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

src/core/system_parameters/Galileo_E1.h

@@ -40,6 +40,12 @@
 #include <utility> // std::pair
 #include "MATH_CONSTANTS.h"
 
+// Physical constants
+const double GALILEO_PI         		 = 3.1415926535898;  //!< Pi as defined in GALILEO ICD
+const double GALILEO_GM                  = 3.986004418e14;      //!< Geocentric gravitational constant[m^3/s^2]
+const double GALILEO_OMEGA_EARTH_DOT     = 7.2921151467e-5;  //!< Mean angular velocity of the Earth [rad/s]
+const double GALILEO_C_m_s      		 = 299792458.0;      //!< The speed of light, [m/s]
+const double GALILEO_F                   = -4.442807633e-10; //!< Constant, [s/(m)^(1/2)]
 // carrier and code frequencies
 const double Galileo_E1_FREQ_HZ = 1.57542e9; //!< E1 [Hz]
 const double Galileo_E1_CODE_CHIP_RATE_HZ = 1.023e6; //!< Galileo E1 code rate [chips/s]
@@ -151,7 +157,7 @@ const std::vector<std::pair<int,int>> Region5_5_bit({{47,1}});	//
 const std::vector<std::pair<int,int>> BGD_E1E5a_5_bit({{48,10}});	//
 const double BGD_E1E5a_5_LSB = TWO_N32;
 const std::vector<std::pair<int,int>> BGD_E1E5b_5_bit({{58,10}});	//
-const double BGD_E1E5b_5_LSB = TWO_N35;
+const double BGD_E1E5b_5_LSB = TWO_N32;
 const std::vector<std::pair<int,int>> E5b_HS_5_bit({{68,2}});		//
 const std::vector<std::pair<int,int>> E1B_HS_5_bit({{70,2}});		//
 const std::vector<std::pair<int,int>> E5b_DVS_5_bit({{72,1}});	//
@@ -182,8 +188,8 @@ const std::vector<std::pair<int,int>>WN_a_7_bit({{11,2}});
 const std::vector<std::pair<int,int>>t0a_7_bit({{13,10}});
 const double t0a_7_LSB = 600;
 const std::vector<std::pair<int,int>>SVID1_7_bit({{23,6}});
-const std::vector<std::pair<int,int>>Delta_alpha_7_bit({{29,13}});
+const std::vector<std::pair<int,int>>DELTA_A_7_bit({{29,13}});
-const double Delta_alpha_7_LSB = TWO_N9;
+const double DELTA_A_7_LSB = TWO_N9;
 const std::vector<std::pair<int,int>>e_7_bit({{42,11}});
 const double e_7_LSB = TWO_N16;
 const std::vector<std::pair<int,int>>omega_7_bit({{53,16}});
@@ -227,7 +233,7 @@ const std::vector<std::pair<int,int>>M0_9_bit({{23,16}});
 const double M0_9_LSB = TWO_N15;
 const std::vector<std::pair<int,int>>af0_9_bit({{39,16}});
 const double af0_9_LSB = TWO_N19;
-const std::vector<std::pair<int,int>>af1_9_bit({{54,13}});
+const std::vector<std::pair<int,int>>af1_9_bit({{55,13}});
 const double af1_9_LSB = TWO_N38;
 const std::vector<std::pair<int,int>>E5b_HS_9_bit({{68,2}});
 const std::vector<std::pair<int,int>>E1B_HS_9_bit({{70,2}});

src/core/system_parameters/galileo_almanac.h

@@ -2,7 +2,7 @@
  * \file gps_almanac.h
  * \brief  Interface of a GPS ALMANAC 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)
@@ -28,38 +28,71 @@
  * -------------------------------------------------------------------------
  */
 
-/*
- * ToDo: rewrite the class Galileo Almanac (actually it is just a Gps Almanac copy!). Update also the in-line documentation!
- */
-
 #ifndef GNSS_SDR_GALILEO_ALMANAC_H_
 #define GNSS_SDR_GALILEO_ALMANAC_H_
 
 
 /*!
- * \brief This class is a storage for the GPS SV ALMANAC data as described in IS-GPS-200E
+ * \brief This class is a storage for the GALIELO ALMANAC data as described in GALILEO ICD
  *
- * See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
+ * See http:http://ec.europa.eu/enterprise/policies/satnav/galileo/files/galileo-os-sis-icd-issue1-revision1_en.pdf paragraph 5.1.10
- */
-/*
- * ToDo: Rewrite the class to include all the parameters described in Galileo ICD (this is just a copy of GPS code!)
  */
 class Galileo_Almanac
 {
 public:
-    unsigned int i_satellite_PRN; //!< SV PRN NUMBER
-    double d_Delta_i;
-    double d_Toa;            //!< Almanac data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200E) [s]
-    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]
-    int i_SV_health;	     // SV Health
-    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]
 
