source: ntrip/trunk/BNC/src/ephemeris.h@ 8215

Last change on this file since 8215 was 8215, checked in by stuerze, 4 years ago

unhealthy satellites are reported within log file but are remainig in stream and file output

File size: 14.9 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
14class t_orbCorr;
15class t_clkCorr;
16
17class 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20 enum e_checkState {unchecked, ok, bad, outdated, unhealthy};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
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 e_checkState checkState() const {return _checkState;}
33 void setCheckState(e_checkState checkState) {_checkState = checkState;}
34 t_prn prn() const {return _prn;}
35 t_irc getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const;
36 void setOrbCorr(const t_orbCorr* orbCorr);
37 void setClkCorr(const t_clkCorr* clkCorr);
38 const QDateTime& receptDateTime() const {return _receptDateTime;}
39 static QString rinexDateStr(const bncTime& tt, const t_prn& prn, double version);
40 static QString rinexDateStr(const bncTime& tt, const QString& prnStr, double version);
41 static bool earlierTime(const t_eph* eph1, const t_eph* eph2) {return eph1->_TOC < eph2->_TOC;}
42
43 protected:
44 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const = 0;
45 t_prn _prn;
46 bncTime _TOC;
47 QDateTime _receptDateTime;
48 e_checkState _checkState;
49 t_orbCorr* _orbCorr;
50 t_clkCorr* _clkCorr;
51};
52
53
54class t_ephGPS : public t_eph {
55 friend class t_ephEncoder;
56 friend class RTCM3Decoder;
57 public:
58 t_ephGPS() {
59 _clock_bias = 0.0;
60 _clock_drift = 0.0;
61 _clock_driftrate = 0.0;
62 _IODE = 0.0;
63 _Crs = 0.0;
64 _Delta_n = 0.0;
65 _M0 = 0.0;
66 _Cuc = 0.0;
67 _e = 0.0;
68 _Cus = 0.0;
69 _sqrt_A = 0.0;
70 _TOEsec = 0.0;
71 _Cic = 0.0;
72 _OMEGA0 = 0.0;
73 _Cis = 0.0;
74 _i0 = 0.0;
75 _Crc = 0.0;
76 _omega = 0.0;
77 _OMEGADOT = 0.0;
78 _IDOT = 0.0;
79 _L2Codes = 0.0;
80 _TOEweek = 0.0;
81 _L2PFlag = 0.0;
82 _ura = 0.0;
83 _health = 0.0;
84 _TGD = 0.0;
85 _IODC = 0.0;
86 _TOT = 0.0;
87 _fitInterval = 0.0;
88 }
89 t_ephGPS(float rnxVersion, const QStringList& lines);
90 virtual ~t_ephGPS() {}
91
92 virtual e_type type() const {
93 switch (_prn.system()) {
94 case 'J':
95 return t_eph::QZSS;
96 case 'I':
97 return t_eph::IRNSS;
98 };
99 return t_eph::GPS;
100 }
101 virtual QString toString(double version) const;
102 virtual unsigned int IOD() const { return static_cast<unsigned int>(_IODE); }
103 virtual unsigned int isUnhealthy() const { return static_cast<unsigned int>(_health); }
104 double TGD() const {return _TGD;} // Timing Group Delay (P1-P2 DCB)
105
106 private:
107 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
108
109 double _clock_bias; // [s]
110 double _clock_drift; // [s/s]
111 double _clock_driftrate; // [s/s^2]
112
113 double _IODE; // IODEC in case of IRNSS
114 double _Crs; // [m]
115 double _Delta_n; // [rad/s]
116 double _M0; // [rad]
117
118 double _Cuc; // [rad]
119 double _e; //
120 double _Cus; // [rad]
121 double _sqrt_A; // [m^0.5]
122
123 double _TOEsec; // [s]
124 double _Cic; // [rad]
125 double _OMEGA0; // [rad]
126 double _Cis; // [rad]
127
128 double _i0; // [rad]
