Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next

src/algorithms/tracking/gnuradio_blocks/gps_l2_m_dll_pll_tracking_cc.cc

@@ -300,14 +300,14 @@ void gps_l2_m_dll_pll_tracking_cc::update_local_carrier()
 {
     float phase_rad, phase_step_rad;
 
-    phase_step_rad = static_cast<float>(GPS_TWO_PI) * d_carrier_doppler_hz / static_cast<float>(d_fs_in);
+    phase_step_rad = static_cast<float>(GPS_L2_TWO_PI) * d_carrier_doppler_hz / static_cast<float>(d_fs_in);
     phase_rad = d_rem_carr_phase_rad;
     for(int i = 0; i < d_current_prn_length_samples; i++)
         {
             d_carr_sign[i] = gr_complex(cos(phase_rad), -sin(phase_rad));
             phase_rad += phase_step_rad;
         }
-    //d_rem_carr_phase_rad = fmod(phase_rad, GPS_TWO_PI);
+    //d_rem_carr_phase_rad = fmod(phase_rad, GPS_L2_TWO_PI);
     //d_acc_carrier_phase_rad = d_acc_carrier_phase_rad + d_rem_carr_phase_rad;
 }
 
@@ -413,7 +413,7 @@ int gps_l2_m_dll_pll_tracking_cc::general_work (int noutput_items, gr_vector_int
 
             // ################## PLL ##########################################################
             // PLL discriminator
-            carr_error_hz = pll_cloop_two_quadrant_atan(*d_Prompt) / static_cast<float>(GPS_TWO_PI);
+            carr_error_hz = pll_cloop_two_quadrant_atan(*d_Prompt) / static_cast<float>(GPS_L2_TWO_PI);
             // Carrier discriminator filter
             carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz);
             // New carrier Doppler frequency estimation
@@ -421,10 +421,10 @@ int gps_l2_m_dll_pll_tracking_cc::general_work (int noutput_items, gr_vector_int
             // New code Doppler frequency estimation
             d_code_freq_chips = GPS_L2_M_CODE_RATE_HZ + ((d_carrier_doppler_hz * GPS_L2_M_CODE_RATE_HZ) / GPS_L2_FREQ_HZ);
             //carrier phase accumulator for (K) doppler estimation
-            d_acc_carrier_phase_rad = d_acc_carrier_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * GPS_L2_M_PERIOD;
+            d_acc_carrier_phase_rad = d_acc_carrier_phase_rad + GPS_L2_TWO_PI * d_carrier_doppler_hz * GPS_L2_M_PERIOD;
             //remanent carrier phase to prevent overflow in the code NCO
-            d_rem_carr_phase_rad = d_rem_carr_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * GPS_L2_M_PERIOD;
+            d_rem_carr_phase_rad = d_rem_carr_phase_rad + GPS_L2_TWO_PI * d_carrier_doppler_hz * GPS_L2_M_PERIOD;
-            d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GPS_TWO_PI);
+            d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GPS_L2_TWO_PI);
 
             // ################## DLL ##########################################################
             // DLL discriminator

src/algorithms/tracking/gnuradio_blocks/gps_l2_m_dll_pll_tracking_cc.h

@@ -45,7 +45,6 @@
 #include <gnuradio/block.h>
 #include <gnuradio/msg_queue.h>
 #include "concurrent_queue.h"
-#include "gps_sdr_signal_processing.h"
 #include "gnss_synchro.h"
 #include "tracking_2nd_DLL_filter.h"
 #include "tracking_2nd_PLL_filter.h"

src/core/system_parameters/CMakeLists.txt

@@ -37,6 +37,7 @@ set(SYSTEM_PARAMETERS_SOURCES
 	 sbas_satellite_correction.cc
 	 sbas_telemetry_data.cc
 	 galileo_fnav_message.cc
+	 gps_cnav_ephemeris.cc
 )
 