+	/*Word type 7: Almanac for SVID1 (1/2), almanac reference time and almanac reference week number*/
+	int IOD_a_7;
+	double WN_a_7;
+	double t0a_7;
+	int 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)*/
+	int IOD_a_8;
+	double af0_8;
+	double af1_8;
+	double E5b_HS_8;
+	double E1B_HS_8;
+	int 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)*/
+	int IOD_a_9;
+	double WN_a_9;
+	double t0a_9;
+	double M0_9;
+	double af0_9;
+	double af1_9;
+	double E5b_HS_9;
+	double E1B_HS_9;
+	int SVID3_9;
+	double DELTA_A_9;
+	double e_9;
+	double omega_9;
+	double delta_i_9;
+
+
+	/*Word type 10: Almanac for SVID3 (2/2)*/
+	int IOD_a_10;
+	double Omega0_10;
+	double Omega_dot_10;
+	double M0_10;
+	double af0_10;
+	double af1_10;
+	double E5b_HS_10;
+	double E1B_HS_10;
     /*!
      * Default constructor
      */

src/core/system_parameters/galileo_ephemeris.cc

@@ -4,7 +4,7 @@
  *
  * See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
  * \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)
@@ -32,64 +32,237 @@
 
 #include "galileo_ephemeris.h"
 
+
 Galileo_Ephemeris::Galileo_Ephemeris()
 {
-    i_satellite_PRN = 0;
+		double M0_1 = 0;		// Mean anomaly at reference time [semi-circles]
-    d_TOW = 0;
+		double delta_n_3 = 0;		// Mean motion difference from computed value  [semi-circles/sec]
-    d_Crs = 0;
+		double e_1 = 0;		// Eccentricity
-    d_Delta_n = 0;
+		double A_1 = 0;   	// Square root of the semi-major axis [metres^1/2]
-    d_M_0 = 0;
+		double OMEGA_0_2 = 0; // Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
-    d_Cuc = 0;
+		double i_0_2 = 0;     // Inclination angle at reference time  [semi-circles]
-    d_e_eccentricity = 0;
+		double omega_2 = 0;   // Argument of perigee [semi-circles]
-    d_Cus = 0;
+		double OMEGA_dot_3 = 0;		// Rate of right ascension [semi-circles/sec]
-    d_sqrt_A = 0;
+		double iDot_2 = 0;    // Rate of inclination angle [semi-circles/sec]
-    d_Toe = 0;
+		double C_uc_3 = 0;			// Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
-    d_Toc = 0;
+		double C_us_3 = 0;			// Amplitude of the sine harmonic correction term to the argument of latitude [radians]
-    d_Cic = 0;
+		double C_rc_3 = 0;			// Amplitude of the cosine harmonic correction term to the orbit radius [meters]
-    d_OMEGA0 = 0;
+		double C_rs_3 = 0;			// Amplitude of the sine harmonic correction term to the orbit radius [meters]
-    d_Cis = 0;
+		double C_ic_4 = 0;		// Amplitude of the cosine harmonic correction 	term to the angle of inclination [radians]
-    d_i_0 = 0;
+		double C_is_4 = 0;		// Amplitude of the sine harmonic correction term to the angle of inclination [radians]
-    d_Crc = 0;
+		double t0e_1 = 0; 	// Ephemeris reference time [s]
-    d_OMEGA = 0;
-    d_OMEGA_DOT = 0;
-    d_IDOT = 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;            //!< 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.
+		/*Clock correction parameters*/
-    d_spare1 = 0;
+		double t0c_4 = 0; 			//Clock correction data reference Time of Week [sec]
-    d_spare2 = 0;
+		double af0_4 = 0; 			//SV clock bias correction coefficient [s]
+		double af1_4 = 0; 			//SV clock drift correction coefficient [s/s]
+		double af2_4 = 0;			//SV clock drift rate correction coefficient [s/s^2]
 
