mirror of
https://github.com/gnss-sdr/gnss-sdr
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Commits from the Diff file created by Mara Branzanti on August 7th
git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@404 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Javier Arribas
parent
d070b4a389
commit
367105f666
@ -40,6 +40,12 @@
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#include <utility> // std::pair
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#include "MATH_CONSTANTS.h"
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// Physical constants
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const double GALILEO_PI = 3.1415926535898; //!< Pi as defined in GALILEO ICD
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const double GALILEO_GM = 3.986004418e14; //!< Geocentric gravitational constant[m^3/s^2]
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const double GALILEO_OMEGA_EARTH_DOT = 7.2921151467e-5; //!< Mean angular velocity of the Earth [rad/s]
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const double GALILEO_C_m_s = 299792458.0; //!< The speed of light, [m/s]
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const double GALILEO_F = -4.442807633e-10; //!< Constant, [s/(m)^(1/2)]
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// carrier and code frequencies
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const double Galileo_E1_FREQ_HZ = 1.57542e9; //!< E1 [Hz]
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const double Galileo_E1_CODE_CHIP_RATE_HZ = 1.023e6; //!< Galileo E1 code rate [chips/s]
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@ -151,7 +157,7 @@ const std::vector<std::pair<int,int>> Region5_5_bit({{47,1}}); //
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const std::vector<std::pair<int,int>> BGD_E1E5a_5_bit({{48,10}}); //
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const double BGD_E1E5a_5_LSB = TWO_N32;
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const std::vector<std::pair<int,int>> BGD_E1E5b_5_bit({{58,10}}); //
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const double BGD_E1E5b_5_LSB = TWO_N35;
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const double BGD_E1E5b_5_LSB = TWO_N32;
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const std::vector<std::pair<int,int>> E5b_HS_5_bit({{68,2}}); //
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const std::vector<std::pair<int,int>> E1B_HS_5_bit({{70,2}}); //
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const std::vector<std::pair<int,int>> E5b_DVS_5_bit({{72,1}}); //
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@ -182,8 +188,8 @@ const std::vector<std::pair<int,int>>WN_a_7_bit({{11,2}});
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const std::vector<std::pair<int,int>>t0a_7_bit({{13,10}});
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const double t0a_7_LSB = 600;
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const std::vector<std::pair<int,int>>SVID1_7_bit({{23,6}});
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const std::vector<std::pair<int,int>>Delta_alpha_7_bit({{29,13}});
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const double Delta_alpha_7_LSB = TWO_N9;
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const std::vector<std::pair<int,int>>DELTA_A_7_bit({{29,13}});
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const double DELTA_A_7_LSB = TWO_N9;
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const std::vector<std::pair<int,int>>e_7_bit({{42,11}});
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const double e_7_LSB = TWO_N16;
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const std::vector<std::pair<int,int>>omega_7_bit({{53,16}});
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@ -227,7 +233,7 @@ const std::vector<std::pair<int,int>>M0_9_bit({{23,16}});
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const double M0_9_LSB = TWO_N15;
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const std::vector<std::pair<int,int>>af0_9_bit({{39,16}});
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const double af0_9_LSB = TWO_N19;
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const std::vector<std::pair<int,int>>af1_9_bit({{54,13}});
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const std::vector<std::pair<int,int>>af1_9_bit({{55,13}});
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const double af1_9_LSB = TWO_N38;
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const std::vector<std::pair<int,int>>E5b_HS_9_bit({{68,2}});
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const std::vector<std::pair<int,int>>E1B_HS_9_bit({{70,2}});
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@ -2,7 +2,7 @@
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* \file gps_almanac.h
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* \brief Interface of a GPS ALMANAC storage
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* \author Javier Arribas, 2013. jarribas(at)cttc.es
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*
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* \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2013 (see AUTHORS file for a list of contributors)
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@ -28,38 +28,71 @@
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* -------------------------------------------------------------------------
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*/
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/*
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* ToDo: rewrite the class Galileo Almanac (actually it is just a Gps Almanac copy!). Update also the in-line documentation!
