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source: ntrip/trunk/BNC/src/ephemeris.h@ 10533

Last change on this file since 10533 was 10533, checked in by stuerze, 8 weeks ago
Service and RTCM CRS encoding and decoding as well as Helmert parameter decoding added + some re-organisation
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	class t_orbCorr;
14	class t_clkCorr;
15
16	class t_eph {
17	public:
18	enum e_type {unknown, GPS, QZSS, GLONASS, Galileo, SBAS, BDS, IRNSS};
19	enum e_checkState {unchecked, ok, bad, outdated, unhealthy};
20	enum e_navType {undefined, LNAV, FDMA, FNAV, INAF, D1, D2, SBASL1, CNAV, CNV1, CNV2, CNV3};
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 int IOD() const = 0;
28	virtual unsigned int isUnhealthy() const = 0;
29	virtual int slotNum() const {return 0;}
30	bncTime TOC() const {return _TOC;}
31	bool isNewerThan(const t_eph* eph) const {return earlierTime(eph, this);}
32	void setCheckState(e_checkState checkState) {_checkState = checkState;}
33	e_checkState checkState() const {return _checkState;}
34	QString checkStateToString() {
35	switch (_checkState) {
36	case unchecked: return "unchecked";
37	case ok: return "ok";
38	case bad: return "bad";
39	case outdated: return "outdated";
40	case unhealthy: return "unhealthy";
41	default: return "unknown";
42	}
43	}
44	e_navType navType() const {return _navType;}
45	t_irc setNavType(QString navTypeStr);
46
47	t_prn prn() const {return _prn;}
48	t_irc getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const;
49	void setOrbCorr(const t_orbCorr* orbCorr);
50	void setClkCorr(const t_clkCorr* clkCorr);
51	const QDateTime& receptDateTime() const {return _receptDateTime;}
52	const QString receptStaID() const {return _receptStaID;}
53	static QString rinexDateStr(const bncTime& tt, const t_prn& prn, double version);
54	static QString rinexDateStr(const bncTime& tt, const QString& prnStr, double version);
55	static QString navTypeString(e_navType navType, const t_prn& prn, double version);
56	static bool earlierTime(const t_eph* eph1, const t_eph* eph2) {return eph1->_TOC < eph2->_TOC;}
57	static bool prnSort(const t_eph* eph1, const t_eph* eph2) {return eph1->prn() < eph2->prn();}
58
59	protected:
60	virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const = 0;
61	t_prn _prn;
62	bncTime _TOC;
63	QDateTime _receptDateTime;
64	QString _receptStaID;
65	e_checkState _checkState;
66	e_navType _navType; // defined in RINEX 4
67	t_orbCorr* _orbCorr;
68	t_clkCorr* _clkCorr;
69	};
70
71	class t_ephGPS : public t_eph {
72	friend class t_ephEncoder;
73	friend class RTCM3Decoder;
74	public:
75	t_ephGPS() {
76	_clock_bias = 0.0;
77	_clock_drift = 0.0;
78	_clock_driftrate = 0.0;
79	_IODE = 0.0;
80	_Crs = 0.0;
81	_Delta_n = 0.0;
82	_M0 = 0.0;
83	_Cuc = 0.0;
84	_e = 0.0;
85	_Cus = 0.0;
86	_sqrt_A = 0.0;
87	_TOEsec = 0.0;
88	_Cic = 0.0;
89	_OMEGA0 = 0.0;
90	_Cis = 0.0;
91	_i0 = 0.0;
92	_Crc = 0.0;
93	_omega = 0.0;
94	_OMEGADOT = 0.0;
95	_IDOT = 0.0;
96	_L2Codes = 0.0;
97	_TOEweek = 0.0;
98	_L2PFlag = 0.0;
99	_ura = 0.0;
100	_health = 0.0;
101	_TGD = 0.0;
102	_IODC = 0.0;
103	_TOT = 0.0;
104	_fitInterval = 0.0;
105	_ADOT = 0.0;
106	_top = 0.0;
107	_Delta_n_dot = 0.0;