-    d_A_f0 = 0;          //!< Coefficient 0 of code phase offset model [s]
+		/*GST*/
-    d_A_f1 = 0;          //!< Coefficient 1 of code phase offset model [s/s]
+		double WN_5 = 0;
-    d_A_f2 = 0;          //!< Coefficient 2 of code phase offset model [s/s^2]
+		double TOW_5 = 0;
-
-    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
 
 }
 
-void Galileo_Ephemeris::satellitePosition(double transmitTime)
+
-{
+double Galileo_Ephemeris::Galileo_System_Time(double WN, double TOW){
-	/*
+	/* GALIELO SYSTEM TIME, ICD 5.1.2
-	 * ToDo: Compute satellite position at transmit Time
+	 * input parameter:
+	 * WN: The Week Number is an integer counter that gives the sequential week number
+	   from the origin of the Galileo time. It covers 4096 weeks (about 78 years).
+	   Then the counter is reset to zero to cover additional period modulo 4096
+
+	   TOW: The Time of Week is defined as the number of seconds that have occurred since
+	   the transition from the previous week. The TOW covers an entire week from 0 to
+	   604799 seconds and is reset to zero at the end of each week
+
+	   WN and TOW are received in page 5
+
+	   output:
+	   t: it is the transmitted time in Galileo System Time (expressed in seconds)
+
+	   The GST start epoch shall be 00:00 UT on Sunday 22nd August 1999 (midnight between 21st and 22nd August).
+	   At the start epoch, GST shall be ahead of UTC by thirteen (13)
+	   leap seconds. Since the next leap second was inserted at 01.01.2006, this implies that
+       as of 01.01.2006 GST is ahead of UTC by fourteen (14) leap seconds.
+
+       The epoch denoted in the navigation messages by TOW and WN
+	   will be measured relative to the leading edge of the first chip of the
+	   first code sequence of the first page symbol. The transmission timing of the navigation
+	   message provided through the TOW is synchronised to each satellite’s version of Galileo System Time (GST).
+	 *
 	 */
+	double t=0;
+	double sec_in_day = 86400;
+	double day_in_week = 7;
+	t = WN*sec_in_day*day_in_week+ TOW; // second from the origin of the Galileo time
+
+	return t;
+
+}
+
+
+
+double Galileo_Ephemeris::sv_clock_drift(double transmitTime){
+	/* Satellite Time Correction Algorithm, ICD 5.1.4
+	 *
+	 */
+    double dt;
+    dt = transmitTime - t0c_4;
+    Galileo_satClkDrift = af0_4 + af1_4*dt + (af2_4 * dt)*(af2_4 * dt) + Galileo_dtr;
+    return Galileo_satClkDrift;
+}
+
+// compute the relativistic correction term
+double Galileo_Ephemeris::sv_clock_relativistic_term(double transmitTime) //Satellite Time Correction Algorithm, ICD 5.1.4
+{
+    double tk;
+    double a;
+    double n;
+    double n0;
+    double E;
+    double E_old;
+    double dE;
+    double M;
+
+      // Restore semi-major axis
+      a = A_1*A_1;
+
+      n0 = sqrt(GALILEO_GM / (a*a*a));
+
+      // Time from ephemeris reference epoch
+      //tk = check_t(transmitTime - d_Toe); this is tk for GPS; for Galileo it is different
+      //t = WN_5*86400*7 + TOW_5; //WN_5*86400*7 are the second from the origin of the Galileo time
+      tk = transmitTime - t0e_1;
+
+      // Corrected mean motion
+      n = n0 + delta_n_3;
+
+      // Mean anomaly
+      M = M0_1 + n * tk;
+
+      // Reduce mean anomaly to between 0 and 2pi
+      M = fmod((M + 2* GALILEO_PI), (2* GALILEO_PI));
+
+      // Initial guess of eccentric anomaly
+      E = M;
+
+      // --- Iteratively compute eccentric anomaly ----------------------------
+      for (int ii = 1; ii<20; ii++)
+          {
+              E_old   = E;
+              E       = M + e_1 * sin(E);
+              dE      = fmod(E - E_old, 2*GALILEO_PI);
+              if (fabs(dE) < 1e-12)
+                  {
+                      //Necessary precision is reached, exit from the loop
+                       break;
+                   }
+           }
+
+
+    // Compute relativistic correction term
+    Galileo_dtr = GALILEO_F * e_1* A_1 * sin(E);
+    return Galileo_dtr;
+}
+
+
+
+
+
+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)
+{
+    double tk;  // Time from ephemeris reference epoch
+    //double t;   // Galileo System Time (ICD, paragraph 5.1.2)
+    double a;   // Semi-major axis
+    double n;   // Corrected mean motion
+    double n0;  // Computed mean motion
+    double M;   // Mean anomaly
+    double E;   //Eccentric Anomaly (to be solved by iteration)
+    double E_old;
+    double dE;
+    double nu; //True anomaly
+    double phi; //argument of Latitude
+    double u;   // Correct argument of latitude
+    double r;  // Correct radius
+    double i;
+    double Omega;
+
+    // Find Galileo satellite's position ----------------------------------------------
+
+    // Restore semi-major axis
+    a = A_1*A_1;
+
+    // Computed mean motion
+    n0 = sqrt(GALILEO_GM / (a*a*a));
+
+    // Time from ephemeris reference epoch
+    //tk = check_t(transmitTime - d_Toe); this is tk for GPS; for Galileo it is different
+    //t = WN_5*86400*7 + TOW_5; //WN_5*86400*7 are the second from the origin of the Galileo time
+    tk = transmitTime - t0e_1;
+
+    // Corrected mean motion
+    n = n0 + delta_n_3;
+
+    // Mean anomaly
+    M = M0_1 + n * tk;
+
+    // Reduce mean anomaly to between 0 and 2pi
+    M = fmod((M + 2* GALILEO_PI), (2* GALILEO_PI));
+
+    // Initial guess of eccentric anomaly
+    E = M;
+
+    // --- Iteratively compute eccentric anomaly ----------------------------
+    for (int ii = 1; ii<20; ii++)
+        {
+            E_old   = E;
+            E       = M + e_1 * sin(E);
+            dE      = fmod(E - E_old, 2*GALILEO_PI);
+            if (fabs(dE) < 1e-12)
+                {
+                    //Necessary precision is reached, exit from the loop
+                    break;
+                }
+        }
+
+    // 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;
+    galileo_satpos_X = cos(u) * r * cos(Omega) - sin(u) * r * cos(i) * sin(Omega);
-    d_satpos_Y = 0;
+    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
-    d_satpos_Z = 0;
+    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;
 }

