Merge branch 'gnss-ephemeris' into next

docs/changelog.md

@@ -42,6 +42,9 @@ SPDX-FileCopyrightText: 2011-2021 Carles Fernandez-Prades <carles.fernandez@cttc
 - Do not apply clang-tidy fixes to protobuf-generated headers.
 - Refactored private implementation of flow graph connection and disconnection
   for improved source code readability.
+- Added a base class for GNSS ephemeris, saving some duplicated code and
+  providing a common nomenclature for ephemeris' parameters. New generated XML
+  files make use of the new parameters' name.
 
 ### Improvements in Usability:
 

docs/protobuf/galileo_ephemeris.proto

@@ -0,0 +1,53 @@
+// SPDX-License-Identifier: BSD-3-Clause
+// SPDX-FileCopyrightText: 2018-2021 Carles Fernandez-Prades <carles.fernandez@cttc.es>
+syntax = "proto3";
+
+package gnss_sdr;
+
+message GalileoEphemeris {
+  int32 PRN = 1;        // SV ID
+  double M_0 = 2;       // Mean anomaly at reference time [semi-circles]
+  double delta_n = 3;   // Mean motion difference from computed value [semi-circles/sec]
+  double ecc = 4;       // Eccentricity
+  double sqrtA = 5;     // Square root of the semi-major axis [meters^1/2]
+  double OMEGA_0 = 6;   // Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
+  double i_0 = 7;       // Inclination angle at reference time [semi-circles]
+  double omega = 8;     // Argument of perigee [semi-circles]
+  double OMEGAdot = 9;  // Rate of right ascension [semi-circles/sec]
+  double idot = 10;     // Rate of inclination angle [semi-circles/sec]
+  double Cuc = 11;      // Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
+  double Cus = 12;      // Amplitude of the sine harmonic correction term to the argument of latitude [radians]
+  double Crc = 13;      // Amplitude of the cosine harmonic correction term to the orbit radius [meters]
+  double Crs = 14;      // Amplitude of the sine harmonic correction term to the orbit radius [meters]
+  double Cic = 15;      // Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
+  double Cis = 16;      // Amplitude of the sine harmonic correction term to the angle of inclination [radians]
+  int32 toe = 17;       // Ephemeris reference time [s]
+
+  // Clock correction parameters
+  int32 toc = 18;    // Clock correction data reference Time of Week [sec]
+  double af0 = 19;   // SV clock bias correction coefficient [s]
+  double af1 = 20;   // SV clock drift correction coefficient [s/s]
+  double af2 = 21;   // SV clock drift rate correction coefficient [s/s^2]
+
+  double satClkDrift = 22;  // SV clock drift
+  double dtr = 23;          // Relativistic clock correction term
+
+  // Time
+  int32 WN = 24;   // Week number
+  int32 tow = 25;  // Time of Week
+
+  // Galileo-specific parameters
+  int32 IOD_ephemeris = 26;
+  int32 IOD_nav = 27;
+
+  // SV status
+  int32 SISA = 28;        // Signal in space accuracy index
+  int32 E5a_HS = 29;      // E5a Signal Health Status
+  int32 E5b_HS = 30;      // E5b Signal Health Status
+  int32 E1B_HS = 31;      // E1B Signal Health Status
+  bool E5a_DVS = 32;      // E5a Data Validity Status
+  bool E5b_DVS = 33;      // E5b Data Validity Status
+  bool E1B_DVS = 34;      // E1B Data Validity Status
+  double BGD_E1E5a = 35;  // E1-E5a Broadcast Group Delay [s]
+  double BGD_E1E5b = 36;  // E1-E5b Broadcast Group Delay [s]
+}

docs/protobuf/gps_ephemeris.proto

@@ -0,0 +1,57 @@
+// SPDX-License-Identifier: BSD-3-Clause
+// SPDX-FileCopyrightText: 2018-2021 Carles Fernandez-Prades <carles.fernandez@cttc.es>
+syntax = "proto3";
+
+package gnss_sdr;
+
+message GpsEphemeris {
+  int32 PRN = 1;        // SV ID
+  double M_0 = 2;       // Mean anomaly at reference time [semi-circles]
+  double delta_n = 3;   // Mean motion difference from computed value [semi-circles/sec]
+  double ecc = 4;       // Eccentricity
+  double sqrtA = 5;     // Square root of the semi-major axis [meters^1/2]
+  double OMEGA_0 = 6;   // Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
+  double i_0 = 7;       // Inclination angle at reference time [semi-circles]
+  double omega = 8;     // Argument of perigee [semi-circles]
+  double OMEGAdot = 9;  // Rate of right ascension [semi-circles/sec]
+  double idot = 10;     // Rate of inclination angle [semi-circles/sec]
+  double Cuc = 11;      // Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
+  double Cus = 12;      // Amplitude of the sine harmonic correction term to the argument of latitude [radians]
+  double Crc = 13;      // Amplitude of the cosine harmonic correction term to the orbit radius [meters]
+  double Crs = 14;      // Amplitude of the sine harmonic correction term to the orbit radius [meters]
+  double Cic = 15;      // Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
+  double Cis = 16;      // Amplitude of the sine harmonic correction term to the angle of inclination [radians]
+  int32 toe = 17;       // Ephemeris reference time [s]
+
+  // Clock correction parameters
+  int32 toc = 18;    // Clock correction data reference Time of Week [sec]
+  double af0 = 19;   // SV clock bias correction coefficient [s]
+  double af1 = 20;   // SV clock drift correction coefficient [s/s]
+  double af2 = 21;   // SV clock drift rate correction coefficient [s/s^2]
+
+  double satClkDrift = 22;  // SV clock drift
+  double dtr = 23;          // Relativistic clock correction term
+
+  // Time
+  int32 WN = 24;   // Week number
+  int32 tow = 25;  // Time of Week
+
+  // GPS-specific parameters
+  int32 code_on_L2 = 26;     // If 1, P code ON in L2;  if 2, C/A code ON in L2;
+  bool L2_P_data_flag = 27;  // When true, indicates that the NAV data stream was commanded OFF on the P-code of the L2 channel
+  int32 SV_accuracy = 28;    // 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-200L)
+  int32 SV_health = 29;      // Satellite heath status
+  double TGD = 30;           // Estimated Group Delay Differential: L1-L2 correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
+  int32 IODC = 31;           // Issue of Data, Clock
+  int32 IODE_SF2 = 32;       // Issue of Data, Ephemeris (IODE), subframe 2
+  int32 IODE_SF3 = 33;       // Issue of Data, Ephemeris (IODE), subframe 3
+  int32 AODO = 34;           // 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 fit_interval_flag = 35;  // 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 spare1 = 36;
+  double spare2 = 37;
+
+  bool integrity_status_flag = 38;
+  bool alert_flag = 39;         // If true, indicates that the SV URA may be worse than indicated in d_SV_accuracy, use that SV at our own risk.
+  bool antispoofing_flag = 40;  // If true, the AntiSpoofing mode is ON in that SV
+}

docs/protobuf/monitor_galileo_ephemeris.proto

@@ -1,55 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: 2018-2020 Carles Fernandez-Prades <carles.fernandez@cttc.es>
-syntax = "proto3";
-
-package gnss_sdr;
-
-message MonitorGalileoEphemeris {
-    /* 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 */
-    int32 IOD_ephemeris=1;
-    int32 IOD_nav_1=2;
-    double M0_1=3;            //!< Mean anomaly at reference time [semi-circles]
-    double delta_n_3=4;       //!< Mean motion difference from computed value [semi-circles/sec]
-    double e_1=5;             //!< Eccentricity
-    double A_1=6;             //!< Square root of the semi-major axis [meters^1/2]
-    double OMEGA_0_2=7;       //!< Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
-    double i_0_2=8;           //!< Inclination angle at reference time  [semi-circles]
-    double omega_2=9;         //!< Argument of perigee [semi-circles]
-    double OMEGA_dot_3=10;     //!< Rate of right ascension [semi-circles/sec]
-    double iDot_2=11;          //!< Rate of inclination angle [semi-circles/sec]
-    double C_uc_3=12;          //!< Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
-    double C_us_3=13;          //!< Amplitude of the sine harmonic correction term to the argument of latitude [radians]
-    double C_rc_3=14;          //!< Amplitude of the cosine harmonic correction term to the orbit radius [meters]
-    double C_rs_3=15;          //!< Amplitude of the sine harmonic correction term to the orbit radius [meters]
-    double C_ic_4=16;          //!< Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
-    double C_is_4=17;          //!< Amplitude of the sine harmonic correction term to the angle of inclination [radians]
-    uint32 d_Toe=18;  // Ephemeris reference time
-
-    /*Clock correction parameters*/
-    uint32 d_Toc=19;  // Clock correction data reference Time of Week
-    double af0_4=20;           //!< SV clock bias correction coefficient [s]
-    double af1_4=21;           //!< SV clock drift correction coefficient [s/s]
-    double af2_4=22;           //!< SV clock drift rate correction coefficient [s/s^2]
-
-    /*GST*/
-    // Not belong to ephemeris set (page 1 to 4)
-    int32 WN_5=23;   //!< Week number
-    int32 TOW_5=24;  //!< Time of Week
-    double Galileo_satClkDrift=25;
-    double Galileo_dtr=26;  //!< relativistic clock correction term
-
-    // SV status
-    int32 SISA_3=27;
-    int32 E5a_HS=28;    //!< E5a Signal Health Status
-    int32 E5b_HS_5=29;  //!< E5b Signal Health Status
-    int32 E1B_HS_5=30;  //!< E1B Signal Health Status
-    bool E5a_DVS=31;      //!< E5a Data Validity Status
-    bool E5b_DVS_5=32;    //!< E5b Data Validity Status
-    bool E1B_DVS_5=33;    //!< E1B Data Validity Status
-
-    double BGD_E1E5a_5=34;  //!< E1-E5a Broadcast Group Delay [s]
-    double BGD_E1E5b_5=35;  //!< E1-E5b Broadcast Group Delay [s]
-    
-    int32 i_satellite_PRN=36; //!< SV PRN NUMBER
-}

docs/protobuf/monitor_gps_ephemeris.proto

@@ -1,49 +0,0 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: 2018-2020 Carles Fernandez-Prades <carles.fernandez@cttc.es>
-syntax = "proto3";
-
-package gnss_sdr;
-
-message MonitorGpsEphemeris {
-    uint32 i_satellite_PRN=1;  // SV PRN NUMBER
-    double d_TOW=2;             //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
-    double d_Crs=3;             //!< Amplitude of the Sine Harmonic Correction Term to the Orbit Radius [m]
-    double d_Delta_n=4;         //!< Mean Motion Difference From Computed Value [semi-circles/s]
-    double d_M_0=5;             //!< Mean Anomaly at Reference Time [semi-circles]
-    double d_Cuc=6;             //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
-    double d_e_eccentricity=7;  //!< Eccentricity [dimensionless]
-    double d_Cus=8;             //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
-    double d_sqrt_A=9;          //!< Square Root of the Semi-Major Axis [sqrt(m)]
-    uint32 d_Toe=10;             //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200K) [s]
-    uint32 d_Toc=11;             //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200K) [s]
-    double d_Cic=12;           //!< Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination [rad]
-    double d_OMEGA0=13;        //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
-    double d_Cis=14;           //!< Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination [rad]
-    double d_i_0=15;           //!< Inclination Angle at Reference Time [semi-circles]
-    double d_Crc=16;           //!< Amplitude of the Cosine Harmonic Correction Term to the Orbit Radius [m]
-    double d_OMEGA=17;         //!< Argument of Perigee [semi-cicles]
-    double d_OMEGA_DOT=18;     //!< Rate of Right Ascension [semi-circles/s]
-    double d_IDOT=19;          //!< Rate of Inclination Angle [semi-circles/s]
-    int32 i_code_on_L2=20;   //!< If 1, P code ON in L2;  if 2, C/A code ON in L2;
-    int32 i_GPS_week=21;     //!< GPS week number, aka WN [week]
-    bool b_L2_P_data_flag=22;  //!< When true, indicates that the NAV data stream was commanded OFF on the P-code of the L2 channel
-    int32 i_SV_accuracy=23;  //!< 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 i_SV_health=24;
-    double d_TGD=25;       //!< 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_IODC=26;      //!< Issue of Data, Clock
-    double d_IODE_SF2=27;  //!< Issue of Data, Ephemeris (IODE), subframe 2
-    double d_IODE_SF3=28;  //!< Issue of Data, Ephemeris(IODE), subframe 3
-    int32 i_AODO=29;     //!< 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=30;  //!< 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=31;
-    double d_spare2=32;
-
-    double d_A_f0=33;  //!< Coefficient 0 of code phase offset model [s]
-    double d_A_f1=34;  //!< Coefficient 1 of code phase offset model [s/s]
-    double d_A_f2=35;  //!< Coefficient 2 of code phase offset model [s/s^2]
-    
-    bool b_integrity_status_flag=36;
-    bool b_alert_flag=37;         //!< 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=38;  //!<  If true, the AntiSpoofing mode is ON in that SV
-}

docs/xml-schemas/README.md

@@ -6,7 +6,7 @@ SPDX-License-Identifier: GPL-3.0-or-later
 )
 
 [comment]: # (
-SPDX-FileCopyrightText: 2011-2020 Carles Fernandez-Prades <carles.fernandez@cttc.es>
+SPDX-FileCopyrightText: 2011-2021 Carles Fernandez-Prades <carles.fernandez@cttc.es>
 )
 <!-- prettier-ignore-end -->
 
@@ -33,6 +33,8 @@ elements in an XML document.
 
 - [cnav_ephemeris_map.xsd](./cnav_ephemeris_map.xsd) - GPS CNAV message
   ephemeris parameters.
+- [cnav_utc_model.xsd](./cnav_utc_model.xsd) - GPS CNAV message UTC model
+  parameters.
 
 ## Galileo
 

docs/xml-schemas/cnav_ephemeris_map.xsd

@@ -1,6 +1,6 @@
 <xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
   <!-- SPDX-License-Identifier: BSD-3-Clause -->
-  <!-- SPDX-FileCopyrightText: 2018-2020 Carles Fernandez-Prades <carles.fernandez@cttc.es> -->
+  <!-- SPDX-FileCopyrightText: 2018-2021 Carles Fernandez-Prades <carles.fernandez@cttc.es> -->
   <xs:element name="boost_serialization">
     <xs:complexType>
       <xs:sequence>
@@ -16,38 +16,46 @@
                     <xs:element name="second">
                       <xs:complexType>
                         <xs:sequence>
-                          <xs:element type="xs:byte" name="i_satellite_PRN"/>
+                          <xs:element type="xs:byte" name="PRN"/>
-                          <xs:element type="xs:int" name="d_TOW"/>
+                          <xs:element type="xs:float" name="M_0"/>
-                          <xs:element type="xs:float" name="d_Crs"/>
+                          <xs:element type="xs:float" name="delta_n"/>
-                          <xs:element type="xs:float" name="d_M_0"/>
+                          <xs:element type="xs:float" name="ecc"/>
-                          <xs:element type="xs:float" name="d_Cuc"/>
+                          <xs:element type="xs:float" name="sqrtA"/>
-                          <xs:element type="xs:float" name="d_e_eccentricity"/>
+                          <xs:element type="xs:float" name="OMEGA_0"/>
-                          <xs:element type="xs:float" name="d_Cus"/>
+                          <xs:element type="xs:float" name="i_0"/>
-                          <xs:element type="xs:int" name="d_Toe1"/>
+                          <xs:element type="xs:float" name="omega"/>
-                          <xs:element type="xs:int" name="d_Toe2"/>
+                          <xs:element type="xs:float" name="OMEGAdot"/>
-                          <xs:element type="xs:byte" name="d_Toc"/>
+                          <xs:element type="xs:float" name="idot"/>
-                          <xs:element type="xs:float" name="d_Cic"/>
+                          <xs:element type="xs:float" name="Cuc"/>
-                          <xs:element type="xs:float" name="d_OMEGA0"/>
+                          <xs:element type="xs:float" name="Cus"/>
-                          <xs:element type="xs:float" name="d_Cis"/>
+                          <xs:element type="xs:float" name="Crc"/>
-                          <xs:element type="xs:float" name="d_i_0"/>
+                          <xs:element type="xs:float" name="Crs"/>
-                          <xs:element type="xs:float" name="d_Crc"/>
+                          <xs:element type="xs:float" name="Cic"/>
-                          <xs:element type="xs:float" name="d_OMEGA"/>
+                          <xs:element type="xs:float" name="Cis"/>
-                          <xs:element type="xs:float" name="d_IDOT"/>
+                          <xs:element type="xs:int" name="toe"/>
-                          <xs:element type="xs:short" name="i_GPS_week"/>
+                          <xs:element type="xs:int" name="toc"/>
-                          <xs:element type="xs:float" name="d_TGD"/>
+                          <xs:element type="xs:float" name="af0"/>
-                          <xs:element type="xs:float" name="d_ISCL1"/>
+                          <xs:element type="xs:float" name="af1"/>
-                          <xs:element type="xs:float" name="d_ISCL2"/>
+                          <xs:element type="xs:float" name="af2"/>
-                          <xs:element type="xs:float" name="d_ISCL5I"/>
+                          <xs:element type="xs:short" name="WN"/>
-                          <xs:element type="xs:float" name="d_ISCL5Q"/>
+                          <xs:element type="xs:int" name="tow"/>
-                          <xs:element type="xs:float" name="d_DELTA_A"/>
+                          <xs:element type="xs:float" name="satClkDrift"/>
-                          <xs:element type="xs:float" name="d_A_DOT"/>
+                          <xs:element type="xs:float" name="dtr"/>
-                          <xs:element type="xs:float" name="d_DELTA_OMEGA_DOT"/>
+                          <xs:element type="xs:byte" name="IODE_SF2"/>
-                          <xs:element type="xs:float" name="d_A_f0"/>
+                          <xs:element type="xs:byte" name="IODE_SF3"/>
-                          <xs:element type="xs:float" name="d_A_f1"/>
+                          <xs:element type="xs:byte" name="code_on_L2"/>
-                          <xs:element type="xs:float" name="d_A_f2"/>
+                          <xs:element type="xs:byte" name="L2_P_data_flag"/>
-                          <xs:element type="xs:byte" name="b_integrity_status_flag"/>
+                          <xs:element type="xs:byte" name="SV_accuracy"/>
-                          <xs:element type="xs:byte" name="b_alert_flag"/>
+                          <xs:element type="xs:byte" name="SV_health"/>
-                          <xs:element type="xs:byte" name="b_antispoofing_flag"/>
+                          <xs:element type="xs:float" name="TGD"/>
+                          <xs:element type="xs:byte" name="IODC"/>
+                          <xs:element type="xs:short" name="AODO"/>
+                          <xs:element type="xs:byte" name="fit_interval_flag"/>
+                          <xs:element type="xs:float" name="spare1"/>
+                          <xs:element type="xs:float" name="spare2"/>
+                          <xs:element type="xs:byte" name="integrity_status_flag"/>
+                          <xs:element type="xs:byte" name="alert_flag"/>
+                          <xs:element type="xs:byte" name="antispoofing_flag"/>
                         </xs:sequence>
                         <xs:attribute type="xs:byte" name="class_id" use="optional"/>
                         <xs:attribute type="xs:byte" name="tracking_level" use="optional"/>

docs/xml-schemas/cnav_utc_model.xsd

@@ -0,0 +1,31 @@
+<xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
+  <!-- SPDX-License-Identifier: BSD-3-Clause -->
+  <!-- SPDX-FileCopyrightText: 2018-2021 Carles Fernandez-Prades <carles.fernandez@cttc.es> -->
+  <xs:element name="boost_serialization">
+    <xs:complexType>
+      <xs:sequence>
+        <xs:element name="GNSS-SDR_cnav_utc_model">
+          <xs:complexType>
+            <xs:sequence>
+              <xs:element type="xs:float" name="A0"/>
+              <xs:element type="xs:float" name="A1"/>
+              <xs:element type="xs:float" name="A2"/>
+              <xs:element type="xs:int" name="tot"/>
+              <xs:element type="xs:short" name="WN_T"/>
+              <xs:element type="xs:byte" name="DeltaT_LS"/>
+              <xs:element type="xs:short" name="WN_LSF"/>
+              <xs:element type="xs:byte" name="DN"/>
+              <xs:element type="xs:byte" name="DeltaT_LSF"/>
+              <xs:element type="xs:byte" name="valid"/>
+            </xs:sequence>
+            <xs:attribute type="xs:byte" name="class_id"/>
+            <xs:attribute type="xs:byte" name="tracking_level"/>
+            <xs:attribute type="xs:byte" name="version"/>
+          </xs:complexType>
+        </xs:element>
+      </xs:sequence>
+      <xs:attribute type="xs:string" name="signature"/>
+      <xs:attribute type="xs:byte" name="version"/>
+    </xs:complexType>
+  </xs:element>
+</xs:schema>

docs/xml-schemas/ephemeris_map.xsd

@@ -1,6 +1,6 @@
-<xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
+IODE_SF<xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
   <!-- SPDX-License-Identifier: BSD-3-Clause -->
-  <!-- SPDX-FileCopyrightText: 2018-2020 Carles Fernandez-Prades <carles.fernandez@cttc.es> -->
+  <!-- SPDX-FileCopyrightText: 2018-2021 Carles Fernandez-Prades <carles.fernandez@cttc.es> -->
   <xs:element name="boost_serialization">
     <xs:complexType>
       <xs:sequence>
@@ -16,44 +16,44 @@
                     <xs:element name="second">
                       <xs:complexType>
                         <xs:sequence>
-                          <xs:element type="xs:byte" name="i_satellite_PRN"/>
+                          <xs:element type="xs:byte" name="PRN"/>
-                          <xs:element type="xs:int" name="d_TOW"/>
+                          <xs:element type="xs:int" name="tow"/>
-                          <xs:element type="xs:byte" name="d_IODE_SF2"/>
+                          <xs:element type="xs:byte" name="IODE_SF2"/>
-                          <xs:element type="xs:byte" name="d_IODE_SF3"/>
+                          <xs:element type="xs:byte" name="IODE_SF3"/>
-                          <xs:element type="xs:float" name="d_Crs"/>
+                          <xs:element type="xs:float" name="Crs"/>
-                          <xs:element type="xs:float" name="d_Delta_n"/>
+                          <xs:element type="xs:float" name="delta_n"/>
-                          <xs:element type="xs:float" name="d_M_0"/>
+                          <xs:element type="xs:float" name="M_0"/>
-                          <xs:element type="xs:float" name="d_Cuc"/>
+                          <xs:element type="xs:float" name="Cuc"/>
-                          <xs:element type="xs:float" name="d_e_eccentricity"/>
+                          <xs:element type="xs:float" name="ecc"/>
-                          <xs:element type="xs:float" name="d_Cus"/>
+                          <xs:element type="xs:float" name="Cus"/>
-                          <xs:element type="xs:float" name="d_sqrt_A"/>
+                          <xs:element type="xs:float" name="sqrtA"/>
-                          <xs:element type="xs:int" name="d_Toe"/>
+                          <xs:element type="xs:int" name="toe"/>
-                          <xs:element type="xs:int" name="d_Toc"/>
+                          <xs:element type="xs:int" name="toc"/>
-                          <xs:element type="xs:float" name="d_Cic"/>
+                          <xs:element type="xs:float" name="Cic"/>
-                          <xs:element type="xs:float" name="d_OMEGA0"/>
+                          <xs:element type="xs:float" name="OMEGA_0"/>
-                          <xs:element type="xs:float" name="d_Cis"/>
+                          <xs:element type="xs:float" name="Cis"/>
-                          <xs:element type="xs:float" name="d_i_0"/>
+                          <xs:element type="xs:float" name="i_0"/>
-                          <xs:element type="xs:float" name="d_Crc"/>
+                          <xs:element type="xs:float" name="Crc"/>
-                          <xs:element type="xs:float" name="d_OMEGA"/>
+                          <xs:element type="xs:float" name="omega"/>
-                          <xs:element type="xs:float" name="d_OMEGA_DOT"/>
+                          <xs:element type="xs:float" name="OMEGAdot"/>
-                          <xs:element type="xs:float" name="d_IDOT"/>
+                          <xs:element type="xs:float" name="idot"/>
-                          <xs:element type="xs:byte" name="i_code_on_L2"/>
+                          <xs:element type="xs:byte" name="code_on_L2"/>
-                          <xs:element type="xs:short" name="i_GPS_week"/>
+                          <xs:element type="xs:short" name="WN"/>
-                          <xs:element type="xs:byte" name="b_L2_P_data_flag"/>
+                          <xs:element type="xs:byte" name="L2_P_data_flag"/>
-                          <xs:element type="xs:byte" name="i_SV_accuracy"/>
+                          <xs:element type="xs:byte" name="SV_accuracy"/>
-                          <xs:element type="xs:byte" name="i_SV_health"/>
+                          <xs:element type="xs:byte" name="SV_health"/>
-                          <xs:element type="xs:float" name="d_TGD"/>
+                          <xs:element type="xs:float" name="TGD"/>
-                          <xs:element type="xs:byte" name="d_IODC"/>
+                          <xs:element type="xs:byte" name="IODC"/>
-                          <xs:element type="xs:short" name="i_AODO"/>
+                          <xs:element type="xs:short" name="AODO"/>
-                          <xs:element type="xs:byte" name="b_fit_interval_flag"/>
+                          <xs:element type="xs:byte" name="fit_interval_flag"/>
-                          <xs:element type="xs:float" name="d_spare1"/>
+                          <xs:element type="xs:float" name="spare1"/>
-                          <xs:element type="xs:float" name="d_spare2"/>
+                          <xs:element type="xs:float" name="spare2"/>
-                          <xs:element type="xs:float" name="d_A_f0"/>
+                          <xs:element type="xs:float" name="af0"/>
-                          <xs:element type="xs:float" name="d_A_f1"/>
+                          <xs:element type="xs:float" name="af1"/>
-                          <xs:element type="xs:float" name="d_A_f2"/>
+                          <xs:element type="xs:float" name="af2"/>
-                          <xs:element type="xs:byte" name="b_integrity_status_flag"/>
+                          <xs:element type="xs:byte" name="integrity_status_flag"/>
-                          <xs:element type="xs:byte" name="b_alert_flag"/>
+                          <xs:element type="xs:byte" name="alert_flag"/>
-                          <xs:element type="xs:byte" name="b_antispoofing_flag"/>
+                          <xs:element type="xs:byte" name="antispoofing_flag"/>
                         </xs:sequence>
                         <xs:attribute type="xs:byte" name="class_id" use="optional"/>
                         <xs:attribute type="xs:byte" name="tracking_level" use="optional"/>

docs/xml-schemas/gal_almanac_map.xsd

@@ -1,6 +1,6 @@
 <xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
   <!-- SPDX-License-Identifier: BSD-3-Clause -->
-  <!-- SPDX-FileCopyrightText: 2018-2020 Carles Fernandez-Prades <carles.fernandez@cttc.es> -->
+  <!-- SPDX-FileCopyrightText: 2018-2021 Carles Fernandez-Prades <carles.fernandez@cttc.es> -->
   <xs:element name="boost_serialization">
     <xs:complexType>
       <xs:sequence>
@@ -16,19 +16,19 @@
                     <xs:element name="second">
                       <xs:complexType>
                         <xs:sequence>
-                          <xs:element type="xs:byte" name="i_satellite_PRN"/>
+                          <xs:element type="xs:byte" name="PRN"/>
-                          <xs:element type="xs:int" name="i_Toa"/>
+                          <xs:element type="xs:int" name="toa"/>
-                          <xs:element type="xs:byte" name="i_WNa"/>
+                          <xs:element type="xs:byte" name="WNa"/>
-                          <xs:element type="xs:byte" name="i_IODa"/>
+                          <xs:element type="xs:byte" name="IODa"/>
-                          <xs:element type="xs:float" name="d_Delta_i"/>
+                          <xs:element type="xs:float" name="delta_i"/>
-                          <xs:element type="xs:float" name="d_M_0"/>
+                          <xs:element type="xs:float" name="M_0"/>
-                          <xs:element type="xs:float" name="d_e_eccentricity"/>
+                          <xs:element type="xs:float" name="ecc"/>
-                          <xs:element type="xs:float" name="d_Delta_sqrt_A"/>
+                          <xs:element type="xs:float" name="delta_sqrtA"/>
-                          <xs:element type="xs:float" name="d_OMEGA0"/>
+                          <xs:element type="xs:float" name="OMEGA_0"/>
-                          <xs:element type="xs:float" name="d_OMEGA"/>
+                          <xs:element type="xs:float" name="omega"/>
-                          <xs:element type="xs:float" name="d_OMEGA_DOT"/>
+                          <xs:element type="xs:float" name="OMEGAdot"/>
-                          <xs:element type="xs:float" name="d_A_f0"/>
+                          <xs:element type="xs:float" name="af0"/>
-                          <xs:element type="xs:float" name="d_A_f1"/>
+                          <xs:element type="xs:float" name="af1"/>
                           <xs:element type="xs:byte" name="E5b_HS"/>
                           <xs:element type="xs:byte" name="E1B_HS"/>
                           <xs:element type="xs:byte" name="E5a_HS"/>

docs/xml-schemas/gal_ephemeris_map.xsd

@@ -1,6 +1,6 @@
 <xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
   <!-- SPDX-License-Identifier: BSD-3-Clause -->
-  <!-- SPDX-FileCopyrightText: 2018-2020 Carles Fernandez-Prades <carles.fernandez@cttc.es> -->
+  <!-- SPDX-FileCopyrightText: 2018-2021 Carles Fernandez-Prades <carles.fernandez@cttc.es> -->
   <xs:element name="boost_serialization">
     <xs:complexType>
       <xs:sequence>
@@ -16,43 +16,42 @@
                     <xs:element name="second">
                       <xs:complexType>
                         <xs:sequence>
-                          <xs:element type="xs:byte" name="i_satellite_PRN"/>
+                          <xs:element type="xs:byte" name="PRN"/>
-                          <xs:element type="xs:float" name="M0_1"/>
+                          <xs:element type="xs:float" name="M_0"/>
-                          <xs:element type="xs:float" name="delta_n_3"/>
+                          <xs:element type="xs:float" name="delta_n"/>
-                          <xs:element type="xs:float" name="e_1"/>
+                          <xs:element type="xs:float" name="ecc"/>
-                          <xs:element type="xs:float" name="A_1"/>
+                          <xs:element type="xs:float" name="sqrtA"/>
-                          <xs:element type="xs:float" name="OMEGA_0_2"/>
+                          <xs:element type="xs:float" name="OMEGA_0"/>
-                          <xs:element type="xs:float" name="i_0_2"/>
+                          <xs:element type="xs:float" name="i_0"/>
-                          <xs:element type="xs:float" name="omega_2"/>
+                          <xs:element type="xs:float" name="omega"/>
-                          <xs:element type="xs:float" name="OMEGA_dot_3"/>
+                          <xs:element type="xs:float" name="OMEGAdot"/>
-                          <xs:element type="xs:float" name="iDot_2"/>
+                          <xs:element type="xs:float" name="idot"/>
-                          <xs:element type="xs:float" name="C_uc_3"/>
+                          <xs:element type="xs:float" name="Cuc"/>
-                          <xs:element type="xs:float" name="C_us_3"/>
+                          <xs:element type="xs:float" name="Cus"/>
-                          <xs:element type="xs:float" name="C_rc_3"/>
+                          <xs:element type="xs:float" name="Crc"/>
-                          <xs:element type="xs:float" name="C_rs_3"/>
+                          <xs:element type="xs:float" name="Crs"/>
-                          <xs:element type="xs:float" name="C_ic_4"/>
+                          <xs:element type="xs:float" name="Cic"/>
-                          <xs:element type="xs:float" name="C_is_4"/>
+                          <xs:element type="xs:float" name="Cis"/>
-                          <xs:element type="xs:int" name="t0e_1"/>
+                          <xs:element type="xs:int" name="toe"/>
-                          <xs:element type="xs:int" name="t0c_4"/>
+                          <xs:element type="xs:int" name="toc"/>
-                          <xs:element type="xs:float" name="af0_4"/>
+                          <xs:element type="xs:float" name="af0"/>
-                          <xs:element type="xs:float" name="af1_4"/>
+                          <xs:element type="xs:float" name="af1"/>
-                          <xs:element type="xs:float" name="af2_4"/>
+                          <xs:element type="xs:float" name="af2"/>
-                          <xs:element type="xs:short" name="WN_5"/>
+                          <xs:element type="xs:short" name="WN"/>
-                          <xs:element type="xs:int" name="TOW_5"/>
+                          <xs:element type="xs:int" name="tow"/>
-                          <xs:element type="xs:float" name="Galileo_satClkDrift"/>
+                          <xs:element type="xs:float" name="satClkDrift"/>
-                          <xs:element type="xs:float" name="Galileo_dtr"/>
+                          <xs:element type="xs:float" name="dtr"/>
-
                           <xs:element type="xs:byte" name="IOD_ephemeris"/>
-                          <xs:element type="xs:byte" name="IOD_nav_1"/>
+                          <xs:element type="xs:byte" name="IOD_nav"/>
-                          <xs:element type="xs:byte" name="SISA_3"/>
+                          <xs:element type="xs:byte" name="SISA"/>
                           <xs:element type="xs:byte" name="E5a_HS"/>
-                          <xs:element type="xs:byte" name="E5b_HS_5"/>
+                          <xs:element type="xs:byte" name="E5b_HS"/>
-                          <xs:element type="xs:byte" name="E1B_HS_5"/>
+                          <xs:element type="xs:byte" name="E1B_HS"/>
                           <xs:element type="xs:byte" name="E5a_DVS"/>
-                          <xs:element type="xs:byte" name="E5b_DVS_5"/>
+                          <xs:element type="xs:byte" name="E5b_DVS"/>
-                          <xs:element type="xs:byte" name="E1B_DVS_5"/>
+                          <xs:element type="xs:byte" name="E1B_DVS"/>
-                          <xs:element type="xs:float" name="BGD_E1E5a_5"/>
+                          <xs:element type="xs:float" name="BGD_E1E5a"/>
-                          <xs:element type="xs:float" name="BGD_E1E5b_5"/>
+                          <xs:element type="xs:float" name="BGD_E1E5b"/>
                           <xs:element type="xs:byte" name="flag_all_ephemeris"/>
                         </xs:sequence>
                         <xs:attribute type="xs:byte" name="class_id" use="optional"/>

docs/xml-schemas/gal_iono_model.xsd

@@ -1,22 +1,22 @@
 <xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
   <!-- SPDX-License-Identifier: BSD-3-Clause -->
-  <!-- SPDX-FileCopyrightText: 2018-2020 Carles Fernandez-Prades <carles.fernandez@cttc.es> -->
+  <!-- SPDX-FileCopyrightText: 2018-2021 Carles Fernandez-Prades <carles.fernandez@cttc.es> -->
   <xs:element name="boost_serialization">
     <xs:complexType>
       <xs:sequence>
         <xs:element name="GNSS-SDR_gal_iono_model">
           <xs:complexType>
             <xs:sequence>
-              <xs:element type="xs:float" name="ai0_5"/>
+              <xs:element type="xs:float" name="ai0"/>
-              <xs:element type="xs:float" name="ai1_5"/>
+              <xs:element type="xs:float" name="ai1"/>
-              <xs:element type="xs:float" name="ai2_5"/>
+              <xs:element type="xs:float" name="ai2"/>
-              <xs:element type="xs:int" name="TOW_5"/>
+              <xs:element type="xs:int" name="tow"/>
-              <xs:element type="xs:short" name="WN_5"/>              
+              <xs:element type="xs:short" name="WN"/>
-              <xs:element type="xs:byte" name="Region1_flag_5"/>
+              <xs:element type="xs:byte" name="Region1_flag"/>
-              <xs:element type="xs:byte" name="Region2_flag_5"/>
+              <xs:element type="xs:byte" name="Region2_flag"/>
-              <xs:element type="xs:byte" name="Region3_flag_5"/>
+              <xs:element type="xs:byte" name="Region3_flag"/>
-              <xs:element type="xs:byte" name="Region4_flag_5"/>
+              <xs:element type="xs:byte" name="Region4_flag"/>
-              <xs:element type="xs:byte" name="Region5_flag_5"/>
+              <xs:element type="xs:byte" name="Region5_flag"/>
             </xs:sequence>
             <xs:attribute type="xs:byte" name="class_id"/>
             <xs:attribute type="xs:byte" name="tracking_level"/>

docs/xml-schemas/gal_utc_model.xsd

@@ -1,20 +1,20 @@
 <xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
   <!-- SPDX-License-Identifier: BSD-3-Clause -->
-  <!-- SPDX-FileCopyrightText: 2018-2020 Carles Fernandez-Prades <carles.fernandez@cttc.es> -->
+  <!-- SPDX-FileCopyrightText: 2018-2021 Carles Fernandez-Prades <carles.fernandez@cttc.es> -->
   <xs:element name="boost_serialization">
     <xs:complexType>
       <xs:sequence>
         <xs:element name="GNSS-SDR_gal_utc_model">
           <xs:complexType>
             <xs:sequence>
-              <xs:element type="xs:float" name="A0_6"/>
+              <xs:element type="xs:float" name="A0"/>
-              <xs:element type="xs:float" name="A1_6"/>
+              <xs:element type="xs:float" name="A1"/>
-              <xs:element type="xs:byte" name="Delta_tLS_6"/>
+              <xs:element type="xs:byte" name="Delta_tLS"/>
-              <xs:element type="xs:int" name="t0t_6"/>
+              <xs:element type="xs:int" name="tot"/>
-              <xs:element type="xs:short" name="WNot_6"/>
+              <xs:element type="xs:short" name="WNot"/>
-              <xs:element type="xs:short" name="WN_LSF_6"/>
+              <xs:element type="xs:short" name="WN_LSF"/>
-              <xs:element type="xs:byte" name="DN_6"/>
+              <xs:element type="xs:byte" name="DN"/>
-              <xs:element type="xs:byte" name="Delta_tLSF_6"/>
+              <xs:element type="xs:byte" name="Delta_tLSF"/>
               <xs:element type="xs:byte" name="flag_utc_model"/>
             </xs:sequence>
             <xs:attribute type="xs:byte" name="class_id"/>

docs/xml-schemas/gps_almanac_map.xsd

@@ -1,6 +1,6 @@
 <xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
   <!-- SPDX-License-Identifier: BSD-3-Clause -->
-  <!-- SPDX-FileCopyrightText: 2018-2020 Carles Fernandez-Prades <carles.fernandez@cttc.es> -->
+  <!-- SPDX-FileCopyrightText: 2018-2021 Carles Fernandez-Prades <carles.fernandez@cttc.es> -->
   <xs:element name="boost_serialization">
     <xs:complexType>
       <xs:sequence>
@@ -16,20 +16,20 @@
                     <xs:element name="second">
                       <xs:complexType>
                         <xs:sequence>
-                          <xs:element type="xs:byte" name="i_satellite_PRN"/>
+                          <xs:element type="xs:byte" name="PRN"/>
-                          <xs:element type="xs:float" name="d_Delta_i"/>
+                          <xs:element type="xs:float" name="delta_i"/>
-                          <xs:element type="xs:byte" name="i_Toa"/>
+                          <xs:element type="xs:byte" name="toa"/>
-                          <xs:element type="xs:byte" name="i_WNa"/>
+                          <xs:element type="xs:byte" name="WNa"/>
-                          <xs:element type="xs:float" name="d_M_0"/>
+                          <xs:element type="xs:float" name="M_0"/>
-                          <xs:element type="xs:float" name="d_e_eccentricity"/>
+                          <xs:element type="xs:float" name="ecc"/>
-                          <xs:element type="xs:float" name="d_sqrt_A"/>
+                          <xs:element type="xs:float" name="sqrtA"/>
-                          <xs:element type="xs:float" name="d_OMEGA0"/>
+                          <xs:element type="xs:float" name="OMEGA_0"/>
-                          <xs:element type="xs:float" name="d_OMEGA"/>
+                          <xs:element type="xs:float" name="omega"/>
-                          <xs:element type="xs:float" name="d_OMEGA_DOT"/>
+                          <xs:element type="xs:float" name="OMEGAdot"/>
-                          <xs:element type="xs:byte" name="i_SV_health"/>
+                          <xs:element type="xs:byte" name="SV_health"/>
-                          <xs:element type="xs:byte" name="i_AS_status"/>
+                          <xs:element type="xs:byte" name="AS_status"/>
-                          <xs:element type="xs:float" name="d_A_f0"/>
+                          <xs:element type="xs:float" name="af0"/>
-                          <xs:element type="xs:float" name="d_A_f1"/>
+                          <xs:element type="xs:float" name="af1"/>
                         </xs:sequence>
                         <xs:attribute type="xs:byte" name="class_id" use="optional"/>
                         <xs:attribute type="xs:byte" name="tracking_level" use="optional"/>

docs/xml-schemas/iono_model.xsd

@@ -1,20 +1,20 @@
 <xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
   <!-- SPDX-License-Identifier: BSD-3-Clause -->
-  <!-- SPDX-FileCopyrightText: 2018-2020 Carles Fernandez-Prades <carles.fernandez@cttc.es> -->
+  <!-- SPDX-FileCopyrightText: 2018-2021 Carles Fernandez-Prades <carles.fernandez@cttc.es> -->
   <xs:element name="boost_serialization">
     <xs:complexType>
       <xs:sequence>
         <xs:element name="GNSS-SDR_iono_model">
           <xs:complexType>
             <xs:sequence>
-              <xs:element type="xs:float" name="d_alpha0"/>
+              <xs:element type="xs:float" name="alpha0"/>
-              <xs:element type="xs:float" name="d_alpha1"/>
+              <xs:element type="xs:float" name="alpha1"/>
-              <xs:element type="xs:float" name="d_alpha2"/>
+              <xs:element type="xs:float" name="alpha2"/>
-              <xs:element type="xs:float" name="d_alpha3"/>
+              <xs:element type="xs:float" name="alpha3"/>
-              <xs:element type="xs:float" name="d_beta0"/>
+              <xs:element type="xs:float" name="beta0"/>
-              <xs:element type="xs:float" name="d_beta1"/>
+              <xs:element type="xs:float" name="beta1"/>
-              <xs:element type="xs:float" name="d_beta2"/>
+              <xs:element type="xs:float" name="beta2"/>
-              <xs:element type="xs:float" name="d_beta3"/>
+              <xs:element type="xs:float" name="beta3"/>
             </xs:sequence>
             <xs:attribute type="xs:byte" name="class_id"/>
             <xs:attribute type="xs:byte" name="tracking_level"/>

docs/xml-schemas/utc_model.xsd

@@ -1,20 +1,21 @@
 <xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
   <!-- SPDX-License-Identifier: BSD-3-Clause -->
-  <!-- SPDX-FileCopyrightText: 2018-2020 Carles Fernandez-Prades <carles.fernandez@cttc.es> -->
+  <!-- SPDX-FileCopyrightText: 2018-2021 Carles Fernandez-Prades <carles.fernandez@cttc.es> -->
   <xs:element name="boost_serialization">
     <xs:complexType>
       <xs:sequence>
         <xs:element name="GNSS-SDR_utc_model">
           <xs:complexType>
             <xs:sequence>
-              <xs:element type="xs:float" name="d_A1"/>
+              <xs:element type="xs:float" name="A0"/>
-              <xs:element type="xs:float" name="d_A0"/>
+              <xs:element type="xs:float" name="A1"/>
-              <xs:element type="xs:int" name="d_t_OT"/>
+              <xs:element type="xs:float" name="A2"/>
-              <xs:element type="xs:short" name="i_WN_T"/>
+              <xs:element type="xs:int" name="tot"/>
-              <xs:element type="xs:byte" name="d_DeltaT_LS"/>
+              <xs:element type="xs:short" name="WN_T"/>
-              <xs:element type="xs:short" name="i_WN_LSF"/>
+              <xs:element type="xs:byte" name="DeltaT_LS"/>
-              <xs:element type="xs:byte" name="i_DN"/>
+              <xs:element type="xs:short" name="WN_LSF"/>
-              <xs:element type="xs:byte" name="d_DeltaT_LSF"/>
+              <xs:element type="xs:byte" name="DN"/>
+              <xs:element type="xs:byte" name="DeltaT_LSF"/>
               <xs:element type="xs:byte" name="valid"/>
             </xs:sequence>
             <xs:attribute type="xs:byte" name="class_id"/>

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc

@@ -667,7 +667,7 @@ rtklib_pvt_gs::~rtklib_pvt_gs()
 
                     // Save Galileo UTC model parameters
                     file_name = d_xml_base_path + "gal_utc_model.xml";
-                    if (d_internal_pvt_solver->galileo_utc_model.Delta_tLS_6 != 0.0)
+                    if (d_internal_pvt_solver->galileo_utc_model.Delta_tLS != 0.0)
                         {
                             std::ofstream ofs;
                             try
@@ -757,7 +757,7 @@ rtklib_pvt_gs::~rtklib_pvt_gs()
 
                     // Save Galileo iono parameters
                     file_name = d_xml_base_path + "gal_iono.xml";
-                    if (d_internal_pvt_solver->galileo_iono.ai0_5 != 0.0)
+                    if (d_internal_pvt_solver->galileo_iono.ai0 != 0.0)
                         {
                             std::ofstream ofs;
                             try
@@ -1074,10 +1074,10 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
                     // ### GPS EPHEMERIS ###
                     const auto gps_eph = boost::any_cast<std::shared_ptr<Gps_Ephemeris>>(pmt::any_ref(msg));
                     DLOG(INFO) << "Ephemeris record has arrived from SAT ID "
-                               << gps_eph->i_satellite_PRN << " (Block "
+                               << gps_eph->PRN << " (Block "
-                               << gps_eph->satelliteBlock[gps_eph->i_satellite_PRN] << ")"
+                               << gps_eph->satelliteBlock[gps_eph->PRN] << ")"
-                               << "inserted with Toe=" << gps_eph->d_Toe << " and GPS Week="
+                               << "inserted with Toe=" << gps_eph->toe << " and GPS Week="
-                               << gps_eph->i_GPS_week;
+                               << gps_eph->WN;
 
