source: ntrip/trunk/BNC/src/ephemeris.h@ 6812

Last change on this file since 6812 was 6812, checked in by stoecker, 9 years ago

integrate RTCM3 parsing into BNC and directly fill target structures, add doxygen documentation
File size: 9.2 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
13class t_orbCorr;
14class t_clkCorr;
15
16class t_eph {
17 public:
18 enum e_type {unknown, GPS, QZSS, GLONASS, Galileo, SBAS, BDS};
19 enum e_checkState {unchecked, ok, bad};
20
21 t_eph();
22 virtual ~t_eph() {};
23
24 virtual e_type type() const = 0;
25 virtual QString toString(double version) const = 0;
26 virtual int IOD() const = 0;
27 virtual int slotNum() const {return 0;}
28 bncTime TOC() const {return _TOC;}
29 bool isNewerThan(const t_eph* eph) const {return earlierTime(eph, this);}
30 e_checkState checkState() const {return _checkState;}
31 void setCheckState(e_checkState checkState) {_checkState = checkState;}
32 t_prn prn() const {return _prn;}
33 t_irc getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const;
34 void setOrbCorr(const t_orbCorr* orbCorr);
35 void setClkCorr(const t_clkCorr* clkCorr);
36 const QDateTime& receptDateTime() const {return _receptDateTime;}
37 static QString rinexDateStr(const bncTime& tt, const t_prn& prn, double version);
38 static QString rinexDateStr(const bncTime& tt, const QString& prnStr, double version);
39 static bool earlierTime(const t_eph* eph1, const t_eph* eph2) {return eph1->_TOC < eph2->_TOC;}
40
41 protected:
42 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const = 0;
43 t_prn _prn;
44 bncTime _TOC;
45 QDateTime _receptDateTime;
46 e_checkState _checkState;
47 t_orbCorr* _orbCorr;
48 t_clkCorr* _clkCorr;
49};
50
51
52class t_ephGPS : public t_eph {
53 friend class t_ephEncoder;
54 friend class RTCM3Decoder;
55 public:
56 t_ephGPS() { }
57 t_ephGPS(float rnxVersion, const QStringList& lines);
58 virtual ~t_ephGPS() {}
59
60 virtual e_type type() const {return (_prn.system() == 'J' ? t_eph::QZSS : t_eph::GPS); }
61 virtual QString toString(double version) const;
62 virtual int IOD() const { return static_cast<int>(_IODC); }
63 double TGD() const {return _TGD;} // Timing Group Delay (P1-P2 DCB)
64
65 private:
66 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
67
68 double _clock_bias; // [s]
69 double _clock_drift; // [s/s]
70 double _clock_driftrate; // [s/s^2]
71
72 double _IODE;
73 double _Crs; // [m]
74 double _Delta_n; // [rad/s]
75 double _M0; // [rad]
76
77 double _Cuc; // [rad]
78 double _e; //
79 double _Cus; // [rad]
80 double _sqrt_A; // [m^0.5]
81
82 double _TOEsec; // [s]
83 double _Cic; // [rad]
84 double _OMEGA0; // [rad]
85 double _Cis; // [rad]
86
87 double _i0; // [rad]
88 double _Crc; // [m]
89 double _omega; // [rad]
90 double _OMEGADOT; // [rad/s]
91
92 double _IDOT; // [rad/s]
93 double _L2Codes; // Codes on L2 channel
94 double _TOEweek;
95 double _L2PFlag; // L2 P data flag
96
97 mutable double _ura; // SV accuracy
98 double _health; // SV health
99 double _TGD; // [s]
100 double _IODC;
101
102 double _TOT; // Transmisstion time
103 double _fitInterval; // Fit interval
104};
105
106class t_ephGlo : public t_eph {
107 friend class t_ephEncoder;
108 friend class RTCM3Decoder;
109 public:
110 t_ephGlo() { _xv.ReSize(6); }
111 t_ephGlo(float rnxVersion, const QStringList& lines);
112 virtual ~t_ephGlo() {}
113
114 virtual e_type type() const {return t_eph::GLONASS;}
115 virtual QString toString(double version) const;
116 virtual int IOD() const;
117 virtual int slotNum() const {return int(_frequency_number);}
118
119 private:
120 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
121 static ColumnVector glo_deriv(double /* tt */, const ColumnVector& xv, double* acc);
122
123 mutable bncTime _tt; // time
124 mutable ColumnVector _xv; // status vector (position, velocity) at time _tt
125
126 double _gps_utc;
127 double _tau; // [s]
128 double _gamma; //
129 mutable double _tki; // message frame time
130
131 double _x_pos; // [km]
132 double _x_velocity; // [km/s]
133 double _x_acceleration; // [km/s^2]
134 double _health; // 0 = O.K.