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*/
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#ifndef GNSS_SDR_GALILEO_ALMANAC_H_
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#define GNSS_SDR_GALILEO_ALMANAC_H_
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/*!
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* \brief This class is a storage for the GPS SV ALMANAC data as described in IS-GPS-200E
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* \brief This class is a storage for the GALIELO ALMANAC data as described in GALILEO ICD
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*
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* See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
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*/
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/*
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* ToDo: Rewrite the class to include all the parameters described in Galileo ICD (this is just a copy of GPS code!)
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* See http:http://ec.europa.eu/enterprise/policies/satnav/galileo/files/galileo-os-sis-icd-issue1-revision1_en.pdf paragraph 5.1.10
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*/
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class Galileo_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 (Ref. 20.3.3.4.3 IS-GPS-200E) [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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/*Word type 7: Almanac for SVID1 (1/2), almanac reference time and almanac reference week number*/
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int IOD_a_7;
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double WN_a_7;
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double t0a_7;
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int SVID1_7;
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double DELTA_A_7;
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double e_7;
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double omega_7;
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double delta_i_7;
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double Omega0_7;
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double Omega_dot_7;
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double M0_7;
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/*Word type 8: Almanac for SVID1 (2/2) and SVID2 (1/2)*/
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int IOD_a_8;
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double af0_8;
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double af1_8;
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double E5b_HS_8;
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double E1B_HS_8;
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int SVID2_8;
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double DELTA_A_8;
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double e_8;
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double omega_8;
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double delta_i_8;
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double Omega0_8;
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double Omega_dot_8;
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/*Word type 9: Almanac for SVID2 (2/2) and SVID3 (1/2)*/
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int IOD_a_9;
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double WN_a_9;
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double t0a_9;
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double M0_9;
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double af0_9;
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double af1_9;
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double E5b_HS_9;
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double E1B_HS_9;
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int SVID3_9;
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double DELTA_A_9;
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double e_9;
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double omega_9;
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double delta_i_9;
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/*Word type 10: Almanac for SVID3 (2/2)*/
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int IOD_a_10;
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double Omega0_10;
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double Omega_dot_10;
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double M0_10;
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double af0_10;
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double af1_10;
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double E5b_HS_10;
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double E1B_HS_10;
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/*!
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* Default constructor
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*/
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@ -4,7 +4,7 @@
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*
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* See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
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* \author Javier Arribas, 2013. jarribas(at)cttc.es
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*
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* \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2013 (see AUTHORS file for a list of contributors)
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@ -32,64 +32,237 @@
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#include "galileo_ephemeris.h"
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Galileo_Ephemeris::Galileo_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_e_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_code_on_L2 = 0;
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i_GPS_week = 0;
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b_L2_P_data_flag = false;
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i_SV_accuracy = 0;
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i_SV_health = 0;
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d_TGD = 0; //!< Estimated Group Delay Differential: L1-L2 correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
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d_IODC = 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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double M0_1 = 0; // Mean anomaly at reference time [semi-circles]
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double delta_n_3 = 0; // Mean motion difference from computed value [semi-circles/sec]
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double e_1 = 0; // Eccentricity
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double A_1 = 0; // Square root of the semi-major axis [metres^1/2]
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double OMEGA_0_2 = 0; // Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
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double i_0_2 = 0; // Inclination angle at reference time [semi-circles]
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double omega_2 = 0; // Argument of perigee [semi-circles]
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double OMEGA_dot_3 = 0; // Rate of right ascension [semi-circles/sec]
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double iDot_2 = 0; // Rate of inclination angle [semi-circles/sec]
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double C_uc_3 = 0; // Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
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double C_us_3 = 0; // Amplitude of the sine harmonic correction term to the argument of latitude [radians]
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double C_rc_3 = 0; // Amplitude of the cosine harmonic correction term to the orbit radius [meters]
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double C_rs_3 = 0; // Amplitude of the sine harmonic correction term to the orbit radius [meters]
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double C_ic_4 = 0; // Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
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double C_is_4 = 0; // Amplitude of the sine harmonic correction term to the angle of inclination [radians]
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double t0e_1 = 0; // Ephemeris reference time [s]
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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.
