mirror of
https://github.com/gnss-sdr/gnss-sdr
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Simplify initializations in system_parameters library
This commit is contained in:
Carles Fernandez
parent
ffcd5b55da
commit
34a250246a
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@ -159,7 +159,7 @@ bool gps_l1_ca_telemetry_decoder_gs::gps_word_parityCheck(uint32_t gpsword)
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void gps_l1_ca_telemetry_decoder_gs::set_satellite(const Gnss_Satellite &satellite)
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{
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d_nav.reset();
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d_nav = Gps_Navigation_Message();
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d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
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DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite;
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d_nav.i_satellite_PRN = d_satellite.get_PRN();
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@ -93,14 +93,14 @@ void gps_l5_telemetry_decoder_gs::set_satellite(const Gnss_Satellite &satellite)
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{
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d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
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DLOG(INFO) << "GPS L5 CNAV telemetry decoder in channel " << this->d_channel << " set to satellite " << d_satellite;
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d_CNAV_Message.reset();
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d_CNAV_Message = Gps_CNAV_Navigation_Message();
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}
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void gps_l5_telemetry_decoder_gs::set_channel(int32_t channel)
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{
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d_channel = channel;
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d_CNAV_Message.reset();
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d_CNAV_Message = Gps_CNAV_Navigation_Message();
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DLOG(INFO) << "GPS L5 CNAV channel set to " << channel;
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// ############# ENABLE DATA FILE LOG #################
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if (d_dump == true)
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@ -13,31 +13,19 @@ set(SYSTEM_PARAMETERS_SOURCES
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gnss_signal.cc
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gps_navigation_message.cc
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gps_ephemeris.cc
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gps_iono.cc
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gps_almanac.cc
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gps_utc_model.cc
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gps_acq_assist.cc
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agnss_ref_time.cc
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agnss_ref_location.cc
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galileo_utc_model.cc
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galileo_ephemeris.cc
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galileo_almanac.cc
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galileo_almanac_helper.cc
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galileo_iono.cc
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galileo_navigation_message.cc
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beidou_dnav_navigation_message.cc
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beidou_dnav_ephemeris.cc
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beidou_dnav_iono.cc
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beidou_dnav_almanac.cc
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beidou_dnav_utc_model.cc
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sbas_ephemeris.cc
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galileo_fnav_message.cc
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gps_cnav_ephemeris.cc
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gps_cnav_navigation_message.cc
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gps_cnav_iono.cc
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gps_cnav_utc_model.cc
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glonass_gnav_ephemeris.cc
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glonass_gnav_almanac.cc
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glonass_gnav_utc_model.cc
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glonass_gnav_navigation_message.cc
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)
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@ -1,29 +0,0 @@
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/*!
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* \file agnss_ref_location.cc
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* \brief Interface of an Assisted GNSS REFERENCE LOCATION storage
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*
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* \author Javier Arribas, 2013. jarribas(at)cttc.es
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* SPDX-License-Identifier: GPL-3.0-or-later
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*
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* -------------------------------------------------------------------------
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*/
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#include "agnss_ref_location.h"
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Agnss_Ref_Location::Agnss_Ref_Location()
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{
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valid = false;
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lat = 0.0;
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lon = 0.0;
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uncertainty = 0.0;
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}
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@ -31,14 +31,15 @@
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class Agnss_Ref_Location
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{
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public:
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bool valid;
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double lat;
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double lon;
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double uncertainty;
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/*!
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* Default constructor
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*/
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Agnss_Ref_Location();
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Agnss_Ref_Location() = default;
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bool valid{};
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double lat{};
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double lon{};
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double uncertainty{};
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template <class Archive>
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@ -1,30 +0,0 @@
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/*!
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* \file agnss_ref_time.cc
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* \brief Interface of an Assisted GNSS REFERENCE TIME storage
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*
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* \author Javier Arribas, 2013. jarribas(at)cttc.es
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* SPDX-License-Identifier: GPL-3.0-or-later
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*
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* -------------------------------------------------------------------------
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*/
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#include "agnss_ref_time.h"
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Agnss_Ref_Time::Agnss_Ref_Time()
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{
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valid = false;
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d_TOW = 0.0;
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d_Week = 0.0;
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d_tv_sec = 0.0;
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d_tv_usec = 0.0;
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}
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@ -31,15 +31,16 @@
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class Agnss_Ref_Time
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{
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public:
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bool valid;
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double d_TOW;
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double d_Week;
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double d_tv_sec;
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double d_tv_usec;
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/*!
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* Default constructor
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*/
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Agnss_Ref_Time();
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Agnss_Ref_Time() = default;
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bool valid{};
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double d_TOW{};
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double d_Week{};
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double d_tv_sec{};
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double d_tv_usec{};
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template <class Archive>
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@ -1,38 +0,0 @@
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/*!
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* \file beidou_dnav_almanac.cc
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* \brief Interface of a Beidou DNAV Almanac storage
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*
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* See http://en.beidou.gov.cn/SYSTEMS/Officialdocument/201902/P020190227601370045731.pdf
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* \author Sergi Segura, 2018. sergi.segura.munoz(at)gmail.com
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* SPDX-License-Identifier: GPL-3.0-or-later
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*
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* -------------------------------------------------------------------------
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*/
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#include "beidou_dnav_almanac.h"
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Beidou_Dnav_Almanac::Beidou_Dnav_Almanac()
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{
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i_satellite_PRN = 0;
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d_Delta_i = 0.0;
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d_Toa = 0.0;
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d_M_0 = 0.0;
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d_e_eccentricity = 0.0;
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d_sqrt_A = 0.0;
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d_OMEGA0 = 0.0;
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d_OMEGA = 0.0;
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d_OMEGA_DOT = 0.0;
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i_SV_health = 0;
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d_A_f0 = 0.0;
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d_A_f1 = 0.0;
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}
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@ -31,23 +31,23 @@
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class Beidou_Dnav_Almanac
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{
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public:
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unsigned int i_satellite_PRN; //!< SV PRN NUMBER
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double d_Delta_i;
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double d_Toa; //!< Almanac data reference time of week [s]
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double d_M_0; //!< Mean Anomaly at Reference Time [semi-circles]
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double d_e_eccentricity; //!< Eccentricity [dimensionless]
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double d_sqrt_A; //!< Square Root of the Semi-Major Axis [sqrt(m)]
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double d_OMEGA0; //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
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double d_OMEGA; //!< Argument of Perigee [semi-cicles]
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double d_OMEGA_DOT; //!< Rate of Right Ascension [semi-circles/s]
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int i_SV_health; // SV Health
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double d_A_f0; //!< Coefficient 0 of code phase offset model [s]
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double d_A_f1; //!< Coefficient 1 of code phase offset model [s/s]
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/*!
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* Default constructor
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*/
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Beidou_Dnav_Almanac();
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Beidou_Dnav_Almanac() = default;
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unsigned int i_satellite_PRN{}; //!< SV PRN NUMBER
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double d_Delta_i{};
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double d_Toa{}; //!< Almanac data reference time of week [s]
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double d_M_0{}; //!< Mean Anomaly at Reference Time [semi-circles]
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double d_e_eccentricity{}; //!< Eccentricity [dimensionless]
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double d_sqrt_A{}; //!< Square Root of the Semi-Major Axis [sqrt(m)]
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double d_OMEGA0{}; //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
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double d_OMEGA{}; //!< Argument of Perigee [semi-cicles]
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double d_OMEGA_DOT{}; //!< Rate of Right Ascension [semi-circles/s]
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int i_SV_health{}; //!< SV Health
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double d_A_f0{}; //!< Coefficient 0 of code phase offset model [s]
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double d_A_f1{}; //!< Coefficient 1 of code phase offset model [s/s]
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template <class Archive>
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@ -22,66 +22,15 @@
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#include "gnss_satellite.h"
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#include <cmath>
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Beidou_Dnav_Ephemeris::Beidou_Dnav_Ephemeris()
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{
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i_satellite_PRN = 0;
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d_TOW = 0;
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d_Crs = 0;
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d_Delta_n = 0;
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d_M_0 = 0;
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d_Cuc = 0;
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d_eccentricity = 0;
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d_Cus = 0;
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d_sqrt_A = 0;
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d_Toe = 0;
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d_Toc = 0;
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d_Cic = 0;
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d_OMEGA0 = 0;
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d_Cis = 0;
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d_i_0 = 0;
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d_Crc = 0;
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d_OMEGA = 0;
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d_OMEGA_DOT = 0;
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d_IDOT = 0;
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i_BEIDOU_week = 0;
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i_SV_accuracy = 0;
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i_SV_health = 0;
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d_AODE = 0;
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d_TGD1 = 0;
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d_TGD2 = 0;
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d_AODC = 0; // Issue of Data, Clock
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i_AODO = 0; // Age of Data Offset (AODO) term for the navigation message correction table (NMCT) contained in subframe 4 (reference paragraph 20.3.3.5.1.9) [s]
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d_AODC = 0;
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b_fit_interval_flag = false;
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d_spare1 = 0.0;
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d_spare2 = 0.0;
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i_sig_type = 0;
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i_nav_type = 0;
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d_A_f0 = 0; // Coefficient 0 of code phase offset model [s]
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d_A_f1 = 0; // Coefficient 1 of code phase offset model [s/s]
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d_A_f2 = 0; // Coefficient 2 of code phase offset model [s/s^2]
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b_integrity_status_flag = false;
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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.
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b_antispoofing_flag = false; // If true, the AntiSpoofing mode is ON in that SV
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auto gnss_sat = Gnss_Satellite();
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std::string _system("Beidou");
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for (unsigned int i = 1; i < 36; i++)
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{
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satelliteBlock[i] = gnss_sat.what_block(_system, i);
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}
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d_satClkDrift = 0.0;
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d_dtr = 0.0;
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d_satpos_X = 0.0;
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d_satpos_Y = 0.0;
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d_satpos_Z = 0.0;
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d_satvel_X = 0.0;
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d_satvel_Y = 0.0;
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d_satvel_Z = 0.0;
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}
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@ -41,44 +41,44 @@ public:
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*/
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Beidou_Dnav_Ephemeris();
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unsigned int i_satellite_PRN; //!< SV PRN NUMBER
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double d_TOW; //!< Time of BEIDOU Week of the ephemeris set (taken from subframes TOW) [s]
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double d_Crs; //!< Amplitude of the Sine Harmonic Correction Term to the Orbit Radius [m]
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double d_Delta_n; //!< Mean Motion Difference From Computed Value [semi-circles/s]
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double d_M_0; //!< Mean Anomaly at Reference Time [semi-circles]
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double d_Cuc; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
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double d_eccentricity; //!< Eccentricity [dimensionless]
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double d_Cus; //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
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double d_sqrt_A; //!< Square Root of the Semi-Major Axis [sqrt(m)]
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double d_Toe; //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200K) [s]
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double d_Toc; //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200K) [s]
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double d_Cic; //!< Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination [rad]
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double d_OMEGA0; //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
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double d_Cis; //!< Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination [rad]
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double d_i_0; //!< Inclination Angle at Reference Time [semi-circles]
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double d_Crc; //!< Amplitude of the Cosine Harmonic Correction Term to the Orbit Radius [m]
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double d_OMEGA; //!< Argument of Perigee [semi-cicles]
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double d_OMEGA_DOT; //!< Rate of Right Ascension [semi-circles/s]
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double d_IDOT; //!< Rate of Inclination Angle [semi-circles/s]
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int i_BEIDOU_week; //!< BEIDOU week number, aka WN [week]
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int i_SV_accuracy; //!< User Range Accuracy (URA) index of the SV (reference paragraph 6.2.1) for the standard positioning service user (Ref 20.3.3.3.1.3 IS-GPS-200K)
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int i_SV_health;
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double d_TGD1; //!< Estimated Group Delay Differential on B1I [s]
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double d_TGD2; //!< Estimated Group Delay Differential on B2I [s]
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double d_AODC; //!< Age of Data, Clock
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double d_AODE; //!< Age of Data, Ephemeris
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int i_AODO; //!< Age of Data Offset (AODO) term for the navigation message correction table (NMCT) contained in subframe 4 (reference paragraph 20.3.3.5.1.9) [s]
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unsigned int i_satellite_PRN{}; //!< SV PRN NUMBER
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double d_TOW{}; //!< Time of BEIDOU Week of the ephemeris set (taken from subframes TOW) [s]
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double d_Crs{}; //!< Amplitude of the Sine Harmonic Correction Term to the Orbit Radius [m]
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double d_Delta_n{}; //!< Mean Motion Difference From Computed Value [semi-circles/s]
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double d_M_0{}; //!< Mean Anomaly at Reference Time [semi-circles]
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double d_Cuc{}; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
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double d_eccentricity{}; //!< Eccentricity [dimensionless]
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double d_Cus{}; //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
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double d_sqrt_A{}; //!< Square Root of the Semi-Major Axis [sqrt(m)]
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double d_Toe{}; //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200K) [s]
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double d_Toc{}; //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200K) [s]
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double d_Cic{}; //!< Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination [rad]
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double d_OMEGA0{}; //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
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double d_Cis{}; //!< Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination [rad]
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double d_i_0{}; //!< Inclination Angle at Reference Time [semi-circles]
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double d_Crc{}; //!< Amplitude of the Cosine Harmonic Correction Term to the Orbit Radius [m]
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double d_OMEGA{}; //!< Argument of Perigee [semi-cicles]
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double d_OMEGA_DOT{}; //!< Rate of Right Ascension [semi-circles/s]
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double d_IDOT{}; //!< Rate of Inclination Angle [semi-circles/s]
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int i_BEIDOU_week{}; //!< BEIDOU week number, aka WN [week]
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int i_SV_accuracy{}; //!< User Range Accuracy (URA) index of the SV (reference paragraph 6.2.1) for the standard positioning service user (Ref 20.3.3.3.1.3 IS-GPS-200K)
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int i_SV_health{};
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double d_TGD1{}; //!< Estimated Group Delay Differential on B1I [s]
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double d_TGD2{}; //!< Estimated Group Delay Differential on B2I [s]
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double d_AODC{}; //!< Age of Data, Clock
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double d_AODE{}; //!< Age of Data, Ephemeris
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int i_AODO{}; //!< Age of Data Offset (AODO) term for the navigation message correction table (NMCT) contained in subframe 4 (reference paragraph 20.3.3.5.1.9) [s]
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int i_sig_type; //!< BDS: data source (0:unknown,1:B1I,2:B1Q,3:B2I,4:B2Q,5:B3I,6:B3Q) */
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int i_nav_type; //!< BDS: nav type (0:unknown,1:IGSO/MEO,2:GEO) */
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int i_sig_type{}; //!< BDS: data source (0:unknown,1:B1I,2:B1Q,3:B2I,4:B2Q,5:B3I,6:B3Q) */
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int i_nav_type{}; //!< BDS: nav type (0:unknown,1:IGSO/MEO,2:GEO) */
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bool b_fit_interval_flag; //!< indicates the curve-fit interval used by the CS (Block II/IIA/IIR/IIR-M/IIF) and SS (Block IIIA) in determining the ephemeris parameters, as follows: 0 = 4 hours, 1 = greater than 4 hours.
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double d_spare1;
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double d_spare2;
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bool b_fit_interval_flag{}; //!< indicates the curve-fit interval used by the CS (Block II/IIA/IIR/IIR-M/IIF) and SS (Block IIIA) in determining the ephemeris parameters, as follows: 0 = 4 hours, 1 = greater than 4 hours.
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double d_spare1{};
|
||||
double d_spare2{};
|
||||
|
||||
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_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]
|
||||
|
||||
/*! \brief If true, enhanced level of integrity assurance.
|
||||
*
|
||||
|
|
@ -90,23 +90,23 @@ public:
|
|||
* 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
|
||||
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
|
||||
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).
|
||||
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]
|
||||
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
|
||||
|
||||
|
|
|
|||
|
|
@ -1,33 +0,0 @@
|
|||
/*!
|
||||
* \file beidou_dnav_iono.cc
|
||||
* \brief Interface of a BEIDOU IONOSPHERIC MODEL storage
|
||||
* \author Sergi Segura, 2018. sergi.segura.munoz(at)gmail.com
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2019 (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.
|
||||
*
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "beidou_dnav_iono.h"
|
||||
|
||||
Beidou_Dnav_Iono::Beidou_Dnav_Iono()
|
||||
{
|
||||
valid = false;
|
||||
d_alpha0 = 0.0;
|
||||
d_alpha1 = 0.0;
|
||||
d_alpha2 = 0.0;
|
||||
d_alpha3 = 0.0;
|
||||
d_beta0 = 0.0;
|
||||
d_beta1 = 0.0;
|
||||
d_beta2 = 0.0;
|
||||
d_beta3 = 0.0;
|
||||
}
|
||||
|
|
@ -31,18 +31,18 @@
|
|||
class Beidou_Dnav_Iono
|
||||
{
|
||||
public:
|
||||
bool valid; //!< Valid flag
|
||||
// Ionospheric parameters
|
||||
double d_alpha0; //!< Coefficient 0 of a cubic equation representing the amplitude of the vertical delay [s]
|
||||
double d_alpha1; //!< Coefficient 1 of a cubic equation representing the amplitude of the vertical delay [s/semi-circle]
|
||||