 

src/core/system_parameters/GPS_L2C.h

@@ -33,6 +33,20 @@
 #define GNSS_SDR_GPS_L2C_H_
 
 #include <stdint.h>
+#include <complex>
+#include <vector>
+#include <utility> // std::pair
+#include <gnss_satellite.h>
+#include "MATH_CONSTANTS.h"
+
+// Physical constants
+const double GPS_L2_C_m_s       = 299792458.0;      //!< The speed of light, [m/s]
+const double GPS_L2_C_m_ms      = 299792.4580;      //!< The speed of light, [m/ms]
+const double GPS_L2_PI          = 3.1415926535898;  //!< Pi as defined in IS-GPS-200E
+const double GPS_L2_TWO_PI      = 6.283185307179586;//!< 2Pi as defined in IS-GPS-200E
+const double GPS_L2_OMEGA_EARTH_DOT = 7.2921151467e-5;  //!< Earth rotation rate, [rad/s]
+const double GPS_L2_GM              = 3.986005e14;      //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2]
+const double GPS_L2_F               = -4.442807633e-10; //!< Constant, [s/(m)^(1/2)]
 
 
 // carrier and code frequencies
@@ -78,4 +92,120 @@ const int32_t GPS_L2C_M_INIT_REG[115] =
 0706202440,  0705056276,  0020373522,  0746013617,
 0132720621,  0434015513,  0566721727,  0140633660};
 