                     // todo: Send only new sets of ephemeris (new TOE), not sent to the client
                     // send the new eph to the eph monitor (if enabled)
@@ -1089,13 +1089,13 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
                     if (d_rinex_output_enabled && d_rp->is_rinex_header_written())  // The header is already written, we can now log the navigation message data
                         {
                             bool new_annotation = false;
-                            if (d_internal_pvt_solver->gps_ephemeris_map.find(gps_eph->i_satellite_PRN) == d_internal_pvt_solver->gps_ephemeris_map.cend())
+                            if (d_internal_pvt_solver->gps_ephemeris_map.find(gps_eph->PRN) == d_internal_pvt_solver->gps_ephemeris_map.cend())
                                 {
                                     new_annotation = true;
                                 }
                             else
                                 {
-                                    if (d_internal_pvt_solver->gps_ephemeris_map[gps_eph->i_satellite_PRN].d_Toe != gps_eph->d_Toe)
+                                    if (d_internal_pvt_solver->gps_ephemeris_map[gps_eph->PRN].toe != gps_eph->toe)
                                         {
                                             new_annotation = true;
                                         }
@@ -1104,14 +1104,14 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
                                 {
                                     // New record!
                                     std::map<int32_t, Gps_Ephemeris> new_eph;
-                                    new_eph[gps_eph->i_satellite_PRN] = *gps_eph;
+                                    new_eph[gps_eph->PRN] = *gps_eph;
                                     d_rp->log_rinex_nav_gps_nav(d_type_of_rx, new_eph);
                                 }
                         }
-                    d_internal_pvt_solver->gps_ephemeris_map[gps_eph->i_satellite_PRN] = *gps_eph;
+                    d_internal_pvt_solver->gps_ephemeris_map[gps_eph->PRN] = *gps_eph;
                     if (d_enable_rx_clock_correction == true)
                         {
-                            d_user_pvt_solver->gps_ephemeris_map[gps_eph->i_satellite_PRN] = *gps_eph;
+                            d_user_pvt_solver->gps_ephemeris_map[gps_eph->PRN] = *gps_eph;
                         }
                 }
             else if (msg_type_hash_code == d_gps_iono_sptr_type_hash_code)
@@ -1144,13 +1144,13 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
                     if (d_rinex_output_enabled && d_rp->is_rinex_header_written())  // The header is already written, we can now log the navigation message data
                         {
                             bool new_annotation = false;
-                            if (d_internal_pvt_solver->gps_cnav_ephemeris_map.find(gps_cnav_ephemeris->i_satellite_PRN) == d_internal_pvt_solver->gps_cnav_ephemeris_map.cend())
+                            if (d_internal_pvt_solver->gps_cnav_ephemeris_map.find(gps_cnav_ephemeris->PRN) == d_internal_pvt_solver->gps_cnav_ephemeris_map.cend())
                                 {
                                     new_annotation = true;
                                 }
                             else
                                 {
-                                    if (d_internal_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->i_satellite_PRN].d_Toe1 != gps_cnav_ephemeris->d_Toe1)
+                                    if (d_internal_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->PRN].toe1 != gps_cnav_ephemeris->toe1)
                                         {
                                             new_annotation = true;
                                         }
@@ -1159,14 +1159,14 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
                                 {
                                     // New record!
                                     std::map<int32_t, Gps_CNAV_Ephemeris> new_cnav_eph;
-                                    new_cnav_eph[gps_cnav_ephemeris->i_satellite_PRN] = *gps_cnav_ephemeris;
+                                    new_cnav_eph[gps_cnav_ephemeris->PRN] = *gps_cnav_ephemeris;
                                     d_rp->log_rinex_nav_gps_cnav(d_type_of_rx, new_cnav_eph);
                                 }
                         }
-                    d_internal_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->i_satellite_PRN] = *gps_cnav_ephemeris;
+                    d_internal_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->PRN] = *gps_cnav_ephemeris;
                     if (d_enable_rx_clock_correction == true)
                         {
-                            d_user_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->i_satellite_PRN] = *gps_cnav_ephemeris;
+                            d_user_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->PRN] = *gps_cnav_ephemeris;
                         }
                     DLOG(INFO) << "New GPS CNAV ephemeris record has arrived ";
                 }
@@ -1196,10 +1196,10 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
                 {
                     // ### GPS ALMANAC ###
                     const auto gps_almanac = boost::any_cast<std::shared_ptr<Gps_Almanac>>(pmt::any_ref(msg));
-                    d_internal_pvt_solver->gps_almanac_map[gps_almanac->i_satellite_PRN] = *gps_almanac;
+                    d_internal_pvt_solver->gps_almanac_map[gps_almanac->PRN] = *gps_almanac;
                     if (d_enable_rx_clock_correction == true)
                         {
-                            d_user_pvt_solver->gps_almanac_map[gps_almanac->i_satellite_PRN] = *gps_almanac;
+                            d_user_pvt_solver->gps_almanac_map[gps_almanac->PRN] = *gps_almanac;
                         }
                     DLOG(INFO) << "New GPS almanac record has arrived ";
                 }
@@ -1210,8 +1210,8 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
                     // ### Galileo EPHEMERIS ###
                     const auto galileo_eph = boost::any_cast<std::shared_ptr<Galileo_Ephemeris>>(pmt::any_ref(msg));
                     // insert new ephemeris record
-                    DLOG(INFO) << "Galileo New Ephemeris record inserted in global map with TOW =" << galileo_eph->TOW_5
+                    DLOG(INFO) << "Galileo New Ephemeris record inserted in global map with TOW =" << galileo_eph->tow
-                               << ", GALILEO Week Number =" << galileo_eph->WN_5
+                               << ", GALILEO Week Number =" << galileo_eph->WN
                                << " and Ephemeris IOD = " << galileo_eph->IOD_ephemeris;
                     // todo: Send only new sets of ephemeris (new TOE), not sent to the client
                     // send the new eph to the eph monitor (if enabled)
@@ -1223,13 +1223,13 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
                     if (d_rinex_output_enabled && d_rp->is_rinex_header_written())  // The header is already written, we can now log the navigation message data
                         {
                             bool new_annotation = false;
-                            if (d_internal_pvt_solver->galileo_ephemeris_map.find(galileo_eph->i_satellite_PRN) == d_internal_pvt_solver->galileo_ephemeris_map.cend())
+                            if (d_internal_pvt_solver->galileo_ephemeris_map.find(galileo_eph->PRN) == d_internal_pvt_solver->galileo_ephemeris_map.cend())
                                 {
                                     new_annotation = true;
                                 }
                             else
                                 {
-                                    if (d_internal_pvt_solver->galileo_ephemeris_map[galileo_eph->i_satellite_PRN].t0e_1 != galileo_eph->t0e_1)
+                                    if (d_internal_pvt_solver->galileo_ephemeris_map[galileo_eph->PRN].toe != galileo_eph->toe)
                                         {
                                             new_annotation = true;
                                         }
@@ -1238,14 +1238,14 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
                                 {
                                     // New record!
                                     std::map<int32_t, Galileo_Ephemeris> new_gal_eph;
-                                    new_gal_eph[galileo_eph->i_satellite_PRN] = *galileo_eph;
+                                    new_gal_eph[galileo_eph->PRN] = *galileo_eph;
                                     d_rp->log_rinex_nav_gal_nav(d_type_of_rx, new_gal_eph);
                                 }
                         }
-                    d_internal_pvt_solver->galileo_ephemeris_map[galileo_eph->i_satellite_PRN] = *galileo_eph;
+                    d_internal_pvt_solver->galileo_ephemeris_map[galileo_eph->PRN] = *galileo_eph;
                     if (d_enable_rx_clock_correction == true)
                         {
-                            d_user_pvt_solver->galileo_ephemeris_map[galileo_eph->i_satellite_PRN] = *galileo_eph;
+                            d_user_pvt_solver->galileo_ephemeris_map[galileo_eph->PRN] = *galileo_eph;
                         }
                 }
             else if (msg_type_hash_code == d_galileo_iono_sptr_type_hash_code)
@@ -1278,28 +1278,28 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
                     const Galileo_Almanac sv2 = galileo_almanac_helper->get_almanac(2);
                     const Galileo_Almanac sv3 = galileo_almanac_helper->get_almanac(3);
 
-                    if (sv1.i_satellite_PRN != 0)
+                    if (sv1.PRN != 0)
                         {
-                            d_internal_pvt_solver->galileo_almanac_map[sv1.i_satellite_PRN] = sv1;
+                            d_internal_pvt_solver->galileo_almanac_map[sv1.PRN] = sv1;
                             if (d_enable_rx_clock_correction == true)
                                 {
-                                    d_user_pvt_solver->galileo_almanac_map[sv1.i_satellite_PRN] = sv1;
+                                    d_user_pvt_solver->galileo_almanac_map[sv1.PRN] = sv1;
                                 }
                         }
-                    if (sv2.i_satellite_PRN != 0)
+                    if (sv2.PRN != 0)
                         {
-                            d_internal_pvt_solver->galileo_almanac_map[sv2.i_satellite_PRN] = sv2;
+                            d_internal_pvt_solver->galileo_almanac_map[sv2.PRN] = sv2;
                             if (d_enable_rx_clock_correction == true)
                                 {
-                                    d_user_pvt_solver->galileo_almanac_map[sv2.i_satellite_PRN] = sv2;
+                                    d_user_pvt_solver->galileo_almanac_map[sv2.PRN] = sv2;
                                 }
                         }
-                    if (sv3.i_satellite_PRN != 0)
+                    if (sv3.PRN != 0)
                         {
-                            d_internal_pvt_solver->galileo_almanac_map[sv3.i_satellite_PRN] = sv3;
+                            d_internal_pvt_solver->galileo_almanac_map[sv3.PRN] = sv3;
                             if (d_enable_rx_clock_correction == true)
                                 {
-                                    d_user_pvt_solver->galileo_almanac_map[sv3.i_satellite_PRN] = sv3;
+                                    d_user_pvt_solver->galileo_almanac_map[sv3.PRN] = sv3;
                                 }
                         }
                     DLOG(INFO) << "New Galileo Almanac data have arrived ";
@@ -1309,10 +1309,10 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
                     // ### Galileo Almanac ###
                     const auto galileo_alm = boost::any_cast<std::shared_ptr<Galileo_Almanac>>(pmt::any_ref(msg));
                     // update/insert new almanac record to the global almanac map
-                    d_internal_pvt_solver->galileo_almanac_map[galileo_alm->i_satellite_PRN] = *galileo_alm;
+                    d_internal_pvt_solver->galileo_almanac_map[galileo_alm->PRN] = *galileo_alm;
                     if (d_enable_rx_clock_correction == true)
                         {
-                            d_user_pvt_solver->galileo_almanac_map[galileo_alm->i_satellite_PRN] = *galileo_alm;
+                            d_user_pvt_solver->galileo_almanac_map[galileo_alm->PRN] = *galileo_alm;
                         }
                 }
 
@@ -1331,13 +1331,13 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
                     if (d_rinex_output_enabled && d_rp->is_rinex_header_written())  // The header is already written, we can now log the navigation message data
                         {
                             bool new_annotation = false;
-                            if (d_internal_pvt_solver->glonass_gnav_ephemeris_map.find(glonass_gnav_eph->i_satellite_PRN) == d_internal_pvt_solver->glonass_gnav_ephemeris_map.cend())
+                            if (d_internal_pvt_solver->glonass_gnav_ephemeris_map.find(glonass_gnav_eph->PRN) == d_internal_pvt_solver->glonass_gnav_ephemeris_map.cend())
                                 {
                                     new_annotation = true;
                                 }
                             else
                                 {
-                                    if (d_internal_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN].d_t_b != glonass_gnav_eph->d_t_b)
+                                    if (d_internal_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->PRN].d_t_b != glonass_gnav_eph->d_t_b)
                                         {
                                             new_annotation = true;
                                         }
@@ -1346,14 +1346,14 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
                                 {
                                     // New record!
                                     std::map<int32_t, Glonass_Gnav_Ephemeris> new_glo_eph;
-                                    new_glo_eph[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
+                                    new_glo_eph[glonass_gnav_eph->PRN] = *glonass_gnav_eph;
                                     d_rp->log_rinex_nav_glo_gnav(d_type_of_rx, new_glo_eph);
                                 }
                         }
-                    d_internal_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
+                    d_internal_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->PRN] = *glonass_gnav_eph;
                     if (d_enable_rx_clock_correction == true)
                         {
-                            d_user_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
+                            d_user_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->PRN] = *glonass_gnav_eph;
                         }
                 }
             else if (msg_type_hash_code == d_glonass_gnav_utc_model_sptr_type_hash_code)
@@ -1386,21 +1386,21 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
                     // ### Beidou EPHEMERIS ###
                     const auto bds_dnav_eph = boost::any_cast<std::shared_ptr<Beidou_Dnav_Ephemeris>>(pmt::any_ref(msg));
                     DLOG(INFO) << "Ephemeris record has arrived from SAT ID "
-                               << bds_dnav_eph->i_satellite_PRN << " (Block "
+                               << bds_dnav_eph->PRN << " (Block "
-                               << bds_dnav_eph->satelliteBlock[bds_dnav_eph->i_satellite_PRN] << ")"
+                               << bds_dnav_eph->satelliteBlock[bds_dnav_eph->PRN] << ")"
-                               << "inserted with Toe=" << bds_dnav_eph->d_Toe << " and BDS Week="
+                               << "inserted with Toe=" << bds_dnav_eph->toe << " and BDS Week="
-                               << bds_dnav_eph->i_BEIDOU_week;
+                               << bds_dnav_eph->WN;
                     // update/insert new ephemeris record to the global ephemeris map
                     if (d_rinex_output_enabled && d_rp->is_rinex_header_written())  // The header is already written, we can now log the navigation message data
                         {
                             bool new_annotation = false;
-                            if (d_internal_pvt_solver->beidou_dnav_ephemeris_map.find(bds_dnav_eph->i_satellite_PRN) == d_internal_pvt_solver->beidou_dnav_ephemeris_map.cend())
+                            if (d_internal_pvt_solver->beidou_dnav_ephemeris_map.find(bds_dnav_eph->PRN) == d_internal_pvt_solver->beidou_dnav_ephemeris_map.cend())
                                 {
                                     new_annotation = true;
                                 }
                             else
                                 {
-                                    if (d_internal_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->i_satellite_PRN].d_Toc != bds_dnav_eph->d_Toc)
+                                    if (d_internal_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->PRN].toc != bds_dnav_eph->toc)
                                         {
                                             new_annotation = true;
                                         }
@@ -1409,14 +1409,14 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
                                 {
                                     // New record!
                                     std::map<int32_t, Beidou_Dnav_Ephemeris> new_bds_eph;
-                                    new_bds_eph[bds_dnav_eph->i_satellite_PRN] = *bds_dnav_eph;
+                                    new_bds_eph[bds_dnav_eph->PRN] = *bds_dnav_eph;
                                     d_rp->log_rinex_nav_bds_dnav(d_type_of_rx, new_bds_eph);
                                 }
                         }
-                    d_internal_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->i_satellite_PRN] = *bds_dnav_eph;
+                    d_internal_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->PRN] = *bds_dnav_eph;
                     if (d_enable_rx_clock_correction == true)
                         {
-                            d_user_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->i_satellite_PRN] = *bds_dnav_eph;
+                            d_user_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->PRN] = *bds_dnav_eph;
                         }
                 }
             else if (msg_type_hash_code == d_beidou_dnav_iono_sptr_type_hash_code)
@@ -1445,10 +1445,10 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
                 {
                     // ### BeiDou ALMANAC ###
                     const auto bds_dnav_almanac = boost::any_cast<std::shared_ptr<Beidou_Dnav_Almanac>>(pmt::any_ref(msg));
-                    d_internal_pvt_solver->beidou_dnav_almanac_map[bds_dnav_almanac->i_satellite_PRN] = *bds_dnav_almanac;
+                    d_internal_pvt_solver->beidou_dnav_almanac_map[bds_dnav_almanac->PRN] = *bds_dnav_almanac;
                     if (d_enable_rx_clock_correction == true)
                         {
-                            d_user_pvt_solver->beidou_dnav_almanac_map[bds_dnav_almanac->i_satellite_PRN] = *bds_dnav_almanac;
+                            d_user_pvt_solver->beidou_dnav_almanac_map[bds_dnav_almanac->PRN] = *bds_dnav_almanac;
                         }
                     DLOG(INFO) << "New BeiDou DNAV almanac record has arrived ";
                 }
@@ -1834,7 +1834,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
 
                             if (tmp_eph_iter_gps != d_internal_pvt_solver->gps_ephemeris_map.cend())
                                 {
-                                    const uint32_t prn_aux = tmp_eph_iter_gps->second.i_satellite_PRN;
+                                    const uint32_t prn_aux = tmp_eph_iter_gps->second.PRN;
                                     if ((prn_aux == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal) == "1C"))
                                         {
                                             store_valid_observable = true;
@@ -1842,7 +1842,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
                                 }
                             if (tmp_eph_iter_gal != d_internal_pvt_solver->galileo_ephemeris_map.cend())
                                 {
-                                    const uint32_t prn_aux = tmp_eph_iter_gal->second.i_satellite_PRN;
+                                    const uint32_t prn_aux = tmp_eph_iter_gal->second.PRN;
                                     if ((prn_aux == in[i][epoch].PRN) and ((std::string(in[i][epoch].Signal) == "1B") or (std::string(in[i][epoch].Signal) == "5X") or (std::string(in[i][epoch].Signal) == "7X")))
                                         {
                                             store_valid_observable = true;
@@ -1850,7 +1850,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
                                 }
                             if (tmp_eph_iter_cnav != d_internal_pvt_solver->gps_cnav_ephemeris_map.cend())
                                 {
-                                    const uint32_t prn_aux = tmp_eph_iter_cnav->second.i_satellite_PRN;
+                                    const uint32_t prn_aux = tmp_eph_iter_cnav->second.PRN;
                                     if ((prn_aux == in[i][epoch].PRN) and ((std::string(in[i][epoch].Signal) == "2S") or (std::string(in[i][epoch].Signal) == "L5")))
                                         {
                                             store_valid_observable = true;
@@ -1858,7 +1858,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
                                 }
                             if (tmp_eph_iter_glo_gnav != d_internal_pvt_solver->glonass_gnav_ephemeris_map.cend())
                                 {
-                                    const uint32_t prn_aux = tmp_eph_iter_glo_gnav->second.i_satellite_PRN;
+                                    const uint32_t prn_aux = tmp_eph_iter_glo_gnav->second.PRN;
                                     if ((prn_aux == in[i][epoch].PRN) and ((std::string(in[i][epoch].Signal) == "1G") or (std::string(in[i][epoch].Signal) == "2G")))
                                         {
                                             store_valid_observable = true;
@@ -1866,7 +1866,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
                                 }
                             if (tmp_eph_iter_bds_dnav != d_internal_pvt_solver->beidou_dnav_ephemeris_map.cend())
                                 {
-                                    const uint32_t prn_aux = tmp_eph_iter_bds_dnav->second.i_satellite_PRN;
+                                    const uint32_t prn_aux = tmp_eph_iter_bds_dnav->second.PRN;
                                     if ((prn_aux == in[i][epoch].PRN) and ((std::string(in[i][epoch].Signal) == "B1") or (std::string(in[i][epoch].Signal) == "B3")))
                                         {
                                             store_valid_observable = true;

src/algorithms/PVT/libs/CMakeLists.txt

@@ -5,8 +5,8 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS ${CMAKE_SOURCE_DIR}/docs/protobuf/monitor_pvt.proto)
-protobuf_generate_cpp(PROTO_SRCS2 PROTO_HDRS2 ${CMAKE_SOURCE_DIR}/docs/protobuf/monitor_gps_ephemeris.proto)
+protobuf_generate_cpp(PROTO_SRCS2 PROTO_HDRS2 ${CMAKE_SOURCE_DIR}/docs/protobuf/gps_ephemeris.proto)
-protobuf_generate_cpp(PROTO_SRCS3 PROTO_HDRS3 ${CMAKE_SOURCE_DIR}/docs/protobuf/monitor_galileo_ephemeris.proto)
+protobuf_generate_cpp(PROTO_SRCS3 PROTO_HDRS3 ${CMAKE_SOURCE_DIR}/docs/protobuf/galileo_ephemeris.proto)
 
 set(PVT_LIB_SOURCES
     pvt_conf.cc
@@ -61,7 +61,16 @@ if(USE_CMAKE_TARGET_SOURCES)
     )
 else()
     source_group(Headers FILES ${PVT_LIB_HEADERS} ${PROTO_HDRS} ${PROTO_HDRS2} ${PROTO_HDRS3})
-    add_library(pvt_libs ${PVT_LIB_SOURCES} ${PROTO_SRCS} ${PROTO_SRCS2} ${PROTO_SRCS3} ${PVT_LIB_HEADERS} ${PROTO_HDRS} ${PROTO_HDRS2} ${PROTO_HDRS3})
+    add_library(pvt_libs
+        ${PVT_LIB_SOURCES}
+        ${PROTO_SRCS}
+        ${PROTO_SRCS2}
+        ${PROTO_SRCS3}
+        ${PVT_LIB_HEADERS}
+        ${PROTO_HDRS}
+        ${PROTO_HDRS2}
+        ${PROTO_HDRS3}
+    )
 endif()
 
 target_link_libraries(pvt_libs

src/algorithms/PVT/libs/rtcm.cc

@@ -1625,95 +1625,95 @@ int32_t Rtcm::read_MT1019(const std::string& message, Gps_Ephemeris& gps_eph) co
         }
 
     // Fill Gps Ephemeris with message data content
-    gps_eph.i_satellite_PRN = static_cast<uint32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 6)));
+    gps_eph.PRN = static_cast<uint32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 6)));
     index += 6;
 
-    gps_eph.i_GPS_week = static_cast<int32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
+    gps_eph.WN = static_cast<int32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
     index += 10;
 
-    gps_eph.i_SV_accuracy = static_cast<int32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 4)));
+    gps_eph.SV_accuracy = static_cast<int32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 4)));
     index += 4;
 
-    gps_eph.i_code_on_L2 = static_cast<int32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
+    gps_eph.code_on_L2 = static_cast<int32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
     index += 2;
 
-    gps_eph.d_IDOT = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 14))) * I_DOT_LSB;
+    gps_eph.idot = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 14))) * I_DOT_LSB;
     index += 14;
 
-    gps_eph.d_IODE_SF2 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 8)));
+    gps_eph.IODE_SF2 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 8)));
-    gps_eph.d_IODE_SF3 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 8)));
+    gps_eph.IODE_SF3 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 8)));
     index += 8;
 
-    gps_eph.d_Toc = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 16))) * T_OC_LSB;
+    gps_eph.toc = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 16))) * T_OC_LSB;
     index += 16;
 
-    gps_eph.d_A_f2 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 8))) * A_F2_LSB;
+    gps_eph.af2 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 8))) * A_F2_LSB;
     index += 8;
 
-    gps_eph.d_A_f1 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * A_F1_LSB;
+    gps_eph.af1 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * A_F1_LSB;
     index += 16;
 
-    gps_eph.d_A_f0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 22))) * A_F0_LSB;
+    gps_eph.af0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 22))) * A_F0_LSB;
     index += 22;
 
-    gps_eph.d_IODC = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
+    gps_eph.IODC = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
     index += 10;
 
-    gps_eph.d_Crs = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_RS_LSB;
+    gps_eph.Crs = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_RS_LSB;
     index += 16;
 
-    gps_eph.d_Delta_n = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * DELTA_N_LSB;
+    gps_eph.delta_n = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * DELTA_N_LSB;
     index += 16;
 
-    gps_eph.d_M_0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * M_0_LSB;
+    gps_eph.M_0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * M_0_LSB;
     index += 32;
 
-    gps_eph.d_Cuc = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_UC_LSB;
+    gps_eph.Cuc = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_UC_LSB;
     index += 16;
 
-    gps_eph.d_e_eccentricity = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 32))) * ECCENTRICITY_LSB;
+    gps_eph.ecc = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 32))) * ECCENTRICITY_LSB;
     index += 32;
 
-    gps_eph.d_Cus = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_US_LSB;
+    gps_eph.Cus = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_US_LSB;
     index += 16;
 
-    gps_eph.d_sqrt_A = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 32))) * SQRT_A_LSB;
+    gps_eph.sqrtA = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 32))) * SQRT_A_LSB;
     index += 32;
 
-    gps_eph.d_Toe = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 16))) * T_OE_LSB;
+    gps_eph.toe = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 16))) * T_OE_LSB;
     index += 16;
 
-    gps_eph.d_Cic = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_IC_LSB;
+    gps_eph.Cic = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_IC_LSB;
     index += 16;
 
-    gps_eph.d_OMEGA0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * OMEGA_0_LSB;
+    gps_eph.OMEGA_0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * OMEGA_0_LSB;
     index += 32;
 
-    gps_eph.d_Cis = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_IS_LSB;
+    gps_eph.Cis = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_IS_LSB;
     index += 16;
 
-    gps_eph.d_i_0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * I_0_LSB;
+    gps_eph.i_0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * I_0_LSB;
     index += 32;
 
-    gps_eph.d_Crc = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_RC_LSB;
+    gps_eph.Crc = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_RC_LSB;
     index += 16;
 
-    gps_eph.d_OMEGA = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * OMEGA_LSB;
+    gps_eph.omega = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * OMEGA_LSB;
     index += 32;
 
-    gps_eph.d_OMEGA_DOT = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 24))) * OMEGA_DOT_LSB;
+    gps_eph.OMEGAdot = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 24))) * OMEGA_DOT_LSB;
     index += 24;
 
-    gps_eph.d_TGD = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 8))) * T_GD_LSB;
+    gps_eph.TGD = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 8))) * T_GD_LSB;
     index += 8;
 
-    gps_eph.i_SV_health = static_cast<int32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 6)));
+    gps_eph.SV_health = static_cast<int32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 6)));
     index += 6;
 
-    gps_eph.b_L2_P_data_flag = static_cast<bool>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
+    gps_eph.L2_P_data_flag = static_cast<bool>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
     index += 1;
 
-    gps_eph.b_fit_interval_flag = static_cast<bool>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
+    gps_eph.fit_interval_flag = static_cast<bool>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
 
     return 0;
 }
@@ -2162,79 +2162,79 @@ int32_t Rtcm::read_MT1045(const std::string& message, Galileo_Ephemeris& gal_eph
         }
 
     // Fill Galileo Ephemeris with message data content
-    gal_eph.i_satellite_PRN = static_cast<uint32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 6)));
+    gal_eph.PRN = static_cast<uint32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 6)));
     index += 6;
 
-    gal_eph.WN_5 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 12)));
+    gal_eph.WN = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 12)));
     index += 12;
 
-    gal_eph.IOD_nav_1 = static_cast<int32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
+    gal_eph.IOD_nav = static_cast<int32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
     index += 10;
 
-    gal_eph.SISA_3 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 8)));
+    gal_eph.SISA = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 8)));
     index += 8;
 
-    gal_eph.iDot_2 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 14))) * I_DOT_2_LSB;
+    gal_eph.idot = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 14))) * I_DOT_2_LSB;
     index += 14;
 
-    gal_eph.t0c_4 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 14))) * T0C_4_LSB;
+    gal_eph.toc = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 14))) * T0C_4_LSB;
     index += 14;
 
-    gal_eph.af2_4 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 6))) * AF2_4_LSB;
+    gal_eph.af2 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 6))) * AF2_4_LSB;
     index += 6;
 
-    gal_eph.af1_4 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 21))) * AF1_4_LSB;
+    gal_eph.af1 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 21))) * AF1_4_LSB;
     index += 21;
 
-    gal_eph.af0_4 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 31))) * AF0_4_LSB;
+    gal_eph.af0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 31))) * AF0_4_LSB;
     index += 31;
 
-    gal_eph.C_rs_3 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_RS_3_LSB;
+    gal_eph.Crs = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_RS_3_LSB;
     index += 16;
 
-    gal_eph.delta_n_3 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * DELTA_N_3_LSB;
+    gal_eph.delta_n = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * DELTA_N_3_LSB;
     index += 16;
 
-    gal_eph.M0_1 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * M0_1_LSB;
+    gal_eph.M_0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * M0_1_LSB;
     index += 32;
 
-    gal_eph.C_uc_3 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_UC_3_LSB;
+    gal_eph.Cuc = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_UC_3_LSB;
     index += 16;
 
-    gal_eph.e_1 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 32))) * E_1_LSB;
+    gal_eph.ecc = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 32))) * E_1_LSB;
     index += 32;
 
-    gal_eph.C_us_3 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_US_3_LSB;
+    gal_eph.Cus = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_US_3_LSB;
     index += 16;
 
-    gal_eph.A_1 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 32))) * A_1_LSB_GAL;
+    gal_eph.sqrtA = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 32))) * A_1_LSB_GAL;
     index += 32;
 
-    gal_eph.t0e_1 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 14))) * T0E_1_LSB;
+    gal_eph.toe = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 14))) * T0E_1_LSB;
     index += 14;
 
-    gal_eph.C_ic_4 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_IC_4_LSB;
+    gal_eph.Cic = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_IC_4_LSB;
     index += 16;
 
-    gal_eph.OMEGA_0_2 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * OMEGA_0_2_LSB;
+    gal_eph.OMEGA_0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * OMEGA_0_2_LSB;
     index += 32;
 
-    gal_eph.C_is_4 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_IS_4_LSB;
+    gal_eph.Cis = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_IS_4_LSB;
     index += 16;
 
-    gal_eph.i_0_2 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * I_0_2_LSB;
+    gal_eph.i_0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * I_0_2_LSB;
     index += 32;
 
-    gal_eph.C_rc_3 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_RC_3_LSB;
+    gal_eph.Crc = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_RC_3_LSB;
     index += 16;
 
-    gal_eph.omega_2 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * OMEGA_2_LSB;
+    gal_eph.omega = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * OMEGA_2_LSB;
     index += 32;
 
-    gal_eph.OMEGA_dot_3 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 24))) * OMEGA_DOT_3_LSB;
+    gal_eph.OMEGAdot = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 24))) * OMEGA_DOT_3_LSB;
     index += 24;
 
-    gal_eph.BGD_E1E5a_5 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 10)));
+    gal_eph.BGD_E1E5a = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 10)));
     index += 10;
 
     gal_eph.E5a_HS = static_cast<uint32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
@@ -2266,23 +2266,23 @@ std::string Rtcm::print_MSM_1(const Gps_Ephemeris& gps_eph,
     bool more_messages)
 {
     uint32_t msg_number = 0;
-    if (gps_eph.i_satellite_PRN != 0)
+    if (gps_eph.PRN != 0)
         {
             msg_number = 1071;
         }
-    if (gps_cnav_eph.i_satellite_PRN != 0)
+    if (gps_cnav_eph.PRN != 0)
         {
             msg_number = 1071;
         }
-    if (glo_gnav_eph.i_satellite_PRN != 0)
+    if (glo_gnav_eph.PRN != 0)
         {
             msg_number = 1081;
         }
-    if (gal_eph.i_satellite_PRN != 0)
+    if (gal_eph.PRN != 0)
         {
             msg_number = 1091;
         }
-    if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
+    if (((gps_eph.PRN != 0) || (gps_cnav_eph.PRN != 0)) && (gal_eph.PRN != 0) && (glo_gnav_eph.PRN != 0))
         {
             LOG(WARNING) << "MSM messages for observables from different systems are not defined";  // print two messages?
         }
@@ -2463,23 +2463,23 @@ std::string Rtcm::print_MSM_2(const Gps_Ephemeris& gps_eph,
     bool more_messages)
 {
     uint32_t msg_number = 0;
-    if (gps_eph.i_satellite_PRN != 0)
+    if (gps_eph.PRN != 0)
         {
             msg_number = 1072;
         }
-    if (gps_cnav_eph.i_satellite_PRN != 0)
+    if (gps_cnav_eph.PRN != 0)
         {
             msg_number = 1072;
         }
-    if (glo_gnav_eph.i_satellite_PRN != 0)
+    if (glo_gnav_eph.PRN != 0)
         {
             msg_number = 1082;
         }
-    if (gal_eph.i_satellite_PRN != 0)
+    if (gal_eph.PRN != 0)
         {
             msg_number = 1092;
         }
-    if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
+    if (((gps_eph.PRN != 0) || (gps_cnav_eph.PRN != 0)) && (gal_eph.PRN != 0) && (glo_gnav_eph.PRN != 0))
         {
             LOG(WARNING) << "MSM messages for observables from different systems are not defined";  // print two messages?
         }
@@ -2577,23 +2577,23 @@ std::string Rtcm::print_MSM_3(const Gps_Ephemeris& gps_eph,
     bool more_messages)
 {
     uint32_t msg_number = 0;
-    if (gps_eph.i_satellite_PRN != 0)
+    if (gps_eph.PRN != 0)
         {
             msg_number = 1073;
         }
-    if (gps_cnav_eph.i_satellite_PRN != 0)
+    if (gps_cnav_eph.PRN != 0)
         {
             msg_number = 1073;
         }
-    if (glo_gnav_eph.i_satellite_PRN != 0)
+    if (glo_gnav_eph.PRN != 0)
         {
             msg_number = 1083;
         }
-    if (gal_eph.i_satellite_PRN != 0)
+    if (gal_eph.PRN != 0)
         {
             msg_number = 1093;
         }
-    if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
+    if (((gps_eph.PRN != 0) || (gps_cnav_eph.PRN != 0)) && (gal_eph.PRN != 0) && (glo_gnav_eph.PRN != 0))
         {
             LOG(WARNING) << "MSM messages for observables from different systems are not defined";  // print two messages?
         }
@@ -2694,23 +2694,23 @@ std::string Rtcm::print_MSM_4(const Gps_Ephemeris& gps_eph,
     bool more_messages)
 {
     uint32_t msg_number = 0;
-    if (gps_eph.i_satellite_PRN != 0)
+    if (gps_eph.PRN != 0)
         {
             msg_number = 1074;
         }
-    if (gps_cnav_eph.i_satellite_PRN != 0)
+    if (gps_cnav_eph.PRN != 0)
         {
             msg_number = 1074;
         }
-    if (glo_gnav_eph.i_satellite_PRN != 0)
+    if (glo_gnav_eph.PRN != 0)
         {
             msg_number = 1084;
         }
-    if (gal_eph.i_satellite_PRN != 0)
+    if (gal_eph.PRN != 0)
         {
             msg_number = 1094;
         }
-    if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
+    if (((gps_eph.PRN != 0) || (gps_cnav_eph.PRN != 0)) && (gal_eph.PRN != 0) && (glo_gnav_eph.PRN != 0))
         {
             LOG(WARNING) << "MSM messages for observables from different systems are not defined";  // print two messages?
         }
@@ -2857,23 +2857,23 @@ std::string Rtcm::print_MSM_5(const Gps_Ephemeris& gps_eph,
     bool more_messages)
 {
     uint32_t msg_number = 0;
-    if (gps_eph.i_satellite_PRN != 0)
+    if (gps_eph.PRN != 0)
         {
             msg_number = 1075;
         }
-    if (gps_cnav_eph.i_satellite_PRN != 0)
+    if (gps_cnav_eph.PRN != 0)
         {
             msg_number = 1075;
         }
-    if (glo_gnav_eph.i_satellite_PRN != 0)
+    if (glo_gnav_eph.PRN != 0)
         {
             msg_number = 1085;
         }
-    if (gal_eph.i_satellite_PRN != 0)
+    if (gal_eph.PRN != 0)
         {
             msg_number = 1095;
         }
-    if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
+    if (((gps_eph.PRN != 0) || (gps_cnav_eph.PRN != 0)) && (gal_eph.PRN != 0) && (glo_gnav_eph.PRN != 0))
         {
             LOG(WARNING) << "MSM messages for observables from different systems are not defined";  // print two messages?
         }
@@ -3029,23 +3029,23 @@ std::string Rtcm::print_MSM_6(const Gps_Ephemeris& gps_eph,
     bool more_messages)
 {
     uint32_t msg_number = 0;
-    if (gps_eph.i_satellite_PRN != 0)
+    if (gps_eph.PRN != 0)
         {
             msg_number = 1076;
         }
-    if (gps_cnav_eph.i_satellite_PRN != 0)
+    if (gps_cnav_eph.PRN != 0)
         {
             msg_number = 1076;
         }
-    if (glo_gnav_eph.i_satellite_PRN != 0)
+    if (glo_gnav_eph.PRN != 0)
         {
             msg_number = 1086;
         }
-    if (gal_eph.i_satellite_PRN != 0)
+    if (gal_eph.PRN != 0)
         {
             msg_number = 1096;
         }
-    if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
+    if (((gps_eph.PRN != 0) || (gps_cnav_eph.PRN != 0)) && (gal_eph.PRN != 0) && (glo_gnav_eph.PRN != 0))
         {
             LOG(WARNING) << "MSM messages for observables from different systems are not defined";  // print two messages?
         }
@@ -3149,23 +3149,23 @@ std::string Rtcm::print_MSM_7(const Gps_Ephemeris& gps_eph,
     bool more_messages)
 {
     uint32_t msg_number = 0;
-    if (gps_eph.i_satellite_PRN != 0)
+    if (gps_eph.PRN != 0)
         {
             msg_number = 1077;
         }
-    if (gps_cnav_eph.i_satellite_PRN != 0)
+    if (gps_cnav_eph.PRN != 0)
         {
             msg_number = 1077;
         }
-    if (glo_gnav_eph.i_satellite_PRN != 0)
+    if (glo_gnav_eph.PRN != 0)
         {
             msg_number = 1087;
         }
-    if (gal_eph.i_satellite_PRN != 0)
+    if (gal_eph.PRN != 0)
         {
             msg_number = 1097;
         }
-    if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (glo_gnav_eph.i_satellite_PRN != 0) && (gal_eph.i_satellite_PRN != 0))
+    if (((gps_eph.PRN != 0) || (gps_cnav_eph.PRN != 0)) && (glo_gnav_eph.PRN != 0) && (gal_eph.PRN != 0))
         {
             LOG(WARNING) << "MSM messages for observables from different systems are not defined";  // print two messages?
         }
@@ -3391,9 +3391,9 @@ std::map<std::string, int> Rtcm::galileo_signal_map = [] {
 boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_Ephemeris& eph, double obs_time) const
 {
     const double gps_t = obs_time;
-    const boost::posix_time::time_duration t_duration = boost::posix_time::milliseconds(static_cast<long>((gps_t + 604800 * static_cast<double>(eph.i_GPS_week)) * 1000));  // NOLINT(google-runtime-int)
+    const boost::posix_time::time_duration t_duration = boost::posix_time::milliseconds(static_cast<long>((gps_t + 604800 * static_cast<double>(eph.WN)) * 1000));  // NOLINT(google-runtime-int)
 
-    if (eph.i_GPS_week < 512)
+    if (eph.WN < 512)
         {
             boost::posix_time::ptime p_time(boost::gregorian::date(2019, 4, 7), t_duration);
             return p_time;
@@ -3407,7 +3407,7 @@ boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_Ephemeris& eph, double
 boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_CNAV_Ephemeris& eph, double obs_time) const
 {
     const double gps_t = obs_time;
-    const boost::posix_time::time_duration t_duration = boost::posix_time::milliseconds(static_cast<long>((gps_t + 604800 * static_cast<double>(eph.i_GPS_week)) * 1000));  // NOLINT(google-runtime-int)
+    const boost::posix_time::time_duration t_duration = boost::posix_time::milliseconds(static_cast<long>((gps_t + 604800 * static_cast<double>(eph.WN)) * 1000));  // NOLINT(google-runtime-int)
     boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t_duration);
     return p_time;
 }
@@ -3416,7 +3416,7 @@ boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_CNAV_Ephemeris& eph, d
 boost::posix_time::ptime Rtcm::compute_Galileo_time(const Galileo_Ephemeris& eph, double obs_time) const
 {
     const double galileo_t = obs_time;
-    const boost::posix_time::time_duration t_duration = boost::posix_time::milliseconds(static_cast<long>((galileo_t + 604800 * static_cast<double>(eph.WN_5)) * 1000));  // NOLINT(google-runtime-int)
+    const boost::posix_time::time_duration t_duration = boost::posix_time::milliseconds(static_cast<long>((galileo_t + 604800 * static_cast<double>(eph.WN)) * 1000));  // NOLINT(google-runtime-int)
     boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t_duration);
     return p_time;
 }
@@ -3778,7 +3778,7 @@ int32_t Rtcm::set_DF009(const Gnss_Synchro& gnss_synchro)
 
 int32_t Rtcm::set_DF009(const Gps_Ephemeris& gps_eph)
 {
-    const uint32_t prn_ = gps_eph.i_satellite_PRN;
+    const uint32_t prn_ = gps_eph.PRN;
     if (prn_ > 32)
         {
             LOG(WARNING) << "GPS satellite ID must be between 1 and 32, but PRN " << prn_ << " was found";
@@ -4201,9 +4201,9 @@ int32_t Rtcm::set_DF050(const Gnss_Synchro& gnss_synchro)
 int32_t Rtcm::set_DF051(const Gps_Ephemeris& gps_eph, double obs_time)
 {
     const double gps_t = obs_time;
-    const boost::posix_time::time_duration t_duration = boost::posix_time::milliseconds(static_cast<int64_t>((gps_t + 604800 * static_cast<double>(gps_eph.i_GPS_week)) * 1000));
+    const boost::posix_time::time_duration t_duration = boost::posix_time::milliseconds(static_cast<int64_t>((gps_t + 604800 * static_cast<double>(gps_eph.WN)) * 1000));
     std::string now_ptime;
-    if (gps_eph.i_GPS_week < 512)
+    if (gps_eph.WN < 512)
         {
             boost::posix_time::ptime p_time(boost::gregorian::date(2019, 4, 7), t_duration);
             now_ptime = to_iso_string(p_time);
@@ -4224,9 +4224,9 @@ int32_t Rtcm::set_DF051(const Gps_Ephemeris& gps_eph, double obs_time)
 int32_t Rtcm::set_DF052(const Gps_Ephemeris& gps_eph, double obs_time)
 {
     const double gps_t = obs_time;
-    const boost::posix_time::time_duration t_duration = boost::posix_time::milliseconds(static_cast<int64_t>((gps_t + 604800 * static_cast<double>(gps_eph.i_GPS_week)) * 1000));
+    const boost::posix_time::time_duration t_duration = boost::posix_time::milliseconds(static_cast<int64_t>((gps_t + 604800 * static_cast<double>(gps_eph.WN)) * 1000));
     std::string now_ptime;
-    if (gps_eph.i_GPS_week < 512)
+    if (gps_eph.WN < 512)
         {
             boost::posix_time::ptime p_time(boost::gregorian::date(2019, 4, 7), t_duration);
             now_ptime = to_iso_string(p_time);
@@ -4248,7 +4248,7 @@ int32_t Rtcm::set_DF052(const Gps_Ephemeris& gps_eph, double obs_time)
 
 int32_t Rtcm::set_DF071(const Gps_Ephemeris& gps_eph)
 {
-    const auto iode = static_cast<uint32_t>(gps_eph.d_IODE_SF2);
+    const auto iode = static_cast<uint32_t>(gps_eph.IODE_SF2);
     DF071 = std::bitset<8>(iode);
     return 0;
 }
@@ -4256,7 +4256,7 @@ int32_t Rtcm::set_DF071(const Gps_Ephemeris& gps_eph)
 
 int32_t Rtcm::set_DF076(const Gps_Ephemeris& gps_eph)
 {
-    const auto week_number = static_cast<uint32_t>(gps_eph.i_GPS_week);
+    const auto week_number = static_cast<uint32_t>(gps_eph.WN);
     DF076 = std::bitset<10>(week_number);
     return 0;
 }
@@ -4264,7 +4264,7 @@ int32_t Rtcm::set_DF076(const Gps_Ephemeris& gps_eph)
 
 int32_t Rtcm::set_DF077(const Gps_Ephemeris& gps_eph)
 {
-    const auto ura = static_cast<uint16_t>(gps_eph.i_SV_accuracy);
+    const auto ura = static_cast<uint16_t>(gps_eph.SV_accuracy);
     DF077 = std::bitset<4>(ura);
     return 0;
 }
@@ -4272,7 +4272,7 @@ int32_t Rtcm::set_DF077(const Gps_Ephemeris& gps_eph)
 
 int32_t Rtcm::set_DF078(const Gps_Ephemeris& gps_eph)
 {
-    const auto code_on_L2 = static_cast<uint16_t>(gps_eph.i_code_on_L2);
+    const auto code_on_L2 = static_cast<uint16_t>(gps_eph.code_on_L2);
     DF078 = std::bitset<2>(code_on_L2);
     return 0;
 }
@@ -4280,7 +4280,7 @@ int32_t Rtcm::set_DF078(const Gps_Ephemeris& gps_eph)
 
 int32_t Rtcm::set_DF079(const Gps_Ephemeris& gps_eph)
 {
-    const auto idot = static_cast<uint32_t>(std::round(gps_eph.d_IDOT / I_DOT_LSB));
+    const auto idot = static_cast<uint32_t>(std::round(gps_eph.idot / I_DOT_LSB));
     DF079 = std::bitset<14>(idot);
     return 0;
 }
@@ -4288,7 +4288,7 @@ int32_t Rtcm::set_DF079(const Gps_Ephemeris& gps_eph)
 
 int32_t Rtcm::set_DF080(const Gps_Ephemeris& gps_eph)
 {
-    const auto iode = static_cast<uint16_t>(gps_eph.d_IODE_SF2);
+    const auto iode = static_cast<uint16_t>(gps_eph.IODE_SF2);
     DF080 = std::bitset<8>(iode);
     return 0;
 }
@@ -4296,7 +4296,7 @@ int32_t Rtcm::set_DF080(const Gps_Ephemeris& gps_eph)
 
 int32_t Rtcm::set_DF081(const Gps_Ephemeris& gps_eph)
 {
-    const auto toc = static_cast<uint32_t>(std::round(gps_eph.d_Toc / T_OC_LSB));
+    const auto toc = static_cast<uint32_t>(std::round(gps_eph.toc / T_OC_LSB));
     DF081 = std::bitset<16>(toc);
     return 0;
 }
@@ -4304,7 +4304,7 @@ int32_t Rtcm::set_DF081(const Gps_Ephemeris& gps_eph)
 
 int32_t Rtcm::set_DF082(const Gps_Ephemeris& gps_eph)
 {
-    const auto af2 = static_cast<int16_t>(std::round(gps_eph.d_A_f2 / A_F2_LSB));
+    const auto af2 = static_cast<int16_t>(std::round(gps_eph.af2 / A_F2_LSB));
     DF082 = std::bitset<8>(af2);
     return 0;
 }
@@ -4312,7 +4312,7 @@ int32_t Rtcm::set_DF082(const Gps_Ephemeris& gps_eph)
 
 int32_t Rtcm::set_DF083(const Gps_Ephemeris& gps_eph)
 {
-    const auto af1 = static_cast<int32_t>(std::round(gps_eph.d_A_f1 / A_F1_LSB));
+    const auto af1 = static_cast<int32_t>(std::round(gps_eph.af1 / A_F1_LSB));
     DF083 = std::bitset<16>(af1);
     return 0;
 }
@@ -4320,7 +4320,7 @@ int32_t Rtcm::set_DF083(const Gps_Ephemeris& gps_eph)
 
 int32_t Rtcm::set_DF084(const Gps_Ephemeris& gps_eph)
 {
-    const auto af0 = static_cast<int64_t>(std::round(gps_eph.d_A_f0 / A_F0_LSB));
+    const auto af0 = static_cast<int64_t>(std::round(gps_eph.af0 / A_F0_LSB));
     DF084 = std::bitset<22>(af0);
     return 0;
 }
@@ -4328,7 +4328,7 @@ int32_t Rtcm::set_DF084(const Gps_Ephemeris& gps_eph)
 
 int32_t Rtcm::set_DF085(const Gps_Ephemeris& gps_eph)
 {
-    const auto iodc = static_cast<uint32_t>(gps_eph.d_IODC);
+    const auto iodc = static_cast<uint32_t>(gps_eph.IODC);
     DF085 = std::bitset<10>(iodc);
     return 0;
 }
@@ -4336,7 +4336,7 @@ int32_t Rtcm::set_DF085(const Gps_Ephemeris& gps_eph)
 
 int32_t Rtcm::set_DF086(const Gps_Ephemeris& gps_eph)
 {
-    const auto crs = static_cast<int32_t>(std::round(gps_eph.d_Crs / C_RS_LSB));
+    const auto crs = static_cast<int32_t>(std::round(gps_eph.Crs / C_RS_LSB));
     DF086 = std::bitset<16>(crs);
     return 0;
 }
@@ -4344,7 +4344,7 @@ int32_t Rtcm::set_DF086(const Gps_Ephemeris& gps_eph)
 
 int32_t Rtcm::set_DF087(const Gps_Ephemeris& gps_eph)
 {
-    const auto delta_n = static_cast<int32_t>(std::round(gps_eph.d_Delta_n / DELTA_N_LSB));
+    const auto delta_n = static_cast<int32_t>(std::round(gps_eph.delta_n / DELTA_N_LSB));
     DF087 = std::bitset<16>(delta_n);
     return 0;
 }
@@ -4352,7 +4352,7 @@ int32_t Rtcm::set_DF087(const Gps_Ephemeris& gps_eph)
 