double d_alpha2; //!< Coefficient 2 of a cubic equation representing the amplitude of the vertical delay [s(semi-circle)^2]
|
||||
double d_alpha3; //!< Coefficient 3 of a cubic equation representing the amplitude of the vertical delay [s(semi-circle)^3]
|
||||
double d_beta0; //!< Coefficient 0 of a cubic equation representing the period of the model [s]
|
||||
double d_beta1; //!< Coefficient 1 of a cubic equation representing the period of the model [s/semi-circle]
|
||||
double d_beta2; //!< Coefficient 2 of a cubic equation representing the period of the model [s(semi-circle)^2]
|
||||
double d_beta3; //!< Coefficient 3 of a cubic equation representing the period of the model [s(semi-circle)^3]
|
||||
Beidou_Dnav_Iono() = default; //!< Default constructor
|
||||
|
||||
Beidou_Dnav_Iono(); //!< Default constructor
|
||||
bool valid{}; //!< Valid flag
|
||||
// Ionospheric parameters
|
||||
double d_alpha0{}; //!< Coefficient 0 of a cubic equation representing the amplitude of the vertical delay [s]
|
||||
double d_alpha1{}; //!< Coefficient 1 of a cubic equation representing the amplitude of the vertical delay [s/semi-circle]
|
||||
double d_alpha2{}; //!< Coefficient 2 of a cubic equation representing the amplitude of the vertical delay [s(semi-circle)^2]
|
||||
double d_alpha3{}; //!< Coefficient 3 of a cubic equation representing the amplitude of the vertical delay [s(semi-circle)^3]
|
||||
double d_beta0{}; //!< Coefficient 0 of a cubic equation representing the period of the model [s]
|
||||
double d_beta1{}; //!< Coefficient 1 of a cubic equation representing the period of the model [s/semi-circle]
|
||||
double d_beta2{}; //!< Coefficient 2 of a cubic equation representing the period of the model [s(semi-circle)^2]
|
||||
double d_beta3{}; //!< Coefficient 3 of a cubic equation representing the period of the model [s(semi-circle)^3]
|
||||
|
||||
template <class Archive>
|
||||
|
||||
|
|
|
|||
|
|
@ -26,187 +26,18 @@
|
|||
#include <limits> // for std::numeric_limits
|
||||
|
||||
|
||||
void Beidou_Dnav_Navigation_Message::reset()
|
||||
Beidou_Dnav_Navigation_Message::Beidou_Dnav_Navigation_Message()
|
||||
{
|
||||
// Control variable for message decoding
|
||||
flag_eph_valid = false;
|
||||
flag_iono_valid = false;
|
||||
flag_utc_model_valid = false;
|
||||
flag_crc_test = false;
|
||||
|
||||
flag_d1_sf1 = false;
|
||||
flag_d1_sf2 = false;
|
||||
flag_d1_sf3 = false;
|
||||
flag_d1_sf4 = false;
|
||||
flag_d1_sf5 = false;
|
||||
flag_d1_sf5_p7 = false;
|
||||
flag_d1_sf5_p8 = false;
|
||||
flag_d1_sf5_p9 = false;
|
||||
flag_d1_sf5_p10 = false;
|
||||
flag_new_SOW_available = false;
|
||||
d_previous_aode = 0.0;
|
||||
|
||||
flag_sf1_p1 = false;
|
||||
flag_sf1_p2 = false;
|
||||
flag_sf1_p3 = false;
|
||||
flag_sf1_p4 = false;
|
||||
flag_sf1_p5 = false;
|
||||
flag_sf1_p6 = false;
|
||||
flag_sf1_p7 = false;
|
||||
flag_sf1_p8 = false;
|
||||
flag_sf1_p9 = false;
|
||||
flag_sf1_p10 = false;
|
||||
|
||||
// D2 NAV Decoding UNique Attributes
|
||||
d_A_f1_msb_bits = 0;
|
||||
d_A_f1_lsb_bits = 0;
|
||||
d_Cuc_msb_bits = 0;
|
||||
d_Cuc_lsb_bits = 0;
|
||||
d_eccentricity_msb_bits = 0;
|
||||
d_eccentricity_lsb_bits = 0;
|
||||
d_Cic_msb_bits = 0;
|
||||
d_Cic_lsb_bits = 0;
|
||||
d_i_0_msb_bits = 0;
|
||||
d_i_0_lsb_bits = 0;
|
||||
d_OMEGA_msb_bits = 0;
|
||||
d_OMEGA_lsb_bits = 0;
|
||||
d_OMEGA_DOT_msb_bits = 0;
|
||||
d_OMEGA_DOT_lsb_bits = 0;
|
||||
|
||||
// D2 NAV Decoding UNique Attributes
|
||||
d_eccentricity_msb = 0;
|
||||
d_eccentricity_lsb = 0;
|
||||
|
||||
d_SOW = 0.0;
|
||||
d_SOW_SF1 = 0.0;
|
||||
d_SOW_SF2 = 0.0;
|
||||
d_SOW_SF3 = 0.0;
|
||||
d_SOW_SF4 = 0.0;
|
||||
d_SOW_SF5 = 0.0;
|
||||
d_AODE = 0.0;
|
||||
d_Crs = 0.0;
|
||||
d_Delta_n = 0.0;
|
||||
d_M_0 = 0.0;
|
||||
d_Cuc = 0.0;
|
||||
d_eccentricity = 0.0;
|
||||
d_Cus = 0.0;
|
||||
d_sqrt_A = 0.0;
|
||||
d_Toe_sf2 = 0.0;
|
||||
d_Toe_sf3 = 0.0;
|
||||
d_Toe = 0.0;
|
||||
d_Toc = 0.0;
|
||||
d_Cic = 0.0;
|
||||
d_OMEGA0 = 0.0;
|
||||
d_Cis = 0.0;
|
||||
d_i_0 = 0.0;
|
||||
d_Crc = 0.0;
|
||||
d_OMEGA = 0.0;
|
||||
d_OMEGA_DOT = 0.0;
|
||||
d_IDOT = 0.0;
|
||||
i_BEIDOU_week = 0;
|
||||
i_SV_accuracy = 0;
|
||||
i_SV_health = 0;
|
||||
d_TGD1 = 0.0;
|
||||
d_TGD2 = 0.0;
|
||||
d_AODC = -1.0;
|
||||
// i_AODO = 0;
|
||||
|
||||
b_fit_interval_flag = false;
|
||||
d_spare1 = 0.0;
|
||||
d_spare2 = 0.0;
|
||||
|
||||
d_A_f0 = 0.0;
|
||||
d_A_f1 = 0.0;
|
||||
d_A_f2 = 0.0;
|
||||
|
||||
// clock terms
|
||||
// d_master_clock=0;
|
||||
d_dtr = 0.0;
|
||||
d_satClkCorr = 0.0;
|
||||
d_satClkDrift = 0.0;
|
||||
|
||||
// satellite positions
|
||||
d_satpos_X = 0.0;
|
||||
d_satpos_Y = 0.0;
|
||||
d_satpos_Z = 0.0;
|
||||
|
||||
// info
|
||||
i_channel_ID = 0;
|
||||
i_satellite_PRN = 0;
|
||||
i_signal_type = 0;
|
||||
|
||||
// time synchro
|
||||
d_subframe_timestamp_ms = 0.0;
|
||||
|
||||
// flags
|
||||
b_alert_flag = false;
|
||||
b_integrity_status_flag = false;
|
||||
b_antispoofing_flag = false;
|
||||
|
||||
// Ionosphere and UTC
|
||||
flag_iono_valid = false;
|
||||
flag_utc_model_valid = false;
|
||||
d_alpha0 = 0.0;
|
||||
d_alpha1 = 0.0;
|
||||
d_alpha2 = 0.0;
|
||||
d_alpha3 = 0.0;
|
||||
d_beta0 = 0.0;
|
||||
d_beta1 = 0.0;
|
||||
d_beta2 = 0.0;
|
||||
d_beta3 = 0.0;
|
||||
d_A1UTC = 0.0;
|
||||
d_A0UTC = 0.0;
|
||||
d_DeltaT_LS = 0.0;
|
||||
i_WN_LSF = 0;
|
||||
i_DN = 0;
|
||||
d_DeltaT_LSF = 0.0;
|
||||
|
||||
// Almanac
|
||||
d_Toa = 0.0;
|
||||
i_WN_A = 0;
|
||||
for (int32_t i = 1; i < 36; i++)
|
||||
{
|
||||
almanacHealth[i] = 0;
|
||||
}
|
||||
|
||||
// Satellite velocity
|
||||
d_satvel_X = 0.0;
|
||||
d_satvel_Y = 0.0;
|
||||
d_satvel_Z = 0.0;
|
||||
d_A1GPS = 0.0;
|
||||
d_A0GPS = 0.0;
|
||||
d_A1GAL = 0.0;
|
||||
d_A0GAL = 0.0;
|
||||
d_A1GLO = 0.0;
|
||||
d_A0GLO = 0.0;
|
||||
d_SQRT_A_ALMANAC = 0.0;
|
||||
d_A1_ALMANAC = 0.0;
|
||||
d_A0_ALMANAC = 0.0;
|
||||
d_OMEGA0_ALMANAC = 0.0;
|
||||
d_E_ALMANAC = 0.0;
|
||||
d_DELTA_I = 0.0;
|
||||
d_TOA = 0.0;
|
||||
d_OMEGA_DOT_ALMANAC = 0.0;
|
||||
d_OMEGA_ALMANAC = 0.0;
|
||||
d_M0_ALMANAC = 0.0;
|
||||
almanac_WN = 0;
|
||||
d_toa2 = 0.0;
|
||||
d_A_f0 = 0.0;
|
||||
d_A_f1 = 0.0;
|
||||
d_A_f2 = 0.0;
|
||||
|
||||
auto gnss_sat = Gnss_Satellite();
|
||||
std::string _system("Beidou");
|
||||
for (uint32_t i = 1; i < 36; i++)
|
||||
{
|
||||
satelliteBlock[i] = gnss_sat.what_block(_system, i);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Beidou_Dnav_Navigation_Message::Beidou_Dnav_Navigation_Message()
|
||||
{
|
||||
reset();
|
||||
for (uint32_t i = 1; i < 36; i++)
|
||||
{
|
||||
almanacHealth[i] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -1060,6 +891,7 @@ Beidou_Dnav_Iono Beidou_Dnav_Navigation_Message::get_iono()
|
|||
return iono;
|
||||
}
|
||||
|
||||
|
||||
Beidou_Dnav_Utc_Model Beidou_Dnav_Navigation_Message::get_utc_model()
|
||||
{
|
||||
Beidou_Dnav_Utc_Model utc_model;
|
||||
|
|
@ -1084,6 +916,7 @@ Beidou_Dnav_Utc_Model Beidou_Dnav_Navigation_Message::get_utc_model()
|
|||
return utc_model;
|
||||
}
|
||||
|
||||
|
||||
bool Beidou_Dnav_Navigation_Message::have_new_ephemeris() // Check if we have a new ephemeris stored in the galileo navigation class
|
||||
{
|
||||
if (i_satellite_PRN > 0 and i_satellite_PRN < 6)
|
||||
|
|
@ -1139,6 +972,7 @@ bool Beidou_Dnav_Navigation_Message::have_new_ephemeris() // Check if we have a
|
|||
return false;
|
||||
}
|
||||
|
||||
|
||||
bool Beidou_Dnav_Navigation_Message::have_new_iono()
|
||||
{
|
||||
// the condition on flag_utc_model is added to have a time stamp for iono
|
||||
|
|
@ -1150,6 +984,7 @@ bool Beidou_Dnav_Navigation_Message::have_new_iono()
|
|||
return false;
|
||||
}
|
||||
|
||||
|
||||
bool Beidou_Dnav_Navigation_Message::have_new_utc_model()
|
||||
{
|
||||
if (flag_d1_sf5_p9 == true and flag_d1_sf5_p10 == true)
|
||||
|
|
@ -1164,6 +999,7 @@ bool Beidou_Dnav_Navigation_Message::have_new_utc_model()
|
|||
return false;
|
||||
}
|
||||
|
||||
|
||||
bool Beidou_Dnav_Navigation_Message::have_new_almanac()
|
||||
{
|
||||
if ((flag_d1_sf4 == true) and (flag_d1_sf5 == true))
|
||||
|
|
@ -1178,6 +1014,7 @@ bool Beidou_Dnav_Navigation_Message::have_new_almanac()
|
|||
return false;
|
||||
}
|
||||
|
||||
|
||||
bool Beidou_Dnav_Navigation_Message::satellite_validation()
|
||||
{
|
||||
bool flag_data_valid = false;
|
||||
|
|
|
|||
|
|
@ -50,112 +50,111 @@ public:
|
|||
Beidou_Dnav_Navigation_Message();
|
||||
|
||||
// System flags for data processing
|
||||
bool flag_eph_valid;
|
||||
bool flag_utc_model_valid;
|
||||
bool flag_iono_valid;
|
||||
bool flag_d1_sf1;
|
||||
bool flag_d1_sf2;
|
||||
bool flag_d1_sf3;
|
||||
bool flag_d1_sf4;
|
||||
bool flag_d1_sf5;
|
||||
bool flag_new_SOW_available;
|
||||
bool flag_crc_test;
|
||||
double d_previous_aode;
|
||||
bool flag_eph_valid{};
|
||||
bool flag_utc_model_valid{};
|
||||
bool flag_iono_valid{};
|
||||
bool flag_d1_sf1{};
|
||||
bool flag_d1_sf2{};
|
||||
bool flag_d1_sf3{};
|
||||
bool flag_d1_sf4{};
|
||||
bool flag_d1_sf5{};
|
||||
bool flag_new_SOW_available{};
|
||||
bool flag_crc_test{};
|
||||
double d_previous_aode{};
|
||||
|
||||
bool flag_d1_sf5_p7; //!< D1 NAV Message, Subframe 5, Page 09 decoded indicator
|
||||
bool flag_d1_sf5_p8; //!< D1 NAV Message, Subframe 5, Page 09 decoded indicator
|
||||
bool flag_d1_sf5_p9; //!< D1 NAV Message, Subframe 5, Page 09 decoded indicator
|
||||
bool flag_d1_sf5_p10; //!< D1 NAV Message, Subframe 5, Page 10 decoded indicator
|
||||
bool flag_d1_sf5_p7{}; //!< D1 NAV Message, Subframe 5, Page 09 decoded indicator
|
||||
bool flag_d1_sf5_p8{}; //!< D1 NAV Message, Subframe 5, Page 09 decoded indicator
|
||||
bool flag_d1_sf5_p9{}; //!< D1 NAV Message, Subframe 5, Page 09 decoded indicator
|
||||
bool flag_d1_sf5_p10{}; //!< D1 NAV Message, Subframe 5, Page 10 decoded indicator
|
||||
|
||||
|
||||
bool flag_sf1_p1; //!< D2 NAV Message, Subframe 1, Page 1 decoded indicator
|
||||
bool flag_sf1_p2; //!< D2 NAV Message, Subframe 1, Page 2 decoded indicator
|
||||
bool flag_sf1_p3; //!< D2 NAV Message, Subframe 1, Page 3 decoded indicator
|
||||
bool flag_sf1_p4; //!< D2 NAV Message, Subframe 1, Page 4 decoded indicator
|
||||
bool flag_sf1_p5; //!< D2 NAV Message, Subframe 1, Page 5 decoded indicator
|
||||
bool flag_sf1_p6; //!< D2 NAV Message, Subframe 1, Page 6 decoded indicator
|
||||
bool flag_sf1_p7; //!< D2 NAV Message, Subframe 1, Page 7 decoded indicator
|
||||
bool flag_sf1_p8; //!< D2 NAV Message, Subframe 1, Page 8 decoded indicator
|
||||
bool flag_sf1_p9; //!< D2 NAV Message, Subframe 1, Page 9 decoded indicator
|
||||
bool flag_sf1_p10; //!< D2 NAV Message, Subframe 1, Page 10 decoded indicator
|
||||
bool flag_sf1_p1{}; //!< D2 NAV Message, Subframe 1, Page 1 decoded indicator
|
||||
bool flag_sf1_p2{}; //!< D2 NAV Message, Subframe 1, Page 2 decoded indicator
|
||||
bool flag_sf1_p3{}; //!< D2 NAV Message, Subframe 1, Page 3 decoded indicator
|
||||
bool flag_sf1_p4{}; //!< D2 NAV Message, Subframe 1, Page 4 decoded indicator
|
||||
bool flag_sf1_p5{}; //!< D2 NAV Message, Subframe 1, Page 5 decoded indicator
|
||||
bool flag_sf1_p6{}; //!< D2 NAV Message, Subframe 1, Page 6 decoded indicator
|
||||
bool flag_sf1_p7{}; //!< D2 NAV Message, Subframe 1, Page 7 decoded indicator
|
||||
bool flag_sf1_p8{}; //!< D2 NAV Message, Subframe 1, Page 8 decoded indicator
|
||||
bool flag_sf1_p9{}; //!< D2 NAV Message, Subframe 1, Page 9 decoded indicator
|
||||
bool flag_sf1_p10{}; //!< D2 NAV Message, Subframe 1, Page 10 decoded indicator
|
||||
|
||||
// broadcast orbit 1
|
||||
double d_SOW; //!< Time of BeiDou Week of the ephemeris set (taken from subframes SOW) [s]
|
||||
double d_SOW_SF1; //!< Time of BeiDou Week from HOW word of Subframe 1 [s]
|
||||
double d_SOW_SF2; //!< Time of BeiDou Week from HOW word of Subframe 2 [s]
|
||||
double d_SOW_SF3; //!< Time of BeiDou Week from HOW word of Subframe 3 [s]
|
||||
double d_SOW_SF4; //!< Time of BeiDou Week from HOW word of Subframe 4 [s]
|
||||
double d_SOW_SF5; //!< Time of BeiDou Week from HOW word of Subframe 5 [s]
|
||||
double d_SOW{}; //!< Time of BeiDou Week of the ephemeris set (taken from subframes SOW) [s]
|
||||
double d_SOW_SF1{}; //!< Time of BeiDou Week from HOW word of Subframe 1 [s]
|
||||
double d_SOW_SF2{}; //!< Time of BeiDou Week from HOW word of Subframe 2 [s]
|
||||
double d_SOW_SF3{}; //!< Time of BeiDou Week from HOW word of Subframe 3 [s]
|
||||
double d_SOW_SF4{}; //!< Time of BeiDou Week from HOW word of Subframe 4 [s]
|
||||
double d_SOW_SF5{}; //!< Time of BeiDou Week from HOW word of Subframe 5 [s]
|
||||
|
||||
double d_AODE;
|
||||
double d_Crs; //!< Amplitude of the Sine Harmonic Correction Term to the Orbit Radius [m]
|
||||
double d_Delta_n; //!< Mean Motion Difference From Computed Value [semi-circles/s]
|
||||
double d_M_0; //!< Mean Anomaly at Reference Time [semi-circles]
|
||||
double d_AODE{};
|
||||
double d_Crs{}; //!< Amplitude of the Sine Harmonic Correction Term to the Orbit Radius [m]
|
||||
double d_Delta_n{}; //!< Mean Motion Difference From Computed Value [semi-circles/s]
|
||||
double d_M_0{}; //!< Mean Anomaly at Reference Time [semi-circles]
|
||||
|
||||
// broadcast orbit 2
|
||||
double d_Cuc; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
double d_eccentricity; //!< Eccentricity [dimensionless]
|
||||
double d_Cus; //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
double d_sqrt_A; //!< Square Root of the Semi-Major Axis [sqrt(m)]
|
||||
double d_Cuc{}; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
double d_eccentricity{}; //!< Eccentricity [dimensionless]
|
||||
double d_Cus{}; //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
double d_sqrt_A{}; //!< Square Root of the Semi-Major Axis [sqrt(m)]
|
||||
|
||||
// broadcast orbit 3
|
||||
double d_Toe_sf2; //!< Ephemeris data reference time of week in subframe 2, D1 Message
|
||||
double d_Toe_sf3; //!< Ephemeris data reference time of week in subframe 3, D1 Message
|
||||
double d_Toe; //!< Ephemeris data reference time of week in subframe 1, D2 Message
|
||||
double d_Toc; //!< clock data reference time [s]
|
||||
double d_Cic; //!< Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination [rad]
|
||||
double d_OMEGA0; //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
|
||||
double d_Cis; //!< Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination [rad]
|
||||
double d_Toe_sf2{}; //!< Ephemeris data reference time of week in subframe 2, D1 Message
|
||||
double d_Toe_sf3{}; //!< Ephemeris data reference time of week in subframe 3, D1 Message
|
||||
double d_Toe{}; //!< Ephemeris data reference time of week in subframe 1, D2 Message
|
||||
double d_Toc{}; //!< clock data reference time [s]
|
||||
double d_Cic{}; //!< Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination [rad]
|
||||
double d_OMEGA0{}; //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
|
||||
double d_Cis{}; //!< Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination [rad]
|
||||
|
||||
// broadcast orbit 4
|
||||
double d_i_0; //!< Inclination Angle at Reference Time [semi-circles]
|
||||
double d_Crc; //!< Amplitude of the Cosine Harmonic Correction Term to the Orbit Radius [m]
|
||||
double d_OMEGA; //!< Argument of Perigee [semi-cicles]
|
||||
double d_OMEGA_DOT; //!< Rate of Right Ascension [semi-circles/s]
|
||||
double d_i_0{}; //!< Inclination Angle at Reference Time [semi-circles]
|
||||
double d_Crc{}; //!< Amplitude of the Cosine Harmonic Correction Term to the Orbit Radius [m]
|
||||
double d_OMEGA{}; //!< Argument of Perigee [semi-cicles]
|
||||
double d_OMEGA_DOT{}; //!< Rate of Right Ascension [semi-circles/s]
|
||||
|
||||
// broadcast orbit 5
|
||||
double d_IDOT; //!< Rate of Inclination Angle [semi-circles/s]
|
||||
int32_t i_BEIDOU_week; //!< BeiDou week number, aka WN [week]
|
||||
double d_IDOT{}; //!< Rate of Inclination Angle [semi-circles/s]
|
||||
int32_t i_BEIDOU_week{}; //!< BeiDou week number, aka WN [week]
|
||||
|
||||
// broadcast orbit 6
|
||||
int32_t i_SV_accuracy; //!< User Range Accuracy (URA) index of the SV
|
||||
int32_t i_SV_health;
|
||||
double d_TGD1; //!< Estimated Group Delay Differential in B1 [s]
|
||||
double d_TGD2; //!< Estimated Group Delay Differential in B2 [s]
|
||||
double d_AODC; //!< Age of Data, Clock
|
||||
int32_t i_SV_accuracy{}; //!< User Range Accuracy (URA) index of the SV
|
||||
int32_t i_SV_health{};
|
||||
double d_TGD1{}; //!< Estimated Group Delay Differential in B1 [s]
|
||||
double d_TGD2{}; //!< Estimated Group Delay Differential in B2 [s]
|
||||
double d_AODC{}; //!< Age of Data, Clock
|
||||
|
||||
// broadcast orbit 7
|
||||
// int32_t i_AODO; //!< Age of Data Offset (AODO) term for the navigation message correction table (NMCT) contained in subframe 4 (reference paragraph 20.3.3.5.1.9) [s]
|
||||
// int32_t i_AODO{}; //!< Age of Data Offset (AODO) term for the navigation message correction table (NMCT) contained in subframe 4 (reference paragraph 20.3.3.5.1.9) [s]
|
||||
|
||||
bool b_fit_interval_flag; //!< indicates the curve-fit interval used by the CS (Block II/IIA/IIR/IIR-M/IIF) and SS (Block IIIA) in determining the ephemeris parameters, as follows: 0 = 4 hours, 1 = greater than 4 hours.
|
||||
double d_spare1;
|
||||
double d_spare2;
|
||||
bool b_fit_interval_flag{}; //!< indicates the curve-fit interval used by the CS (Block II/IIA/IIR/IIR-M/IIF) and SS (Block IIIA) in determining the ephemeris parameters, as follows: 0 = 4 hours, 1 = greater than 4 hours.
|
||||
double d_spare1{};
|
||||
double d_spare2{};
|
||||
|
||||
double d_A_f0; //!< Clock correction parameters. Coefficient 0 of code phase offset model [s]
|
||||
double d_A_f1; //!< Clock correction parameters. Coefficient 1 of code phase offset model [s/s]
|
||||
double d_A_f2; //!< Clock correction parameters. Coefficient 2 of code phase offset model [s/s^2]
|
||||
double d_A_f0{}; //!< Clock correction parameters. Coefficient 0 of code phase offset model [s]
|
||||
double d_A_f1{}; //!< Clock correction parameters. Coefficient 1 of code phase offset model [s/s]
|
||||
double d_A_f2{}; //!< Clock correction parameters. Coefficient 2 of code phase offset model [s/s^2]
|
||||
|
||||
// D2 NAV Message Decoding
|
||||
uint64_t d_A_f1_msb_bits; //!< Clock correction parameters, D2 NAV MSB
|
||||
uint64_t d_A_f1_lsb_bits; //!< Clock correction parameters, D2 NAV LSB
|
||||
uint64_t d_Cuc_msb_bits; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
uint64_t d_Cuc_lsb_bits; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
uint64_t d_eccentricity_msb; //!< Eccentricity [dimensionless]
|
||||
uint64_t d_eccentricity_lsb; //!< Eccentricity [dimensionless]
|
||||
uint64_t d_Cic_msb_bits; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
uint64_t d_Cic_lsb_bits; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
uint64_t d_eccentricity_msb_bits; //!< Eccentricity [dimensionless]
|
||||
uint64_t d_eccentricity_lsb_bits;
|
||||
uint64_t d_i_0_msb_bits; //!< Inclination Angle at Reference Time [semi-circles]
|
||||
uint64_t d_i_0_lsb_bits; //!< Inclination Angle at Reference Time [semi-circles]
|
||||
uint64_t d_OMEGA_msb_bits; //!< Argument of Perigee [semi-cicles]
|
||||
uint64_t d_OMEGA_lsb_bits; //!< Argument of Perigee [semi-cicles]
|
||||
uint64_t d_OMEGA_DOT_msb_bits; //!< Rate of Right Ascension [semi-circles/s]
|
||||
uint64_t d_OMEGA_DOT_lsb_bits; //!< Rate of Right Ascension [semi-circles/s]
|
||||
uint64_t d_A_f1_msb_bits{}; //!< Clock correction parameters, D2 NAV MSB
|
||||
uint64_t d_A_f1_lsb_bits{}; //!< Clock correction parameters, D2 NAV LSB
|
||||
uint64_t d_Cuc_msb_bits{}; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
uint64_t d_Cuc_lsb_bits{}; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
uint64_t d_eccentricity_msb{}; //!< Eccentricity [dimensionless]
|
||||
uint64_t d_eccentricity_lsb{}; //!< Eccentricity [dimensionless]
|
||||
uint64_t d_Cic_msb_bits{}; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
uint64_t d_Cic_lsb_bits{}; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
uint64_t d_eccentricity_msb_bits{}; //!< Eccentricity [dimensionless]
|
||||
uint64_t d_eccentricity_lsb_bits{};
|
||||
uint64_t d_i_0_msb_bits{}; //!< Inclination Angle at Reference Time [semi-circles]
|
||||
uint64_t d_i_0_lsb_bits{}; //!< Inclination Angle at Reference Time [semi-circles]
|
||||
uint64_t d_OMEGA_msb_bits{}; //!< Argument of Perigee [semi-cicles]
|
||||
uint64_t d_OMEGA_lsb_bits{}; //!< Argument of Perigee [semi-cicles]
|
||||
uint64_t d_OMEGA_DOT_msb_bits{}; //!< Rate of Right Ascension [semi-circles/s]
|
||||
uint64_t d_OMEGA_DOT_lsb_bits{}; //!< Rate of Right Ascension [semi-circles/s]
|
||||
|
||||
// Almanac
|
||||
double d_Toa; //!< Almanac reference time [s]
|
||||
int32_t i_WN_A; //!< Modulo 256 of the GPS week number to which the almanac reference time (d_Toa) is referenced
|
||||
double d_Toa{}; //!< Almanac reference time [s]
|
||||
int32_t i_WN_A{}; //!< Modulo 256 of the GPS week number to which the almanac reference time (d_Toa) is referenced
|
||||
std::map<int32_t, int32_t> almanacHealth; //!< Map that stores the health information stored in the almanac
|
||||
|
||||
std::map<int32_t, std::string> satelliteBlock; //!< Map that stores to which block the PRN belongs
|
||||
|
|
@ -172,73 +171,72 @@ public:
|
|||
* 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
|
||||
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
|
||||
// double d_master_clock; // GPS transmission time
|
||||
double d_satClkCorr; // GPS clock error
|
||||
double d_dtr; // relativistic clock correction term
|
||||
double d_satClkDrift;
|
||||
// double d_master_clock{}; // GPS transmission time
|
||||
double d_satClkCorr{}; // GPS clock error
|
||||
double d_dtr{}; // relativistic clock correction term
|
||||
double d_satClkDrift{};
|
||||
|
||||
// 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).
|
||||
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 identification info
|
||||
int32_t i_channel_ID;
|
||||
int32_t i_signal_type; //!< BDS: data source (0:unknown,1:B1I,2:B1Q,3:B2I,4:B2Q,5:B3I,6:B3Q)
|
||||
uint32_t i_satellite_PRN;
|
||||
int32_t i_channel_ID{};
|
||||
int32_t i_signal_type{}; //!< BDS: data source (0:unknown,1:B1I,2:B1Q,3:B2I,4:B2Q,5:B3I,6:B3Q)
|
||||
uint32_t i_satellite_PRN{};
|
||||
|
||||
// time synchro
|
||||
double d_subframe_timestamp_ms; // [ms]
|
||||
double d_subframe_timestamp_ms{}; // [ms]
|
||||
|
||||
// Ionospheric parameters
|
||||
double d_alpha0; //!< Coefficient 0 of a cubic equation representing the amplitude of the vertical delay [s]
|
||||
double d_alpha1; //!< Coefficient 1 of a cubic equation representing the amplitude of the vertical delay [s/semi-circle]
|
||||
double d_alpha2; //!< Coefficient 2 of a cubic equation representing the amplitude of the vertical delay [s(semi-circle)^2]
|
||||
double d_alpha3; //!< Coefficient 3 of a cubic equation representing the amplitude of the vertical delay [s(semi-circle)^3]
|
||||
double d_beta0; //!< Coefficient 0 of a cubic equation representing the period of the model [s]
|
||||
double d_beta1; //!< Coefficient 1 of a cubic equation representing the period of the model [s/semi-circle]
|
||||
double d_beta2; //!< Coefficient 2 of a cubic equation representing the period of the model [s(semi-circle)^2]
|
||||
double d_beta3; //!< Coefficient 3 of a cubic equation representing the period of the model [s(semi-circle)^3]
|
||||
double d_alpha0{}; //!< Coefficient 0 of a cubic equation representing the amplitude of the vertical delay [s]
|
||||
double d_alpha1{}; //!< Coefficient 1 of a cubic equation representing the amplitude of the vertical delay [s/semi-circle]
|
||||
double d_alpha2{}; //!< Coefficient 2 of a cubic equation representing the amplitude of the vertical delay [s(semi-circle)^2]
|
||||
double d_alpha3{}; //!< Coefficient 3 of a cubic equation representing the amplitude of the vertical delay [s(semi-circle)^3]
|
||||
double d_beta0{}; //!< Coefficient 0 of a cubic equation representing the period of the model [s]
|
||||
double d_beta1{}; //!< Coefficient 1 of a cubic equation representing the period of the model [s/semi-circle]
|
||||
double d_beta2{}; //!< Coefficient 2 of a cubic equation representing the period of the model [s(semi-circle)^2]
|
||||
double d_beta3{}; //!< Coefficient 3 of a cubic equation representing the period of the model [s(semi-circle)^3]
|
||||
|
||||
// UTC parameters
|
||||
double d_A1UTC; //!< 1st order term of a model that relates GPS and UTC time [s/s]
|
||||
double d_A0UTC; //!< Constant of a model that relates GPS and UTC time [s]
|
||||
double d_DeltaT_LS; //!< delta time due to leap seconds [s]. Number of leap seconds since 6-Jan-1980 as transmitted by the GPS almanac.
|
||||
int32_t i_WN_LSF; //!< Week number at the end of which the leap second becomes effective [weeks]
|
||||
int32_t i_DN; //!< Day number (DN) at the end of which the leap second becomes effective [days]
|
||||
double d_DeltaT_LSF; //!< Scheduled future or recent past (relative to NAV message upload) value of the delta time due to leap seconds [s]
|
||||
double d_A1GPS;
|
||||
double d_A0GPS;
|
||||
double d_A1GAL;
|
||||
double d_A0GAL;
|
||||
double d_A1GLO;
|
||||
double d_A0GLO;
|
||||
double d_A1UTC{}; //!< 1st order term of a model that relates GPS and UTC time [s/s]
|
||||
double d_A0UTC{}; //!< Constant of a model that relates GPS and UTC time [s]
|
||||
double d_DeltaT_LS{}; //!< delta time due to leap seconds [s]. Number of leap seconds since 6-Jan-1980 as transmitted by the GPS almanac.
|
||||
int32_t i_WN_LSF{}; //!< Week number at the end of which the leap second becomes effective [weeks]
|
||||
int32_t i_DN{}; //!< Day number (DN) at the end of which the leap second becomes effective [days]
|
||||
double d_DeltaT_LSF{}; //!< Scheduled future or recent past (relative to NAV message upload) value of the delta time due to leap seconds [s]
|
||||
double d_A1GPS{};
|
||||
double d_A0GPS{};
|
||||
double d_A1GAL{};
|
||||
double d_A0GAL{};
|
||||
double d_A1GLO{};
|
||||
double d_A0GLO{};
|
||||
|
||||
double d_SQRT_A_ALMANAC;
|
||||
double d_A1_ALMANAC;
|
||||
double d_A0_ALMANAC;
|
||||
double d_OMEGA0_ALMANAC;
|
||||
double d_E_ALMANAC;
|
||||
double d_DELTA_I;
|
||||
double d_TOA;
|
||||
double d_OMEGA_DOT_ALMANAC;
|
||||
double d_OMEGA_ALMANAC;
|
||||
double d_M0_ALMANAC;
|
||||
int32_t almanac_WN;
|
||||
double d_toa2;
|
||||
double d_SQRT_A_ALMANAC{};
|
||||
double d_A1_ALMANAC{};
|
||||
double d_A0_ALMANAC{};
|
||||
double d_OMEGA0_ALMANAC{};
|
||||
double d_E_ALMANAC{};
|
||||
double d_DELTA_I{};
|
||||
double d_TOA{};
|
||||
double d_OMEGA_DOT_ALMANAC{};
|
||||
double d_OMEGA_ALMANAC{};
|
||||
double d_M0_ALMANAC{};
|
||||
int32_t almanac_WN{};
|
||||
double d_toa2{};
|
||||
|
||||
// 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]
|
||||
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]
|
||||
|
||||
// public functions
|
||||
void reset();
|
||||
|
||||
/*!
|
||||
* \brief Obtain a BDS SV Ephemeris class filled with current SV data
|
||||
|
|
|
|||
|
|
@ -1,40 +0,0 @@
|
|||
/*!
|
||||
* \file beidou_dnav_utc_model.cc
|
||||
* \brief Interface of a BeiDou UTC Model storage
|
||||
* \author Damian Miralles, 2018. dmiralles2009(at)gmail.com
|
||||
* \author Sergi Segura, 2018. sergi.segura.munoz(at)gmail.com
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2019 (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.
|
||||
*
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "beidou_dnav_utc_model.h"
|
||||
|
||||
|
||||
Beidou_Dnav_Utc_Model::Beidou_Dnav_Utc_Model()
|
||||
{
|
||||
valid = false;
|
||||
d_A1_UTC = 0;
|
||||
d_A0_UTC = 0;
|
||||
d_DeltaT_LS = 0;
|
||||
i_WN_LSF = 0;
|
||||
i_DN = 0;
|
||||
d_DeltaT_LSF = 0;
|
||||
|
||||
d_A0_GPS = 0;
|
||||
d_A1_GPS = 0;
|
||||
d_A0_GAL = 0;
|
||||
d_A1_GAL = 0;
|
||||
d_A0_GLO = 0;
|
||||
d_A1_GLO = 0;
|
||||
}
|
||||
|
|
@ -33,29 +33,29 @@
|
|||
class Beidou_Dnav_Utc_Model
|
||||
{
|
||||
public:
|
||||
bool valid;
|
||||
Beidou_Dnav_Utc_Model() = default;
|
||||
|
||||
bool valid{};
|
||||
|
||||
// BeiDou UTC parameters
|
||||
double d_A0_UTC; //!< BDT clock bias relative to UTC [s]
|
||||
double d_A1_UTC; //!< BDT clock rate relative to UTC [s/s]
|
||||
double d_DeltaT_LS; //!< Delta time due to leap seconds before the new leap second effective
|
||||
int i_WN_LSF; //!< Week number of the new leap second
|
||||
int i_DN; //!< Day number of week of the new leap second
|
||||
double d_DeltaT_LSF; //!< Delta time due to leap seconds after the new leap second effective [s]
|
||||
double d_A0_UTC{}; //!< BDT clock bias relative to UTC [s]
|
||||
double d_A1_UTC{}; //!< BDT clock rate relative to UTC [s/s]
|
||||
double d_DeltaT_LS{}; //!< Delta time due to leap seconds before the new leap second effective
|
||||
int i_WN_LSF{}; //!< Week number of the new leap second
|
||||
int i_DN{}; //!< Day number of week of the new leap second
|
||||
double d_DeltaT_LSF{}; //!< Delta time due to leap seconds after the new leap second effective [s]
|
||||
|
||||
// BeiDou to GPS time corrections
|
||||
double d_A0_GPS; //!< BDT clock bias relative to GPS time [s]
|
||||
double d_A1_GPS; //!< BDT clock rate relative to GPS time [s/s]
|
||||
double d_A0_GPS{}; //!< BDT clock bias relative to GPS time [s]
|
||||
double d_A1_GPS{}; //!< BDT clock rate relative to GPS time [s/s]
|
||||
|
||||
// BeiDou to Galileo time corrections
|
||||
double d_A0_GAL; //!< BDT clock bias relative to GAL time [s]
|
||||
double d_A1_GAL; //!< BDT clock rate relative to GAL time [s/s]
|
||||
double d_A0_GAL{}; //!< BDT clock bias relative to GAL time [s]
|
||||
double d_A1_GAL{}; //!< BDT clock rate relative to GAL time [s/s]
|
||||
|
||||
// BeiDou to GLONASS time corrections
|
||||
double d_A0_GLO; //!< BDT clock bias relative to GLO time [s]
|
||||
double d_A1_GLO; //!< BDT clock rate relative to GLO time [s/s]
|
||||
|
||||
Beidou_Dnav_Utc_Model();
|
||||
double d_A0_GLO{}; //!< BDT clock bias relative to GLO time [s]
|
||||
double d_A1_GLO{}; //!< BDT clock rate relative to GLO time [s/s]
|
||||
|
||||
template <class Archive>
|
||||
/*
|
||||
|
|
|
|||
|
|
@ -1,41 +0,0 @@
|
|||
/*!
|
||||
* \file galileo_almanac.cc
|
||||
* \brief Interface of a Galileo ALMANAC storage
|
||||
* \author Carles Fernandez, 2018. cfernandez(at)cttc.cat
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2019 (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.