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d_spare1 = 0;
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d_spare2 = 0;
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/*Clock correction parameters*/
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double t0c_4 = 0; //Clock correction data reference Time of Week [sec]
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double af0_4 = 0; //SV clock bias correction coefficient [s]
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double af1_4 = 0; //SV clock drift correction coefficient [s/s]
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double af2_4 = 0; //SV clock drift rate correction coefficient [s/s^2]
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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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/*GST*/
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double WN_5 = 0;
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double TOW_5 = 0;
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}
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void Galileo_Ephemeris::satellitePosition(double transmitTime)
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{
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/*
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* ToDo: Compute satellite position at transmit Time
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double Galileo_Ephemeris::Galileo_System_Time(double WN, double TOW){
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/* GALIELO SYSTEM TIME, ICD 5.1.2
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* input parameter:
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* WN: The Week Number is an integer counter that gives the sequential week number
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from the origin of the Galileo time. It covers 4096 weeks (about 78 years).
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Then the counter is reset to zero to cover additional period modulo 4096
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TOW: The Time of Week is defined as the number of seconds that have occurred since
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the transition from the previous week. The TOW covers an entire week from 0 to
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604799 seconds and is reset to zero at the end of each week
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WN and TOW are received in page 5
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output:
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t: it is the transmitted time in Galileo System Time (expressed in seconds)
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The GST start epoch shall be 00:00 UT on Sunday 22nd August 1999 (midnight between 21st and 22nd August).
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At the start epoch, GST shall be ahead of UTC by thirteen (13)
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leap seconds. Since the next leap second was inserted at 01.01.2006, this implies that
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as of 01.01.2006 GST is ahead of UTC by fourteen (14) leap seconds.
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The epoch denoted in the navigation messages by TOW and WN
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will be measured relative to the leading edge of the first chip of the
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first code sequence of the first page symbol. The transmission timing of the navigation
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message provided through the TOW is synchronised to each satellite’s version of Galileo System Time (GST).
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*
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*/
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double t=0;
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double sec_in_day = 86400;
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double day_in_week = 7;
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t = WN*sec_in_day*day_in_week+ TOW; // second from the origin of the Galileo time
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return t;
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}
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double Galileo_Ephemeris::sv_clock_drift(double transmitTime){
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/* Satellite Time Correction Algorithm, ICD 5.1.4
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*
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*/
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double dt;
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dt = transmitTime - t0c_4;
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Galileo_satClkDrift = af0_4 + af1_4*dt + (af2_4 * dt)*(af2_4 * dt) + Galileo_dtr;
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return Galileo_satClkDrift;
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}
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// compute the relativistic correction term
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double Galileo_Ephemeris::sv_clock_relativistic_term(double transmitTime) //Satellite Time Correction Algorithm, ICD 5.1.4
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{