108	_URAI_NED0 = 0.0;
109	_URAI_NED1 = 0.0;
110	_URAI_NED2 = 0.0;
111	_URAI_ED = 0.0;
112	_ISC_L1CA = 0.0;
113	_ISC_L2C = 0.0;
114	_ISC_L5I5 = 0.0;
115	_ISC_L5Q5 = 0.0;
116	_ISC_L1Cd = 0.0;
117	_ISC_L1Cp = 0.0;
118	_wnop = 0.0;
119	_receptStaID = "";
120	}
121	t_ephGPS(double rnxVersion, const QStringList& lines);
122	virtual ~t_ephGPS() {}
123
124	virtual e_type type() const {
125	switch (_prn.system()) {
126	case 'J':
127	return t_eph::QZSS;
128	case 'I':
129	return t_eph::IRNSS;
130	};
131	return t_eph::GPS;
132	}
133	virtual QString toString(double version) const;
134	virtual unsigned int IOD() const { return static_cast<unsigned int>(_IODE); }
135	virtual unsigned int isUnhealthy() const { return static_cast<unsigned int>(_health); }
136	double TGD() const {return _TGD;} // Timing Group Delay (P1-P2 DCB)
137
138	private:
139	virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
140
141	double _clock_bias; // [s]
142	double _clock_drift; // [s/s]
143	double _clock_driftrate; // [s/s^2]
144
145	double _IODE; // IODEC in case of IRNSS
146	double _Crs; // [m]
147	double _Delta_n; // [rad/s]
148	double _M0; // [rad]
149
150	double _Cuc; // [rad]
151	double _e; // []
152	double _Cus; // [rad]
153	double _sqrt_A; // [m^0.5]
154
155	double _TOEsec; // [s of GPS week]
156	double _Cic; // [rad]
157	double _OMEGA0; // [rad]
158	double _Cis; // [rad]
159
160	double _i0; // [rad]
161	double _Crc; // [m]
162	double _omega; // [rad]
163	double _OMEGADOT; // [rad/s]
164
165	double _IDOT; // [rad/s]
166	double _L2Codes; // Codes on L2 channel (not valid for IRNSS)
167	double _TOEweek; // GPS week # to go with TOE, cont. number, not mode 1024
168	double _L2PFlag; // L2 P data flag (not valid for IRNSS and QZSS)
169
170	mutable double _ura; // SV accuracy [m]
171	double _health; // SV health
172	double _TGD; // [s]
173	double _IODC; // (not valid for IRNSS)
174
175	double _TOT; // Transmission time
176	double _fitInterval; // Fit interval in hours (not valid for IRNSS)
177
178	double _ADOT; // [m/s]
179	double _top; // [s]
180	double _Delta_n_dot; // [rad/s^2]
181
182	double _URAI_NED0; // []
183	double _URAI_NED1; // []
184	double _URAI_NED2; // []
185	double _URAI_ED; // []
186
187	double _ISC_L1CA; // [s]
188	double _ISC_L2C; // [s]
189	double _ISC_L5I5; // [s]
190	double _ISC_L5Q5; // [s]
191	double _ISC_L1Cd; // [s]
192	double _ISC_L1Cp; // [s]
193
194	double _wnop; // GPS continuous week number with the ambiguity resolved
195	};
196
197	class t_ephGlo : public t_eph {
198	friend class t_ephEncoder;
199	friend class RTCM3Decoder;
200	public:
201	t_ephGlo() {
202	_xv.ReSize(6); _xv = 0.0;
203	_gps_utc = 0.0;
204	_tau = 0.0;
205	_gamma = 0.0;
206	_tki = 0.0;
207	_x_pos = 0.0;
208	_x_velocity = 0.0;
209	_x_acceleration = 0.0;
210	_health = 0.0;
211	_y_pos = 0.0;
212	_y_velocity = 0.0;
213	_y_acceleration = 0.0;
214	_frequency_number = 0.0;
215	_z_pos = 0.0;
216	_z_velocity = 0.0;
217	_z_acceleration = 0.0;
218	_E = 0.0;
219	_almanac_health = 0.0;
220	_almanac_health_availablility_indicator = 0.0;
221	_additional_data_availability = 0.0;
222	_tauC = 0.0;
223	_P1 = 0.0;
224	_P2 = 0.0;
225	_P3 = 0.0;
226	_NA = 0.0;
227	_M_P = 0.0;
228	_M_l3 = 0.0;
