#ifndef EPHEMERIS_H #define EPHEMERIS_H #include #include #include #include #include "bnctime.h" #include "bncconst.h" #include "t_prn.h" #include "gnss.h" class t_orbCorr; class t_clkCorr; class t_eph { public: enum e_system {unknown, GPS, QZSS, GLONASS, Galileo, SBAS, BDS, IRNSS}; enum e_checkState {unchecked, ok, bad, outdated, unhealthy}; enum e_type {undefined, LNAV, FDMA, FNAV, INAV, D1, D2, SBASL1, CNAV, CNV1, CNV2, CNV3, L1NV, L1OC, L3OC}; t_eph(); virtual ~t_eph(); virtual e_system system() const = 0; virtual QString toString(double version) const = 0; virtual unsigned int IOD() const = 0; virtual unsigned int isUnhealthy() const = 0; virtual int slotNum() const {return 0;} bncTime TOC() const {return _TOC;} bool isNewerThan(const t_eph* eph) const {return earlierTime(eph, this);} void setCheckState(e_checkState checkState) {_checkState = checkState;} e_checkState checkState() const {return _checkState;} QString checkStateToString() { switch (_checkState) { case unchecked: return "unchecked"; case ok: return "ok"; case bad: return "bad"; case outdated: return "outdated"; case unhealthy: return "unhealthy"; default: return "unknown"; } } e_type type() const {return _type;} void setType(QString typeStr); t_prn prn() const {return _prn;} t_irc getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const; void setOrbCorr(const t_orbCorr* orbCorr); void setClkCorr(const t_clkCorr* clkCorr); const QDateTime& receptDateTime() const {return _receptDateTime;} const QString receptStaID() const {return _receptStaID;} static QString rinexDateStr(const bncTime& tt, const t_prn& prn, double version); static QString rinexDateStr(const bncTime& tt, const QString& prnStr, double version); static QString typeStr(e_type type, const t_prn& prn, double version); static bool earlierTime(const t_eph* eph1, const t_eph* eph2) {return eph1->_TOC < eph2->_TOC;} static bool prnSort(const t_eph* eph1, const t_eph* eph2) {return eph1->prn() < eph2->prn();} protected: virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const = 0; t_prn _prn; bncTime _TOC; QDateTime _receptDateTime; QString _receptStaID; e_checkState _checkState; e_type _type; // defined in RINEX 4 t_orbCorr* _orbCorr; t_clkCorr* _clkCorr; }; class t_ephGPS : public t_eph { friend class t_ephEncoder; friend class RTCM3Decoder; public: t_ephGPS() { _clock_bias = 0.0; _clock_drift = 0.0; _clock_driftrate = 0.0; _IODE = 0.0; _Crs = 0.0; _Delta_n = 0.0; _M0 = 0.0; _Cuc = 0.0; _e = 0.0; _Cus = 0.0; _sqrt_A = 0.0; _TOEsec = 0.0; _Cic = 0.0; _OMEGA0 = 0.0; _Cis = 0.0; _i0 = 0.0; _Crc = 0.0; _omega = 0.0; _OMEGADOT = 0.0; _IDOT = 0.0; _L2Codes = 0.0; _TOEweek = 0.0; _L2PFlag = 0.0; _ura = 0.0; _health = 0.0; _TGD = 0.0; _IODC = 0.0; _TOT = 0.0; _fitInterval = 0.0; _ADOT = 0.0; _top = 0.0; _Delta_n_dot = 0.0; _URAI = 0.0; _URAI_NED0 = 0.0; _URAI_NED1 = 0.0; _URAI_NED2 = 0.0; _URAI_ED = 0.0; _ISC_L1CA = 0.0; _ISC_L2C = 0.0; _ISC_L5I5 = 0.0; _ISC_L5Q5 = 0.0; _ISC_L1Cd = 0.0; _ISC_L1Cp = 0.0; _RSF = 0.0; _ISC_S = 0.0; _ISC_L1D = 0.0; _ISC_L1P = 0.0; _wnop = 0.0; _flags_unknown = true; _intSF = 0.0; _ephSF = 0.0; _L2Cphasing = 0.0; _alert = 0.0; _receptStaID = ""; } t_ephGPS(double rnxVersion, const