 int32_t Rtcm::set_DF088(const Gps_Ephemeris& gps_eph)
 {
-    const auto m0 = static_cast<int64_t>(std::round(gps_eph.d_M_0 / M_0_LSB));
+    const auto m0 = static_cast<int64_t>(std::round(gps_eph.M_0 / M_0_LSB));
     DF088 = std::bitset<32>(m0);
     return 0;
 }
@@ -4360,14 +4360,14 @@ int32_t Rtcm::set_DF088(const Gps_Ephemeris& gps_eph)
 
 int32_t Rtcm::set_DF089(const Gps_Ephemeris& gps_eph)
 {
-    const auto cuc = static_cast<int32_t>(std::round(gps_eph.d_Cuc / C_UC_LSB));
+    const auto cuc = static_cast<int32_t>(std::round(gps_eph.Cuc / C_UC_LSB));
     DF089 = std::bitset<16>(cuc);
     return 0;
 }
 
 int32_t Rtcm::set_DF090(const Gps_Ephemeris& gps_eph)
 {
-    const auto ecc = static_cast<uint64_t>(std::round(gps_eph.d_e_eccentricity / ECCENTRICITY_LSB));
+    const auto ecc = static_cast<uint64_t>(std::round(gps_eph.ecc / ECCENTRICITY_LSB));
     DF090 = std::bitset<32>(ecc);
     return 0;
 }
@@ -4375,7 +4375,7 @@ int32_t Rtcm::set_DF090(const Gps_Ephemeris& gps_eph)
 
 int32_t Rtcm::set_DF091(const Gps_Ephemeris& gps_eph)
 {
-    const auto cus = static_cast<int32_t>(std::round(gps_eph.d_Cus / C_US_LSB));
+    const auto cus = static_cast<int32_t>(std::round(gps_eph.Cus / C_US_LSB));
     DF091 = std::bitset<16>(cus);
     return 0;
 }
@@ -4383,7 +4383,7 @@ int32_t Rtcm::set_DF091(const Gps_Ephemeris& gps_eph)
 
 int32_t Rtcm::set_DF092(const Gps_Ephemeris& gps_eph)
 {
-    const auto sqr_a = static_cast<uint64_t>(std::round(gps_eph.d_sqrt_A / SQRT_A_LSB));
+    const auto sqr_a = static_cast<uint64_t>(std::round(gps_eph.sqrtA / SQRT_A_LSB));
     DF092 = std::bitset<32>(sqr_a);
     return 0;
 }
@@ -4391,7 +4391,7 @@ int32_t Rtcm::set_DF092(const Gps_Ephemeris& gps_eph)
 
 int32_t Rtcm::set_DF093(const Gps_Ephemeris& gps_eph)
 {
-    const auto toe = static_cast<uint32_t>(std::round(gps_eph.d_Toe / T_OE_LSB));
+    const auto toe = static_cast<uint32_t>(std::round(gps_eph.toe / T_OE_LSB));
     DF093 = std::bitset<16>(toe);
     return 0;
 }
@@ -4399,7 +4399,7 @@ int32_t Rtcm::set_DF093(const Gps_Ephemeris& gps_eph)
 
 int32_t Rtcm::set_DF094(const Gps_Ephemeris& gps_eph)
 {
-    const auto cic = static_cast<int32_t>(std::round(gps_eph.d_Cic / C_IC_LSB));
+    const auto cic = static_cast<int32_t>(std::round(gps_eph.Cic / C_IC_LSB));
     DF094 = std::bitset<16>(cic);
     return 0;
 }
@@ -4407,7 +4407,7 @@ int32_t Rtcm::set_DF094(const Gps_Ephemeris& gps_eph)
 
 int32_t Rtcm::set_DF095(const Gps_Ephemeris& gps_eph)
 {
-    const auto Omega0 = static_cast<int64_t>(std::round(gps_eph.d_OMEGA0 / OMEGA_0_LSB));
+    const auto Omega0 = static_cast<int64_t>(std::round(gps_eph.OMEGA_0 / OMEGA_0_LSB));
     DF095 = std::bitset<32>(Omega0);
     return 0;
 }
@@ -4415,7 +4415,7 @@ int32_t Rtcm::set_DF095(const Gps_Ephemeris& gps_eph)
 
 int32_t Rtcm::set_DF096(const Gps_Ephemeris& gps_eph)
 {
-    const auto cis = static_cast<int32_t>(std::round(gps_eph.d_Cis / C_IS_LSB));
+    const auto cis = static_cast<int32_t>(std::round(gps_eph.Cis / C_IS_LSB));
     DF096 = std::bitset<16>(cis);
     return 0;
 }
@@ -4423,7 +4423,7 @@ int32_t Rtcm::set_DF096(const Gps_Ephemeris& gps_eph)
 
 int32_t Rtcm::set_DF097(const Gps_Ephemeris& gps_eph)
 {
-    const auto i0 = static_cast<int64_t>(std::round(gps_eph.d_i_0 / I_0_LSB));
+    const auto i0 = static_cast<int64_t>(std::round(gps_eph.i_0 / I_0_LSB));
     DF097 = std::bitset<32>(i0);
     return 0;
 }
@@ -4431,7 +4431,7 @@ int32_t Rtcm::set_DF097(const Gps_Ephemeris& gps_eph)
 
 int32_t Rtcm::set_DF098(const Gps_Ephemeris& gps_eph)
 {
-    const auto crc = static_cast<int32_t>(std::round(gps_eph.d_Crc / C_RC_LSB));
+    const auto crc = static_cast<int32_t>(std::round(gps_eph.Crc / C_RC_LSB));
     DF098 = std::bitset<16>(crc);
     return 0;
 }
@@ -4439,7 +4439,7 @@ int32_t Rtcm::set_DF098(const Gps_Ephemeris& gps_eph)
 
 int32_t Rtcm::set_DF099(const Gps_Ephemeris& gps_eph)
 {
-    const auto omega = static_cast<int64_t>(std::round(gps_eph.d_OMEGA / OMEGA_LSB));
+    const auto omega = static_cast<int64_t>(std::round(gps_eph.omega / OMEGA_LSB));
     DF099 = std::bitset<32>(omega);
     return 0;
 }
@@ -4447,7 +4447,7 @@ int32_t Rtcm::set_DF099(const Gps_Ephemeris& gps_eph)
 
 int32_t Rtcm::set_DF100(const Gps_Ephemeris& gps_eph)
 {
-    const auto omegadot = static_cast<int64_t>(std::round(gps_eph.d_OMEGA_DOT / OMEGA_DOT_LSB));
+    const auto omegadot = static_cast<int64_t>(std::round(gps_eph.OMEGAdot / OMEGA_DOT_LSB));
     DF100 = std::bitset<24>(omegadot);
     return 0;
 }
@@ -4455,7 +4455,7 @@ int32_t Rtcm::set_DF100(const Gps_Ephemeris& gps_eph)
 
 int32_t Rtcm::set_DF101(const Gps_Ephemeris& gps_eph)
 {
-    const auto tgd = static_cast<int16_t>(std::round(gps_eph.d_TGD / T_GD_LSB));
+    const auto tgd = static_cast<int16_t>(std::round(gps_eph.TGD / T_GD_LSB));
     DF101 = std::bitset<8>(tgd);
     return 0;
 }
@@ -4463,7 +4463,7 @@ int32_t Rtcm::set_DF101(const Gps_Ephemeris& gps_eph)
 
 int32_t Rtcm::set_DF102(const Gps_Ephemeris& gps_eph)
 {
-    const auto sv_heath = static_cast<uint16_t>(gps_eph.i_SV_health);
+    const auto sv_heath = static_cast<uint16_t>(gps_eph.SV_health);
     DF102 = std::bitset<6>(sv_heath);
     return 0;
 }
@@ -4471,7 +4471,7 @@ int32_t Rtcm::set_DF102(const Gps_Ephemeris& gps_eph)
 
 int32_t Rtcm::set_DF103(const Gps_Ephemeris& gps_eph)
 {
-    DF103 = std::bitset<1>(gps_eph.b_L2_P_data_flag);
+    DF103 = std::bitset<1>(gps_eph.L2_P_data_flag);
     return 0;
 }
 
@@ -4789,7 +4789,7 @@ int32_t Rtcm::set_DF136(const Glonass_Gnav_Ephemeris& glonass_gnav_eph)
 
 int32_t Rtcm::set_DF137(const Gps_Ephemeris& gps_eph)
 {
-    DF137 = std::bitset<1>(gps_eph.b_fit_interval_flag);
+    DF137 = std::bitset<1>(gps_eph.fit_interval_flag);
     return 0;
 }
 
@@ -4810,7 +4810,7 @@ int32_t Rtcm::set_DF248(double obs_time)
 
 int32_t Rtcm::set_DF252(const Galileo_Ephemeris& gal_eph)
 {
-    const uint32_t prn_ = gal_eph.i_satellite_PRN;
+    const uint32_t prn_ = gal_eph.PRN;
     if (prn_ > 63)
         {
             LOG(WARNING) << "Galileo satellite ID must be between 0 and 63, but PRN " << prn_ << " was found";
@@ -4822,7 +4822,7 @@ int32_t Rtcm::set_DF252(const Galileo_Ephemeris& gal_eph)
 
 int32_t Rtcm::set_DF289(const Galileo_Ephemeris& gal_eph)
 {
-    const auto galileo_week_number = static_cast<uint32_t>(gal_eph.WN_5);
+    const auto galileo_week_number = static_cast<uint32_t>(gal_eph.WN);
     if (galileo_week_number > 4095)
         {
             LOG(WARNING) << "Error decoding Galileo week number (it has a 4096 roll-off, but " << galileo_week_number << " was detected)";
@@ -4834,7 +4834,7 @@ int32_t Rtcm::set_DF289(const Galileo_Ephemeris& gal_eph)
 
 int32_t Rtcm::set_DF290(const Galileo_Ephemeris& gal_eph)
 {
-    const auto iod_nav = static_cast<uint32_t>(gal_eph.IOD_nav_1);
+    const auto iod_nav = static_cast<uint32_t>(gal_eph.IOD_nav);
     if (iod_nav > 1023)
         {
             LOG(WARNING) << "Error decoding Galileo IODnav (it has a max of 1023, but " << iod_nav << " was detected)";
@@ -4846,7 +4846,7 @@ int32_t Rtcm::set_DF290(const Galileo_Ephemeris& gal_eph)
 
 int32_t Rtcm::set_DF291(const Galileo_Ephemeris& gal_eph)
 {
-    const auto SISA = static_cast<uint16_t>(gal_eph.SISA_3);
+    const auto SISA = static_cast<uint16_t>(gal_eph.SISA);
     // SISA = 0; // SIS Accuracy, data content definition not given in Galileo OS SIS ICD, Issue 1.1, Sept 2010
     DF291 = std::bitset<8>(SISA);
     return 0;
@@ -4855,7 +4855,7 @@ int32_t Rtcm::set_DF291(const Galileo_Ephemeris& gal_eph)
 
 int32_t Rtcm::set_DF292(const Galileo_Ephemeris& gal_eph)
 {
-    const auto idot = static_cast<int32_t>(std::round(gal_eph.iDot_2 / FNAV_IDOT_2_LSB));
+    const auto idot = static_cast<int32_t>(std::round(gal_eph.idot / FNAV_IDOT_2_LSB));
     DF292 = std::bitset<14>(idot);
     return 0;
 }
@@ -4863,7 +4863,7 @@ int32_t Rtcm::set_DF292(const Galileo_Ephemeris& gal_eph)
 
 int32_t Rtcm::set_DF293(const Galileo_Ephemeris& gal_eph)
 {
-    const auto toc = static_cast<uint32_t>(gal_eph.t0c_4);
+    const auto toc = static_cast<uint32_t>(gal_eph.toc);
     if (toc > 604740)
         {
             LOG(WARNING) << "Error decoding Galileo ephemeris time (max of 604740, but " << toc << " was detected)";
@@ -4875,7 +4875,7 @@ int32_t Rtcm::set_DF293(const Galileo_Ephemeris& gal_eph)
 
 int32_t Rtcm::set_DF294(const Galileo_Ephemeris& gal_eph)
 {
-    const auto af2 = static_cast<int16_t>(std::round(gal_eph.af2_4 / FNAV_AF2_1_LSB));
+    const auto af2 = static_cast<int16_t>(std::round(gal_eph.af2 / FNAV_AF2_1_LSB));
     DF294 = std::bitset<6>(af2);
     return 0;
 }
@@ -4883,7 +4883,7 @@ int32_t Rtcm::set_DF294(const Galileo_Ephemeris& gal_eph)
 
 int32_t Rtcm::set_DF295(const Galileo_Ephemeris& gal_eph)
 {
-    const auto af1 = static_cast<int64_t>(std::round(gal_eph.af1_4 / FNAV_AF1_1_LSB));
+    const auto af1 = static_cast<int64_t>(std::round(gal_eph.af1 / FNAV_AF1_1_LSB));
     DF295 = std::bitset<21>(af1);
     return 0;
 }
@@ -4891,7 +4891,7 @@ int32_t Rtcm::set_DF295(const Galileo_Ephemeris& gal_eph)
 
 int32_t Rtcm::set_DF296(const Galileo_Ephemeris& gal_eph)
 {
-    const int64_t af0 = static_cast<uint32_t>(std::round(gal_eph.af0_4 / FNAV_AF0_1_LSB));
+    const int64_t af0 = static_cast<uint32_t>(std::round(gal_eph.af0 / FNAV_AF0_1_LSB));
     DF296 = std::bitset<31>(af0);
     return 0;
 }
@@ -4899,7 +4899,7 @@ int32_t Rtcm::set_DF296(const Galileo_Ephemeris& gal_eph)
 
 int32_t Rtcm::set_DF297(const Galileo_Ephemeris& gal_eph)
 {
-    const auto crs = static_cast<int32_t>(std::round(gal_eph.C_rs_3 / FNAV_CRS_3_LSB));
+    const auto crs = static_cast<int32_t>(std::round(gal_eph.Crs / FNAV_CRS_3_LSB));
     DF297 = std::bitset<16>(crs);
     return 0;
 }
@@ -4907,7 +4907,7 @@ int32_t Rtcm::set_DF297(const Galileo_Ephemeris& gal_eph)
 
 int32_t Rtcm::set_DF298(const Galileo_Ephemeris& gal_eph)
 {
-    const auto delta_n = static_cast<int32_t>(std::round(gal_eph.delta_n_3 / FNAV_DELTAN_3_LSB));
+    const auto delta_n = static_cast<int32_t>(std::round(gal_eph.delta_n / FNAV_DELTAN_3_LSB));
     DF298 = std::bitset<16>(delta_n);
     return 0;
 }
@@ -4915,7 +4915,7 @@ int32_t Rtcm::set_DF298(const Galileo_Ephemeris& gal_eph)
 
 int32_t Rtcm::set_DF299(const Galileo_Ephemeris& gal_eph)
 {
-    const auto m0 = static_cast<int64_t>(std::round(gal_eph.M0_1 / FNAV_M0_2_LSB));
+    const auto m0 = static_cast<int64_t>(std::round(gal_eph.M_0 / FNAV_M0_2_LSB));
     DF299 = std::bitset<32>(m0);
     return 0;
 }
@@ -4923,7 +4923,7 @@ int32_t Rtcm::set_DF299(const Galileo_Ephemeris& gal_eph)
 
 int32_t Rtcm::set_DF300(const Galileo_Ephemeris& gal_eph)
 {
-    const int32_t cuc = static_cast<uint32_t>(std::round(gal_eph.C_uc_3 / FNAV_CUC_3_LSB));
+    const int32_t cuc = static_cast<uint32_t>(std::round(gal_eph.Cuc / FNAV_CUC_3_LSB));
     DF300 = std::bitset<16>(cuc);
     return 0;
 }
@@ -4931,7 +4931,7 @@ int32_t Rtcm::set_DF300(const Galileo_Ephemeris& gal_eph)
 
 int32_t Rtcm::set_DF301(const Galileo_Ephemeris& gal_eph)
 {
-    const auto ecc = static_cast<uint64_t>(std::round(gal_eph.e_1 / FNAV_E_2_LSB));
+    const auto ecc = static_cast<uint64_t>(std::round(gal_eph.ecc / FNAV_E_2_LSB));
     DF301 = std::bitset<32>(ecc);
     return 0;
 }
@@ -4939,7 +4939,7 @@ int32_t Rtcm::set_DF301(const Galileo_Ephemeris& gal_eph)
 
 int32_t Rtcm::set_DF302(const Galileo_Ephemeris& gal_eph)
 {
-    const auto cus = static_cast<int32_t>(std::round(gal_eph.C_us_3 / FNAV_CUS_3_LSB));
+    const auto cus = static_cast<int32_t>(std::round(gal_eph.Cus / FNAV_CUS_3_LSB));
     DF302 = std::bitset<16>(cus);
     return 0;
 }
@@ -4947,7 +4947,7 @@ int32_t Rtcm::set_DF302(const Galileo_Ephemeris& gal_eph)
 
 int32_t Rtcm::set_DF303(const Galileo_Ephemeris& gal_eph)
 {
-    const auto sqr_a = static_cast<uint64_t>(std::round(gal_eph.A_1 / FNAV_A12_2_LSB));
+    const auto sqr_a = static_cast<uint64_t>(std::round(gal_eph.sqrtA / FNAV_A12_2_LSB));
     DF303 = std::bitset<32>(sqr_a);
     return 0;
 }
@@ -4955,7 +4955,7 @@ int32_t Rtcm::set_DF303(const Galileo_Ephemeris& gal_eph)
 
 int32_t Rtcm::set_DF304(const Galileo_Ephemeris& gal_eph)
 {
-    const auto toe = static_cast<uint32_t>(std::round(gal_eph.t0e_1 / FNAV_T0E_3_LSB));
+    const auto toe = static_cast<uint32_t>(std::round(gal_eph.toe / FNAV_T0E_3_LSB));
     DF304 = std::bitset<14>(toe);
     return 0;
 }
@@ -4963,7 +4963,7 @@ int32_t Rtcm::set_DF304(const Galileo_Ephemeris& gal_eph)
 
 int32_t Rtcm::set_DF305(const Galileo_Ephemeris& gal_eph)
 {
-    const auto cic = static_cast<int32_t>(std::round(gal_eph.C_ic_4 / FNAV_CIC_4_LSB));
+    const auto cic = static_cast<int32_t>(std::round(gal_eph.Cic / FNAV_CIC_4_LSB));
     DF305 = std::bitset<16>(cic);
     return 0;
 }
@@ -4971,7 +4971,7 @@ int32_t Rtcm::set_DF305(const Galileo_Ephemeris& gal_eph)
 
 int32_t Rtcm::set_DF306(const Galileo_Ephemeris& gal_eph)
 {
-    const auto Omega0 = static_cast<int64_t>(std::round(gal_eph.OMEGA_0_2 / FNAV_OMEGA0_2_LSB));
+    const auto Omega0 = static_cast<int64_t>(std::round(gal_eph.OMEGA_0 / FNAV_OMEGA0_2_LSB));
     DF306 = std::bitset<32>(Omega0);
     return 0;
 }
@@ -4979,7 +4979,7 @@ int32_t Rtcm::set_DF306(const Galileo_Ephemeris& gal_eph)
 
 int32_t Rtcm::set_DF307(const Galileo_Ephemeris& gal_eph)
 {
-    const auto cis = static_cast<int32_t>(std::round(gal_eph.C_is_4 / FNAV_CIS_4_LSB));
+    const auto cis = static_cast<int32_t>(std::round(gal_eph.Cis / FNAV_CIS_4_LSB));
     DF307 = std::bitset<16>(cis);
     return 0;
 }
@@ -4987,7 +4987,7 @@ int32_t Rtcm::set_DF307(const Galileo_Ephemeris& gal_eph)
 
 int32_t Rtcm::set_DF308(const Galileo_Ephemeris& gal_eph)
 {
-    const auto i0 = static_cast<int64_t>(std::round(gal_eph.i_0_2 / FNAV_I0_3_LSB));
+    const auto i0 = static_cast<int64_t>(std::round(gal_eph.i_0 / FNAV_I0_3_LSB));
     DF308 = std::bitset<32>(i0);
     return 0;
 }
@@ -4995,7 +4995,7 @@ int32_t Rtcm::set_DF308(const Galileo_Ephemeris& gal_eph)
 
 int32_t Rtcm::set_DF309(const Galileo_Ephemeris& gal_eph)
 {
-    const int32_t crc = static_cast<uint32_t>(std::round(gal_eph.C_rc_3 / FNAV_CRC_3_LSB));
+    const int32_t crc = static_cast<uint32_t>(std::round(gal_eph.Crc / FNAV_CRC_3_LSB));
     DF309 = std::bitset<16>(crc);
     return 0;
 }
@@ -5003,7 +5003,7 @@ int32_t Rtcm::set_DF309(const Galileo_Ephemeris& gal_eph)
 
 int32_t Rtcm::set_DF310(const Galileo_Ephemeris& gal_eph)
 {
-    const auto omega = static_cast<int32_t>(std::round(gal_eph.omega_2 / FNAV_OMEGA0_2_LSB));
+    const auto omega = static_cast<int32_t>(std::round(gal_eph.omega / FNAV_OMEGA0_2_LSB));
     DF310 = std::bitset<32>(omega);
     return 0;
 }
@@ -5011,7 +5011,7 @@ int32_t Rtcm::set_DF310(const Galileo_Ephemeris& gal_eph)
 
 int32_t Rtcm::set_DF311(const Galileo_Ephemeris& gal_eph)
 {
-    const auto Omegadot = static_cast<int64_t>(std::round(gal_eph.OMEGA_dot_3 / FNAV_OMEGADOT_2_LSB));
+    const auto Omegadot = static_cast<int64_t>(std::round(gal_eph.OMEGAdot / FNAV_OMEGADOT_2_LSB));
     DF311 = std::bitset<24>(Omegadot);
     return 0;
 }
@@ -5019,7 +5019,7 @@ int32_t Rtcm::set_DF311(const Galileo_Ephemeris& gal_eph)
 
 int32_t Rtcm::set_DF312(const Galileo_Ephemeris& gal_eph)
 {
-    const auto bdg_E1_E5a = static_cast<int32_t>(std::round(gal_eph.BGD_E1E5a_5 / FNAV_BGD_1_LSB));
+    const auto bdg_E1_E5a = static_cast<int32_t>(std::round(gal_eph.BGD_E1E5a / FNAV_BGD_1_LSB));
     DF312 = std::bitset<10>(bdg_E1_E5a);
     return 0;
 }
@@ -5027,7 +5027,7 @@ int32_t Rtcm::set_DF312(const Galileo_Ephemeris& gal_eph)
 
 int32_t Rtcm::set_DF313(const Galileo_Ephemeris& gal_eph)
 {
-    const auto bdg_E5b_E1 = static_cast<uint32_t>(std::round(gal_eph.BGD_E1E5b_5));
+    const auto bdg_E5b_E1 = static_cast<uint32_t>(std::round(gal_eph.BGD_E1E5b));
     // bdg_E5b_E1 = 0; // reserved
     DF313 = std::bitset<10>(bdg_E5b_E1);
     return 0;

src/algorithms/PVT/libs/rtklib_solver.cc

@@ -457,7 +457,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                                         obsd_t newobs{};
                                         obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
                                             gnss_observables_iter->second,
-                                            galileo_ephemeris_iter->second.WN_5,
+                                            galileo_ephemeris_iter->second.WN,
                                             0);
                                         valid_obs++;
                                     }
@@ -481,7 +481,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                                                     {
                                                         obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs],
                                                             gnss_observables_iter->second,
-                                                            galileo_ephemeris_iter->second.WN_5,
+                                                            galileo_ephemeris_iter->second.WN,
                                                             2);  // Band 3 (L5/E5)
                                                         found_E1_obs = true;
                                                         break;
@@ -499,7 +499,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                                                     {}, {0.0, 0.0, 0.0}, {}};
                                                 obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
                                                     gnss_observables_iter->second,
-                                                    galileo_ephemeris_iter->second.WN_5,
+                                                    galileo_ephemeris_iter->second.WN,
                                                     2);  // Band 3 (L5/E5)
                                                 valid_obs++;
                                             }
@@ -527,7 +527,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                                         obsd_t newobs{};
                                         obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
                                             gnss_observables_iter->second,
-                                            gps_ephemeris_iter->second.i_GPS_week,
+                                            gps_ephemeris_iter->second.WN,
                                             0,
                                             this->is_pre_2009());
                                         valid_obs++;
@@ -576,7 +576,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                                                     {}, {0.0, 0.0, 0.0}, {}};
                                                 obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
                                                     gnss_observables_iter->second,
-                                                    gps_cnav_ephemeris_iter->second.i_GPS_week,
+                                                    gps_cnav_ephemeris_iter->second.WN,
                                                     1);  // Band 2 (L2)
                                                 valid_obs++;
                                             }
@@ -605,7 +605,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                                                                 eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
                                                                 obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i],
                                                                     gnss_observables_iter->second,
-                                                                    gps_cnav_ephemeris_iter->second.i_GPS_week,
+                                                                    gps_cnav_ephemeris_iter->second.WN,
                                                                     2);  // Band 3 (L5)
                                                                 break;
                                                             }
@@ -623,7 +623,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                                                     {}, {0.0, 0.0, 0.0}, {}};
                                                 obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
                                                     gnss_observables_iter->second,
-                                                    gps_cnav_ephemeris_iter->second.i_GPS_week,
+                                                    gps_cnav_ephemeris_iter->second.WN,
                                                     2);  // Band 3 (L5)
                                                 valid_obs++;
                                             }
@@ -717,7 +717,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                                         obsd_t newobs{};
                                         obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
                                             gnss_observables_iter->second,
-                                            beidou_ephemeris_iter->second.i_BEIDOU_week + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
+                                            beidou_ephemeris_iter->second.WN + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
                                             0);
                                         valid_obs++;
                                     }
@@ -739,7 +739,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                                                     {
                                                         obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs],
                                                             gnss_observables_iter->second,
-                                                            beidou_ephemeris_iter->second.i_BEIDOU_week + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
+                                                            beidou_ephemeris_iter->second.WN + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
                                                             2);  // Band 3 (L2/G2/B3)
                                                         found_B1I_obs = true;
                                                         break;
@@ -757,7 +757,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                                                     {}, {0.0, 0.0, 0.0}, {}};
                                                 obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
                                                     gnss_observables_iter->second,
-                                                    beidou_ephemeris_iter->second.i_BEIDOU_week + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
+                                                    beidou_ephemeris_iter->second.WN + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
                                                     2);  // Band 2 (L2/G2)
                                                 valid_obs++;
                                             }
@@ -791,59 +791,59 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
             nav_data.ng = glo_valid_obs;
             if (gps_iono.valid)
                 {
-                    nav_data.ion_gps[0] = gps_iono.d_alpha0;
+                    nav_data.ion_gps[0] = gps_iono.alpha0;
-                    nav_data.ion_gps[1] = gps_iono.d_alpha1;
+                    nav_data.ion_gps[1] = gps_iono.alpha1;
-                    nav_data.ion_gps[2] = gps_iono.d_alpha2;
+                    nav_data.ion_gps[2] = gps_iono.alpha2;
-                    nav_data.ion_gps[3] = gps_iono.d_alpha3;
+                    nav_data.ion_gps[3] = gps_iono.alpha3;
-                    nav_data.ion_gps[4] = gps_iono.d_beta0;
+                    nav_data.ion_gps[4] = gps_iono.beta0;
-                    nav_data.ion_gps[5] = gps_iono.d_beta1;
+                    nav_data.ion_gps[5] = gps_iono.beta1;
-                    nav_data.ion_gps[6] = gps_iono.d_beta2;
+                    nav_data.ion_gps[6] = gps_iono.beta2;
-                    nav_data.ion_gps[7] = gps_iono.d_beta3;
+                    nav_data.ion_gps[7] = gps_iono.beta3;
                 }
             if (!(gps_iono.valid) and gps_cnav_iono.valid)
                 {
-                    nav_data.ion_gps[0] = gps_cnav_iono.d_alpha0;
+                    nav_data.ion_gps[0] = gps_cnav_iono.alpha0;
-                    nav_data.ion_gps[1] = gps_cnav_iono.d_alpha1;
+                    nav_data.ion_gps[1] = gps_cnav_iono.alpha1;
-                    nav_data.ion_gps[2] = gps_cnav_iono.d_alpha2;
+                    nav_data.ion_gps[2] = gps_cnav_iono.alpha2;
-                    nav_data.ion_gps[3] = gps_cnav_iono.d_alpha3;
+                    nav_data.ion_gps[3] = gps_cnav_iono.alpha3;
-                    nav_data.ion_gps[4] = gps_cnav_iono.d_beta0;
+                    nav_data.ion_gps[4] = gps_cnav_iono.beta0;
-                    nav_data.ion_gps[5] = gps_cnav_iono.d_beta1;
+                    nav_data.ion_gps[5] = gps_cnav_iono.beta1;
-                    nav_data.ion_gps[6] = gps_cnav_iono.d_beta2;
+                    nav_data.ion_gps[6] = gps_cnav_iono.beta2;
-                    nav_data.ion_gps[7] = gps_cnav_iono.d_beta3;
+                    nav_data.ion_gps[7] = gps_cnav_iono.beta3;
                 }
-            if (galileo_iono.ai0_5 != 0.0)
+            if (galileo_iono.ai0 != 0.0)
                 {
-                    nav_data.ion_gal[0] = galileo_iono.ai0_5;
+                    nav_data.ion_gal[0] = galileo_iono.ai0;
-                    nav_data.ion_gal[1] = galileo_iono.ai1_5;
+                    nav_data.ion_gal[1] = galileo_iono.ai1;
-                    nav_data.ion_gal[2] = galileo_iono.ai2_5;
+                    nav_data.ion_gal[2] = galileo_iono.ai2;
                     nav_data.ion_gal[3] = 0.0;
                 }
             if (beidou_dnav_iono.valid)
                 {
-                    nav_data.ion_cmp[0] = beidou_dnav_iono.d_alpha0;
+                    nav_data.ion_cmp[0] = beidou_dnav_iono.alpha0;
-                    nav_data.ion_cmp[1] = beidou_dnav_iono.d_alpha1;
+                    nav_data.ion_cmp[1] = beidou_dnav_iono.alpha1;
-                    nav_data.ion_cmp[2] = beidou_dnav_iono.d_alpha2;
+                    nav_data.ion_cmp[2] = beidou_dnav_iono.alpha2;
-                    nav_data.ion_cmp[3] = beidou_dnav_iono.d_alpha3;
+                    nav_data.ion_cmp[3] = beidou_dnav_iono.alpha3;
-                    nav_data.ion_cmp[4] = beidou_dnav_iono.d_beta0;
+                    nav_data.ion_cmp[4] = beidou_dnav_iono.beta0;
-                    nav_data.ion_cmp[5] = beidou_dnav_iono.d_beta0;
+                    nav_data.ion_cmp[5] = beidou_dnav_iono.beta0;
-                    nav_data.ion_cmp[6] = beidou_dnav_iono.d_beta0;
+                    nav_data.ion_cmp[6] = beidou_dnav_iono.beta0;
-                    nav_data.ion_cmp[7] = beidou_dnav_iono.d_beta3;
+                    nav_data.ion_cmp[7] = beidou_dnav_iono.beta3;
                 }
             if (gps_utc_model.valid)
                 {
-                    nav_data.utc_gps[0] = gps_utc_model.d_A0;
+                    nav_data.utc_gps[0] = gps_utc_model.A0;
-                    nav_data.utc_gps[1] = gps_utc_model.d_A1;
+                    nav_data.utc_gps[1] = gps_utc_model.A1;
-                    nav_data.utc_gps[2] = gps_utc_model.d_t_OT;
+                    nav_data.utc_gps[2] = gps_utc_model.tot;
-                    nav_data.utc_gps[3] = gps_utc_model.i_WN_T;
+                    nav_data.utc_gps[3] = gps_utc_model.WN_T;
-                    nav_data.leaps = gps_utc_model.d_DeltaT_LS;
+                    nav_data.leaps = gps_utc_model.DeltaT_LS;
                 }
             if (!(gps_utc_model.valid) and gps_cnav_utc_model.valid)
                 {
-                    nav_data.utc_gps[0] = gps_cnav_utc_model.d_A0;
+                    nav_data.utc_gps[0] = gps_cnav_utc_model.A0;
-                    nav_data.utc_gps[1] = gps_cnav_utc_model.d_A1;
+                    nav_data.utc_gps[1] = gps_cnav_utc_model.A1;
-                    nav_data.utc_gps[2] = gps_cnav_utc_model.d_t_OT;
+                    nav_data.utc_gps[2] = gps_cnav_utc_model.tot;
-                    nav_data.utc_gps[3] = gps_cnav_utc_model.i_WN_T;
+                    nav_data.utc_gps[3] = gps_cnav_utc_model.WN_T;
-                    nav_data.leaps = gps_cnav_utc_model.d_DeltaT_LS;
+                    nav_data.leaps = gps_cnav_utc_model.DeltaT_LS;
                 }
             if (glonass_gnav_utc_model.valid)
                 {
@@ -852,21 +852,21 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                     nav_data.utc_glo[2] = 0.0;                             // ??
                     nav_data.utc_glo[3] = 0.0;                             // ??
                 }
-            if (galileo_utc_model.A0_6 != 0.0)
+            if (galileo_utc_model.A0 != 0.0)
                 {
-                    nav_data.utc_gal[0] = galileo_utc_model.A0_6;
+                    nav_data.utc_gal[0] = galileo_utc_model.A0;
-                    nav_data.utc_gal[1] = galileo_utc_model.A1_6;
+                    nav_data.utc_gal[1] = galileo_utc_model.A1;
-                    nav_data.utc_gal[2] = galileo_utc_model.t0t_6;
+                    nav_data.utc_gal[2] = galileo_utc_model.tot;
-                    nav_data.utc_gal[3] = galileo_utc_model.WNot_6;
+                    nav_data.utc_gal[3] = galileo_utc_model.WNot;
-                    nav_data.leaps = galileo_utc_model.Delta_tLS_6;
+                    nav_data.leaps = galileo_utc_model.Delta_tLS;
                 }
             if (beidou_dnav_utc_model.valid)
                 {
-                    nav_data.utc_cmp[0] = beidou_dnav_utc_model.d_A0_UTC;
+                    nav_data.utc_cmp[0] = beidou_dnav_utc_model.A0_UTC;
-                    nav_data.utc_cmp[1] = beidou_dnav_utc_model.d_A1_UTC;
+                    nav_data.utc_cmp[1] = beidou_dnav_utc_model.A1_UTC;
                     nav_data.utc_cmp[2] = 0.0;  // ??
                     nav_data.utc_cmp[3] = 0.0;  // ??
-                    nav_data.leaps = beidou_dnav_utc_model.i_DeltaT_LS;
+                    nav_data.leaps = beidou_dnav_utc_model.DeltaT_LS;
                 }
 
             /* update carrier wave length using native function call in RTKlib */

src/algorithms/PVT/libs/serdes_galileo_eph.h

@@ -19,7 +19,7 @@
 #define GNSS_SDR_SERDES_GALILEO_EPH_H
 
 #include "galileo_ephemeris.h"
-#include "monitor_galileo_ephemeris.pb.h"  // file created by Protocol Buffers at compile time
+#include "galileo_ephemeris.pb.h"  // file created by Protocol Buffers at compile time
 #include <memory>
 #include <string>
 #include <utility>
@@ -80,110 +80,97 @@ public:
 
         std::string data;
 
-        monitor_.set_i_satellite_prn(monitor->i_satellite_PRN);
+        monitor_.set_prn(monitor->PRN);
+        monitor_.set_m_0(monitor->M_0);
+        monitor_.set_delta_n(monitor->delta_n);
+        monitor_.set_ecc(monitor->ecc);
+        monitor_.set_sqrta(monitor->sqrtA);
+        monitor_.set_omega_0(monitor->OMEGA_0);
+        monitor_.set_i_0(monitor->i_0);
+        monitor_.set_omega(monitor->omega);
+        monitor_.set_omegadot(monitor->OMEGAdot);
+        monitor_.set_idot(monitor->idot);
+        monitor_.set_cuc(monitor->Cuc);
+        monitor_.set_cus(monitor->Cus);
+        monitor_.set_crc(monitor->Crc);
+        monitor_.set_crs(monitor->Crs);
+        monitor_.set_cic(monitor->Cic);
+        monitor_.set_cis(monitor->Cis);
+        monitor_.set_toe(monitor->toe);
+        monitor_.set_toc(monitor->toc);
+        monitor_.set_af0(monitor->af0);
+        monitor_.set_af1(monitor->af1);
+        monitor_.set_af2(monitor->af2);
+        monitor_.set_satclkdrift(monitor->satClkDrift);
+        monitor_.set_dtr(monitor->dtr);
+        monitor_.set_wn(monitor->WN);
+        monitor_.set_tow(monitor->tow);
+
+        // Galileo-specific parameters
         monitor_.set_iod_ephemeris(monitor->IOD_ephemeris);
-        monitor_.set_iod_nav_1(monitor->IOD_nav_1);
+        monitor_.set_iod_nav(monitor->IOD_nav);
-        monitor_.set_m0_1(monitor->M0_1);                //!< Mean anomaly at reference time [semi-circles]
+        monitor_.set_sisa(monitor->SISA);
-        monitor_.set_delta_n_3(monitor->delta_n_3);      //!< Mean motion difference from computed value [semi-circles/sec]
+        monitor_.set_e5a_hs(monitor->E5a_HS);
-        monitor_.set_e_1(monitor->e_1);                  //!< Eccentricity
+        monitor_.set_e5b_hs(monitor->E5b_HS);
-        monitor_.set_a_1(monitor->A_1);                  //!< Square root of the semi-major axis [meters^1/2]
+        monitor_.set_e1b_hs(monitor->E1B_HS);
-        monitor_.set_omega_0_2(monitor->OMEGA_0_2);      //!< Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
+        monitor_.set_e5a_dvs(monitor->E5a_DVS);
-        monitor_.set_i_0_2(monitor->i_0_2);              //!< Inclination angle at reference time  [semi-circles]
+        monitor_.set_e5b_dvs(monitor->E5b_DVS);
-        monitor_.set_omega_2(monitor->omega_2);          //!< Argument of perigee [semi-circles]
+        monitor_.set_e1b_dvs(monitor->E1B_DVS);
-        monitor_.set_omega_dot_3(monitor->OMEGA_dot_3);  //!< Rate of right ascension [semi-circles/sec]
+        monitor_.set_bgd_e1e5a(monitor->BGD_E1E5a);
-        monitor_.set_idot_2(monitor->iDot_2);            //!< Rate of inclination angle [semi-circles/sec]
+        monitor_.set_bgd_e1e5b(monitor->BGD_E1E5b);
-        monitor_.set_c_uc_3(monitor->C_uc_3);            //!< Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
-        monitor_.set_c_us_3(monitor->C_us_3);            //!< Amplitude of the sine harmonic correction term to the argument of latitude [radians]
-        monitor_.set_c_rc_3(monitor->C_rc_3);            //!< Amplitude of the cosine harmonic correction term to the orbit radius [meters]
-        monitor_.set_c_rs_3(monitor->C_rs_3);            //!< Amplitude of the sine harmonic correction term to the orbit radius [meters]
-        monitor_.set_c_ic_4(monitor->C_ic_4);            //!< Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
-        monitor_.set_c_is_4(monitor->C_is_4);            //!< Amplitude of the sine harmonic correction term to the angle of inclination [radians]
-        monitor_.set_d_toe(monitor->t0e_1);              // Ephemeris reference time
-
-        /*Clock correction parameters*/
-        monitor_.set_d_toc(monitor->t0c_4);  // Clock correction data reference Time of Week
-        monitor_.set_af0_4(monitor->af0_4);  //!< SV clock bias correction coefficient [s]
-        monitor_.set_af1_4(monitor->af1_4);  //!< SV clock drift correction coefficient [s/s]
-        monitor_.set_af2_4(monitor->af2_4);  //!< SV clock drift rate correction coefficient [s/s^2]
-
-        /*GST*/
-        // Not belong to ephemeris set (page 1 to 4)
-        monitor_.set_wn_5(monitor->WN_5);    //!< Week number
-        monitor_.set_tow_5(monitor->TOW_5);  //!< Time of Week
-        monitor_.set_galileo_satclkdrift(monitor->Galileo_satClkDrift);
-        monitor_.set_galileo_dtr(monitor->Galileo_dtr);  //!< relativistic clock correction term
-
-        // SV status
-        monitor_.set_sisa_3(monitor->SISA_3);
-        monitor_.set_e5a_hs(monitor->E5a_HS);        //!< E5a Signal Health Status
-        monitor_.set_e5b_hs_5(monitor->E5b_HS_5);    //!< E5b Signal Health Status
-        monitor_.set_e1b_hs_5(monitor->E1B_HS_5);    //!< E1B Signal Health Status
-        monitor_.set_e5a_dvs(monitor->E5a_DVS);      //!< E5a Data Validity Status
-        monitor_.set_e5b_dvs_5(monitor->E5b_DVS_5);  //!< E5b Data Validity Status
-        monitor_.set_e1b_dvs_5(monitor->E1B_DVS_5);  //!< E1B Data Validity Status
-
-        monitor_.set_bgd_e1e5a_5(monitor->BGD_E1E5a_5);  //!< E1-E5a Broadcast Group Delay [s]
-        monitor_.set_bgd_e1e5b_5(monitor->BGD_E1E5b_5);  //!< E1-E5b Broadcast Group Delay [s]
 
         monitor_.SerializeToString(&data);
         return data;
     }
 
-    inline Galileo_Ephemeris readProtobuffer(const gnss_sdr::MonitorGalileoEphemeris& mon) const  //!< Deserialization
+    inline Galileo_Ephemeris readProtobuffer(const gnss_sdr::GalileoEphemeris& mon) const  //!< Deserialization
     {
         Galileo_Ephemeris monitor;
 
-        monitor.i_satellite_PRN = mon.i_satellite_prn();
+        monitor.PRN = mon.prn();
+        monitor.M_0 = mon.m_0();
+        monitor.delta_n = mon.delta_n();
+        monitor.ecc = mon.ecc();
+        monitor.sqrtA = mon.sqrta();
+        monitor.OMEGA_0 = mon.omega_0();
+        monitor.i_0 = mon.i_0();
+        monitor.omega = mon.omega();
+        monitor.OMEGAdot = mon.omegadot();
+        monitor.idot = mon.idot();
+        monitor.Cuc = mon.cuc();
+        monitor.Cus = mon.cus();
+        monitor.Crc = mon.crc();
+        monitor.Crs = mon.crs();
+        monitor.Cic = mon.cic();
+        monitor.Cis = mon.cis();
+        monitor.toe = mon.toe();
+        monitor.toc = mon.toc();
+        monitor.af0 = mon.af0();
+        monitor.af1 = mon.af1();
+        monitor.af2 = mon.af2();
+        monitor.satClkDrift = mon.satclkdrift();
+        monitor.dtr = mon.dtr();
+        monitor.WN = mon.wn();
+        monitor.tow = mon.tow();
 
+        // Galileo-specific parameters
         monitor.IOD_ephemeris = mon.iod_ephemeris();
-        monitor.IOD_nav_1 = mon.iod_nav_1();
+        monitor.IOD_nav = mon.iod_nav();
-        monitor.M0_1 = mon.m0_1();                //!< Mean anomaly at reference time [semi-circles]
+        monitor.SISA = mon.sisa();
-        monitor.delta_n_3 = mon.delta_n_3();      //!< Mean motion difference from computed value [semi-circles/sec]
+        monitor.E5a_HS = mon.e5a_hs();
-        monitor.e_1 = mon.e_1();                  //!< Eccentricity
+        monitor.E5b_HS = mon.e5b_hs();
-        monitor.A_1 = mon.a_1();                  //!< Square root of the semi-major axis [meters^1/2]
+        monitor.E1B_HS = mon.e1b_hs();
-        monitor.OMEGA_0_2 = mon.omega_0_2();      //!< Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
+        monitor.E5a_DVS = mon.e5a_dvs();
-        monitor.i_0_2 = mon.i_0_2();              //!< Inclination angle at reference time  [semi-circles]
+        monitor.E5b_DVS = mon.e5b_dvs();
-        monitor.omega_2 = mon.omega_2();          //!< Argument of perigee [semi-circles]
+        monitor.E1B_DVS = mon.e1b_dvs();
-        monitor.OMEGA_dot_3 = mon.omega_dot_3();  //!< Rate of right ascension [semi-circles/sec]
+        monitor.BGD_E1E5a = mon.bgd_e1e5a();
-        monitor.iDot_2 = mon.idot_2();            //!< Rate of inclination angle [semi-circles/sec]
+        monitor.BGD_E1E5b = mon.bgd_e1e5b();
-        monitor.C_uc_3 = mon.c_uc_3();            //!< Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
-        monitor.C_us_3 = mon.c_us_3();            //!< Amplitude of the sine harmonic correction term to the argument of latitude [radians]
-        monitor.C_rc_3 = mon.c_rc_3();            //!< Amplitude of the cosine harmonic correction term to the orbit radius [meters]
-        monitor.C_rs_3 = mon.c_rs_3();            //!< Amplitude of the sine harmonic correction term to the orbit radius [meters]
-        monitor.C_ic_4 = mon.c_ic_4();            //!< Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
-        monitor.C_is_4 = mon.c_is_4();            //!< Amplitude of the sine harmonic correction term to the angle of inclination [radians]
-        monitor.t0e_1 = mon.d_toe();              // Ephemeris reference time
-
-        /*Clock correction parameters*/
-        monitor.t0c_4 = mon.d_toc();  // Clock correction data reference Time of Week
-        monitor.af0_4 = mon.af0_4();  //!< SV clock bias correction coefficient [s]
-        monitor.af1_4 = mon.af1_4();  //!< SV clock drift correction coefficient [s/s]
-        monitor.af2_4 = mon.af2_4();  //!< SV clock drift rate correction coefficient [s/s^2]
-
-        /*GST*/
-        // Not belong to ephemeris set (page 1 to 4)
-        monitor.WN_5 = mon.wn_5();    //!< Week number
-        monitor.TOW_5 = mon.tow_5();  //!< Time of Week
-        monitor.Galileo_satClkDrift = mon.galileo_satclkdrift();
-        monitor.Galileo_dtr = mon.galileo_dtr();  //!< relativistic clock correction term
-
-        // SV status
-        monitor.SISA_3 = mon.sisa_3();
-        monitor.E5a_HS = mon.e5a_hs();        //!< E5a Signal Health Status
-        monitor.E5b_HS_5 = mon.e5b_hs_5();    //!< E5b Signal Health Status
-        monitor.E1B_HS_5 = mon.e1b_hs_5();    //!< E1B Signal Health Status
-        monitor.E5a_DVS = mon.e5a_dvs();      //!< E5a Data Validity Status
-        monitor.E5b_DVS_5 = mon.e5b_dvs_5();  //!< E5b Data Validity Status
-        monitor.E1B_DVS_5 = mon.e1b_dvs_5();  //!< E1B Data Validity Status
-
-        monitor.BGD_E1E5a_5 = mon.bgd_e1e5a_5();  //!< E1-E5a Broadcast Group Delay [s]
-        monitor.BGD_E1E5b_5 = mon.bgd_e1e5b_5();  //!< E1-E5b Broadcast Group Delay [s]
 
         return monitor;
     }
 
 private:
-    gnss_sdr::MonitorGalileoEphemeris monitor_{};
+    gnss_sdr::GalileoEphemeris monitor_{};
 };
 