+// CNAV GPS NAVIGATION MESSAGE STRUCTURE
+// NAVIGATION MESSAGE FIELDS POSITIONS (from IS-GPS-200E Appendix III)
+
+#define GPS_CNAV_PREAMBLE {1, 0, 0, 0, 1, 0, 1, 1}
+
+// common to all messages
+const std::vector<std::pair<int,int> > CNAV_PRN( { {9,6} } );
+const std::vector<std::pair<int,int> > CNAV_MSG_TYPE( { {15,6} } );
+const std::vector<std::pair<int,int> > CNAV_TOW( { {21,17} } );
+const std::vector<std::pair<int,int> > CNAV_ALERT_FLAG( { {38,1} } );
+
+// MESSAGE TYPE 10 (Ephemeris 1)
+
+const std::vector<std::pair<int,int> > CNAV_WN({{39,13}});
+const std::vector<std::pair<int,int> > CNAV_HEALTH({{52,3}});
+const std::vector<std::pair<int,int> > CNAV_TOP1({{55,11}});
+const double CNAV_TOP1_LSB = 300;
+const std::vector<std::pair<int,int> > CNAV_URA({{66,5}});
+
+const std::vector<std::pair<int,int> > CNAV_TOE1({{71,11}});
+const double CNAV_TOE1_LSB = 300;
+
+const std::vector<std::pair<int,int> > CNAV_DELTA_A({{82,26}}); //Relative to AREF = 26,559,710 meters
+const double CNAV_DELTA_A_LSB = TWO_N9;
+
+const std::vector<std::pair<int,int> > CNAV_A_DOT({{108,25}});
+const double CNAV_A_DOT_LSB = TWO_N21;
+
+const std::vector<std::pair<int,int> > CNAV_DELTA_N0({{133,17}});
+const double CNAV_DELTA_N0_LSB = TWO_N44;
+const std::vector<std::pair<int,int> > CNAV_DELTA_N0_DOT({{150,23}});
+const double CNAV_DELTA_N0_DOT_LSB = TWO_N57;
+const std::vector<std::pair<int,int> > CNAV_M0({{173,33}});
+const double CNAV_M0_LSB = TWO_N32;
+const std::vector<std::pair<int,int> > CNAV_E_ECCENTRICITY({{206,33}});
+const double CNAV_E_ECCENTRICITY_LSB = TWO_N34;
+const std::vector<std::pair<int,int> > CNAV_OMEGA({{239,33}});
+const double CNAV_OMEGA_LSB = TWO_N32;
+const std::vector<std::pair<int,int> > CNAV_INTEGRITY_FLAG({{272,1}});
+const std::vector<std::pair<int,int> > CNAV_L2_PHASING_FLAG({{273,1}});
+
+// MESSAGE TYPE 11 (Ephemeris 2)
+
+const std::vector<std::pair<int,int> > CNAV_TOE2({{39,11}});
+const double CNAV_TOE2_LSB = 300;
+const std::vector<std::pair<int,int> > CNAV_OMEGA0({{50,33}});
+const double CNAV_OMEGA0_LSB = TWO_N32;
+const std::vector<std::pair<int,int> > CNAV_I0({{83,33}});
+const double CNAV_I0_LSB = TWO_N32;
+const std::vector<std::pair<int,int> > CNAV_DELTA_OMEGA_DOT({{116,17}}); //Relative to REF = -2.6 x 10-9 semi-circles/second.
+const double CNAV_DELTA_OMEGA_DOT_LSB = TWO_N44;
+const std::vector<std::pair<int,int> > CNAV_I0_DOT({{133,15}});
+const double CNAV_I0_DOT_LSB = TWO_N44;
+const std::vector<std::pair<int,int> > CNAV_CIS({{148,16}});
+const double CNAV_CIS_LSB = TWO_N30;
+const std::vector<std::pair<int,int> > CNAV_CIC({{164,16}});
+const double CNAV_CIC_LSB = TWO_N30;
+const std::vector<std::pair<int,int> > CNAV_CRS({{180,24}});
+const double CNAV_CRS_LSB = TWO_N8;
+const std::vector<std::pair<int,int> > CNAV_CRC({{204,24}});
+const double CNAV_CRC_LSB = TWO_N8;
+const std::vector<std::pair<int,int> > CNAV_CUS({{228,21}});
+const double CNAV_CUS_LSB = TWO_N30;
+const std::vector<std::pair<int,int> > CNAV_CUC({{249,21}});
+const double CNAV_CUC_LSB = TWO_N30;
+
+
+// MESSAGE TYPE 30 (CLOCK, IONO, GRUP DELAY)
+
+const std::vector<std::pair<int,int> > CNAV_TOP2({{39,11}});
+const double CNAV_TOP2_LSB = 300;
+
+const std::vector<std::pair<int,int> > CNAV_URA_NED0({{50,5}});
+const std::vector<std::pair<int,int> > CNAV_URA_NED1({{55,3}});
+const std::vector<std::pair<int,int> > CNAV_URA_NED2({{58,3}});
+const std::vector<std::pair<int,int> > CNAV_TOC({{61,11}});
+const double CNAV_TOC_LSB = 300;
+const std::vector<std::pair<int,int> > CNAV_AF0({{72,26}});
+const double CNAV_AF0_LSB = TWO_N60;
+const std::vector<std::pair<int,int> > CNAV_AF1({{98,20}});
+const double CNAV_AF1_LSB = TWO_N48;
+const std::vector<std::pair<int,int> > CNAV_AF2({{118,10}});
+const double CNAV_AF2_LSB = TWO_N35;
+const std::vector<std::pair<int,int> > CNAV_TGD({{128,13}});
+const double CNAV_TGD_LSB = TWO_N35;
+const std::vector<std::pair<int,int> > CNAV_ISCL1({{141,13}});
+const double CNAV_ISCL1_LSB = TWO_N35;
+const std::vector<std::pair<int,int> > CNAV_ISCL2({{154,13}});
+const double CNAV_ISCL2_LSB = TWO_N35;
+const std::vector<std::pair<int,int> > CNAV_ISCL5I({{167,13}});
+const double CNAV_ISCL5I_LSB = TWO_N35;
+const std::vector<std::pair<int,int> > CNAV_ISCL5Q({{180,13}});
+const double CNAV_ISCL5Q_LSB = TWO_N35;
+const std::vector<std::pair<int,int> > CNAV_ALPHA0({{193,8}});
+const double CNAV_ALPHA0_LSB = TWO_N30;
+const std::vector<std::pair<int,int> > CNAV_ALPHA1({{201,8}});
+const double CNAV_ALPHA1_LSB = TWO_N27;
+const std::vector<std::pair<int,int> > CNAV_ALPHA2({{209,8}});
+const double CNAV_ALPHA2_LSB = TWO_N24;
+const std::vector<std::pair<int,int> > CNAV_ALPHA3({{217,8}});
+const double CNAV_ALPHA3_LSB = TWO_N24;
+const std::vector<std::pair<int,int> > CNAV_BETA0({{225,8}});
+const double CNAV_BETA0_LSB = TWO_P11;
+const std::vector<std::pair<int,int> > CNAV_BETA1({{233,8}});
+const double CNAV_BETA1_LSB = TWO_P14;
+const std::vector<std::pair<int,int> > CNAV_BETA2({{241,8}});
+const double CNAV_BETA2_LSB = TWO_P16;
+const std::vector<std::pair<int,int> > CNAV_BETA3({{249,8}});
+const double CNAV_BETA3_LSB = TWO_P16;
+const std::vector<std::pair<int,int> > CNAV_WNOP({{257,8}});
+
+
+// TODO: Add more frames (Almanac, etc...)
+
+
+
 #endif /* GNSS_SDR_GPS_L2C_H_ */