129 double _Crc; // [m]
130 double _omega; // [rad]
131 double _OMEGADOT; // [rad/s]
132
133 double _IDOT; // [rad/s]
134 double _L2Codes; // Codes on L2 channel (not valid for IRNSS)
135 double _TOEweek;
136 double _L2PFlag; // L2 P data flag (not valid for IRNSS)
137
138 mutable double _ura; // SV accuracy
139 double _health; // SV health
140 double _TGD; // [s]
141 double _IODC; // (not valid for IRNSS)
142
143 double _TOT; // Transmisstion time
144 double _fitInterval; // Fit interval (not valid for IRNSS)
145};
146
147class t_ephGlo : public t_eph {
148 friend class t_ephEncoder;
149 friend class RTCM3Decoder;
150 public:
151 t_ephGlo() {
152 _xv.ReSize(6);
153 _gps_utc = 0.0;
154 _tau = 0.0;
155 _gamma = 0.0;
156 _tki = 0.0;
157 _x_pos = 0.0;
158 _x_velocity = 0.0;
159 _x_acceleration = 0.0;
160 _health = 0.0;
161 _y_pos = 0.0;
162 _y_velocity = 0.0;
163 _y_acceleration = 0.0;
164 _frequency_number = 0.0;
165 _z_pos = 0.0;
166 _z_velocity = 0.0;
167 _z_acceleration = 0.0;
168 _E = 0.0;
169 _almanac_health = 0.0;
170 _almanac_health_availablility_indicator = 0.0;
171 _additional_data_availability = 0.0;
172 _tauC = 0.0;
173 _P1 = 0.0;
174 _P2 = 0.0;
175 _P3 = 0.0;
176 _NA = 0.0;
177 _M_P = 0.0;
178 _M_l3 = 0.0;
179 _M_delta_tau = 0.0;
180 _M_P4 = 0.0;
181 _M_FT = 0.0;
182 _M_NT = 0.0;
183 _M_M = 0.0;
184 _M_N4 = 0.0;
185 _M_tau_GPS = 0.0;
186 _M_l5 = 0.0;
187 }
188 t_ephGlo(float rnxVersion, const QStringList& lines);
189 virtual ~t_ephGlo() {}
190
191 virtual e_type type() const {return t_eph::GLONASS;}
192 virtual QString toString(double version) const;
193 virtual unsigned int IOD() const;
194 virtual unsigned int isUnhealthy() const;
195 virtual int slotNum() const {return int(_frequency_number);}
196
197 private:
198 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
199 static ColumnVector glo_deriv(double /* tt */, const ColumnVector& xv, double* acc);
200
201 mutable bncTime _tt; // time
202 mutable ColumnVector _xv; // status vector (position, velocity) at time _tt
203
204 double _gps_utc;
205 double _tau; // [s]
206 double _gamma; // [-]
207 mutable double _tki; // message frame time
208
209 double _x_pos; // [km]
210 double _x_velocity; // [km/s]
211 double _x_acceleration; // [km/s^2]
212 double _health; // 0 = O.K. MSB of Bn word
213
214 double _y_pos; // [km]
215 double _y_velocity; // [km/s]
216 double _y_acceleration; // [km/s^2]
217 double _frequency_number; // ICD-GLONASS data position
218
219 double _z_pos; // [km]
220 double _z_velocity; // [km/s]
221 double _z_acceleration; // [km/s^2]
222 double _E; // Age of Information [days]
223
224 double _almanac_health; // Cn word
225 double _almanac_health_availablility_indicator;
226
227 double _additional_data_availability; //
228 double _tauC; // GLONASS time scale correction to UTC(SU) time [sec]
229 double _P1; // flag of the immediate data updating [-]
230 double _P2; // flag of oddness or evenness of the value of tb for intervals 30 or 60 minutes [-]
231 double _P3; // flag indicating a number of satellites for which almanac is transmitted within given frame [-]
232 double _NA; // calendar day number within the 4-year period [days]
233