 

src/algorithms/PVT/libs/serdes_gps_eph.h

@@ -19,7 +19,7 @@
 #define GNSS_SDR_SERDES_GPS_EPH_H
 
 #include "gps_ephemeris.h"
-#include "monitor_gps_ephemeris.pb.h"  // file created by Protocol Buffers at compile time
+#include "gps_ephemeris.pb.h"  // file created by Protocol Buffers at compile time
 #include <memory>
 #include <string>
 #include <utility>
@@ -29,7 +29,6 @@
 /** \addtogroup PVT_libs
  * \{ */
 
-
 /*!
  * \brief This class implements serialization and deserialization of
  * Gps_Ephemeris objects using Protocol Buffers.
@@ -78,103 +77,106 @@ public:
     {
         monitor_.Clear();
         std::string data;
-        monitor_.set_i_satellite_prn(monitor->i_satellite_PRN);    // SV PRN NUMBER
-        monitor_.set_d_tow(monitor->d_TOW);                        //!< time of gps week of the ephemeris set (taken from subframes tow) [s]
-        monitor_.set_d_crs(monitor->d_Crs);                        //!< amplitude of the sine harmonic correction term to the orbit radius [m]
-        monitor_.set_d_delta_n(monitor->d_Delta_n);                //!< mean motion difference from computed value [semi-circles/s]
-        monitor_.set_d_m_0(monitor->d_M_0);                        //!< mean anomaly at reference time [semi-circles]
-        monitor_.set_d_cuc(monitor->d_Cuc);                        //!< amplitude of the cosine harmonic correction term to the argument of latitude [rad]
-        monitor_.set_d_e_eccentricity(monitor->d_e_eccentricity);  //!< eccentricity [dimensionless]
-        monitor_.set_d_cus(monitor->d_Cus);                        //!< amplitude of the sine harmonic correction term to the argument of latitude [rad]
-        monitor_.set_d_sqrt_a(monitor->d_sqrt_A);                  //!< square root of the semi-major axis [sqrt(m)]
-        monitor_.set_d_toe(monitor->d_Toe);                        //!< ephemeris data reference time of week (ref. 20.3.3.4.3 is-gps-200k) [s]
-        monitor_.set_d_toc(monitor->d_Toc);                        //!< clock data reference time (ref. 20.3.3.3.3.1 is-gps-200k) [s]
-        monitor_.set_d_cic(monitor->d_Cic);                        //!< amplitude of the cosine harmonic correction term to the angle of inclination [rad]
-        monitor_.set_d_omega0(monitor->d_OMEGA0);                  //!< longitude of ascending node of orbit plane at weekly epoch [semi-circles]
-        monitor_.set_d_cis(monitor->d_Cis);                        //!< amplitude of the sine harmonic correction term to the angle of inclination [rad]
-        monitor_.set_d_i_0(monitor->d_i_0);                        //!< inclination angle at reference time [semi-circles]
-        monitor_.set_d_crc(monitor->d_Crc);                        //!< amplitude of the cosine harmonic correction term to the orbit radius [m]
-        monitor_.set_d_omega(monitor->d_OMEGA);                    //!< argument of perigee [semi-cicles]
-        monitor_.set_d_omega_dot(monitor->d_OMEGA_DOT);            //!< rate of right ascension [semi-circles/s]
-        monitor_.set_d_idot(monitor->d_IDOT);                      //!< rate of inclination angle [semi-circles/s]
-        monitor_.set_i_code_on_l2(monitor->i_code_on_L2);          //!< if 1, p code on in l2;  if 2, c/a code on in l2;
-        monitor_.set_i_gps_week(monitor->i_GPS_week);              //!< gps week number, aka wn [week]
-        monitor_.set_b_l2_p_data_flag(monitor->b_L2_P_data_flag);  //!< when true, indicates that the nav data stream was commanded off on the p-code of the l2 channel
-        monitor_.set_i_sv_accuracy(monitor->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)
-        monitor_.set_i_sv_health(monitor->i_SV_health);
-        monitor_.set_d_tgd(monitor->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]
-        monitor_.set_d_iodc(monitor->d_IODC);          //!< issue of data, clock
-        monitor_.set_d_iode_sf2(monitor->d_IODE_SF2);  //!< issue of data, ephemeris (iode), subframe 2
-        monitor_.set_d_iode_sf3(monitor->d_IODE_SF3);  //!< issue of data, ephemeris(iode), subframe 3
-        monitor_.set_i_aodo(monitor->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]
 
-        monitor_.set_b_fit_interval_flag(monitor->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.
+        monitor_.set_prn(monitor->PRN);
-        monitor_.set_d_spare1(monitor->d_spare1);
+        monitor_.set_m_0(monitor->M_0);
-        monitor_.set_d_spare2(monitor->d_spare2);
+        monitor_.set_delta_n(monitor->delta_n);
+        monitor_.set_ecc(monitor->ecc);
+        monitor_.set_sqrta(monitor->sqrtA);
+        monitor_.set_omega_0(monitor->OMEGA_0);
+        monitor_.set_i_0(monitor->i_0);
+        monitor_.set_omega(monitor->omega);
+        monitor_.set_omegadot(monitor->OMEGAdot);
+        monitor_.set_idot(monitor->idot);
+        monitor_.set_cuc(monitor->Cuc);
+        monitor_.set_cus(monitor->Cus);
+        monitor_.set_crc(monitor->Crc);
+        monitor_.set_crs(monitor->Crs);
+        monitor_.set_cic(monitor->Cic);
+        monitor_.set_cis(monitor->Cis);
+        monitor_.set_toe(monitor->toe);
+        monitor_.set_toc(monitor->toc);
+        monitor_.set_af0(monitor->af0);
+        monitor_.set_af1(monitor->af1);
+        monitor_.set_af2(monitor->af2);
+        monitor_.set_satclkdrift(monitor->satClkDrift);
+        monitor_.set_dtr(monitor->dtr);
+        monitor_.set_wn(monitor->WN);
+        monitor_.set_tow(monitor->tow);
 
-        monitor_.set_d_a_f0(monitor->d_A_f0);  //!< coefficient 0 of code phase offset model [s]
+        // GPS-specific parameters
-        monitor_.set_d_a_f1(monitor->d_A_f1);  //!< coefficient 1 of code phase offset model [s/s]
+        monitor_.set_code_on_l2(monitor->code_on_L2);
-        monitor_.set_d_a_f2(monitor->d_A_f2);  //!< coefficient 2 of code phase offset model [s/s^2]
+        monitor_.set_l2_p_data_flag(monitor->L2_P_data_flag);
-
+        monitor_.set_sv_accuracy(monitor->SV_accuracy);
-        monitor_.set_b_integrity_status_flag(monitor->b_integrity_status_flag);
+        monitor_.set_sv_health(monitor->SV_health);
-        monitor_.set_b_alert_flag(monitor->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.
+        monitor_.set_tgd(monitor->TGD);
-        monitor_.set_b_antispoofing_flag(monitor->b_antispoofing_flag);  //!<  if true, the antispoofing mode is on in that sv
+        monitor_.set_iodc(monitor->IODC);
+        monitor_.set_iode_sf2(monitor->IODE_SF2);
+        monitor_.set_iode_sf3(monitor->IODE_SF3);
+        monitor_.set_aodo(monitor->AODO);
+        monitor_.set_fit_interval_flag(monitor->fit_interval_flag);
+        monitor_.set_spare1(monitor->spare1);
+        monitor_.set_spare2(monitor->spare2);
+        monitor_.set_integrity_status_flag(monitor->integrity_status_flag);
+        monitor_.set_alert_flag(monitor->alert_flag);
+        monitor_.set_antispoofing_flag(monitor->antispoofing_flag);
 
         monitor_.SerializeToString(&data);
         return data;
     }
 
-    inline Gps_Ephemeris readProtobuffer(const gnss_sdr::MonitorGpsEphemeris& mon) const  //!< Deserialization
+    inline Gps_Ephemeris readProtobuffer(const gnss_sdr::GpsEphemeris& mon) const  //!< Deserialization
     {
         Gps_Ephemeris monitor;
 
-        monitor.i_satellite_PRN = mon.i_satellite_prn();    // SV PRN NUMBER
+        monitor.PRN = mon.prn();
-        monitor.d_TOW = mon.d_tow();                        //!< time of gps week of the ephemeris set (taken from subframes tow) [s]
+        monitor.M_0 = mon.m_0();
-        monitor.d_Crs = mon.d_crs();                        //!< amplitude of the sine harmonic correction term to the orbit radius [m]
+        monitor.delta_n = mon.delta_n();
-        monitor.d_Delta_n = mon.d_delta_n();                //!< mean motion difference from computed value [semi-circles/s]
+        monitor.ecc = mon.ecc();
-        monitor.d_M_0 = mon.d_m_0();                        //!< mean anomaly at reference time [semi-circles]
+        monitor.sqrtA = mon.sqrta();
-        monitor.d_Cuc = mon.d_cuc();                        //!< amplitude of the cosine harmonic correction term to the argument of latitude [rad]
+        monitor.OMEGA_0 = mon.omega_0();
-        monitor.d_e_eccentricity = mon.d_e_eccentricity();  //!< eccentricity [dimensionless]
+        monitor.i_0 = mon.i_0();
-        monitor.d_Cus = mon.d_cus();                        //!< amplitude of the sine harmonic correction term to the argument of latitude [rad]
+        monitor.omega = mon.omega();
-        monitor.d_sqrt_A = mon.d_sqrt_a();                  //!< square root of the semi-major axis [sqrt(m)]
+        monitor.OMEGAdot = mon.omegadot();
-        monitor.d_Toe = mon.d_toe();                        //!< ephemeris data reference time of week (ref. 20.3.3.4.3 is-gps-200k) [s]
+        monitor.idot = mon.idot();
-        monitor.d_Toc = mon.d_toc();                        //!< clock data reference time (ref. 20.3.3.3.3.1 is-gps-200k) [s]
+        monitor.Cuc = mon.cuc();
-        monitor.d_Cic = mon.d_cic();                        //!< amplitude of the cosine harmonic correction term to the angle of inclination [rad]
+        monitor.Cus = mon.cus();
-        monitor.d_OMEGA0 = mon.d_omega0();                  //!< longitude of ascending node of orbit plane at weekly epoch [semi-circles]
+        monitor.Crc = mon.crc();
-        monitor.d_Cis = mon.d_cis();                        //!< amplitude of the sine harmonic correction term to the angle of inclination [rad]
+        monitor.Crs = mon.crs();
-        monitor.d_i_0 = mon.d_i_0();                        //!< inclination angle at reference time [semi-circles]
+        monitor.Cic = mon.cic();
-        monitor.d_Crc = mon.d_crc();                        //!< amplitude of the cosine harmonic correction term to the orbit radius [m]
+        monitor.Cis = mon.cis();
-        monitor.d_OMEGA = mon.d_omega();                    //!< argument of perigee [semi-cicles]
+        monitor.toe = mon.toe();
-        monitor.d_OMEGA_DOT = mon.d_omega_dot();            //!< rate of right ascension [semi-circles/s]
+        monitor.toc = mon.toc();
-        monitor.d_IDOT = mon.d_idot();                      //!< rate of inclination angle [semi-circles/s]
+        monitor.af0 = mon.af0();
-        monitor.i_code_on_L2 = mon.i_code_on_l2();          //!< if 1, p code on in l2;  if 2, c/a code on in l2;
+        monitor.af1 = mon.af1();
-        monitor.i_GPS_week = mon.i_gps_week();              //!< gps week number, aka wn [week]
+        monitor.af2 = mon.af2();
-        monitor.b_L2_P_data_flag = mon.b_l2_p_data_flag();  //!< when true, indicates that the nav data stream was commanded off on the p-code of the l2 channel
+        monitor.satClkDrift = mon.satclkdrift();
-        monitor.i_SV_accuracy = mon.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)
+        monitor.dtr = mon.dtr();
-        monitor.i_SV_health = mon.i_sv_health();
+        monitor.WN = mon.wn();
-        monitor.d_TGD = mon.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]
+        monitor.tow = mon.tow();
-        monitor.d_IODC = mon.d_iodc();          //!< issue of data, clock
-        monitor.d_IODE_SF2 = mon.d_iode_sf2();  //!< issue of data, ephemeris (iode), subframe 2
-        monitor.d_IODE_SF3 = mon.d_iode_sf3();  //!< issue of data, ephemeris(iode), subframe 3
-        monitor.i_AODO = mon.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]
 
-        monitor.b_fit_interval_flag = mon.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.
+        // GPS-specific parameters
-        monitor.d_spare1 = mon.d_spare1();
+        monitor.code_on_L2 = mon.code_on_l2();
-        monitor.d_spare2 = mon.d_spare2();
+        monitor.L2_P_data_flag = mon.l2_p_data_flag();
-
+        monitor.SV_accuracy = mon.sv_accuracy();
-        monitor.d_A_f0 = mon.d_a_f0();  //!< coefficient 0 of code phase offset model [s]
+        monitor.SV_health = mon.sv_health();
-        monitor.d_A_f1 = mon.d_a_f1();  //!< coefficient 1 of code phase offset model [s/s]
+        monitor.TGD = mon.tgd();
-        monitor.d_A_f2 = mon.d_a_f2();  //!< coefficient 2 of code phase offset model [s/s^2]
+        monitor.IODC = mon.iodc();
-
+        monitor.IODE_SF2 = mon.iode_sf2();
-        monitor.b_integrity_status_flag = mon.b_integrity_status_flag();
+        monitor.IODE_SF3 = mon.iode_sf3();
-        monitor.b_alert_flag = mon.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.
+        monitor.AODO = mon.aodo();
-        monitor.b_antispoofing_flag = mon.b_antispoofing_flag();  //!<  if true, the antispoofing mode is on in that sv
+        monitor.fit_interval_flag = mon.fit_interval_flag();
+        monitor.spare1 = mon.spare1();
+        monitor.spare2 = mon.spare2();
+        monitor.integrity_status_flag = mon.integrity_status_flag();
+        monitor.alert_flag = mon.alert_flag();
+        monitor.antispoofing_flag = mon.antispoofing_flag();
 
         return monitor;
     }
 
 private:
-    gnss_sdr::MonitorGpsEphemeris monitor_{};
+    gnss_sdr::GpsEphemeris monitor_{};
 };
 
 

src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.cc

@@ -162,13 +162,13 @@ void pcps_assisted_acquisition_cc::get_assistance()
             // TODO: use the LO tolerance here
             if (gps_acq_assisistance.dopplerUncertainty >= 1000)
                 {
-                    d_doppler_max = gps_acq_assisistance.d_Doppler0 + gps_acq_assisistance.dopplerUncertainty * 2;
+                    d_doppler_max = gps_acq_assisistance.Doppler0 + gps_acq_assisistance.dopplerUncertainty * 2;
-                    d_doppler_min = gps_acq_assisistance.d_Doppler0 - gps_acq_assisistance.dopplerUncertainty * 2;
+                    d_doppler_min = gps_acq_assisistance.Doppler0 - gps_acq_assisistance.dopplerUncertainty * 2;
                 }
             else
                 {
-                    d_doppler_max = gps_acq_assisistance.d_Doppler0 + 1000;
+                    d_doppler_max = gps_acq_assisistance.Doppler0 + 1000;
-                    d_doppler_min = gps_acq_assisistance.d_Doppler0 - 1000;
+                    d_doppler_min = gps_acq_assisistance.Doppler0 - 1000;
                 }
             this->d_disable_assist = false;
             std::cout << "Acq assist ENABLED for GPS SV " << this->d_gnss_synchro->PRN << " (Doppler max,Doppler min)=("

src/algorithms/libs/rtklib/rtklib_conversions.cc

@@ -168,36 +168,36 @@ eph_t eph_to_rtklib(const Galileo_Ephemeris& gal_eph)
     eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0,
         0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0};
     // Galileo is the third satellite system for RTKLIB, so, add the required offset to discriminate Galileo ephemeris
-    rtklib_sat.sat = gal_eph.i_satellite_PRN + NSATGPS + NSATGLO;
+    rtklib_sat.sat = gal_eph.PRN + NSATGPS + NSATGLO;
-    rtklib_sat.A = gal_eph.A_1 * gal_eph.A_1;
+    rtklib_sat.A = gal_eph.sqrtA * gal_eph.sqrtA;
-    rtklib_sat.M0 = gal_eph.M0_1;
+    rtklib_sat.M0 = gal_eph.M_0;
-    rtklib_sat.deln = gal_eph.delta_n_3;
+    rtklib_sat.deln = gal_eph.delta_n;
-    rtklib_sat.OMG0 = gal_eph.OMEGA_0_2;
+    rtklib_sat.OMG0 = gal_eph.OMEGA_0;
-    rtklib_sat.OMGd = gal_eph.OMEGA_dot_3;
+    rtklib_sat.OMGd = gal_eph.OMEGAdot;
-    rtklib_sat.omg = gal_eph.omega_2;
+    rtklib_sat.omg = gal_eph.omega;
-    rtklib_sat.i0 = gal_eph.i_0_2;
+    rtklib_sat.i0 = gal_eph.i_0;
-    rtklib_sat.idot = gal_eph.iDot_2;
+    rtklib_sat.idot = gal_eph.idot;
-    rtklib_sat.e = gal_eph.e_1;
+    rtklib_sat.e = gal_eph.ecc;
     rtklib_sat.Adot = 0;  // only in CNAV;
     rtklib_sat.ndot = 0;  // only in CNAV;
 
-    rtklib_sat.week = gal_eph.WN_5 + 1024; /* week of tow in GPS (not mod-1024) week scale */
+    rtklib_sat.week = gal_eph.WN + 1024; /* week of tow in GPS (not mod-1024) week scale */
-    rtklib_sat.cic = gal_eph.C_ic_4;
+    rtklib_sat.cic = gal_eph.Cic;
-    rtklib_sat.cis = gal_eph.C_is_4;
+    rtklib_sat.cis = gal_eph.Cis;
-    rtklib_sat.cuc = gal_eph.C_uc_3;
+    rtklib_sat.cuc = gal_eph.Cuc;
-    rtklib_sat.cus = gal_eph.C_us_3;
+    rtklib_sat.cus = gal_eph.Cus;
-    rtklib_sat.crc = gal_eph.C_rc_3;
+    rtklib_sat.crc = gal_eph.Crc;
-    rtklib_sat.crs = gal_eph.C_rs_3;
+    rtklib_sat.crs = gal_eph.Crs;
-    rtklib_sat.f0 = gal_eph.af0_4;
+    rtklib_sat.f0 = gal_eph.af0;
-    rtklib_sat.f1 = gal_eph.af1_4;
+    rtklib_sat.f1 = gal_eph.af1;
-    rtklib_sat.f2 = gal_eph.af2_4;
+    rtklib_sat.f2 = gal_eph.af2;
-    rtklib_sat.tgd[0] = gal_eph.BGD_E1E5a_5;
+    rtklib_sat.tgd[0] = gal_eph.BGD_E1E5a;
-    rtklib_sat.tgd[1] = gal_eph.BGD_E1E5b_5;
+    rtklib_sat.tgd[1] = gal_eph.BGD_E1E5b;
     rtklib_sat.tgd[2] = 0;
     rtklib_sat.tgd[3] = 0;
-    rtklib_sat.toes = gal_eph.t0e_1;
+    rtklib_sat.toes = gal_eph.toe;
-    rtklib_sat.toc = gpst2time(rtklib_sat.week, gal_eph.t0c_4);
+    rtklib_sat.toc = gpst2time(rtklib_sat.week, gal_eph.toc);
-    rtklib_sat.ttr = gpst2time(rtklib_sat.week, gal_eph.TOW_5);
+    rtklib_sat.ttr = gpst2time(rtklib_sat.week, gal_eph.tow);
 
     /* adjustment for week handover */
     double tow;
@@ -226,36 +226,36 @@ eph_t eph_to_rtklib(const Gps_Ephemeris& gps_eph, bool pre_2009_file)
 {
     eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0,
         0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0};
-    rtklib_sat.sat = gps_eph.i_satellite_PRN;
+    rtklib_sat.sat = gps_eph.PRN;
-    rtklib_sat.A = gps_eph.d_sqrt_A * gps_eph.d_sqrt_A;
+    rtklib_sat.A = gps_eph.sqrtA * gps_eph.sqrtA;
-    rtklib_sat.M0 = gps_eph.d_M_0;
+    rtklib_sat.M0 = gps_eph.M_0;
-    rtklib_sat.deln = gps_eph.d_Delta_n;
+    rtklib_sat.deln = gps_eph.delta_n;
-    rtklib_sat.OMG0 = gps_eph.d_OMEGA0;
+    rtklib_sat.OMG0 = gps_eph.OMEGA_0;
-    rtklib_sat.OMGd = gps_eph.d_OMEGA_DOT;
+    rtklib_sat.OMGd = gps_eph.OMEGAdot;
-    rtklib_sat.omg = gps_eph.d_OMEGA;
+    rtklib_sat.omg = gps_eph.omega;
-    rtklib_sat.i0 = gps_eph.d_i_0;
+    rtklib_sat.i0 = gps_eph.i_0;
-    rtklib_sat.idot = gps_eph.d_IDOT;
+    rtklib_sat.idot = gps_eph.idot;
-    rtklib_sat.e = gps_eph.d_e_eccentricity;
+    rtklib_sat.e = gps_eph.ecc;
     rtklib_sat.Adot = 0;  // only in CNAV;
     rtklib_sat.ndot = 0;  // only in CNAV;
 
-    rtklib_sat.week = adjgpsweek(gps_eph.i_GPS_week, pre_2009_file); /* week of tow */
+    rtklib_sat.week = adjgpsweek(gps_eph.WN, pre_2009_file); /* week of tow */
-    rtklib_sat.cic = gps_eph.d_Cic;
+    rtklib_sat.cic = gps_eph.Cic;
-    rtklib_sat.cis = gps_eph.d_Cis;
+    rtklib_sat.cis = gps_eph.Cis;
-    rtklib_sat.cuc = gps_eph.d_Cuc;
+    rtklib_sat.cuc = gps_eph.Cuc;
-    rtklib_sat.cus = gps_eph.d_Cus;
+    rtklib_sat.cus = gps_eph.Cus;
-    rtklib_sat.crc = gps_eph.d_Crc;
+    rtklib_sat.crc = gps_eph.Crc;
-    rtklib_sat.crs = gps_eph.d_Crs;
+    rtklib_sat.crs = gps_eph.Crs;
-    rtklib_sat.f0 = gps_eph.d_A_f0;
+    rtklib_sat.f0 = gps_eph.af0;
-    rtklib_sat.f1 = gps_eph.d_A_f1;
+    rtklib_sat.f1 = gps_eph.af1;
-    rtklib_sat.f2 = gps_eph.d_A_f2;
+    rtklib_sat.f2 = gps_eph.af2;
-    rtklib_sat.tgd[0] = gps_eph.d_TGD;
+    rtklib_sat.tgd[0] = gps_eph.TGD;
     rtklib_sat.tgd[1] = 0.0;
     rtklib_sat.tgd[2] = 0.0;
     rtklib_sat.tgd[3] = 0.0;
-    rtklib_sat.toes = gps_eph.d_Toe;
+    rtklib_sat.toes = gps_eph.toe;
-    rtklib_sat.toc = gpst2time(rtklib_sat.week, gps_eph.d_Toc);
+    rtklib_sat.toc = gpst2time(rtklib_sat.week, gps_eph.toc);
-    rtklib_sat.ttr = gpst2time(rtklib_sat.week, gps_eph.d_TOW);
+    rtklib_sat.ttr = gpst2time(rtklib_sat.week, gps_eph.tow);
 
     /* adjustment for week handover */
     double tow;
@@ -284,45 +284,45 @@ eph_t eph_to_rtklib(const Beidou_Dnav_Ephemeris& bei_eph)
 {
     eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0,
         0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0};
-    rtklib_sat.sat = bei_eph.i_satellite_PRN + NSATGPS + NSATGLO + NSATGAL + NSATQZS;
+    rtklib_sat.sat = bei_eph.PRN + NSATGPS + NSATGLO + NSATGAL + NSATQZS;
-    rtklib_sat.A = bei_eph.d_sqrt_A * bei_eph.d_sqrt_A;
+    rtklib_sat.A = bei_eph.sqrtA * bei_eph.sqrtA;
-    rtklib_sat.M0 = bei_eph.d_M_0;
+    rtklib_sat.M0 = bei_eph.M_0;
-    rtklib_sat.deln = bei_eph.d_Delta_n;
+    rtklib_sat.deln = bei_eph.delta_n;
-    rtklib_sat.OMG0 = bei_eph.d_OMEGA0;
+    rtklib_sat.OMG0 = bei_eph.OMEGA_0;
-    rtklib_sat.OMGd = bei_eph.d_OMEGA_DOT;
+    rtklib_sat.OMGd = bei_eph.OMEGAdot;
-    rtklib_sat.omg = bei_eph.d_OMEGA;
+    rtklib_sat.omg = bei_eph.omega;
-    rtklib_sat.i0 = bei_eph.d_i_0;
+    rtklib_sat.i0 = bei_eph.i_0;
-    rtklib_sat.idot = bei_eph.d_IDOT;
+    rtklib_sat.idot = bei_eph.idot;
-    rtklib_sat.e = bei_eph.d_eccentricity;
+    rtklib_sat.e = bei_eph.ecc;
     rtklib_sat.Adot = 0;  // only in CNAV;
     rtklib_sat.ndot = 0;  // only in CNAV;
 
-    rtklib_sat.svh = bei_eph.i_SV_health;
+    rtklib_sat.svh = bei_eph.SV_health;
-    rtklib_sat.sva = bei_eph.i_SV_accuracy;
+    rtklib_sat.sva = bei_eph.SV_accuracy;
 
-    rtklib_sat.code = bei_eph.i_sig_type;                   /* B1I data */
+    rtklib_sat.code = bei_eph.sig_type;                   /* B1I data */
-    rtklib_sat.flag = bei_eph.i_nav_type;                   /* MEO/IGSO satellite */
+    rtklib_sat.flag = bei_eph.nav_type;                   /* MEO/IGSO satellite */
-    rtklib_sat.iode = static_cast<int32_t>(bei_eph.d_AODE); /* AODE */
+    rtklib_sat.iode = static_cast<int32_t>(bei_eph.AODE); /* AODE */
-    rtklib_sat.iodc = static_cast<int32_t>(bei_eph.d_AODC); /* AODC */
+    rtklib_sat.iodc = static_cast<int32_t>(bei_eph.AODC); /* AODC */
 
-    rtklib_sat.week = bei_eph.i_BEIDOU_week; /* week of tow */
+    rtklib_sat.week = bei_eph.WN; /* week of tow */
-    rtklib_sat.cic = bei_eph.d_Cic;
+    rtklib_sat.cic = bei_eph.Cic;
-    rtklib_sat.cis = bei_eph.d_Cis;
+    rtklib_sat.cis = bei_eph.Cis;
-    rtklib_sat.cuc = bei_eph.d_Cuc;
+    rtklib_sat.cuc = bei_eph.Cuc;
-    rtklib_sat.cus = bei_eph.d_Cus;
+    rtklib_sat.cus = bei_eph.Cus;
-    rtklib_sat.crc = bei_eph.d_Crc;
+    rtklib_sat.crc = bei_eph.Crc;
-    rtklib_sat.crs = bei_eph.d_Crs;
+    rtklib_sat.crs = bei_eph.Crs;
-    rtklib_sat.f0 = bei_eph.d_A_f0;
+    rtklib_sat.f0 = bei_eph.af0;
-    rtklib_sat.f1 = bei_eph.d_A_f1;
+    rtklib_sat.f1 = bei_eph.af1;
-    rtklib_sat.f2 = bei_eph.d_A_f2;
+    rtklib_sat.f2 = bei_eph.af2;
-    rtklib_sat.tgd[0] = bei_eph.d_TGD1;
+    rtklib_sat.tgd[0] = bei_eph.TGD1;
-    rtklib_sat.tgd[1] = bei_eph.d_TGD2;
+    rtklib_sat.tgd[1] = bei_eph.TGD2;
     rtklib_sat.tgd[2] = 0.0;
     rtklib_sat.tgd[3] = 0.0;
-    rtklib_sat.toes = bei_eph.d_Toe;
+    rtklib_sat.toes = bei_eph.toe;
-    rtklib_sat.toe = bdt2gpst(bdt2time(rtklib_sat.week, bei_eph.d_Toe));
+    rtklib_sat.toe = bdt2gpst(bdt2time(rtklib_sat.week, bei_eph.toe));
-    rtklib_sat.toc = bdt2gpst(bdt2time(rtklib_sat.week, bei_eph.d_Toc));
+    rtklib_sat.toc = bdt2gpst(bdt2time(rtklib_sat.week, bei_eph.toc));
-    rtklib_sat.ttr = bdt2gpst(bdt2time(rtklib_sat.week, bei_eph.d_TOW));
+    rtklib_sat.ttr = bdt2gpst(bdt2time(rtklib_sat.week, bei_eph.tow));
     /* adjustment for week handover */
     double tow;
     double toc;
@@ -353,44 +353,40 @@ eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris& gps_cnav_eph)
 {
     eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0,
         0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0};
-    rtklib_sat.sat = gps_cnav_eph.i_satellite_PRN;
+    rtklib_sat.sat = gps_cnav_eph.PRN;
-    const double A_REF = 26559710.0;  // See IS-GPS-200L,  pp. 161
+    rtklib_sat.A = gps_cnav_eph.sqrtA * gps_cnav_eph.sqrtA;
-    rtklib_sat.A = A_REF + gps_cnav_eph.d_DELTA_A;
+    rtklib_sat.M0 = gps_cnav_eph.M_0;
-    rtklib_sat.M0 = gps_cnav_eph.d_M_0;
+    rtklib_sat.deln = gps_cnav_eph.delta_n;
-    rtklib_sat.deln = gps_cnav_eph.d_Delta_n;
+    rtklib_sat.OMG0 = gps_cnav_eph.OMEGA_0;
-    rtklib_sat.OMG0 = gps_cnav_eph.d_OMEGA0;
+    rtklib_sat.OMGd = gps_cnav_eph.OMEGAdot;
-    // Compute the angle between the ascending node and the Greenwich meridian
+    rtklib_sat.omg = gps_cnav_eph.omega;
-    const double OMEGA_DOT_REF = -2.6e-9;  // semicircles / s, see IS-GPS-200L pp. 160
+    rtklib_sat.i0 = gps_cnav_eph.i_0;
-    double d_OMEGA_DOT = OMEGA_DOT_REF * GNSS_PI + gps_cnav_eph.d_DELTA_OMEGA_DOT;
+    rtklib_sat.idot = gps_cnav_eph.idot;
-    rtklib_sat.OMGd = d_OMEGA_DOT;
+    rtklib_sat.e = gps_cnav_eph.ecc;
-    rtklib_sat.omg = gps_cnav_eph.d_OMEGA;
+    rtklib_sat.Adot = gps_cnav_eph.Adot;        // only in CNAV;
-    rtklib_sat.i0 = gps_cnav_eph.d_i_0;
+    rtklib_sat.ndot = gps_cnav_eph.delta_ndot;  // only in CNAV;
-    rtklib_sat.idot = gps_cnav_eph.d_IDOT;
-    rtklib_sat.e = gps_cnav_eph.d_e_eccentricity;
-    rtklib_sat.Adot = gps_cnav_eph.d_A_DOT;        // only in CNAV;
-    rtklib_sat.ndot = gps_cnav_eph.d_DELTA_DOT_N;  // only in CNAV;
 
-    rtklib_sat.week = adjgpsweek(gps_cnav_eph.i_GPS_week); /* week of tow */
+    rtklib_sat.week = adjgpsweek(gps_cnav_eph.WN); /* week of tow */
-    rtklib_sat.cic = gps_cnav_eph.d_Cic;
+    rtklib_sat.cic = gps_cnav_eph.Cic;
-    rtklib_sat.cis = gps_cnav_eph.d_Cis;
+    rtklib_sat.cis = gps_cnav_eph.Cis;
-    rtklib_sat.cuc = gps_cnav_eph.d_Cuc;
+    rtklib_sat.cuc = gps_cnav_eph.Cuc;
-    rtklib_sat.cus = gps_cnav_eph.d_Cus;
+    rtklib_sat.cus = gps_cnav_eph.Cus;
-    rtklib_sat.crc = gps_cnav_eph.d_Crc;
+    rtklib_sat.crc = gps_cnav_eph.Crc;
-    rtklib_sat.crs = gps_cnav_eph.d_Crs;
+    rtklib_sat.crs = gps_cnav_eph.Crs;
-    rtklib_sat.f0 = gps_cnav_eph.d_A_f0;
+    rtklib_sat.f0 = gps_cnav_eph.af0;
-    rtklib_sat.f1 = gps_cnav_eph.d_A_f1;
+    rtklib_sat.f1 = gps_cnav_eph.af1;
-    rtklib_sat.f2 = gps_cnav_eph.d_A_f2;
+    rtklib_sat.f2 = gps_cnav_eph.af2;
-    rtklib_sat.tgd[0] = gps_cnav_eph.d_TGD;
+    rtklib_sat.tgd[0] = gps_cnav_eph.TGD;
     rtklib_sat.tgd[1] = 0.0;
     rtklib_sat.tgd[2] = 0.0;
     rtklib_sat.tgd[3] = 0.0;
-    rtklib_sat.isc[0] = gps_cnav_eph.d_ISCL1;
+    rtklib_sat.isc[0] = gps_cnav_eph.ISCL1;
-    rtklib_sat.isc[1] = gps_cnav_eph.d_ISCL2;
+    rtklib_sat.isc[1] = gps_cnav_eph.ISCL2;
-    rtklib_sat.isc[2] = gps_cnav_eph.d_ISCL5I;
+    rtklib_sat.isc[2] = gps_cnav_eph.ISCL5I;
-    rtklib_sat.isc[3] = gps_cnav_eph.d_ISCL5Q;
+    rtklib_sat.isc[3] = gps_cnav_eph.ISCL5Q;
-    rtklib_sat.toes = gps_cnav_eph.d_Toe1;
+    rtklib_sat.toes = gps_cnav_eph.toe1;
-    rtklib_sat.toc = gpst2time(rtklib_sat.week, gps_cnav_eph.d_Toc);
+    rtklib_sat.toc = gpst2time(rtklib_sat.week, gps_cnav_eph.toc);
-    rtklib_sat.ttr = gpst2time(rtklib_sat.week, gps_cnav_eph.d_TOW);
+    rtklib_sat.ttr = gpst2time(rtklib_sat.week, gps_cnav_eph.tow);
 
     /* adjustment for week handover */
     double tow;
@@ -421,24 +417,24 @@ alm_t alm_to_rtklib(const Gps_Almanac& gps_alm)
 
     rtklib_alm = {0, 0, 0, 0, {0, 0}, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
 
-    rtklib_alm.sat = gps_alm.i_satellite_PRN;
+    rtklib_alm.sat = gps_alm.PRN;
-    rtklib_alm.svh = gps_alm.i_SV_health;
+    rtklib_alm.svh = gps_alm.SV_health;
-    rtklib_alm.svconf = gps_alm.i_AS_status;
+    rtklib_alm.svconf = gps_alm.AS_status;
-    rtklib_alm.week = gps_alm.i_WNa;
+    rtklib_alm.week = gps_alm.WNa;
     gtime_t toa;
-    toa.time = gps_alm.i_Toa;
+    toa.time = gps_alm.toa;
     toa.sec = 0.0;
     rtklib_alm.toa = toa;
-    rtklib_alm.A = gps_alm.d_sqrt_A * gps_alm.d_sqrt_A;
+    rtklib_alm.A = gps_alm.sqrtA * gps_alm.sqrtA;
-    rtklib_alm.e = gps_alm.d_e_eccentricity;
+    rtklib_alm.e = gps_alm.ecc;
-    rtklib_alm.i0 = (gps_alm.d_Delta_i + 0.3) * GNSS_PI;
+    rtklib_alm.i0 = (gps_alm.delta_i + 0.3) * GNSS_PI;
-    rtklib_alm.OMG0 = gps_alm.d_OMEGA0 * GNSS_PI;
+    rtklib_alm.OMG0 = gps_alm.OMEGA_0 * GNSS_PI;
-    rtklib_alm.OMGd = gps_alm.d_OMEGA_DOT * GNSS_PI;
+    rtklib_alm.OMGd = gps_alm.OMEGAdot * GNSS_PI;
-    rtklib_alm.omg = gps_alm.d_OMEGA * GNSS_PI;
+    rtklib_alm.omg = gps_alm.omega * GNSS_PI;
-    rtklib_alm.M0 = gps_alm.d_M_0 * GNSS_PI;
+    rtklib_alm.M0 = gps_alm.M_0 * GNSS_PI;
-    rtklib_alm.f0 = gps_alm.d_A_f0;
+    rtklib_alm.f0 = gps_alm.af0;
-    rtklib_alm.f1 = gps_alm.d_A_f1;
+    rtklib_alm.f1 = gps_alm.af1;
-    rtklib_alm.toas = gps_alm.i_Toa;
+    rtklib_alm.toas = gps_alm.toa;
 
     return rtklib_alm;
 }
@@ -450,25 +446,25 @@ alm_t alm_to_rtklib(const Galileo_Almanac& gal_alm)
 
     rtklib_alm = {0, 0, 0, 0, {0, 0}, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
 
-    rtklib_alm.sat = gal_alm.i_satellite_PRN + NSATGPS + NSATGLO;
+    rtklib_alm.sat = gal_alm.PRN + NSATGPS + NSATGLO;
     rtklib_alm.svh = gal_alm.E1B_HS;
     rtklib_alm.svconf = gal_alm.E1B_HS;
-    rtklib_alm.week = gal_alm.i_WNa;
+    rtklib_alm.week = gal_alm.WNa;
     gtime_t toa;
-    toa.time = gal_alm.i_Toa;
+    toa.time = gal_alm.toa;
     toa.sec = 0.0;
     rtklib_alm.toa = toa;
-    rtklib_alm.A = 5440.588203494 + gal_alm.d_Delta_sqrt_A;
+    rtklib_alm.A = 5440.588203494 + gal_alm.delta_sqrtA;
     rtklib_alm.A = rtklib_alm.A * rtklib_alm.A;
-    rtklib_alm.e = gal_alm.d_e_eccentricity;
+    rtklib_alm.e = gal_alm.ecc;
-    rtklib_alm.i0 = (gal_alm.d_Delta_i + 56.0 / 180.0) * GNSS_PI;
+    rtklib_alm.i0 = (gal_alm.delta_i + 56.0 / 180.0) * GNSS_PI;
-    rtklib_alm.OMG0 = gal_alm.d_OMEGA0 * GNSS_PI;
+    rtklib_alm.OMG0 = gal_alm.OMEGA_0 * GNSS_PI;
-    rtklib_alm.OMGd = gal_alm.d_OMEGA_DOT * GNSS_PI;
+    rtklib_alm.OMGd = gal_alm.OMEGAdot * GNSS_PI;
-    rtklib_alm.omg = gal_alm.d_OMEGA * GNSS_PI;
+    rtklib_alm.omg = gal_alm.omega * GNSS_PI;
-    rtklib_alm.M0 = gal_alm.d_M_0 * GNSS_PI;
+    rtklib_alm.M0 = gal_alm.M_0 * GNSS_PI;
-    rtklib_alm.f0 = gal_alm.d_A_f0;
+    rtklib_alm.f0 = gal_alm.af0;
-    rtklib_alm.f1 = gal_alm.d_A_f1;
+    rtklib_alm.f1 = gal_alm.af1;
-    rtklib_alm.toas = gal_alm.i_Toa;
+    rtklib_alm.toas = gal_alm.toa;
 
     return rtklib_alm;
 }

src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc

@@ -381,7 +381,7 @@ void galileo_telemetry_decoder_gs::decode_INAV_word(float *page_part_symbols, in
                     std::cout << TEXT_BLUE << "New Galileo E5b I/NAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << TEXT_RESET << '\n';
                 }
             this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
-            d_delta_t = tmp_obj->A_0G_10 + tmp_obj->A_1G_10 * (static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0 - tmp_obj->t_0G_10 + 604800 * (std::fmod(static_cast<float>(d_inav_nav.get_Galileo_week() - tmp_obj->WN_0G_10), 64.0)));
+            d_delta_t = tmp_obj->A_0G + tmp_obj->A_1G * (static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0 - tmp_obj->t_0G + 604800 * (std::fmod(static_cast<float>(d_inav_nav.get_Galileo_week() - tmp_obj->WN_0G), 64.0)));
             DLOG(INFO) << "delta_t=" << d_delta_t << "[s]";
         }
     if (d_inav_nav.have_new_almanac() == true)

src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_gs.cc

@@ -411,7 +411,7 @@ int glonass_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribu
 
     // if(d_nav.flag_GGTO_1 == true  and  d_nav.flag_GGTO_2 == true and  d_nav.flag_GGTO_3 == true and  d_nav.flag_GGTO_4 == true) // all GGTO parameters arrived
     //     {
-    //         delta_t = d_nav.A_0G_10 + d_nav.A_1G_10 * (d_TOW_at_current_symbol - d_nav.t_0G_10 + 604800.0 * (fmod((d_nav.WN_0 - d_nav.WN_0G_10), 64)));
+    //         delta_t = d_nav.A_0G + d_nav.A_1G * (d_TOW_at_current_symbol - d_nav.t_0G + 604800.0 * (fmod((d_nav.WN_0 - d_nav.WN_0G), 64)));
     //     }
 
     if (d_flag_frame_sync == true and d_nav.is_flag_TOW_set() == true)

src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_gs.cc

@@ -410,7 +410,7 @@ int glonass_l2_ca_telemetry_decoder_gs::general_work(int noutput_items __attribu
 
     // if(d_nav.flag_GGTO_1 == true  and  d_nav.flag_GGTO_2 == true and  d_nav.flag_GGTO_3 == true and  d_nav.flag_GGTO_4 == true) // all GGTO parameters arrived
     //     {
-    //         delta_t = d_nav.A_0G_10 + d_nav.A_1G_10 * (d_TOW_at_current_symbol - d_nav.t_0G_10 + 604800.0 * (fmod((d_nav.WN_0 - d_nav.WN_0G_10), 64)));
+    //         delta_t = d_nav.A_0G + d_nav.A_1G * (d_TOW_at_current_symbol - d_nav.t_0G + 604800.0 * (fmod((d_nav.WN_0 - d_nav.WN_0G), 64)));
     //     }
 
     if (d_flag_frame_sync == true and d_nav.is_flag_TOW_set() == true)

src/core/libs/gnss_sdr_supl_client.cc

@@ -200,7 +200,7 @@ void Gnss_Sdr_Supl_Client::read_supl_data()
     if (assist.set & SUPL_RRLP_ASSIST_REFTIME)
         {
             /* TS 44.031: GPSTOW, range 0-604799.92, resolution 0.08 sec, 23-bit presentation */
-            gps_time.d_TOW = static_cast<double>(assist.time.gps_tow) * 0.08;
+            gps_time.tow = static_cast<double>(assist.time.gps_tow) * 0.08;
             gps_time.d_Week = static_cast<double>(assist.time.gps_week);
             gps_time.d_tv_sec = static_cast<double>(assist.time.stamp.tv_sec);
             gps_time.d_tv_usec = static_cast<double>(assist.time.stamp.tv_usec);
@@ -210,29 +210,29 @@ void Gnss_Sdr_Supl_Client::read_supl_data()
     // READ UTC MODEL
     if (assist.set & SUPL_RRLP_ASSIST_UTC)
         {
-            gps_utc.d_A0 = static_cast<double>(assist.utc.a0) * pow(2.0, -30);
+            gps_utc.A0 = static_cast<double>(assist.utc.a0) * pow(2.0, -30);
-            gps_utc.d_A1 = static_cast<double>(assist.utc.a1) * pow(2.0, -50);
+            gps_utc.A1 = static_cast<double>(assist.utc.a1) * pow(2.0, -50);
-            gps_utc.d_DeltaT_LS = static_cast<int32_t>(assist.utc.delta_tls);
+            gps_utc.DeltaT_LS = static_cast<int32_t>(assist.utc.delta_tls);
-            gps_utc.d_DeltaT_LSF = static_cast<int32_t>(assist.utc.delta_tlsf);
+            gps_utc.DeltaT_LSF = static_cast<int32_t>(assist.utc.delta_tlsf);
-            gps_utc.d_t_OT = static_cast<int32_t>(assist.utc.tot) * pow(2.0, 12);
+            gps_utc.tot = static_cast<int32_t>(assist.utc.tot) * pow(2.0, 12);
-            gps_utc.i_DN = static_cast<int32_t>(assist.utc.dn);
+            gps_utc.DN = static_cast<int32_t>(assist.utc.dn);
-            gps_utc.i_WN_T = static_cast<int32_t>(assist.utc.wnt);
+            gps_utc.WN_T = static_cast<int32_t>(assist.utc.wnt);
-            gps_utc.i_WN_LSF = static_cast<int32_t>(assist.utc.wnlsf);
+            gps_utc.WN_LSF = static_cast<int32_t>(assist.utc.wnlsf);
             gps_utc.valid = true;
         }
 
     // READ IONOSPHERIC MODEL
     if (assist.set & SUPL_RRLP_ASSIST_IONO)
         {
-            gps_iono.d_alpha0 = static_cast<double>(assist.iono.a0) * ALPHA_0_LSB;
+            gps_iono.alpha0 = static_cast<double>(assist.iono.a0) * ALPHA_0_LSB;
-            gps_iono.d_alpha1 = static_cast<double>(assist.iono.a1) * ALPHA_1_LSB;
+            gps_iono.alpha1 = static_cast<double>(assist.iono.a1) * ALPHA_1_LSB;
-            gps_iono.d_alpha2 = static_cast<double>(assist.iono.a2) * ALPHA_2_LSB;
+            gps_iono.alpha2 = static_cast<double>(assist.iono.a2) * ALPHA_2_LSB;
-            gps_iono.d_alpha3 = static_cast<double>(assist.iono.a3) * ALPHA_3_LSB;
+            gps_iono.alpha3 = static_cast<double>(assist.iono.a3) * ALPHA_3_LSB;
 
-            gps_iono.d_beta0 = static_cast<double>(assist.iono.b0) * BETA_0_LSB;
+            gps_iono.beta0 = static_cast<double>(assist.iono.b0) * BETA_0_LSB;
-            gps_iono.d_beta1 = static_cast<double>(assist.iono.b1) * BETA_1_LSB;
+            gps_iono.beta1 = static_cast<double>(assist.iono.b1) * BETA_1_LSB;
-            gps_iono.d_beta2 = static_cast<double>(assist.iono.b2) * BETA_2_LSB;
+            gps_iono.beta2 = static_cast<double>(assist.iono.b2) * BETA_2_LSB;
-            gps_iono.d_beta3 = static_cast<double>(assist.iono.b3) * BETA_3_LSB;
+            gps_iono.beta3 = static_cast<double>(assist.iono.b3) * BETA_3_LSB;
             gps_iono.valid = true;
         }
 