src/core/system_parameters/MATH_CONSTANTS.h

@@ -76,12 +76,17 @@ const double TWO_N35 = (2.91038304567337e-011);	  //!< 2^-35
 
 const double TWO_N38 = (3.637978807091713e-012);  //!< 2^-38
 const double TWO_N43 = (1.136868377216160e-013);  //!< 2^-43
+const double TWO_N44 = (5.684341886080802e-14);  //!< 2^-44
 const double TWO_N46 = (1.4210854715202e-014);    //!< 2^-46
+const double TWO_N48 = (3.552713678800501e-15);    //!< 2^-46
 
 const double TWO_N50 = (8.881784197001252e-016);  //!< 2^-50
 const double TWO_N51 = (4.44089209850063e-016);   //!< 2^-51
 const double TWO_N55 = (2.775557561562891e-017);  //!< 2^-55
+const double TWO_N57 = (6.938893903907228e-18);  //!< 2^-57
 const double TWO_N59 = (1.73472347597681e-018);   //!< 2^-59
+const double TWO_N60 = (8.673617379884036e-19);   //!< 2^-60
+
 
 const double PI_TWO_N19 = (5.992112452678286e-006);  //!< Pi*2^-19
 const double PI_TWO_N43 = (3.571577341960839e-013);  //!< Pi*2^-43