234 double _M_P; // control segment parameter that indicates the satellite operation mode with respect of time parameters
235 double _M_l3; // health flag
236 double _M_delta_tau; // [sec]
237 double _M_P4; // flag to show that ephemeris parameters are present [-]
238 double _M_FT; // indicator for predicted satellite user range accuracy [-]
239 double _M_NT; // current date, calendar number of day within 4-year interval [days]
240 double _M_M; // type of satellite transmitting navigation signal: 0 = GLONASS, 1 = GLONASS-M satellite [-]
241 double _M_N4; // 4-year interval number starting from 1996
242 double _M_tau_GPS; // correction to GPS time relative to GLONASS time [days]
243 double _M_l5; // health flag
244};
245
246class t_ephGal : public t_eph {
247 friend class t_ephEncoder;
248 friend class RTCM3Decoder;
249 public:
250 t_ephGal() {
251 _clock_bias = 0.0;
252 _clock_drift = 0.0;
253 _clock_driftrate = 0.0;
254 _IODnav = 0.0;
255 _Crs = 0.0;
256 _Delta_n = 0.0;
257 _M0 = 0.0;
258 _Cuc = 0.0;
259 _e = 0.0;
260 _Cus = 0.0;
261 _sqrt_A = 0.0;
262 _TOEsec = 0.0;
263 _Cic = 0.0;
264 _OMEGA0 = 0.0;
265 _Cis = 0.0;
266 _i0 = 0.0;
267 _Crc = 0.0;
268 _omega = 0.0;
269 _OMEGADOT = 0.0;
270 _IDOT = 0.0;
271 _TOEweek = 0.0;
272 _SISA = 0.0;
273 _E5aHS = 0.0;
274 _E5bHS = 0.0;
275 _E1_bHS = 0.0;
276 _BGD_1_5A = 0.0;
277 _BGD_1_5B = 0.0;
278 _TOT = 0.0;
279 };
280 t_ephGal(float rnxVersion, const QStringList& lines);
281 virtual ~t_ephGal() {}
282
283 virtual QString toString(double version) const;
284 virtual e_type type() const {return t_eph::Galileo;}
285 virtual unsigned int IOD() const { return static_cast<unsigned long>(_IODnav); }
286 virtual unsigned int isUnhealthy() const;
287
288 private:
289 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
290
291 double _clock_bias; // [s]
292 double _clock_drift; // [s/s]
293 double _clock_driftrate; // [s/s^2]
294
295 double _IODnav;
296 double _Crs; // [m]
297 double _Delta_n; // [rad/s]
298 double _M0; // [rad]
299
300 double _Cuc; // [rad]
301 double _e; //
302 double _Cus; // [rad]
303 double _sqrt_A; // [m^0.5]
304
305 double _TOEsec; // [s]
306 double _Cic; // [rad]
307 double _OMEGA0; // [rad]
308 double _Cis; // [rad]
309
310 double _i0; // [rad]
311 double _Crc; // [m]
312 double _omega; // [rad]
313 double _OMEGADOT; // [rad/s]
314
315 double _IDOT; // [rad/s]
316 double _TOEweek;
317 // spare
318
319 mutable double _SISA; // Signal In Space Accuracy
320 double _E5aHS; // [0..3] E5a Health Status
321 double _E5bHS; // [0..3] E5b Health Status
322 double _E1_bHS; // [0..3] E1-b Health Status
323 double _BGD_1_5A; // group delay [s]
324 double _BGD_1_5B; // group delay [s]
325
326 double _TOT; // [s]
327 /** Data comes from I/NAV when <code>true</code> */
328 bool _inav;
329 /** Data comes from F/NAV when <code>true</code> */
330 bool _fnav;
331 /** EE Data is not valid */
332 bool _e1DataInValid;
333 /** E5A Data is not valid */
334 bool _e5aDataInValid;
335 /** E5B Data is not valid */
336 bool _e5bDataInValid;
337};
338
339class t_ephSBAS : public t_eph {
340 friend class t_ephEncoder;
341 friend class RTCM3Decoder;
342 public:
343 t_ephSBAS() {
344 _IODN = 0;
345 _TOW = 0.0;
346 _agf0 = 0.0;
347 _agf1 = 0.0;
