#ifndef EPHEMERIS_H
#define EPHEMERIS_H
#include <newmat.h>
#include <QtCore>
#include <stdio.h>
#include <string>
#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, NavIC};
enum e_checkState {unchecked, ok, bad, outdated, unhealthy};
enum e_type {undefined, LNAV, FDMA, FDMA_M, 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case outdated: return "outdated";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, const QString typeStr);
virtual ~t_ephGPS() {}
virtual e_system system() const {
switch (_prn.system()) {
case 'J':
return t_eph::QZSS;
case 'I':
return t_eph::NavIC;
};
return t_eph::GPS;
}
virtual QString toString(double version) const;
virtual unsigned int IOD() const { return static_cast<unsigned int>(_IODE); }
//virtual unsigned int isUnhealthy() const { return static_cast<unsigned int>(_health);}
virtual unsigned int isUnhealthy() const;
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 NavIC
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 NavIC)
double _TOEweek; // GPS week # to go with TOE, cont. number, not mode 1024
double _L2PFlag; // L2 P data flag (not valid for NavIC and QZSS)
mutable double _ura; // SV accuracy [m]
double _health; // SV health
double _TGD; // [s]
double _IODC; // (not valid for NavIC)
double _TOT; // Transmission time
double _fitInterval; // Fit interval in hours (not valid for NavIC)
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 NavIC
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 = true;
_statusflags_unknown = true;
_almanac_health = 0.0;
_almanac_health_availablility_indicator = 0.0;
_additional_data_availability = 0.0;
}
t_ephGlo(double rnxVersion, const QStringList& lines, const QString typeStr);
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);}
virtual bool validMdata() const {return (_M_M ? true : false);}
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, const QString typeStr);
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<unsigned long>(_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 <code>true</code>
bool _fnav; // Data comes from F/NAV when <code>true</code>
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, const QString typeStr);
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, const QString typeStr);
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