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source: ntrip/trunk/BNC/src/ephemeris.h@ 9942

Last change on this file since 9942 was 9789, checked in by stuerze, 2 years ago
some more changes to consider RINEX Version 4 nav file (EPH key only)
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20	enum e_checkState {unchecked, ok, bad, outdated, unhealthy};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40	case outdated: return "outdated";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	/** EE 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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