|
||||
*
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "galileo_almanac.h"
|
||||
|
||||
|
||||
Galileo_Almanac::Galileo_Almanac()
|
||||
{
|
||||
i_satellite_PRN = 0U;
|
||||
i_Toa = 0;
|
||||
i_WNa = 0;
|
||||
i_IODa = 0;
|
||||
d_Delta_i = 0.0;
|
||||
d_M_0 = 0.0;
|
||||
d_e_eccentricity = 0.0;
|
||||
d_Delta_sqrt_A = 0.0;
|
||||
d_OMEGA0 = 0.0;
|
||||
d_OMEGA = 0.0;
|
||||
d_OMEGA_DOT = 0.0;
|
||||
d_A_f0 = 0.0;
|
||||
d_A_f1 = 0.0;
|
||||
E5b_HS = 0;
|
||||
E1B_HS = 0;
|
||||
E5a_HS = 0;
|
||||
}
|
||||
|
|
@ -30,27 +30,27 @@
|
|||
class Galileo_Almanac
|
||||
{
|
||||
public:
|
||||
uint32_t i_satellite_PRN; //!< SV PRN NUMBER
|
||||
int32_t i_Toa;
|
||||
int32_t i_WNa;
|
||||
int32_t i_IODa;
|
||||
double d_Delta_i; //!< Inclination at reference time relative to i0 = 56º [semi-circles]
|
||||
double d_M_0; //!< Mean Anomaly at Reference Time [semi-circles]
|
||||
double d_e_eccentricity; //!< Eccentricity [dimensionless]
|
||||
double d_Delta_sqrt_A; //!< Square Root of the Semi-Major Axis [sqrt(m)]
|
||||
double d_OMEGA0; //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
|
||||
double d_OMEGA; //!< Argument of Perigee [semi-cicles]
|
||||
double d_OMEGA_DOT; //!< Rate of Right Ascension [semi-circles/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]
|
||||
int32_t E5b_HS;
|
||||
int32_t E1B_HS;
|
||||
int32_t E5a_HS;
|
||||
uint32_t i_satellite_PRN{}; //!< SV PRN NUMBER
|
||||
int32_t i_Toa{};
|
||||
int32_t i_WNa{};
|
||||
int32_t i_IODa{};
|
||||
double d_Delta_i{}; //!< Inclination at reference time relative to i0 = 56º [semi-circles]
|
||||
double d_M_0{}; //!< Mean Anomaly at Reference Time [semi-circles]
|
||||
double d_e_eccentricity{}; //!< Eccentricity [dimensionless]
|
||||
double d_Delta_sqrt_A{}; //!< Square Root of the Semi-Major Axis [sqrt(m)]
|
||||
double d_OMEGA0{}; //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
|
||||
double d_OMEGA{}; //!< Argument of Perigee [semi-cicles]
|
||||
double d_OMEGA_DOT{}; //!< Rate of Right Ascension [semi-circles/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]
|
||||
int32_t E5b_HS{};
|
||||
int32_t E1B_HS{};
|
||||
int32_t E5a_HS{};
|
||||
|
||||
/*!
|
||||
* Default constructor
|
||||
*/
|
||||
Galileo_Almanac();
|
||||
Galileo_Almanac() = default;
|
||||
|
||||
template <class Archive>
|
||||
|
||||
|
|
|
|||
|
|
@ -19,64 +19,6 @@
|
|||
|
||||
#include "galileo_almanac_helper.h"
|
||||
|
||||
Galileo_Almanac_Helper::Galileo_Almanac_Helper()
|
||||
{
|
||||
// Word type 7: Almanac for SVID1 (1/2), almanac reference time and almanac reference week number
|
||||
IOD_a_7 = 0;
|
||||
WN_a_7 = 0;
|
||||
t0a_7 = 0;
|
||||
SVID1_7 = 0;
|
||||
DELTA_A_7 = 0.0;
|
||||
e_7 = 0.0;
|
||||
omega_7 = 0.0;
|
||||
delta_i_7 = 0.0;
|
||||
Omega0_7 = 0.0;
|
||||
Omega_dot_7 = 0.0;
|
||||
M0_7 = 0.0;
|
||||
|
||||
// Word type 8: Almanac for SVID1 (2/2) and SVID2 (1/2)
|
||||
IOD_a_8 = 0;
|
||||
af0_8 = 0.0;
|
||||
af1_8 = 0.0;
|
||||
E5b_HS_8 = 0;
|
||||
E1B_HS_8 = 0;
|
||||
E5a_HS_8 = 0;
|
||||
SVID2_8 = 0;
|
||||
DELTA_A_8 = 0.0;
|
||||
e_8 = 0.0;
|
||||
omega_8 = 0.0;
|
||||
delta_i_8 = 0.0;
|
||||
Omega0_8 = 0.0;
|
||||
Omega_dot_8 = 0.0;
|
||||
|
||||
// Word type 9: Almanac for SVID2 (2/2) and SVID3 (1/2)
|
||||
IOD_a_9 = 0;
|
||||
WN_a_9 = 0;
|
||||
t0a_9 = 0;
|
||||
M0_9 = 0.0;
|
||||
af0_9 = 0.0;
|
||||
af1_9 = 0.0;
|
||||
E5b_HS_9 = 0;
|
||||
E1B_HS_9 = 0;
|
||||
E5a_HS_9 = 0;
|
||||
SVID3_9 = 0;
|
||||
DELTA_A_9 = 0.0;
|
||||
e_9 = 0.0;
|
||||
omega_9 = 0.0;
|
||||
delta_i_9 = 0.0;
|
||||
|
||||
// Word type 10: Almanac for SVID3 (2/2)
|
||||
IOD_a_10 = 0;
|
||||
Omega0_10 = 0.0;
|
||||
Omega_dot_10 = 0.0;
|
||||
M0_10 = 0.0;
|
||||
af0_10 = 0.0;
|
||||
af1_10 = 0.0;
|
||||
E5b_HS_10 = 0;
|
||||
E1B_HS_10 = 0;
|
||||
E5a_HS_10 = 0;
|
||||
}
|
||||
|
||||
Galileo_Almanac Galileo_Almanac_Helper::get_almanac(int i)
|
||||
{
|
||||
Galileo_Almanac galileo_almanac;
|
||||
|
|
|
|||
|
|
@ -31,62 +31,63 @@
|
|||
class Galileo_Almanac_Helper
|
||||
{
|
||||
public:
|
||||
Galileo_Almanac_Helper() = default; //!< Default constructor
|
||||
|
||||
// Word type 7: Almanac for SVID1 (1/2), almanac reference time and almanac reference week number
|
||||
int32_t IOD_a_7;
|
||||
int32_t WN_a_7;
|
||||
int32_t t0a_7;
|
||||
int32_t SVID1_7;
|
||||
double DELTA_A_7;
|
||||
double e_7;
|
||||
double omega_7;
|
||||
double delta_i_7;
|
||||
double Omega0_7;
|
||||
double Omega_dot_7;
|
||||
double M0_7;
|
||||
int32_t IOD_a_7{};
|
||||
int32_t WN_a_7{};
|
||||
int32_t t0a_7{};
|
||||
int32_t SVID1_7{};
|
||||
double DELTA_A_7{};
|
||||
double e_7{};
|
||||
double omega_7{};
|
||||
double delta_i_7{};
|
||||
double Omega0_7{};
|
||||
double Omega_dot_7{};
|
||||
double M0_7{};
|
||||
|
||||
// Word type 8: Almanac for SVID1 (2/2) and SVID2 (1/2)
|
||||
int32_t IOD_a_8;
|
||||
double af0_8;
|
||||
double af1_8;
|
||||
int32_t E5b_HS_8;
|
||||
int32_t E1B_HS_8;
|
||||
int32_t E5a_HS_8;
|
||||
int32_t SVID2_8;
|
||||
double DELTA_A_8;
|
||||
double e_8;
|
||||
double omega_8;
|
||||
double delta_i_8;
|
||||
double Omega0_8;
|
||||
double Omega_dot_8;
|
||||
int32_t IOD_a_8{};
|
||||
double af0_8{};
|
||||
double af1_8{};
|
||||
int32_t E5b_HS_8{};
|
||||
int32_t E1B_HS_8{};
|
||||
int32_t E5a_HS_8{};
|
||||
int32_t SVID2_8{};
|
||||
double DELTA_A_8{};
|
||||
double e_8{};
|
||||
double omega_8{};
|
||||
double delta_i_8{};
|
||||
double Omega0_8{};
|
||||
double Omega_dot_8{};
|
||||
|
||||
// Word type 9: Almanac for SVID2 (2/2) and SVID3 (1/2)
|
||||
int32_t IOD_a_9;
|
||||
int32_t WN_a_9;
|
||||
int32_t t0a_9;
|
||||
double M0_9;
|
||||
double af0_9;
|
||||
double af1_9;
|
||||
int32_t E5b_HS_9;
|
||||
int32_t E1B_HS_9;
|
||||
int32_t E5a_HS_9;
|
||||
int32_t SVID3_9;
|
||||
double DELTA_A_9;
|
||||
double e_9;
|
||||
double omega_9;
|
||||
double delta_i_9;
|
||||
int32_t IOD_a_9{};
|
||||
int32_t WN_a_9{};
|
||||
int32_t t0a_9{};
|
||||
double M0_9{};
|
||||
double af0_9{};
|
||||
double af1_9{};
|
||||
int32_t E5b_HS_9{};
|
||||
int32_t E1B_HS_9{};
|
||||
int32_t E5a_HS_9{};
|
||||
int32_t SVID3_9{};
|
||||
double DELTA_A_9{};
|
||||
double e_9{};
|
||||
double omega_9{};
|
||||
double delta_i_9{};
|
||||
|
||||
// Word type 10: Almanac for SVID3 (2/2)
|
||||
int32_t IOD_a_10;
|
||||
double Omega0_10;
|
||||
double Omega_dot_10;
|
||||
double M0_10;
|
||||
double af0_10;
|
||||
double af1_10;
|
||||
int32_t E5b_HS_10;
|
||||
int32_t E1B_HS_10;
|
||||
int32_t E5a_HS_10;
|
||||
int32_t IOD_a_10{};
|
||||
double Omega0_10{};
|
||||
double Omega_dot_10{};
|
||||
double M0_10{};
|
||||
double af0_10{};
|
||||
double af1_10{};
|
||||
int32_t E5b_HS_10{};
|
||||
int32_t E1B_HS_10{};
|
||||
int32_t E5a_HS_10{};
|
||||
|
||||
Galileo_Almanac_Helper(); //!< Default constructor
|
||||
Galileo_Almanac get_almanac(int i);
|
||||
};
|
||||
|
||||
|
|
|
|||
|
|
@ -22,67 +22,6 @@
|
|||
#include <cmath>
|
||||
|
||||
|
||||
Galileo_Ephemeris::Galileo_Ephemeris()
|
||||
{
|
||||
flag_all_ephemeris = false;
|
||||
IOD_ephemeris = 0;
|
||||
IOD_nav_1 = 0;
|
||||
SV_ID_PRN_4 = 0;
|
||||
M0_1 = 0.0; // Mean anomaly at reference time [semi-circles]
|
||||
delta_n_3 = 0.0; // Mean motion difference from computed value [semi-circles/sec]
|
||||
e_1 = 0.0; // Eccentricity
|
||||
A_1 = 0.0; // Square root of the semi-major axis [meters^1/2]
|
||||
OMEGA_0_2 = 0.0; // Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
|
||||
i_0_2 = 0.0; // Inclination angle at reference time [semi-circles]
|
||||
omega_2 = 0.0; // Argument of perigee [semi-circles]
|
||||
OMEGA_dot_3 = 0.0; // Rate of right ascension [semi-circles/sec]
|
||||
iDot_2 = 0.0; // Rate of inclination angle [semi-circles/sec]
|
||||
C_uc_3 = 0.0; // Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
|
||||
C_us_3 = 0.0; // Amplitude of the sine harmonic correction term to the argument of latitude [radians]
|
||||
C_rc_3 = 0.0; // Amplitude of the cosine harmonic correction term to the orbit radius [meters]
|
||||
C_rs_3 = 0.0; // Amplitude of the sine harmonic correction term to the orbit radius [meters]
|
||||
C_ic_4 = 0.0; // Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
|
||||
C_is_4 = 0.0; // Amplitude of the sine harmonic correction term to the angle of inclination [radians]
|
||||
t0e_1 = 0; // Ephemeris reference time [s]
|
||||
|
||||
// Clock correction parameters
|
||||
t0c_4 = 0; // Clock correction data reference Time of Week [sec]
|
||||
af0_4 = 0.0; // SV clock bias correction coefficient [s]
|
||||
af1_4 = 0.0; // SV clock drift correction coefficient [s/s]
|
||||
af2_4 = 0.0; // SV clock drift rate correction coefficient [s/s^2]
|
||||
|
||||
// GST
|
||||
WN_5 = 0;
|
||||
TOW_5 = 0;
|
||||
|
||||
// SV status
|
||||
SISA_3 = 0;
|
||||
E5a_HS = 0;
|
||||
E5b_HS_5 = 0;
|
||||
E1B_HS_5 = 0;
|
||||
E5a_DVS = false;
|
||||
E5b_DVS_5 = false;
|
||||
E1B_DVS_5 = false;
|
||||
BGD_E1E5a_5 = 0.0; // E1-E5a Broadcast Group Delay [s]
|
||||
BGD_E1E5b_5 = 0.0; // E1-E5b Broadcast Group Delay [s]
|
||||
|
||||
Galileo_satClkDrift = 0.0;
|
||||
Galileo_dtr = 0.0;
|
||||
|
||||
// satellite positions
|
||||
d_satpos_X = 0.0;
|
||||
d_satpos_Y = 0.0;
|
||||
d_satpos_Z = 0.0;
|
||||
|
||||
// Satellite velocity
|
||||
d_satvel_X = 0.0;
|
||||
d_satvel_Y = 0.0;
|
||||
d_satvel_Z = 0.0;
|
||||
|
||||
i_satellite_PRN = 0U;
|
||||
}
|
||||
|
||||
|
||||
double Galileo_Ephemeris::Galileo_System_Time(double WN, double TOW)
|
||||
{
|
||||
/* GALIELO SYSTEM TIME, ICD 5.1.2
|
||||
|
|
|
|||
|
|
@ -34,71 +34,71 @@
|
|||
class Galileo_Ephemeris
|
||||
{
|
||||
public:
|
||||
Galileo_Ephemeris() = default;
|
||||
/* Galileo ephemeris are 16 parameters and here are reported following the ICD order, paragraph 5.1.1.
|
||||
The number in the name after underscore (_1, _2, _3 and so on) refers to the page were we can find that parameter */
|
||||
bool flag_all_ephemeris;
|
||||
int32_t IOD_ephemeris;
|
||||
int32_t IOD_nav_1;
|
||||
int32_t SV_ID_PRN_4;
|
||||
double M0_1; //!< Mean anomaly at reference time [semi-circles]
|
||||
double delta_n_3; //!< Mean motion difference from computed value [semi-circles/sec]
|
||||
double e_1; //!< Eccentricity
|
||||
double A_1; //!< Square root of the semi-major axis [meters^1/2]
|
||||
double OMEGA_0_2; //!< Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
|
||||
double i_0_2; //!< Inclination angle at reference time [semi-circles]
|
||||
double omega_2; //!< Argument of perigee [semi-circles]
|
||||
double OMEGA_dot_3; //!< Rate of right ascension [semi-circles/sec]
|
||||
double iDot_2; //!< Rate of inclination angle [semi-circles/sec]
|
||||
double C_uc_3; //!< Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
|
||||
double C_us_3; //!< Amplitude of the sine harmonic correction term to the argument of latitude [radians]
|
||||
double C_rc_3; //!< Amplitude of the cosine harmonic correction term to the orbit radius [meters]
|
||||
double C_rs_3; //!< Amplitude of the sine harmonic correction term to the orbit radius [meters]
|
||||
double C_ic_4; //!< Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
|
||||
double C_is_4; //!< Amplitude of the sine harmonic correction term to the angle of inclination [radians]
|
||||
int32_t t0e_1; //!< Ephemeris reference time [s]
|
||||
bool flag_all_ephemeris{};
|
||||
int32_t IOD_ephemeris{};
|
||||
int32_t IOD_nav_1{};
|
||||
int32_t SV_ID_PRN_4{};
|
||||
double M0_1{}; //!< Mean anomaly at reference time [semi-circles]
|
||||
double delta_n_3{}; //!< Mean motion difference from computed value [semi-circles/sec]
|
||||
double e_1{}; //!< Eccentricity
|
||||
double A_1{}; //!< Square root of the semi-major axis [meters^1/2]
|
||||
double OMEGA_0_2{}; //!< Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
|
||||
double i_0_2{}; //!< Inclination angle at reference time [semi-circles]
|
||||
double omega_2{}; //!< Argument of perigee [semi-circles]
|
||||
double OMEGA_dot_3{}; //!< Rate of right ascension [semi-circles/sec]
|
||||
double iDot_2{}; //!< Rate of inclination angle [semi-circles/sec]
|
||||
double C_uc_3{}; //!< Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
|
||||
double C_us_3{}; //!< Amplitude of the sine harmonic correction term to the argument of latitude [radians]
|
||||
double C_rc_3{}; //!< Amplitude of the cosine harmonic correction term to the orbit radius [meters]
|
||||
double C_rs_3{}; //!< Amplitude of the sine harmonic correction term to the orbit radius [meters]
|
||||
double C_ic_4{}; //!< Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
|
||||
double C_is_4{}; //!< Amplitude of the sine harmonic correction term to the angle of inclination [radians]
|
||||
int32_t t0e_1{}; //!< Ephemeris reference time [s]
|
||||
|
||||
/*Clock correction parameters*/
|
||||
int32_t t0c_4; //!< Clock correction data reference Time of Week [sec]
|
||||
double af0_4; //!< SV clock bias correction coefficient [s]
|
||||
double af1_4; //!< SV clock drift correction coefficient [s/s]
|
||||
double af2_4; //!< SV clock drift rate correction coefficient [s/s^2]
|
||||
/* Clock correction parameters */
|
||||
int32_t t0c_4{}; //!< Clock correction data reference Time of Week [sec]
|
||||
double af0_4{}; //!< SV clock bias correction coefficient [s]
|
||||
double af1_4{}; //!< SV clock drift correction coefficient [s/s]
|
||||
double af2_4{}; //!< SV clock drift rate correction coefficient [s/s^2]
|
||||
|
||||
/*GST*/
|
||||
/* GST */
|
||||
// Not belong to ephemeris set (page 1 to 4)
|
||||
int32_t WN_5; //!< Week number
|
||||
int32_t TOW_5; //!< Time of Week
|
||||
double Galileo_satClkDrift;
|
||||
double Galileo_dtr; //!< relativistic clock correction term
|
||||
int32_t WN_5{}; //!< Week number
|
||||
int32_t TOW_5{}; //!< Time of Week
|
||||
double Galileo_satClkDrift{};
|
||||
double Galileo_dtr{}; //!< relativistic clock correction term
|
||||
|
||||
// SV status
|
||||
int32_t SISA_3;
|
||||
int32_t E5a_HS; //!< E5a Signal Health Status
|
||||
int32_t E5b_HS_5; //!< E5b Signal Health Status
|
||||
int32_t E1B_HS_5; //!< E1B Signal Health Status
|
||||
bool E5a_DVS; //!< E5a Data Validity Status
|
||||
bool E5b_DVS_5; //!< E5b Data Validity Status
|
||||
bool E1B_DVS_5; //!< E1B Data Validity Status
|
||||
int32_t SISA_3{};
|
||||
int32_t E5a_HS{}; //!< E5a Signal Health Status
|
||||
int32_t E5b_HS_5{}; //!< E5b Signal Health Status
|
||||
int32_t E1B_HS_5{}; //!< E1B Signal Health Status
|
||||
bool E5a_DVS{}; //!< E5a Data Validity Status
|
||||
bool E5b_DVS_5{}; //!< E5b Data Validity Status
|
||||
bool E1B_DVS_5{}; //!< E1B Data Validity Status
|
||||
|
||||
double BGD_E1E5a_5; //!< E1-E5a Broadcast Group Delay [s]
|
||||
double BGD_E1E5b_5; //!< E1-E5b Broadcast Group Delay [s]
|
||||
double BGD_E1E5a_5{}; //!< E1-E5a Broadcast Group Delay [s]
|
||||
double BGD_E1E5b_5{}; //!< E1-E5b Broadcast Group Delay [s]
|
||||
|
||||
// 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).
|
||||
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]
|
||||
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]
|
||||
|
||||
uint32_t i_satellite_PRN; //!< SV PRN NUMBER
|
||||
uint32_t i_satellite_PRN{}; //!< SV PRN NUMBER
|
||||
|
||||
void satellitePosition(double transmitTime); //!< Computes the ECEF SV coordinates and ECEF velocity
|
||||
double Galileo_System_Time(double WN, double TOW); //!< Galileo System Time (GST), ICD paragraph 5.1.2
|
||||
double sv_clock_drift(double transmitTime); //!< Satellite Time Correction Algorithm, ICD 5.1.4
|
||||
double sv_clock_relativistic_term(double transmitTime); //!< Satellite Time Correction Algorithm, ICD 5.1.4
|
||||
Galileo_Ephemeris();
|
||||
|
||||
template <class Archive>
|
||||
|
||||
|
|
|
|||
|
|
@ -33,143 +33,6 @@
|
|||
|
||||
using CRC_Galileo_FNAV_type = boost::crc_optimal<24, 0x1864CFBU, 0x0, 0x0, false, false>;
|
||||
|
||||
void Galileo_Fnav_Message::reset()
|
||||
{
|
||||
flag_CRC_test = false;
|
||||
flag_all_ephemeris = false; //!< Flag indicating that all words containing ephemeris have been received
|
||||
flag_ephemeris_1 = false; //!< Flag indicating that ephemeris 1/3 (word 2) have been received
|
||||
flag_ephemeris_2 = false; //!< Flag indicating that ephemeris 2/3 (word 3) have been received
|
||||
flag_ephemeris_3 = false; //!< Flag indicating that ephemeris 3/3 (word 4) have been received
|
||||
|
||||
flag_iono_and_GST = false; //!< Flag indicating that ionospheric and GST parameters (word 1) have been received
|
||||
flag_TOW_1 = false;
|
||||
flag_TOW_2 = false;
|
||||
flag_TOW_3 = false;
|
||||
flag_TOW_4 = false;
|
||||
flag_TOW_set = false; //!< it is true when page 1,2,3 or 4 arrives
|
||||
flag_utc_model = false; //!< Flag indicating that utc model parameters (word 4) have been received
|
||||
|
||||
flag_all_almanac = false; //!< Flag indicating that all almanac have been received
|
||||
flag_almanac_1 = false; //!< Flag indicating that almanac 1/2 (word 5) have been received
|
||||
flag_almanac_2 = false; //!< Flag indicating that almanac 2/2 (word 6) have been received
|
||||
|
||||
IOD_ephemeris = 0;
|
||||
|
||||
page_type = 0;
|
||||
// WORD 1 SVID, Clock correction, SISA, Ionospheric correction, BGD, GST, Signal
|
||||
// health and Data validity status
|
||||
FNAV_SV_ID_PRN_1 = 0;
|
||||
FNAV_IODnav_1 = -1;
|
||||
FNAV_t0c_1 = 0;
|
||||
FNAV_af0_1 = 0.0;
|
||||
FNAV_af1_1 = 0.0;
|
||||
FNAV_af2_1 = 0.0;
|
||||
FNAV_SISA_1 = 0;
|
||||
FNAV_ai0_1 = 0.0;
|
||||
FNAV_ai1_1 = 0.0;
|
||||
FNAV_ai2_1 = 0.0;
|
||||
FNAV_region1_1 = false;
|
||||
FNAV_region2_1 = false;
|
||||
FNAV_region3_1 = false;
|
||||
FNAV_region4_1 = false;
|
||||
FNAV_region5_1 = false;
|
||||
FNAV_BGD_1 = 0.0;
|
||||
FNAV_E5ahs_1 = 0;
|
||||
FNAV_WN_1 = 0;
|
||||
FNAV_TOW_1 = 0;
|
||||
FNAV_E5advs_1 = false;
|
||||
|
||||
// WORD 2 Ephemeris (1/3) and GST
|
||||
FNAV_IODnav_2 = -2;
|
||||
FNAV_M0_2 = 0.0;
|
||||
FNAV_omegadot_2 = 0.0;
|
||||
FNAV_e_2 = 0.0;
|
||||
FNAV_a12_2 = 0.0;
|
||||
FNAV_omega0_2 = 0.0;
|
||||
FNAV_idot_2 = 0.0;
|
||||
FNAV_WN_2 = 0;
|
||||
FNAV_TOW_2 = 0;
|
||||
|
||||
// WORD 3 Ephemeris (2/3) and GST
|
||||
FNAV_IODnav_3 = -3;
|
||||
FNAV_i0_3 = 0.0;
|
||||
FNAV_w_3 = 0.0;
|
||||
FNAV_deltan_3 = 0.0;
|
||||
FNAV_Cuc_3 = 0.0;
|
||||
FNAV_Cus_3 = 0.0;
|
||||
FNAV_Crc_3 = 0.0;
|
||||
FNAV_Crs_3 = 0.0;
|
||||
FNAV_t0e_3 = 0;
|
||||
FNAV_WN_3 = 0;
|
||||
FNAV_TOW_3 = 0;
|
||||
|
||||
// WORD 4 Ephemeris (3/3), GST-UTC conversion, GST-GPS conversion and TOW.