src/core/system_parameters/gps_cnav_ephemeris.cc

@@ -0,0 +1,115 @@
+/*!
+ * \file Gps_CNAV_Ephemeris.cc
+ * \brief  Interface of a GPS CNAV EPHEMERIS storage and orbital model functions
+ *
+ * See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
+ * \author Javier Arribas, 2015. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "gps_cnav_ephemeris.h"
+
+Gps_CNAV_Ephemeris::Gps_CNAV_Ephemeris()
+{
+    i_satellite_PRN = 0;
+
+    d_TOW = 0;
+    d_Crs = 0;
+    d_M_0 = 0;
+    d_Cuc = 0;
+    d_e_eccentricity = 0;
+    d_Cus = 0;
+
+    d_Toe = 0;
+    d_Toc = 0;
+    d_Cic = 0;
+    d_OMEGA0 = 0;
+    d_Cis = 0;
+    d_i_0 = 0;
+    d_Crc = 0;
+    d_OMEGA = 0;
+    d_IDOT = 0;
+
+    i_GPS_week = 0;
+
+    d_TGD = 0;            // Estimated Group Delay Differential: L1-L2 correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
+
+    d_A_f0 = 0;          // Coefficient 0 of code phase offset model [s]
+    d_A_f1 = 0;          // Coefficient 1 of code phase offset model [s/s]
+    d_A_f2 = 0;          // Coefficient 2 of code phase offset model [s/s^2]
+
+    b_integrity_status_flag = false;
+    b_alert_flag = false;         // If true, indicates  that the SV URA may be worse than indicated in d_SV_accuracy, use that SV at our own risk.
+    b_antispoofing_flag = false;  //  If true, the AntiSpoofing mode is ON in that SV
+
+    //Plane A (info from http://www.navcen.uscg.gov/?Do=constellationStatus)
+    satelliteBlock[9] = "IIA";
+    satelliteBlock[31] = "IIR-M";
+    satelliteBlock[8] = "IIA";
+    satelliteBlock[7] = "IIR-M";
+    satelliteBlock[27] = "IIA";
+    //Plane B
+    satelliteBlock[16] = "IIR";
+    satelliteBlock[25] = "IIF";
+    satelliteBlock[28] = "IIR";
+    satelliteBlock[12] = "IIR-M";
+    satelliteBlock[30] = "IIA";
+    //Plane C
+    satelliteBlock[29] = "IIR-M";
+    satelliteBlock[3] = "IIA";
+    satelliteBlock[19] = "IIR";
+    satelliteBlock[17] = "IIR-M";
+    satelliteBlock[6] = "IIA";
+    //Plane D
+    satelliteBlock[2] = "IIR";
+    satelliteBlock[1] = "IIF";
+    satelliteBlock[21] = "IIR";
+    satelliteBlock[4] = "IIA";
+    satelliteBlock[11] = "IIR";
+    satelliteBlock[24] = "IIA"; // Decommissioned from active service on 04 Nov 2011
+    //Plane E
+    satelliteBlock[20] = "IIR";
+    satelliteBlock[22] = "IIR";
+    satelliteBlock[5] = "IIR-M";
+    satelliteBlock[18] = "IIR";
+    satelliteBlock[32] = "IIA";
+    satelliteBlock[10] = "IIA";
+    //Plane F
+    satelliteBlock[14] = "IIR";
+    satelliteBlock[15] = "IIR-M";
+    satelliteBlock[13] = "IIR";
+    satelliteBlock[23] = "IIR";
+    satelliteBlock[26] = "IIA";
+
+    d_satClkDrift = 0.0;
+    d_dtr = 0.0;
+    d_satpos_X = 0.0;
+    d_satpos_Y = 0.0;
+    d_satpos_Z = 0.0;
+    d_satvel_X = 0.0;
+    d_satvel_Y = 0.0;
+    d_satvel_Z = 0.0;
+}