229	_M_delta_tau = 0.0;
230	_M_P4 = 0.0;
231	_M_FT = 0.0;
232	_M_NT = 0.0;
233	_M_M = 0.0;
234	_M_N4 = 0.0;
235	_M_tau_GPS = 0.0;
236	_M_l5 = 0.0;
237	_receptStaID = "";
238	_flags_unknown = true;
239	}
240	t_ephGlo(double rnxVersion, const QStringList& lines);
241	virtual ~t_ephGlo() {}
242
243	virtual e_type type() const {return t_eph::GLONASS;}
244	virtual QString toString(double version) const;
245	virtual unsigned int IOD() const;
246	virtual unsigned int isUnhealthy() const;
247	virtual int slotNum() const {return int(_frequency_number);}
248
249	private:
250	virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
251	static ColumnVector glo_deriv(double /* tt /, const ColumnVector& xv, double acc);
252
253	mutable bncTime _tt; // time
254	mutable ColumnVector _xv; // status vector (position, velocity) at time _tt
255
256	double _gps_utc;
257	double _tau; // [s]
258	double _gamma; // [-]
259	mutable double _tki; // message frame time
260
261	double _x_pos; // [km]
262	double _x_velocity; // [km/s]
263	double _x_acceleration; // [km/s^2]
264	double _health; // 0 = O.K. MSB of Bn word
265
266	double _y_pos; // [km]
267	double _y_velocity; // [km/s]
268	double _y_acceleration; // [km/s^2]
269	double _frequency_number; // ICD-GLONASS data position
270
271	double _z_pos; // [km]
272	double _z_velocity; // [km/s]
273	double _z_acceleration; // [km/s^2]
274	double _E; // Age of Information [days]
275
276	double _almanac_health; // Cn word
277	double _almanac_health_availablility_indicator;
278
279	double _additional_data_availability; //
280	double _tauC; // GLONASS time scale correction to UTC(SU) time [sec]
281	double _P1; // flag of the immediate data updating [-]
282	double _P2; // flag of oddness or evenness of the value of tb for intervals 30 or 60 minutes [-]
283	double _P3; // flag indicating a number of satellites for which almanac is transmitted within given frame [-]
284	double _NA; // calendar day number within the 4-year period [days]
285
286	double _M_P; // control segment parameter that indicates the satellite operation mode with respect of time parameters
287	double _M_l3; // health flag
288	double _M_delta_tau; // [sec]
289	double _M_P4; // flag to show that ephemeris parameters are present [-]
290	double _M_FT; // Indicator for predicted satellite User Range Accuracy (URAI) [-]
291	double _M_NT; // current date, calendar number of day within 4-year interval [days]
292	double _M_M; // type of satellite transmitting navigation signal: 0 = GLONASS, 1 = GLONASS-M satellite [-]
293	double _M_N4; // 4-year interval number starting from 1996
294	double _M_tau_GPS; // correction to GPS time relative to GLONASS time [days]
295	double _M_l5; // health flag
296	bool _flags_unknown; // status and health flags are unknown (rnx version < 3.05) or known (rnx version >= 3.05)
297	};
298
299	class t_ephGal : public t_eph {
300	friend class t_ephEncoder;
301	friend class RTCM3Decoder;
302	public:
303	t_ephGal() {
304	_clock_bias = 0.0;
305	_clock_drift = 0.0;
306	_clock_driftrate = 0.0;
307	_IODnav = 0.0;
308	_Crs = 0.0;
309	_Delta_n = 0.0;
310	_M0 = 0.0;
311	_Cuc = 0.0;
312	_e = 0.0;
313	_Cus = 0.0;
314	_sqrt_A = 0.0;
315	_TOEsec = 0.0;