|
||||
// Note that the clock is repeated in this page type
|
||||
FNAV_IODnav_4 = -4;
|
||||
FNAV_Cic_4 = 0.0;
|
||||
FNAV_Cis_4 = 0.0;
|
||||
FNAV_A0_4 = 0.0;
|
||||
FNAV_A1_4 = 0.0;
|
||||
FNAV_deltatls_4 = 0;
|
||||
FNAV_t0t_4 = 0;
|
||||
FNAV_WNot_4 = 0;
|
||||
FNAV_WNlsf_4 = 0;
|
||||
FNAV_DN_4 = 0;
|
||||
FNAV_deltatlsf_4 = 0;
|
||||
FNAV_t0g_4 = 0;
|
||||
FNAV_A0g_4 = 0.0;
|
||||
FNAV_A1g_4 = 0.0;
|
||||
FNAV_WN0g_4 = 0;
|
||||
FNAV_TOW_4 = 0;
|
||||
|
||||
// WORD 5 Almanac (SVID1 and SVID2(1/2)), Week Number and almanac reference time
|
||||
FNAV_IODa_5 = 0;
|
||||
FNAV_WNa_5 = 0;
|
||||
FNAV_t0a_5 = 0;
|
||||
FNAV_SVID1_5 = 0;
|
||||
FNAV_Deltaa12_1_5 = 0.0;
|
||||
FNAV_e_1_5 = 0.0;
|
||||
FNAV_w_1_5 = 0.0;
|
||||
FNAV_deltai_1_5 = 0.0;
|
||||
FNAV_Omega0_1_5 = 0.0;
|
||||
FNAV_Omegadot_1_5 = 0.0;
|
||||
FNAV_M0_1_5 = 0.0;
|
||||
FNAV_af0_1_5 = 0.0;
|
||||
FNAV_af1_1_5 = 0.0;
|
||||
FNAV_E5ahs_1_5 = 0U;
|
||||
FNAV_SVID2_5 = 0;
|
||||
FNAV_Deltaa12_2_5 = 0;
|
||||
FNAV_e_2_5 = 0.0;
|
||||
FNAV_w_2_5 = 0.0;
|
||||
FNAV_deltai_2_5 = 0.0;
|
||||
|
||||
// WORD 6 Almanac (SVID2(2/2) and SVID3)
|
||||
FNAV_IODa_6 = 0;
|
||||
FNAV_Omega0_2_6 = 0.0;
|
||||
FNAV_Omegadot_2_6 = 0.0;
|
||||
FNAV_M0_2_6 = 0.0;
|
||||
FNAV_af0_2_6 = 0.0;
|
||||
FNAV_af1_2_6 = 0.0;
|
||||
FNAV_E5ahs_2_6 = 0;
|
||||
FNAV_SVID3_6 = 0;
|
||||
FNAV_Deltaa12_3_6 = 0.0;
|
||||
FNAV_e_3_6 = 0.0;
|
||||
FNAV_w_3_6 = 0.0;
|
||||
FNAV_deltai_3_6 = 0.0;
|
||||
FNAV_Omega0_3_6 = 0.0;
|
||||
FNAV_Omegadot_3_6 = 0.0;
|
||||
FNAV_M0_3_6 = 0.0;
|
||||
FNAV_af0_3_6 = 0.0;
|
||||
FNAV_af1_3_6 = 0.0;
|
||||
FNAV_E5ahs_3_6 = 0;
|
||||
}
|
||||
|
||||
|
||||
Galileo_Fnav_Message::Galileo_Fnav_Message()
|
||||
{
|
||||
reset();
|
||||
}
|
||||
|
||||
|
||||
void Galileo_Fnav_Message::split_page(const std::string& page_string)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -46,8 +46,9 @@
|
|||
class Galileo_Fnav_Message
|
||||
{
|
||||
public:
|
||||
Galileo_Fnav_Message() = default;
|
||||
|
||||
void split_page(const std::string& page_string);
|
||||
void reset();
|
||||
bool have_new_ephemeris();
|
||||
bool have_new_iono_and_GST();
|
||||
bool have_new_utc_model();
|
||||
|
|
@ -57,135 +58,133 @@ public:
|
|||
Galileo_Utc_Model get_utc_model();
|
||||
Galileo_Almanac_Helper get_almanac();
|
||||
|
||||
Galileo_Fnav_Message();
|
||||
bool flag_CRC_test{};
|
||||
bool flag_all_ephemeris{}; //!< Flag indicating that all words containing ephemeris have been received
|
||||
bool flag_ephemeris_1{}; //!< Flag indicating that ephemeris 1/3 (word 2) have been received
|
||||
bool flag_ephemeris_2{}; //!< Flag indicating that ephemeris 2/3 (word 3) have been received
|
||||
bool flag_ephemeris_3{}; //!< Flag indicating that ephemeris 3/3 (word 4) have been received
|
||||
|
||||
bool flag_CRC_test;
|
||||
bool flag_all_ephemeris; //!< Flag indicating that all words containing ephemeris have been received
|
||||
bool flag_ephemeris_1; //!< Flag indicating that ephemeris 1/3 (word 2) have been received
|
||||
bool flag_ephemeris_2; //!< Flag indicating that ephemeris 2/3 (word 3) have been received
|
||||
bool flag_ephemeris_3; //!< Flag indicating that ephemeris 3/3 (word 4) have been received
|
||||
bool flag_iono_and_GST{}; //!< Flag indicating that ionospheric and GST parameters (word 1) have been received
|
||||
bool flag_TOW_1{};
|
||||
bool flag_TOW_2{};
|
||||
bool flag_TOW_3{};
|
||||
bool flag_TOW_4{};
|
||||
bool flag_TOW_set{}; //!< it is true when page 1,2,3 or 4 arrives
|
||||
bool flag_utc_model{}; //!< Flag indicating that utc model parameters (word 4) have been received
|
||||
|
||||
bool flag_iono_and_GST; //!< Flag indicating that ionospheric and GST parameters (word 1) have been received
|
||||
bool flag_TOW_1;
|
||||
bool flag_TOW_2;
|
||||
bool flag_TOW_3;
|
||||
bool flag_TOW_4;
|
||||
bool flag_TOW_set; //!< it is true when page 1,2,3 or 4 arrives
|
||||
bool flag_utc_model; //!< Flag indicating that utc model parameters (word 4) have been received
|
||||
bool flag_all_almanac{}; //!< Flag indicating that all almanac have been received
|
||||
bool flag_almanac_1{}; //!< Flag indicating that almanac 1/2 (word 5) have been received
|
||||
bool flag_almanac_2{}; //!< Flag indicating that almanac 2/2 (word 6) have been received
|
||||
|
||||
bool flag_all_almanac; //!< Flag indicating that all almanac have been received
|
||||
bool flag_almanac_1; //!< Flag indicating that almanac 1/2 (word 5) have been received
|
||||
bool flag_almanac_2; //!< Flag indicating that almanac 2/2 (word 6) have been received
|
||||
int32_t IOD_ephemeris{};
|
||||
|
||||
int32_t IOD_ephemeris;
|
||||
|
||||
int32_t page_type;
|
||||
int32_t page_type{};
|
||||
// WORD 1 SVID, Clock correction, SISA, Ionospheric correction, BGD, GST, Signal
|
||||
// health and Data validity status
|
||||
int32_t FNAV_SV_ID_PRN_1;
|
||||
int32_t FNAV_IODnav_1;
|
||||
int32_t FNAV_t0c_1;
|
||||
double FNAV_af0_1;
|
||||
double FNAV_af1_1;
|
||||
double FNAV_af2_1;
|
||||
int32_t FNAV_SISA_1;
|
||||
double FNAV_ai0_1;
|
||||
double FNAV_ai1_1;
|
||||
double FNAV_ai2_1;
|
||||
bool FNAV_region1_1;
|
||||
bool FNAV_region2_1;
|
||||
bool FNAV_region3_1;
|
||||
bool FNAV_region4_1;
|
||||
bool FNAV_region5_1;
|
||||
double FNAV_BGD_1;
|
||||
int32_t FNAV_E5ahs_1;
|
||||
int32_t FNAV_WN_1;
|
||||
int32_t FNAV_TOW_1;
|
||||
bool FNAV_E5advs_1;
|
||||
int32_t FNAV_SV_ID_PRN_1{};
|
||||
int32_t FNAV_IODnav_1{};
|
||||
int32_t FNAV_t0c_1{};
|
||||
double FNAV_af0_1{};
|
||||
double FNAV_af1_1{};
|
||||
double FNAV_af2_1{};
|
||||
int32_t FNAV_SISA_1{};
|
||||
double FNAV_ai0_1{};
|
||||
double FNAV_ai1_1{};
|
||||
double FNAV_ai2_1{};
|
||||
bool FNAV_region1_1{};
|
||||
bool FNAV_region2_1{};
|
||||
bool FNAV_region3_1{};
|
||||
bool FNAV_region4_1{};
|
||||
bool FNAV_region5_1{};
|
||||
double FNAV_BGD_1{};
|
||||
int32_t FNAV_E5ahs_1{};
|
||||
int32_t FNAV_WN_1{};
|
||||
int32_t FNAV_TOW_1{};
|
||||
bool FNAV_E5advs_1{};
|
||||
|
||||
// WORD 2 Ephemeris (1/3) and GST
|
||||
int32_t FNAV_IODnav_2;
|
||||
double FNAV_M0_2;
|
||||
double FNAV_omegadot_2;
|
||||
double FNAV_e_2;
|
||||
double FNAV_a12_2;
|
||||
double FNAV_omega0_2;
|
||||
double FNAV_idot_2;
|
||||
int32_t FNAV_WN_2;
|
||||
int32_t FNAV_TOW_2;
|
||||
int32_t FNAV_IODnav_2{};
|
||||
double FNAV_M0_2{};
|
||||
double FNAV_omegadot_2{};
|
||||
double FNAV_e_2{};
|
||||
double FNAV_a12_2{};
|
||||
double FNAV_omega0_2{};
|
||||
double FNAV_idot_2{};
|
||||
int32_t FNAV_WN_2{};
|
||||
int32_t FNAV_TOW_2{};
|
||||
|
||||
// WORD 3 Ephemeris (2/3) and GST
|
||||
int32_t FNAV_IODnav_3;
|
||||
double FNAV_i0_3;
|
||||
double FNAV_w_3;
|
||||
double FNAV_deltan_3;
|
||||
double FNAV_Cuc_3;
|
||||
double FNAV_Cus_3;
|
||||
double FNAV_Crc_3;
|
||||
double FNAV_Crs_3;
|
||||
int32_t FNAV_t0e_3;
|
||||
int32_t FNAV_WN_3;
|
||||
int32_t FNAV_TOW_3;
|
||||
int32_t FNAV_IODnav_3{};
|
||||
double FNAV_i0_3{};
|
||||
double FNAV_w_3{};
|
||||
double FNAV_deltan_3{};
|
||||
double FNAV_Cuc_3{};
|
||||
double FNAV_Cus_3{};
|
||||
double FNAV_Crc_3{};
|
||||
double FNAV_Crs_3{};
|
||||
int32_t FNAV_t0e_3{};
|
||||
int32_t FNAV_WN_3{};
|
||||
int32_t FNAV_TOW_3{};
|
||||
|
||||
// WORD 4 Ephemeris (3/3), GST-UTC conversion, GST-GPS conversion and TOW.
|
||||
// Note that the clock is repeated in this page type
|
||||
int32_t FNAV_IODnav_4;
|
||||
double FNAV_Cic_4;
|
||||
double FNAV_Cis_4;
|
||||
double FNAV_A0_4;
|
||||
double FNAV_A1_4;
|
||||
int32_t FNAV_deltatls_4;
|
||||
int32_t FNAV_t0t_4;
|
||||
int32_t FNAV_WNot_4;
|
||||
int32_t FNAV_WNlsf_4;
|
||||
int32_t FNAV_DN_4;
|
||||
int32_t FNAV_deltatlsf_4;
|
||||
int32_t FNAV_t0g_4;
|
||||
double FNAV_A0g_4;
|
||||
double FNAV_A1g_4;
|
||||
int32_t FNAV_WN0g_4;
|
||||
int32_t FNAV_TOW_4;
|
||||
int32_t FNAV_IODnav_4{};
|
||||
double FNAV_Cic_4{};
|
||||
double FNAV_Cis_4{};
|
||||
double FNAV_A0_4{};
|
||||
double FNAV_A1_4{};
|
||||
int32_t FNAV_deltatls_4{};
|
||||
int32_t FNAV_t0t_4{};
|
||||
int32_t FNAV_WNot_4{};
|
||||
int32_t FNAV_WNlsf_4{};
|
||||
int32_t FNAV_DN_4{};
|
||||
int32_t FNAV_deltatlsf_4{};
|
||||
int32_t FNAV_t0g_4{};
|
||||
double FNAV_A0g_4{};
|
||||
double FNAV_A1g_4{};
|
||||
int32_t FNAV_WN0g_4{};
|
||||
int32_t FNAV_TOW_4{};
|
||||
|
||||
// WORD 5 Almanac (SVID1 and SVID2(1/2)), Week Number and almanac reference time
|
||||
int32_t FNAV_IODa_5;
|
||||
int32_t FNAV_WNa_5;
|
||||
int32_t FNAV_t0a_5;
|
||||
int32_t FNAV_SVID1_5;
|
||||
double FNAV_Deltaa12_1_5;
|
||||
double FNAV_e_1_5;
|
||||
double FNAV_w_1_5;
|
||||
double FNAV_deltai_1_5;
|
||||
double FNAV_Omega0_1_5;
|
||||
double FNAV_Omegadot_1_5;
|
||||
double FNAV_M0_1_5;
|
||||
double FNAV_af0_1_5;
|
||||
double FNAV_af1_1_5;
|
||||
uint32_t FNAV_E5ahs_1_5;
|
||||
int32_t FNAV_SVID2_5;
|
||||
double FNAV_Deltaa12_2_5;
|
||||
double FNAV_e_2_5;
|
||||
double FNAV_w_2_5;
|
||||
double FNAV_deltai_2_5;
|
||||
int32_t FNAV_IODa_5{};
|
||||
int32_t FNAV_WNa_5{};
|
||||
int32_t FNAV_t0a_5{};
|
||||
int32_t FNAV_SVID1_5{};
|
||||
double FNAV_Deltaa12_1_5{};
|
||||
double FNAV_e_1_5{};
|
||||
double FNAV_w_1_5{};
|
||||
double FNAV_deltai_1_5{};
|
||||
double FNAV_Omega0_1_5{};
|
||||
double FNAV_Omegadot_1_5{};
|
||||
double FNAV_M0_1_5{};
|
||||
double FNAV_af0_1_5{};
|
||||
double FNAV_af1_1_5{};
|
||||
uint32_t FNAV_E5ahs_1_5{};
|
||||
int32_t FNAV_SVID2_5{};
|
||||
double FNAV_Deltaa12_2_5{};
|
||||
double FNAV_e_2_5{};
|
||||
double FNAV_w_2_5{};
|
||||
double FNAV_deltai_2_5{};
|
||||
|
||||
// WORD 6 Almanac (SVID2(2/2) and SVID3)
|
||||
int32_t FNAV_IODa_6;
|
||||
double FNAV_Omega0_2_6;
|
||||
double FNAV_Omegadot_2_6;
|
||||
double FNAV_M0_2_6;
|
||||
double FNAV_af0_2_6;
|
||||
double FNAV_af1_2_6;
|
||||
int32_t FNAV_E5ahs_2_6;
|
||||
int32_t FNAV_SVID3_6;
|
||||
double FNAV_Deltaa12_3_6;
|
||||
double FNAV_e_3_6;
|
||||
double FNAV_w_3_6;
|
||||
double FNAV_deltai_3_6;
|
||||
double FNAV_Omega0_3_6;
|
||||
double FNAV_Omegadot_3_6;
|
||||
double FNAV_M0_3_6;
|
||||
double FNAV_af0_3_6;
|
||||
double FNAV_af1_3_6;
|
||||
int32_t FNAV_E5ahs_3_6;
|
||||
int32_t FNAV_IODa_6{};
|
||||
double FNAV_Omega0_2_6{};
|
||||
double FNAV_Omegadot_2_6{};
|
||||
double FNAV_M0_2_6{};
|
||||
double FNAV_af0_2_6{};
|
||||
double FNAV_af1_2_6{};
|
||||
int32_t FNAV_E5ahs_2_6{};
|
||||
int32_t FNAV_SVID3_6{};
|
||||
double FNAV_Deltaa12_3_6{};
|
||||
double FNAV_e_3_6{};
|
||||
double FNAV_w_3_6{};
|
||||
double FNAV_deltai_3_6{};
|
||||
double FNAV_Omega0_3_6{};
|
||||
double FNAV_Omegadot_3_6{};
|
||||
double FNAV_M0_3_6{};
|
||||
double FNAV_af0_3_6{};
|
||||
double FNAV_af1_3_6{};
|
||||
int32_t FNAV_E5ahs_3_6{};
|
||||
|
||||
private:
|
||||
bool _CRC_test(std::bitset<GALILEO_FNAV_DATA_FRAME_BITS> bits, uint32_t checksum);
|
||||
|
|
@ -193,9 +192,9 @@ private:
|
|||
uint64_t read_navigation_unsigned(std::bitset<GALILEO_FNAV_DATA_FRAME_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter);
|
||||
int64_t read_navigation_signed(std::bitset<GALILEO_FNAV_DATA_FRAME_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter);
|
||||
|
||||
std::string omega0_1;
|
||||
// std::string omega0_2;
|
||||
// bool omega_flag;
|
||||
std::string omega0_1{};
|
||||
// std::string omega0_2{};
|
||||
// bool omega_flag{};
|
||||
};
|
||||
|
||||
#endif // GNSS_SDR_GALILEO_FNAV_MESSAGE_H
|
||||
|
|
|
|||
|
|
@ -1,39 +0,0 @@
|
|||
/*!
|
||||
* \file galileo_iono.cc
|
||||
* \brief Interface of a GPS IONOSPHERIC MODEL storage
|
||||
*
|
||||
* \author Javier Arribas, 2013. jarribas(at)cttc.es
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2019 (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.
|
||||
*
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "galileo_iono.h"
|
||||
|
||||
Galileo_Iono::Galileo_Iono()
|
||||
{
|
||||
// Ionospheric correction
|
||||
ai0_5 = 0.0; // Effective Ionisation Level 1st order parameter [sfu]
|
||||
ai1_5 = 0.0; // Effective Ionisation Level 2st order parameter [sfu/degree]
|
||||
ai2_5 = 0.0; // Effective Ionisation Level 3st order parameter [sfu/degree]
|
||||
|
||||
// Ionospheric disturbance flag
|
||||
Region1_flag_5 = false; // Ionospheric Disturbance Flag for region 1
|
||||
Region2_flag_5 = false; // Ionospheric Disturbance Flag for region 2
|
||||
Region3_flag_5 = false; // Ionospheric Disturbance Flag for region 3
|
||||
Region4_flag_5 = false; // Ionospheric Disturbance Flag for region 4
|
||||
Region5_flag_5 = false; // Ionospheric Disturbance Flag for region 5
|
||||
|
||||
TOW_5 = 0;
|
||||
WN_5 = 0;
|
||||
}
|
||||
|
|
@ -32,26 +32,26 @@
|
|||
class Galileo_Iono
|
||||
{
|
||||
public:
|
||||
// Ionospheric correction
|
||||
double ai0_5; //!< Effective Ionisation Level 1st order parameter [sfu]
|
||||
double ai1_5; //!< Effective Ionisation Level 2st order parameter [sfu/degree]
|
||||
double ai2_5; //!< Effective Ionisation Level 3st order parameter [sfu/degree]
|
||||
|
||||
// Ionospheric disturbance flag
|
||||
bool Region1_flag_5; //!< Ionospheric Disturbance Flag for region 1
|
||||
bool Region2_flag_5; //!< Ionospheric Disturbance Flag for region 2
|
||||
bool Region3_flag_5; //!< Ionospheric Disturbance Flag for region 3
|
||||
bool Region4_flag_5; //!< Ionospheric Disturbance Flag for region 4
|
||||
bool Region5_flag_5; //!< Ionospheric Disturbance Flag for region 5
|
||||
|
||||
// from page 5 (UTC) to have a timestamp
|
||||
int32_t TOW_5; //!< UTC data reference Time of Week [s]
|
||||
int32_t WN_5; //!< UTC data reference Week number [week]
|
||||
|
||||
/*!
|
||||
* Default constructor
|
||||
*/
|
||||
Galileo_Iono();
|
||||
Galileo_Iono() = default;
|
||||
|
||||
// Ionospheric correction
|
||||
double ai0_5{}; //!< Effective Ionisation Level 1st order parameter [sfu]
|
||||
double ai1_5{}; //!< Effective Ionisation Level 2st order parameter [sfu/degree]
|
||||
double ai2_5{}; //!< Effective Ionisation Level 3st order parameter [sfu/degree]
|
||||
|
||||
// Ionospheric disturbance flag
|
||||
bool Region1_flag_5{}; //!< Ionospheric Disturbance Flag for region 1
|
||||
bool Region2_flag_5{}; //!< Ionospheric Disturbance Flag for region 2
|
||||
bool Region3_flag_5{}; //!< Ionospheric Disturbance Flag for region 3
|
||||
bool Region4_flag_5{}; //!< Ionospheric Disturbance Flag for region 4
|
||||
bool Region5_flag_5{}; //!< Ionospheric Disturbance Flag for region 5
|
||||
|
||||
// from page 5 (UTC) to have a timestamp
|
||||
int32_t TOW_5{}; //!< UTC data reference Time of Week [s]
|
||||
int32_t WN_5{}; //!< UTC data reference Week number [week]
|
||||
|
||||
template <class Archive>
|
||||
|
||||
|
|
|
|||
|
|
@ -31,194 +31,6 @@
|
|||
using CRC_Galileo_INAV_type = boost::crc_optimal<24, 0x1864CFBU, 0x0, 0x0, false, false>;
|
||||
|
||||
|
||||
void Galileo_Navigation_Message::reset()
|
||||
{
|
||||
Page_type_time_stamp = 0;
|
||||
|
||||
flag_CRC_test = false;
|
||||
flag_all_ephemeris = false; // flag indicating that all words containing ephemeris have been received
|
||||
flag_ephemeris_1 = false; // flag indicating that ephemeris 1/4 (word 1) have been received
|
||||
flag_ephemeris_2 = false; // flag indicating that ephemeris 2/4 (word 2) have been received
|
||||
flag_ephemeris_3 = false; // flag indicating that ephemeris 3/4 (word 3) have been received
|
||||
flag_ephemeris_4 = false; // flag indicating that ephemeris 4/4 (word 4) have been received
|
||||
|
||||
flag_iono_and_GST = false; // flag indicating that ionospheric parameters (word 5) have been received
|
||||
flag_utc_model = false; // flag indicating that utc model parameters (word 6) have been received
|
||||
|
||||
flag_all_almanac = false; // flag indicating that all almanac have been received
|
||||
flag_almanac_1 = false; // flag indicating that almanac 1/4 (word 7) have been received
|
||||
flag_almanac_2 = false; // flag indicating that almanac 2/4 (word 8) have been received
|
||||
flag_almanac_3 = false; // flag indicating that almanac 3/4 (word 9) have been received
|
||||
flag_almanac_4 = false; // flag indicating that almanac 4/4 (word 10) have been received
|
||||
|
||||
flag_TOW_5 = false;
|
||||
flag_TOW_set = false;
|
||||
|
||||
flag_GGTO = false;
|
||||
flag_GGTO_1 = false;
|
||||
flag_GGTO_2 = false;
|
||||
flag_GGTO_3 = false;
|
||||
flag_GGTO_4 = false;
|
||||
|
||||
IOD_ephemeris = 0;
|
||||
|
||||
// Word type 1: Ephemeris (1/4)
|
||||
IOD_nav_1 = 0;
|
||||
t0e_1 = 0;
|
||||
M0_1 = 0.0;
|
||||
e_1 = 0.0;
|
||||
A_1 = 0.0;
|
||||
|
||||
// Word type 2: Ephemeris (2/4)
|
||||
IOD_nav_2 = 0; // IOD_nav page 2
|
||||
OMEGA_0_2 = 0.0; // Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
|
||||
i_0_2 = 0.0; // Inclination angle at reference time [semi-circles]
|
||||
omega_2 = 0.0; // Argument of perigee [semi-circles]
|
||||
iDot_2 = 0.0; // Rate of inclination angle [semi-circles/sec]
|
||||
|
||||
// Word type 3: Ephemeris (3/4) and SISA
|
||||
IOD_nav_3 = 0;
|
||||
OMEGA_dot_3 = 0.0; // Rate of right ascension [semi-circles/sec]
|
||||
delta_n_3 = 0.0; // Mean motion difference from computed value [semi-circles/sec]
|
||||
C_uc_3 = 0.0; // Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
|
||||
C_us_3 = 0.0; // Amplitude of the sine harmonic correction term to the argument of latitude [radians]
|
||||
C_rc_3 = 0.0; // Amplitude of the cosine harmonic correction term to the orbit radius [meters]
|
||||
C_rs_3 = 0.0; // Amplitude of the sine harmonic correction term to the orbit radius [meters]
|
||||
SISA_3 = 0; //
|
||||
|
||||
// Word type 4: Ephemeris (4/4) and Clock correction parameter/
|
||||
IOD_nav_4 = 0;
|
||||
SV_ID_PRN_4 = 0;
|
||||
C_ic_4 = 0.0; // Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
|
||||
C_is_4 = 0.0; // Amplitude of the sine harmonic correction term to the angle of inclination [radians]
|
||||
|
||||
// Clock correction parameters
|
||||
t0c_4 = 0;
|
||||
af0_4 = 0.0;
|
||||
af1_4 = 0.0;
|
||||
af2_4 = 0.0;
|
||||
spare_4 = 0.0;
|
||||
|
||||
// Word type 5: Ionospheric correction, BGD, signal health and data validity status and GST
|
||||
// Ionospheric correction
|
||||
ai0_5 = 0.0;
|
||||
ai1_5 = 0.0;
|
||||
ai2_5 = 0.0;
|
||||
|
||||
// Ionospheric disturbance flag
|
||||
Region1_flag_5 = false; // Region1_flag_5;
|
||||
Region2_flag_5 = false;
|
||||
Region3_flag_5 = false;
|
||||
Region4_flag_5 = false;
|
||||
Region5_flag_5 = false;
|
||||
BGD_E1E5a_5 = 0.0;
|
||||
BGD_E1E5b_5 = 0.0;
|
||||
E5b_HS_5 = 0;
|
||||
E1B_HS_5 = 0;
|
||||
E5b_DVS_5 = false;
|
||||
E1B_DVS_5 = false;
|
||||
|
||||
// GST
|
||||
WN_5 = 0;
|
||||
TOW_5 = 0;
|
||||
spare_5 = 0.0;
|
||||
|
||||
// Word type 6: GST-UTC conversion parameters
|
||||
A0_6 = 0.0;
|
||||
A1_6 = 0.0;
|
||||
Delta_tLS_6 = 0;
|
||||
t0t_6 = 0;
|
||||
WNot_6 = 0;
|
||||
WN_LSF_6 = 0;
|
||||
DN_6 = 0;
|
||||
Delta_tLSF_6 = 0;
|
||||
TOW_6 = 0;
|
||||
|
||||
// Word type 7: Almanac for SVID1 (1/2), almanac reference time and almanac reference week number
|
||||
IOD_a_7 = 0;
|
||||
WN_a_7 = 0;
|
||||
t0a_7 = 0;
|
||||
SVID1_7 = 0;
|
||||
DELTA_A_7 = 0.0;
|
||||
e_7 = 0.0;
|
||||
omega_7 = 0.0;
|
||||
delta_i_7 = 0.0;
|
||||
Omega0_7 = 0.0;
|
||||
Omega_dot_7 = 0.0;
|
||||
M0_7 = 0.0;
|
||||
|
||||
// Word type 8: Almanac for SVID1 (2/2) and SVID2 (1/2)
|
||||
IOD_a_8 = 0;
|
||||
af0_8 = 0.0;
|
||||
af1_8 = 0.0;
|
||||
E5b_HS_8 = 0;
|
||||
E1B_HS_8 = 0;
|
||||
SVID2_8 = 0;
|
||||
DELTA_A_8 = 0.0;
|
||||
e_8 = 0.0;
|
||||
omega_8 = 0.0;
|
||||
delta_i_8 = 0.0;
|
||||
Omega0_8 = 0.0;
|
||||
Omega_dot_8 = 0.0;
|
||||
|
||||
// Word type 9: Almanac for SVID2 (2/2) and SVID3 (1/2)
|
||||
IOD_a_9 = 0;
|
||||
WN_a_9 = 0;
|
||||
t0a_9 = 0;
|
||||
M0_9 = 0.0;
|
||||
af0_9 = 0.0;
|
||||
af1_9 = 0.0;
|
||||
E5b_HS_9 = 0;
|
||||
E1B_HS_9 = 0;
|
||||
SVID3_9 = 0;
|
||||
DELTA_A_9 = 0.0;
|
||||
e_9 = 0.0;
|
||||
omega_9 = 0.0;
|
||||
delta_i_9 = 0.0;
|
||||
|
||||
// Word type 10: Almanac for SVID3 (2/2) and GST-GPS conversion parameters
|
||||
IOD_a_10 = 0;
|
||||
Omega0_10 = 0.0;
|
||||
Omega_dot_10 = 0.0;
|
||||
M0_10 = 0.0;
|
||||
af0_10 = 0.0;
|
||||
af1_10 = 0.0;
|
||||
E5b_HS_10 = 0;
|
||||
E1B_HS_10 = 0;
|
||||
|
||||
// GST-GPS
|
||||
A_0G_10 = 0.0;
|
||||
A_1G_10 = 0.0;
|
||||
t_0G_10 = 0;
|
||||
WN_0G_10 = 0;
|
||||
|
||||
// Word type 0: I/NAV Spare Word
|
||||
Time_0 = 0;
|
||||
WN_0 = 0;
|
||||
TOW_0 = 0;
|
||||
|
||||
flag_TOW_6 = false;
|
||||
|
||||
Galileo_satClkDrift = 0.0;
|
||||
Galileo_dtr = 0.0;
|
||||
|
||||
// satellite positions
|
||||
galileo_satpos_X = 0.0;
|
||||
galileo_satpos_Y = 0.0;
|
||||
galileo_satpos_Z = 0.0;
|
||||
// Satellite velocity
|
||||
galileo_satvel_X = 0.0;
|
||||
galileo_satvel_Y = 0.0;
|
||||
galileo_satvel_Z = 0.0;
|
||||
}
|
||||
|
||||
|
||||
Galileo_Navigation_Message::Galileo_Navigation_Message()
|
||||
{
|
||||
reset();
|
||||
}
|
||||
|
||||
|
||||
bool Galileo_Navigation_Message::CRC_test(std::bitset<GALILEO_DATA_FRAME_BITS> bits, uint32_t checksum)
|
||||
{
|
||||
CRC_Galileo_INAV_type CRC_Galileo;
|
||||
|
|
|
|||
|
|
@ -42,185 +42,185 @@
|
|||
class Galileo_Navigation_Message
|
||||
{
|
||||
public:
|
||||
Galileo_Navigation_Message();
|
||||
Galileo_Navigation_Message() = default;
|
||||
|
||||
int32_t Page_type_time_stamp;
|
||||
std::string page_Even;
|
||||
bool flag_CRC_test;
|
||||
bool flag_all_ephemeris; //!< Flag indicating that all words containing ephemeris have been received
|
||||
bool flag_ephemeris_1; //!< Flag indicating that ephemeris 1/4 (word 1) have been received
|
||||
bool flag_ephemeris_2; //!< Flag indicating that ephemeris 2/4 (word 2) have been received
|
||||
bool flag_ephemeris_3; //!< Flag indicating that ephemeris 3/4 (word 3) have been received
|
||||
bool flag_ephemeris_4; //!< Flag indicating that ephemeris 4/4 (word 4) have been received
|
||||
int32_t Page_type_time_stamp{};
|
||||
std::string page_Even{};
|
||||