@@ -252,17 +252,17 @@ void Gnss_Sdr_Supl_Client::read_supl_data()
                             gps_almanac_map.insert(std::pair<int, Gps_Almanac>(a->prn, gps_almanac_entry));
                             gps_almanac_iterator = this->gps_almanac_map.find(a->prn);
                         }
-                    gps_almanac_iterator->second.i_satellite_PRN = a->prn;
+                    gps_almanac_iterator->second.PRN = a->prn;
-                    gps_almanac_iterator->second.d_A_f0 = static_cast<double>(a->AF0) * pow(2.0, -20);
+                    gps_almanac_iterator->second.af0 = static_cast<double>(a->AF0) * pow(2.0, -20);
-                    gps_almanac_iterator->second.d_A_f1 = static_cast<double>(a->AF1) * pow(2.0, -38);
+                    gps_almanac_iterator->second.af1 = static_cast<double>(a->AF1) * pow(2.0, -38);
-                    gps_almanac_iterator->second.d_Delta_i = static_cast<double>(a->Ksii) * pow(2.0, -19);
+                    gps_almanac_iterator->second.delta_i = static_cast<double>(a->Ksii) * pow(2.0, -19);
-                    gps_almanac_iterator->second.d_OMEGA = static_cast<double>(a->w) * pow(2.0, -23);
+                    gps_almanac_iterator->second.omega = static_cast<double>(a->w) * pow(2.0, -23);
-                    gps_almanac_iterator->second.d_OMEGA0 = static_cast<double>(a->OMEGA_0) * pow(2.0, -23);
+                    gps_almanac_iterator->second.OMEGA_0 = static_cast<double>(a->OMEGA_0) * pow(2.0, -23);
-                    gps_almanac_iterator->second.d_sqrt_A = static_cast<double>(a->A_sqrt) * pow(2.0, -11);
+                    gps_almanac_iterator->second.sqrtA = static_cast<double>(a->A_sqrt) * pow(2.0, -11);
-                    gps_almanac_iterator->second.d_OMEGA_DOT = static_cast<double>(a->OMEGA_dot) * pow(2.0, -38);
+                    gps_almanac_iterator->second.OMEGAdot = static_cast<double>(a->OMEGA_dot) * pow(2.0, -38);
-                    gps_almanac_iterator->second.i_Toa = static_cast<int32_t>(a->toa * pow(2.0, 12));
+                    gps_almanac_iterator->second.toa = static_cast<int32_t>(a->toa * pow(2.0, 12));
-                    gps_almanac_iterator->second.d_e_eccentricity = static_cast<double>(a->e) * pow(2.0, -21);
+                    gps_almanac_iterator->second.ecc = static_cast<double>(a->e) * pow(2.0, -21);
-                    gps_almanac_iterator->second.d_M_0 = static_cast<double>(a->M0) * pow(2.0, -23);
+                    gps_almanac_iterator->second.M_0 = static_cast<double>(a->M0) * pow(2.0, -23);
                 }
         }
 
@@ -284,46 +284,46 @@ void Gnss_Sdr_Supl_Client::read_supl_data()
                         }
                     if (gps_time.valid)
                         {
-                            gps_eph_iterator->second.i_GPS_week = assist.time.gps_week;
+                            gps_eph_iterator->second.WN = assist.time.gps_week;
                             /* TS 44.031: GPSTOW, range 0-604799.92, resolution 0.08 sec, 23-bit presentation */
-                            gps_eph_iterator->second.d_TOW = static_cast<double>(assist.time.gps_tow) * 0.08;
+                            gps_eph_iterator->second.tow = static_cast<double>(assist.time.gps_tow) * 0.08;
                         }
                     else
                         {
-                            gps_eph_iterator->second.i_GPS_week = 0;
+                            gps_eph_iterator->second.WN = 0;
-                            gps_eph_iterator->second.d_TOW = 0;
+                            gps_eph_iterator->second.tow = 0;
                         }
-                    gps_eph_iterator->second.i_satellite_PRN = e->prn;
+                    gps_eph_iterator->second.PRN = e->prn;
                     // SV navigation model
-                    gps_eph_iterator->second.i_code_on_L2 = e->bits;
+                    gps_eph_iterator->second.code_on_L2 = e->bits;
-                    gps_eph_iterator->second.i_SV_accuracy = e->ura;  // User Range Accuracy (URA)
+                    gps_eph_iterator->second.SV_accuracy = e->ura;  // User Range Accuracy (URA)
-                    gps_eph_iterator->second.i_SV_health = e->health;
+                    gps_eph_iterator->second.SV_health = e->health;
-                    gps_eph_iterator->second.d_IODC = static_cast<double>(e->IODC);
+                    gps_eph_iterator->second.IODC = static_cast<double>(e->IODC);
                     // miss P flag (1 bit)
                     // miss SF1 Reserved (87 bits)
-                    gps_eph_iterator->second.d_TGD = static_cast<double>(e->tgd) * T_GD_LSB;
+                    gps_eph_iterator->second.TGD = static_cast<double>(e->tgd) * T_GD_LSB;
-                    gps_eph_iterator->second.d_Toc = static_cast<double>(e->toc) * T_OC_LSB;
+                    gps_eph_iterator->second.toc = static_cast<double>(e->toc) * T_OC_LSB;
-                    gps_eph_iterator->second.d_A_f0 = static_cast<double>(e->AF0) * A_F0_LSB;
+                    gps_eph_iterator->second.af0 = static_cast<double>(e->AF0) * A_F0_LSB;
-                    gps_eph_iterator->second.d_A_f1 = static_cast<double>(e->AF1) * A_F1_LSB;
+                    gps_eph_iterator->second.af1 = static_cast<double>(e->AF1) * A_F1_LSB;
-                    gps_eph_iterator->second.d_A_f2 = static_cast<double>(e->AF2) * A_F2_LSB;
+                    gps_eph_iterator->second.af2 = static_cast<double>(e->AF2) * A_F2_LSB;
-                    gps_eph_iterator->second.d_Crc = static_cast<double>(e->Crc) * C_RC_LSB;
+                    gps_eph_iterator->second.Crc = static_cast<double>(e->Crc) * C_RC_LSB;
-                    gps_eph_iterator->second.d_Delta_n = static_cast<double>(e->delta_n) * DELTA_N_LSB;
+                    gps_eph_iterator->second.delta_n = static_cast<double>(e->delta_n) * DELTA_N_LSB;
-                    gps_eph_iterator->second.d_M_0 = static_cast<double>(e->M0) * M_0_LSB;
+                    gps_eph_iterator->second.M_0 = static_cast<double>(e->M0) * M_0_LSB;
-                    gps_eph_iterator->second.d_Cuc = static_cast<double>(e->Cuc) * C_UC_LSB;
+                    gps_eph_iterator->second.Cuc = static_cast<double>(e->Cuc) * C_UC_LSB;
-                    gps_eph_iterator->second.d_e_eccentricity = static_cast<double>(e->e) * ECCENTRICITY_LSB;
+                    gps_eph_iterator->second.ecc = static_cast<double>(e->e) * ECCENTRICITY_LSB;
-                    gps_eph_iterator->second.d_Cus = static_cast<double>(e->Cus) * C_US_LSB;
+                    gps_eph_iterator->second.Cus = static_cast<double>(e->Cus) * C_US_LSB;
-                    gps_eph_iterator->second.d_sqrt_A = static_cast<double>(e->A_sqrt) * SQRT_A_LSB;
+                    gps_eph_iterator->second.sqrtA = static_cast<double>(e->A_sqrt) * SQRT_A_LSB;
-                    gps_eph_iterator->second.d_Toe = static_cast<double>(e->toe) * T_OE_LSB;
+                    gps_eph_iterator->second.toe = static_cast<double>(e->toe) * T_OE_LSB;
                     // miss fit interval flag (1 bit)
-                    gps_eph_iterator->second.i_AODO = e->AODA * AODO_LSB;
+                    gps_eph_iterator->second.AODO = e->AODA * AODO_LSB;
-                    gps_eph_iterator->second.d_Cic = static_cast<double>(e->Cic) * C_IC_LSB;
+                    gps_eph_iterator->second.Cic = static_cast<double>(e->Cic) * C_IC_LSB;
-                    gps_eph_iterator->second.d_OMEGA0 = static_cast<double>(e->OMEGA_0) * OMEGA_0_LSB;
+                    gps_eph_iterator->second.OMEGA_0 = static_cast<double>(e->OMEGA_0) * OMEGA_0_LSB;
-                    gps_eph_iterator->second.d_Cis = static_cast<double>(e->Cis) * C_IS_LSB;
+                    gps_eph_iterator->second.Cis = static_cast<double>(e->Cis) * C_IS_LSB;
-                    gps_eph_iterator->second.d_i_0 = static_cast<double>(e->i0) * I_0_LSB;
+                    gps_eph_iterator->second.i_0 = static_cast<double>(e->i0) * I_0_LSB;
-                    gps_eph_iterator->second.d_Crs = static_cast<double>(e->Crs) * C_RS_LSB;
+                    gps_eph_iterator->second.Crs = static_cast<double>(e->Crs) * C_RS_LSB;
-                    gps_eph_iterator->second.d_OMEGA = static_cast<double>(e->w) * OMEGA_LSB;
+                    gps_eph_iterator->second.omega = static_cast<double>(e->w) * OMEGA_LSB;
-                    gps_eph_iterator->second.d_OMEGA_DOT = static_cast<double>(e->OMEGA_dot) * OMEGA_DOT_LSB;
+                    gps_eph_iterator->second.OMEGAdot = static_cast<double>(e->OMEGA_dot) * OMEGA_DOT_LSB;
-                    gps_eph_iterator->second.d_IDOT = static_cast<double>(e->i_dot) * I_DOT_LSB;
+                    gps_eph_iterator->second.idot = static_cast<double>(e->i_dot) * I_DOT_LSB;
                 }
         }
 
@@ -345,10 +345,10 @@ void Gnss_Sdr_Supl_Client::read_supl_data()
                             gps_acq_iterator = this->gps_acq_map.find(e->prn);
                         }
                     // fill the acquisition assistance structure
-                    gps_acq_iterator->second.i_satellite_PRN = e->prn;
+                    gps_acq_iterator->second.PRN = e->prn;
-                    gps_acq_iterator->second.d_TOW = static_cast<double>(assist.acq_time);
+                    gps_acq_iterator->second.tow = static_cast<double>(assist.acq_time);
-                    gps_acq_iterator->second.d_Doppler0 = static_cast<double>(e->doppler0);
+                    gps_acq_iterator->second.Doppler0 = static_cast<double>(e->doppler0);
-                    gps_acq_iterator->second.d_Doppler1 = static_cast<double>(e->doppler1);
+                    gps_acq_iterator->second.Doppler1 = static_cast<double>(e->doppler1);
                     gps_acq_iterator->second.dopplerUncertainty = static_cast<double>(e->d_win);
                     gps_acq_iterator->second.Code_Phase = static_cast<double>(e->code_ph);
                     gps_acq_iterator->second.Code_Phase_int = static_cast<double>(e->code_ph_int);
@@ -754,7 +754,7 @@ bool Gnss_Sdr_Supl_Client::load_gal_iono_xml(const std::string& file_name)
 
 bool Gnss_Sdr_Supl_Client::save_gal_iono_xml(const std::string& file_name, Galileo_Iono& iono)
 {
-    if (iono.ai0_5 != 0.0)
+    if (iono.ai0 != 0.0)
         {
             std::ofstream ofs;
             try
@@ -864,19 +864,19 @@ bool Gnss_Sdr_Supl_Client::read_gal_almanac_from_gsa(const std::string& file_nam
             try
                 {
                     uint32_t prn = static_cast<uint32_t>(std::stoi(almanac.child_value("SVID")));
-                    gal_alm.i_satellite_PRN = prn;
+                    gal_alm.PRN = prn;
-                    gal_alm.i_Toa = std::stoi(almanac.child("almanac").child_value("t0a"));
+                    gal_alm.toa = std::stoi(almanac.child("almanac").child_value("t0a"));
-                    gal_alm.i_WNa = std::stoi(almanac.child("almanac").child_value("wna"));
+                    gal_alm.WNa = std::stoi(almanac.child("almanac").child_value("wna"));
-                    gal_alm.i_IODa = std::stoi(almanac.child("almanac").child_value("iod"));
+                    gal_alm.IODa = std::stoi(almanac.child("almanac").child_value("iod"));
-                    gal_alm.d_Delta_i = std::stod(almanac.child("almanac").child_value("deltai"));
+                    gal_alm.delta_i = std::stod(almanac.child("almanac").child_value("deltai"));
-                    gal_alm.d_M_0 = std::stod(almanac.child("almanac").child_value("m0"));
+                    gal_alm.M_0 = std::stod(almanac.child("almanac").child_value("m0"));
-                    gal_alm.d_e_eccentricity = std::stod(almanac.child("almanac").child_value("ecc"));
+                    gal_alm.ecc = std::stod(almanac.child("almanac").child_value("ecc"));
-                    gal_alm.d_Delta_sqrt_A = std::stod(almanac.child("almanac").child_value("aSqRoot"));
+                    gal_alm.delta_sqrtA = std::stod(almanac.child("almanac").child_value("aSqRoot"));
-                    gal_alm.d_OMEGA0 = std::stod(almanac.child("almanac").child_value("omega0"));
+                    gal_alm.OMEGA_0 = std::stod(almanac.child("almanac").child_value("omega0"));
-                    gal_alm.d_OMEGA = std::stod(almanac.child("almanac").child_value("w"));
+                    gal_alm.omega = std::stod(almanac.child("almanac").child_value("w"));
-                    gal_alm.d_OMEGA_DOT = std::stod(almanac.child("almanac").child_value("omegaDot"));
+                    gal_alm.OMEGAdot = std::stod(almanac.child("almanac").child_value("omegaDot"));
-                    gal_alm.d_A_f0 = std::stod(almanac.child("almanac").child_value("af0"));
+                    gal_alm.af0 = std::stod(almanac.child("almanac").child_value("af0"));
-                    gal_alm.d_A_f1 = std::stod(almanac.child("almanac").child_value("af1"));
+                    gal_alm.af1 = std::stod(almanac.child("almanac").child_value("af1"));
                     gal_alm.E5b_HS = std::stoi(almanac.child("svINavSignalStatus").child_value("statusE5b"));
                     gal_alm.E1B_HS = std::stoi(almanac.child("svINavSignalStatus").child_value("statusE1B"));
                     gal_alm.E5a_HS = std::stoi(almanac.child("svFNavSignalStatus").child_value("statusE5a"));

src/core/receiver/control_thread.cc

@@ -496,7 +496,7 @@ bool ControlThread::read_assistance_from_XML()
                          gps_eph_iter != supl_client_ephemeris_.gps_ephemeris_map.cend();
                          gps_eph_iter++)
                         {
-                            std::cout << "From XML file: Read NAV ephemeris for satellite " << Gnss_Satellite("GPS", gps_eph_iter->second.i_satellite_PRN) << '\n';
+                            std::cout << "From XML file: Read NAV ephemeris for satellite " << Gnss_Satellite("GPS", gps_eph_iter->second.PRN) << '\n';
                             const std::shared_ptr<Gps_Ephemeris> tmp_obj = std::make_shared<Gps_Ephemeris>(gps_eph_iter->second);
                             flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
                         }
@@ -526,7 +526,7 @@ bool ControlThread::read_assistance_from_XML()
                          gps_alm_iter != supl_client_ephemeris_.gps_almanac_map.cend();
                          gps_alm_iter++)
                         {
-                            std::cout << "From XML file: Read GPS almanac for satellite " << Gnss_Satellite("GPS", gps_alm_iter->second.i_satellite_PRN) << '\n';
+                            std::cout << "From XML file: Read GPS almanac for satellite " << Gnss_Satellite("GPS", gps_alm_iter->second.PRN) << '\n';
                             const std::shared_ptr<Gps_Almanac> tmp_obj = std::make_shared<Gps_Almanac>(gps_alm_iter->second);
                             flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
                         }
@@ -543,7 +543,7 @@ bool ControlThread::read_assistance_from_XML()
                          gal_eph_iter != supl_client_ephemeris_.gal_ephemeris_map.cend();
                          gal_eph_iter++)
                         {
-                            std::cout << "From XML file: Read ephemeris for satellite " << Gnss_Satellite("Galileo", gal_eph_iter->second.i_satellite_PRN) << '\n';
+                            std::cout << "From XML file: Read ephemeris for satellite " << Gnss_Satellite("Galileo", gal_eph_iter->second.PRN) << '\n';
                             const std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(gal_eph_iter->second);
                             flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
                         }
@@ -573,7 +573,7 @@ bool ControlThread::read_assistance_from_XML()
                          gal_alm_iter != supl_client_ephemeris_.gal_almanac_map.cend();
                          gal_alm_iter++)
                         {
-                            std::cout << "From XML file: Read Galileo almanac for satellite " << Gnss_Satellite("Galileo", gal_alm_iter->second.i_satellite_PRN) << '\n';
+                            std::cout << "From XML file: Read Galileo almanac for satellite " << Gnss_Satellite("Galileo", gal_alm_iter->second.PRN) << '\n';
                             const std::shared_ptr<Galileo_Almanac> tmp_obj = std::make_shared<Galileo_Almanac>(gal_alm_iter->second);
                             flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
                         }
@@ -590,7 +590,7 @@ bool ControlThread::read_assistance_from_XML()
                          gps_cnav_eph_iter != supl_client_ephemeris_.gps_cnav_ephemeris_map.cend();
                          gps_cnav_eph_iter++)
                         {
-                            std::cout << "From XML file: Read CNAV ephemeris for satellite " << Gnss_Satellite("GPS", gps_cnav_eph_iter->second.i_satellite_PRN) << '\n';
+                            std::cout << "From XML file: Read CNAV ephemeris for satellite " << Gnss_Satellite("GPS", gps_cnav_eph_iter->second.PRN) << '\n';
                             const std::shared_ptr<Gps_CNAV_Ephemeris> tmp_obj = std::make_shared<Gps_CNAV_Ephemeris>(gps_cnav_eph_iter->second);
                             flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
                         }
@@ -615,7 +615,7 @@ bool ControlThread::read_assistance_from_XML()
                          glo_gnav_eph_iter != supl_client_ephemeris_.glonass_gnav_ephemeris_map.cend();
                          glo_gnav_eph_iter++)
                         {
-                            std::cout << "From XML file: Read GLONASS GNAV ephemeris for satellite " << Gnss_Satellite("GLONASS", glo_gnav_eph_iter->second.i_satellite_PRN) << '\n';
+                            std::cout << "From XML file: Read GLONASS GNAV ephemeris for satellite " << Gnss_Satellite("GLONASS", glo_gnav_eph_iter->second.PRN) << '\n';
                             const std::shared_ptr<Glonass_Gnav_Ephemeris> tmp_obj = std::make_shared<Glonass_Gnav_Ephemeris>(glo_gnav_eph_iter->second);
                             flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
                         }
@@ -744,7 +744,7 @@ void ControlThread::assist_GNSS()
                                  gps_eph_iter != supl_client_ephemeris_.gps_ephemeris_map.cend();
                                  gps_eph_iter++)
                                 {
-                                    std::cout << "SUPL: Received ephemeris data for satellite " << Gnss_Satellite("GPS", gps_eph_iter->second.i_satellite_PRN) << '\n';
+                                    std::cout << "SUPL: Received ephemeris data for satellite " << Gnss_Satellite("GPS", gps_eph_iter->second.PRN) << '\n';
                                     const std::shared_ptr<Gps_Ephemeris> tmp_obj = std::make_shared<Gps_Ephemeris>(gps_eph_iter->second);
                                     flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
                                 }
@@ -781,7 +781,7 @@ void ControlThread::assist_GNSS()
                                  gps_alm_iter != supl_client_ephemeris_.gps_almanac_map.cend();
                                  gps_alm_iter++)
                                 {
-                                    std::cout << "SUPL: Received almanac data for satellite " << Gnss_Satellite("GPS", gps_alm_iter->second.i_satellite_PRN) << '\n';
+                                    std::cout << "SUPL: Received almanac data for satellite " << Gnss_Satellite("GPS", gps_alm_iter->second.PRN) << '\n';
                                     const std::shared_ptr<Gps_Almanac> tmp_obj = std::make_shared<Gps_Almanac>(gps_alm_iter->second);
                                     flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
                                 }
@@ -835,8 +835,8 @@ void ControlThread::assist_GNSS()
                                  gps_acq_iter != supl_client_acquisition_.gps_acq_map.cend();
                                  gps_acq_iter++)
                                 {
-                                    std::cout << "SUPL: Received acquisition assistance data for satellite " << Gnss_Satellite("GPS", gps_acq_iter->second.i_satellite_PRN) << '\n';
+                                    std::cout << "SUPL: Received acquisition assistance data for satellite " << Gnss_Satellite("GPS", gps_acq_iter->second.PRN) << '\n';
-                                    global_gps_acq_assist_map.write(gps_acq_iter->second.i_satellite_PRN, gps_acq_iter->second);
+                                    global_gps_acq_assist_map.write(gps_acq_iter->second.PRN, gps_acq_iter->second);
                                 }
                             if (supl_client_acquisition_.gps_ref_loc.valid == true)
                                 {
@@ -1006,10 +1006,10 @@ std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time
             // push sat
             if (El > 0)
                 {
-                    std::cout << "Using GPS Ephemeris: Sat " << it.second.i_satellite_PRN << " Az: " << Az << " El: " << El << '\n';
+                    std::cout << "Using GPS Ephemeris: Sat " << it.second.PRN << " Az: " << Az << " El: " << El << '\n';
                     available_satellites.emplace_back(floor(El),
-                        (Gnss_Satellite(std::string("GPS"), it.second.i_satellite_PRN)));
+                        (Gnss_Satellite(std::string("GPS"), it.second.PRN)));
-                    visible_gps.push_back(it.second.i_satellite_PRN);
+                    visible_gps.push_back(it.second.PRN);
                 }
         }
 
@@ -1031,10 +1031,10 @@ std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time
             // push sat
             if (El > 0)
                 {
-                    std::cout << "Using Galileo Ephemeris: Sat " << it.second.i_satellite_PRN << " Az: " << Az << " El: " << El << '\n';
+                    std::cout << "Using Galileo Ephemeris: Sat " << it.second.PRN << " Az: " << Az << " El: " << El << '\n';
                     available_satellites.emplace_back(floor(El),
-                        (Gnss_Satellite(std::string("Galileo"), it.second.i_satellite_PRN)));
+                        (Gnss_Satellite(std::string("Galileo"), it.second.PRN)));
-                    visible_gal.push_back(it.second.i_satellite_PRN);
+                    visible_gal.push_back(it.second.PRN);
                 }
         }
 
@@ -1058,12 +1058,12 @@ std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time
             std::vector<unsigned int>::iterator it2;
             if (El > 0)
                 {
-                    it2 = std::find(visible_gps.begin(), visible_gps.end(), it.second.i_satellite_PRN);
+                    it2 = std::find(visible_gps.begin(), visible_gps.end(), it.second.PRN);
                     if (it2 == visible_gps.end())
                         {
-                            std::cout << "Using GPS Almanac:  Sat " << it.second.i_satellite_PRN << " Az: " << Az << " El: " << El << '\n';
+                            std::cout << "Using GPS Almanac:  Sat " << it.second.PRN << " Az: " << Az << " El: " << El << '\n';
                             available_satellites.emplace_back(floor(El),
-                                (Gnss_Satellite(std::string("GPS"), it.second.i_satellite_PRN)));
+                                (Gnss_Satellite(std::string("GPS"), it.second.PRN)));
                         }
                 }
         }
@@ -1088,12 +1088,12 @@ std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time
             std::vector<unsigned int>::iterator it2;
             if (El > 0)
                 {
-                    it2 = std::find(visible_gal.begin(), visible_gal.end(), it.second.i_satellite_PRN);
+                    it2 = std::find(visible_gal.begin(), visible_gal.end(), it.second.PRN);
                     if (it2 == visible_gal.end())
                         {
-                            std::cout << "Using Galileo Almanac:  Sat " << it.second.i_satellite_PRN << " Az: " << Az << " El: " << El << '\n';
+                            std::cout << "Using Galileo Almanac:  Sat " << it.second.PRN << " Az: " << Az << " El: " << El << '\n';
                             available_satellites.emplace_back(floor(El),
-                                (Gnss_Satellite(std::string("Galileo"), it.second.i_satellite_PRN)));
+                                (Gnss_Satellite(std::string("Galileo"), it.second.PRN)));
                         }
                 }
         }
@@ -1116,28 +1116,28 @@ void ControlThread::gps_acq_assist_data_collector() const
     while (stop_ == false)
         {
             global_gps_acq_assist_queue.wait_and_pop(gps_acq);
-            if (gps_acq.i_satellite_PRN == 0)
+            if (gps_acq.PRN == 0)
                 {
                     break;
                 }
 
             // DEBUG MESSAGE
             std::cout << "Acquisition assistance record has arrived from SAT ID "
-                      << gps_acq.i_satellite_PRN
+                      << gps_acq.PRN
                       << " with Doppler "
-                      << gps_acq.d_Doppler0
+                      << gps_acq.Doppler0
                       << " [Hz]\n";
             // insert new acq record to the global ephemeris map
-            if (global_gps_acq_assist_map.read(gps_acq.i_satellite_PRN, gps_acq_old))
+            if (global_gps_acq_assist_map.read(gps_acq.PRN, gps_acq_old))
                 {
                     std::cout << "Acquisition assistance record updated\n";
-                    global_gps_acq_assist_map.write(gps_acq.i_satellite_PRN, gps_acq);
+                    global_gps_acq_assist_map.write(gps_acq.PRN, gps_acq);
                 }
             else
                 {
                     // insert new acq record
                     LOG(INFO) << "New acq assist record inserted";
-                    global_gps_acq_assist_map.write(gps_acq.i_satellite_PRN, gps_acq);
+                    global_gps_acq_assist_map.write(gps_acq.PRN, gps_acq);
                 }
         }
 }

src/core/system_parameters/CMakeLists.txt

@@ -6,6 +6,7 @@
 
 
 set(SYSTEM_PARAMETERS_SOURCES
+    gnss_ephemeris.cc
     gnss_satellite.cc
     gnss_signal.cc
     gps_navigation_message.cc
@@ -19,7 +20,6 @@ set(SYSTEM_PARAMETERS_SOURCES
     beidou_dnav_navigation_message.cc
     beidou_dnav_ephemeris.cc
     sbas_ephemeris.cc
-    gps_cnav_ephemeris.cc
     gps_cnav_navigation_message.cc
     glonass_gnav_ephemeris.cc
     glonass_gnav_utc_model.cc
@@ -27,6 +27,7 @@ set(SYSTEM_PARAMETERS_SOURCES
 )
 
 set(SYSTEM_PARAMETERS_HEADERS
+    gnss_ephemeris.h
     gnss_satellite.h
     gnss_signal.h
     gps_navigation_message.h

src/core/system_parameters/GPS_CNAV.h

@@ -159,6 +159,8 @@ constexpr int32_t CNAV_DN_LSB = 1;
 const std::vector<std::pair<int32_t, int32_t> > CNAV_DELTA_TLSF({{218, 8}});
 constexpr int32_t CNAV_DELTA_TLSF_LSB = 1;
 
+constexpr double CNAV_A_REF = 26559710.0;       // See IS-GPS-200L,  pp. 161
+constexpr double CNAV_OMEGA_DOT_REF = -2.6e-9;  // semicircles / s, see IS-GPS-200L pp. 160
 
 // TODO: Add more frames (Almanac, etc...)
 

src/core/system_parameters/agnss_ref_location.h

@@ -46,7 +46,8 @@ 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 Ref location on disk file.
+     * \brief Serialize is a boost standard method to be called by the boost XML
+     * serialization. Here is used to save the Ref location on disk file.
      */
     inline void serialize(Archive& archive, const unsigned int version)
     {
@@ -54,10 +55,10 @@ public:
         if (version)
             {
             };
-        archive& make_nvp("lat", lat);
+        archive& BOOST_SERIALIZATION_NVP(lat);
-        archive& make_nvp("lon", lon);
+        archive& BOOST_SERIALIZATION_NVP(lon);
-        archive& make_nvp("uncertainty", uncertainty);
+        archive& BOOST_SERIALIZATION_NVP(uncertainty);
-        archive& make_nvp("valid", valid);
+        archive& BOOST_SERIALIZATION_NVP(valid);
     }
 };
 

src/core/system_parameters/agnss_ref_time.h

@@ -38,7 +38,7 @@ public:
      */
     Agnss_Ref_Time() = default;
 
-    double d_TOW{};
+    double tow{};
     double d_Week{};
     double d_tv_sec{};
     double d_tv_usec{};
@@ -47,19 +47,19 @@ 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 ref time 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 ref time data on disk file.
      */
     inline void serialize(Archive& archive, const unsigned int version)
     {
-        using boost::serialization::make_nvp;
         if (version)
             {
             };
-        archive& make_nvp("d_TOW", d_TOW);
+        archive& BOOST_SERIALIZATION_NVP(tow);
-        archive& make_nvp("d_Week", d_Week);
+        archive& BOOST_SERIALIZATION_NVP(d_Week);
-        archive& make_nvp("d_tv_sec", d_tv_sec);
+        archive& BOOST_SERIALIZATION_NVP(d_tv_sec);
-        archive& make_nvp("d_tv_usec", d_tv_usec);
+        archive& BOOST_SERIALIZATION_NVP(d_tv_usec);
-        archive& make_nvp("valid", valid);
+        archive& BOOST_SERIALIZATION_NVP(valid);
     }
 };
 

src/core/system_parameters/beidou_dnav_almanac.h

@@ -37,18 +37,18 @@ public:
      */
     Beidou_Dnav_Almanac() = default;
 
-    unsigned int i_satellite_PRN{};  //!< SV PRN NUMBER
+    unsigned int PRN{};  //!< SV PRN NUMBER
-    double d_Delta_i{};
+    double delta_i{};
-    double d_Toa{};             //!< Almanac data reference time of week [s]
+    double toa{};       //!< Almanac data reference time of week [s]
-    double d_M_0{};             //!< Mean Anomaly at Reference Time [semi-circles]
+    double M_0{};       //!< Mean Anomaly at Reference Time [semi-circles]
-    double d_e_eccentricity{};  //!< Eccentricity [dimensionless]
+    double ecc{};       //!< Eccentricity [dimensionless]
-    double d_sqrt_A{};          //!< Square Root of the Semi-Major Axis [sqrt(m)]
+    double sqrtA{};     //!< 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 OMEGA_0{};   //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
-    double d_OMEGA{};           //!< Argument of Perigee [semi-cicles]
+    double omega{};     //!< Argument of Perigee [semi-cicles]
-    double d_OMEGA_DOT{};       //!< Rate of Right Ascension [semi-circles/s]
+    double OMEGAdot{};  //!< Rate of Right Ascension [semi-circles/s]
-    int i_SV_health{};          //!< SV Health
+    int SV_health{};    //!< SV Health
-    double d_A_f0{};            //!< Coefficient 0 of code phase offset model [s]
+    double af0{};       //!< Coefficient 0 of code phase offset model [s]
-    double d_A_f1{};            //!< Coefficient 1 of code phase offset model [s/s]
+    double af1{};       //!< Coefficient 1 of code phase offset model [s/s]
 
     template <class Archive>
 
@@ -57,20 +57,20 @@ public:
         if (version)
             {
             };
-        ar& BOOST_SERIALIZATION_NVP(i_satellite_PRN);
+        ar& BOOST_SERIALIZATION_NVP(PRN);
-        ar& BOOST_SERIALIZATION_NVP(d_Delta_i);
+        ar& BOOST_SERIALIZATION_NVP(delta_i);
-        ar& BOOST_SERIALIZATION_NVP(d_Toa);
+        ar& BOOST_SERIALIZATION_NVP(toa);
-        // ar& BOOST_SERIALIZATION_NVP(i_WNa);
+        // ar& BOOST_SERIALIZATION_NVP(WNa);
-        ar& BOOST_SERIALIZATION_NVP(d_M_0);
+        ar& BOOST_SERIALIZATION_NVP(M_0);
-        ar& BOOST_SERIALIZATION_NVP(d_e_eccentricity);
+        ar& BOOST_SERIALIZATION_NVP(ecc);
-        ar& BOOST_SERIALIZATION_NVP(d_sqrt_A);
+        ar& BOOST_SERIALIZATION_NVP(sqrtA);
-        ar& BOOST_SERIALIZATION_NVP(d_OMEGA0);
+        ar& BOOST_SERIALIZATION_NVP(OMEGA_0);
-        ar& BOOST_SERIALIZATION_NVP(d_OMEGA);
+        ar& BOOST_SERIALIZATION_NVP(omega);
-        ar& BOOST_SERIALIZATION_NVP(d_OMEGA_DOT);
+        ar& BOOST_SERIALIZATION_NVP(OMEGAdot);
-        ar& BOOST_SERIALIZATION_NVP(i_SV_health);
+        ar& BOOST_SERIALIZATION_NVP(SV_health);
-        // ar& BOOST_SERIALIZATION_NVP(i_AS_status);
+        // ar& BOOST_SERIALIZATION_NVP(AS_status);
-        ar& BOOST_SERIALIZATION_NVP(d_A_f0);
+        ar& BOOST_SERIALIZATION_NVP(af0);
-        ar& BOOST_SERIALIZATION_NVP(d_A_f1);
+        ar& BOOST_SERIALIZATION_NVP(af1);
     }
 };
 

src/core/system_parameters/beidou_dnav_ephemeris.cc

@@ -15,10 +15,8 @@
  */
 
 #include "beidou_dnav_ephemeris.h"
-#include "Beidou_DNAV.h"
 #include "gnss_satellite.h"
-#include <cmath>
+#include <string>
-
 
 Beidou_Dnav_Ephemeris::Beidou_Dnav_Ephemeris()
 {
@@ -28,191 +26,5 @@ Beidou_Dnav_Ephemeris::Beidou_Dnav_Ephemeris()
         {
             satelliteBlock[i] = gnss_sat.what_block(_system, i);
         }
-}
+    this->System = 'B';
-
-
-double Beidou_Dnav_Ephemeris::check_t(double time)
-{
-    const double half_week = 302400.0;  // seconds
-    double corrTime = time;
-    if (time > half_week)
-        {
-            corrTime = time - 2.0 * half_week;
-        }
-    else if (time < -half_week)
-        {
-            corrTime = time + 2.0 * half_week;
-        }
-    return corrTime;
-}
-
-
-double Beidou_Dnav_Ephemeris::sv_clock_drift(double transmitTime)
-{
-    double dt = check_t(transmitTime - d_Toc);
-
-    for (int i = 0; i < 2; i++)
-        {
-            dt -= d_A_f0 + d_A_f1 * dt + d_A_f2 * (dt * dt);
-        }
-    d_satClkDrift = d_A_f0 + d_A_f1 * dt + d_A_f2 * (dt * dt);
-
-    return d_satClkDrift;
-}
-
-
-// compute the relativistic correction term
-double Beidou_Dnav_Ephemeris::sv_clock_relativistic_term(double transmitTime)
-{
-    // Restore semi-major axis
-    const double a = d_sqrt_A * d_sqrt_A;
-
-    // Time from ephemeris reference epoch
-    const double tk = check_t(transmitTime - d_Toe);
-
-    // Computed mean motion
-    const double n0 = sqrt(BEIDOU_GM / (a * a * a));
-
-    // Corrected mean motion
-    const double n = n0 + d_Delta_n;
-
-    // Mean anomaly
-    double M = d_M_0 + n * tk;
-
-    // Reduce mean anomaly to between 0 and 2pi
-    M = fmod((M + 2.0 * GNSS_PI), (2.0 * GNSS_PI));
-
-    // Initial guess of eccentric anomaly
-    double E = M;
-    double E_old;
-    double dE;
-
-    // --- Iteratively compute eccentric anomaly -------------------------------
-    for (int ii = 1; ii < 20; ii++)
-        {
-            E_old = E;
-            E = M + d_eccentricity * sin(E);
-            dE = fmod(E - E_old, 2.0 * GNSS_PI);
-            if (fabs(dE) < 1e-12)
-                {
-                    // Necessary precision is reached, exit from the loop
-                    break;
-                }
-        }
-
-    // Compute relativistic correction term
-    d_dtr = BEIDOU_F * d_eccentricity * d_sqrt_A * sin(E);
-    return d_dtr;
-}
-
-
-double Beidou_Dnav_Ephemeris::satellitePosition(double transmitTime)
-{
-    // Find satellite's position -----------------------------------------------
-    // Restore semi-major axis
-    const double a = d_sqrt_A * d_sqrt_A;
-
-    // Time from ephemeris reference epoch
-    double tk = check_t(transmitTime - d_Toe);
-
-    // Computed mean motion
-    const double n0 = sqrt(BEIDOU_GM / (a * a * a));
-
-    // Corrected mean motion
-    const double n = n0 + d_Delta_n;
-
-    // Mean anomaly
-    double M = d_M_0 + n * tk;
-
-    // Reduce mean anomaly to between 0 and 2pi
-    M = fmod((M + 2.0 * GNSS_PI), (2.0 * GNSS_PI));
-
-    // Initial guess of eccentric anomaly
-    double E = M;
-    double E_old;
-    double dE;
-
-    // --- Iteratively compute eccentric anomaly -------------------------------
-    for (int ii = 1; ii < 20; ii++)
-        {
-            E_old = E;
-            E = M + d_eccentricity * sin(E);
-            dE = fmod(E - E_old, 2.0 * GNSS_PI);
-            if (fabs(dE) < 1e-12)
-                {
-                    // Necessary precision is reached, exit from the loop
-                    break;
-                }
-        }
-
-    // Compute the true anomaly
-    const double sek = sin(E);
-    const double cek = cos(E);
-    const double OneMinusecosE = 1.0 - d_eccentricity * cek;
-    const double ekdot = n / OneMinusecosE;
-
-    // Compute the true anomaly
-    const double sq1e2 = sqrt(1.0 - d_eccentricity * d_eccentricity);
-    const double tmp_Y = sq1e2 * sek;
-    const double tmp_X = cek - d_eccentricity;
-    const double nu = atan2(tmp_Y, tmp_X);
-
-    // Compute angle phi (argument of Latitude)
-    const double phi = nu + d_OMEGA;
-    double pkdot = sq1e2 * ekdot / OneMinusecosE;
-
-    // Reduce phi to between 0 and 2*pi rad
-    // phi = fmod((phi), (2.0 * GNSS_PI));
-    const double s2pk = sin(2.0 * phi);
-    const double c2pk = cos(2.0 * phi);
-
-    // Correct argument of latitude
-    const double u = phi + d_Cuc * c2pk + d_Cus * s2pk;
-    const double cuk = cos(u);
-    const double suk = sin(u);
-    const double ukdot = pkdot * (1.0 + 2.0 * (d_Cus * c2pk - d_Cuc * s2pk));
-
-    // Correct radius
-    const double r = a * (1.0 - d_eccentricity * cek) + d_Crc * c2pk + d_Crs * s2pk;
-
-    const double rkdot = a * d_eccentricity * sek * ekdot + 2.0 * pkdot * (d_Crs * c2pk - d_Crc * s2pk);
-
-    // Correct inclination
-    const double i = d_i_0 + d_IDOT * tk + d_Cic * c2pk + d_Cis * s2pk;
-    const double sik = sin(i);
-    const double cik = cos(i);
-    const double ikdot = d_IDOT + 2.0 * pkdot * (d_Cis * c2pk - d_Cic * s2pk);
-
-    // Compute the angle between the ascending node and the Greenwich meridian
-    const double Omega = d_OMEGA0 + (d_OMEGA_DOT - BEIDOU_OMEGA_EARTH_DOT) * tk - BEIDOU_OMEGA_EARTH_DOT * d_Toe;
-    const double sok = sin(Omega);
-    const double cok = cos(Omega);
-
-    // --- Compute satellite coordinates in Earth-fixed coordinates
-    const double xprime = r * cuk;
-    const double yprime = r * suk;
-    d_satpos_X = xprime * cok - yprime * cik * sok;
-    d_satpos_Y = xprime * sok + yprime * cik * cok;
-    d_satpos_Z = yprime * sik;
-
-    // Satellite's velocity. Can be useful for Vector Tracking loops
-    const double Omega_dot = d_OMEGA_DOT - BEIDOU_OMEGA_EARTH_DOT;
-
-    const double xpkdot = rkdot * cuk - yprime * ukdot;
-    const double ypkdot = rkdot * suk + xprime * ukdot;
-    const double tmp = ypkdot * cik - d_satpos_Z * ikdot;
-
-    d_satvel_X = -Omega_dot * d_satpos_Y + xpkdot * cok - tmp * sok;
-    d_satvel_Y = Omega_dot * d_satpos_X + xpkdot * sok + tmp * cok;
-    d_satvel_Z = yprime * cik * ikdot + ypkdot * sik;
-
-    // Time from ephemeris reference clock
-    tk = check_t(transmitTime - d_Toc);
-
-    double dtr_s = d_A_f0 + d_A_f1 * tk + d_A_f2 * tk * tk;
-
-    /* relativity correction */
-    dtr_s -= 2.0 * sqrt(BEIDOU_GM * a) * d_eccentricity * sek / (SPEED_OF_LIGHT_M_S * SPEED_OF_LIGHT_M_S);
-
-    return dtr_s;
 }

src/core/system_parameters/beidou_dnav_ephemeris.h

@@ -18,6 +18,7 @@
 #ifndef GNSS_SDR_BEIDOU_DNAV_EPHEMERIS_H
 #define GNSS_SDR_BEIDOU_DNAV_EPHEMERIS_H
 
+#include "gnss_ephemeris.h"
 #include <boost/serialization/nvp.hpp>
 #include <map>
 #include <string>
@@ -29,13 +30,13 @@
 
 
 /*!
- * \brief This class is a storage and orbital model functions for the GPS SV ephemeris data as described in
+ * \brief This is a storage class for the Beidou SV ephemeris data as described in
  * BeiDou Navigation Satellite System Signal In Space Interface Control Document
  * Open Service Signal B1I (Version 3.0)
  *
  * See http://en.beidou.gov.cn/SYSTEMS/Officialdocument/201902/P020190227601370045731.pdf
  */
-class Beidou_Dnav_Ephemeris
+class Beidou_Dnav_Ephemeris : public Gnss_Ephemeris
 {
 public:
     /*!
@@ -43,99 +44,45 @@ public:
      */
     Beidou_Dnav_Ephemeris();
 
-    /*!
+    int 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-200L)
-     * \brief Compute the ECEF SV coordinates and ECEF velocity
+    int SV_health{};
-     * Implementation of Table 20-IV (IS-GPS-200L)
+    double TGD1{};  //!< Estimated Group Delay Differential on B1I [s]
-     * and compute the clock bias term including relativistic effect (return value)
+    double TGD2{};  //!< Estimated Group Delay Differential on B2I [s]
-     */
+    double AODC{};  //!< Age of Data, Clock
-    double satellitePosition(double transmitTime);
+    double AODE{};  //!< Age of Data, Ephemeris
+    int 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]
 
-    /*!
+    int sig_type{};  //!< BDS: data source (0:unknown,1:B1I,2:B1Q,3:B2I,4:B2Q,5:B3I,6:B3Q) */
-     * \brief Sets (\a d_satClkDrift)and returns the clock drift in seconds according to the User Algorithm for SV Clock Correction
+    int nav_type{};  //!< BDS: nav type (0:unknown,1:IGSO/MEO,2:GEO) */
-     *  (IS-GPS-200L,  20.3.3.3.3.1)
-     */
-    double sv_clock_drift(double transmitTime);
 
-    /*!
+    bool fit_interval_flag{};  //!< 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.
-     * \brief Sets (\a d_dtr) and returns the clock relativistic correction term in seconds according to the User Algorithm for SV Clock Correction
+    double spare1{};
-     *  (IS-GPS-200L,  20.3.3.3.3.1)
+    double spare2{};
-     */
-    double sv_clock_relativistic_term(double transmitTime);
-
-    unsigned int i_satellite_PRN{};  //!< SV PRN NUMBER
-    double d_TOW{};                  //!< Time of BEIDOU 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_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_Toe{};                  //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200L) [s]
-    double d_Toc{};                  //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200L) [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]
-    int i_BEIDOU_week{};             //!< BEIDOU week number, aka WN [week]
-    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-200L)
-    int i_SV_health{};
-    double d_TGD1{};  //!< Estimated Group Delay Differential on B1I [s]
-    double d_TGD2{};  //!< Estimated Group Delay Differential on B2I [s]
-    double d_AODC{};  //!< Age of Data, Clock
-    double d_AODE{};  //!< Age of Data, Ephemeris
-    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]
-
-    int i_sig_type{};  //!< BDS: data source (0:unknown,1:B1I,2:B1Q,3:B2I,4:B2Q,5:B3I,6:B3Q) */
-    int i_nav_type{};  //!< BDS: nav type (0:unknown,1:IGSO/MEO,2:GEO) */
-
-    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]
 
     /*! \brief If true, enhanced level of integrity assurance.
      *
-     *  If false, indicates that the conveying signal is provided with the legacy level of integrity assurance.
+     *  If false, indicates that the conveying signal is provided with the
-     *  That is, the probability that the instantaneous URE of the conveying signal exceeds 4.42 times the upper bound
+     *  legacy level of integrity assurance. That is, the probability that the
-     *  value of the current broadcast URA index, for more than 5.2 seconds, without an accompanying alert, is less
+     *  instantaneous URE of the conveying signal exceeds 4.42 times the upper
-     *  than 1E-5 per hour. If true, indicates that the conveying signal is provided with an enhanced level of
+     *  bound value of the current broadcast URA index, for more than 5.2
-     *  integrity assurance. That is, the probability that the instantaneous URE of the conveying signal exceeds 5.73
+     *  seconds, without an accompanying alert, is less than 1E-5 per hour. If
-     *  times the upper bound value of the current broadcast URA index, for more than 5.2 seconds, without an
+     *  true, indicates that the conveying signal is provided with an enhanced
-     *  accompanying alert, is less than 1E-8 per hour.
+     *  level of integrity assurance. That is, the probability that the
+     *  instantaneous URE of the conveying signal exceeds 5.73 times the upper
+     *  bound value of the current broadcast URA index, for more than 5.2
+     *  seconds, without an accompanying alert, is less than 1E-8 per hour.
      */
-    bool b_integrity_status_flag{};
+    bool 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 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 antispoofing_flag{};  //!< If true, the AntiSpoofing mode is ON in that SV
-
-    // clock terms derived from ephemeris data
-    double d_satClkDrift{};  //!< GPS clock error
-    double d_dtr{};          //!< relativistic clock correction term
-
-    // satellite positions
-    double d_satpos_X{};  //!< Earth-fixed coordinate x of the satellite [m]. Intersection of the IERS Reference Meridian (IRM) and the plane passing through the origin and normal to the Z-axis.
-    double d_satpos_Y{};  //!< Earth-fixed coordinate y of the satellite [m]. Completes a right-handed, Earth-Centered, Earth-Fixed orthogonal coordinate system.
-    double d_satpos_Z{};  //!< Earth-fixed coordinate z of the satellite [m]. The direction of the IERS (International Earth Rotation and Reference Systems Service) Reference Pole (IRP).
-
-    // Satellite velocity
-    double d_satvel_X{};  //!< Earth-fixed velocity coordinate x of the satellite [m]
-    double d_satvel_Y{};  //!< Earth-fixed velocity coordinate y of the satellite [m]
-    double d_satvel_Z{};  //!< Earth-fixed velocity coordinate z of the satellite [m]
 
     std::map<int, std::string> satelliteBlock;  //!< Map that stores to which block the PRN belongs
 
-
     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)
     {
@@ -144,56 +91,48 @@ public:
             {
             };
 