316	_Cic = 0.0;
317	_OMEGA0 = 0.0;
318	_Cis = 0.0;
319	_i0 = 0.0;
320	_Crc = 0.0;
321	_omega = 0.0;
322	_OMEGADOT = 0.0;
323	_IDOT = 0.0;
324	_TOEweek = 0.0;
325	_SISA = 0.0;
326	_E5aHS = 0.0;
327	_E5bHS = 0.0;
328	_E1_bHS = 0.0;
329	_BGD_1_5A = 0.0;
330	_BGD_1_5B = 0.0;
331	_TOT = 0.0;
332	_receptStaID = "";
333	};
334	t_ephGal(double rnxVersion, const QStringList& lines);
335	virtual ~t_ephGal() {}
336
337	virtual QString toString(double version) const;
338	virtual e_type type() const {return t_eph::Galileo;}
339	virtual unsigned int IOD() const { return static_cast<unsigned long>(_IODnav); }
340	virtual unsigned int isUnhealthy() const;
341
342	private:
343	virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
344
345	double _clock_bias; // [s]
346	double _clock_drift; // [s/s]
347	double _clock_driftrate; // [s/s^2]
348
349	double _IODnav;
350	double _Crs; // [m]
351	double _Delta_n; // [rad/s]
352	double _M0; // [rad]
353
354	double _Cuc; // [rad]
355	double _e; //
356	double _Cus; // [rad]
357	double _sqrt_A; // [m^0.5]
358
359	double _TOEsec; // [s]
360	double _Cic; // [rad]
361	double _OMEGA0; // [rad]
362	double _Cis; // [rad]
363
364	double _i0; // [rad]
365	double _Crc; // [m]
366	double _omega; // [rad]
367	double _OMEGADOT; // [rad/s]
368
369	double _IDOT; // [rad/s]
370	double _TOEweek;
371	// spare
372
373	mutable double _SISA; // Signal In Space Accuracy
374	double _E5aHS; // [0..3] E5a Health Status
375	double _E5bHS; // [0..3] E5b Health Status
376	double _E1_bHS; // [0..3] E1-b Health Status
377	double _BGD_1_5A; // group delay [s]
378	double _BGD_1_5B; // group delay [s]
379
380	double _TOT; // [s]
381	/** Data comes from I/NAV when <code>true</code> */
382	bool _inav;
383	/** Data comes from F/NAV when <code>true</code> */
384	bool _fnav;
385	/** E1 Data is not valid */
386	bool _e1DataInValid;
387	/** E5A Data is not valid */
388	bool _e5aDataInValid;
389	/** E5B Data is not valid */
390	bool _e5bDataInValid;
391	};
392
393	class t_ephSBAS : public t_eph {
394	friend class t_ephEncoder;
395	friend class RTCM3Decoder;
396	public:
397	t_ephSBAS() {
398	_IODN = 0;
399	_TOT = 0.0;
400	_agf0 = 0.0;
401	_agf1 = 0.0;
402	_x_pos = 0.0;
403	_x_velocity = 0.0;
404	_x_acceleration = 0.0;
405	_y_pos = 0.0;
406	_y_velocity = 0.0;
407	_y_acceleration = 0.0;
408	_z_pos = 0.0;
409	_z_velocity = 0.0;
410	_z_acceleration = 0.0;
411	_ura = 0.0;
412	_health = 0.0;
413	_receptStaID = "";
414	}
415	t_ephSBAS(double rnxVersion, const QStringList& lines);
416	virtual ~t_ephSBAS() {}
417
418	virtual e_type type() const {return t_eph::SBAS;}
419	virtual unsigned int IOD() const;
420	virtual unsigned int isUnhealthy() const;
421	virtual QString toString(double version) const;
422
423	private:
424	virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
425
426	int _IODN;
427	double _TOT; // not used (set to 0.9999e9)
428	double _agf0; // [s] clock correction
429	double _agf1; // [s/s] clock correction drift
430
431	double _x_pos; // [m]
432	double _x_velocity; // [m/s]
433	double _x_acceleration; // [m/s^2]
434
435	double _y_pos; // [m]
436	double _y_velocity; // [m/s]
437	double _y_acceleration; // [m/s^2]
438
439	double _z_pos; // [m]