bool flag_CRC_test{};
|
||||
bool flag_all_ephemeris{}; //!< Flag indicating that all words containing ephemeris have been received
|
||||
bool flag_ephemeris_1{}; //!< Flag indicating that ephemeris 1/4 (word 1) have been received
|
||||
bool flag_ephemeris_2{}; //!< Flag indicating that ephemeris 2/4 (word 2) have been received
|
||||
bool flag_ephemeris_3{}; //!< Flag indicating that ephemeris 3/4 (word 3) have been received
|
||||
bool flag_ephemeris_4{}; //!< Flag indicating that ephemeris 4/4 (word 4) have been received
|
||||
|
||||
bool flag_iono_and_GST; //!< Flag indicating that ionospheric and GST parameters (word 5) have been received
|
||||
bool flag_TOW_5;
|
||||
bool flag_TOW_6;
|
||||
bool flag_TOW_set; //!< it is true when page 5 or page 6 arrives
|
||||
bool flag_utc_model; //!< Flag indicating that utc model parameters (word 6) have been received
|
||||
bool flag_iono_and_GST{}; //!< Flag indicating that ionospheric and GST parameters (word 5) have been received
|
||||
bool flag_TOW_5{};
|
||||
bool flag_TOW_6{};
|
||||
bool flag_TOW_set{}; //!< it is true when page 5 or page 6 arrives
|
||||
bool flag_utc_model{}; //!< Flag indicating that utc model parameters (word 6) have been received
|
||||
|
||||
bool flag_all_almanac; //!< Flag indicating that all almanac have been received
|
||||
bool flag_almanac_1; //!< Flag indicating that almanac 1/4 (word 7) have been received
|
||||
bool flag_almanac_2; //!< Flag indicating that almanac 2/4 (word 8) have been received
|
||||
bool flag_almanac_3; //!< Flag indicating that almanac 3/4 (word 9) have been received
|
||||
bool flag_almanac_4; //!< Flag indicating that almanac 4/4 (word 10) have been received
|
||||
bool flag_all_almanac{}; //!< Flag indicating that all almanac have been received
|
||||
bool flag_almanac_1{}; //!< Flag indicating that almanac 1/4 (word 7) have been received
|
||||
bool flag_almanac_2{}; //!< Flag indicating that almanac 2/4 (word 8) have been received
|
||||
bool flag_almanac_3{}; //!< Flag indicating that almanac 3/4 (word 9) have been received
|
||||
bool flag_almanac_4{}; //!< Flag indicating that almanac 4/4 (word 10) have been received
|
||||
|
||||
int32_t IOD_ephemeris;
|
||||
int32_t IOD_ephemeris{};
|
||||
|
||||
bool flag_GGTO;
|
||||
bool flag_GGTO_1;
|
||||
bool flag_GGTO_2;
|
||||
bool flag_GGTO_3;
|
||||
bool flag_GGTO_4;
|
||||
bool flag_GGTO{};
|
||||
bool flag_GGTO_1{};
|
||||
bool flag_GGTO_2{};
|
||||
bool flag_GGTO_3{};
|
||||
bool flag_GGTO_4{};
|
||||
|
||||
// Word type 1: Ephemeris (1/4)
|
||||
int32_t IOD_nav_1; //!< IOD_nav page 1
|
||||
int32_t t0e_1; //!< Ephemeris reference time [s]
|
||||
double M0_1; //!< Mean anomaly at reference time [semi-circles]
|
||||
double e_1; //!< Eccentricity
|
||||
double A_1; //!< Square root of the semi-major axis [meters^1/2]
|
||||
int32_t IOD_nav_1{}; //!< IOD_nav page 1
|
||||
int32_t t0e_1{}; //!< Ephemeris reference time [s]
|
||||
double M0_1{}; //!< Mean anomaly at reference time [semi-circles]
|
||||
double e_1{}; //!< Eccentricity
|
||||
double A_1{}; //!< Square root of the semi-major axis [meters^1/2]
|
||||
|
||||
// Word type 2: Ephemeris (2/4)
|
||||
int32_t IOD_nav_2; //!< IOD_nav page 2
|
||||
double OMEGA_0_2; //!< Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
|
||||
double i_0_2; //!< Inclination angle at reference time [semi-circles]
|
||||
double omega_2; //!< Argument of perigee [semi-circles]
|
||||
double iDot_2; //!< Rate of inclination angle [semi-circles/sec]
|
||||
int32_t IOD_nav_2{}; //!< IOD_nav page 2
|
||||
double OMEGA_0_2{}; //!< Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
|
||||
double i_0_2{}; //!< Inclination angle at reference time [semi-circles]
|
||||
double omega_2{}; //!< Argument of perigee [semi-circles]
|
||||
double iDot_2{}; //!< Rate of inclination angle [semi-circles/sec]
|
||||
|
||||
// Word type 3: Ephemeris (3/4) and SISA
|
||||
int32_t IOD_nav_3; //
|
||||
double OMEGA_dot_3; //!< Rate of right ascension [semi-circles/sec]
|
||||
double delta_n_3; //!< Mean motion difference from computed value [semi-circles/sec]
|
||||
double C_uc_3; //!< Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
|
||||
double C_us_3; //!< Amplitude of the sine harmonic correction term to the argument of latitude [radians]
|
||||
double C_rc_3; //!< Amplitude of the cosine harmonic correction term to the orbit radius [meters]
|
||||
double C_rs_3; //!< Amplitude of the sine harmonic correction term to the orbit radius [meters]
|
||||
int32_t SISA_3;
|
||||
int32_t IOD_nav_3{}; //
|
||||
double OMEGA_dot_3{}; //!< Rate of right ascension [semi-circles/sec]
|
||||
double delta_n_3{}; //!< Mean motion difference from computed value [semi-circles/sec]
|
||||
double C_uc_3{}; //!< Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
|
||||
double C_us_3{}; //!< Amplitude of the sine harmonic correction term to the argument of latitude [radians]
|
||||
double C_rc_3{}; //!< Amplitude of the cosine harmonic correction term to the orbit radius [meters]
|
||||
double C_rs_3{}; //!< Amplitude of the sine harmonic correction term to the orbit radius [meters]
|
||||
int32_t SISA_3{};
|
||||
|
||||
// Word type 4: Ephemeris (4/4) and Clock correction parameters*/
|
||||
int32_t IOD_nav_4; //
|
||||
int32_t SV_ID_PRN_4; //
|
||||
double C_ic_4; //!< Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
|
||||
double C_is_4; //!< Amplitude of the sine harmonic correction term to the angle of inclination [radians]
|
||||
int32_t IOD_nav_4{}; //
|
||||
int32_t SV_ID_PRN_4{}; //
|
||||
double C_ic_4{}; //!< Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
|
||||
double C_is_4{}; //!< Amplitude of the sine harmonic correction term to the angle of inclination [radians]
|
||||
|
||||
// Clock correction parameters
|
||||
int32_t t0c_4; //!< Clock correction data reference Time of Week [sec]
|
||||
double af0_4; //!< SV clock bias correction coefficient [s]
|
||||
double af1_4; //!< SV clock drift correction coefficient [s/s]
|
||||
double af2_4; //!< clock drift rate correction coefficient [s/s^2]
|
||||
double spare_4;
|
||||
int32_t t0c_4{}; //!< Clock correction data reference Time of Week [sec]
|
||||
double af0_4{}; //!< SV clock bias correction coefficient [s]
|
||||
double af1_4{}; //!< SV clock drift correction coefficient [s/s]
|
||||
double af2_4{}; //!< clock drift rate correction coefficient [s/s^2]
|
||||
double spare_4{};
|
||||
|
||||
// Word type 5: Ionospheric correction, BGD, signal health and data validity status and GST*/
|
||||
// Ionospheric correction
|
||||
double ai0_5; //!< Effective Ionisation Level 1st order parameter [sfu]
|
||||
double ai1_5; //!< Effective Ionisation Level 2st order parameter [sfu/degree]
|
||||
double ai2_5; //!< Effective Ionisation Level 3st order parameter [sfu/degree]
|
||||
double ai0_5{}; //!< Effective Ionisation Level 1st order parameter [sfu]
|
||||
double ai1_5{}; //!< Effective Ionisation Level 2st order parameter [sfu/degree]
|
||||
double ai2_5{}; //!< Effective Ionisation Level 3st order parameter [sfu/degree]
|
||||
|
||||
// Ionospheric disturbance flag
|
||||
bool Region1_flag_5; //!< Ionospheric Disturbance Flag for region 1
|
||||
bool Region2_flag_5; //!< Ionospheric Disturbance Flag for region 2
|
||||
bool Region3_flag_5; //!< Ionospheric Disturbance Flag for region 3
|
||||
bool Region4_flag_5; //!< Ionospheric Disturbance Flag for region 4
|
||||
bool Region5_flag_5; //!< Ionospheric Disturbance Flag for region 5
|
||||
double BGD_E1E5a_5; //!< E1-E5a Broadcast Group Delay [s]
|
||||
double BGD_E1E5b_5; //!< E1-E5b Broadcast Group Delay [s]
|
||||
bool Region1_flag_5{}; //!< Ionospheric Disturbance Flag for region 1
|
||||
bool Region2_flag_5{}; //!< Ionospheric Disturbance Flag for region 2
|
||||
bool Region3_flag_5{}; //!< Ionospheric Disturbance Flag for region 3
|
||||
bool Region4_flag_5{}; //!< Ionospheric Disturbance Flag for region 4
|
||||
bool Region5_flag_5{}; //!< Ionospheric Disturbance Flag for region 5
|
||||
double BGD_E1E5a_5{}; //!< E1-E5a Broadcast Group Delay [s]
|
||||
double BGD_E1E5b_5{}; //!< E1-E5b Broadcast Group Delay [s]
|
||||
|
||||
int32_t E5b_HS_5; //!< E5b Signal Health Status
|
||||
int32_t E1B_HS_5; //!< E1B Signal Health Status
|
||||
bool E5b_DVS_5; //!< E5b Data Validity Status
|
||||
bool E1B_DVS_5; //!< E1B Data Validity Status
|
||||
int32_t E5b_HS_5{}; //!< E5b Signal Health Status
|
||||
int32_t E1B_HS_5{}; //!< E1B Signal Health Status
|
||||
bool E5b_DVS_5{}; //!< E5b Data Validity Status
|
||||
bool E1B_DVS_5{}; //!< E1B Data Validity Status
|
||||
|
||||
// GST
|
||||
int32_t WN_5;
|
||||
int32_t TOW_5;
|
||||
double spare_5;
|
||||
int32_t WN_5{};
|
||||
int32_t TOW_5{};
|
||||
double spare_5{};
|
||||
|
||||
// Word type 6: GST-UTC conversion parameters
|
||||
double A0_6;
|
||||
double A1_6;
|
||||
int32_t Delta_tLS_6;
|
||||
int32_t t0t_6;
|
||||
int32_t WNot_6;
|
||||
int32_t WN_LSF_6;
|
||||
int32_t DN_6;
|
||||
int32_t Delta_tLSF_6;
|
||||
int32_t TOW_6;
|
||||
double A0_6{};
|
||||
double A1_6{};
|
||||
int32_t Delta_tLS_6{};
|
||||
int32_t t0t_6{};
|
||||
int32_t WNot_6{};
|
||||
int32_t WN_LSF_6{};
|
||||
int32_t DN_6{};
|
||||
int32_t Delta_tLSF_6{};
|
||||
int32_t TOW_6{};
|
||||
|
||||
// Word type 7: Almanac for SVID1 (1/2), almanac reference time and almanac reference week number
|
||||
int32_t IOD_a_7;
|
||||
int32_t WN_a_7;
|
||||
int32_t t0a_7;
|
||||
int32_t SVID1_7;
|
||||
double DELTA_A_7;
|
||||
double e_7;
|
||||
double omega_7;
|
||||
double delta_i_7;
|
||||
double Omega0_7;
|
||||
double Omega_dot_7;
|
||||
double M0_7;
|
||||
int32_t IOD_a_7{};
|
||||
int32_t WN_a_7{};
|
||||
int32_t t0a_7{};
|
||||
int32_t SVID1_7{};
|
||||
double DELTA_A_7{};
|
||||
double e_7{};
|
||||
double omega_7{};
|
||||
double delta_i_7{};
|
||||
double Omega0_7{};
|
||||
double Omega_dot_7{};
|
||||
double M0_7{};
|
||||
|
||||
// Word type 8: Almanac for SVID1 (2/2) and SVID2 (1/2)
|
||||
int32_t IOD_a_8;
|
||||
double af0_8;
|
||||
double af1_8;
|
||||
int32_t E5b_HS_8;
|
||||
int32_t E1B_HS_8;
|
||||
int32_t SVID2_8;
|
||||
double DELTA_A_8;
|
||||
double e_8;
|
||||
double omega_8;
|
||||
double delta_i_8;
|
||||
double Omega0_8;
|
||||
double Omega_dot_8;
|
||||
int32_t IOD_a_8{};
|
||||
double af0_8{};
|
||||
double af1_8{};
|
||||
int32_t E5b_HS_8{};
|
||||
int32_t E1B_HS_8{};
|
||||
int32_t SVID2_8{};
|
||||
double DELTA_A_8{};
|
||||
double e_8{};
|
||||
double omega_8{};
|
||||
double delta_i_8{};
|
||||
double Omega0_8{};
|
||||
double Omega_dot_8{};
|
||||
|
||||
// Word type 9: Almanac for SVID2 (2/2) and SVID3 (1/2)
|
||||
int32_t IOD_a_9;
|
||||
int32_t WN_a_9;
|
||||
int32_t t0a_9;
|
||||
double M0_9;
|
||||
double af0_9;
|
||||
double af1_9;
|
||||
int32_t E5b_HS_9;
|
||||
int32_t E1B_HS_9;
|
||||
int32_t SVID3_9;
|
||||
double DELTA_A_9;
|
||||
double e_9;
|
||||
double omega_9;
|
||||
double delta_i_9;
|
||||
int32_t IOD_a_9{};
|
||||
int32_t WN_a_9{};
|
||||
int32_t t0a_9{};
|
||||
double M0_9{};
|
||||
double af0_9{};
|
||||
double af1_9{};
|
||||
int32_t E5b_HS_9{};
|
||||
int32_t E1B_HS_9{};
|
||||
int32_t SVID3_9{};
|
||||
double DELTA_A_9{};
|
||||
double e_9{};
|
||||
double omega_9{};
|
||||
double delta_i_9{};
|
||||
|
||||
// Word type 10: Almanac for SVID3 (2/2) and GST-GPS conversion parameters
|
||||
int32_t IOD_a_10;
|
||||
double Omega0_10;
|
||||
double Omega_dot_10;
|
||||
double M0_10;
|
||||
double af0_10;
|
||||
double af1_10;
|
||||
int32_t E5b_HS_10;
|
||||
int32_t E1B_HS_10;
|
||||
int32_t IOD_a_10{};
|
||||
double Omega0_10{};
|
||||
double Omega_dot_10{};
|
||||
double M0_10{};
|
||||
double af0_10{};
|
||||
double af1_10{};
|
||||
int32_t E5b_HS_10{};
|
||||
int32_t E1B_HS_10{};
|
||||
|
||||
// GST-GPS conversion
|
||||
double A_0G_10; //!< Constant term of the offset Delta t systems
|
||||
double A_1G_10; //!< Rate of change of the offset Delta t systems
|
||||
int32_t t_0G_10; //!< Reference time for Galileo/GPS Time Offset (GGTO) data
|
||||
int32_t WN_0G_10; //!< Week Number of Galileo/GPS Time Offset (GGTO) reference
|
||||
double A_0G_10{}; //!< Constant term of the offset Delta t systems
|
||||
double A_1G_10{}; //!< Rate of change of the offset Delta t systems
|
||||
int32_t t_0G_10{}; //!< Reference time for Galileo/GPS Time Offset (GGTO) data
|
||||
int32_t WN_0G_10{}; //!< Week Number of Galileo/GPS Time Offset (GGTO) reference
|
||||
|
||||
// Word type 0: I/NAV Spare Word
|
||||
int32_t Time_0;
|
||||
int32_t WN_0;
|
||||
int32_t TOW_0;
|
||||
int32_t Time_0{};
|
||||
int32_t WN_0{};
|
||||
int32_t TOW_0{};
|
||||
|
||||
double Galileo_satClkDrift;
|
||||
double Galileo_dtr; //!< Relativistic clock correction term
|
||||
double Galileo_satClkDrift{};
|
||||
double Galileo_dtr{}; //!< Relativistic clock correction term
|
||||
|
||||
// satellite positions
|
||||
double galileo_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 galileo_satpos_Y; //!< Earth-fixed coordinate y of the satellite [m]. Completes a right-handed, Earth-Centered, Earth-Fixed orthogonal coordinate system.
|
||||
double galileo_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).
|
||||
double galileo_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 galileo_satpos_Y{}; //!< Earth-fixed coordinate y of the satellite [m]. Completes a right-handed, Earth-Centered, Earth-Fixed orthogonal coordinate system.
|
||||
double galileo_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 galileo_satvel_X; //!< Earth-fixed velocity coordinate x of the satellite [m]
|
||||
double galileo_satvel_Y; //!< Earth-fixed velocity coordinate y of the satellite [m]
|
||||
double galileo_satvel_Z; //!< Earth-fixed velocity coordinate z of the satellite [m]
|
||||
double galileo_satvel_X{}; //!< Earth-fixed velocity coordinate x of the satellite [m]
|
||||
double galileo_satvel_Y{}; //!< Earth-fixed velocity coordinate y of the satellite [m]
|
||||
double galileo_satvel_Z{}; //!< Earth-fixed velocity coordinate z of the satellite [m]
|
||||
|
||||
/*
|
||||
* \brief Takes in input a page (Odd or Even) of 120 bit, split it according ICD 4.3.2.3 and join Data_k with Data_j
|
||||
|
|
@ -234,8 +234,6 @@ public:
|
|||
*/
|
||||
int32_t page_jk_decoder(const char* data_jk);
|
||||
|
||||
void reset();
|
||||
|
||||
/*
|
||||
* \brief Returns true if new Ephemeris has arrived. The flag is set to false when the function is executed
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -20,25 +20,6 @@
|
|||
#include "galileo_utc_model.h"
|
||||
#include <cmath>
|
||||
|
||||
Galileo_Utc_Model::Galileo_Utc_Model()
|
||||
{
|
||||
// Word type 6: GST-UTC conversion parameters
|
||||
A0_6 = 0.0;
|
||||
A1_6 = 0.0;
|
||||
Delta_tLS_6 = 0;
|
||||
t0t_6 = 0;
|
||||
WNot_6 = 0;
|
||||
WN_LSF_6 = 0;
|
||||
DN_6 = 0;
|
||||
Delta_tLSF_6 = 0;
|
||||
flag_utc_model = false;
|
||||
// GPS to Galileo GST conversion parameters
|
||||
A_0G_10 = 0.0;
|
||||
A_1G_10 = 0.0;
|
||||
t_0G_10 = 0;
|
||||
WN_0G_10 = 0;
|
||||
}
|
||||
|
||||
|
||||
double Galileo_Utc_Model::GST_to_UTC_time(double t_e, int32_t WN)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -33,30 +33,30 @@
|
|||
class Galileo_Utc_Model
|
||||
{
|
||||
public:
|
||||
// Word type 6: GST-UTC conversion parameters
|
||||
double A0_6;
|
||||
double A1_6;
|
||||
int32_t Delta_tLS_6;
|
||||
int32_t t0t_6; //!< UTC data reference Time of Week [s]
|
||||
int32_t WNot_6; //!< UTC data reference Week number [week]
|
||||
int32_t WN_LSF_6;
|
||||
int32_t DN_6;
|
||||
int32_t Delta_tLSF_6;
|
||||
bool flag_utc_model;
|
||||
|
||||
// GPS to Galileo GST conversion parameters
|
||||
double A_0G_10;
|
||||
double A_1G_10;
|
||||
int32_t t_0G_10;
|
||||
int32_t WN_0G_10;
|
||||
|
||||
// double TOW_6;
|
||||
double GST_to_UTC_time(double t_e, int32_t WN); //!< GST-UTC Conversion Algorithm and Parameters
|
||||
|
||||
/*!
|
||||
* Default constructor
|
||||
*/
|
||||
Galileo_Utc_Model();
|
||||
Galileo_Utc_Model() = default;
|
||||
|
||||
// Word type 6: GST-UTC conversion parameters
|
||||
double A0_6{};
|
||||
double A1_6{};
|
||||
int32_t Delta_tLS_6{};
|
||||
int32_t t0t_6{}; //!< UTC data reference Time of Week [s]
|
||||
int32_t WNot_6{}; //!< UTC data reference Week number [week]
|
||||
int32_t WN_LSF_6{};
|
||||
int32_t DN_6{};
|
||||
int32_t Delta_tLSF_6{};
|
||||
bool flag_utc_model{};
|
||||
|
||||
// GPS to Galileo GST conversion parameters
|
||||
double A_0G_10{};
|
||||
double A_1G_10{};
|
||||
int32_t t_0G_10{};
|
||||
int32_t WN_0G_10{};
|
||||
|
||||
// double TOW_6;
|
||||
double GST_to_UTC_time(double t_e, int32_t WN); //!< GST-UTC Conversion Algorithm and Parameters
|
||||
|
||||
template <class Archive>
|
||||
|
||||
|
|
|
|||
|
|
@ -1,44 +0,0 @@
|
|||
/*!
|
||||
* \file glonass_gnav_almanac.cc
|
||||
* \brief Interface of a GLONASS GNAV ALMANAC storage as described in GLONASS ICD (Edition 5.1)
|
||||
* \note Code added as part of GSoC 2017 program
|
||||
* \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
|
||||
* \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2019 (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.
|
||||
*
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "glonass_gnav_almanac.h"
|
||||
|
||||
Glonass_Gnav_Almanac::Glonass_Gnav_Almanac()
|
||||
{
|
||||
i_satellite_freq_channel = 0;
|
||||
i_satellite_PRN = 0U;
|
||||
i_satellite_slot_number = 0U;
|
||||
|
||||
d_n_A = 0.0;
|
||||
d_H_n_A = 0.0;
|
||||
d_lambda_n_A = 0.0;
|
||||
d_t_lambda_n_A = 0.0;
|
||||
d_Delta_i_n_A = 0.0;
|
||||
d_Delta_T_n_A = 0.0;
|
||||
d_Delta_T_n_A_dot = 0.0;
|
||||
d_epsilon_n_A = 0.0;
|
||||
d_omega_n_A = 0.0;
|
||||
d_M_n_A = 0.0;
|
||||
d_KP = 0.0;
|
||||
d_tau_n_A = 0.0;
|
||||
d_C_n = false;
|
||||
d_l_n = false;
|
||||
}
|
||||
|
|
@ -34,25 +34,30 @@
|
|||
class Glonass_Gnav_Almanac
|
||||
{
|
||||
public:
|
||||
double d_n_A; //!< Conventional number of satellite within GLONASS space segment [dimensionless]
|
||||
double d_H_n_A; //!< Carrier frequency number of navigation RF signal transmitted by d_nA satellite as table 4.10 (0-31) [dimensionless]
|
||||
double d_lambda_n_A; //!< Longitude of the first (within the d_NA day) ascending node of d_nA [radians]
|
||||
double d_t_lambda_n_A; //!< Time of first ascending node passage [s]
|
||||
double d_Delta_i_n_A; //!< Correction of the mean value of inclination of d_n_A satellite at instant t_lambda_n_A [radians]
|
||||
double d_Delta_T_n_A; //!< Correction to the mean value of Draconian period of d_n_A satellite at instant t_lambda_n_A [s / orbital period]
|
||||
double d_Delta_T_n_A_dot; //!< Rate of change of Draconian period of d_n_A satellite at instant t_lambda_n_A [s / orbital period^2]
|
||||
double d_epsilon_n_A; //!< Eccentricity of d_n_A satellite at instant t_lambda_n_A [dimensionless]
|
||||
double d_omega_n_A; //!< Argument of perigee of d_n_A satellite at instant t_lambdan_A [radians]
|
||||
double d_M_n_A; //!< Type of satellite n_A [dimensionless]
|
||||
double d_KP; //!< Notification on forthcoming leap second correction of UTC [dimensionless]
|
||||
double d_tau_n_A; //!< Coarse value of d_n_A satellite time correction to GLONASS time at instant t_lambdan_A[s]
|
||||
bool d_C_n; //!< Generalized “unhealthy flag” of n_A satellite at instant of almanac upload [dimensionless]
|
||||
bool d_l_n; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
|
||||
/*!
|
||||
* Default constructor
|
||||
*/
|
||||
Glonass_Gnav_Almanac() = default;
|
||||
|
||||
double d_n_A{}; //!< Conventional number of satellite within GLONASS space segment [dimensionless]
|
||||
double d_H_n_A{}; //!< Carrier frequency number of navigation RF signal transmitted by d_nA satellite as table 4.10 (0-31) [dimensionless]
|
||||
double d_lambda_n_A{}; //!< Longitude of the first (within the d_NA day) ascending node of d_nA [radians]
|
||||
double d_t_lambda_n_A{}; //!< Time of first ascending node passage [s]
|
||||
double d_Delta_i_n_A{}; //!< Correction of the mean value of inclination of d_n_A satellite at instant t_lambda_n_A [radians]
|
||||
double d_Delta_T_n_A{}; //!< Correction to the mean value of Draconian period of d_n_A satellite at instant t_lambda_n_A [s / orbital period]
|
||||
double d_Delta_T_n_A_dot{}; //!< Rate of change of Draconian period of d_n_A satellite at instant t_lambda_n_A [s / orbital period^2]
|
||||
double d_epsilon_n_A{}; //!< Eccentricity of d_n_A satellite at instant t_lambda_n_A [dimensionless]
|
||||
double d_omega_n_A{}; //!< Argument of perigee of d_n_A satellite at instant t_lambdan_A [radians]
|
||||
double d_M_n_A{}; //!< Type of satellite n_A [dimensionless]
|
||||
double d_KP{}; //!< Notification on forthcoming leap second correction of UTC [dimensionless]
|
||||
double d_tau_n_A{}; //!< Coarse value of d_n_A satellite time correction to GLONASS time at instant t_lambdan_A[s]
|
||||
bool d_C_n{}; //!< Generalized “unhealthy flag” of n_A satellite at instant of almanac upload [dimensionless]
|
||||
bool d_l_n{}; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
|
||||
|
||||
// Satellite Identification Information
|
||||
int32_t i_satellite_freq_channel; //!< SV Frequency Channel Number
|
||||
uint32_t i_satellite_PRN; //!< SV PRN Number, equivalent to slot number for compatibility with GPS
|
||||
uint32_t i_satellite_slot_number; //!< SV Slot Number
|
||||
int32_t i_satellite_freq_channel{}; //!< SV Frequency Channel Number
|
||||
uint32_t i_satellite_PRN{}; //!< SV PRN Number, equivalent to slot number for compatibility with GPS
|
||||
uint32_t i_satellite_slot_number{}; //!< SV Slot Number
|
||||
|
||||
template <class Archive>
|
||||
/*!
|
||||
|
|
@ -83,11 +88,6 @@ public:
|
|||
archive& make_nvp("d_C_n", d_C_n);
|
||||
archive& make_nvp("d_l_n", d_l_n);
|
||||
}
|
||||
|
||||
/*!