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double tk;
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double a;
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double n;
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double n0;
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double E;
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double E_old;
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double dE;
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double M;
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// Restore semi-major axis
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a = A_1*A_1;
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n0 = sqrt(GALILEO_GM / (a*a*a));
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// Time from ephemeris reference epoch
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//tk = check_t(transmitTime - d_Toe); this is tk for GPS; for Galileo it is different
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//t = WN_5*86400*7 + TOW_5; //WN_5*86400*7 are the second from the origin of the Galileo time
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tk = transmitTime - t0e_1;
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// Corrected mean motion
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n = n0 + delta_n_3;
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// Mean anomaly
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M = M0_1 + n * tk;
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// Reduce mean anomaly to between 0 and 2pi
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M = fmod((M + 2* GALILEO_PI), (2* GALILEO_PI));
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// Initial guess of eccentric anomaly
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E = M;
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// --- Iteratively compute eccentric anomaly ----------------------------
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for (int ii = 1; ii<20; ii++)
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{
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E_old = E;
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E = M + e_1 * sin(E);
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dE = fmod(E - E_old, 2*GALILEO_PI);
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if (fabs(dE) < 1e-12)
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{
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//Necessary precision is reached, exit from the loop
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break;
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}
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}
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// Compute relativistic correction term
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Galileo_dtr = GALILEO_F * e_1* A_1 * sin(E);
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return Galileo_dtr;
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}
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void Galileo_Ephemeris::satellitePosition(double transmitTime) //when this function in used, the input must be the transmitted time (t) in second computed by Galileo_System_Time (above function)
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{
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double tk; // Time from ephemeris reference epoch
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//double t; // Galileo System Time (ICD, paragraph 5.1.2)
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double a; // Semi-major axis
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double n; // Corrected mean motion
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double n0; // Computed mean motion
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double M; // Mean anomaly
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double E; //Eccentric Anomaly (to be solved by iteration)
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double E_old;
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double dE;
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double nu; //True anomaly
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double phi; //argument of Latitude
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double u; // Correct argument of latitude
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double r; // Correct radius
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double i;
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double Omega;
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// Find Galileo satellite's position ----------------------------------------------
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// Restore semi-major axis
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a = A_1*A_1;
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// Computed mean motion
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n0 = sqrt(GALILEO_GM / (a*a*a));
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// Time from ephemeris reference epoch
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//tk = check_t(transmitTime - d_Toe); this is tk for GPS; for Galileo it is different
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//t = WN_5*86400*7 + TOW_5; //WN_5*86400*7 are the second from the origin of the Galileo time