src/core/system_parameters/gps_cnav_ephemeris.h

@@ -0,0 +1,179 @@
+/*!
+ * \file Gps_CNAV_Ephemeris.h
+ * \brief  Interface of a GPS EPHEMERIS storage
+ * \author Javier Arribas, 2013. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#ifndef GNSS_SDR_Gps_CNAV_Ephemeris_H_
+#define GNSS_SDR_Gps_CNAV_Ephemeris_H_
+
+#include <iostream>
+#include <map>
+#include <string>
+#include "boost/assign.hpp"
+#include <boost/serialization/nvp.hpp>
+#include "GPS_L2C.h"
+
+
+/*!
+ * \brief This class is a storage and orbital model functions for the GPS SV ephemeris data as described in IS-GPS-200E
+ *
+ * See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
+ */
+class Gps_CNAV_Ephemeris
+{
+private:
+
+public:
+    unsigned int i_satellite_PRN; // SV PRN NUMBER
+
+    //Message Types 10 and 11 Parameters (1 of 2)
+    int i_GPS_week;          //!< GPS week number, aka WN [week]
+    int i_URA;	//!< ED Accuracy Index
+    int i_signal_health; //!< Signal health (L1/L2/L5)
+    double d_Top; //!< Data predict time of week
+    double d_DELTA_A; //!< Semi-major axis difference at reference time
+    double d_A_DOT; //!< Change rate in semi-major axis
+    double d_Delta_n;        //!< Mean Motion Difference From Computed Value [semi-circles/s]
+    double d_DELTA_DOT_N; // Rate of mean motion difference from computed value
+    double d_M_0;            //!< Mean Anomaly at Reference Time [semi-circles]
+    double d_e_eccentricity; //< Eccentricity
+    double d_OMEGA;          //!< Argument of Perigee [semi-cicles]
+    double d_OMEGA0;          //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-cicles]
+    double d_Toe;            //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200E) [s]
+    double d_DELTA_OMEGA_DOT;      //!< Rate of Right Ascension  difference [semi-circles/s]
+    double d_i_0;            //!< Inclination Angle at Reference Time [semi-circles]
+    double d_IDOT;           //!< Rate of Inclination Angle [semi-circles/s]
+    double d_Cis;            //!< Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination [rad]
+    double d_Cic;            //!< Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination [rad]
+    double d_Crs;            //!< Amplitude of the Sine Harmonic Correction Term to the Orbit Radius [m]
+    double d_Crc;            //!< Amplitude of the Cosine Harmonic Correction Term to the Orbit Radius [m]
+    double d_Cus;            //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
+    double d_Cuc;            //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
+
+    //Clock Correction and Accuracy Parameters
+    double d_Toc;            //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200E) [s]
+    double d_A_f0;          //!< Coefficient 0 of code phase offset model [s]
+    double d_A_f1;          //!< Coefficient 1 of code phase offset model [s/s]
+    double d_A_f2;          //!< Coefficient 2 of code phase offset model [s/s^2]
+
+    double d_URA0;			//!<NED Accuracy Index
+    double d_URA1;			//!<NED Accuracy Change Index
+    double d_URA2;			//!< NED Accuracy Change Rate Index
+
+
+    //Group Delay Differential Parameters
+    double d_TGD;            //!< Estimated Group Delay Differential: L1-L2 correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
+    double d_ISCL1;
+    double d_ISCL2;
+    double d_ISCL5I;
+    double d_ISCL5Q;
+
+    double d_TOW;            //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
+
+
+
+
+    // Flags
+
+    /*! \brief If true, enhanced level of integrity assurance.
+     *
+     *  If false, indicates that the conveying signal is provided with the legacy level of integrity assurance.
+     *  That is, the probability that the instantaneous URE of the conveying signal exceeds 4.42 times the upper bound
+     *  value of the current broadcast URA index, for more than 5.2 seconds, without an accompanying alert, is less
+     *  than 1E-5 per hour. If true, indicates that the conveying signal is provided with an enhanced level of
+     *  integrity assurance. That is, the probability that the instantaneous URE of the conveying signal exceeds 5.73
+     *  times the upper bound value of the current broadcast URA index, for more than 5.2 seconds, without an
+     *  accompanying alert, is less than 1E-8 per hour.
+     */
+    bool b_integrity_status_flag;
+    bool b_alert_flag;         //!< If true, indicates  that the SV URA may be worse than indicated in d_SV_accuracy, use that SV at our own risk.