|
||||
* Default constructor
|
||||
*/
|
||||
Glonass_Gnav_Almanac();
|
||||
};
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -27,52 +27,6 @@
|
|||
#include <string>
|
||||
|
||||
|
||||
Glonass_Gnav_Ephemeris::Glonass_Gnav_Ephemeris()
|
||||
{
|
||||
d_m = 0.0; //!< String number within frame [dimensionless]
|
||||
d_t_k = 0.0; //!< GLONASS Time (UTC(SU) + 3 h) referenced to the beginning of the frame within the current day [s]
|
||||
d_t_b = 0.0; //!< Reference ephemeris relative time in GLONASS Time (UTC(SU) + 3 h). Index of a time interval within current day according to UTC(SU) + 03 hours 00 min. [s]
|
||||
d_M = 0.0; //!< Type of satellite transmitting navigation signal [dimensionless]
|
||||
d_gamma_n = 0.0; //!< Relative deviation of predicted carrier frequency value of n- satellite from nominal value at the instant tb [dimensionless]
|
||||
d_tau_n = 0.0; //!< Correction to the nth satellite time (tn) relative to GLONASS time (te),
|
||||
d_Xn = 0.0; //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
|
||||
d_Yn = 0.0; //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
|
||||
d_Zn = 0.0; //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
|
||||
d_VXn = 0.0; //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
|
||||
d_VYn = 0.0; //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
|
||||
d_VZn = 0.0; //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
|
||||
d_AXn = 0.0; //!< Earth-fixed acceleration coordinate x of the satellite in PZ-90.02 coordinate system [km/s^2]
|
||||
d_AYn = 0.0; //!< Earth-fixed acceleration coordinate y of the satellite in PZ-90.02 coordinate system [km/s^2]
|
||||
d_AZn = 0.0; //!< Earth-fixed acceleration coordinate z of the satellite in PZ-90.02 coordinate system [km/s^2]
|
||||
d_B_n = 0.0; //!< Health flag [dimensionless]
|
||||
d_P = 0.0; //!< Technological parameter of control segment, indication the satellite operation mode in respect of time parameters [dimensionless]
|
||||
d_N_T = 0.0; //!< Current date, calendar number of day within four-year interval starting from the 1-st of January in a leap year [days]
|
||||
d_F_T = 0.0; //!< Parameter that provides the predicted satellite user range accuracy at time tb [dimensionless]
|
||||
d_n = 0.0; //!< Index of the satellite transmitting given navigation signal. It corresponds to a slot number within GLONASS constellation
|
||||
d_Delta_tau_n = 0.0; //!< Time difference between navigation RF signal transmitted in L2 sub- band and aviation RF signal transmitted in L1 sub-band by nth satellite. [dimensionless]
|
||||
d_E_n = 0.0; //!< Characterises "age" of a current information [days]
|
||||
d_P_1 = 0.0; //!< Flag of the immediate data updating [minutes]
|
||||
d_P_2 = false; //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
|
||||
d_P_3 = false; //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
|
||||
d_P_4 = false; //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
|
||||
d_l3rd_n = false; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
|
||||
d_l5th_n = false; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
|
||||
|
||||
// Satellite Identification Information
|
||||
i_satellite_freq_channel = 0; //!< SV Frequency Channel Number
|
||||
i_satellite_PRN = 0U; //!< SV PRN Number, equivalent to slot number for compatibility with GPS
|
||||
i_satellite_slot_number = 0U; //!< SV Slot Number
|
||||
d_yr = 1972; //!< Current year, defaults to 1972 (UTC Epoch with leap seconds)
|
||||
d_satClkDrift = 0.0; //!< GLONASS clock error
|
||||
d_dtr = 0.0; //!< relativistic clock correction term
|
||||
d_iode = 0.0; //!< Issue of data, ephemeris (Bit 0-6 of tb)
|
||||
d_tau_c = 0.0;
|
||||
d_TOW = 0.0; // tow of the start of frame
|
||||
d_WN = 0.0; // week number of the start of frame
|
||||
d_tod = 0.0;
|
||||
}
|
||||
|
||||
|
||||
boost::posix_time::ptime Glonass_Gnav_Ephemeris::compute_GLONASS_time(const double offset_time) const
|
||||
{
|
||||
boost::posix_time::time_duration t(0, 0, offset_time + d_tau_c + d_tau_n);
|
||||
|
|
|
|||
|
|
@ -39,50 +39,50 @@ public:
|
|||
/*!
|
||||
* Default constructor
|
||||
*/
|
||||
Glonass_Gnav_Ephemeris();
|
||||
Glonass_Gnav_Ephemeris() = default;
|
||||
|
||||
double d_m; //!< String number within frame [dimensionless]
|
||||
double d_t_k; //!< GLONASS Time (UTC(SU) + 3 h) referenced to the beginning of the frame within the current day [s]
|
||||
double d_t_b; //!< Reference ephemeris relative time in GLONASS Time (UTC(SU) + 3 h). Index of a time interval within current day according to UTC(SU) + 03 hours 00 min. [s]
|
||||
double d_M; //!< Type of satellite transmitting navigation signal [dimensionless]
|
||||
double d_gamma_n; //!< Relative deviation of predicted carrier frequency value of n- satellite from nominal value at the instant tb [dimensionless]
|
||||
double d_tau_n; //!< Correction to the nth satellite time (tn) relative to GLONASS time (te),
|
||||
double d_Xn; //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
|
||||
double d_Yn; //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
|
||||
double d_Zn; //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
|
||||
double d_VXn; //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
|
||||
double d_VYn; //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
|
||||
double d_VZn; //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
|
||||
double d_AXn; //!< Earth-fixed acceleration coordinate x of the satellite in PZ-90.02 coordinate system [km/s^2]
|
||||
double d_AYn; //!< Earth-fixed acceleration coordinate y of the satellite in PZ-90.02 coordinate system [km/s^2]
|
||||
double d_AZn; //!< Earth-fixed acceleration coordinate z of the satellite in PZ-90.02 coordinate system [km/s^2]
|
||||
double d_B_n; //!< Health flag [dimensionless]
|
||||
double d_P; //!< Technological parameter of control segment, indication the satellite operation mode in respect of time parameters [dimensionless]
|
||||
double d_N_T; //!< Current date, calendar number of day within four-year interval starting from the 1-st of January in a leap year [days]
|
||||
double d_F_T; //!< Parameter that provides the predicted satellite user range accuracy at time tb [dimensionless]
|
||||
double d_n; //!< Index of the satellite transmitting given navigation signal. It corresponds to a slot number within GLONASS constellation
|
||||
double d_Delta_tau_n; //!< Time difference between navigation RF signal transmitted in L2 sub- band and aviation RF signal transmitted in L1 sub-band by nth satellite. [dimensionless]
|
||||
double d_E_n; //!< Characterises "age" of a current information [days]
|
||||
double d_P_1; //!< Flag of the immediate data updating [minutes]
|
||||
bool d_P_2; //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
|
||||
bool d_P_3; //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
|
||||
bool d_P_4; //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
|
||||
bool d_l3rd_n; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is healthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
|
||||
bool d_l5th_n; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is healthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
|
||||
double d_m{}; //!< String number within frame [dimensionless]
|
||||
double d_t_k{}; //!< GLONASS Time (UTC(SU) + 3 h) referenced to the beginning of the frame within the current day [s]
|
||||
double d_t_b{}; //!< Reference ephemeris relative time in GLONASS Time (UTC(SU) + 3 h). Index of a time interval within current day according to UTC(SU) + 03 hours 00 min. [s]
|
||||
double d_M{}; //!< Type of satellite transmitting navigation signal [dimensionless]
|
||||
double d_gamma_n{}; //!< Relative deviation of predicted carrier frequency value of n- satellite from nominal value at the instant tb [dimensionless]
|
||||
double d_tau_n{}; //!< Correction to the nth satellite time (tn) relative to GLONASS time (te),
|
||||
double d_Xn{}; //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
|
||||
double d_Yn{}; //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
|
||||
double d_Zn{}; //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
|
||||
double d_VXn{}; //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
|
||||
double d_VYn{}; //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
|
||||
double d_VZn{}; //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
|
||||
double d_AXn{}; //!< Earth-fixed acceleration coordinate x of the satellite in PZ-90.02 coordinate system [km/s^2]
|
||||
double d_AYn{}; //!< Earth-fixed acceleration coordinate y of the satellite in PZ-90.02 coordinate system [km/s^2]
|
||||
double d_AZn{}; //!< Earth-fixed acceleration coordinate z of the satellite in PZ-90.02 coordinate system [km/s^2]
|
||||
double d_B_n{}; //!< Health flag [dimensionless]
|
||||
double d_P{}; //!< Technological parameter of control segment, indication the satellite operation mode in respect of time parameters [dimensionless]
|
||||
double d_N_T{}; //!< Current date, calendar number of day within four-year interval starting from the 1-st of January in a leap year [days]
|
||||
double d_F_T{}; //!< Parameter that provides the predicted satellite user range accuracy at time tb [dimensionless]
|
||||
double d_n{}; //!< Index of the satellite transmitting given navigation signal. It corresponds to a slot number within GLONASS constellation
|
||||
double d_Delta_tau_n{}; //!< Time difference between navigation RF signal transmitted in L2 sub- band and aviation RF signal transmitted in L1 sub-band by nth satellite. [dimensionless]
|
||||
double d_E_n{}; //!< Characterises "age" of a current information [days]
|
||||
double d_P_1{}; //!< Flag of the immediate data updating [minutes]
|
||||
bool d_P_2{}; //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
|
||||
bool d_P_3{}; //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
|
||||
bool d_P_4{}; //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
|
||||
bool d_l3rd_n{}; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is healthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
|
||||
bool d_l5th_n{}; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is healthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
|
||||
|
||||
// Immediate deliverables of ephemeris information
|
||||
// Satellite Identification Information
|
||||
int32_t i_satellite_freq_channel; //!< SV Frequency Channel Number
|
||||
uint32_t i_satellite_PRN; //!< SV PRN Number, equivalent to slot number for compatibility with GPS
|
||||
uint32_t i_satellite_slot_number; //!< SV Slot Number
|
||||
double d_yr; //!< Current year
|
||||
double d_satClkDrift; //!< GLONASS clock error
|
||||
double d_dtr; //!< relativistic clock correction term
|
||||
double d_iode; //!< Issue of data, ephemeris (Bit 0-6 of tb)
|
||||
double d_tau_c; //!< GLONASST 2 UTC correction (todo) may be eliminated
|
||||
double d_TOW; //!< GLONASST IN GPST seconds of week
|
||||
double d_WN; //!< GLONASST IN GPST week number of the start of frame
|
||||
double d_tod; //!< Time of Day since ephemeris where decoded
|
||||
int32_t i_satellite_freq_channel{}; //!< SV Frequency Channel Number
|
||||
uint32_t i_satellite_PRN{}; //!< SV PRN Number, equivalent to slot number for compatibility with GPS
|
||||
uint32_t i_satellite_slot_number{}; //!< SV Slot Number
|
||||
double d_yr = 1972.0; //!< Current year
|
||||
double d_satClkDrift{}; //!< GLONASS clock error
|
||||
double d_dtr{}; //!< relativistic clock correction term
|
||||
double d_iode{}; //!< Issue of data, ephemeris (Bit 0-6 of tb)
|
||||
double d_tau_c{}; //!< GLONASST 2 UTC correction (todo) may be eliminated
|
||||
double d_TOW{}; //!< GLONASST IN GPST seconds of week
|
||||
double d_WN{}; //!< GLONASST IN GPST week number of the start of frame
|
||||
double d_tod{}; //!< Time of Day since ephemeris where decoded
|
||||
|
||||
/*!
|
||||
* \brief Sets (\a d_satClkDrift)and returns the clock drift in seconds according to the User Algorithm for SV Clock Correction
|
||||
|
|
|
|||
|
|
@ -28,61 +28,8 @@
|
|||
#include <ostream> // for operator<<
|
||||
|
||||
|
||||
void Glonass_Gnav_Navigation_Message::reset()
|
||||
Glonass_Gnav_Navigation_Message::Glonass_Gnav_Navigation_Message()
|
||||
{
|
||||
// Satellite Identification
|
||||
i_satellite_PRN = 0U;
|
||||
i_alm_satellite_slot_number = 0; // SV Orbit Slot Number
|
||||
flag_update_slot_number = false;
|
||||
|
||||
// Ephmeris Flags
|
||||
flag_all_ephemeris = false;
|
||||
flag_ephemeris_str_1 = false;
|
||||
flag_ephemeris_str_2 = false;
|
||||
flag_ephemeris_str_3 = false;
|
||||
flag_ephemeris_str_4 = false;
|
||||
|
||||
// Almanac Flags
|
||||
flag_all_almanac = false;
|
||||
flag_almanac_str_6 = false;
|
||||
flag_almanac_str_7 = false;
|
||||
flag_almanac_str_8 = false;
|
||||
flag_almanac_str_9 = false;
|
||||
flag_almanac_str_10 = false;
|
||||
flag_almanac_str_11 = false;
|
||||
flag_almanac_str_12 = false;
|
||||
flag_almanac_str_13 = false;
|
||||
flag_almanac_str_14 = false;
|
||||
flag_almanac_str_15 = false;
|
||||
|
||||
// UTC and System Clocks Flags
|
||||
flag_utc_model_valid = false; // If set, it indicates that the UTC model parameters are filled
|
||||
flag_utc_model_str_5 = false; // Clock info send in string 5 of navigation data
|
||||
flag_utc_model_str_15 = false; // Clock info send in string 15 of frame 5 of navigation data
|
||||
|
||||
// broadcast orbit 1
|
||||
flag_TOW_set = false;
|
||||
flag_TOW_new = false;
|
||||
|
||||
flag_CRC_test = false;
|
||||
d_frame_ID = 0U;
|
||||
d_string_ID = 0U;
|
||||
i_channel_ID = 0;
|
||||
|
||||
// Clock terms
|
||||
d_satClkCorr = 0.0;
|
||||
d_dtr = 0.0;
|
||||
d_satClkDrift = 0.0;
|
||||
|
||||
// Data update information
|
||||
d_previous_tb = 0.0;
|
||||
for (double& i : d_previous_Na)
|
||||
{
|
||||
i = 0.0;
|
||||
}
|
||||
|
||||
std::map<int, std::string> satelliteBlock; // Map that stores to which block the PRN belongs
|
||||
|
||||
auto gnss_sat = Gnss_Satellite();
|
||||
std::string _system("GLONASS");
|
||||
// TODO SHould number of channels be hardcoded?
|
||||
|
|
@ -93,12 +40,6 @@ void Glonass_Gnav_Navigation_Message::reset()
|
|||
}
|
||||
|
||||
|
||||
Glonass_Gnav_Navigation_Message::Glonass_Gnav_Navigation_Message()
|
||||
{
|
||||
reset();
|
||||
}
|
||||
|
||||
|
||||
bool Glonass_Gnav_Navigation_Message::CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> bits)
|
||||
{
|
||||
uint32_t sum_bits = 0;
|
||||
|
|
|
|||
|
|
@ -48,53 +48,55 @@ public:
|
|||
*/
|
||||
Glonass_Gnav_Navigation_Message();
|
||||
|
||||
bool flag_CRC_test;
|
||||
uint32_t d_frame_ID;
|
||||
uint32_t d_string_ID;
|
||||
bool flag_update_slot_number;
|
||||
bool flag_CRC_test{};
|
||||
uint32_t d_frame_ID{};
|
||||
uint32_t d_string_ID{};
|
||||
bool flag_update_slot_number{};
|
||||
|
||||
int32_t i_channel_ID;
|
||||
uint32_t i_satellite_PRN;
|
||||
int32_t i_channel_ID{};
|
||||
uint32_t i_satellite_PRN{};
|
||||
|
||||
Glonass_Gnav_Ephemeris gnav_ephemeris; //!< Ephemeris information decoded
|
||||
Glonass_Gnav_Utc_Model gnav_utc_model; //!< UTC model information
|
||||
Glonass_Gnav_Almanac gnav_almanac[GLONASS_CA_NBR_SATS]; //!< Almanac information for all 24 satellites
|
||||
Glonass_Gnav_Ephemeris gnav_ephemeris{}; //!< Ephemeris information decoded
|
||||
Glonass_Gnav_Utc_Model gnav_utc_model{}; //!< UTC model information
|
||||
Glonass_Gnav_Almanac gnav_almanac[GLONASS_CA_NBR_SATS]{}; //!< Almanac information for all 24 satellites
|
||||
|
||||
// Ephemeris Flags and control variables
|
||||
bool flag_all_ephemeris; //!< Flag indicating that all strings containing ephemeris have been received
|
||||
bool flag_ephemeris_str_1; //!< Flag indicating that ephemeris 1/4 (string 1) have been received
|
||||
bool flag_ephemeris_str_2; //!< Flag indicating that ephemeris 2/4 (string 2) have been received
|
||||
bool flag_ephemeris_str_3; //!< Flag indicating that ephemeris 3/4 (string 3) have been received
|
||||
bool flag_ephemeris_str_4; //!< Flag indicating that ephemeris 4/4 (string 4) have been received
|
||||
bool flag_all_ephemeris{}; //!< Flag indicating that all strings containing ephemeris have been received
|
||||
bool flag_ephemeris_str_1{}; //!< Flag indicating that ephemeris 1/4 (string 1) have been received
|
||||
bool flag_ephemeris_str_2{}; //!< Flag indicating that ephemeris 2/4 (string 2) have been received
|
||||
bool flag_ephemeris_str_3{}; //!< Flag indicating that ephemeris 3/4 (string 3) have been received
|
||||
bool flag_ephemeris_str_4{}; //!< Flag indicating that ephemeris 4/4 (string 4) have been received
|
||||
|
||||
// Almanac Flags
|
||||
bool flag_all_almanac; //!< Flag indicating that all almanac have been received
|
||||
bool flag_almanac_str_6; //!< Flag indicating that almanac of string 6 have been received
|
||||
bool flag_almanac_str_7; //!< Flag indicating that almanac of string 7 have been received
|
||||
bool flag_almanac_str_8; //!< Flag indicating that almanac of string 8 have been received
|
||||
bool flag_almanac_str_9; //!< Flag indicating that almanac of string 9 have been received
|
||||
bool flag_almanac_str_10; //!< Flag indicating that almanac of string 10 have been received
|
||||
bool flag_almanac_str_11; //!< Flag indicating that almanac of string 11 have been received
|
||||
bool flag_almanac_str_12; //!< Flag indicating that almanac of string 12 have been received
|
||||
bool flag_almanac_str_13; //!< Flag indicating that almanac of string 13 have been received
|
||||
bool flag_almanac_str_14; //!< Flag indicating that almanac of string 14 have been received
|
||||
bool flag_almanac_str_15; //!< Flag indicating that almanac of string 15 have been received
|
||||
uint32_t i_alm_satellite_slot_number; //!< SV Orbit Slot Number
|
||||
bool flag_all_almanac{}; //!< Flag indicating that all almanac have been received
|
||||
bool flag_almanac_str_6{}; //!< Flag indicating that almanac of string 6 have been received
|
||||
bool flag_almanac_str_7{}; //!< Flag indicating that almanac of string 7 have been received
|
||||
bool flag_almanac_str_8{}; //!< Flag indicating that almanac of string 8 have been received
|
||||
bool flag_almanac_str_9{}; //!< Flag indicating that almanac of string 9 have been received
|
||||
bool flag_almanac_str_10{}; //!< Flag indicating that almanac of string 10 have been received
|
||||
bool flag_almanac_str_11{}; //!< Flag indicating that almanac of string 11 have been received
|
||||
bool flag_almanac_str_12{}; //!< Flag indicating that almanac of string 12 have been received
|
||||
bool flag_almanac_str_13{}; //!< Flag indicating that almanac of string 13 have been received
|
||||
bool flag_almanac_str_14{}; //!< Flag indicating that almanac of string 14 have been received
|
||||
bool flag_almanac_str_15{}; //!< Flag indicating that almanac of string 15 have been received
|
||||
uint32_t i_alm_satellite_slot_number{}; //!< SV Orbit Slot Number
|
||||
|
||||
// UTC and System Clocks Flags
|
||||
bool flag_utc_model_valid; //!< If set, it indicates that the UTC model parameters are filled
|
||||
bool flag_utc_model_str_5; //!< Clock info send in string 5 of navigation data
|
||||
bool flag_utc_model_str_15; //!< Clock info send in string 15 of frame 5 of navigation data
|
||||
bool flag_utc_model_valid{}; //!< If set, it indicates that the UTC model parameters are filled
|
||||
bool flag_utc_model_str_5{}; //!< Clock info send in string 5 of navigation data
|
||||
bool flag_utc_model_str_15{}; //!< Clock info send in string 15 of frame 5 of navigation data
|
||||
|
||||
bool flag_TOW_set; //!< Flag indicating when the TOW has been set
|
||||
bool flag_TOW_new; //!< Flag indicating when a new TOW has been computed
|
||||
bool flag_TOW_set{}; //!< Flag indicating when the TOW has been set
|
||||
bool flag_TOW_new{}; //!< Flag indicating when a new TOW has been computed
|
||||
|
||||
double d_satClkCorr; //!< Satellite clock error
|
||||
double d_dtr; //!< Relativistic clock correction term
|
||||
double d_satClkDrift; //!< Satellite clock drift
|
||||
double d_satClkCorr{}; //!< Satellite clock error
|
||||
double d_dtr{}; //!< Relativistic clock correction term
|
||||
double d_satClkDrift{}; //!< Satellite clock drift
|
||||
|
||||
double d_previous_tb; //!< Previous iode for the Glonass_Gnav_Ephemeris object. Used to determine when new data arrives
|
||||
double d_previous_Na[GLONASS_CA_NBR_SATS]; //!< Previous time for almanac of the Glonass_Gnav_Almanac object
|
||||
double d_previous_tb{}; //!< Previous iode for the Glonass_Gnav_Ephemeris object. Used to determine when new data arrives
|
||||
double d_previous_Na[GLONASS_CA_NBR_SATS]{}; //!< Previous time for almanac of the Glonass_Gnav_Almanac object
|
||||
|
||||
std::map<int, std::string> satelliteBlock; // Map that stores to which block the PRN belongs
|
||||
|
||||
/*!
|
||||
* \brief Compute CRC for GLONASS GNAV strings
|
||||
|
|
@ -109,11 +111,6 @@ public:
|
|||
*/
|
||||
uint32_t get_frame_number(uint32_t satellite_slot_number);
|
||||
|
||||
/*!
|
||||
* \brief Reset GLONASS GNAV Navigation Information
|
||||
*/
|
||||
void reset();
|
||||
|
||||
/*!
|
||||
* \brief Obtain a GLONASS GNAV SV Ephemeris class filled with current SV data
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -21,18 +21,6 @@
|
|||
|
||||
#include "glonass_gnav_utc_model.h"
|
||||
|
||||
Glonass_Gnav_Utc_Model::Glonass_Gnav_Utc_Model()
|
||||
{
|
||||
valid = false;
|
||||
d_tau_c = 0.0;
|
||||
d_tau_gps = 0.0;
|
||||
d_N_4 = 0.0;
|
||||
d_N_A = 0.0;
|
||||
d_B1 = 0.0;
|
||||
d_B2 = 0.0;
|
||||
}
|
||||
|
||||
|
||||
double Glonass_Gnav_Utc_Model::utc_time(double glonass_time_corrected)
|
||||
{
|
||||
double t_utc;
|
||||
|
|
|
|||
|
|
@ -37,16 +37,16 @@ public:
|
|||
/*!
|
||||
* Default constructor
|
||||
*/
|
||||
Glonass_Gnav_Utc_Model();
|
||||
Glonass_Gnav_Utc_Model() = default;
|
||||
|
||||
bool valid;
|
||||
bool valid{};
|
||||
// Clock Parameters
|
||||
double d_tau_c; //!< GLONASS time scale correction to UTC(SU) time. [s]
|
||||
double d_tau_gps; //!< Correction to GPS time to GLONASS time [day]
|
||||
double d_N_4; //!< Four year interval number starting from 1996 [4 year interval]
|
||||
double d_N_A; //!< Calendar day number within the four-year period beginning since the leap year for Almanac data [days]
|
||||
double d_B1; //!< Coefficient to determine DeltaUT1 [s]
|
||||
double d_B2; //!< Coefficient to determine DeltaUT1 [s/msd]
|
||||
double d_tau_c{}; //!< GLONASS time scale correction to UTC(SU) time. [s]
|
||||
double d_tau_gps{}; //!< Correction to GPS time to GLONASS time [day]
|
||||
double d_N_4{}; //!< Four year interval number starting from 1996 [4 year interval]
|
||||
double d_N_A{}; //!< Calendar day number within the four-year period beginning since the leap year for Almanac data [days]
|
||||
double d_B1{}; //!< Coefficient to determine DeltaUT1 [s]
|
||||
double d_B2{}; //!< Coefficient to determine DeltaUT1 [s/msd]
|
||||
|
||||
/*!
|
||||
* \brief Computes the Coordinated Universal Time (UTC) and
|
||||
|
|
|
|||
|
|
@ -22,12 +22,6 @@
|
|||
#include <utility>
|
||||
|
||||
|
||||
Gnss_Satellite::Gnss_Satellite()
|
||||
{
|
||||
Gnss_Satellite::reset();
|
||||
}
|
||||
|
||||
|
||||
Gnss_Satellite::Gnss_Satellite(const std::string& system_, uint32_t PRN_)
|
||||
{
|
||||
Gnss_Satellite::reset();
|
||||
|
|
|
|||
|
|
@ -37,7 +37,7 @@
|
|||
class Gnss_Satellite
|
||||
{
|
||||
public:
|
||||
Gnss_Satellite(); //!< Default Constructor.
|
||||
Gnss_Satellite() = default; //!< Default Constructor.
|
||||
Gnss_Satellite(const std::string& system_, uint32_t PRN_); //!< Concrete GNSS satellite Constructor.
|
||||
~Gnss_Satellite() = default; //!< Default Destructor.
|
||||
void update_PRN(uint32_t PRN); //!< Updates the PRN Number when information is decoded, only applies to GLONASS GNAV messages
|
||||
|
|
|
|||
|
|
@ -20,11 +20,6 @@
|
|||
|
||||
#include "gnss_signal.h"
|
||||
|
||||
Gnss_Signal::Gnss_Signal()
|
||||
{
|
||||
this->signal = "";
|
||||
}
|
||||
|
||||
|
||||
Gnss_Signal::Gnss_Signal(const std::string& signal_)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -33,7 +33,7 @@
|
|||
class Gnss_Signal
|
||||
{
|
||||
public:
|
||||
Gnss_Signal();
|
||||
Gnss_Signal() = default;
|
||||
explicit Gnss_Signal(const std::string& signal_);
|
||||
Gnss_Signal(const Gnss_Satellite& satellite_, const std::string& signal_);
|
||||
~Gnss_Signal() = default;
|
||||
|
|
|
|||
|
|
@ -1,37 +0,0 @@
|
|||
/*!
|
||||
* \file gps_acq_assist.cc
|
||||
* \brief Interface of a GPS RRLL ACQUISITION ASSISTACE storage
|
||||
*
|
||||
* See https://www.gps.gov/technical/icwg/IS-GPS-200K.pdf Appendix II
|
||||
* \author Javier Arribas, 2013. jarribas(at)cttc.es
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2019 (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.
|
||||
*
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "gps_acq_assist.h"
|
||||
|
||||
Gps_Acq_Assist::Gps_Acq_Assist()
|
||||
{
|
||||
i_satellite_PRN = 0U;
|
||||
d_TOW = 0.0;
|
||||
d_Doppler0 = 0.0;
|
||||
d_Doppler1 = 0.0;
|
||||
dopplerUncertainty = 0.0;
|
||||
Code_Phase = 0.0;
|
||||
Code_Phase_int = 0.0;
|
||||
GPS_Bit_Number = 0.0;
|
||||
Code_Phase_window = 0.0;
|
||||
Azimuth = 0.0;
|
||||
Elevation = 0.0;
|
||||
}
|
||||
|
|
@ -34,22 +34,22 @@
|
|||
class Gps_Acq_Assist
|
||||
{
|
||||
public:
|
||||
uint32_t i_satellite_PRN; //!< SV PRN NUMBER
|
||||
double d_TOW; //!< Time Of Week assigned to the acquisition data
|
||||
double d_Doppler0; //!< Doppler (0 order term) [Hz]
|
||||
double d_Doppler1; //!< Doppler (1 order term) [Hz]
|
||||
double dopplerUncertainty; //!< Doppler Uncertainty [Hz]
|
||||
double Code_Phase; //!< Code phase [chips]
|
||||
double Code_Phase_int; //!< Integer Code Phase [1 C/A code period]
|
||||
double GPS_Bit_Number; //!< GPS Bit Number
|
||||
double Code_Phase_window; //!< Code Phase search window [chips]
|
||||
double Azimuth; //!< Satellite Azimuth [deg]
|
||||
double Elevation; //!< Satellite Elevation [deg]
|
||||
|
||||
/*!
|
||||
* Default constructor
|
||||
*/
|
||||
Gps_Acq_Assist();
|
||||
Gps_Acq_Assist() = default;
|
||||
|
||||
uint32_t i_satellite_PRN{}; //!< SV PRN NUMBER
|
||||
double d_TOW{}; //!< Time Of Week assigned to the acquisition data
|
||||
double d_Doppler0{}; //!< Doppler (0 order term) [Hz]
|
||||
double d_Doppler1{}; //!< Doppler (1 order term) [Hz]
|
||||
double dopplerUncertainty{}; //!< Doppler Uncertainty [Hz]
|
||||
double Code_Phase{}; //!< Code phase [chips]
|
||||
double Code_Phase_int{}; //!< Integer Code Phase [1 C/A code period]
|
||||
double GPS_Bit_Number{}; //!< GPS Bit Number
|
||||
double Code_Phase_window{}; //!< Code Phase search window [chips]
|
||||
double Azimuth{}; //!< Satellite Azimuth [deg]
|
||||
double Elevation{}; //!< Satellite Elevation [deg]
|
||||
};
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -1,40 +0,0 @@
|
|||
/*!