-        archive& make_nvp("i_satellite_PRN", i_satellite_PRN);  // SV PRN NUMBER
+        archive& BOOST_SERIALIZATION_NVP(PRN);
-        archive& make_nvp("d_TOW", d_TOW);                      //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
+        archive& BOOST_SERIALIZATION_NVP(M_0);
-        archive& make_nvp("d_AODE", d_AODE);
+        archive& BOOST_SERIALIZATION_NVP(delta_n);
-        archive& make_nvp("d_Crs", d_Crs);                      //!< Amplitude of the Sine Harmonic Correction Term to the Orbit Radius [m]
+        archive& BOOST_SERIALIZATION_NVP(ecc);
-        archive& make_nvp("d_Delta_n", d_Delta_n);              //!< Mean Motion Difference From Computed Value [semi-circles/s]
+        archive& BOOST_SERIALIZATION_NVP(sqrtA);
-        archive& make_nvp("d_M_0", d_M_0);                      //!< Mean Anomaly at Reference Time [semi-circles]
+        archive& BOOST_SERIALIZATION_NVP(OMEGA_0);
-        archive& make_nvp("d_Cuc", d_Cuc);                      //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
+        archive& BOOST_SERIALIZATION_NVP(i_0);
-        archive& make_nvp("d_e_eccentricity", d_eccentricity);  //!< Eccentricity [dimensionless]
+        archive& BOOST_SERIALIZATION_NVP(omega);
-        archive& make_nvp("d_Cus", d_Cus);                      //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
+        archive& BOOST_SERIALIZATION_NVP(OMEGAdot);
-        archive& make_nvp("d_sqrt_A", d_sqrt_A);                //!< Square Root of the Semi-Major Axis [sqrt(m)]
+        archive& BOOST_SERIALIZATION_NVP(idot);
-        archive& make_nvp("d_Toe", d_Toe);                      //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200L) [s]
+        archive& BOOST_SERIALIZATION_NVP(Cuc);
-        archive& make_nvp("d_Toc", d_Toe);                      //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200L) [s]
+        archive& BOOST_SERIALIZATION_NVP(Cus);
-        archive& make_nvp("d_Cic", d_Cic);                      //!< Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination [rad]
+        archive& BOOST_SERIALIZATION_NVP(Crc);
-        archive& make_nvp("d_OMEGA0", d_OMEGA0);                //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
+        archive& BOOST_SERIALIZATION_NVP(Crs);
-        archive& make_nvp("d_Cis", d_Cis);                      //!< Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination [rad]
+        archive& BOOST_SERIALIZATION_NVP(Cic);
-        archive& make_nvp("d_i_0", d_i_0);                      //!< Inclination Angle at Reference Time [semi-circles]
+        archive& BOOST_SERIALIZATION_NVP(Cis);
-        archive& make_nvp("d_Crc", d_Crc);                      //!< Amplitude of the Cosine Harmonic Correction Term to the Orbit Radius [m]
+        archive& BOOST_SERIALIZATION_NVP(toe);
-        archive& make_nvp("d_OMEGA", d_OMEGA);                  //!< Argument of Perigee [semi-cicles]
+        archive& BOOST_SERIALIZATION_NVP(toc);
-        archive& make_nvp("d_OMEGA_DOT", d_OMEGA_DOT);          //!< Rate of Right Ascension [semi-circles/s]
+        archive& BOOST_SERIALIZATION_NVP(af0);
-        archive& make_nvp("d_IDOT", d_IDOT);                    //!< Rate of Inclination Angle [semi-circles/s]
+        archive& BOOST_SERIALIZATION_NVP(af1);
-        archive& make_nvp("i_BEIDOU_week", i_BEIDOU_week);      //!< GPS week number, aka WN [week]
+        archive& BOOST_SERIALIZATION_NVP(af2);
-        archive& make_nvp("i_SV_accuracy", 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-200L)
+        archive& BOOST_SERIALIZATION_NVP(WN);
-        archive& make_nvp("i_SV_health", i_SV_health);
+        archive& BOOST_SERIALIZATION_NVP(tow);
-        archive& make_nvp("d_AODC", d_AODC);  //!< Issue of Data, Clock
+        archive& BOOST_SERIALIZATION_NVP(satClkDrift);
-        archive& make_nvp("d_TGD1", d_TGD1);  //!< Estimated Group Delay Differential: L1-L2 correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
+        archive& BOOST_SERIALIZATION_NVP(dtr);
-        archive& make_nvp("d_TGD2", d_TGD2);  //!< Estimated Group Delay Differential: L1-L2 correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
-        archive& make_nvp("i_AODO", 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]
 
-        archive& make_nvp("b_fit_interval_flag", 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.
+        archive& BOOST_SERIALIZATION_NVP(AODE);
-        archive& make_nvp("d_spare1", d_spare1);
+        archive& BOOST_SERIALIZATION_NVP(SV_accuracy);
-        archive& make_nvp("d_spare2", d_spare2);
+        archive& BOOST_SERIALIZATION_NVP(SV_health);
-
+        archive& BOOST_SERIALIZATION_NVP(AODC);
-        archive& make_nvp("d_A_f0", d_A_f0);  //!< Coefficient 0 of code phase offset model [s]
+        archive& BOOST_SERIALIZATION_NVP(TGD1);
-        archive& make_nvp("d_A_f1", d_A_f1);  //!< Coefficient 1 of code phase offset model [s/s]
+        archive& BOOST_SERIALIZATION_NVP(TGD2);
-        archive& make_nvp("d_A_f2", d_A_f2);  //!< Coefficient 2 of code phase offset model [s/s^2]
+        archive& BOOST_SERIALIZATION_NVP(sig_type);
-
+        archive& BOOST_SERIALIZATION_NVP(nav_type);
-        archive& make_nvp("b_integrity_status_flag", b_integrity_status_flag);
+        archive& BOOST_SERIALIZATION_NVP(AODO);
-        archive& make_nvp("b_alert_flag", b_alert_flag);                //!< If true, indicates  that the SV URA may be worse than indicated in d_SV_accuracy, use that SV at our own risk.
+        archive& BOOST_SERIALIZATION_NVP(fit_interval_flag);
-        archive& make_nvp("b_antispoofing_flag", b_antispoofing_flag);  //!<  If true, the AntiSpoofing mode is ON in that SV
+        archive& BOOST_SERIALIZATION_NVP(spare1);
+        archive& BOOST_SERIALIZATION_NVP(spare2);
+        archive& BOOST_SERIALIZATION_NVP(integrity_status_flag);
+        archive& BOOST_SERIALIZATION_NVP(alert_flag);
+        archive& BOOST_SERIALIZATION_NVP(antispoofing_flag);
     }
-
-private:
-    /*
-     * Accounts for the beginning or end of week crossover
-     *
-     * See paragraph 20.3.3.3.3.1 (IS-GPS-200L)
-     * \param[in]  -  time in seconds
-     * \param[out] -  corrected time, in seconds
-     */
-    double check_t(double time);
 };
 
 

src/core/system_parameters/beidou_dnav_iono.h

@@ -18,7 +18,7 @@
 #ifndef GNSS_SDR_BEIDOU_DNAV_IONO_H
 #define GNSS_SDR_BEIDOU_DNAV_IONO_H
 
-#include <boost/serialization/nvp.hpp>
+#include "gps_iono.h"
 
 /** \addtogroup Core
  * \{ */
@@ -27,46 +27,13 @@
 
 
 /*!
- * \brief This class is a storage for the BEIDOU IONOSPHERIC data as described in ICD v2.1
+ * \brief This class is a storage for the BEIDOU IONOSPHERIC data as described
- *
+ * in ICD v2.1
  */
-class Beidou_Dnav_Iono
+class Beidou_Dnav_Iono : public Gps_Iono
 {
 public:
     Beidou_Dnav_Iono() = default;  //!< Default constructor
-
-    // 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]
-
-    bool valid{};  //!< Valid flag
-
-    template <class Archive>
-
-    /*!
-     * \brief Serialize is a boost standard method to be called by the boost XML serialization. Here is used to save the ephemeris data on disk file.
-     */
-    void serialize(Archive& archive, const unsigned int version)
-    {
-        using boost::serialization::make_nvp;
-        if (version)
-            {
-            };
-        archive& make_nvp("d_alpha0", d_alpha0);
-        archive& make_nvp("d_alpha1", d_alpha1);
-        archive& make_nvp("d_alpha2", d_alpha2);
-        archive& make_nvp("d_alpha3", d_alpha3);
-        archive& make_nvp("d_beta0", d_beta0);
-        archive& make_nvp("d_beta1", d_beta1);
-        archive& make_nvp("d_beta2", d_beta2);
-        archive& make_nvp("d_beta3", d_beta3);
-    }
 };
 
 

src/core/system_parameters/beidou_dnav_navigation_message.cc

@@ -116,111 +116,6 @@ int64_t Beidou_Dnav_Navigation_Message::read_navigation_signed(
 }
 
 
-double Beidou_Dnav_Navigation_Message::check_t(double time)
-{
-    const double half_week = 302400;  // seconds
-    double corrTime = time;
-    if (time > half_week)
-        {
-            corrTime = time - 2 * half_week;
-        }
-    else if (time < -half_week)
-        {
-            corrTime = time + 2 * half_week;
-        }
-    return corrTime;
-}
-
-
-double Beidou_Dnav_Navigation_Message::sv_clock_correction(double transmitTime)
-{
-    const double dt = check_t(transmitTime - d_Toc);
-    d_satClkCorr = (d_A_f2 * dt + d_A_f1) * dt + d_A_f0 + d_dtr;
-    double correctedTime = transmitTime - d_satClkCorr;
-    return correctedTime;
-}
-
-
-void Beidou_Dnav_Navigation_Message::satellitePosition(double transmitTime)
-{
-    // Find satellite's position -----------------------------------------------
-    // Restore semi-major axis
-    const double a = d_sqrt_A * d_sqrt_A;
-
-    // Time from ephemeris reference epoch
-    const double tk = check_t(transmitTime - d_Toe_sf2);
-
-    // Computed mean motion
-    const double n0 = sqrt(BEIDOU_GM / (a * a * a));
-
-    // Corrected mean motion
-    const double n = n0 + d_Delta_n;
-
-    // Mean anomaly
-    double M = d_M_0 + n * tk;
-
-    // Reduce mean anomaly to between 0 and 2pi
-    M = fmod((M + 2 * GNSS_PI), (2 * GNSS_PI));
-
-    // Initial guess of eccentric anomaly
-    double E = M;
-    double E_old;
-    double dE;
-    // --- Iteratively compute eccentric anomaly -------------------------------
-    for (int32_t ii = 1; ii < 20; ii++)
-        {
-            E_old = E;
-            E = M + d_eccentricity * sin(E);
-            dE = fmod(E - E_old, 2 * GNSS_PI);
-            if (fabs(dE) < 1e-12)
-                {
-                    // Necessary precision is reached, exit from the loop
-                    break;
-                }
-        }
-
-    // Compute relativistic correction term
-    d_dtr = BEIDOU_F * d_eccentricity * d_sqrt_A * sin(E);
-
-    // Compute the true anomaly
-    const double tmp_Y = sqrt(1.0 - d_eccentricity * d_eccentricity) * sin(E);
-    const double tmp_X = cos(E) - d_eccentricity;
-    const double nu = atan2(tmp_Y, tmp_X);
-
-    // Compute angle phi (argument of Latitude)
-    double phi = nu + d_OMEGA;
-
-    // Reduce phi to between 0 and 2*pi rad
-    phi = fmod((phi), (2 * GNSS_PI));
-
-    // Correct argument of latitude
-    const double u = phi + d_Cuc * cos(2 * phi) + d_Cus * sin(2 * phi);
-
-    // Correct radius
-    const double r = a * (1 - d_eccentricity * cos(E)) + d_Crc * cos(2 * phi) + d_Crs * sin(2 * phi);
-
-    // Correct inclination
-    const double i = d_i_0 + d_IDOT * tk + d_Cic * cos(2 * phi) + d_Cis * sin(2 * phi);
-
-    // Compute the angle between the ascending node and the Greenwich meridian
-    double Omega = d_OMEGA0 + (d_OMEGA_DOT - BEIDOU_OMEGA_EARTH_DOT) * tk - BEIDOU_OMEGA_EARTH_DOT * d_Toe_sf2;
-
-    // Reduce to between 0 and 2*pi rad
-    Omega = fmod((Omega + 2 * GNSS_PI), (2 * GNSS_PI));
-
-    // --- Compute satellite coordinates in Earth-fixed coordinates
-    d_satpos_X = cos(u) * r * cos(Omega) - sin(u) * r * cos(i) * sin(Omega);
-    d_satpos_Y = cos(u) * r * sin(Omega) + sin(u) * r * cos(i) * cos(Omega);
-    d_satpos_Z = sin(u) * r * sin(i);
-
-    // Satellite's velocity. Can be useful for Vector Tracking loops
-    const double Omega_dot = d_OMEGA_DOT - BEIDOU_OMEGA_EARTH_DOT;
-    d_satvel_X = -Omega_dot * (cos(u) * r + sin(u) * r * cos(i)) + d_satpos_X * cos(Omega) - d_satpos_Y * cos(i) * sin(Omega);
-    d_satvel_Y = Omega_dot * (cos(u) * r * cos(Omega) - sin(u) * r * cos(i) * sin(Omega)) + d_satpos_X * sin(Omega) + d_satpos_Y * cos(i) * cos(Omega);
-    d_satvel_Z = d_satpos_Y * sin(i);
-}
-
-
 int32_t Beidou_Dnav_Navigation_Message::d1_subframe_decoder(std::string const& subframe)
 {
     const std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS> subframe_bits(subframe);
@@ -757,88 +652,88 @@ Beidou_Dnav_Ephemeris Beidou_Dnav_Navigation_Message::get_ephemeris() const
             std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS> subframe_bits;
 
             // Order as given by eph_t in rtklib
-            eph.i_satellite_PRN = i_satellite_PRN;
+            eph.PRN = i_satellite_PRN;
-            eph.d_AODC = d_AODC;
+            eph.AODC = d_AODC;
-            eph.d_AODE = d_AODE;
+            eph.AODE = d_AODE;
-            eph.i_SV_accuracy = i_SV_accuracy;
+            eph.SV_accuracy = i_SV_accuracy;
-            eph.i_SV_health = i_SV_health;
+            eph.SV_health = i_SV_health;
-            eph.i_BEIDOU_week = i_BEIDOU_week;
+            eph.WN = i_BEIDOU_week;
-            eph.i_sig_type = i_signal_type;
+            eph.sig_type = i_signal_type;
-            eph.i_nav_type = 2;
+            eph.nav_type = 2;
 
-            eph.d_TOW = d_SOW;
+            eph.tow = d_SOW;
-            eph.d_Toe = d_Toe;
+            eph.toe = d_Toe;
-            eph.d_Toc = d_Toc;
+            eph.toc = d_Toc;
 
-            eph.d_sqrt_A = d_sqrt_A;
+            eph.sqrtA = d_sqrt_A;
-            eph.d_eccentricity = static_cast<double>((d_eccentricity_msb + d_eccentricity_lsb)) * D1_E_LSB;
+            eph.ecc = static_cast<double>((d_eccentricity_msb + d_eccentricity_lsb)) * D1_E_LSB;
             subframe_bits = std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS>(d_i_0_msb_bits + d_i_0_lsb_bits);
-            eph.d_i_0 = static_cast<double>(read_navigation_signed(subframe_bits, D2_I0)) * D1_I0_LSB;
+            eph.i_0 = static_cast<double>(read_navigation_signed(subframe_bits, D2_I0)) * D1_I0_LSB;
-            eph.d_OMEGA0 = d_OMEGA0;
+            eph.OMEGA_0 = d_OMEGA0;
             subframe_bits = std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS>(d_OMEGA_msb_bits + d_OMEGA_lsb_bits);
-            eph.d_OMEGA = static_cast<double>(read_navigation_signed(subframe_bits, D2_OMEGA)) * D1_OMEGA_LSB;
+            eph.omega = static_cast<double>(read_navigation_signed(subframe_bits, D2_OMEGA)) * D1_OMEGA_LSB;
-            eph.d_M_0 = d_M_0;
+            eph.M_0 = d_M_0;
-            eph.d_Delta_n = d_Delta_n;
+            eph.delta_n = d_Delta_n;
 
             subframe_bits = std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS>(d_OMEGA_DOT_msb_bits + d_OMEGA_DOT_lsb_bits);
-            eph.d_OMEGA_DOT = static_cast<double>(read_navigation_signed(subframe_bits, D2_OMEGA_DOT)) * D1_OMEGA_DOT_LSB;
+            eph.OMEGAdot = static_cast<double>(read_navigation_signed(subframe_bits, D2_OMEGA_DOT)) * D1_OMEGA_DOT_LSB;
-            eph.d_IDOT = d_IDOT;
+            eph.idot = d_IDOT;
 
-            eph.d_Crc = d_Crc;
+            eph.Crc = d_Crc;
-            eph.d_Crs = d_Crs;
+            eph.Crs = d_Crs;
             subframe_bits = std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS>(d_Cuc_msb_bits + d_Cuc_lsb_bits);
-            eph.d_Cuc = static_cast<double>(read_navigation_signed(subframe_bits, D2_CUC)) * D1_CUC_LSB;
+            eph.Cuc = static_cast<double>(read_navigation_signed(subframe_bits, D2_CUC)) * D1_CUC_LSB;
-            eph.d_Cus = d_Cus;
+            eph.Cus = d_Cus;
             subframe_bits = std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS>(d_Cic_msb_bits + d_Cic_lsb_bits);
-            eph.d_Cic = static_cast<double>(read_navigation_signed(subframe_bits, D2_CIC)) * D1_CIC_LSB;
+            eph.Cic = static_cast<double>(read_navigation_signed(subframe_bits, D2_CIC)) * D1_CIC_LSB;
-            eph.d_Cis = d_Cis;
+            eph.Cis = d_Cis;
 
-            eph.d_A_f0 = d_A_f0;
+            eph.af0 = d_A_f0;
             subframe_bits = std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS>(d_A_f1_msb_bits + d_A_f1_lsb_bits);
-            eph.d_A_f1 = static_cast<double>(read_navigation_signed(subframe_bits, D2_A1)) * D1_A1_LSB;
+            eph.af1 = static_cast<double>(read_navigation_signed(subframe_bits, D2_A1)) * D1_A1_LSB;
-            eph.d_A_f2 = d_A_f2;
+            eph.af2 = d_A_f2;
 
-            eph.d_TGD1 = d_TGD1;
+            eph.TGD1 = d_TGD1;
-            eph.d_TGD2 = d_TGD2;
+            eph.TGD2 = d_TGD2;
         }
     else
         {
-            eph.i_satellite_PRN = i_satellite_PRN;
+            eph.PRN = i_satellite_PRN;
-            eph.d_AODC = d_AODC;
+            eph.AODC = d_AODC;
-            eph.d_AODE = d_AODE;
+            eph.AODE = d_AODE;
-            eph.i_SV_accuracy = i_SV_accuracy;
+            eph.SV_accuracy = i_SV_accuracy;
-            eph.i_SV_health = i_SV_health;
+            eph.SV_health = i_SV_health;
-            eph.i_BEIDOU_week = i_BEIDOU_week;
+            eph.WN = i_BEIDOU_week;
-            eph.i_sig_type = i_signal_type;
+            eph.sig_type = i_signal_type;
-            eph.i_nav_type = 1;  // MEO/IGSO
+            eph.nav_type = 1;  // MEO/IGSO
 
-            eph.d_TOW = d_SOW;
+            eph.tow = d_SOW;
-            eph.d_Toe = ((d_Toe_sf2 + d_Toe_sf3) * D1_TOE_LSB);
+            eph.toe = ((d_Toe_sf2 + d_Toe_sf3) * D1_TOE_LSB);
-            eph.d_Toc = d_Toc;
+            eph.toc = d_Toc;
 
-            eph.d_sqrt_A = d_sqrt_A;
+            eph.sqrtA = d_sqrt_A;
-            eph.d_eccentricity = d_eccentricity;
+            eph.ecc = d_eccentricity;
-            eph.d_i_0 = d_i_0;
+            eph.i_0 = d_i_0;
-            eph.d_OMEGA0 = d_OMEGA0;
+            eph.OMEGA_0 = d_OMEGA0;
-            eph.d_OMEGA = d_OMEGA;
+            eph.omega = d_OMEGA;
-            eph.d_M_0 = d_M_0;
+            eph.M_0 = d_M_0;
-            eph.d_Delta_n = d_Delta_n;
+            eph.delta_n = d_Delta_n;
-            eph.d_OMEGA_DOT = d_OMEGA_DOT;
+            eph.OMEGAdot = d_OMEGA_DOT;
-            eph.d_IDOT = d_IDOT;
+            eph.idot = d_IDOT;
 
-            eph.d_Crc = d_Crc;
+            eph.Crc = d_Crc;
-            eph.d_Crs = d_Crs;
+            eph.Crs = d_Crs;
-            eph.d_Cuc = d_Cuc;
+            eph.Cuc = d_Cuc;
-            eph.d_Cus = d_Cus;
+            eph.Cus = d_Cus;
-            eph.d_Cic = d_Cic;
+            eph.Cic = d_Cic;
-            eph.d_Cis = d_Cis;
+            eph.Cis = d_Cis;
 
-            eph.d_A_f0 = d_A_f0;
+            eph.af0 = d_A_f0;
-            eph.d_A_f1 = d_A_f1;
+            eph.af1 = d_A_f1;
-            eph.d_A_f2 = d_A_f2;
+            eph.af2 = d_A_f2;
 
-            eph.d_TGD1 = d_TGD1;
+            eph.TGD1 = d_TGD1;
-            eph.d_TGD2 = d_TGD2;
+            eph.TGD2 = d_TGD2;
         }
 
     return eph;
@@ -848,14 +743,14 @@ Beidou_Dnav_Ephemeris Beidou_Dnav_Navigation_Message::get_ephemeris() const
 Beidou_Dnav_Iono Beidou_Dnav_Navigation_Message::get_iono()
 {
     Beidou_Dnav_Iono iono;
-    iono.d_alpha0 = d_alpha0;
+    iono.alpha0 = d_alpha0;
-    iono.d_alpha1 = d_alpha1;
+    iono.alpha1 = d_alpha1;
-    iono.d_alpha2 = d_alpha2;
+    iono.alpha2 = d_alpha2;
-    iono.d_alpha3 = d_alpha3;
+    iono.alpha3 = d_alpha3;
-    iono.d_beta0 = d_beta0;
+    iono.beta0 = d_beta0;
-    iono.d_beta1 = d_beta1;
+    iono.beta1 = d_beta1;
-    iono.d_beta2 = d_beta2;
+    iono.beta2 = d_beta2;
-    iono.d_beta3 = d_beta3;
+    iono.beta3 = d_beta3;
     iono.valid = flag_iono_valid;
     // WARNING: We clear flag_utc_model_valid in order to not re-send the same information to the ionospheric parameters queue
     flag_iono_valid = false;
@@ -868,19 +763,19 @@ Beidou_Dnav_Utc_Model Beidou_Dnav_Navigation_Message::get_utc_model()
     Beidou_Dnav_Utc_Model utc_model;
     utc_model.valid = flag_utc_model_valid;
     // UTC parameters
-    utc_model.d_A1_UTC = d_A1UTC;
+    utc_model.A1_UTC = d_A1UTC;
-    utc_model.d_A0_UTC = d_A0UTC;
+    utc_model.A0_UTC = d_A0UTC;
-    utc_model.i_DeltaT_LS = i_DeltaT_LS;
+    utc_model.DeltaT_LS = i_DeltaT_LS;
-    utc_model.i_WN_LSF = i_WN_LSF;
+    utc_model.WN_LSF = i_WN_LSF;
-    utc_model.i_DN = i_DN;
+    utc_model.DN = i_DN;
-    utc_model.d_DeltaT_LSF = d_DeltaT_LSF;
+    utc_model.DeltaT_LSF = d_DeltaT_LSF;
 
-    utc_model.d_A0_GPS = d_A0GPS;
+    utc_model.A0_GPS = d_A0GPS;
-    utc_model.d_A1_GPS = d_A1GPS;
+    utc_model.A1_GPS = d_A1GPS;
-    utc_model.d_A0_GAL = d_A0GAL;
+    utc_model.A0_GAL = d_A0GAL;
-    utc_model.d_A1_GAL = d_A1GAL;
+    utc_model.A1_GAL = d_A1GAL;
-    utc_model.d_A0_GLO = d_A0GLO;
+    utc_model.A0_GLO = d_A0GLO;
-    utc_model.d_A1_GLO = d_A1GLO;
+    utc_model.A1_GLO = d_A1GLO;
 
     // warning: We clear flag_utc_model_valid in order to not re-send the same information to the ionospheric parameters queue
     flag_utc_model_valid = false;

src/core/system_parameters/beidou_dnav_navigation_message.h

@@ -76,17 +76,6 @@ public:
      */
     int32_t d2_subframe_decoder(std::string const& subframe);
 
-    /*!
-     * \brief Computes the position of the satellite
-     */
-    void satellitePosition(double transmitTime);
-
-    /*!
-     * \brief Sets (\a d_satClkCorr) according to the User Algorithm for SV Clock Correction
-     * and returns the corrected clock
-     */
-    double sv_clock_correction(double transmitTime);
-
     /*!
      * \brief Computes the Coordinated Universal Time (UTC) and
      * returns it in [s]
@@ -154,14 +143,6 @@ private:
     bool read_navigation_bool(std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const;
     void print_beidou_word_bytes(uint32_t BEIDOU_word) const;
 
-    /*
-     * Accounts for the beginning or end of week crossover
-     *
-     * \param[in]  -  time in seconds
-     * \param[out] -  corrected time, in seconds
-     */
-    double check_t(double time);
-
     // 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]
@@ -243,15 +224,6 @@ private:
 
     std::map<int32_t, std::string> satelliteBlock;  // Map that stores to which block the PRN belongs
 
-    // clock terms
-    double d_satClkCorr{};  // GPS clock error
-    double d_dtr{};         // relativistic clock correction term
-
-    // satellite positions
-    double d_satpos_X{};  // Earth-fixed coordinate x of the satellite [m]. Intersection of the IERS Reference Meridian (IRM) and the plane passing through the origin and normal to the Z-axis.
-    double d_satpos_Y{};  // Earth-fixed coordinate y of the satellite [m]. Completes a right-handed, Earth-Centered, Earth-Fixed orthogonal coordinate system.
-    double d_satpos_Z{};  // Earth-fixed coordinate z of the satellite [m]. The direction of the IERS (International Earth Rotation and Reference Systems Service) Reference Pole (IRP).
-
     // satellite identification info
     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{};
@@ -293,11 +265,6 @@ private:
     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]
-
     // System flags for data processing
     bool flag_eph_valid{};
     bool flag_utc_model_valid{};

src/core/system_parameters/beidou_dnav_utc_model.h

@@ -38,50 +38,50 @@ public:
     Beidou_Dnav_Utc_Model() = default;
 
     // BeiDou UTC parameters
-    double d_A0_UTC{};      //!< BDT clock bias relative to UTC [s]
+    double A0_UTC{};      //!< BDT clock bias relative to UTC [s]
-    double d_A1_UTC{};      //!< BDT clock rate relative to UTC [s/s]
+    double A1_UTC{};      //!< BDT clock rate relative to UTC [s/s]
-    int i_DeltaT_LS{};      //!< Delta time due to leap seconds before the new leap second effective
+    int 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 WN_LSF{};         //!< Week number of the new leap second
-    int i_DN{};             //!< Day number of week of the new leap second
+    int 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 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 A0_GPS{};  //!< BDT clock bias relative to GPS time [s]
-    double d_A1_GPS{};  //!< BDT clock rate relative to GPS time [s/s]
+    double 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 A0_GAL{};  //!< BDT clock bias relative to GAL time [s]
-    double d_A1_GAL{};  //!< BDT clock rate relative to GAL time [s/s]
+    double 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 A0_GLO{};  //!< BDT clock bias relative to GLO time [s]
-    double d_A1_GLO{};  //!< BDT clock rate relative to GLO time [s/s]
+    double A1_GLO{};  //!< BDT clock rate relative to GLO time [s/s]
 
     bool valid{};
 
     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.
      */
     inline void serialize(Archive& archive, const unsigned int version)
     {
-        using boost::serialization::make_nvp;
         if (version)
             {
             };
-        archive& make_nvp("d_A1", d_A1_UTC);
+        archive& BOOST_SERIALIZATION_NVP(A1_UTC);
-        archive& make_nvp("d_A0", d_A0_UTC);
+        archive& BOOST_SERIALIZATION_NVP(A0_UTC);
-        archive& make_nvp("i_DeltaT_LS", i_DeltaT_LS);
+        archive& BOOST_SERIALIZATION_NVP(DeltaT_LS);
-        archive& make_nvp("i_WN_LSF", i_WN_LSF);
+        archive& BOOST_SERIALIZATION_NVP(WN_LSF);
-        archive& make_nvp("i_DN", i_DN);
+        archive& BOOST_SERIALIZATION_NVP(DN);
-        archive& make_nvp("d_DeltaT_LSF", d_DeltaT_LSF);
+        archive& BOOST_SERIALIZATION_NVP(DeltaT_LSF);
-        archive& make_nvp("d_A0_GPS", d_A0_GPS);
+        archive& BOOST_SERIALIZATION_NVP(A0_GPS);
-        archive& make_nvp("d_A0_GPS", d_A1_GPS);
+        archive& BOOST_SERIALIZATION_NVP(A1_GPS);
-        archive& make_nvp("d_A0_GPS", d_A0_GAL);
+        archive& BOOST_SERIALIZATION_NVP(A0_GAL);
-        archive& make_nvp("d_A0_GPS", d_A1_GAL);
+        archive& BOOST_SERIALIZATION_NVP(A1_GAL);
-        archive& make_nvp("d_A0_GPS", d_A0_GLO);
+        archive& BOOST_SERIALIZATION_NVP(A0_GLO);
-        archive& make_nvp("d_A0_GPS", d_A1_GLO);
+        archive& BOOST_SERIALIZATION_NVP(A1_GLO);
-        archive& make_nvp("valid", valid);
+        archive& BOOST_SERIALIZATION_NVP(valid);
     }
 };
 

src/core/system_parameters/galileo_almanac.h

@@ -38,19 +38,19 @@ public:
      */
     Galileo_Almanac() = default;
 
-    uint32_t i_satellite_PRN{};  //!< SV PRN NUMBER
+    uint32_t PRN{};  //!< SV PRN NUMBER
-    int32_t i_Toa{};
+    int32_t toa{};
-    int32_t i_WNa{};
+    int32_t WNa{};
-    int32_t i_IODa{};
+    int32_t IODa{};
-    double d_Delta_i{};         //!< Inclination at reference time relative to i0 = 56º [semi-circles]
+    double delta_i{};      //!< Inclination at reference time relative to i0 = 56º [semi-circles]
-    double d_M_0{};             //!< Mean Anomaly at Reference Time [semi-circles]
+    double M_0{};          //!< Mean Anomaly at Reference Time [semi-circles]
-    double d_e_eccentricity{};  //!< Eccentricity [dimensionless]
+    double ecc{};          //!< Eccentricity [dimensionless]
-    double d_Delta_sqrt_A{};    //!< Square Root of the Semi-Major Axis [sqrt(m)]
+    double delta_sqrtA{};  //!< 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 OMEGA_0{};      //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
-    double d_OMEGA{};           //!< Argument of Perigee [semi-cicles]
+    double omega{};        //!< Argument of Perigee [semi-cicles]
-    double d_OMEGA_DOT{};       //!< Rate of Right Ascension [semi-circles/s]
+    double OMEGAdot{};     //!< Rate of Right Ascension [semi-circles/s]
-    double d_A_f0{};            //!< Coefficient 0 of code phase offset model [s]
+    double af0{};          //!< Coefficient 0 of code phase offset model [s]
-    double d_A_f1{};            //!< Coefficient 1 of code phase offset model [s/s]
+    double af1{};          //!< Coefficient 1 of code phase offset model [s/s]
     int32_t E5b_HS{};
     int32_t E1B_HS{};
     int32_t E5a_HS{};
@@ -62,19 +62,19 @@ public:
         if (version)
             {
             };
-        ar& BOOST_SERIALIZATION_NVP(i_satellite_PRN);
+        ar& BOOST_SERIALIZATION_NVP(PRN);
-        ar& BOOST_SERIALIZATION_NVP(i_Toa);
+        ar& BOOST_SERIALIZATION_NVP(toa);
-        ar& BOOST_SERIALIZATION_NVP(i_WNa);
+        ar& BOOST_SERIALIZATION_NVP(WNa);
-        ar& BOOST_SERIALIZATION_NVP(i_IODa);
+        ar& BOOST_SERIALIZATION_NVP(IODa);
-        ar& BOOST_SERIALIZATION_NVP(d_Delta_i);
+        ar& BOOST_SERIALIZATION_NVP(delta_i);
-        ar& BOOST_SERIALIZATION_NVP(d_M_0);
+        ar& BOOST_SERIALIZATION_NVP(M_0);
-        ar& BOOST_SERIALIZATION_NVP(d_e_eccentricity);
+        ar& BOOST_SERIALIZATION_NVP(ecc);
-        ar& BOOST_SERIALIZATION_NVP(d_Delta_sqrt_A);
+        ar& BOOST_SERIALIZATION_NVP(delta_sqrtA);
-        ar& BOOST_SERIALIZATION_NVP(d_OMEGA0);
+        ar& BOOST_SERIALIZATION_NVP(OMEGA_0);
-        ar& BOOST_SERIALIZATION_NVP(d_OMEGA);
+        ar& BOOST_SERIALIZATION_NVP(omega);
-        ar& BOOST_SERIALIZATION_NVP(d_OMEGA_DOT);
+        ar& BOOST_SERIALIZATION_NVP(OMEGAdot);
-        ar& BOOST_SERIALIZATION_NVP(d_A_f0);
+        ar& BOOST_SERIALIZATION_NVP(af0);
-        ar& BOOST_SERIALIZATION_NVP(d_A_f1);
+        ar& BOOST_SERIALIZATION_NVP(af1);
         ar& BOOST_SERIALIZATION_NVP(E5b_HS);
         ar& BOOST_SERIALIZATION_NVP(E1B_HS);
         ar& BOOST_SERIALIZATION_NVP(E5a_HS);

src/core/system_parameters/galileo_almanac_helper.cc

@@ -22,56 +22,56 @@ Galileo_Almanac Galileo_Almanac_Helper::get_almanac(int i) const
     switch (i)
         {
         case 1:
-            galileo_almanac.i_satellite_PRN = this->SVID1_7;
+            galileo_almanac.PRN = this->SVID1_7;
-            galileo_almanac.i_Toa = this->t0a_7;
+            galileo_almanac.toa = this->t0a_7;
-            galileo_almanac.i_WNa = this->WN_a_7;
+            galileo_almanac.WNa = this->WN_a_7;
-            galileo_almanac.i_IODa = this->IOD_a_7;
+            galileo_almanac.IODa = this->IOD_a_7;
-            galileo_almanac.d_Delta_i = this->delta_i_7;
+            galileo_almanac.delta_i = this->delta_i_7;
-            galileo_almanac.d_M_0 = this->M0_7;
+            galileo_almanac.M_0 = this->M0_7;
-            galileo_almanac.d_e_eccentricity = this->e_7;
+            galileo_almanac.ecc = this->e_7;
-            galileo_almanac.d_Delta_sqrt_A = this->DELTA_A_7;
+            galileo_almanac.delta_sqrtA = this->DELTA_A_7;
-            galileo_almanac.d_OMEGA0 = this->Omega0_7;
+            galileo_almanac.OMEGA_0 = this->Omega0_7;
-            galileo_almanac.d_OMEGA = this->omega_7;
+            galileo_almanac.omega = this->omega_7;
-            galileo_almanac.d_OMEGA_DOT = this->Omega_dot_7;
+            galileo_almanac.OMEGAdot = this->Omega_dot_7;
-            galileo_almanac.d_A_f0 = this->af0_8;
+            galileo_almanac.af0 = this->af0_8;
-            galileo_almanac.d_A_f1 = this->af1_8;
+            galileo_almanac.af1 = this->af1_8;
             galileo_almanac.E5b_HS = this->E5b_HS_8;
             galileo_almanac.E1B_HS = this->E1B_HS_8;
             galileo_almanac.E5a_HS = this->E5a_HS_8;
             break;
 
         case 2:
-            galileo_almanac.i_satellite_PRN = this->SVID2_8;
+            galileo_almanac.PRN = this->SVID2_8;
-            galileo_almanac.i_Toa = this->t0a_9;
+            galileo_almanac.toa = this->t0a_9;
-            galileo_almanac.i_WNa = this->WN_a_9;
+            galileo_almanac.WNa = this->WN_a_9;
-            galileo_almanac.i_IODa = this->IOD_a_9;
+            galileo_almanac.IODa = this->IOD_a_9;
-            galileo_almanac.d_Delta_i = this->delta_i_8;
+            galileo_almanac.delta_i = this->delta_i_8;
-            galileo_almanac.d_M_0 = this->M0_9;
+            galileo_almanac.M_0 = this->M0_9;
-            galileo_almanac.d_e_eccentricity = this->e_8;
+            galileo_almanac.ecc = this->e_8;
-            galileo_almanac.d_Delta_sqrt_A = this->DELTA_A_8;
+            galileo_almanac.delta_sqrtA = this->DELTA_A_8;
-            galileo_almanac.d_OMEGA0 = this->Omega0_8;
+            galileo_almanac.OMEGA_0 = this->Omega0_8;
-            galileo_almanac.d_OMEGA = this->omega_8;
+            galileo_almanac.omega = this->omega_8;
-            galileo_almanac.d_OMEGA_DOT = this->Omega_dot_8;
+            galileo_almanac.OMEGAdot = this->Omega_dot_8;
-            galileo_almanac.d_A_f0 = this->af0_9;
+            galileo_almanac.af0 = this->af0_9;
-            galileo_almanac.d_A_f1 = this->af1_9;
+            galileo_almanac.af1 = this->af1_9;
             galileo_almanac.E1B_HS = this->E1B_HS_9;
             galileo_almanac.E5a_HS = this->E5a_HS_9;
             break;
 
         case 3:
-            galileo_almanac.i_satellite_PRN = this->SVID3_9;
+            galileo_almanac.PRN = this->SVID3_9;
-            galileo_almanac.i_Toa = this->t0a_9;
+            galileo_almanac.toa = this->t0a_9;
-            galileo_almanac.i_WNa = this->WN_a_9;
+            galileo_almanac.WNa = this->WN_a_9;
-            galileo_almanac.i_IODa = this->IOD_a_10;
+            galileo_almanac.IODa = this->IOD_a_10;
-            galileo_almanac.d_Delta_i = this->delta_i_9;
+            galileo_almanac.delta_i = this->delta_i_9;
-            galileo_almanac.d_M_0 = this->M0_10;
+            galileo_almanac.M_0 = this->M0_10;
-            galileo_almanac.d_e_eccentricity = this->e_9;
+            galileo_almanac.ecc = this->e_9;
-            galileo_almanac.d_Delta_sqrt_A = this->DELTA_A_9;
+            galileo_almanac.delta_sqrtA = this->DELTA_A_9;
-            galileo_almanac.d_OMEGA0 = this->Omega0_10;
+            galileo_almanac.OMEGA_0 = this->Omega0_10;
-            galileo_almanac.d_OMEGA = this->omega_9;
+            galileo_almanac.omega = this->omega_9;
-            galileo_almanac.d_OMEGA_DOT = this->Omega_dot_10;
+            galileo_almanac.OMEGAdot = this->Omega_dot_10;
-            galileo_almanac.d_A_f0 = this->af0_10;
+            galileo_almanac.af0 = this->af0_10;
-            galileo_almanac.d_A_f1 = this->af1_10;
+            galileo_almanac.af1 = this->af1_10;
             galileo_almanac.E5b_HS = this->E5b_HS_10;
             galileo_almanac.E1B_HS = this->E1B_HS_10;
             galileo_almanac.E5a_HS = this->E5a_HS_10;

src/core/system_parameters/galileo_ephemeris.cc

@@ -17,216 +17,46 @@
  */
 
 #include "galileo_ephemeris.h"
-#include "MATH_CONSTANTS.h"
-#include <cmath>
 
 
-double Galileo_Ephemeris::Galileo_System_Time(double WN, double TOW)
+double Galileo_Ephemeris::Galileo_System_Time(double week_number, double TOW)
 {
     /* GALILEO SYSTEM TIME, ICD 5.1.2
+     *
      * 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).
+     * week_number: The Week Number is an integer counter that gives the
-       Then the counter is reset to zero to cover additional period modulo 4096
+     * 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
-       TOW: The Time of Week is defined as the number of seconds that have occurred since
+     * additional period modulo 4096
-       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
+     * 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
-       WN and TOW are received in page 5
+     * entire week from 0 to 604799 seconds and is reset to zero at the end of
-
+     * each week
-       output:
+     *
-       t: it is the transmitted time in Galileo System Time (expressed in seconds)
+     *  week_number and TOW are received in page 5
-
+     *
-       The GST start epoch shall be 00:00 UT on Sunday 22nd August 1999 (midnight between 21st and 22nd August).
+     * output:
-       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
+     * t: it is the transmitted time in Galileo System Time (expressed
-       as of 01.01.2006 GST is ahead of UTC by fourteen (14) leap seconds.
+     * in seconds)
-
+     *
-       The epoch denoted in the navigation messages by TOW and WN
+     * The GST start epoch shall be 00:00 UT on Sunday 22nd August 1999
-       will be measured relative to the leading edge of the first chip of the
+     * (midnight between 21st and 22nd August). At the start epoch, GST shall be
-       first code sequence of the first page symbol. The transmission timing of the navigation
+     * ahead of UTC by thirteen (13) leap seconds. Since the next leap second
-       message provided through the TOW is synchronised to each satellite’s version of Galileo System Time (GST).
+     * 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 week_number 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).
      *
      */
     const double sec_in_day = 86400;
     const double day_in_week = 7;
-    double t = WN * sec_in_day * day_in_week + TOW;  // second from the origin of the Galileo time
+    double t = week_number * 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
-    const double dt = transmitTime - t0c_4;
-    Galileo_satClkDrift = af0_4 + af1_4 * dt + af2_4 * (dt * dt) + sv_clock_relativistic_term(transmitTime);  // +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
-{
-    // Restore semi-major axis
-    const double a = A_1 * A_1;
-
-    const double n0 = sqrt(GALILEO_GM / (a * a * a));
-
-    // Time from ephemeris reference epoch
-    // t = WN_5*86400*7 + TOW_5; //WN_5*86400*7 are the second from the origin of the Galileo time
-    const double tk = check_t(transmitTime - static_cast<double>(t0e_1));
-
-    // Corrected mean motion
-    const double n = n0 + delta_n_3;
-
-    // Mean anomaly
-    double M = M0_1 + n * tk;
-
-    // Reduce mean anomaly to between 0 and 2pi
-    M = fmod((M + 2.0 * GNSS_PI), (2.0 * GNSS_PI));
-
-    // Initial guess of eccentric anomaly
-    double E = M;
-    double E_old;
-    double dE;
-
-    // --- Iteratively compute eccentric anomaly ----------------------------
-    for (int32_t ii = 1; ii < 20; ii++)
-        {
-            E_old = E;
-            E = M + e_1 * sin(E);
-            dE = fmod(E - E_old, 2.0 * GNSS_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
-    // seconds computed by Galileo_System_Time (above function)
-
-    // Find Galileo satellite's position ---------------------------------------
-
-    // Restore semi-major axis
-    const double a = A_1 * A_1;
-
-    // Computed mean motion
-    const double n0 = sqrt(GALILEO_GM / (a * a * a));
-
-    // Time from ephemeris reference epoch
-    const double tk = check_t(transmitTime - static_cast<double>(t0e_1));
-
-    // Corrected mean motion
-    const double n = n0 + delta_n_3;
-
-    // Mean anomaly
-    double M = M0_1 + n * tk;
-
-    // Reduce mean anomaly to between 0 and 2pi
-    M = fmod((M + 2.0 * GNSS_PI), (2.0 * GNSS_PI));
-
-    // Initial guess of eccentric anomaly
-    double E = M;
-    double E_old;
-    double dE;
-
-    // --- Iteratively compute eccentric anomaly -------------------------------
-    for (int32_t ii = 1; ii < 20; ii++)
-        {
-            E_old = E;
-            E = M + e_1 * sin(E);
-            dE = fmod(E - E_old, 2.0 * GNSS_PI);
-            if (fabs(dE) < 1e-12)
-                {
-                    // Necessary precision is reached, exit from the loop
-                    break;
-                }
-        }
-
-    const double sek = sin(E);
-    const double cek = cos(E);
-    const double OneMinusecosE = 1.0 - e_1 * cek;
-    const double sq1e2 = sqrt(1.0 - e_1 * e_1);
-    const double ekdot = n / OneMinusecosE;
-
-    // Compute the true anomaly
-    const double tmp_Y = sq1e2 * sek;
-    const double tmp_X = cek - e_1;
-    const double nu = atan2(tmp_Y, tmp_X);
-
-    // Compute angle phi (argument of Latitude)
-    double phi = nu + omega_2;
-
-    // Reduce phi to between 0 and 2*pi rad
-    phi = fmod((phi), (2.0 * GNSS_PI));
-    const double s2pk = sin(2.0 * phi);
-    const double c2pk = cos(2.0 * phi);
-    const double pkdot = sq1e2 * ekdot / OneMinusecosE;
-
-    // Correct argument of latitude
-    const double u = phi + C_uc_3 * c2pk + C_us_3 * s2pk;
-    const double suk = sin(u);
-    const double cuk = cos(u);
-    const double ukdot = pkdot * (1.0 + 2.0 * (C_us_3 * c2pk - C_uc_3 * s2pk));
-
-    // Correct radius
-    const double r = a * OneMinusecosE + C_rc_3 * c2pk + C_rs_3 * s2pk;
-    const double rkdot = a * e_1 * sek * ekdot + 2.0 * pkdot * (C_rs_3 * c2pk - C_rc_3 * s2pk);
-
-    // Correct inclination
-    const double i = i_0_2 + iDot_2 * tk + C_ic_4 * c2pk + C_is_4 * s2pk;
-    const double sik = sin(i);
-    const double cik = cos(i);
-    const double ikdot = iDot_2 + 2.0 * pkdot * (C_is_4 * c2pk - C_ic_4 * s2pk);
-
-    // Compute the angle between the ascending node and the Greenwich meridian
-    const double Omega_dot = OMEGA_dot_3 - GNSS_OMEGA_EARTH_DOT;
-    double Omega = OMEGA_0_2 + Omega_dot * tk - GNSS_OMEGA_EARTH_DOT * static_cast<double>(t0e_1);
-
-    // Reduce to between 0 and 2*pi rad
-    Omega = fmod((Omega + 2.0 * GNSS_PI), (2.0 * GNSS_PI));
-    const double sok = sin(Omega);
-    const double cok = cos(Omega);
-
-    // --- Compute satellite coordinates in Earth-fixed coordinates
-    const double xprime = r * cuk;
-    const double yprime = r * suk;
-    d_satpos_X = xprime * cok - yprime * cik * sok;
-    d_satpos_Y = xprime * sok + yprime * cik * cok;  // ********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 = yprime * sik;
-
-    // Satellite's velocity. Can be useful for Vector Tracking loops
-    const double xpkdot = rkdot * cuk - yprime * ukdot;
-    const double ypkdot = rkdot * suk + xprime * ukdot;
-    const double tmp = ypkdot * cik - d_satpos_Z * ikdot;
-
-    d_satvel_X = -Omega_dot * d_satpos_Y + xpkdot * cok - tmp * sok;
-    d_satvel_Y = Omega_dot * d_satpos_X + xpkdot * sok + tmp * cok;
-    d_satvel_Z = yprime * cik * ikdot + ypkdot * sik;
-}
-
-
-double Galileo_Ephemeris::check_t(double time)
-{
-    const double half_week = 302400.0;  // seconds
-    double corrTime = time;
-    if (time > half_week)
-        {
-            corrTime = time - 2.0 * half_week;
-        }
-    else if (time < -half_week)
-        {
-            corrTime = time + 2.0 * half_week;
-        }
-    return corrTime;
-}

src/core/system_parameters/galileo_ephemeris.h

@@ -19,6 +19,7 @@
 #ifndef GNSS_SDR_GALILEO_EPHEMERIS_H
 #define GNSS_SDR_GALILEO_EPHEMERIS_H
 