440	double _z_velocity; // [m/s]
441	double _z_acceleration; // [m/s^2]
442
443	mutable double _ura;
444	double _health;
445	};
446
447	class t_ephBDS : public t_eph {
448	friend class t_ephEncoder;
449	friend class RTCM3Decoder;
450	public:
451	t_ephBDS() {
452	_TOT = 0.0;
453	_AODE = 0;
454	_AODC = 0;
455	_URAI = 0;
456	_URA = 0.0;
457	_clock_bias = 0.0;
458	_clock_drift = 0.0;
459	_clock_driftrate = 0.0;
460	_Crs = 0.0;
461	_Delta_n = 0.0;
462	_M0 = 0.0;
463	_Cuc = 0.0;
464	_e = 0.0;
465	_Cus = 0.0;
466	_sqrt_A = 0.0;
467	_Cic = 0.0;
468	_OMEGA0 = 0.0;
469	_Cis = 0.0;
470	_i0 = 0.0;
471	_Crc = 0.0;
472	_omega = 0.0;
473	_OMEGADOT = 0.0;
474	_IDOT = 0.0;
475	_TOEsec = 0.0;
476	_BDTweek = 0.0;
477	_Delta_n_dot = 0.0;
478	_satType = 0.0;
479	_top = 0.0;
480	_SISAI_oe = 0.0;
481	_SISAI_ocb = 0.0;
482	_SISAI_oc1 = 0.0;
483	_SISAI_oc2 = 0.0;
484	_ISC_B1Cd = 0.0;
485	_ISC_B2ad = 0.0;
486	_TGD1 = 0.0;
487	_TGD2 = 0.0;
488	_TGD_B1Cp = 0.0;
489	_TGD_B2ap = 0.0;
490	_TGD_B2bI = 0.0;
491	_SISMAI = 0.0;
492	_SatH1 = 0;
493	_health = 0;
494	_INTEGRITYF_B1C = 0.0;
495	_INTEGRITYF_B2aB1C = 0.0;
496	_INTEGRITYF_B2b = 0.0;
497	_IODC = 0.0;
498	_IODE = 0.0;
499	_receptStaID = "";
500	}
501	t_ephBDS(double rnxVersion, const QStringList& lines);
502	virtual ~t_ephBDS() {}
503
504	virtual e_type type() const {return t_eph::BDS;}
505	virtual unsigned int IOD() const;
506	virtual unsigned int isUnhealthy() const;
507	virtual QString toString(double version) const;
508
509	private:
510	virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
511
512	double _TOT; // [s] of BDT week
513	bncTime _TOE;
514	int _AODE;
515	int _AODC;
516	int _URAI; // [0..15] index from RTCM stream
517	mutable double _URA; // user range accuracy [m]
518	double _clock_bias; // [s]
519	double _clock_drift; // [s/s]
520	double _clock_driftrate; // [s/s^2]
521	double _Crs; // [m]
522	double _Delta_n; // [rad/s]
523	double _M0; // [rad]
524	double _Cuc; // [rad]
525	double _e; //
526	double _Cus; // [rad]
527	double _sqrt_A; // [m^0.5]
528	double _Cic; // [rad]
529	double _OMEGA0; // [rad]
530	double _Cis; // [rad]
531	double _i0; // [rad]
532	double _Crc; // [m]
533	double _omega; // [rad]
534	double _OMEGADOT; // [rad/s]
535	double _IDOT; // [rad/s]
536	double _TOEsec; // [s] of BDT week
537	double _BDTweek; // BDT week
538
539	double _Delta_n_dot; // [rad/s^2]
540	double _satType; // 0..reserved, 1..GEO, 2..IGSO, 3..MEO
541	double _top; // [s]
542
543	double _SISAI_oe; // []
544	double _SISAI_ocb; // []
545	double _SISAI_oc1; // []
546	double _SISAI_oc2; // []
547
548	double _ISC_B1Cd; // [s]
549	double _ISC_B2ad; // [s]
550
551	double _TGD1; // [s]
552	double _TGD2; // [s]
553	double _TGD_B1Cp; // [s]
554	double _TGD_B2ap; // [s]
555	double _TGD_B2bI; // [s]
556
557	double _SISMAI; // []
558
559	int _SatH1; //
560	int _health; //
561
562	double _INTEGRITYF_B1C; // 3 bits word from sf 3
563	double _INTEGRITYF_B2aB1C;// 6 bits word with integrity bits in msg 10-11, 30.34 or 40
564	double _INTEGRITYF_B2b; // 3 bits word from msg 10
565
566	double _IODC; // []
567	double _IODE; // [] IODE are the same as the 8 LSBs of IODC
568
569	};
570
571	#endif

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