348 _x_pos = 0.0;
349 _x_velocity = 0.0;
350 _x_acceleration = 0.0;
351 _y_pos = 0.0;
352 _y_velocity = 0.0;
353 _y_acceleration = 0.0;
354 _z_pos = 0.0;
355 _z_velocity = 0.0;
356 _z_acceleration = 0.0;
357 _ura = 0.0;
358 _health = 0.0;
359 }
360 t_ephSBAS(float rnxVersion, const QStringList& lines);
361 virtual ~t_ephSBAS() {}
362
363 virtual e_type type() const {return t_eph::SBAS;}
364 virtual unsigned int IOD() const;
365 virtual unsigned int isUnhealthy() const { return static_cast<unsigned int>(_health); }
366 virtual QString toString(double version) const;
367
368 private:
369 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
370
371 int _IODN;
372 double _TOW; // not used (set to 0.9999e9)
373 double _agf0; // [s] clock correction
374 double _agf1; // [s/s] clock correction drift
375
376 double _x_pos; // [m]
377 double _x_velocity; // [m/s]
378 double _x_acceleration; // [m/s^2]
379
380 double _y_pos; // [m]
381 double _y_velocity; // [m/s]
382 double _y_acceleration; // [m/s^2]
383
384 double _z_pos; // [m]
385 double _z_velocity; // [m/s]
386 double _z_acceleration; // [m/s^2]
387
388 mutable double _ura;
389 double _health;
390};
391
392class t_ephBDS : public t_eph {
393 friend class t_ephEncoder;
394 friend class RTCM3Decoder;
395 public:
396 t_ephBDS() : _TOEweek(-1.0) {
397 _TOT = 0.0;
398 _AODE = 0;
399 _AODC = 0;
400 _URAI = 0;
401 _URA = 0.0;
402 _clock_bias = 0.0;
403 _clock_drift = 0.0;
404 _clock_driftrate = 0.0;
405 _Crs = 0.0;
406 _Delta_n = 0.0;
407 _M0 = 0.0;
408 _Cuc = 0.0;
409 _e = 0.0;
410 _Cus = 0.0;
411 _sqrt_A = 0.0;
412 _Cic = 0.0;
413 _OMEGA0 = 0.0;
414 _Cis = 0.0;
415 _i0 = 0.0;
416 _Crc = 0.0;
417 _omega = 0.0;
418 _OMEGADOT = 0.0;
419 _IDOT = 0.0;
420 _TGD1 = 0.0;
421 _TGD2 = 0.0;
422 _SatH1 = 0.0;
423 _TOW = 0.0;
424 _TOEsec = 0.0;
425 _TOEweek = 0.0;
426 }
427 t_ephBDS(float rnxVersion, const QStringList& lines);
428 virtual ~t_ephBDS() {}
429
430 virtual e_type type() const {return t_eph::BDS;}
431 virtual unsigned int IOD() const;
432 virtual unsigned int isUnhealthy() const { return static_cast<unsigned int>(_SatH1); }
433 virtual QString toString(double version) const;
434
435 private:
436 virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
437
438 double _TOT;
439 bncTime _TOE;
440 int _AODE;
441 int _AODC;
442 int _URAI; // [0..15] index from RTCM stream
443 mutable double _URA; // user range accuracy
444 double _clock_bias; // [s]
445 double _clock_drift; // [s/s]
446 double _clock_driftrate; // [s/s^2]
447 double _Crs; // [m]
448 double _Delta_n; // [rad/s]
449 double _M0; // [rad]
450 double _Cuc; // [rad]
451 double _e; //
452 double _Cus; // [rad]
453 double _sqrt_A; // [m^0.5]
454 double _Cic; // [rad]
455 double _OMEGA0; // [rad]
456 double _Cis; // [rad]
457 double _i0; // [rad]
458 double _Crc; // [m]
459 double _omega; // [rad]
460 double _OMEGADOT; // [rad/s]
461 double _IDOT; // [rad/s]
462 double _TGD1; // [s]
463 double _TGD2; // [s]
464 int _SatH1; //
465 double _TOW; // [s] of BDT week
466 double _TOEsec; // [s] of BDT week
467 double _TOEweek; // BDT week will be set only in case of RINEX file input
468};
469#endif
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