+#include "gnss_ephemeris.h"
 #include <boost/serialization/nvp.hpp>
 #include <cstdint>
 
@@ -29,84 +30,43 @@
 
 
 /*!
- * \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
+ * \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
+ *
  *  (See https://www.gsc-europa.eu/sites/default/files/sites/all/files/Galileo_OS_SIS_ICD_v2.0.pdf )
  *
  */
-class Galileo_Ephemeris
+class Galileo_Ephemeris : public Gnss_Ephemeris
 {
 public:
-    Galileo_Ephemeris() = default;
+    Galileo_Ephemeris()
+    {
+        this->System = 'E';
+    }
 
-    void satellitePosition(double transmitTime);             //!< Computes the ECEF SV coordinates and ECEF velocity
+    double Galileo_System_Time(double week_number, double TOW);  //!< Galileo System Time (GST), ICD paragraph 5.1.2
-    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 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 */
     int32_t IOD_ephemeris{};
-    int32_t IOD_nav_1{};
+    int32_t IOD_nav{};
-    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]
-
-    /* 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
 
     // SV status
-    int32_t SISA_3{};
+    int32_t SISA{};      //!< Signal in space accuracy index
-    int32_t E5a_HS{};      //!< E5a Signal Health Status
+    int32_t E5a_HS{};    //!< E5a Signal Health Status
-    int32_t E5b_HS_5{};    //!< E5b Signal Health Status
+    int32_t E5b_HS{};    //!< E5b Signal Health Status
-    int32_t E1B_HS_5{};    //!< E1B Signal Health Status
+    int32_t E1B_HS{};    //!< E1B Signal Health Status
-    bool E5a_DVS{};        //!< E5a Data Validity Status
+    bool E5a_DVS{};      //!< E5a Data Validity Status
-    bool E5b_DVS_5{};      //!< E5b Data Validity Status
+    bool E5b_DVS{};      //!< E5b Data Validity Status
-    bool E1B_DVS_5{};      //!< E1B Data Validity Status
+    bool E1B_DVS{};      //!< E1B Data Validity Status
-    double BGD_E1E5a_5{};  //!< E1-E5a Broadcast Group Delay [s]
+    double BGD_E1E5a{};  //!< E1-E5a Broadcast Group Delay [s]
-    double BGD_E1E5b_5{};  //!< E1-E5b Broadcast Group Delay [s]
+    double BGD_E1E5b{};  //!< 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).
-
-    // 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]
-
-    uint32_t i_satellite_PRN{};  //!< SV PRN NUMBER
 
     bool flag_all_ephemeris{};
 
     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.
      */
     inline void serialize(Archive& archive, const uint32_t version)
     {
@@ -114,60 +74,45 @@ public:
             {
             };
 
-        archive& BOOST_SERIALIZATION_NVP(i_satellite_PRN);
+        archive& BOOST_SERIALIZATION_NVP(PRN);
-
+        archive& BOOST_SERIALIZATION_NVP(M_0);
-        archive& BOOST_SERIALIZATION_NVP(M0_1);
+        archive& BOOST_SERIALIZATION_NVP(delta_n);
-        archive& BOOST_SERIALIZATION_NVP(delta_n_3);
+        archive& BOOST_SERIALIZATION_NVP(ecc);
-        archive& BOOST_SERIALIZATION_NVP(e_1);
+        archive& BOOST_SERIALIZATION_NVP(sqrtA);
-        archive& BOOST_SERIALIZATION_NVP(A_1);
+        archive& BOOST_SERIALIZATION_NVP(OMEGA_0);
-        archive& BOOST_SERIALIZATION_NVP(OMEGA_0_2);
+        archive& BOOST_SERIALIZATION_NVP(i_0);
-        archive& BOOST_SERIALIZATION_NVP(i_0_2);
+        archive& BOOST_SERIALIZATION_NVP(omega);
-        archive& BOOST_SERIALIZATION_NVP(omega_2);
+        archive& BOOST_SERIALIZATION_NVP(OMEGAdot);
-        archive& BOOST_SERIALIZATION_NVP(OMEGA_dot_3);
+        archive& BOOST_SERIALIZATION_NVP(idot);
-        archive& BOOST_SERIALIZATION_NVP(iDot_2);
+        archive& BOOST_SERIALIZATION_NVP(Cuc);
-        archive& BOOST_SERIALIZATION_NVP(C_uc_3);
+        archive& BOOST_SERIALIZATION_NVP(Cus);
-        archive& BOOST_SERIALIZATION_NVP(C_us_3);
+        archive& BOOST_SERIALIZATION_NVP(Crc);
-        archive& BOOST_SERIALIZATION_NVP(C_rc_3);
+        archive& BOOST_SERIALIZATION_NVP(Crs);
-        archive& BOOST_SERIALIZATION_NVP(C_rs_3);
+        archive& BOOST_SERIALIZATION_NVP(Cic);
-        archive& BOOST_SERIALIZATION_NVP(C_ic_4);
+        archive& BOOST_SERIALIZATION_NVP(Cis);
-        archive& BOOST_SERIALIZATION_NVP(C_is_4);
+        archive& BOOST_SERIALIZATION_NVP(toe);
-        archive& BOOST_SERIALIZATION_NVP(t0e_1);
+        archive& BOOST_SERIALIZATION_NVP(toc);
-
+        archive& BOOST_SERIALIZATION_NVP(af0);
-        archive& BOOST_SERIALIZATION_NVP(t0c_4);
+        archive& BOOST_SERIALIZATION_NVP(af1);
-        archive& BOOST_SERIALIZATION_NVP(af0_4);
+        archive& BOOST_SERIALIZATION_NVP(af2);
-        archive& BOOST_SERIALIZATION_NVP(af1_4);
+        archive& BOOST_SERIALIZATION_NVP(WN);
-        archive& BOOST_SERIALIZATION_NVP(af2_4);
+        archive& BOOST_SERIALIZATION_NVP(tow);
-
+        archive& BOOST_SERIALIZATION_NVP(satClkDrift);
-        archive& BOOST_SERIALIZATION_NVP(WN_5);
+        archive& BOOST_SERIALIZATION_NVP(dtr);
-        archive& BOOST_SERIALIZATION_NVP(TOW_5);
-        archive& BOOST_SERIALIZATION_NVP(Galileo_satClkDrift);
-        archive& BOOST_SERIALIZATION_NVP(Galileo_dtr);
 
         archive& BOOST_SERIALIZATION_NVP(IOD_ephemeris);
-        archive& BOOST_SERIALIZATION_NVP(IOD_nav_1);
+        archive& BOOST_SERIALIZATION_NVP(IOD_nav);
-
+        archive& BOOST_SERIALIZATION_NVP(SISA);
-        archive& BOOST_SERIALIZATION_NVP(SISA_3);
         archive& BOOST_SERIALIZATION_NVP(E5a_HS);
-        archive& BOOST_SERIALIZATION_NVP(E5b_HS_5);
+        archive& BOOST_SERIALIZATION_NVP(E5b_HS);
-        archive& BOOST_SERIALIZATION_NVP(E1B_HS_5);
+        archive& BOOST_SERIALIZATION_NVP(E1B_HS);
         archive& BOOST_SERIALIZATION_NVP(E5a_DVS);
-        archive& BOOST_SERIALIZATION_NVP(E5b_DVS_5);
+        archive& BOOST_SERIALIZATION_NVP(E5b_DVS);
-        archive& BOOST_SERIALIZATION_NVP(E1B_DVS_5);
+        archive& BOOST_SERIALIZATION_NVP(E1B_DVS);
-
+        archive& BOOST_SERIALIZATION_NVP(BGD_E1E5a);
-        archive& BOOST_SERIALIZATION_NVP(BGD_E1E5a_5);
+        archive& BOOST_SERIALIZATION_NVP(BGD_E1E5b);
-        archive& BOOST_SERIALIZATION_NVP(BGD_E1E5b_5);
-
         archive& BOOST_SERIALIZATION_NVP(flag_all_ephemeris);
     }
-
-private:
-    /*
-     * Accounts for the beginning or end of week crossover
-     *
-     * \param[in]  -  time in seconds
-     * \param[out] -  corrected time, in seconds
-     */
-    double check_t(double time);
 };
 
 

src/core/system_parameters/galileo_fnav_message.cc

@@ -400,34 +400,33 @@ Galileo_Ephemeris Galileo_Fnav_Message::get_ephemeris() const
     Galileo_Ephemeris ephemeris;
     ephemeris.flag_all_ephemeris = flag_all_ephemeris;
     ephemeris.IOD_ephemeris = IOD_ephemeris;
-    ephemeris.SV_ID_PRN_4 = FNAV_SV_ID_PRN_1;
+    ephemeris.PRN = FNAV_SV_ID_PRN_1;
-    ephemeris.i_satellite_PRN = FNAV_SV_ID_PRN_1;
+    ephemeris.M_0 = FNAV_M0_2;             // Mean anomaly at reference time [semi-circles]
-    ephemeris.M0_1 = FNAV_M0_2;               // Mean anomaly at reference time [semi-circles]
+    ephemeris.delta_n = FNAV_deltan_3;     // Mean motion difference from computed value  [semi-circles/sec]
-    ephemeris.delta_n_3 = FNAV_deltan_3;      // Mean motion difference from computed value  [semi-circles/sec]
+    ephemeris.ecc = FNAV_e_2;              // Eccentricity
-    ephemeris.e_1 = FNAV_e_2;                 // Eccentricity
+    ephemeris.sqrtA = FNAV_a12_2;          // Square root of the semi-major axis [meters^1/2]
-    ephemeris.A_1 = FNAV_a12_2;               // Square root of the semi-major axis [meters^1/2]
+    ephemeris.OMEGA_0 = FNAV_omega0_2;     // Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
-    ephemeris.OMEGA_0_2 = FNAV_omega0_2;      // Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
+    ephemeris.i_0 = FNAV_i0_3;             // Inclination angle at reference time  [semi-circles]
-    ephemeris.i_0_2 = FNAV_i0_3;              // Inclination angle at reference time  [semi-circles]
+    ephemeris.omega = FNAV_w_3;            // Argument of perigee [semi-circles]
-    ephemeris.omega_2 = FNAV_w_3;             // Argument of perigee [semi-circles]
+    ephemeris.OMEGAdot = FNAV_omegadot_2;  // Rate of right ascension [semi-circles/sec]
-    ephemeris.OMEGA_dot_3 = FNAV_omegadot_2;  // Rate of right ascension [semi-circles/sec]
+    ephemeris.idot = FNAV_idot_2;          // Rate of inclination angle [semi-circles/sec]
-    ephemeris.iDot_2 = FNAV_idot_2;           // Rate of inclination angle [semi-circles/sec]
+    ephemeris.Cuc = FNAV_Cuc_3;            // Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
-    ephemeris.C_uc_3 = FNAV_Cuc_3;            // Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
+    ephemeris.Cus = FNAV_Cus_3;            // Amplitude of the sine harmonic correction term to the argument of latitude [radians]
-    ephemeris.C_us_3 = FNAV_Cus_3;            // Amplitude of the sine harmonic correction term to the argument of latitude [radians]
+    ephemeris.Crc = FNAV_Crc_3;            // Amplitude of the cosine harmonic correction term to the orbit radius [meters]
-    ephemeris.C_rc_3 = FNAV_Crc_3;            // Amplitude of the cosine harmonic correction term to the orbit radius [meters]
+    ephemeris.Crs = FNAV_Crs_3;            // Amplitude of the sine harmonic correction term to the orbit radius [meters]
-    ephemeris.C_rs_3 = FNAV_Crs_3;            // Amplitude of the sine harmonic correction term to the orbit radius [meters]
+    ephemeris.Cic = FNAV_Cic_4;            // Amplitude of the cosine harmonic correction     term to the angle of inclination [radians]
-    ephemeris.C_ic_4 = FNAV_Cic_4;            // Amplitude of the cosine harmonic correction     term to the angle of inclination [radians]
+    ephemeris.Cis = FNAV_Cis_4;            // Amplitude of the sine harmonic correction term to the angle of inclination [radians]
-    ephemeris.C_is_4 = FNAV_Cis_4;            // Amplitude of the sine harmonic correction term to the angle of inclination [radians]
+    ephemeris.toe = FNAV_t0e_3;            // Ephemeris reference time [s]
-    ephemeris.t0e_1 = FNAV_t0e_3;             // Ephemeris reference time [s]
 
     // Clock correction parameters
-    ephemeris.t0c_4 = FNAV_t0c_1;  // Clock correction data reference Time of Week [sec]
+    ephemeris.toc = FNAV_t0c_1;  // Clock correction data reference Time of Week [sec]
-    ephemeris.af0_4 = FNAV_af0_1;  // SV clock bias correction coefficient [s]
+    ephemeris.af0 = FNAV_af0_1;  // SV clock bias correction coefficient [s]
-    ephemeris.af1_4 = FNAV_af1_1;  // SV clock drift correction coefficient [s/s]
+    ephemeris.af1 = FNAV_af1_1;  // SV clock drift correction coefficient [s/s]
-    ephemeris.af2_4 = FNAV_af2_1;  // SV clock drift rate correction coefficient [s/s^2]
+    ephemeris.af2 = FNAV_af2_1;  // SV clock drift rate correction coefficient [s/s^2]
 
     // GST
-    ephemeris.WN_5 = FNAV_WN_3;    // Week number
+    ephemeris.WN = FNAV_WN_3;    // Week number
-    ephemeris.TOW_5 = FNAV_TOW_3;  // Time of Week
+    ephemeris.tow = FNAV_TOW_3;  // Time of Week
 
     // Health status
     ephemeris.E5a_HS = FNAV_E5ahs_1;
@@ -440,20 +439,20 @@ Galileo_Iono Galileo_Fnav_Message::get_iono() const
 {
     Galileo_Iono iono;
     // Ionospheric correction
-    iono.ai0_5 = FNAV_ai0_1;  // Effective Ionisation Level 1st order parameter [sfu]
+    iono.ai0 = FNAV_ai0_1;  // Effective Ionisation Level 1st order parameter [sfu]
-    iono.ai1_5 = FNAV_ai1_1;  // Effective Ionisation Level 2st order parameter [sfu/degree]
+    iono.ai1 = FNAV_ai1_1;  // Effective Ionisation Level 2st order parameter [sfu/degree]
-    iono.ai2_5 = FNAV_ai2_1;  // Effective Ionisation Level 3st order parameter [sfu/degree]
+    iono.ai2 = FNAV_ai2_1;  // Effective Ionisation Level 3st order parameter [sfu/degree]
 
     // Ionospheric disturbance flag
-    iono.Region1_flag_5 = FNAV_region1_1;  // Ionospheric Disturbance Flag for region 1
+    iono.Region1_flag = FNAV_region1_1;  // Ionospheric Disturbance Flag for region 1
-    iono.Region2_flag_5 = FNAV_region2_1;  // Ionospheric Disturbance Flag for region 2
+    iono.Region2_flag = FNAV_region2_1;  // Ionospheric Disturbance Flag for region 2
-    iono.Region3_flag_5 = FNAV_region3_1;  // Ionospheric Disturbance Flag for region 3
+    iono.Region3_flag = FNAV_region3_1;  // Ionospheric Disturbance Flag for region 3
-    iono.Region4_flag_5 = FNAV_region4_1;  // Ionospheric Disturbance Flag for region 4
+    iono.Region4_flag = FNAV_region4_1;  // Ionospheric Disturbance Flag for region 4
-    iono.Region5_flag_5 = FNAV_region5_1;  // Ionospheric Disturbance Flag for region 5
+    iono.Region5_flag = FNAV_region5_1;  // Ionospheric Disturbance Flag for region 5
 
     // GST
-    iono.TOW_5 = FNAV_TOW_1;
+    iono.tow = FNAV_TOW_1;
-    iono.WN_5 = FNAV_WN_1;
+    iono.WN = FNAV_WN_1;
     return iono;
 }
 
@@ -462,18 +461,15 @@ Galileo_Utc_Model Galileo_Fnav_Message::get_utc_model() const
 {
     Galileo_Utc_Model utc_model;
     // Word type 6: GST-UTC conversion parameters
-    utc_model.A0_6 = FNAV_A0_4;
+    utc_model.A0 = FNAV_A0_4;
-    utc_model.A1_6 = FNAV_A1_4;
+    utc_model.A1 = FNAV_A1_4;
-    utc_model.Delta_tLS_6 = FNAV_deltatls_4;
+    utc_model.Delta_tLS = FNAV_deltatls_4;
-    utc_model.t0t_6 = FNAV_t0t_4;
+    utc_model.tot = FNAV_t0t_4;
-    utc_model.WNot_6 = FNAV_WNot_4;
+    utc_model.WNot = FNAV_WNot_4;
-    utc_model.WN_LSF_6 = FNAV_WNlsf_4;
+    utc_model.WN_LSF = FNAV_WNlsf_4;
-    utc_model.DN_6 = FNAV_DN_4;
+    utc_model.DN = FNAV_DN_4;
-    utc_model.Delta_tLSF_6 = FNAV_deltatlsf_4;
+    utc_model.Delta_tLSF = FNAV_deltatlsf_4;
     utc_model.flag_utc_model = flag_utc_model;
-    // GST
-    // utc_model.WN_5 = WN_5; //Week number
-    // utc_model.TOW_5 = WN_5; //Time of Week
     return utc_model;
 }
 

src/core/system_parameters/galileo_inav_message.cc

@@ -267,45 +267,45 @@ Galileo_Ephemeris Galileo_Inav_Message::get_ephemeris() const
     Galileo_Ephemeris ephemeris;
     ephemeris.flag_all_ephemeris = flag_all_ephemeris;
     ephemeris.IOD_ephemeris = IOD_ephemeris;
-    ephemeris.SV_ID_PRN_4 = SV_ID_PRN_4;
+    ephemeris.IOD_nav = IOD_nav_1;
-    ephemeris.i_satellite_PRN = SV_ID_PRN_4;
+    ephemeris.PRN = SV_ID_PRN_4;
-    ephemeris.M0_1 = M0_1;                // Mean anomaly at reference time [semi-circles]
+    ephemeris.M_0 = M0_1;              // Mean anomaly at reference time [semi-circles]
-    ephemeris.delta_n_3 = delta_n_3;      // Mean motion difference from computed value  [semi-circles/sec]
+    ephemeris.delta_n = delta_n_3;     // Mean motion difference from computed value  [semi-circles/sec]
-    ephemeris.e_1 = e_1;                  // Eccentricity
+    ephemeris.ecc = e_1;               // Eccentricity
-    ephemeris.A_1 = A_1;                  // Square root of the semi-major axis [meters^1/2]
+    ephemeris.sqrtA = A_1;             // Square root of the semi-major axis [meters^1/2]
-    ephemeris.OMEGA_0_2 = OMEGA_0_2;      // Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
+    ephemeris.OMEGA_0 = OMEGA_0_2;     // Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
-    ephemeris.i_0_2 = i_0_2;              // Inclination angle at reference time  [semi-circles]
+    ephemeris.i_0 = i_0_2;             // Inclination angle at reference time  [semi-circles]
-    ephemeris.omega_2 = omega_2;          // Argument of perigee [semi-circles]
+    ephemeris.omega = omega_2;         // Argument of perigee [semi-circles]
-    ephemeris.OMEGA_dot_3 = OMEGA_dot_3;  // Rate of right ascension [semi-circles/sec]
+    ephemeris.OMEGAdot = OMEGA_dot_3;  // Rate of right ascension [semi-circles/sec]
-    ephemeris.iDot_2 = iDot_2;            // Rate of inclination angle [semi-circles/sec]
+    ephemeris.idot = iDot_2;           // Rate of inclination angle [semi-circles/sec]
-    ephemeris.C_uc_3 = C_uc_3;            // Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
+    ephemeris.Cuc = C_uc_3;            // Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
-    ephemeris.C_us_3 = C_us_3;            // Amplitude of the sine harmonic correction term to the argument of latitude [radians]
+    ephemeris.Cus = C_us_3;            // Amplitude of the sine harmonic correction term to the argument of latitude [radians]
-    ephemeris.C_rc_3 = C_rc_3;            // Amplitude of the cosine harmonic correction term to the orbit radius [meters]
+    ephemeris.Crc = C_rc_3;            // Amplitude of the cosine harmonic correction term to the orbit radius [meters]
-    ephemeris.C_rs_3 = C_rs_3;            // Amplitude of the sine harmonic correction term to the orbit radius [meters]
+    ephemeris.Crs = C_rs_3;            // Amplitude of the sine harmonic correction term to the orbit radius [meters]
-    ephemeris.C_ic_4 = C_ic_4;            // Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
+    ephemeris.Cic = C_ic_4;            // Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
-    ephemeris.C_is_4 = C_is_4;            // Amplitude of the sine harmonic correction term to the angle of inclination [radians]
+    ephemeris.Cis = C_is_4;            // Amplitude of the sine harmonic correction term to the angle of inclination [radians]
-    ephemeris.t0e_1 = t0e_1;              // Ephemeris reference time [s]
+    ephemeris.toe = t0e_1;             // Ephemeris reference time [s]
 
     // Clock correction parameters
-    ephemeris.t0c_4 = t0c_4;  // Clock correction data reference Time of Week [sec]
+    ephemeris.toc = t0c_4;  // Clock correction data reference Time of Week [sec]
-    ephemeris.af0_4 = af0_4;  // SV clock bias correction coefficient [s]
+    ephemeris.af0 = af0_4;  // SV clock bias correction coefficient [s]
-    ephemeris.af1_4 = af1_4;  // SV clock drift correction coefficient [s/s]
+    ephemeris.af1 = af1_4;  // SV clock drift correction coefficient [s/s]
-    ephemeris.af2_4 = af2_4;  // SV clock drift rate correction coefficient [s/s^2]
+    ephemeris.af2 = af2_4;  // SV clock drift rate correction coefficient [s/s^2]
 
     // GST
-    ephemeris.WN_5 = WN_5;    // Week number
+    ephemeris.WN = WN_5;    // Week number
-    ephemeris.TOW_5 = TOW_5;  // Time of Week
+    ephemeris.tow = TOW_5;  // Time of Week
 
-    ephemeris.SISA_3 = SISA_3;
+    ephemeris.SISA = SISA_3;
-    ephemeris.E5b_HS_5 = E5b_HS_5;    // E5b Signal Health Status
+    ephemeris.E5b_HS = E5b_HS_5;    // E5b Signal Health Status
-    ephemeris.E1B_HS_5 = E1B_HS_5;    // E1B Signal Health Status
+    ephemeris.E1B_HS = E1B_HS_5;    // E1B Signal Health Status
-    ephemeris.E5b_DVS_5 = E5b_DVS_5;  // E5b Data Validity Status
+    ephemeris.E5b_DVS = E5b_DVS_5;  // E5b Data Validity Status
-    ephemeris.E1B_DVS_5 = E1B_DVS_5;  // E1B Data Validity Status
+    ephemeris.E1B_DVS = E1B_DVS_5;  // E1B Data Validity Status
 
-    ephemeris.BGD_E1E5a_5 = BGD_E1E5a_5;  // E1-E5a Broadcast Group Delay [s]
+    ephemeris.BGD_E1E5a = BGD_E1E5a_5;  // E1-E5a Broadcast Group Delay [s]
-    ephemeris.BGD_E1E5b_5 = BGD_E1E5b_5;  // E1-E5b Broadcast Group Delay [s]
+    ephemeris.BGD_E1E5b = BGD_E1E5b_5;  // E1-E5b Broadcast Group Delay [s]
 
-    ephemeris.Galileo_satClkDrift = Galileo_satClkDrift;
+    ephemeris.satClkDrift = Galileo_satClkDrift;
 
     return ephemeris;
 }
@@ -315,21 +315,21 @@ Galileo_Iono Galileo_Inav_Message::get_iono() const
 {
     Galileo_Iono iono;
     // Ionospheric correction
-    iono.ai0_5 = ai0_5;  // Effective Ionisation Level 1st order parameter [sfu]
+    iono.ai0 = ai0_5;  // Effective Ionisation Level 1st order parameter [sfu]
-    iono.ai1_5 = ai1_5;  // Effective Ionisation Level 2st order parameter [sfu/degree]
+    iono.ai1 = ai1_5;  // Effective Ionisation Level 2st order parameter [sfu/degree]
-    iono.ai2_5 = ai2_5;  // Effective Ionisation Level 3st order parameter [sfu/degree]
+    iono.ai2 = ai2_5;  // Effective Ionisation Level 3st order parameter [sfu/degree]
 
     // GST
     // This is the ONLY page containing the Week Number (WN)
-    iono.TOW_5 = TOW_5;
+    iono.tow = TOW_5;
-    iono.WN_5 = WN_5;
+    iono.WN = WN_5;
 
     // Ionospheric disturbance flag
-    iono.Region1_flag_5 = Region1_flag_5;  // Ionospheric Disturbance Flag for region 1
+    iono.Region1_flag = Region1_flag_5;  // Ionospheric Disturbance Flag for region 1
-    iono.Region2_flag_5 = Region2_flag_5;  // Ionospheric Disturbance Flag for region 2
+    iono.Region2_flag = Region2_flag_5;  // Ionospheric Disturbance Flag for region 2
-    iono.Region3_flag_5 = Region3_flag_5;  // Ionospheric Disturbance Flag for region 3
+    iono.Region3_flag = Region3_flag_5;  // Ionospheric Disturbance Flag for region 3
-    iono.Region4_flag_5 = Region4_flag_5;  // Ionospheric Disturbance Flag for region 4
+    iono.Region4_flag = Region4_flag_5;  // Ionospheric Disturbance Flag for region 4
-    iono.Region5_flag_5 = Region5_flag_5;  // Ionospheric Disturbance Flag for region 5
+    iono.Region5_flag = Region5_flag_5;  // Ionospheric Disturbance Flag for region 5
 
     return iono;
 }
@@ -339,20 +339,20 @@ Galileo_Utc_Model Galileo_Inav_Message::get_utc_model() const
 {
     Galileo_Utc_Model utc_model;
     // Word type 6: GST-UTC conversion parameters
-    utc_model.A0_6 = A0_6;
+    utc_model.A0 = A0_6;
-    utc_model.A1_6 = A1_6;
+    utc_model.A1 = A1_6;
-    utc_model.Delta_tLS_6 = Delta_tLS_6;
+    utc_model.Delta_tLS = Delta_tLS_6;
-    utc_model.t0t_6 = t0t_6;
+    utc_model.tot = t0t_6;
-    utc_model.WNot_6 = WNot_6;
+    utc_model.WNot = WNot_6;
-    utc_model.WN_LSF_6 = WN_LSF_6;
+    utc_model.WN_LSF = WN_LSF_6;
-    utc_model.DN_6 = DN_6;
+    utc_model.DN = DN_6;
-    utc_model.Delta_tLSF_6 = Delta_tLSF_6;
+    utc_model.Delta_tLSF = Delta_tLSF_6;
     utc_model.flag_utc_model = flag_utc_model;
     // GPS to Galileo GST conversion parameters
-    utc_model.A_0G_10 = A_0G_10;
+    utc_model.A_0G = A_0G_10;
-    utc_model.A_1G_10 = A_1G_10;
+    utc_model.A_1G = A_1G_10;
-    utc_model.t_0G_10 = t_0G_10;
+    utc_model.t_0G = t_0G_10;
-    utc_model.WN_0G_10 = WN_0G_10;
+    utc_model.WN_0G = WN_0G_10;
     return utc_model;
 }
 

src/core/system_parameters/galileo_iono.h

@@ -29,7 +29,8 @@
 
 
 /*!
- * \brief This class is a storage for the GALILEO IONOSPHERIC data as described in Galileo ICD paragraph 5.1.6
+ * \brief This class is a storage for the GALILEO IONOSPHERIC data as described
+ * in Galileo ICD paragraph 5.1.6
  *
  * See https://www.gsc-europa.eu/sites/default/files/sites/all/files/Galileo_OS_SIS_ICD_v2.0.pdf
  */
@@ -42,20 +43,20 @@ public:
     Galileo_Iono() = default;
 
     // Ionospheric correction
-    double ai0_5{};  //!< Effective Ionisation Level 1st order parameter [sfu]
+    double ai0{};  //!< Effective Ionisation Level 1st order parameter [sfu]
-    double ai1_5{};  //!< Effective Ionisation Level 2st order parameter [sfu/degree]
+    double ai1{};  //!< Effective Ionisation Level 2st order parameter [sfu/degree]
-    double ai2_5{};  //!< Effective Ionisation Level 3st order parameter [sfu/degree]
+    double ai2{};  //!< Effective Ionisation Level 3st order parameter [sfu/degree]
 
     // from page 5 (UTC) to have a timestamp
-    int32_t TOW_5{};  //!< UTC data reference Time of Week [s]
+    int32_t tow{};  //!< UTC data reference Time of Week [s]
-    int32_t WN_5{};   //!< UTC data reference Week number [week]
+    int32_t WN{};   //!< UTC data reference Week number [week]
 
     // Ionospheric disturbance flag
-    bool Region1_flag_5{};  //!<  Ionospheric Disturbance Flag for region 1
+    bool Region1_flag{};  //!< Ionospheric Disturbance Flag for region 1
-    bool Region2_flag_5{};  //!< Ionospheric Disturbance Flag for region 2
+    bool Region2_flag{};  //!< Ionospheric Disturbance Flag for region 2
-    bool Region3_flag_5{};  //!< Ionospheric Disturbance Flag for region 3
+    bool Region3_flag{};  //!< Ionospheric Disturbance Flag for region 3
-    bool Region4_flag_5{};  //!< Ionospheric Disturbance Flag for region 4
+    bool Region4_flag{};  //!< Ionospheric Disturbance Flag for region 4
-    bool Region5_flag_5{};  //!< Ionospheric Disturbance Flag for region 5
+    bool Region5_flag{};  //!< Ionospheric Disturbance Flag for region 5
 
     template <class Archive>
 
@@ -65,20 +66,19 @@ public:
      */
     inline void serialize(Archive& archive, const unsigned int version)
     {
-        using boost::serialization::make_nvp;
         if (version)
             {
             };
-        archive& make_nvp("ai0_5", ai0_5);
+        archive& BOOST_SERIALIZATION_NVP(ai0);
-        archive& make_nvp("ai1_5", ai1_5);
+        archive& BOOST_SERIALIZATION_NVP(ai1);
-        archive& make_nvp("ai2_5", ai2_5);
+        archive& BOOST_SERIALIZATION_NVP(ai2);
-        archive& make_nvp("TOW_5", TOW_5);
+        archive& BOOST_SERIALIZATION_NVP(tow);
-        archive& make_nvp("WN_5", WN_5);
+        archive& BOOST_SERIALIZATION_NVP(WN);
-        archive& make_nvp("Region1_flag_5", Region1_flag_5);
+        archive& BOOST_SERIALIZATION_NVP(Region1_flag);
-        archive& make_nvp("Region2_flag_5", Region2_flag_5);
+        archive& BOOST_SERIALIZATION_NVP(Region2_flag);
-        archive& make_nvp("Region3_flag_5", Region3_flag_5);
+        archive& BOOST_SERIALIZATION_NVP(Region3_flag);
-        archive& make_nvp("Region4_flag_5", Region4_flag_5);
+        archive& BOOST_SERIALIZATION_NVP(Region4_flag);
-        archive& make_nvp("Region5_flag_5", Region5_flag_5);
+        archive& BOOST_SERIALIZATION_NVP(Region5_flag);
     }
 };
 

src/core/system_parameters/galileo_utc_model.cc

@@ -24,12 +24,12 @@ double Galileo_Utc_Model::GST_to_UTC_time(double t_e, int32_t WN) const
     double t_Utc_daytime;
     double Delta_t_Utc = 0;
     // Determine if the effectivity time of the leap second event is in the past
-    const int32_t weeksToLeapSecondEvent = WN_LSF_6 - (WN % 256);
+    const int32_t weeksToLeapSecondEvent = WN_LSF - (WN % 256);
 
     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
-            const int secondOfLeapSecondEvent = DN_6 * 24 * 60 * 60;
+            const int secondOfLeapSecondEvent = DN * 24 * 60 * 60;
             if (std::abs(t_e - secondOfLeapSecondEvent) > 21600)
                 {
                     /* 5.1.7a GST->UTC case a
@@ -39,7 +39,7 @@ double Galileo_Utc_Model::GST_to_UTC_time(double t_e, int32_t WN) const
                      * to the effective time and ends at six hours after the effective time,
                      * the GST/Utc relationship is given by
                      */
-                    Delta_t_Utc = Delta_tLS_6 + A0_6 + A1_6 * (t_e - t0t_6 + 604800 * static_cast<double>((WN % 256) - WNot_6));
+                    Delta_t_Utc = Delta_tLS + A0 + A1 * (t_e - tot + 604800 * static_cast<double>((WN % 256) - WNot));
                     t_Utc_daytime = fmod(t_e - Delta_t_Utc, 86400);
                 }
             else
@@ -49,9 +49,9 @@ double Galileo_Utc_Model::GST_to_UTC_time(double t_e, int32_t WN) const
                      * prior to the leap second adjustment to six hours after the adjustment time,
                      * the effective time is computed according to the following equations:
                      */
-                    Delta_t_Utc = Delta_tLS_6 + A0_6 + A1_6 * (t_e - t0t_6 + 604800 * static_cast<double>((WN % 256) - WNot_6));
+                    Delta_t_Utc = Delta_tLS + A0 + A1 * (t_e - tot + 604800 * static_cast<double>((WN % 256) - WNot));
                     const double W = fmod(t_e - Delta_t_Utc - 43200, 86400) + 43200;
-                    t_Utc_daytime = fmod(W, 86400 + Delta_tLSF_6 - Delta_tLS_6);
+                    t_Utc_daytime = fmod(W, 86400 + Delta_tLSF - Delta_tLS);
                     // implement something to handle a leap second event!
                 }
         }
@@ -64,7 +64,7 @@ double Galileo_Utc_Model::GST_to_UTC_time(double t_e, int32_t WN) const
              * 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 * static_cast<double>((WN % 256) - WNot_6));
+            Delta_t_Utc = Delta_tLSF + A0 + A1 * (t_e - tot + 604800 * static_cast<double>((WN % 256) - WNot));
             t_Utc_daytime = fmod(t_e - Delta_t_Utc, 86400);
         }
 

src/core/system_parameters/galileo_utc_model.h

@@ -41,24 +41,24 @@ public:
      */
     Galileo_Utc_Model() = default;
 
-    // double TOW_6;
+    // double TOW;
     double GST_to_UTC_time(double t_e, int32_t WN) const;  //!< GST-UTC Conversion Algorithm and Parameters
 
     // Word type 6: GST-UTC conversion parameters
-    double A0_6{};
+    double A0{};
-    double A1_6{};
+    double A1{};
-    int32_t Delta_tLS_6{};
+    int32_t Delta_tLS{};
-    int32_t t0t_6{};   //!< UTC data reference Time of Week [s]
+    int32_t tot{};   //!< UTC data reference Time of Week [s]
-    int32_t WNot_6{};  //!< UTC data reference Week number [week]
+    int32_t WNot{};  //!< UTC data reference Week number [week]
-    int32_t WN_LSF_6{};
+    int32_t WN_LSF{};
-    int32_t DN_6{};
+    int32_t DN{};
-    int32_t Delta_tLSF_6{};
+    int32_t Delta_tLSF{};
 
     // GPS to Galileo GST conversion parameters
-    double A_0G_10{};
+    double A_0G{};
-    double A_1G_10{};
+    double A_1G{};
-    int32_t t_0G_10{};
+    int32_t t_0G{};
-    int32_t WN_0G_10{};
+    int32_t WN_0G{};
 
     bool flag_utc_model{};
 
@@ -70,19 +70,18 @@ public:
      */
     inline void serialize(Archive& archive, const unsigned int version)
     {
-        using boost::serialization::make_nvp;
         if (version)
             {
             };
-        archive& make_nvp("A0_6", A0_6);
+        archive& BOOST_SERIALIZATION_NVP(A0);
-        archive& make_nvp("A1_6", A1_6);
+        archive& BOOST_SERIALIZATION_NVP(A1);
-        archive& make_nvp("Delta_tLS_6", Delta_tLS_6);
+        archive& BOOST_SERIALIZATION_NVP(Delta_tLS);
-        archive& make_nvp("t0t_6", t0t_6);
+        archive& BOOST_SERIALIZATION_NVP(tot);
-        archive& make_nvp("WNot_6", WNot_6);
+        archive& BOOST_SERIALIZATION_NVP(WNot);
-        archive& make_nvp("WN_LSF_6", WN_LSF_6);
+        archive& BOOST_SERIALIZATION_NVP(WN_LSF);
-        archive& make_nvp("DN_6", DN_6);
+        archive& BOOST_SERIALIZATION_NVP(DN);
-        archive& make_nvp("Delta_tLSF_6", Delta_tLSF_6);
+        archive& BOOST_SERIALIZATION_NVP(Delta_tLSF);
-        archive& make_nvp("flag_utc_model", flag_utc_model);
+        archive& BOOST_SERIALIZATION_NVP(flag_utc_model);
     }
 };
 

src/core/system_parameters/glonass_gnav_almanac.h

@@ -59,37 +59,37 @@ public:
 
     // 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 PRN{};                      //!< SV PRN Number, equivalent to slot number for compatibility with GPS
     uint32_t i_satellite_slot_number{};  //!< SV Slot Number
 
     template <class Archive>
     /*!
-     * \brief Serialize is a boost standard method to be called by the boost XML serialization. Here is used to save the almanac 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 almanac data on disk file.
      */
     void serialize(Archive& archive, const uint32_t version)
     {
-        using boost::serialization::make_nvp;
         if (version)
             {
             };
 
-        archive& make_nvp("i_satellite_freq_channel", i_satellite_freq_channel);
+        archive& BOOST_SERIALIZATION_NVP(i_satellite_freq_channel);
-        archive& make_nvp("i_satellite_PRN", i_satellite_PRN);
+        archive& BOOST_SERIALIZATION_NVP(PRN);
-        archive& make_nvp("i_satellite_slot_number", i_satellite_slot_number);
+        archive& BOOST_SERIALIZATION_NVP(i_satellite_slot_number);
-        archive& make_nvp("d_n_A", d_n_A);
+        archive& BOOST_SERIALIZATION_NVP(d_n_A);
-        archive& make_nvp("d_H_n_A", d_H_n_A);
+        archive& BOOST_SERIALIZATION_NVP(d_H_n_A);
-        archive& make_nvp("d_lambda_n_A", d_lambda_n_A);
+        archive& BOOST_SERIALIZATION_NVP(d_lambda_n_A);
-        archive& make_nvp("d_t_lambda_n_A", d_t_lambda_n_A);
+        archive& BOOST_SERIALIZATION_NVP(d_t_lambda_n_A);
-        archive& make_nvp("d_Delta_i_n_A", d_Delta_i_n_A);
+        archive& BOOST_SERIALIZATION_NVP(d_Delta_i_n_A);
-        archive& make_nvp("d_Delta_T_n_A", d_Delta_T_n_A);
+        archive& BOOST_SERIALIZATION_NVP(d_Delta_T_n_A);
-        archive& make_nvp("d_Delta_T_n_A_dot", d_Delta_T_n_A_dot);
+        archive& BOOST_SERIALIZATION_NVP(d_Delta_T_n_A_dot);
-        archive& make_nvp("d_epsilon_n_A", d_epsilon_n_A);
+        archive& BOOST_SERIALIZATION_NVP(d_epsilon_n_A);
-        archive& make_nvp("d_omega_n_A", d_omega_n_A);
+        archive& BOOST_SERIALIZATION_NVP(d_omega_n_A);
-        archive& make_nvp("d_M_n_A", d_M_n_A);
+        archive& BOOST_SERIALIZATION_NVP(d_M_n_A);
-        archive& make_nvp("d_KP", d_KP);
+        archive& BOOST_SERIALIZATION_NVP(d_KP);
-        archive& make_nvp("d_tau_n_A", d_tau_n_A);
+        archive& BOOST_SERIALIZATION_NVP(d_tau_n_A);
-        archive& make_nvp("d_C_n", d_C_n);
+        archive& BOOST_SERIALIZATION_NVP(d_C_n);
-        archive& make_nvp("d_l_n", d_l_n);
+        archive& BOOST_SERIALIZATION_NVP(d_l_n);
     }
 };
 

src/core/system_parameters/glonass_gnav_ephemeris.h

@@ -77,7 +77,7 @@ public:
     // 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 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
@@ -123,46 +123,46 @@ 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 uint32_t version)
     {
-        using boost::serialization::make_nvp;
         if (version)
             {
             };
 