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tk = transmitTime - t0e_1;
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// Corrected mean motion
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n = n0 + delta_n_3;
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// Mean anomaly
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M = M0_1 + n * tk;
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// Reduce mean anomaly to between 0 and 2pi
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M = fmod((M + 2* GALILEO_PI), (2* GALILEO_PI));
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// Initial guess of eccentric anomaly
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E = M;
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// --- Iteratively compute eccentric anomaly ----------------------------
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for (int ii = 1; ii<20; ii++)
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{
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E_old = E;
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E = M + e_1 * sin(E);
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dE = fmod(E - E_old, 2*GALILEO_PI);
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if (fabs(dE) < 1e-12)
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{
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//Necessary precision is reached, exit from the loop
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break;
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}
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||||
}
|
||||
|
||||
// Compute the true anomaly
|
||||
|
||||
double tmp_Y = sqrt(1.0 - e_1 * e_1) * sin(E);
|
||||
double tmp_X = cos(E) - e_1;
|
||||
nu = atan2(tmp_Y, tmp_X);
|
||||
|
||||
// Compute angle phi (argument of Latitude)
|
||||
phi = nu + omega_2;
|
||||
|
||||
// Reduce phi to between 0 and 2*pi rad
|
||||
phi = fmod((phi), (2*GALILEO_PI));
|
||||
|
||||
// Correct argument of latitude
|
||||
u = phi + C_uc_3 * cos(2*phi) + C_us_3 * sin(2*phi);
|
||||
|
||||
// Correct radius
|
||||
r = a * (1 - e_1*cos(E)) + C_rc_3 * cos(2*phi) + C_rs_3 * sin(2*phi);
|
||||
|
||||
// Correct inclination
|
||||
i = i_0_2 + iDot_2 * tk + C_ic_4 * cos(2*phi) + C_is_4 * sin(2*phi);
|
||||
|
||||
// Compute the angle between the ascending node and the Greenwich meridian
|
||||
Omega = OMEGA_0_2 + (OMEGA_dot_3 - GALILEO_OMEGA_EARTH_DOT)*tk - GALILEO_OMEGA_EARTH_DOT * t0e_1;
|
||||
|
||||
// Reduce to between 0 and 2*pi rad
|
||||
Omega = fmod((Omega + 2*GALILEO_PI), (2*GALILEO_PI));
|
||||
|
||||
// --- Compute satellite coordinates in Earth-fixed coordinates
|
||||
d_satpos_X = 0;
|
||||
d_satpos_Y = 0;
|
||||
d_satpos_Z = 0;
|
||||
galileo_satpos_X = cos(u) * r * cos(Omega) - sin(u) * r * cos(i) * sin(Omega);
|
||||
galileo_satpos_Y = cos(u) * r * sin(Omega) + sin(u) * r * cos(i) * cos(Omega); //***********************NOTE: in GALILEO ICD this expression is not correct because it has minus (- sin(u) * r * cos(i) * cos(Omega)) instead of plus
|
||||
galileo_satpos_Z = sin(u) * r * sin(i);
|
||||
|
||||
// Satellite's velocity. Can be useful for Vector Tracking loops
|
||||
double Omega_dot = OMEGA_dot_3 - GALILEO_OMEGA_EARTH_DOT;
|
||||
galileo_satvel_X = - Omega_dot * (cos(u) * r + sin(u) * r * cos(i)) + galileo_satpos_X * cos(Omega) - galileo_satpos_Y * cos(i) * sin(Omega);
|
||||
galileo_satvel_Y = Omega_dot * (cos(u) * r * cos(Omega) - sin(u) * r * cos(i) * sin(Omega)) + galileo_satpos_X * sin(Omega) + galileo_satpos_Y * cos(i) * cos(Omega);
|
||||
galileo_satvel_Z = galileo_satpos_Y * sin(i);
|
||||
|
||||
// Satellite's velocity.
|
||||
|
||||
d_satvel_X =0;
|
||||
d_satvel_Y = 0;
|
||||
d_satvel_Z = 0;
|
||||
}
|
||||
|
||||
@ -1,8 +1,8 @@
|
||||
/*!
|
||||
* \file gps_navigation_message.h
|
||||
* \file galileo_navigation_message.h
|
||||
* \brief Interface of a GPS EPHEMERIS storage
|
||||
* \author Javier Arribas, 2013. jarribas(at)cttc.es
|
||||
*
|
||||
* \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2013 (see AUTHORS file for a list of contributors)
|
||||
@ -36,22 +36,64 @@
|
||||
#include <map>
|
||||
#include "boost/assign.hpp"
|
||||
#include <boost/serialization/nvp.hpp>
|
||||
|
||||
#include "Galileo_E1.h"
|
||||
|
||||
/*!
|
||||
* \brief This class is a storage and orbital model functions for the Galileo SV ephemeris data as described in Galileo ICD
|
||||
* \brief This class is a storage and orbital model functions for the Galileo SV ephemeris data as described in Galileo ICD paragraph 5.1.1
|
||||
*
|
||||
*/
|
||||
/*
|
||||
* ToDo: Rewrite the class to include all the parameters described in Galileo ICD (this is just a copy of GPS ephemeris!)
|
||||
*/
|
||||
|
||||
class Galileo_Ephemeris
|
||||
{
|
||||
private:
|
||||
|
||||
public:
|
||||
|
||||
unsigned int i_satellite_PRN; // SV PRN NUMBER
|
||||
/*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 */
|
||||
|
||||
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 [metres^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]
|
||||
double t0e_1; // Ephemeris reference time [s]
|
||||
|
||||
/*Clock correction parameters*/
|
||||
double 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*/
|
||||
double WN_5; //Week number
|
||||
double TOW_5; //Time of Week
|
||||
|
||||
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).