QStringList& lines); virtual ~t_ephGPS() {} virtual e_system system() const { switch (_prn.system()) { case 'J': return t_eph::QZSS; case 'I': return t_eph::IRNSS; }; return t_eph::GPS; } virtual QString toString(double version) const; virtual unsigned int IOD() const { return static_cast(_IODE); } virtual unsigned int isUnhealthy() const { return static_cast(_health); } double TGD() const {return _TGD;} // Timing Group Delay (P1-P2 DCB) private: virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const; double _clock_bias; // [s] double _clock_drift; // [s/s] double _clock_driftrate; // [s/s^2] double _IODE; // IODEC in case of IRNSS double _Crs; // [m] double _Delta_n; // [rad/s] double _M0; // [rad] double _Cuc; // [rad] double _e; // [] double _Cus; // [rad] double _sqrt_A; // [m^0.5] double _TOEsec; // [s of GPS week] double _Cic; // [rad] double _OMEGA0; // [rad] double _Cis; // [rad] double _i0; // [rad] double _Crc; // [m] double _omega; // [rad] double _OMEGADOT; // [rad/s] double _IDOT; // [rad/s] double _L2Codes; // Codes on L2 channel (not valid for IRNSS) double _TOEweek; // GPS week # to go with TOE, cont. number, not mode 1024 double _L2PFlag; // L2 P data flag (not valid for IRNSS and QZSS) mutable double _ura; // SV accuracy [m] double _health; // SV health double _TGD; // [s] double _IODC; // (not valid for IRNSS) double _TOT; // Transmission time double _fitInterval; // Fit interval in hours (not valid for IRNSS) double _ADOT; // [m/s] double _top; // [s] double _Delta_n_dot; // [rad/s^2] double _URAI; // [] user range accuracy index double _URAI_NED0; // [] double _URAI_NED1; // [] double _URAI_NED2; // [] double _URAI_ED; // [] double _ISC_L1CA; // [s] inter signal correction double _ISC_L2C; // [s] double _ISC_L5I5; // [s] double _ISC_L5Q5; // [s] double _ISC_L1Cd; // [s] double _ISC_L1Cp; // [s] double _RSF; // [-] Reference Signal Flag for IRNSS double _ISC_S; // [s] double _ISC_L1D; // [s] double _ISC_L1P; // [s] bool _flags_unknown; // [-] status flags are unknown => BNK; fitInterval LNAV from QZSS or GPS double _intSF; // [-] integrity status flag double _ephSF; // [-] ephemeris status flag (QZSS) double _L2Cphasing; // [-] L2C phasing flag double _alert; // [-] alert flag double _wnop; // GPS continuous week number with the ambiguity resolved (same as _TOEweek?) }; class t_ephGlo : public t_eph { friend class t_ephEncoder; friend class RTCM3Decoder; public: t_ephGlo() { _xv.ReSize(6); _xv = 0.0; _gps_utc = 0.0; _tau = 0.0; _tau1 = 0.0; _tau2 = 0.0; _tauC = 0.0; _Tin = 0.0; _gamma = 0.0; _tki = 0.0; _x_pos = 0.0; _x_vel = 0.0; _x_acc = 0.0; _health = 0.0; _y_pos = 0.0; _y_vel = 0.0; _y_acc = 0.0; _frq_num = 0.0; _z_pos = 0.0; _z_vel = 0.0; _z_acc = 0.0; _E = 0.0; _EE = 0.0; _ET = 0.0; _RE = 0.0; _RT = 0.0; _P1 = 0.0; _P2 = 0.0; _P3 = 0.0; _M_M = 0.0; _M_FE = 0.0; _M_FT = 0.0; _M_l3 = 0.0; _M_l5 = 0.0; _M_NA = 0.0; _M_NT = 0.0; _M_N4 = 0.0; _M_P = 0.0; _M_P4 = 0.0; _X_PC = 0.0; _Y_PC = 0.0; _Z_PC = 0.0; _TOT = 0.0; _yaw = 0.0; _sn = 0.0; _sat_type = 0.0; _TGD_L2OCp = 0.0; _TGD_L3OCp = 0.0; _M_tau_GPS = 0.0; _M_delta_tau = 0.0; _attitude_P2 = 0.0; _angular_rate = 0.0; _angular_acc = 0.0; _angular_rate_max = 