|
||||
* \file gps_almanac.cc
|
||||
* \brief Interface of a GPS ALMANAC storage
|
||||
*
|
||||
* See https://www.gps.gov/technical/icwg/IS-GPS-200K.pdf Appendix II
|
||||
* \author Javier Arribas, 2013. jarribas(at)cttc.es
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2019 (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.
|
||||
*
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "gps_almanac.h"
|
||||
|
||||
Gps_Almanac::Gps_Almanac()
|
||||
{
|
||||
i_satellite_PRN = 0U;
|
||||
d_Delta_i = 0.0;
|
||||
i_Toa = 0;
|
||||
i_WNa = 0;
|
||||
d_M_0 = 0.0;
|
||||
d_e_eccentricity = 0.0;
|
||||
d_sqrt_A = 0.0;
|
||||
d_OMEGA0 = 0.0;
|
||||
d_OMEGA = 0.0;
|
||||
d_OMEGA_DOT = 0.0;
|
||||
i_SV_health = 0;
|
||||
i_AS_status = 0;
|
||||
d_A_f0 = 0.0;
|
||||
d_A_f1 = 0.0;
|
||||
}
|
||||
|
|
@ -32,25 +32,25 @@
|
|||
class Gps_Almanac
|
||||
{
|
||||
public:
|
||||
uint32_t i_satellite_PRN; //!< SV PRN NUMBER
|
||||
double d_Delta_i; //!< Inclination Angle at Reference Time (relative to i_0 = 0.30 semi-circles)
|
||||
int32_t i_Toa; //!< Almanac data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200K) [s]
|
||||
int32_t i_WNa; //!< Almanac week number
|
||||
double d_M_0; //!< Mean Anomaly at Reference Time [semi-circles]
|
||||
double d_e_eccentricity; //!< Eccentricity [dimensionless]
|
||||
double d_sqrt_A; //!< Square Root of the Semi-Major Axis [sqrt(m)]
|
||||
double d_OMEGA0; //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
|
||||
double d_OMEGA; //!< Argument of Perigee [semi-cicles]
|
||||
double d_OMEGA_DOT; //!< Rate of Right Ascension [semi-circles/s]
|
||||
int32_t i_SV_health; //!< SV Health
|
||||
int32_t i_AS_status; //!< Anti-Spoofing Flags and SV Configuration
|
||||
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]
|
||||
|
||||
/*!
|
||||
* Default constructor
|
||||
*/
|
||||
Gps_Almanac();
|
||||
Gps_Almanac() = default;
|
||||
|
||||
uint32_t i_satellite_PRN{}; //!< SV PRN NUMBER
|
||||
double d_Delta_i{}; //!< Inclination Angle at Reference Time (relative to i_0 = 0.30 semi-circles)
|
||||
int32_t i_Toa{}; //!< Almanac data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200K) [s]
|
||||
int32_t i_WNa{}; //!< Almanac week number
|
||||
double d_M_0{}; //!< Mean Anomaly at Reference Time [semi-circles]
|
||||
double d_e_eccentricity{}; //!< Eccentricity [dimensionless]
|
||||
double d_sqrt_A{}; //!< Square Root of the Semi-Major Axis [sqrt(m)]
|
||||
double d_OMEGA0{}; //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
|
||||
double d_OMEGA{}; //!< Argument of Perigee [semi-cicles]
|
||||
double d_OMEGA_DOT{}; //!< Rate of Right Ascension [semi-circles/s]
|
||||
int32_t i_SV_health{}; //!< SV Health
|
||||
int32_t i_AS_status{}; //!< Anti-Spoofing Flags and SV Configuration
|
||||
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]
|
||||
|
||||
template <class Archive>
|
||||
|
||||
|
|
|
|||
|
|
@ -24,69 +24,6 @@
|
|||
#include <cmath>
|
||||
|
||||
|
||||
Gps_CNAV_Ephemeris::Gps_CNAV_Ephemeris()
|
||||
{
|
||||
i_satellite_PRN = 0U;
|
||||
|
||||
d_Toe1 = -1;
|
||||
d_Toe2 = -1;
|
||||
|
||||
d_TOW = 0;
|
||||
d_Crs = 0.0;
|
||||
d_M_0 = 0.0;
|
||||
d_Cuc = 0.0;
|
||||
d_e_eccentricity = 0.0;
|
||||
d_Cus = 0.0;
|
||||
|
||||
d_Toc = 0;
|
||||
d_Cic = 0.0;
|
||||
d_OMEGA0 = 0.0;
|
||||
d_Cis = 0.0;
|
||||
d_i_0 = 0.0;
|
||||
d_Crc = 0.0;
|
||||
d_OMEGA = 0.0;
|
||||
d_IDOT = 0.0;
|
||||
|
||||
i_GPS_week = 0;
|
||||
|
||||
d_TGD = 0.0; // 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 = 0.0; // Coefficient 0 of code phase offset model [s]
|
||||
d_A_f1 = 0.0; // Coefficient 1 of code phase offset model [s/s]
|
||||
d_A_f2 = 0.0; // 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
|
||||
|
||||
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;
|
||||
|
||||
i_URA = 0;
|
||||
i_signal_health = 0;
|
||||
d_Top = 0;
|
||||
d_DELTA_A = 0.0;
|
||||
d_A_DOT = 0.0;
|
||||
d_Delta_n = 0.0;
|
||||
d_DELTA_DOT_N = 0.0;
|
||||
d_DELTA_OMEGA_DOT = 0.0;
|
||||
d_URA0 = 0.0;
|
||||
d_URA1 = 0.0;
|
||||
d_URA2 = 0.0;
|
||||
d_ISCL1 = 0.0;
|
||||
d_ISCL2 = 0.0;
|
||||
d_ISCL5I = 0.0;
|
||||
d_ISCL5Q = 0.0;
|
||||
b_l2c_phasing_flag = false;
|
||||
}
|
||||
|
||||
|
||||
double Gps_CNAV_Ephemeris::check_t(double time)
|
||||
{
|
||||
double corrTime;
|
||||
|
|
|
|||
|
|
@ -36,53 +36,53 @@ public:
|
|||
/*!
|
||||
* Default constructor
|
||||
*/
|
||||
Gps_CNAV_Ephemeris();
|
||||
Gps_CNAV_Ephemeris() = default;
|
||||
|
||||
uint32_t i_satellite_PRN; // SV PRN NUMBER
|
||||
uint32_t i_satellite_PRN{}; // SV PRN NUMBER
|
||||
|
||||
// Message Types 10 and 11 Parameters (1 of 2)
|
||||
int32_t i_GPS_week; //!< GPS week number, aka WN [week]
|
||||
int32_t i_URA; //!< ED Accuracy Index
|
||||
int32_t i_signal_health; //!< Signal health (L1/L2/L5)
|
||||
int32_t 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]
|
||||
int32_t d_Toe1; //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200K) [s]
|
||||
int32_t d_Toe2; //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200K) [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]
|
||||
int32_t i_GPS_week{}; //!< GPS week number, aka WN [week]
|
||||
int32_t i_URA{}; //!< ED Accuracy Index
|
||||
int32_t i_signal_health{}; //!< Signal health (L1/L2/L5)
|
||||
int32_t 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]
|
||||
int32_t d_Toe1{}; //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200K) [s]
|
||||
int32_t d_Toe2{}; //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200K) [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
|
||||
int32_t d_Toc; //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200K) [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]
|
||||
int32_t d_Toc{}; //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200K) [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
|
||||
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_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{};
|
||||
|
||||
int32_t d_TOW; //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
|
||||
int32_t d_TOW{}; //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
|
||||
|
||||
/*! \brief If true, enhanced level of integrity assurance.
|
||||
*
|
||||
|
|
@ -94,24 +94,24 @@ public:
|
|||
* 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_l2c_phasing_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
|
||||
bool b_integrity_status_flag{};
|
||||
bool b_l2c_phasing_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
|
||||
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).
|
||||
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]
|
||||
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]
|
||||
|
||||
/*!
|
||||
* \brief Compute the ECEF SV coordinates and ECEF velocity
|
||||
|
|
|
|||
|
|
@ -1,35 +0,0 @@
|
|||
/*!
|
||||
* \file gps_cnav_iono.cc
|
||||
* \brief Interface of a GPS CNAV IONOSPHERIC MODEL storage
|
||||
*
|
||||
* See https://www.gps.gov/technical/icwg/IS-GPS-200K.pdf Appendix III
|
||||
* \author Javier Arribas, 2015. jarribas(at)cttc.es
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2019 (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.
|
||||
*
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "gps_cnav_iono.h"
|
||||
|
||||
Gps_CNAV_Iono::Gps_CNAV_Iono()
|
||||
{
|
||||
valid = false;
|
||||
d_alpha0 = 0.0;
|
||||
d_alpha1 = 0.0;
|
||||
d_alpha2 = 0.0;
|
||||
d_alpha3 = 0.0;
|
||||
d_beta0 = 0.0;
|
||||
d_beta1 = 0.0;
|
||||
d_beta2 = 0.0;
|
||||
d_beta3 = 0.0;
|
||||
}
|
||||
|
|
@ -33,18 +33,18 @@
|
|||
class Gps_CNAV_Iono
|
||||
{
|
||||
public:
|
||||
bool valid; //!< Valid flag
|
||||
// Ionospheric parameters
|
||||
double d_alpha0; //!< Coefficient 0 of a cubic equation representing the amplitude of the vertical delay [s]
|
||||
double d_alpha1; //!< Coefficient 1 of a cubic equation representing the amplitude of the vertical delay [s/semi-circle]
|
||||
double d_alpha2; //!< Coefficient 2 of a cubic equation representing the amplitude of the vertical delay [s(semi-circle)^2]
|
||||
double d_alpha3; //!< Coefficient 3 of a cubic equation representing the amplitude of the vertical delay [s(semi-circle)^3]
|
||||
double d_beta0; //!< Coefficient 0 of a cubic equation representing the period of the model [s]
|
||||
double d_beta1; //!< Coefficient 1 of a cubic equation representing the period of the model [s/semi-circle]
|
||||
double d_beta2; //!< Coefficient 2 of a cubic equation representing the period of the model [s(semi-circle)^2]
|
||||
double d_beta3; //!< Coefficient 3 of a cubic equation representing the period of the model [s(semi-circle)^3]
|
||||
Gps_CNAV_Iono() = default; //!< Default constructor
|
||||
|
||||
Gps_CNAV_Iono(); //!< Default constructor
|
||||
bool valid{}; //!< Valid flag
|
||||
// Ionospheric parameters
|
||||
double d_alpha0{}; //!< Coefficient 0 of a cubic equation representing the amplitude of the vertical delay [s]
|
||||
double d_alpha1{}; //!< Coefficient 1 of a cubic equation representing the amplitude of the vertical delay [s/semi-circle]
|
||||
double d_alpha2{}; //!< Coefficient 2 of a cubic equation representing the amplitude of the vertical delay [s(semi-circle)^2]
|
||||
double d_alpha3{}; //!< Coefficient 3 of a cubic equation representing the amplitude of the vertical delay [s(semi-circle)^3]
|
||||
double d_beta0{}; //!< Coefficient 0 of a cubic equation representing the period of the model [s]
|
||||
double d_beta1{}; //!< Coefficient 1 of a cubic equation representing the period of the model [s/semi-circle]
|
||||
double d_beta2{}; //!< Coefficient 2 of a cubic equation representing the period of the model [s(semi-circle)^2]
|
||||
double d_beta3{}; //!< Coefficient 3 of a cubic equation representing the period of the model [s(semi-circle)^3]
|
||||
|
||||
template <class Archive>
|
||||
|
||||
|
|
|
|||
|
|
@ -24,34 +24,8 @@
|
|||
#include <limits> // for std::numeric_limits
|
||||
|
||||
|
||||
void Gps_CNAV_Navigation_Message::reset()
|
||||
{
|
||||
b_flag_ephemeris_1 = false;
|
||||
b_flag_ephemeris_2 = false;
|
||||
b_flag_iono_valid = false;
|
||||
b_flag_utc_valid = false;
|
||||
|
||||
// satellite positions
|
||||
d_satpos_X = 0.0;
|
||||
d_satpos_Y = 0.0;
|
||||
d_satpos_Z = 0.0;
|
||||
|
||||
// info
|
||||
i_channel_ID = 0;
|
||||
i_satellite_PRN = 0U;
|
||||
|
||||
// Satellite velocity
|
||||
d_satvel_X = 0.0;
|
||||
d_satvel_Y = 0.0;
|
||||
d_satvel_Z = 0.0;
|
||||
|
||||
d_TOW = 0;
|
||||
}
|
||||
|
||||
|
||||
Gps_CNAV_Navigation_Message::Gps_CNAV_Navigation_Message()
|
||||
{
|
||||
reset();
|
||||
Gnss_Satellite gnss_satellite_ = Gnss_Satellite();
|
||||
for (uint32_t prn_ = 1; prn_ < 33; prn_++)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -47,30 +47,29 @@ public:
|
|||
*/
|
||||
Gps_CNAV_Navigation_Message();
|
||||
|
||||
int32_t d_TOW;
|
||||
bool b_flag_ephemeris_1;
|
||||
bool b_flag_ephemeris_2;
|
||||
bool b_flag_iono_valid; //!< If set, it indicates that the ionospheric parameters are filled and are not yet read by the get_iono
|
||||
bool b_flag_utc_valid; //!< If set, it indicates that the utc parameters are filled and are not yet read by the get_utc_model
|
||||
int32_t d_TOW{};
|
||||
bool b_flag_ephemeris_1{};
|
||||
bool b_flag_ephemeris_2{};
|
||||
bool b_flag_iono_valid{}; //!< If set, it indicates that the ionospheric parameters are filled and are not yet read by the get_iono
|
||||
bool b_flag_utc_valid{}; //!< If set, it indicates that the utc parameters are filled and are not yet read by the get_utc_model
|
||||
|
||||
std::map<int32_t, std::string> satelliteBlock; //!< Map that stores to which block the PRN belongs https://www.navcen.uscg.gov/?Do=constellationStatus
|
||||
|
||||
// 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).
|
||||
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 identification info
|
||||
int32_t i_channel_ID;
|
||||
uint32_t i_satellite_PRN;
|
||||
int32_t i_channel_ID{};
|
||||
uint32_t i_satellite_PRN{};
|
||||
|
||||
// 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]
|
||||
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]
|
||||
|
||||
// public functions
|
||||
void reset();
|
||||
|
||||
void decode_page(std::bitset<GPS_CNAV_DATA_PAGE_BITS> data_bits);
|
||||
|
||||
|
|
@ -109,9 +108,9 @@ private:
|
|||
int64_t read_navigation_signed(std::bitset<GPS_CNAV_DATA_PAGE_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter);
|
||||
bool read_navigation_bool(std::bitset<GPS_CNAV_DATA_PAGE_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter);
|
||||
|
||||
Gps_CNAV_Ephemeris ephemeris_record;
|
||||
Gps_CNAV_Iono iono_record;
|
||||
Gps_CNAV_Utc_Model utc_model_record;
|
||||
Gps_CNAV_Ephemeris ephemeris_record{};
|
||||
Gps_CNAV_Iono iono_record{};
|
||||
Gps_CNAV_Utc_Model utc_model_record{};
|
||||
};
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -20,20 +20,6 @@
|
|||
#include "gps_cnav_utc_model.h"
|
||||
#include <cmath>
|
||||
|
||||
Gps_CNAV_Utc_Model::Gps_CNAV_Utc_Model()
|
||||
{
|
||||
valid = false;
|
||||
d_A2 = 0.0;
|
||||
d_A1 = 0.0;
|
||||
d_A0 = 0.0;
|
||||
d_t_OT = 0;
|
||||
i_WN_T = 0;
|
||||
d_DeltaT_LS = 0;
|
||||
i_WN_LSF = 0;
|
||||
i_DN = 0;
|
||||
d_DeltaT_LSF = 0;
|
||||
}
|
||||
|
||||
|
||||
double Gps_CNAV_Utc_Model::utc_time(double gpstime_corrected, int32_t i_GPS_week)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -32,22 +32,22 @@
|
|||
class Gps_CNAV_Utc_Model
|
||||
{
|
||||
public:
|
||||
bool valid;
|
||||
// UTC parameters
|
||||
double d_A2; //!< 2nd order term of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200K) [s/s]
|
||||
double d_A1; //!< 1st order term of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200K) [s/s]
|
||||
double d_A0; //!< Constant of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200K) [s]
|
||||
int32_t d_t_OT; //!< Reference time for UTC data (reference 20.3.4.5 and 20.3.3.5.2.4 IS-GPS-200K) [s]
|
||||
int32_t i_WN_T; //!< UTC reference week number [weeks]
|
||||
int32_t d_DeltaT_LS; //!< delta time due to leap seconds [s]. Number of leap seconds since 6-Jan-1980 as transmitted by the GPS almanac.
|
||||
int32_t i_WN_LSF; //!< Week number at the end of which the leap second becomes effective [weeks]
|
||||
int32_t i_DN; //!< Day number (DN) at the end of which the leap second becomes effective [days]
|
||||
int32_t d_DeltaT_LSF; //!< Scheduled future or recent past (relative to NAV message upload) value of the delta time due to leap seconds [s]
|
||||
|
||||
/*!
|
||||
* Default constructor
|
||||
*/
|
||||
Gps_CNAV_Utc_Model();
|
||||
Gps_CNAV_Utc_Model() = default;
|
||||
|
||||
bool valid{};
|
||||
// UTC parameters
|
||||
double d_A2{}; //!< 2nd order term of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200K) [s/s]
|
||||
double d_A1{}; //!< 1st order term of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200K) [s/s]
|
||||
double d_A0{}; //!< Constant of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200K) [s]
|
||||
int32_t d_t_OT{}; //!< Reference time for UTC data (reference 20.3.4.5 and 20.3.3.5.2.4 IS-GPS-200K) [s]
|
||||
int32_t i_WN_T{}; //!< UTC reference week number [weeks]
|
||||
int32_t d_DeltaT_LS{}; //!< delta time due to leap seconds [s]. Number of leap seconds since 6-Jan-1980 as transmitted by the GPS almanac.
|
||||
int32_t i_WN_LSF{}; //!< Week number at the end of which the leap second becomes effective [weeks]
|
||||
int32_t i_DN{}; //!< Day number (DN) at the end of which the leap second becomes effective [days]
|
||||
int32_t d_DeltaT_LSF{}; //!< Scheduled future or recent past (relative to NAV message upload) value of the delta time due to leap seconds [s]
|
||||
|
||||
/*!
|
||||
* \brief Computes the Coordinated Universal Time (UTC) and
|
||||
|
|
|
|||
|
|
@ -24,65 +24,15 @@
|
|||
#include "gnss_satellite.h"
|
||||
#include <cmath>
|
||||
|
||||
|
||||
Gps_Ephemeris::Gps_Ephemeris()
|
||||
{
|
||||
i_satellite_PRN = 0U;
|
||||
d_TOW = 0;
|
||||
d_Crs = 0.0;
|
||||
d_Delta_n = 0.0;
|
||||
d_M_0 = 0.0;
|
||||
d_Cuc = 0.0;
|
||||
d_e_eccentricity = 0.0;
|
||||
d_Cus = 0.0;
|
||||
d_sqrt_A = 0.0;
|
||||
d_Toe = 0;
|
||||
d_Toc = 0;
|
||||
d_Cic = 0.0;
|
||||
d_OMEGA0 = 0.0;
|
||||
d_Cis = 0.0;
|
||||
d_i_0 = 0.0;
|
||||
d_Crc = 0.0;
|
||||
d_OMEGA = 0.0;
|
||||
d_OMEGA_DOT = 0.0;
|
||||
d_IDOT = 0.0;
|
||||
i_code_on_L2 = 0;
|
||||
i_GPS_week = 0;
|
||||
b_L2_P_data_flag = false;
|
||||
i_SV_accuracy = 0;
|
||||
i_SV_health = 0;
|
||||
d_IODE_SF2 = 0;
|
||||
d_IODE_SF3 = 0;
|
||||
d_TGD = 0.0; // Estimated Group Delay Differential: L1-L2 correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
|
||||
d_IODC = 0; // Issue of Data, Clock
|
||||
i_AODO = 0; // Age of Data Offset (AODO) term for the navigation message correction table (NMCT) contained in subframe 4 (reference paragraph 20.3.3.5.1.9) [s]
|
||||
|
||||
b_fit_interval_flag = false; // indicates the curve-fit interval used by the CS (Block II/IIA/IIR/IIR-M/IIF) and SS (Block IIIA) in determining the ephemeris parameters, as follows: 0 = 4 hours, 1 = greater than 4 hours.
|
||||
d_spare1 = 0.0;
|
||||
d_spare2 = 0.0;
|
||||
|
||||
d_A_f0 = 0.0; // Coefficient 0 of code phase offset model [s]
|
||||
d_A_f1 = 0.0; // Coefficient 1 of code phase offset model [s/s]
|
||||
d_A_f2 = 0.0; // 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
|
||||
|
||||
auto gnss_sat = Gnss_Satellite();
|
||||
std::string _system("GPS");
|
||||
for (uint32_t i = 1; i < 33; i++)
|
||||
{
|
||||
satelliteBlock[i] = gnss_sat.what_block(_system, i);
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -115,7 +65,6 @@ double Gps_Ephemeris::sv_clock_drift(double transmitTime)
|
|||
// }
|
||||
// d_satClkDrift = d_A_f0 + d_A_f1 * dt + d_A_f2 * (dt * dt);
|
||||
|
||||
|
||||
double dt;
|
||||
dt = check_t(transmitTime - d_Toc);
|
||||
d_satClkDrift = d_A_f0 + d_A_f1 * dt + d_A_f2 * (dt * dt) + sv_clock_relativistic_term(transmitTime);
|
||||
|
|
|
|||
|
|
@ -41,43 +41,43 @@ public:
|
|||
*/
|
||||
Gps_Ephemeris();
|
||||
|
||||
uint32_t i_satellite_PRN; // SV PRN NUMBER
|
||||
int32_t d_TOW; //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
|
||||
double d_Crs; //!< Amplitude of the Sine Harmonic Correction Term to the Orbit Radius [m]
|
||||
double d_Delta_n; //!< Mean Motion Difference From Computed Value [semi-circles/s]
|
||||
double d_M_0; //!< Mean Anomaly at Reference Time [semi-circles]
|
||||
double d_Cuc; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
double d_e_eccentricity; //!< Eccentricity [dimensionless]
|
||||
double d_Cus; //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
double d_sqrt_A; //!< Square Root of the Semi-Major Axis [sqrt(m)]
|
||||
int32_t d_Toe; //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200K) [s]
|
||||
int32_t d_Toc; //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200K) [s]
|
||||
double d_Cic; //!< Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination [rad]
|
||||
double d_OMEGA0; //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
|
||||
double d_Cis; //!< Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination [rad]
|
||||
double d_i_0; //!< Inclination Angle at Reference Time [semi-circles]
|
||||
double d_Crc; //!< Amplitude of the Cosine Harmonic Correction Term to the Orbit Radius [m]
|
||||
double d_OMEGA; //!< Argument of Perigee [semi-cicles]
|
||||
double d_OMEGA_DOT; //!< Rate of Right Ascension [semi-circles/s]
|
||||
double d_IDOT; //!< Rate of Inclination Angle [semi-circles/s]
|
||||
int32_t i_code_on_L2; //!< If 1, P code ON in L2; if 2, C/A code ON in L2;
|
||||
int32_t i_GPS_week; //!< GPS week number, aka WN [week]
|
||||
bool b_L2_P_data_flag; //!< When true, indicates that the NAV data stream was commanded OFF on the P-code of the L2 channel
|
||||
int32_t i_SV_accuracy; //!< User Range Accuracy (URA) index of the SV (reference paragraph 6.2.1) for the standard positioning service user (Ref 20.3.3.3.1.3 IS-GPS-200K)
|
||||
int32_t i_SV_health;
|
||||
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]
|
||||
int32_t d_IODC; //!< Issue of Data, Clock
|
||||
int32_t d_IODE_SF2; //!< Issue of Data, Ephemeris (IODE), subframe 2
|
||||
int32_t d_IODE_SF3; //!< Issue of Data, Ephemeris(IODE), subframe 3
|
||||
int32_t i_AODO; //!< Age of Data Offset (AODO) term for the navigation message correction table (NMCT) contained in subframe 4 (reference paragraph 20.3.3.5.1.9) [s]
|
||||
uint32_t i_satellite_PRN{}; // SV PRN NUMBER
|
||||
int32_t d_TOW{}; //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
|
||||
double d_Crs{}; //!< Amplitude of the Sine Harmonic Correction Term to the Orbit Radius [m]
|
||||
double d_Delta_n{}; //!< Mean Motion Difference From Computed Value [semi-circles/s]
|
||||
double d_M_0{}; //!< Mean Anomaly at Reference Time [semi-circles]
|
||||
double d_Cuc{}; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
double d_e_eccentricity{}; //!< Eccentricity [dimensionless]
|
||||
double d_Cus{}; //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
double d_sqrt_A{}; //!< Square Root of the Semi-Major Axis [sqrt(m)]
|
||||
int32_t d_Toe{}; //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200K) [s]
|
||||
int32_t d_Toc{}; //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200K) [s]
|
||||
double d_Cic{}; //!< Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination [rad]
|
||||
double d_OMEGA0{}; //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
|
||||
double d_Cis{}; //!< Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination [rad]
|
||||
double d_i_0{}; //!< Inclination Angle at Reference Time [semi-circles]
|
||||
double d_Crc{}; //!< Amplitude of the Cosine Harmonic Correction Term to the Orbit Radius [m]
|
||||
double d_OMEGA{}; //!< Argument of Perigee [semi-cicles]
|
||||
double d_OMEGA_DOT{}; //!< Rate of Right Ascension [semi-circles/s]
|
||||
double d_IDOT{}; //!< Rate of Inclination Angle [semi-circles/s]
|
||||
int32_t i_code_on_L2{}; //!< If 1, P code ON in L2; if 2, C/A code ON in L2;
|
||||
int32_t i_GPS_week{}; //!< GPS week number, aka WN [week]
|
||||
bool b_L2_P_data_flag{}; //!< When true, indicates that the NAV data stream was commanded OFF on the P-code of the L2 channel
|
||||
int32_t i_SV_accuracy{}; //!< User Range Accuracy (URA) index of the SV (reference paragraph 6.2.1) for the standard positioning service user (Ref 20.3.3.3.1.3 IS-GPS-200K)
|
||||
int32_t i_SV_health{};
|
||||
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]
|
||||
int32_t d_IODC{}; //!< Issue of Data, Clock
|
||||
int32_t d_IODE_SF2{}; //!< Issue of Data, Ephemeris (IODE), subframe 2
|
||||
int32_t d_IODE_SF3{}; //!< Issue of Data, Ephemeris(IODE), subframe 3
|
||||
int32_t i_AODO{}; //!< Age of Data Offset (AODO) term for the navigation message correction table (NMCT) contained in subframe 4 (reference paragraph 20.3.3.5.1.9) [s]
|
||||
|
||||
bool b_fit_interval_flag; //!< indicates the curve-fit interval used by the CS (Block II/IIA/IIR/IIR-M/IIF) and SS (Block IIIA) in determining the ephemeris parameters, as follows: 0 = 4 hours, 1 = greater than 4 hours.
|
||||
double d_spare1;
|
||||
double d_spare2;
|
||||
bool b_fit_interval_flag{}; //!< indicates the curve-fit interval used by the CS (Block II/IIA/IIR/IIR-M/IIF) and SS (Block IIIA) in determining the ephemeris parameters, as follows: 0 = 4 hours, 1 = greater than 4 hours.
|
||||
double d_spare1{};
|
||||
double d_spare2{};
|
||||
|
||||
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_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]
|
||||
|
||||
// Flags
|
||||
|
||||
|
|
@ -91,23 +91,23 @@ public:
|
|||
* 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
|
||||
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
|
||||
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).
|
||||
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]
|
||||
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 https://www.navcen.uscg.gov/?Do=constellationStatus
|
||||
|
||||
|
|
|
|||
|
|
@ -1,35 +0,0 @@
|
|||
/*!