|
||||
// 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]
|
||||
|
||||
|
||||
/*The following parameters refers to GPS
|
||||
unsigned int i_satellite_PRN; // SV PRN NUMBER
|
||||
double 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]
|
||||
@ -113,9 +155,9 @@ public:
|
||||
|
||||
|
||||
template<class Archive>
|
||||
/*
|
||||
* \brief Serialize is a boost standard method to be called by the boost XML serialization. Here is used to save the ephemeris data on disk file.
|
||||
*/
|
||||
|
||||
\\brief Serialize is a boost standard method to be called by the boost XML serialization. Here is used to save the ephemeris data on disk file.
|
||||
|
||||
void serialize(Archive& archive, const unsigned int version)
|
||||
{
|
||||
using boost::serialization::make_nvp;
|
||||
@ -161,15 +203,19 @@ public:
|
||||
archive & make_nvp("b_antispoofing_flag",b_antispoofing_flag); //!< If true, the AntiSpoofing mode is ON in that SV
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Compute the ECEF SV coordinates and ECEF velocity
|
||||
* [Insert here the reference in Galileo ICD]
|
||||
|
||||
\\brief Compute the ECEF SV coordinates and ECEF velocity
|
||||
\\http://ec.europa.eu/enterprise/policies/satnav/galileo/open-service/
|
||||
*/
|
||||
void satellitePosition(double transmitTime);
|
||||
|
||||
/*!
|
||||
* Default constructor
|
||||
*/
|
||||
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
|
||||
//Default constructor
|
||||
|
||||
|
||||
|
||||
Galileo_Ephemeris();
|
||||
};
|
||||
|
||||
|
||||
@ -2,7 +2,7 @@
|
||||
* \file gps_iono.h
|
||||
* \brief Interface of a GPS IONOSPHERIC MODEL storage
|
||||
* \author Javier Arribas, 2013. jarribas(at)cttc.es
|
||||
*
|
||||
* \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2013 (see AUTHORS file for a list of contributors)
|
||||
@ -34,30 +34,41 @@
|
||||
|
||||
|
||||
/*!
|
||||
* \brief This class is a storage for the GALILEO IONOSPHERIC data as described in Galileo ICD
|
||||
* \brief This class is a storage for the GALILEO IONOSPHERIC data as described in Galileo ICD paragraph 5.1.6
|
||||
*
|
||||
* See [Update ref]
|
||||
*/
|
||||
|
||||
/*
|
||||
* ToDo: Rewrite the class to include all the parameters described in Galileo ICD (this is just a copy of GPS code!)
|
||||
* See http://ec.europa.eu/enterprise/policies/satnav/galileo/files/galileo-os-sis-icd-issue1-revision1_en.pdf
|
||||
*/
|
||||
class Galileo_Iono
|
||||
{
|
||||
private:
|
||||
|
||||
public:
|
||||
// valid flag
|
||||
|
||||
// valid flag
|
||||
bool valid;
|
||||
// Ionospheric parameters
|
||||
double d_alpha0; //!< Coefficient 0 of a cubic equation representing the amplitude of the vertical delay [s]
|
||||
|
||||
/*Ionospheric correction*/
|
||||
/*Az*/
|
||||
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
|
||||
|
||||
// Ionospheric parameters GPS
|
||||
/*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_beta3; //!< Coefficient 3 of a cubic equation representing the period of the model [s(semi-circle)^3]*/
|
||||
/*!