src/core/system_parameters/galileo_ephemeris.h

@@ -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
+     \\brief Compute the ECEF SV coordinates and ECEF velocity
-     * [Insert here the reference in Galileo ICD]
+     \\http://ec.europa.eu/enterprise/policies/satnav/galileo/open-service/
      */
     void satellitePosition(double transmitTime);
 
-    /*!
+    double Galileo_System_Time(double WN, double TOW); 			// Galileo System Time (GST), ICD paragraph 5.1.2
-     * Default constructor
+    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();
 };
 

src/core/system_parameters/galileo_iono.h

@@ -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]
+ * See http://ec.europa.eu/enterprise/policies/satnav/galileo/files/galileo-os-sis-icd-issue1-revision1_en.pdf
- */
-
-/*
- * ToDo: Rewrite the class to include all the parameters described in Galileo ICD (this is just a copy of GPS code!)
  */
 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
      */

src/core/system_parameters/galileo_navigation_message.cc

@@ -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= (double)read_navigation_unsigned(data_jk_bits, DELTA_A_7_bit);
-        	    Delta_alpha_7= Delta_alpha_7 * Delta_alpha_7_LSB;
+        	    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);

src/core/system_parameters/galileo_utc_model.cc

@@ -32,15 +32,84 @@
 
 Galileo_Utc_Model::Galileo_Utc_Model()
 {
-	valid = false;
+	//valid = false;
-	d_A1 = 0;
+	/*Word type 6: GST-UTC conversion parameters*/
-	d_A0 = 0;
+	A0_6 = 0;
-	d_t_OT = 0;
+	A1_6 = 0;
-	i_WN_T = 0;
+	Delta_tLS_6 = 0;
-	d_DeltaT_LS = 0;
+	t0t_6 = 0;
-	i_WN_LSF = 0;
+	WNot_6 = 0;
-	i_DN = 0;
+	WN_LSF_6 = 0;
-	d_DeltaT_LSF = 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;
 
 }
 

src/core/system_parameters/galileo_utc_model.h

@@ -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
- *
+ * http://ec.europa.eu/enterprise/policies/satnav/galileo/files/galileo-os-sis-icd-issue1-revision1_en.pdf
- * See [Update ref]
+ * paragraph 5.1.7
- */
-
-/*
- * ToDo: Rewrite the class to include all the parameters described in Galileo ICD (this is just a copy of GPS code!)
  */
 
 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();
 
 };