|
||||
* \file gps_iono.cc
|
||||
* \brief Interface of a GPS IONOSPHERIC MODEL storage
|
||||
*
|
||||
* See https://www.gps.gov/technical/icwg/IS-GPS-200K.pdf Appendix II
|
||||
* \author Javier Arribas, 2013. jarribas(at)cttc.es
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2019 (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.
|
||||
*
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "gps_iono.h"
|
||||
|
||||
Gps_Iono::Gps_Iono()
|
||||
{
|
||||
valid = false;
|
||||
d_alpha0 = 0.0;
|
||||
d_alpha1 = 0.0;
|
||||
d_alpha2 = 0.0;
|
||||
d_alpha3 = 0.0;
|
||||
d_beta0 = 0.0;
|
||||
d_beta1 = 0.0;
|
||||
d_beta2 = 0.0;
|
||||
d_beta3 = 0.0;
|
||||
}
|
||||
|
|
@ -33,18 +33,18 @@
|
|||
class Gps_Iono
|
||||
{
|
||||
public:
|
||||
bool valid; //!< Valid flag
|
||||
bool valid{}; //!< Valid flag
|
||||
// Ionospheric parameters
|
||||
double d_alpha0; //!< Coefficient 0 of a cubic equation representing the amplitude of the vertical delay [s]
|
||||
double d_alpha1; //!< Coefficient 1 of a cubic equation representing the amplitude of the vertical delay [s/semi-circle]
|
||||
double d_alpha2; //!< Coefficient 2 of a cubic equation representing the amplitude of the vertical delay [s(semi-circle)^2]
|
||||
double d_alpha3; //!< Coefficient 3 of a cubic equation representing the amplitude of the vertical delay [s(semi-circle)^3]
|
||||
double d_beta0; //!< Coefficient 0 of a cubic equation representing the period of the model [s]
|
||||
double d_beta1; //!< Coefficient 1 of a cubic equation representing the period of the model [s/semi-circle]
|
||||
double d_beta2; //!< Coefficient 2 of a cubic equation representing the period of the model [s(semi-circle)^2]
|
||||
double d_beta3; //!< Coefficient 3 of a cubic equation representing the period of the model [s(semi-circle)^3]
|
||||
double d_alpha0{}; //!< Coefficient 0 of a cubic equation representing the amplitude of the vertical delay [s]
|
||||
double d_alpha1{}; //!< Coefficient 1 of a cubic equation representing the amplitude of the vertical delay [s/semi-circle]
|
||||
double d_alpha2{}; //!< Coefficient 2 of a cubic equation representing the amplitude of the vertical delay [s(semi-circle)^2]
|
||||
double d_alpha3{}; //!< Coefficient 3 of a cubic equation representing the amplitude of the vertical delay [s(semi-circle)^3]
|
||||
double d_beta0{}; //!< Coefficient 0 of a cubic equation representing the period of the model [s]
|
||||
double d_beta1{}; //!< Coefficient 1 of a cubic equation representing the period of the model [s/semi-circle]
|
||||
double d_beta2{}; //!< Coefficient 2 of a cubic equation representing the period of the model [s(semi-circle)^2]
|
||||
double d_beta3{}; //!< Coefficient 3 of a cubic equation representing the period of the model [s(semi-circle)^3]
|
||||
|
||||
Gps_Iono(); //!< Default constructor
|
||||
Gps_Iono() = default; //!< Default constructor
|
||||
|
||||
template <class Archive>
|
||||
|
||||
|
|
|
|||
|
|
@ -27,120 +27,18 @@ m * \file gps_navigation_message.cc
|
|||
#include <limits> // for std::numeric_limits
|
||||
|
||||
|
||||
void Gps_Navigation_Message::reset()
|
||||
Gps_Navigation_Message::Gps_Navigation_Message()
|
||||
{
|
||||
b_valid_ephemeris_set_flag = false;
|
||||
d_TOW = 0;
|
||||
d_TOW_SF1 = 0;
|
||||
d_TOW_SF2 = 0;
|
||||
d_TOW_SF3 = 0;
|
||||
d_TOW_SF4 = 0;
|
||||
d_TOW_SF5 = 0;
|
||||
d_IODE_SF2 = 0;
|
||||
d_IODE_SF3 = 0;
|
||||
d_Crs = 0.0;
|
||||
d_Delta_n = 0.0;
|
||||
d_M_0 = 0.0;
|
||||
d_Cuc = 0.0;
|
||||
d_e_eccentricity = 0.0;
|
||||
d_Cus = 0.0;
|
||||
d_sqrt_A = 0.0;
|
||||
d_Toe = 0;
|
||||
d_Toc = 0;
|
||||
d_Cic = 0.0;
|
||||
d_OMEGA0 = 0.0;
|
||||
d_Cis = 0.0;
|
||||
d_i_0 = 0.0;
|
||||
d_Crc = 0.0;
|
||||
d_OMEGA = 0.0;
|
||||
d_OMEGA_DOT = 0.0;
|
||||
d_IDOT = 0.0;
|
||||
i_code_on_L2 = 0;
|
||||
i_GPS_week = 0;
|
||||
b_L2_P_data_flag = false;
|
||||
i_SV_accuracy = 0;
|
||||
i_SV_health = 0;
|
||||
d_TGD = 0.0;
|
||||
d_IODC = -1;
|
||||
i_AODO = 0;
|
||||
|
||||
b_fit_interval_flag = false;
|
||||
d_spare1 = 0.0;
|
||||
d_spare2 = 0.0;
|
||||
|
||||
d_A_f0 = 0.0;
|
||||
d_A_f1 = 0.0;
|
||||
d_A_f2 = 0.0;
|
||||
|
||||
// clock terms
|
||||
// d_master_clock=0;
|
||||
d_dtr = 0.0;
|
||||
d_satClkCorr = 0.0;
|
||||
d_satClkDrift = 0.0;
|
||||
|
||||
// satellite positions
|
||||
d_satpos_X = 0.0;
|
||||
d_satpos_Y = 0.0;
|
||||
d_satpos_Z = 0.0;
|
||||
|
||||
// info
|
||||
i_channel_ID = 0;
|
||||
i_satellite_PRN = 0U;
|
||||
|
||||
// time synchro
|
||||
d_subframe_timestamp_ms = 0.0;
|
||||
|
||||
// flags
|
||||
b_alert_flag = false;
|
||||
b_integrity_status_flag = false;
|
||||
b_antispoofing_flag = false;
|
||||
|
||||
// Ionosphere and UTC
|
||||
flag_iono_valid = false;
|
||||
flag_utc_model_valid = false;
|
||||
d_alpha0 = 0.0;
|
||||
d_alpha1 = 0.0;
|
||||
d_alpha2 = 0.0;
|
||||
d_alpha3 = 0.0;
|
||||
d_beta0 = 0.0;
|
||||
d_beta1 = 0.0;
|
||||
d_beta2 = 0.0;
|
||||
d_beta3 = 0.0;
|
||||
d_A2 = 0.0;
|
||||
d_A1 = 0.0;
|
||||
d_A0 = 0.0;
|
||||
d_t_OT = 0;
|
||||
i_WN_T = 0;
|
||||
d_DeltaT_LS = 0;
|
||||
i_WN_LSF = 0;
|
||||
i_DN = 0;
|
||||
d_DeltaT_LSF = 0;
|
||||
|
||||
// Almanac
|
||||
i_Toa = 0;
|
||||
i_WN_A = 0;
|
||||
for (int32_t i = 1; i < 32; i++)
|
||||
{
|
||||
almanacHealth[i] = 0;
|
||||
}
|
||||
|
||||
// Satellite velocity
|
||||
d_satvel_X = 0.0;
|
||||
d_satvel_Y = 0.0;
|
||||
d_satvel_Z = 0.0;
|
||||
|
||||
auto gnss_sat = Gnss_Satellite();
|
||||
std::string _system("GPS");
|
||||
for (uint32_t i = 1; i < 33; i++)
|
||||
{
|
||||
satelliteBlock[i] = gnss_sat.what_block(_system, i);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Gps_Navigation_Message::Gps_Navigation_Message()
|
||||
{
|
||||
reset();
|
||||
for (int32_t i = 1; i < 33; i++)
|
||||
{
|
||||
almanacHealth[i] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -47,57 +47,57 @@ public:
|
|||
*/
|
||||
Gps_Navigation_Message();
|
||||
|
||||
bool b_valid_ephemeris_set_flag; // flag indicating that this ephemeris set have passed the validation check
|
||||
bool b_valid_ephemeris_set_flag{}; // flag indicating that this ephemeris set have passed the validation check
|
||||
// broadcast orbit 1
|
||||
int32_t d_TOW; //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
|
||||
int32_t d_TOW_SF1; //!< Time of GPS Week from HOW word of Subframe 1 [s]
|
||||
int32_t d_TOW_SF2; //!< Time of GPS Week from HOW word of Subframe 2 [s]
|
||||
int32_t d_TOW_SF3; //!< Time of GPS Week from HOW word of Subframe 3 [s]
|
||||
int32_t d_TOW_SF4; //!< Time of GPS Week from HOW word of Subframe 4 [s]
|
||||
int32_t d_TOW_SF5; //!< Time of GPS Week from HOW word of Subframe 5 [s]
|
||||
int32_t d_IODE_SF2;
|
||||
int32_t d_IODE_SF3;
|
||||
double d_Crs; //!< Amplitude of the Sine Harmonic Correction Term to the Orbit Radius [m]
|
||||
double d_Delta_n; //!< Mean Motion Difference From Computed Value [semi-circles/s]
|
||||
double d_M_0; //!< Mean Anomaly at Reference Time [semi-circles]
|
||||
int32_t d_TOW{}; //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
|
||||
int32_t d_TOW_SF1{}; //!< Time of GPS Week from HOW word of Subframe 1 [s]
|
||||
int32_t d_TOW_SF2{}; //!< Time of GPS Week from HOW word of Subframe 2 [s]
|
||||
int32_t d_TOW_SF3{}; //!< Time of GPS Week from HOW word of Subframe 3 [s]
|
||||
int32_t d_TOW_SF4{}; //!< Time of GPS Week from HOW word of Subframe 4 [s]
|
||||
int32_t d_TOW_SF5{}; //!< Time of GPS Week from HOW word of Subframe 5 [s]
|
||||
int32_t d_IODE_SF2{};
|
||||
int32_t d_IODE_SF3{};
|
||||
double d_Crs{}; //!< Amplitude of the Sine Harmonic Correction Term to the Orbit Radius [m]
|
||||
double d_Delta_n{}; //!< Mean Motion Difference From Computed Value [semi-circles/s]
|
||||
double d_M_0{}; //!< Mean Anomaly at Reference Time [semi-circles]
|
||||
// broadcast orbit 2
|
||||
double d_Cuc; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
double d_e_eccentricity; //!< Eccentricity [dimensionless]
|
||||
double d_Cus; //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
double d_sqrt_A; //!< Square Root of the Semi-Major Axis [sqrt(m)]
|
||||
double d_Cuc{}; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
double d_e_eccentricity{}; //!< Eccentricity [dimensionless]
|
||||
double d_Cus{}; //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
double d_sqrt_A{}; //!< Square Root of the Semi-Major Axis [sqrt(m)]
|
||||
// broadcast orbit 3
|
||||
int32_t d_Toe; //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200K) [s]
|
||||
int32_t d_Toc; //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200K) [s]
|
||||
double d_Cic; //!< Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination [rad]
|
||||
double d_OMEGA0; //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
|
||||
double d_Cis; //!< Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination [rad]
|
||||
int32_t d_Toe{}; //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200K) [s]
|
||||
int32_t d_Toc{}; //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200K) [s]
|
||||
double d_Cic{}; //!< Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination [rad]
|
||||
double d_OMEGA0{}; //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
|
||||
double d_Cis{}; //!< Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination [rad]
|
||||
// broadcast orbit 4
|
||||
double d_i_0; //!< Inclination Angle at Reference Time [semi-circles]
|
||||
double d_Crc; //!< Amplitude of the Cosine Harmonic Correction Term to the Orbit Radius [m]
|
||||
double d_OMEGA; //!< Argument of Perigee [semi-cicles]
|
||||
double d_OMEGA_DOT; //!< Rate of Right Ascension [semi-circles/s]
|
||||
double d_i_0{}; //!< Inclination Angle at Reference Time [semi-circles]
|
||||
double d_Crc{}; //!< Amplitude of the Cosine Harmonic Correction Term to the Orbit Radius [m]
|
||||
double d_OMEGA{}; //!< Argument of Perigee [semi-cicles]
|
||||
double d_OMEGA_DOT{}; //!< Rate of Right Ascension [semi-circles/s]
|
||||
// broadcast orbit 5
|
||||
double d_IDOT; //!< Rate of Inclination Angle [semi-circles/s]
|
||||
int32_t i_code_on_L2; //!< If 1, P code ON in L2; if 2, C/A code ON in L2;
|
||||
int32_t i_GPS_week; //!< GPS week number, aka WN [week]
|
||||
bool b_L2_P_data_flag; //!< When true, indicates that the NAV data stream was commanded OFF on the P-code of the L2 channel
|
||||
double d_IDOT{}; //!< Rate of Inclination Angle [semi-circles/s]
|
||||
int32_t i_code_on_L2{}; //!< If 1, P code ON in L2; if 2, C/A code ON in L2;
|
||||
int32_t i_GPS_week{}; //!< GPS week number, aka WN [week]
|
||||
bool b_L2_P_data_flag{}; //!< When true, indicates that the NAV data stream was commanded OFF on the P-code of the L2 channel
|
||||
// broadcast orbit 6
|
||||
int32_t i_SV_accuracy; //!< User Range Accuracy (URA) index of the SV (reference paragraph 6.2.1) for the standard positioning service user (Ref 20.3.3.3.1.3 IS-GPS-200K)
|
||||
int32_t i_SV_health;
|
||||
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]
|
||||
int32_t d_IODC; //!< Issue of Data, Clock
|
||||
int32_t i_SV_accuracy{}; //!< User Range Accuracy (URA) index of the SV (reference paragraph 6.2.1) for the standard positioning service user (Ref 20.3.3.3.1.3 IS-GPS-200K)
|
||||
int32_t i_SV_health{};
|
||||
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]
|
||||
int32_t d_IODC{}; //!< Issue of Data, Clock
|
||||
// broadcast orbit 7
|
||||
int32_t i_AODO; //!< Age of Data Offset (AODO) term for the navigation message correction table (NMCT) contained in subframe 4 (reference paragraph 20.3.3.5.1.9) [s]
|
||||
bool b_fit_interval_flag; //!< indicates the curve-fit interval used by the CS (Block II/IIA/IIR/IIR-M/IIF) and SS (Block IIIA) in determining the ephemeris parameters, as follows: 0 = 4 hours, 1 = greater than 4 hours.
|
||||
double d_spare1;
|
||||
double d_spare2;
|
||||
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]
|
||||
int32_t i_AODO{}; //!< Age of Data Offset (AODO) term for the navigation message correction table (NMCT) contained in subframe 4 (reference paragraph 20.3.3.5.1.9) [s]
|
||||
bool b_fit_interval_flag{}; //!< indicates the curve-fit interval used by the CS (Block II/IIA/IIR/IIR-M/IIF) and SS (Block IIIA) in determining the ephemeris parameters, as follows: 0 = 4 hours, 1 = greater than 4 hours.
|
||||
double d_spare1{};
|
||||
double d_spare2{};
|
||||
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]
|
||||
|
||||
// Almanac
|
||||
int32_t i_Toa; //!< Almanac reference time [s]
|
||||
int32_t i_WN_A; //!< Modulo 256 of the GPS week number to which the almanac reference time (i_Toa) is referenced
|
||||
int32_t i_Toa{}; //!< Almanac reference time [s]
|
||||
int32_t i_WN_A{}; //!< Modulo 256 of the GPS week number to which the almanac reference time (i_Toa) is referenced
|
||||
std::map<int32_t, int32_t> almanacHealth; //!< Map that stores the health information stored in the almanac
|
||||
|
||||
std::map<int32_t, std::string> satelliteBlock; //!< Map that stores to which block the PRN belongs https://www.navcen.uscg.gov/?Do=constellationStatus
|
||||
|
|
@ -114,58 +114,57 @@ public:
|
|||
* 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
|
||||
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
|
||||
// double d_master_clock; // GPS transmission time
|
||||
double d_satClkCorr; // GPS clock error
|
||||
double d_dtr; // relativistic clock correction term
|
||||
double d_satClkDrift;
|
||||
// double d_master_clock{}; // GPS transmission time
|
||||
double d_satClkCorr{}; // GPS clock error
|
||||
double d_dtr{}; // relativistic clock correction term
|
||||
double d_satClkDrift{};
|
||||
|
||||
// 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).
|
||||
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 identification info
|
||||
int32_t i_channel_ID;
|
||||
uint32_t i_satellite_PRN;
|
||||
int32_t i_channel_ID{};
|
||||
uint32_t i_satellite_PRN{};
|
||||
|
||||
// time synchro
|
||||
double d_subframe_timestamp_ms; // [ms]
|
||||
double d_subframe_timestamp_ms{}; // [ms]
|
||||
|
||||
// Ionospheric parameters
|
||||
bool flag_iono_valid; //!< If set, it indicates that the ionospheric parameters are filled (page 18 has arrived and decoded)
|
||||
double d_alpha0; //!< Coefficient 0 of a cubic equation representing the amplitude of the vertical delay [s]
|
||||
double d_alpha1; //!< Coefficient 1 of a cubic equation representing the amplitude of the vertical delay [s/semi-circle]
|
||||
double d_alpha2; //!< Coefficient 2 of a cubic equation representing the amplitude of the vertical delay [s(semi-circle)^2]
|
||||
double d_alpha3; //!< Coefficient 3 of a cubic equation representing the amplitude of the vertical delay [s(semi-circle)^3]
|
||||
double d_beta0; //!< Coefficient 0 of a cubic equation representing the period of the model [s]
|
||||
double d_beta1; //!< Coefficient 1 of a cubic equation representing the period of the model [s/semi-circle]
|
||||
double d_beta2; //!< Coefficient 2 of a cubic equation representing the period of the model [s(semi-circle)^2]
|
||||
double d_beta3; //!< Coefficient 3 of a cubic equation representing the period of the model [s(semi-circle)^3]
|
||||
bool flag_iono_valid{}; //!< If set, it indicates that the ionospheric parameters are filled (page 18 has arrived and decoded)
|
||||
double d_alpha0{}; //!< Coefficient 0 of a cubic equation representing the amplitude of the vertical delay [s]
|
||||
double d_alpha1{}; //!< Coefficient 1 of a cubic equation representing the amplitude of the vertical delay [s/semi-circle]
|
||||
double d_alpha2{}; //!< Coefficient 2 of a cubic equation representing the amplitude of the vertical delay [s(semi-circle)^2]
|
||||
double d_alpha3{}; //!< Coefficient 3 of a cubic equation representing the amplitude of the vertical delay [s(semi-circle)^3]
|
||||
double d_beta0{}; //!< Coefficient 0 of a cubic equation representing the period of the model [s]
|
||||
double d_beta1{}; //!< Coefficient 1 of a cubic equation representing the period of the model [s/semi-circle]
|
||||
double d_beta2{}; //!< Coefficient 2 of a cubic equation representing the period of the model [s(semi-circle)^2]
|
||||
double d_beta3{}; //!< Coefficient 3 of a cubic equation representing the period of the model [s(semi-circle)^3]
|
||||
|
||||
// UTC parameters
|
||||
bool flag_utc_model_valid; //!< If set, it indicates that the UTC model parameters are filled
|
||||
double d_A0; //!< Constant of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200K) [s]
|
||||
double d_A1; //!< 1st order term of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200K) [s/s]
|
||||
double d_A2; //!< 2nd order term of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200K) [s/s]
|
||||
int32_t d_t_OT; //!< Reference time for UTC data (reference 20.3.4.5 and 20.3.3.5.2.4 IS-GPS-200K) [s]
|
||||
int32_t i_WN_T; //!< UTC reference week number [weeks]
|
||||
int32_t d_DeltaT_LS; //!< delta time due to leap seconds [s]. Number of leap seconds since 6-Jan-1980 as transmitted by the GPS almanac.
|
||||
int32_t i_WN_LSF; //!< Week number at the end of which the leap second becomes effective [weeks]
|
||||
int32_t i_DN; //!< Day number (DN) at the end of which the leap second becomes effective [days]
|
||||
int32_t d_DeltaT_LSF; //!< Scheduled future or recent past (relative to NAV message upload) value of the delta time due to leap seconds [s]
|
||||
bool flag_utc_model_valid{}; //!< If set, it indicates that the UTC model parameters are filled
|
||||
double d_A0{}; //!< Constant of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200K) [s]
|
||||
double d_A1{}; //!< 1st order term of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200K) [s/s]
|
||||
double d_A2{}; //!< 2nd order term of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200K) [s/s]
|
||||
int32_t d_t_OT{}; //!< Reference time for UTC data (reference 20.3.4.5 and 20.3.3.5.2.4 IS-GPS-200K) [s]
|
||||
int32_t i_WN_T{}; //!< UTC reference week number [weeks]
|
||||
int32_t d_DeltaT_LS{}; //!< delta time due to leap seconds [s]. Number of leap seconds since 6-Jan-1980 as transmitted by the GPS almanac.
|
||||
int32_t i_WN_LSF{}; //!< Week number at the end of which the leap second becomes effective [weeks]
|
||||
int32_t i_DN{}; //!< Day number (DN) at the end of which the leap second becomes effective [days]
|
||||
int32_t d_DeltaT_LSF{}; //!< Scheduled future or recent past (relative to NAV message upload) value of the delta time due to leap seconds [s]
|
||||
|
||||
// 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]
|
||||
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]
|
||||
|
||||
// public functions
|
||||
void reset();
|
||||
|
||||
/*!
|
||||
* \brief Obtain a GPS SV Ephemeris class filled with current SV data
|
||||
|
|
|
|||
|
|
@ -21,21 +21,6 @@
|
|||
#include <cmath>
|
||||
|
||||
|
||||
Gps_Utc_Model::Gps_Utc_Model()
|
||||
{
|
||||
valid = false;
|
||||
d_A0 = 0.0;
|
||||
d_A1 = 0.0;
|
||||
d_A2 = 0.0;
|
||||
d_t_OT = 0;
|
||||
i_WN_T = 0;
|
||||
d_DeltaT_LS = 0;
|
||||
i_WN_LSF = 0;
|
||||
i_DN = 0;
|
||||
d_DeltaT_LSF = 0;
|
||||
}
|
||||
|
||||
|
||||
double Gps_Utc_Model::utc_time(double gpstime_corrected, int32_t i_GPS_week)
|
||||
{
|
||||
double t_utc;
|
||||
|
|
|
|||
|
|
@ -32,22 +32,22 @@
|
|||
class Gps_Utc_Model
|
||||
{
|
||||
public:
|
||||
bool valid;
|
||||
// UTC parameters
|
||||
double d_A0; //!< Constant of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200K) [s]
|
||||
double d_A1; //!< 1st order term of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200K) [s/s]
|
||||
double d_A2; //!< 2nd order term of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200K) [s/s]
|
||||
int32_t d_t_OT; //!< Reference time for UTC data (reference 20.3.4.5 and 20.3.3.5.2.4 IS-GPS-200K) [s]
|
||||
int32_t i_WN_T; //!< UTC reference week number [weeks]
|
||||
int32_t d_DeltaT_LS; //!< delta time due to leap seconds [s]. Number of leap seconds since 6-Jan-1980 as transmitted by the GPS almanac.
|
||||
int32_t i_WN_LSF; //!< Week number at the end of which the leap second becomes effective [weeks]
|
||||
int32_t i_DN; //!< Day number (DN) at the end of which the leap second becomes effective [days]
|
||||
int32_t d_DeltaT_LSF; //!< Scheduled future or recent past (relative to NAV message upload) value of the delta time due to leap seconds [s]
|
||||
|
||||
/*!
|
||||
* Default constructor
|
||||
*/
|
||||
Gps_Utc_Model();
|
||||
Gps_Utc_Model() = default;
|
||||
|
||||
bool valid{};
|
||||
// UTC parameters
|
||||
double d_A0{}; //!< Constant of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200K) [s]
|
||||
double d_A1{}; //!< 1st order term of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200K) [s/s]
|
||||
double d_A2{}; //!< 2nd order term of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200K) [s/s]
|
||||
int32_t d_t_OT{}; //!< Reference time for UTC data (reference 20.3.4.5 and 20.3.3.5.2.4 IS-GPS-200K) [s]
|
||||
int32_t i_WN_T{}; //!< UTC reference week number [weeks]
|
||||
int32_t d_DeltaT_LS{}; //!< delta time due to leap seconds [s]. Number of leap seconds since 6-Jan-1980 as transmitted by the GPS almanac.
|
||||
int32_t i_WN_LSF{}; //!< Week number at the end of which the leap second becomes effective [weeks]
|
||||
int32_t i_DN{}; //!< Day number (DN) at the end of which the leap second becomes effective [days]
|
||||
int32_t d_DeltaT_LSF{}; //!< Scheduled future or recent past (relative to NAV message upload) value of the delta time due to leap seconds [s]
|
||||
|
||||
template <class Archive>
|
||||
/*
|
||||
|
|
|
|||
|
|
@ -30,17 +30,20 @@
|
|||
class Sbas_Ephemeris
|
||||
{
|
||||
public:
|
||||
Sbas_Ephemeris() = default;
|
||||
|
||||
int i_prn{}; //!< PRN number
|
||||
int i_t0{}; //!< Reference epoch time (GPST)
|
||||
double d_tof{}; //!< Time of message frame (GPST)
|
||||
int i_sv_ura{}; //!< SV accuracy (URA index), not standardized
|
||||
bool b_sv_do_not_use{}; //!< Health status (false:do not use / true:usable)
|
||||
double d_pos[3]{}; //!< Satellite position (m) (ECEF)
|
||||
double d_vel[3]{}; //!< Satellite velocity (m/s) (ECEF)
|
||||
double d_acc[3]{}; //!< Satellite acceleration (m/s^2) (ECEF)
|
||||
double d_af0{}; //!< Satellite clock-offset (s)
|
||||
double d_af1{}; //!< Satellite drift (s/s)
|
||||
|
||||
void print(std::ostream &out);
|
||||
int i_prn; //!< PRN number
|
||||
int i_t0; //!< Reference epoch time (GPST)
|
||||
double d_tof; //!< Time of message frame (GPST)
|
||||
int i_sv_ura; //!< SV accuracy (URA index), not standardized
|
||||
bool b_sv_do_not_use; //!< Health status (false:do not use / true:usable)
|
||||
double d_pos[3]; //!< Satellite position (m) (ECEF)
|
||||
double d_vel[3]; //!< Satellite velocity (m/s) (ECEF)
|
||||
double d_acc[3]; //!< Satellite acceleration (m/s^2) (ECEF)
|
||||
double d_af0; //!< Satellite clock-offset (s)
|
||||
double d_af1; //!< Satellite drift (s/s)
|
||||
};
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -33,8 +33,7 @@ TEST(GlonassGnavNavigationMessageTest, CRCTestSuccess)
|
|||
// Variables declarations in code
|
||||
bool test_result;
|
||||
std::bitset<GLONASS_GNAV_STRING_BITS> string_bits(std::string("0010100100001100000000000000000000000000110011110001100000000000000001100100011000000"));
|
||||
Glonass_Gnav_Navigation_Message gnav_nav_message;
|
||||
gnav_nav_message.reset();
|
||||
auto gnav_nav_message = Glonass_Gnav_Navigation_Message();
|
||||
|
||||
// Call function to test
|
||||
test_result = gnav_nav_message.CRC_test(string_bits);
|
||||
|
|
@ -55,8 +54,7 @@ TEST(GlonassGnavNavigationMessageTest, CRCTestFailure)
|
|||
bool test_result;
|
||||
// Constructor of string to bitset will flip the order of the bits. Needed for CRC computation
|
||||
std::bitset<GLONASS_GNAV_STRING_BITS> string_bits(std::string("0111100100001100000000000000000000000000110011110001100000000000000001100100011000000"));
|
||||
Glonass_Gnav_Navigation_Message gnav_nav_message;
|
||||
gnav_nav_message.reset();
|
||||
auto gnav_nav_message = Glonass_Gnav_Navigation_Message();
|
||||
|
||||
// Call function to test
|
||||
test_result = gnav_nav_message.CRC_test(string_bits);
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user