|
||||
* Default constructor
|
||||
*/
|
||||
|
||||
@ -769,8 +769,8 @@ int Galileo_Navigation_Message::page_jk_decoder(char *data_jk)
|
||||
SVID1_7= (double)read_navigation_unsigned(data_jk_bits, SVID1_7_bit);
|
||||
std::cout << "SVID1_7= " << SVID1_7 << std::endl;
|
||||
|
||||
Delta_alpha_7= (double)read_navigation_unsigned(data_jk_bits, Delta_alpha_7_bit);
|
||||
Delta_alpha_7= Delta_alpha_7 * Delta_alpha_7_LSB;
|
||||
Delta_alpha_7= (double)read_navigation_unsigned(data_jk_bits, DELTA_A_7_bit);
|
||||
Delta_alpha_7= Delta_alpha_7 * DELTA_A_7_LSB;
|
||||
std::cout << "Delta_alpha_7= " << Delta_alpha_7 << std::endl;
|
||||
|
||||
e_7= (double)read_navigation_unsigned(data_jk_bits, e_7_bit);
|
||||
|
||||
@ -32,15 +32,84 @@
|
||||
|
||||
Galileo_Utc_Model::Galileo_Utc_Model()
|
||||
{
|
||||
valid = false;
|
||||
d_A1 = 0;
|
||||
d_A0 = 0;
|
||||
d_t_OT = 0;
|
||||
i_WN_T = 0;
|
||||
d_DeltaT_LS = 0;
|
||||
i_WN_LSF = 0;
|
||||
i_DN = 0;
|
||||
d_DeltaT_LSF = 0;
|
||||
//valid = false;
|
||||
/*Word type 6: GST-UTC conversion parameters*/
|
||||
A0_6 = 0;
|
||||
A1_6 = 0;
|
||||
Delta_tLS_6 = 0;
|
||||
t0t_6 = 0;
|
||||
WNot_6 = 0;
|
||||
WN_LSF_6 = 0;
|
||||
DN_6 = 0;
|
||||
Delta_tLSF_6 = 0;
|
||||
|
||||
}
|
||||
|
||||
double Galileo_Utc_Model::GST_to_UTC_time(double t_e, int WN)
|
||||
{
|
||||
double t_Utc;
|
||||
double t_Utc_daytime;
|
||||
double Delta_t_Utc = Delta_tLS_6 + A0_6 + A1_6 * (t_e - t0t_6 + 604800 * (double)(WN - WNot_6));
|
||||
|
||||
// Determine if the effectivity time of the leap second event is in the past
|
||||
int weeksToLeapSecondEvent = WN_LSF_6 - WN;
|
||||
|
||||
if ((weeksToLeapSecondEvent) >= 0) // is not in the past
|
||||
{
|
||||
//Detect if the effectivity time and user's time is within six hours = 6 * 60 *60 = 21600 s
|
||||
int secondOfLeapSecondEvent = DN_6 * 24 * 60 * 60;
|
||||
if (weeksToLeapSecondEvent > 0)
|
||||
{
|
||||
t_Utc_daytime = fmod(t_e - Delta_t_Utc, 86400);
|
||||
}
|
||||
else //we are in the same week than the leap second event
|
||||
{
|
||||
if (abs(t_e - secondOfLeapSecondEvent) > 21600)
|
||||
{
|
||||
/* 5.1.7a
|
||||
* Whenever the leap second adjusted time indicated by the WN_LSF and the DN values
|
||||
* is not in the past (relative to the user's present time), and the user's
|
||||
* present time does not fall in the time span which starts at six hours prior
|
||||
* to the effective time and ends at six hours after the effective time,
|
||||
* the GST/Utc relationship is given by
|
||||
*/
|
||||
t_Utc_daytime = fmod(t_e - Delta_t_Utc, 86400);
|
||||
}
|
||||
else
|
||||
{
|
||||
/* 5.1.7b
|
||||
* Whenever the user's current time falls within the time span of six hours
|
||||
* prior to the leap second adjustment to six hours after the adjustment time, ,
|
||||
* the effective time is computed according to the following equations:
|
||||
*/
|
||||
|
||||
int W = fmod(t_e - Delta_t_Utc - 43200, 86400) + 43200;
|
||||
t_Utc_daytime = fmod(W, 86400 + Delta_tLSF_6 - Delta_tLS_6);
|
||||
//implement something to handle a leap second event!