0.0; _data_validity = 0; _healthflags_unknown = false; _statusflags_unknown = false; _almanac_health = 0.0; _almanac_health_availablility_indicator = 0.0; _additional_data_availability = 0.0; } t_ephGlo(double rnxVersion, const QStringList& lines); virtual ~t_ephGlo() {} virtual e_system system() const {return t_eph::GLONASS;} virtual QString toString(double version) const; virtual unsigned int IOD() const; virtual unsigned int isUnhealthy() const; virtual int slotNum() const {return int(_frq_num);} private: virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const; static ColumnVector glo_deriv(double /* tt */, const ColumnVector& xv, double* acc); mutable bncTime _tt; // time mutable ColumnVector _xv; // status vector (position, velocity) at time _tt double _gps_utc; // [s] double _tau; // [s] double _tau1; // [s] double _tau2; // [s] double _tauC; // GLONASS time scale correction to UTC(SU) [sec] double _Tin; // sec of day UTC(SU) [s] double _gamma; // [-] mutable double _tki; // message frame time double _x_pos; // [km] double _x_vel; // [km/s] double _x_acc; // [km/s^2] double _health; // 0 = OK. MSB of Bn word double _y_pos; // [km] double _y_vel; // [km/s] double _y_acc; // [km/s^2] double _frq_num; // ICD-GLONASS data position double _z_pos; // [km] double _z_vel; // [km/s] double _z_acc; // [km/s^2] double _E; // Age of current Information [days] double _EE; // Age Of Data eph [days] double _ET; // Age Of Data clk [days] double _TGD_L2OCp; // [sec] double _TGD_L3OCp; // [sec] double _almanac_health ; // almanac health bit; 1 = healthy, 1 = not healthy double _almanac_health_availablility_indicator; // 1 = reported in eph record, 0 = not reported double _additional_data_availability; double _sat_type; // 0 = GLO_SAT, 1 = GLO_SAT_M (M type), 2 = GLO_SAT_K (K type) double _RE; // source flags; 01 = relay; 10 = prediction (propagation), 11 = use of inter-satellite measurements double _RT; // source flags; 01 = relay, 10 = prediction (propagation), 11 = use of inter-satellite measurements double _P1; // update and validity interval [-]; 00 = 0 min, 01 = 30 min, 10 ) 45 min, 11 = 60 min double _P2; // flag of oddness or evenness of the value of tb for intervals 30 or 60 minutes [-] double _P3; // flag indicating a number of satellites for which almanac is transmitted within given frame [-] double _M_M; // type of satellite transmitting navigation signal: 0 = GLONASS, 1 = GLONASS-M/K satellite [-] double _M_FE; // Indicator for predicted satellite User Range Accuracy (URAI_orb) [-] double _M_FT; // Indicator for predicted satellite User Range Accuracy (URAI_clk) [-] double _M_l3; // health bit on string 3 GLO-M/K only double _M_l5; // health flag double _M_NA; // calendar day number within the 4-year period [days] double _M_NT; // current date, calendar number of day within 4-year interval [days] double _M_N4; // 4-year interval number starting from 1996 double _M_P; // control segment parameter that indicates the satellite operation mode with respect of time parameters double _M_P4; // flag to show that ephemeris parameters are present [-] GLO-M/K only double _M_tau_GPS; // correction to GPS time relative to GLONASS time [days] double _M_delta_tau; // [s] bool _statusflags_unknown;// status flags are unknown => BNK in RNX NAV file if message type is FDMA bool _healthflags_unknown;// health flags are unknown => BNK in RNX NAV file if message type is FDMA int _data_validity; // data validity; 0 = valid, 1 = invalid double _attitude_P2; // 0 = nominal yaw steering, 1 = rate-limited yaw maneuver double _yaw; // [rad] double _sn; // sign flag double _angular_rate; // [rad/sec] double _angular_rate_max; // [rad/sec] double _angular_acc; // [rad/sec^2] double _X_PC; // X PC coord [m] GLO manufacturer coordinate system double _Y_PC; // Y PC coord [m] GLO manufacturer coordinate system double _Z_PC; // Y PC coord [m] GLO manufacturer coordinate system double _TOT; // Time of transmission }; class t_ephGal : public t_eph { friend class t_ephEncoder; friend class RTCM3Decoder; public: t_ephGal() { _clock_bias = 0.0; _clock_drift = 0.0; _clock_driftrate = 0.0; _IODnav = 0.0; _Crs = 0.0; _Delta_n = 0.0; _M0 = 0.0; _Cuc = 0.0; _e = 0.0; _Cus = 0.0; _sqrt_A = 0.0; _TOEsec = 0.0; _Cic = 0.0; _OMEGA0 = 0.0; _Cis = 0.0; _i0 = 0.0; _Crc = 0.0; _omega = 0.0; _OMEGADOT = 0.0; _IDOT = 0.0; _TOEweek = 0.0; _SISA = 0.0; _E5a_HS = 0.0; _E5b_HS = 0.0; _E1B_HS = 0.0; _BGD_1_5A = 0.0; _BGD_1_5B = 0.0; _TOT = 0.0; _inav = false; _fnav = false; _E1B_DataInvalid = false; _E5a_DataInvalid = false; _E5b_DataInvalid = false; _receptStaID = ""; }; t_ephGal(double rnxVersion, const QStringList& lines); virtual ~t_ephGal() {} virtual QString toString(double version) const; virtual e_system system() const {return t_eph::Galileo;} virtual unsigned int IOD() const { return static_cast(_IODnav); } virtual unsigned int isUnhealthy() const; private: virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const; double _clock_bias; // [s] double _clock_drift; // [s/s] double _clock_driftrate; // [s/s^2] double _IODnav; double _Crs; // [m] double _Delta_n; // [rad/s] double _M0; // [rad] double _Cuc; // [rad] double _e; // double _Cus; // [rad] double _sqrt_A; // [m^0.5] double _TOEsec; // [s] double _Cic; // [rad] double _OMEGA0; // [rad] double _Cis; // [rad] double _i0; // [rad] double _Crc; // [m] double _omega; // [rad] double _OMEGADOT; // [rad/s] double _IDOT; // [rad/s] double _TOEweek; // [-] // spare mutable double _SISA; // Signal In Space Accuracy double _E5a_HS; // [0..3] E5a Health Status double _E5b_HS; // [0..3] E5b Health Status double _E1B_HS; // [0..3] E1B Health Status double _BGD_1_5A; // group delay [s] double _BGD_1_5B; // group delay [s] double _TOT; // [s] bool _inav; // Data comes from I/NAV when true bool _fnav; // Data comes from F/NAV when true bool _E1B_DataInvalid; // E1B Data is not valid bool _E5a_DataInvalid; // E5a Data is not valid bool _E5b_DataInvalid; // E5b Data is not valid }; class t_ephSBAS : public t_eph { friend class t_ephEncoder; friend class RTCM3Decoder; public: t_ephSBAS() { _IODN = 0; _TOT = 0.0; _agf0 = 0.0; _agf1 = 0.0; _x_pos = 0.0; _x_vel = 0.0; _x_acc = 0.0; _y_pos = 0.0; _y_vel = 0.0; _y_acc = 0.0; _z_pos = 0.0; _z_vel = 0.0; _z_acc = 0.0; _ura = 0.0; _health = 0.0; _receptStaID = ""; } t_ephSBAS(double rnxVersion, const QStringList& lines); virtual ~t_ephSBAS() {} virtual e_system system() const {return t_eph::SBAS;} virtual unsigned int IOD() const; virtual unsigned int isUnhealthy() const; virtual QString toString(double version) const; private: virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const; int _IODN; double _TOT; // not used (set to 0.9999e9) double _agf0; // [s] clock correction double _agf1; // [s/s] clock correction drift double _x_pos; // [m] double _x_vel; // [m/s] double _x_acc; // [m/s^2] double _y_pos; // [m] double _y_vel; // [m/s] double _y_acc; // [m/s^2] double _z_pos; // [m] double _z_vel; // [m/s] double _z_acc; // [m/s^2] mutable double _ura; double _health; }; class t_ephBDS : public t_eph { friend class t_ephEncoder; friend class RTCM3Decoder; public: t_ephBDS() { _TOT = 0.0; _AODE = 0; _AODC = 0; _ura = 0.0; _clock_bias = 0.0; _clock_drift = 0.0; _clock_driftrate = 0.0; _ADOT = 0.0; _Crs = 0.0; _Delta_n = 0.0; _M0 = 0.0; _Cuc = 0.0; _e = 0.0; _Cus = 0.0; _sqrt_A = 0.0; _Cic = 0.0; _OMEGA0 = 0.0; _Cis = 0.0; _i0 = 0.0; _Crc = 0.0; _omega = 0.0; _OMEGADOT = 0.0; _IDOT = 0.0; _TOEsec = 0.0; _BDTweek = 0.0; _Delta_n_dot = 0.0; _satType = 0.0; _top = 0.0; _SISAI_oe = 0.0; _SISAI_ocb = 0.0; _SISAI_oc1 = 0.0; _SISAI_oc2 = 0.0; _ISC_B1Cd = 0.0; _ISC_B2ad = 0.0; _TGD1 = 0.0; _TGD2 = 0.0; _TGD_B1Cp = 0.0; _TGD_B2ap = 0.0; _TGD_B2bI = 0.0; _SISMAI = 0.0; _SatH1 = 0; _health = 0; _INTEGRITYF_B1C = 0.0; _INTEGRITYF_B2aB1C = 0.0; _INTEGRITYF_B2b = 0.0; _IODC = 0.0; _IODE = 0.0; _receptStaID = ""; } t_ephBDS(double rnxVersion, const QStringList& lines); virtual ~t_ephBDS() {} virtual e_system system() const {return t_eph::BDS;} virtual unsigned int IOD() const; virtual unsigned int isUnhealthy() const; virtual QString toString(double version) const; private: virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const; double _TOT; // [s] of BDT week bncTime _TOE; int _AODE; int _AODC; mutable double _ura; // user range accuracy [m] double _clock_bias; // [s] double _clock_drift; // [s/s] double _clock_driftrate; // [s/s^2] double _ADOT; // [m/s] double _Crs; // [m] double _Delta_n; // [rad/s] double _M0; // [rad] double _Cuc; // [rad] double _e; // [-] double _Cus; // [rad] double _sqrt_A; // [m^0.5] double _Cic; // [rad] double _OMEGA0; // [rad] double _Cis; // [rad] double _i0; // [rad] double _Crc; // [m] double _omega; // [rad] double _OMEGADOT; // [rad/s] double _IDOT; // [rad/s] double _TOEsec; // [s] of BDT week double _BDTweek; // BDT week double _Delta_n_dot; // [rad/s^2] double _satType; // 0..reserved, 1..GEO, 2..IGSO, 3..MEO double _top; // [s] double _SISAI_oe; // [-] double _SISAI_ocb; // [-] double _SISAI_oc1; // [-] double _SISAI_oc2; // [-] double _ISC_B1Cd; // [s] double _ISC_B2ad; // [s] double _TGD1; // [s] double _TGD2; // [s] double _TGD_B1Cp; // [s] double _TGD_B2ap; // [s] double _TGD_B2bI; // [s] double _SISMAI; // [-] int _SatH1; // [-] int _health; // [-] double _INTEGRITYF_B1C; // 3 bits word from sf 3 double _INTEGRITYF_B2aB1C;// 6 bits word with integrity bits in msg 10-11, 30.34 or 40 double _INTEGRITYF_B2b; // 3 bits word from msg 10 double _IODC; // [-] double _IODE; // [-] IODE are the same as the 8 LSBs of IODC }; #endif