135
136 double _y_pos; // [km]
137 double _y_velocity; // [km/s]
138 double _y_acceleration; // [km/s^2]
139 double _frequency_number; // ICD-GLONASS data position
140
141 double _z_pos; // [km]
142 double _z_velocity; // [km/s]
143 double _z_acceleration; // [km/s^2]
144 double _E; // Age of Information [days]
145};
146
147class t_ephGal : public t_eph {
148 friend class t_ephEncoder;
149 friend class RTCM3Decoder;
150 public:
151 t_ephGal() { };
152 t_ephGal(float rnxVersion, const QStringList& lines);
153 virtual ~t_ephGal() {}
154
155 virtual QString toString(double version) const;
156 virtual e_type type() const {return t_eph::Galileo;}
157 virtual int IOD() const { return static_cast<int>(_IODnav); }
158
159 private:
160 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
161
162 double _clock_bias; // [s]
163 double _clock_drift; // [s/s]
164 double _clock_driftrate; // [s/s^2]
165
166 double _IODnav;
167 double _Crs; // [m]
168 double _Delta_n; // [rad/s]
169 double _M0; // [rad]
170
171 double _Cuc; // [rad]
172 double _e; //
173 double _Cus; // [rad]
174 double _sqrt_A; // [m^0.5]
175
176 double _TOEsec; // [s]
177 double _Cic; // [rad]
178 double _OMEGA0; // [rad]
179 double _Cis; // [rad]
180
181 double _i0; // [rad]
182 double _Crc; // [m]
183 double _omega; // [rad]
184 double _OMEGADOT; // [rad/s]
185
186 double _IDOT; // [rad/s]
187 double _TOEweek;
188 // spare
189
190 mutable double _SISA; // Signal In Space Accuracy
191 double _E5aHS; // [0..3] E5a Health Status
192 double _E5bHS; // [0..3] E5b Health Status
193 double _E1_bHS; // [0..3] E1-b Health Status
194 double _BGD_1_5A; // group delay [s]
195 double _BGD_1_5B; // group delay [s]
196
197 double _TOT; // [s]
198 /** Data comes from I/NAV when <code>true</code> */
199 bool _inav;
200 /** Data comes from F/NAV when <code>true</code> */
201 bool _fnav;
202 /** EE Data is not valid */
203 bool _e1DataInValid;
204 /** E5A Data is not valid */
205 bool _e5aDataInValid;
206 /** E5B Data is not valid */
207 bool _e5bDataInValid;
208};
209
210class t_ephSBAS : public t_eph {
211 friend class t_ephEncoder;
212 friend class RTCM3Decoder;
213 public:
214 t_ephSBAS() {}
215 t_ephSBAS(float rnxVersion, const QStringList& lines);
216 virtual ~t_ephSBAS() {}
217
218 virtual e_type type() const {return t_eph::SBAS;}
219 virtual int IOD() const {return _IODN;}
220 virtual QString toString(double version) const;
221
222 private:
223 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
224
225 int _IODN;
226 double _TOW; // not used (set to 0.9999e9)
227 double _agf0; // [s] clock correction
228 double _agf1; // [s/s] clock correction drift
229
230 double _x_pos; // [m]
231 double _x_velocity; // [m/s]
232 double _x_acceleration; // [m/s^2]
233
234 double _y_pos; // [m]
235 double _y_velocity; // [m/s]
236 double _y_acceleration; // [m/s^2]
237
238 double _z_pos; // [m]
239 double _z_velocity; // [m/s]
240 double _z_acceleration; // [m/s^2]
241
242 mutable double _ura;
243 double _health;
244};
245
246class t_ephBDS : public t_eph {
247 friend class t_ephEncoder;
248 friend class RTCM3Decoder;
249 public:
250 t_ephBDS() {}
251 t_ephBDS(float rnxVersion, const QStringList& lines);
252 virtual ~t_ephBDS() {}
253
254 virtual e_type type() const {return t_eph::BDS;}
255 virtual int IOD() const {return _AODC;}
256 virtual QString toString(double version) const;
257
258 private:
259 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
260
261 double _TOT;
262 bncTime _TOE;
263 int _AODE;
264 int _AODC;
265 int _URAI; // [0..15] index from RTCM stream
266 mutable double _URA; // user range accuracy
267 double _clock_bias; // [s]
268 double _clock_drift; // [s/s]
269 double _clock_driftrate; // [s/s^2]
270 double _Crs; // [m]
271 double _Delta_n; // [rad/s]
272 double _M0; // [rad]
273 double _Cuc; // [rad]
274 double _e; //
275 double _Cus; // [rad]
276 double _sqrt_A; // [m^0.5]
277 double _Cic; // [rad]
278 double _OMEGA0; // [rad]
279 double _Cis; // [rad]
280 double _i0; // [rad]
281 double _Crc; // [m]
282 double _omega; // [rad]
283 double _OMEGADOT; // [rad/s]
284 double _IDOT; // [rad/s]
285 double _TGD1; // [s]
286 double _TGD2; // [s]
287 int _SatH1; //
288 double _TOW; // [s] of BDT week; RINEX file entry
289 double _TOEsec; // [s] of BDT week; RINEX file entry
290 double _TOEweek;
291};
292
293#endif
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