|
||||
}
|
||||
if ( (t_e - secondOfLeapSecondEvent) > 21600)
|
||||
{
|
||||
Delta_t_Utc = Delta_tLSF_6 + A0_6 + A1_6 * (t_e - t0t_6 + 604800*(double)(WN - WNot_6));
|
||||
t_Utc_daytime = fmod(t_e - Delta_t_Utc, 86400);
|
||||
}
|
||||
}
|
||||
}
|
||||
else // the effectivity time is in the past
|
||||
{
|
||||
/* 5.1.7c
|
||||
* Whenever the leap second adjustment time, as indicated by the WN_LSF and DN values,
|
||||
* is in the past (relative to the user’s current time) and the user’s present time does not
|
||||
* fall in the time span which starts six hours prior to the leap second adjustment time and
|
||||
* ends six hours after the adjustment time, the effective time is computed according to
|
||||
* the following equation:
|
||||
*/
|
||||
Delta_t_Utc = Delta_tLSF_6 + A0_6 + A1_6 * (t_e - t0t_6 + 604800 * (double)(WN - WNot_6));
|
||||
t_Utc_daytime = fmod(t_e - Delta_t_Utc, 86400);
|
||||
}
|
||||
|
||||
double secondsOfWeekBeforeToday = 43200 * floor(t_e / 43200);
|
||||
t_Utc = secondsOfWeekBeforeToday + t_Utc_daytime;
|
||||
return t_Utc;
|
||||
|
||||
}
|
||||
|
||||
|
||||
@ -3,6 +3,7 @@
|
||||
* \brief Interface of a GPS UTC MODEL storage
|
||||
* \author Javier Arribas, 2013. jarribas(at)cttc.es
|
||||
*
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2013 (see AUTHORS file for a list of contributors)
|
||||
@ -32,21 +33,37 @@
|
||||
#ifndef GNSS_SDR_GALILEO_UTC_MODEL_H_
|
||||
#define GNSS_SDR_GALILEO_UTC_MODEL_H_
|
||||
|
||||
#include "Galileo_E1.h"
|
||||
|
||||
|
||||
/*!
|
||||
* \brief This class is a storage for the GALILEO UTC MODEL data as described in Galileo ICD
|
||||
*
|
||||
* See [Update ref]
|
||||
*/
|
||||
|
||||
/*
|
||||
* ToDo: Rewrite the class to include all the parameters described in Galileo ICD (this is just a copy of GPS code!)
|
||||
* http://ec.europa.eu/enterprise/policies/satnav/galileo/files/galileo-os-sis-icd-issue1-revision1_en.pdf
|
||||
* paragraph 5.1.7
|
||||
*/
|
||||
|
||||
class Galileo_Utc_Model
|
||||
{
|
||||
public:
|
||||
bool valid;
|
||||
|
||||
//bool valid;
|
||||
/*Word type 6: GST-UTC conversion parameters*/
|
||||
double A0_6;
|
||||
double A1_6;
|
||||
double Delta_tLS_6;
|
||||
double t0t_6;
|
||||
double WNot_6;
|
||||
double WN_LSF_6;
|
||||
double DN_6;
|
||||
double Delta_tLSF_6;
|
||||
//double TOW_6;
|
||||
|
||||
/*GST*/
|
||||
//double WN_5; //Week number
|
||||
//double TOW_5; //Time of Week
|
||||
|
||||
//this is from gps
|
||||
/*bool valid;
|
||||
// UTC parameters
|
||||
double d_A1; //!< 1st order term of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200E) [s/s]
|
||||
double d_A0; //!< Constant of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200E) [s]
|
||||
@ -56,10 +73,14 @@ public:
|
||||
int i_WN_LSF; //!< Week number at the end of which the leap second becomes effective [weeks]
|
||||
int 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 GST_to_UTC_time(double t_e, int WN);
|
||||
/*!
|
||||
* Default constructor
|
||||
*/
|
||||
|
||||
Galileo_Utc_Model();
|
||||
|
||||
};
|
||||
|
||||
Loading…
Reference in New Issue
Block a user