration; // [m/s^2]
234
235 double _y_pos; // [m]
236 double _y_velocity; // [m/s]
237 double _y_acceleration; // [m/s^2]
238
239 double _z_pos; // [m]
240 double _z_velocity; // [m/s]
241 double _z_acceleration; // [m/s^2]
242
243 mutable double _ura;
244 double _health;
245};
246
247class t_ephBDS : public t_eph {
248 friend class t_ephEncoder;
249 friend class RTCM3Decoder;
250 public:
251 t_ephBDS() : _TOEweek(-1.0) {}
252 t_ephBDS(float rnxVersion, const QStringList& lines);
253 virtual ~t_ephBDS() {}
254
255 virtual e_type type() const {return t_eph::BDS;}
256 virtual unsigned long IOD() const;
257 virtual QString toString(double version) const;
258
259 private:
260 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
261
262 double _TOT;
263 bncTime _TOE;
264 int _AODE;
265 int _AODC;
266 int _URAI; // [0..15] index from RTCM stream
267 mutable double _URA; // user range accuracy
268 double _clock_bias; // [s]
269 double _clock_drift; // [s/s]
270 double _clock_driftrate; // [s/s^2]
271 double _Crs; // [m]
272 double _Delta_n; // [rad/s]
273 double _M0; // [rad]
274 double _Cuc; // [rad]
275 double _e; //
276 double _Cus; // [rad]
277 double _sqrt_A; // [m^0.5]
278 double _Cic; // [rad]
279 double _OMEGA0; // [rad]
280 double _Cis; // [rad]
281 double _i0; // [rad]
282 double _Crc; // [m]
283 double _omega; // [rad]
284 double _OMEGADOT; // [rad/s]
285 double _IDOT; // [rad/s]
286 double _TGD1; // [s]
287 double _TGD2; // [s]
288 int _SatH1; //
289 double _TOW; // [s] of BDT week
290 double _TOEsec; // [s] of BDT week
291 double _TOEweek; // BDT week will be set only in case of RINEX file input
292};
293
294#endif
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