+    bool b_antispoofing_flag;  //!<  If true, the AntiSpoofing mode is ON in that SV
+
+    // clock terms derived from ephemeris data
+    double d_satClkDrift;    //!< GPS clock error
+    double d_dtr;            //!< relativistic clock correction term
+
+    // satellite positions
+    double d_satpos_X;       //!< Earth-fixed coordinate x of the satellite [m]. Intersection of the IERS Reference Meridian (IRM) and the plane passing through the origin and normal to the Z-axis.
+    double d_satpos_Y;       //!< Earth-fixed coordinate y of the satellite [m]. Completes a right-handed, Earth-Centered, Earth-Fixed orthogonal coordinate system.
+    double d_satpos_Z;       //!< Earth-fixed coordinate z of the satellite [m]. The direction of the IERS (International Earth Rotation and Reference Systems Service) Reference Pole (IRP).
+
+    // Satellite velocity
+    double d_satvel_X;    //!< Earth-fixed velocity coordinate x of the satellite [m]
+    double d_satvel_Y;    //!< Earth-fixed velocity coordinate y of the satellite [m]
+    double d_satvel_Z;    //!< Earth-fixed velocity coordinate z of the satellite [m]
+
+    std::map<int,std::string> satelliteBlock; //!< Map that stores to which block the PRN belongs http://www.navcen.uscg.gov/?Do=constellationStatus
+
+    template<class Archive>
+
+    /*!
+     * \brief Serialize is a boost standard method to be called by the boost XML serialization. Here is used to save the ephemeris data on disk file.
+     */
+    void serialize(Archive& archive, const unsigned int version)
+    {
+        using boost::serialization::make_nvp;
+        if(version){};
+
+        archive & make_nvp("i_satellite_PRN", i_satellite_PRN); // SV PRN NUMBER
+        archive & make_nvp("d_TOW", d_TOW);          //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
+        archive & make_nvp("d_Crs", d_Crs);          //!< Amplitude of the Sine Harmonic Correction Term to the Orbit Radius [m]
+        archive & make_nvp("d_M_0", d_M_0);          //!< Mean Anomaly at Reference Time [semi-circles]
+        archive & make_nvp("d_Cuc", d_Cuc);          //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
+        archive & make_nvp("d_e_eccentricity", d_e_eccentricity); //!< Eccentricity [dimensionless]
+        archive & make_nvp("d_Cus", d_Cus);          //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
+        archive & make_nvp("d_Toe", d_Toe);          //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200E) [s]
+        archive & make_nvp("d_Toc", d_Toe);          //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200E) [s]
+        archive & make_nvp("d_Cic", d_Cic);          //!< Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination [rad]
+        archive & make_nvp("d_OMEGA0", d_OMEGA0);    //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
+        archive & make_nvp("d_Cis", d_Cis);          //!< Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination [rad]
+        archive & make_nvp("d_i_0", d_i_0);          //!< Inclination Angle at Reference Time [semi-circles]
+        archive & make_nvp("d_Crc", d_Crc);          //!< Amplitude of the Cosine Harmonic Correction Term to the Orbit Radius [m]
+        archive & make_nvp("d_OMEGA", d_OMEGA);      //!< Argument of Perigee [semi-cicles]
+        archive & make_nvp("d_IDOT", d_IDOT);        //!< Rate of Inclination Angle [semi-circles/s]
+        archive & make_nvp("i_GPS_week", i_GPS_week);      //!< GPS week number, aka WN [week]
+        archive & make_nvp("d_TGD", d_TGD);           //!< Estimated Group Delay Differential: L1-L2 correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
+
+
+        archive & make_nvp("d_A_f0", d_A_f0);          //!< Coefficient 0 of code phase offset model [s]
+        archive & make_nvp("d_A_f1", d_A_f1);          //!< Coefficient 1 of code phase offset model [s/s]
+        archive & make_nvp("d_A_f2", d_A_f2);          //!< Coefficient 2 of code phase offset model [s/s^2]
+
+        archive & make_nvp("b_integrity_status_flag", b_integrity_status_flag);
+        archive & make_nvp("b_alert_flag", b_alert_flag);     //!< If true, indicates  that the SV URA may be worse than indicated in d_SV_accuracy, use that SV at our own risk.
+        archive & make_nvp("b_antispoofing_flag", b_antispoofing_flag); //!<  If true, the AntiSpoofing mode is ON in that SV
+    }
+
+    /*!
+     * Default constructor
+     */
+    Gps_CNAV_Ephemeris();
+};
+
+#endif