-        archive& make_nvp("i_satellite_freq_channel", i_satellite_freq_channel);  //!< SV PRN frequency channel number
+        archive& BOOST_SERIALIZATION_NVP(i_satellite_freq_channel);  //!< SV PRN frequency channel number
-        archive& make_nvp("i_satellite_PRN", i_satellite_PRN);
+        archive& BOOST_SERIALIZATION_NVP(PRN);
-        archive& make_nvp("i_satellite_slot_number", i_satellite_slot_number);
+        archive& BOOST_SERIALIZATION_NVP(i_satellite_slot_number);
-        archive& make_nvp("d_m", d_m);                      //!< String number within frame [dimensionless]
+        archive& BOOST_SERIALIZATION_NVP(d_m);            //!< String number within frame [dimensionless]
-        archive& make_nvp("d_t_k", d_t_k);                  //!< Time referenced to the beginning of the frame within the current day [hours, minutes, seconds]
+        archive& BOOST_SERIALIZATION_NVP(d_t_k);          //!< Time referenced to the beginning of the frame within the current day [hours, minutes, seconds]
-        archive& make_nvp("d_t_b", d_t_b);                  //!< Index of a time interval within current day according to UTC(SU) + 03 hours 00 min. [minutes]
+        archive& BOOST_SERIALIZATION_NVP(d_t_b);          //!< Index of a time interval within current day according to UTC(SU) + 03 hours 00 min. [minutes]
-        archive& make_nvp("d_M", d_M);                      //!< Type of satellite transmitting navigation signal [dimensionless]
+        archive& BOOST_SERIALIZATION_NVP(d_M);            //!< Type of satellite transmitting navigation signal [dimensionless]
-        archive& make_nvp("d_gamma_n", d_gamma_n);          //!< Relative deviation of predicted carrier frequency value of n- satellite from nominal value at the instant tb [dimensionless]
+        archive& BOOST_SERIALIZATION_NVP(d_gamma_n);      //!< Relative deviation of predicted carrier frequency value of n- satellite from nominal value at the instant tb [dimensionless]
-        archive& make_nvp("d_tau_n", d_tau_n);              //!< Correction to the nth satellite time (tn) relative to GLONASS time (te)
+        archive& BOOST_SERIALIZATION_NVP(d_tau_n);        //!< Correction to the nth satellite time (tn) relative to GLONASS time (te)
-        archive& make_nvp("d_Xn", d_Xn);                    //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
+        archive& BOOST_SERIALIZATION_NVP(d_Xn);           //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
-        archive& make_nvp("d_Yn", d_Yn);                    //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
+        archive& BOOST_SERIALIZATION_NVP(d_Yn);           //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
-        archive& make_nvp("d_Zn", d_Zn);                    //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
+        archive& BOOST_SERIALIZATION_NVP(d_Zn);           //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
-        archive& make_nvp("d_VXn", d_VXn);                  //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
+        archive& BOOST_SERIALIZATION_NVP(d_VXn);          //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
-        archive& make_nvp("d_VYn", d_VYn);                  //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
+        archive& BOOST_SERIALIZATION_NVP(d_VYn);          //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
-        archive& make_nvp("d_VZn", d_VZn);                  //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
+        archive& BOOST_SERIALIZATION_NVP(d_VZn);          //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
-        archive& make_nvp("d_AXn", d_AXn);                  //!< Earth-fixed acceleration coordinate x of the satellite in PZ-90.02 coordinate system [km/s^2]
+        archive& BOOST_SERIALIZATION_NVP(d_AXn);          //!< Earth-fixed acceleration coordinate x of the satellite in PZ-90.02 coordinate system [km/s^2]
-        archive& make_nvp("d_AYn", d_AYn);                  //!< Earth-fixed acceleration coordinate y of the satellite in PZ-90.02 coordinate system [km/s^2]
+        archive& BOOST_SERIALIZATION_NVP(d_AYn);          //!< Earth-fixed acceleration coordinate y of the satellite in PZ-90.02 coordinate system [km/s^2]
-        archive& make_nvp("d_AZn", d_AZn);                  //!< Earth-fixed acceleration coordinate z of the satellite in PZ-90.02 coordinate system [km/s^2]
+        archive& BOOST_SERIALIZATION_NVP(d_AZn);          //!< Earth-fixed acceleration coordinate z of the satellite in PZ-90.02 coordinate system [km/s^2]
-        archive& make_nvp("d_B_n", d_B_n);                  //!< Health flag [dimensionless]
+        archive& BOOST_SERIALIZATION_NVP(d_B_n);          //!< Health flag [dimensionless]
-        archive& make_nvp("d_P", d_P);                      //!< Technological parameter of control segment, indication the satellite operation mode in respect of time parameters [dimensionless]
+        archive& BOOST_SERIALIZATION_NVP(d_P);            //!< Technological parameter of control segment, indication the satellite operation mode in respect of time parameters [dimensionless]
-        archive& make_nvp("d_N_T", 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]
+        archive& BOOST_SERIALIZATION_NVP(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]
-        archive& make_nvp("d_F_T", d_F_T);                  //!< Parameter that provides the predicted satellite user range accuracy at time tb [dimensionless]
+        archive& BOOST_SERIALIZATION_NVP(d_F_T);          //!< Parameter that provides the predicted satellite user range accuracy at time tb [dimensionless]
-        archive& make_nvp("d_n", d_n);                      //!< Index of the satellite transmitting given navigation signal. It corresponds to a slot number within GLONASS constellation
+        archive& BOOST_SERIALIZATION_NVP(d_n);            //!< Index of the satellite transmitting given navigation signal. It corresponds to a slot number within GLONASS constellation
-        archive& make_nvp("d_Delta_tau_n", 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]
+        archive& BOOST_SERIALIZATION_NVP(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]
-        archive& make_nvp("d_E_n", d_E_n);                  //!< Characterises "age" of a current information [days]
+        archive& BOOST_SERIALIZATION_NVP(d_E_n);          //!< Characterises "age" of a current information [days]
-        archive& make_nvp("d_P_1", d_P_1);                  //!< Flag of the immediate data updating.
+        archive& BOOST_SERIALIZATION_NVP(d_P_1);          //!< Flag of the immediate data updating.
-        archive& make_nvp("d_P_2", d_P_2);                  //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
+        archive& BOOST_SERIALIZATION_NVP(d_P_2);          //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
-        archive& make_nvp("d_P_3", 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]
+        archive& BOOST_SERIALIZATION_NVP(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]
-        archive& make_nvp("d_P_4", 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]
+        archive& BOOST_SERIALIZATION_NVP(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]
-        archive& make_nvp("d_l3rd_n", d_l3rd_n);            //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
+        archive& BOOST_SERIALIZATION_NVP(d_l3rd_n);       //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
-        archive& make_nvp("d_l5th_n", d_l5th_n);            //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
+        archive& BOOST_SERIALIZATION_NVP(d_l5th_n);       //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
     }
 
 private:

src/core/system_parameters/glonass_gnav_navigation_message.cc

@@ -314,7 +314,7 @@ int32_t Glonass_Gnav_Navigation_Message::string_decoder(const std::string& frame
                     // Fill in ephemeris deliverables in the code
                     flag_update_slot_number = true;
                     gnav_ephemeris.i_satellite_slot_number = static_cast<uint32_t>(gnav_ephemeris.d_n);
-                    gnav_ephemeris.i_satellite_PRN = static_cast<uint32_t>(gnav_ephemeris.d_n);
+                    gnav_ephemeris.PRN = static_cast<uint32_t>(gnav_ephemeris.d_n);
 
                     flag_ephemeris_str_4 = true;
                 }
@@ -408,7 +408,7 @@ int32_t Glonass_Gnav_Navigation_Message::string_decoder(const std::string& frame
                             gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A - 32.0;
                         }
                     gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
 
                     if (i_alm_satellite_slot_number == gnav_ephemeris.i_satellite_slot_number)
                         {
@@ -458,7 +458,7 @@ int32_t Glonass_Gnav_Navigation_Message::string_decoder(const std::string& frame
                             gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A - 32.0;
                         }
                     gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
 
                     flag_almanac_str_9 = true;
                 }
@@ -503,7 +503,7 @@ int32_t Glonass_Gnav_Navigation_Message::string_decoder(const std::string& frame
                             gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A - 32.0;
                         }
                     gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
 
                     flag_almanac_str_11 = true;
                 }
@@ -547,7 +547,7 @@ int32_t Glonass_Gnav_Navigation_Message::string_decoder(const std::string& frame
                             gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A - 32.0;
                         }
                     gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
 
                     flag_almanac_str_13 = true;
                 }
@@ -598,7 +598,7 @@ int32_t Glonass_Gnav_Navigation_Message::string_decoder(const std::string& frame
                             gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A - 32.0;
                         }
                     gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
-                    gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
+                    gnav_almanac[i_alm_satellite_slot_number - 1].PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
 
                     flag_almanac_str_15 = true;
                 }

src/core/system_parameters/glonass_gnav_utc_model.h

@@ -59,21 +59,21 @@ 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 almanac 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 almanac data on disk file.
      */
     void serialize(Archive& archive, const uint32_t version)
     {
-        using boost::serialization::make_nvp;
         if (version)
             {
             };
-        archive& make_nvp("valid", valid);
+        archive& BOOST_SERIALIZATION_NVP(valid);
-        archive& make_nvp("d_tau_c", d_tau_c);
+        archive& BOOST_SERIALIZATION_NVP(d_tau_c);
-        archive& make_nvp("d_tau_gps", d_tau_gps);
+        archive& BOOST_SERIALIZATION_NVP(d_tau_gps);
-        archive& make_nvp("d_N_4", d_N_4);
+        archive& BOOST_SERIALIZATION_NVP(d_N_4);
-        archive& make_nvp("d_N_A", d_N_A);
+        archive& BOOST_SERIALIZATION_NVP(d_N_A);
-        archive& make_nvp("d_B1", d_B1);
+        archive& BOOST_SERIALIZATION_NVP(d_B1);
-        archive& make_nvp("d_B2", d_B2);
+        archive& BOOST_SERIALIZATION_NVP(d_B2);
     }
 };
 

src/core/system_parameters/gnss_ephemeris.cc

@@ -0,0 +1,253 @@
+/*!
+ * \file gnss_ephemeris.cc
+ * \brief Base class for GNSS Ephemeris
+ * \author Carles Fernandez, 2021. cfernandez(at)cttc.es
+ *
+ *
+ * -----------------------------------------------------------------------------
+ *
+ * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
+ * This file is part of GNSS-SDR.
+ *
+ * Copyright (C) 2010-2021  (see AUTHORS file for a list of contributors)
+ * SPDX-License-Identifier: GPL-3.0-or-later
+ *
+ * -----------------------------------------------------------------------------
+ */
+
+#include "gnss_ephemeris.h"
+#include "MATH_CONSTANTS.h"
+#include <cmath>
+
+
+void Gnss_Ephemeris::satellitePosition(double transmitTime)
+{
+    // Restore semi-major axis
+    const double a = this->sqrtA * this->sqrtA;
+
+    // Computed mean motion
+    double n0;
+    if (this->System == 'E')
+        {
+            n0 = sqrt(GALILEO_GM / (a * a * a));
+        }
+    else if (this->System == 'B')
+        {
+            n0 = sqrt(BEIDOU_GM / (a * a * a));
+        }
+    else
+        {
+            n0 = sqrt(GPS_GM / (a * a * a));
+        }
+
+    // Time from ephemeris reference epoch
+    double tk = check_t(transmitTime - static_cast<double>(this->toe));
+
+    // Corrected mean motion
+    const double n = n0 + this->delta_n;
+
+    // Mean anomaly
+    double M = this->M_0 + n * tk;
+
+    // Reduce mean anomaly to between 0 and 2pi
+    M = fmod((M + 2.0 * GNSS_PI), (2.0 * GNSS_PI));
+
+    // Initial guess of eccentric anomaly
+    double E = M;
+    double E_old;
+    double dE;
+
+    // --- Iteratively compute eccentric anomaly -------------------------------
+    for (int32_t ii = 1; ii < 20; ii++)
+        {
+            E_old = E;
+            E = M + this->ecc * sin(E);
+            dE = fmod(E - E_old, 2.0 * GNSS_PI);
+            if (fabs(dE) < 1e-12)
+                {
+                    // Necessary precision is reached, exit from the loop
+                    break;
+                }
+        }
+
+    const double sek = sin(E);
+    const double cek = cos(E);
+    const double OneMinusecosE = 1.0 - this->ecc * cek;
+    const double sq1e2 = sqrt(1.0 - this->ecc * this->ecc);
+    const double ekdot = n / OneMinusecosE;
+
+    // Compute the true anomaly
+    const double tmp_Y = sq1e2 * sek;
+    const double tmp_X = cek - this->ecc;
+    const double nu = atan2(tmp_Y, tmp_X);
+
+    // Compute angle phi (argument of Latitude)
+    double phi = nu + this->omega;
+
+    // Reduce phi to between 0 and 2*pi rad
+    phi = fmod((phi), (2.0 * GNSS_PI));
+    const double s2pk = sin(2.0 * phi);
+    const double c2pk = cos(2.0 * phi);
+    const double pkdot = sq1e2 * ekdot / OneMinusecosE;
+
+    // Correct argument of latitude
+    const double u = phi + this->Cuc * c2pk + this->Cus * s2pk;
+    const double suk = sin(u);
+    const double cuk = cos(u);
+    const double ukdot = pkdot * (1.0 + 2.0 * (this->Cus * c2pk - this->Cuc * s2pk));
+
+    // Correct radius
+    const double r = a * OneMinusecosE + this->Crc * c2pk + this->Crs * s2pk;
+    const double rkdot = a * this->ecc * sek * ekdot + 2.0 * pkdot * (this->Crs * c2pk - this->Crc * s2pk);
+
+    // Correct inclination
+    const double i = this->i_0 + this->idot * tk + this->Cic * c2pk + this->Cis * s2pk;
+    const double sik = sin(i);
+    const double cik = cos(i);
+    const double ikdot = this->idot + 2.0 * pkdot * (this->Cis * c2pk - this->Cic * s2pk);
+
+    // Compute the angle between the ascending node and the Greenwich meridian
+    double Omega;
+    double Omega_dot;
+    if (this->System == 'B')
+        {
+            Omega_dot = this->OMEGAdot - BEIDOU_OMEGA_EARTH_DOT;
+            Omega = this->OMEGA_0 + Omega_dot * tk - BEIDOU_OMEGA_EARTH_DOT * static_cast<double>(this->toe);
+        }
+    else
+        {
+            Omega_dot = this->OMEGAdot - GNSS_OMEGA_EARTH_DOT;
+            Omega = this->OMEGA_0 + Omega_dot * tk - GNSS_OMEGA_EARTH_DOT * static_cast<double>(this->toe);
+        }
+
+    // Reduce to between 0 and 2*pi rad
+    Omega = fmod((Omega + 2.0 * GNSS_PI), (2.0 * GNSS_PI));
+    const double sok = sin(Omega);
+    const double cok = cos(Omega);
+
+    // --- Compute satellite coordinates in Earth-fixed coordinates
+    const double xprime = r * cuk;
+    const double yprime = r * suk;
+    this->satpos_X = xprime * cok - yprime * cik * sok;
+    this->satpos_Y = xprime * sok + yprime * cik * cok;  // ********NOTE: in GALILEO ICD this expression is not correct because it has minus (- sin(u) * r * cos(i) * cos(Omega)) instead of plus
+    this->satpos_Z = yprime * sik;
+
+    // Satellite's velocity. Can be useful for Vector Tracking loops
+    const double xpkdot = rkdot * cuk - yprime * ukdot;
+    const double ypkdot = rkdot * suk + xprime * ukdot;
+    const double tmp = ypkdot * cik - this->satpos_Z * ikdot;
+
+    this->satvel_X = -Omega_dot * this->satpos_Y + xpkdot * cok - tmp * sok;
+    this->satvel_Y = Omega_dot * this->satpos_X + xpkdot * sok + tmp * cok;
+    this->satvel_Z = yprime * cik * ikdot + ypkdot * sik;
+
+    // Time from ephemeris reference clock
+    tk = check_t(transmitTime - this->toc);
+
+    this->dtr = this->af0 + this->af1 * tk + this->af2 * tk * tk;
+
+    if (this->System == 'E')
+        {
+            this->dtr -= 2.0 * sqrt(GALILEO_GM * a) * this->ecc * sek / (SPEED_OF_LIGHT_M_S * SPEED_OF_LIGHT_M_S);
+        }
+    else if (this->System == 'B')
+        {
+            this->dtr -= 2.0 * sqrt(BEIDOU_GM * a) * this->ecc * sek / (SPEED_OF_LIGHT_M_S * SPEED_OF_LIGHT_M_S);
+        }
+    else
+        {
+            this->dtr -= 2.0 * sqrt(GPS_GM * a) * this->ecc * sek / (SPEED_OF_LIGHT_M_S * SPEED_OF_LIGHT_M_S);
+        }
+}
+
+
+double Gnss_Ephemeris::sv_clock_drift(double transmitTime)
+{
+    const double dt = check_t(transmitTime - this->toc);
+    this->dtr = sv_clock_relativistic_term(transmitTime);
+    this->satClkDrift = this->af0 + this->af1 * dt + this->af2 * (dt * dt) + this->dtr;
+    return this->satClkDrift;
+}
+
+
+double Gnss_Ephemeris::sv_clock_relativistic_term(double transmitTime) const
+{
+    // Restore semi-major axis
+    const double a = this->sqrtA * this->sqrtA;
+
+    // Time from ephemeris reference epoch
+    const double tk = check_t(transmitTime - this->toe);
+
+    // Computed mean motion
+    double n0;
+    if (this->System == 'E')
+        {
+            n0 = sqrt(GALILEO_GM / (a * a * a));
+        }
+    if (this->System == 'E')
+        {
+            n0 = sqrt(BEIDOU_GM / (a * a * a));
+        }
+    else
+        {
+            n0 = sqrt(GPS_GM / (a * a * a));
+        }
+    // Corrected mean motion
+    const double n = n0 + this->delta_n;
+
+    // Mean anomaly
+    const double M = this->M_0 + n * tk;
+
+    // Reduce mean anomaly to between 0 and 2pi
+    // M = fmod((M + 2.0 * GNSS_PI), (2.0 * GNSS_PI));
+
+    // Initial guess of eccentric anomaly
+    double E = M;
+    double E_old;
+    double dE;
+    // --- Iteratively compute eccentric anomaly ----------------------------
+    for (int32_t ii = 1; ii < 20; ii++)
+        {
+            E_old = E;
+            E = M + this->ecc * sin(E);
+            dE = fmod(E - E_old, 2.0 * GNSS_PI);
+            if (fabs(dE) < 1e-12)
+                {
+                    // Necessary precision is reached, exit from the loop
+                    break;
+                }
+        }
+    const double sek = sin(E);
+
+    // Compute relativistic correction term
+    double dtr_;
+    if (this->System == 'E')
+        {
+            dtr_ = GALILEO_F * this->ecc * this->sqrtA * sek;
+        }
+    if (this->System == 'B')
+        {
+            dtr_ = BEIDOU_F * this->ecc * this->sqrtA * sek;
+        }
+    else
+        {
+            dtr_ = GPS_F * this->ecc * this->sqrtA * sek;
+        }
+    return dtr_;
+}
+
+
+double Gnss_Ephemeris::check_t(double time) const
+{
+    const double half_week = 302400.0;  // seconds
+    double corrTime = time;
+    if (time > half_week)
+        {
+            corrTime = time - 2.0 * half_week;
+        }
+    else if (time < -half_week)
+        {
+            corrTime = time + 2.0 * half_week;
+        }
+    return corrTime;
+}

src/core/system_parameters/gnss_ephemeris.h

@@ -0,0 +1,90 @@
+/*!
+ * \file gnss_ephemeris.h
+ * \brief Base class for GNSS Ephemeris
+ * \author Carles Fernandez, 2021. cfernandez(at)cttc.es
+ *
+ *
+ * -----------------------------------------------------------------------------
+ *
+ * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
+ * This file is part of GNSS-SDR.
+ *
+ * Copyright (C) 2010-2021  (see AUTHORS file for a list of contributors)
+ * SPDX-License-Identifier: GPL-3.0-or-later
+ *
+ * -----------------------------------------------------------------------------
+ */
+
+
+#ifndef GNSS_SDR_GNSS_EPHEMERIS_H
+#define GNSS_SDR_GNSS_EPHEMERIS_H
+
+#include <cstdint>
+
+/*!
+ * \brief Base class for GNSS ephemeris storage
+ */
+class Gnss_Ephemeris
+{
+public:
+    Gnss_Ephemeris() = default;
+
+    /*!
+     * \brief Sets (\a satClkDrift) and (\a dtr), and returns the clock drift in
+     * seconds according to the User Algorithm for SV Clock Correction
+     * (IS-GPS-200L, 20.3.3.3.3.1, and Galileo OS SIS ICD, 5.1.4).
+     */
+    double sv_clock_drift(double transmitTime);
+
+    void satellitePosition(double transmitTime);  //!< Computes the ECEF SV coordinates and ECEF velocity
+
+    uint32_t PRN{};     //!< SV ID
+    double M_0{};       //!< Mean anomaly at reference time [semi-circles]
+    double delta_n{};   //!< Mean motion difference from computed value [semi-circles/sec]
+    double ecc{};       //!< Eccentricity
+    double sqrtA{};     //!< Square root of the semi-major axis [meters^1/2]
+    double OMEGA_0{};   //!< Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
+    double i_0{};       //!< Inclination angle at reference time [semi-circles]
+    double omega{};     //!< Argument of perigee [semi-circles]
+    double OMEGAdot{};  //!< Rate of right ascension [semi-circles/sec]
+    double idot{};      //!< Rate of inclination angle [semi-circles/sec]
+    double Cuc{};       //!< Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
+    double Cus{};       //!< Amplitude of the sine harmonic correction term to the argument of latitude [radians]
+    double Crc{};       //!< Amplitude of the cosine harmonic correction term to the orbit radius [meters]
+    double Crs{};       //!< Amplitude of the sine harmonic correction term to the orbit radius [meters]
+    double Cic{};       //!< Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
+    double Cis{};       //!< Amplitude of the sine harmonic correction term to the angle of inclination [radians]
+    int32_t toe{};      //!< Ephemeris reference time [s]
+
+    // Clock correction parameters
+    int32_t toc{};  //!< Clock correction data reference Time of Week [sec]
+    double af0{};   //!< SV clock bias correction coefficient [s]
+    double af1{};   //!< SV clock drift correction coefficient [s/s]
+    double af2{};   //!< SV clock drift rate correction coefficient [s/s^2]
+
+    double satClkDrift{};  //!< SV clock drift
+    double dtr{};          //!< Relativistic clock correction term
+
+    // Time
+    int32_t WN{};   //!< Week number
+    int32_t tow{};  //!< Time of Week
+
+    // satellite positions
+    double 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 satpos_Y{};  //!< Earth-fixed coordinate y of the satellite [m]. Completes a right-handed, Earth-Centered, Earth-Fixed orthogonal coordinate system.
+    double 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 satvel_X{};  //!< Earth-fixed velocity coordinate x of the satellite [m]
+    double satvel_Y{};  //!< Earth-fixed velocity coordinate y of the satellite [m]
+    double satvel_Z{};  //!< Earth-fixed velocity coordinate z of the satellite [m]
+
+protected:
+    char System{};  //!< Character ID of the GNSS system. 'G': GPS.  'E': Galileo.  'B': BeiDou
+
+private:
+    double check_t(double time) const;
+    double sv_clock_relativistic_term(double transmitTime) const;
+};
+
+#endif  // GNSS_SDR_GNSS_EPHEMERIS_H

src/core/system_parameters/gps_acq_assist.h

@@ -42,10 +42,10 @@ public:
      */
     Gps_Acq_Assist() = default;
 
-    uint32_t i_satellite_PRN{};   //!< SV PRN NUMBER
+    uint32_t PRN{};               //!< SV PRN NUMBER
-    double d_TOW{};               //!< Time Of Week assigned to the acquisition data
+    double tow{};                 //!< Time Of Week assigned to the acquisition data
-    double d_Doppler0{};          //!< Doppler (0 order term) [Hz]
+    double Doppler0{};            //!< Doppler (0 order term) [Hz]
-    double d_Doppler1{};          //!< Doppler (1 order term) [Hz]
+    double 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]

src/core/system_parameters/gps_almanac.h

@@ -40,20 +40,20 @@ public:
      */
     Gps_Almanac() = default;
 
-    uint32_t i_satellite_PRN{};  //!< SV PRN NUMBER
+    uint32_t PRN{};       //!< SV PRN NUMBER
-    double d_Delta_i{};          //!< Inclination Angle at Reference Time (relative to i_0 = 0.30 semi-circles)
+    double 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-200L) [s]
+    int32_t toa{};        //!< Almanac data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200L) [s]
-    int32_t i_WNa{};             //!< Almanac week number
+    int32_t WNa{};        //!< Almanac week number
-    double d_M_0{};              //!< Mean Anomaly at Reference Time [semi-circles]
+    double M_0{};         //!< Mean Anomaly at Reference Time [semi-circles]
-    double d_e_eccentricity{};   //!< Eccentricity [dimensionless]
+    double ecc{};         //!< Eccentricity [dimensionless]
-    double d_sqrt_A{};           //!< Square Root of the Semi-Major Axis [sqrt(m)]
+    double sqrtA{};       //!< 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 OMEGA_0{};     //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
-    double d_OMEGA{};            //!< Argument of Perigee [semi-cicles]
+    double omega{};       //!< Argument of Perigee [semi-cicles]
-    double d_OMEGA_DOT{};        //!< Rate of Right Ascension [semi-circles/s]
+    double OMEGAdot{};    //!< Rate of Right Ascension [semi-circles/s]
-    int32_t i_SV_health{};       //!< SV Health
+    int32_t SV_health{};  //!< SV Health
-    int32_t i_AS_status{};       //!< Anti-Spoofing Flags and SV Configuration
+    int32_t AS_status{};  //!< Anti-Spoofing Flags and SV Configuration
-    double d_A_f0{};             //!< Coefficient 0 of code phase offset model [s]
+    double af0{};         //!< Coefficient 0 of code phase offset model [s]
-    double d_A_f1{};             //!< Coefficient 1 of code phase offset model [s/s]
+    double af1{};         //!< Coefficient 1 of code phase offset model [s/s]
 
     template <class Archive>
 
@@ -62,20 +62,20 @@ public:
         if (version)
             {
             };
-        ar& BOOST_SERIALIZATION_NVP(i_satellite_PRN);
+        ar& BOOST_SERIALIZATION_NVP(PRN);
-        ar& BOOST_SERIALIZATION_NVP(d_Delta_i);
+        ar& BOOST_SERIALIZATION_NVP(delta_i);
-        ar& BOOST_SERIALIZATION_NVP(i_Toa);
+        ar& BOOST_SERIALIZATION_NVP(toa);
-        ar& BOOST_SERIALIZATION_NVP(i_WNa);
+        ar& BOOST_SERIALIZATION_NVP(WNa);
-        ar& BOOST_SERIALIZATION_NVP(d_M_0);
+        ar& BOOST_SERIALIZATION_NVP(M_0);
-        ar& BOOST_SERIALIZATION_NVP(d_e_eccentricity);
+        ar& BOOST_SERIALIZATION_NVP(ecc);
-        ar& BOOST_SERIALIZATION_NVP(d_sqrt_A);
+        ar& BOOST_SERIALIZATION_NVP(sqrtA);
-        ar& BOOST_SERIALIZATION_NVP(d_OMEGA0);
+        ar& BOOST_SERIALIZATION_NVP(OMEGA_0);
-        ar& BOOST_SERIALIZATION_NVP(d_OMEGA);
+        ar& BOOST_SERIALIZATION_NVP(omega);
-        ar& BOOST_SERIALIZATION_NVP(d_OMEGA_DOT);
+        ar& BOOST_SERIALIZATION_NVP(OMEGAdot);
-        ar& BOOST_SERIALIZATION_NVP(i_SV_health);
+        ar& BOOST_SERIALIZATION_NVP(SV_health);
-        ar& BOOST_SERIALIZATION_NVP(i_AS_status);
+        ar& BOOST_SERIALIZATION_NVP(AS_status);
-        ar& BOOST_SERIALIZATION_NVP(d_A_f0);
+        ar& BOOST_SERIALIZATION_NVP(af0);
-        ar& BOOST_SERIALIZATION_NVP(d_A_f1);
+        ar& BOOST_SERIALIZATION_NVP(af1);
     }
 };
 

src/core/system_parameters/gps_cnav_ephemeris.cc

@@ -1,218 +0,0 @@
-/*!
- * \file gps_cnav_ephemeris.cc
- * \brief  Interface of a GPS CNAV EPHEMERIS storage and orbital model functions
- *
- * See https://www.gps.gov/technical/icwg/IS-GPS-200L.pdf Appendix III
- * \author Javier Arribas, 2015. jarribas(at)cttc.es
- *
- * -----------------------------------------------------------------------------
- *
- * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
- * This file is part of GNSS-SDR.
- *
- * Copyright (C) 2010-2020  (see AUTHORS file for a list of contributors)
- * SPDX-License-Identifier: GPL-3.0-or-later
- *
- * -----------------------------------------------------------------------------
- */
-
-#include "gps_cnav_ephemeris.h"
-#include "MATH_CONSTANTS.h"  // for GNSS_PI, SPEED_OF_LIGHT_M_S, F, GPS_GM
-#include <cmath>
-
-
-double Gps_CNAV_Ephemeris::check_t(double time)
-{
-    const double half_week = 302400.0;  // seconds
-    double corrTime = time;
-    if (time > half_week)
-        {
-            corrTime = time - 2.0 * half_week;
-        }
-    else if (time < -half_week)
-        {
-            corrTime = time + 2.0 * half_week;
-        }
-    return corrTime;
-}
-
-
-// 20.3.3.3.3.1 User Algorithm for SV Clock Correction.
-double Gps_CNAV_Ephemeris::sv_clock_drift(double transmitTime)
-{
-    const double 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);
-
-    // Correct satellite group delay
-    d_satClkDrift -= d_TGD;
-
-    return d_satClkDrift;
-}
-
-
-// compute the relativistic correction term
-double Gps_CNAV_Ephemeris::sv_clock_relativistic_term(double transmitTime)
-{
-    const double A_REF = 26559710.0;  // See IS-GPS-200L,  pp. 161
-    const double d_sqrt_A = sqrt(A_REF + d_DELTA_A);
-
-    // Restore semi-major axis
-    const double a = d_sqrt_A * d_sqrt_A;
-
-    // Time from ephemeris reference epoch
-    const double tk = check_t(transmitTime - d_Toe1);
-
-    // Computed mean motion
-    const double n0 = sqrt(GPS_GM / (a * a * a));
-
-    // Corrected mean motion
-    const double n = n0 + d_Delta_n;
-
-    // Mean anomaly
-    const double M = d_M_0 + n * tk;
-
-    // Reduce mean anomaly to between 0 and 2pi
-    // M = fmod((M + 2.0 * GNSS_PI), (2.0 * GNSS_PI));
-
-    // Initial guess of eccentric anomaly
-    double E = M;
-    double E_old;
-    double dE;
-
-    // --- Iteratively compute eccentric anomaly -------------------------------
-    for (int32_t ii = 1; ii < 20; ii++)
-        {
-            E_old = E;
-            E = M + d_e_eccentricity * sin(E);
-            dE = fmod(E - E_old, 2.0 * GNSS_PI);
-            if (fabs(dE) < 1e-12)
-                {
-                    // Necessary precision is reached, exit from the loop
-                    break;
-                }
-        }
-
-    // Compute relativistic correction term
-    d_dtr = GPS_F * d_e_eccentricity * d_sqrt_A * sin(E);
-    return d_dtr;
-}
-
-
-double Gps_CNAV_Ephemeris::satellitePosition(double transmitTime)
-{
-    const double A_REF = 26559710.0;       // See IS-GPS-200L,  pp. 161
-    const double OMEGA_DOT_REF = -2.6e-9;  // semicircles / s, see IS-GPS-200L pp. 160
-
-    const double d_sqrt_A = sqrt(A_REF + d_DELTA_A);
-
-    // Find satellite's position -----------------------------------------------
-
-    // Restore semi-major axis
-    const double a = d_sqrt_A * d_sqrt_A;
-
-    // Time from ephemeris reference epoch
-    double tk = check_t(transmitTime - d_Toe1);
-
-    // Computed mean motion
-    const double n0 = sqrt(GPS_GM / (a * a * a));
-
-    // Mean motion difference from computed value
-    const double delta_n_a = d_Delta_n + 0.5 * d_DELTA_DOT_N * tk;
-
-    // Corrected mean motion
-    const double n = n0 + delta_n_a;
-
-    // Mean anomaly
-    const double M = d_M_0 + n * tk;
-
-    // Reduce mean anomaly to between 0 and 2pi
-    // M = fmod((M + 2 * GNSS_PI), (2 * GNSS_PI));
-
-    // Initial guess of eccentric anomaly
-    double E = M;
-    double E_old;
-    double dE;
-    // --- Iteratively compute eccentric anomaly -------------------------------
-    for (int32_t ii = 1; ii < 20; ii++)
-        {
-            E_old = E;
-            E = M + d_e_eccentricity * sin(E);
-            dE = fmod(E - E_old, 2 * GNSS_PI);
-            if (fabs(dE) < 1e-12)
-                {
-                    // Necessary precision is reached, exit from the loop
-                    break;
-                }
-        }
-
-    const double sek = sin(E);
-    const double cek = cos(E);
-    const double OneMinusecosE = 1.0 - d_e_eccentricity * cek;
-    const double ekdot = n / OneMinusecosE;
-
-    // Compute the true anomaly
-    const double sq1e2 = sqrt(1.0 - d_e_eccentricity * d_e_eccentricity);
-    const double tmp_Y = sq1e2 * sek;
-    const double tmp_X = cek - d_e_eccentricity;
-    const double nu = atan2(tmp_Y, tmp_X);
-
-    // Compute angle phi (argument of Latitude)
-    const double phi = nu + d_OMEGA;
-    double pkdot = sq1e2 * ekdot / OneMinusecosE;
-
-    // Reduce phi to between 0 and 2*pi rad
-    // phi = fmod((phi), (2.0 * GNSS_PI));
-    const double s2pk = sin(2.0 * phi);
-    const double c2pk = cos(2.0 * phi);
-
-    // Correct argument of latitude
-    const double u = phi + d_Cuc * c2pk + d_Cus * s2pk;
-    const double cuk = cos(u);
-    const double suk = sin(u);
-    const double ukdot = pkdot * (1.0 + 2.0 * (d_Cus * c2pk - d_Cuc * s2pk));
-
-    // Correct radius
-    const double r = a * (1.0 - d_e_eccentricity * cek) + d_Crc * c2pk + d_Crs * s2pk;
-
-    const double rkdot = a * d_e_eccentricity * sek * ekdot + 2.0 * pkdot * (d_Crs * c2pk - d_Crc * s2pk);
-
-    // Correct inclination
-    const double i = d_i_0 + d_IDOT * tk + d_Cic * c2pk + d_Cis * s2pk;
-    const double sik = sin(i);
-    const double cik = cos(i);
-    const double ikdot = d_IDOT + 2.0 * pkdot * (d_Cis * c2pk - d_Cic * s2pk);
-
-    // Compute the angle between the ascending node and the Greenwich meridian
-    const double d_OMEGA_DOT = OMEGA_DOT_REF * GNSS_PI + d_DELTA_OMEGA_DOT;
-    const double Omega = d_OMEGA0 + (d_OMEGA_DOT - GNSS_OMEGA_EARTH_DOT) * tk - GNSS_OMEGA_EARTH_DOT * d_Toe1;
-    const double sok = sin(Omega);
-    const double cok = cos(Omega);
-
-    // Compute satellite coordinates in Earth-fixed coordinates
-    const double xprime = r * cuk;
-    const double yprime = r * suk;
-    d_satpos_X = xprime * cok - yprime * cik * sok;
-    d_satpos_Y = xprime * sok + yprime * cik * cok;
-    d_satpos_Z = yprime * sik;
-
-    // Satellite's velocity. Can be useful for Vector Tracking loops
-    const double Omega_dot = d_OMEGA_DOT - GNSS_OMEGA_EARTH_DOT;
-
-    const double xpkdot = rkdot * cuk - yprime * ukdot;
-    const double ypkdot = rkdot * suk + xprime * ukdot;
-    const double tmp = ypkdot * cik - d_satpos_Z * ikdot;
-
-    d_satvel_X = -Omega_dot * d_satpos_Y + xpkdot * cok - tmp * sok;
-    d_satvel_Y = Omega_dot * d_satpos_X + xpkdot * sok + tmp * cok;
-    d_satvel_Z = yprime * cik * ikdot + ypkdot * sik;
-
-    // Time from ephemeris reference clock
-    tk = check_t(transmitTime - d_Toc);
-
-    double dtr_s = d_A_f0 + d_A_f1 * tk + d_A_f2 * tk * tk;
-
-    /* relativity correction */
-    dtr_s -= 2.0 * sqrt(GPS_GM * a) * d_e_eccentricity * sek / (SPEED_OF_LIGHT_M_S * SPEED_OF_LIGHT_M_S);
-
-    return dtr_s;
-}

src/core/system_parameters/gps_cnav_ephemeris.h

@@ -18,6 +18,7 @@
 #ifndef GNSS_SDR_GPS_CNAV_EPHEMERIS_H
 #define GNSS_SDR_GPS_CNAV_EPHEMERIS_H
 
+#include "gnss_ephemeris.h"
 #include <boost/serialization/nvp.hpp>
 #include <cstdint>
 
@@ -28,115 +29,66 @@
 
 
 /*!
- * \brief This class is a storage and orbital model functions for the GPS SV ephemeris data as described in IS-GPS-200L
+ * \brief This is a storage class for the GPS CNAV ephemeris data as described
+ * in IS-GPS-200L
  *
  * See https://www.gps.gov/technical/icwg/IS-GPS-200L.pdf Appendix III
  */
-class Gps_CNAV_Ephemeris
+class Gps_CNAV_Ephemeris : public Gnss_Ephemeris
 {
 public:
     /*!
-     * Default constructor
+     * Constructor
      */
-    Gps_CNAV_Ephemeris() = default;
+    Gps_CNAV_Ephemeris()
+    {
+        this->System = 'G';
+    }
 
-    /*!
+    double delta_A{};         //!< Semi-major axis difference at reference time
-     * \brief Compute the ECEF SV coordinates and ECEF velocity
+    double Adot{};            //!< Change rate in semi-major axis
-     * Implementation of Table 20-IV (IS-GPS-200L)
+    double delta_ndot{};      //!< Rate of mean motion difference from computed value
-     */
+    double delta_OMEGAdot{};  //!< Rate of Right Ascension  difference [semi-circles/s]
-    double satellitePosition(double transmitTime);
+    int32_t toe1{};           //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200L) [s]
+    int32_t toe2{};           //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200L) [s]
+    int32_t signal_health{};  //!< Signal health (L1/L2/L5)
+    int32_t top{};            //!< Data predict time of week
+    int32_t URA{};            //!< ED Accuracy Index
 
-    /*!
+    double URA0{};  //!< NED Accuracy Index
-     * \brief Sets (\a d_satClkDrift)and returns the clock drift in seconds according to the User Algorithm for SV Clock Correction
+    double URA1{};  //!< NED Accuracy Change Index
-     *  (IS-GPS-200L,  20.3.3.3.3.1)
+    double URA2{};  //!< NED Accuracy Change Rate Index
-     */
-    double sv_clock_drift(double transmitTime);
-
-    /*!
-     * \brief Sets (\a d_dtr) and returns the clock relativistic correction term in seconds according to the User Algorithm for SV Clock Correction
-     *  (IS-GPS-200L,  20.3.3.3.3.1)
-     */
-    double sv_clock_relativistic_term(double transmitTime);
-
-    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-200L) [s]
-    int32_t d_Toe2{};            //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200L) [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-200L) [s]
-    double d_A_f0{};  //!< Coefficient 0 of code phase offset model [s]
-    double d_A_f1{};  //!< Coefficient 1 of code phase offset model [s/s]
-    double d_A_f2{};  //!< Coefficient 2 of code phase offset model [s/s^2]
-
-    double d_URA0{};  //!< NED Accuracy Index
-    double d_URA1{};  //!< NED Accuracy Change Index
-    double d_URA2{};  //!< NED Accuracy Change Rate Index
 
     // Group Delay Differential Parameters
-    double d_TGD{};  //!< Estimated Group Delay Differential: L1-L2 correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
+    double 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 ISCL1{};
-    double d_ISCL2{};
+    double ISCL2{};
-    double d_ISCL5I{};
+    double ISCL5I{};
-    double d_ISCL5Q{};
+    double ISCL5Q{};
-
-    int32_t d_TOW{};  //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
-
-    // clock terms derived from ephemeris data
-    double d_satClkDrift{};  //!< GPS clock error
-    double d_dtr{};          //!< relativistic clock correction term
-
-    // satellite positions
-    double d_satpos_X{};  //!< Earth-fixed coordinate x of the satellite [m]. Intersection of the IERS Reference Meridian (IRM) and the plane passing through the origin and normal to the Z-axis.
-    double d_satpos_Y{};  //!< Earth-fixed coordinate y of the satellite [m]. Completes a right-handed, Earth-Centered, Earth-Fixed orthogonal coordinate system.
-    double d_satpos_Z{};  //!< Earth-fixed coordinate z of the satellite [m]. The direction of the IERS (International Earth Rotation and Reference Systems Service) Reference Pole (IRP).
-
-    // Satellite velocity
-    double d_satvel_X{};  //!< Earth-fixed velocity coordinate x of the satellite [m]
-    double d_satvel_Y{};  //!< Earth-fixed velocity coordinate y of the satellite [m]
-    double d_satvel_Z{};  //!< Earth-fixed velocity coordinate z of the satellite [m]
 
     /*! \brief If true, enhanced level of integrity assurance.
      *
-     *  If false, indicates that the conveying signal is provided with the legacy level of integrity assurance.
+     *  If false, indicates that the conveying signal is provided with the
-     *  That is, the probability that the instantaneous URE of the conveying signal exceeds 4.42 times the upper bound
+     *  legacy level of integrity assurance. That is, the probability that the
-     *  value of the current broadcast URA index, for more than 5.2 seconds, without an accompanying alert, is less
+     *  instantaneous URE of the conveying signal exceeds 4.42 times the upper
-     *  than 1E-5 per hour. If true, indicates that the conveying signal is provided with an enhanced level of
+     *  bound value of the current broadcast URA index, for more than 5.2
-     *  integrity assurance. That is, the probability that the instantaneous URE of the conveying signal exceeds 5.73
+     *  seconds, without an accompanying alert, is less than 1E-5 per hour. If
-     *  times the upper bound value of the current broadcast URA index, for more than 5.2 seconds, without an
+     *  true, indicates that the conveying signal is provided with an enhanced
-     *  accompanying alert, is less than 1E-8 per hour.
+     *  level of integrity assurance. That is, the probability that the
+     *  instantaneous URE of the conveying signal exceeds 5.73 times the upper
+     *  bound value of the current broadcast URA index, for more than 5.2
+     *  seconds, without an accompanying alert, is less than 1E-8 per hour.
      */
-    bool b_integrity_status_flag{};
+    bool integrity_status_flag{};
-    bool b_l2c_phasing_flag{};
+    bool 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 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 antispoofing_flag{};  //!< If true, the AntiSpoofing mode is ON in that SV
 
     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.
      */
     inline void serialize(Archive& archive, const uint32_t version)
     {
@@ -145,44 +97,47 @@ public:
             {
             };
 
-        archive& make_nvp("i_satellite_PRN", i_satellite_PRN);    // SV PRN NUMBER
+        archive& BOOST_SERIALIZATION_NVP(PRN);
-        archive& make_nvp("d_TOW", d_TOW);                        //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
+        archive& BOOST_SERIALIZATION_NVP(M_0);
-        archive& make_nvp("d_Crs", d_Crs);                        //!< Amplitude of the Sine Harmonic Correction Term to the Orbit Radius [m]
+        archive& BOOST_SERIALIZATION_NVP(delta_n);
-        archive& make_nvp("d_M_0", d_M_0);                        //!< Mean Anomaly at Reference Time [semi-circles]
+        archive& BOOST_SERIALIZATION_NVP(ecc);
-        archive& make_nvp("d_Cuc", d_Cuc);                        //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
+        archive& BOOST_SERIALIZATION_NVP(sqrtA);
-        archive& make_nvp("d_e_eccentricity", d_e_eccentricity);  //!< Eccentricity [dimensionless]
+        archive& BOOST_SERIALIZATION_NVP(OMEGA_0);
-        archive& make_nvp("d_Cus", d_Cus);                        //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
+        archive& BOOST_SERIALIZATION_NVP(i_0);
-        archive& make_nvp("d_Toe1", d_Toe1);                      //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200L) [s]
+        archive& BOOST_SERIALIZATION_NVP(omega);
-        archive& make_nvp("d_Toe2", d_Toe2);                      //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200L) [s]
+        archive& BOOST_SERIALIZATION_NVP(OMEGAdot);
-        archive& make_nvp("d_Toc", d_Toc);                        //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200L) [s]
+        archive& BOOST_SERIALIZATION_NVP(idot);
-        archive& make_nvp("d_Cic", d_Cic);                        //!< Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination [rad]
+        archive& BOOST_SERIALIZATION_NVP(Cuc);
-        archive& make_nvp("d_OMEGA0", d_OMEGA0);                  //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
+        archive& BOOST_SERIALIZATION_NVP(Cus);
-        archive& make_nvp("d_Cis", d_Cis);                        //!< Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination [rad]
+        archive& BOOST_SERIALIZATION_NVP(Crc);
-        archive& make_nvp("d_i_0", d_i_0);                        //!< Inclination Angle at Reference Time [semi-circles]
+        archive& BOOST_SERIALIZATION_NVP(Crs);
-        archive& make_nvp("d_Crc", d_Crc);                        //!< Amplitude of the Cosine Harmonic Correction Term to the Orbit Radius [m]
+        archive& BOOST_SERIALIZATION_NVP(Cic);
-        archive& make_nvp("d_OMEGA", d_OMEGA);                    //!< Argument of Perigee [semi-cicles]
+        archive& BOOST_SERIALIZATION_NVP(Cis);
-        archive& make_nvp("d_IDOT", d_IDOT);                      //!< Rate of Inclination Angle [semi-circles/s]
+        archive& BOOST_SERIALIZATION_NVP(toe);
-        archive& make_nvp("i_GPS_week", i_GPS_week);              //!< GPS week number, aka WN [week]
+        archive& BOOST_SERIALIZATION_NVP(toc);
-        archive& make_nvp("d_TGD", d_TGD);                        //!< Estimated Group Delay Differential: L1-L2 correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
+        archive& BOOST_SERIALIZATION_NVP(af0);
-        archive& make_nvp("d_ISCL1", d_ISCL1);                    //!< Estimated Group Delay Differential: L1P(Y)-L1C/A correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
+        archive& BOOST_SERIALIZATION_NVP(af1);
-        archive& make_nvp("d_ISCL2", d_ISCL2);                    //!< Estimated Group Delay Differential: L1P(Y)-L2C correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
+        archive& BOOST_SERIALIZATION_NVP(af2);
-        archive& make_nvp("d_ISCL5I", d_ISCL5I);                  //!< Estimated Group Delay Differential: L1P(Y)-L5i correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
+        archive& BOOST_SERIALIZATION_NVP(WN);
-        archive& make_nvp("d_ISCL5Q", d_ISCL5Q);                  //!< Estimated Group Delay Differential: L1P(Y)-L5q correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
+        archive& BOOST_SERIALIZATION_NVP(tow);
+        archive& BOOST_SERIALIZATION_NVP(satClkDrift);
+        archive& BOOST_SERIALIZATION_NVP(dtr);
 
-        archive& make_nvp("d_DELTA_A", d_DELTA_A);                  //!< Semi-major axis difference at reference time [m]
+        archive& BOOST_SERIALIZATION_NVP(toe1);
-        archive& make_nvp("d_A_DOT", d_A_DOT);                      //!< Change rate in semi-major axis [m/s]
+        archive& BOOST_SERIALIZATION_NVP(toe2);
-        archive& make_nvp("d_DELTA_OMEGA_DOT", d_DELTA_OMEGA_DOT);  //!< Rate of Right Ascension  difference [semi-circles/s]
+        archive& BOOST_SERIALIZATION_NVP(TGD);
-        archive& make_nvp("d_A_f0", d_A_f0);                        //!< Coefficient 0 of code phase offset model [s]
+        archive& BOOST_SERIALIZATION_NVP(ISCL1);
-        archive& make_nvp("d_A_f1", d_A_f1);                        //!< Coefficient 1 of code phase offset model [s/s]
+        archive& BOOST_SERIALIZATION_NVP(ISCL2);
-        archive& make_nvp("d_A_f2", d_A_f2);                        //!< Coefficient 2 of code phase offset model [s/s^2]
+        archive& BOOST_SERIALIZATION_NVP(ISCL5I);
-
+        archive& BOOST_SERIALIZATION_NVP(ISCL5Q);
-        archive& make_nvp("b_integrity_status_flag", b_integrity_status_flag);
+        archive& BOOST_SERIALIZATION_NVP(delta_A);
-        archive& make_nvp("b_alert_flag", b_alert_flag);                //!< If true, indicates  that the SV URA may be worse than indicated in d_SV_accuracy, use that SV at our own risk.
+        archive& BOOST_SERIALIZATION_NVP(Adot);
-        archive& make_nvp("b_antispoofing_flag", b_antispoofing_flag);  //!<  If true, the AntiSpoofing mode is ON in that SV
+        archive& BOOST_SERIALIZATION_NVP(delta_OMEGAdot);
+        archive& BOOST_SERIALIZATION_NVP(integrity_status_flag);
+        archive& BOOST_SERIALIZATION_NVP(l2c_phasing_flag);
+        archive& BOOST_SERIALIZATION_NVP(alert_flag);
+        archive& BOOST_SERIALIZATION_NVP(antispoofing_flag);
     }
-
-private:
-    double check_t(double time);
 };
 
 

src/core/system_parameters/gps_cnav_iono.h

@@ -18,8 +18,7 @@
 #ifndef GNSS_SDR_GPS_CNAV_IONO_H
 #define GNSS_SDR_GPS_CNAV_IONO_H
 
-
+#include "gps_iono.h"
-#include <boost/serialization/nvp.hpp>
 
 /** \addtogroup Core
  * \{ */
@@ -32,42 +31,10 @@
  *
  * See https://www.gps.gov/technical/icwg/IS-GPS-200L.pdf Appendix III
  */
-class Gps_CNAV_Iono
+class Gps_CNAV_Iono : public Gps_Iono
 {
 public:
     Gps_CNAV_Iono() = default;  //!< Default constructor
-
-    // 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]
-    bool valid{};       //!< Valid flag
-
-    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.
-     */
-    inline void serialize(Archive& archive, const unsigned int version) const
-    {
-        using boost::serialization::make_nvp;
-        if (version)
-            {
-            };
-        archive& make_nvp("d_alpha0", d_alpha0);
-        archive& make_nvp("d_alpha1", d_alpha1);
-        archive& make_nvp("d_alpha2", d_alpha2);
-        archive& make_nvp("d_alpha3", d_alpha3);
-        archive& make_nvp("d_beta0", d_beta0);
-        archive& make_nvp("d_beta1", d_beta1);
-        archive& make_nvp("d_beta2", d_beta2);
-        archive& make_nvp("d_beta3", d_beta3);
-    }
 };
 
 

src/core/system_parameters/gps_cnav_navigation_message.cc

@@ -18,6 +18,7 @@
 
 #include "gps_cnav_navigation_message.h"
 #include "gnss_satellite.h"
+#include <cmath>   // for std::sqrt
 #include <limits>  // for std::numeric_limits
 
 
@@ -106,177 +107,180 @@ void Gps_CNAV_Navigation_Message::decode_page(std::bitset<GPS_CNAV_DATA_PAGE_BIT
 
     // common to all messages
     const auto PRN = static_cast<int32_t>(read_navigation_unsigned(data_bits, CNAV_PRN));
-    ephemeris_record.i_satellite_PRN = PRN;
+    ephemeris_record.PRN = PRN;
 
     d_TOW = static_cast<int32_t>(read_navigation_unsigned(data_bits, CNAV_TOW));
     d_TOW *= CNAV_TOW_LSB;
-    ephemeris_record.d_TOW = d_TOW;
+    ephemeris_record.tow = d_TOW;
 
     alert_flag = static_cast<bool>(read_navigation_bool(data_bits, CNAV_ALERT_FLAG));
-    ephemeris_record.b_alert_flag = alert_flag;
+    ephemeris_record.alert_flag = alert_flag;
 
     page_type = static_cast<int32_t>(read_navigation_unsigned(data_bits, CNAV_MSG_TYPE));
 
+
     switch (page_type)
         {
         case 10:  // Ephemeris 1/2
-            ephemeris_record.i_GPS_week = static_cast<int32_t>(read_navigation_unsigned(data_bits, CNAV_WN));
+            ephemeris_record.WN = static_cast<int32_t>(read_navigation_unsigned(data_bits, CNAV_WN));
-            ephemeris_record.i_signal_health = static_cast<int32_t>(read_navigation_unsigned(data_bits, CNAV_HEALTH));
+            ephemeris_record.signal_health = static_cast<int32_t>(read_navigation_unsigned(data_bits, CNAV_HEALTH));
-            ephemeris_record.d_Top = static_cast<int32_t>(read_navigation_unsigned(data_bits, CNAV_TOP1));
+            ephemeris_record.top = static_cast<int32_t>(read_navigation_unsigned(data_bits, CNAV_TOP1));
-            ephemeris_record.d_Top *= CNAV_TOP1_LSB;
+            ephemeris_record.top *= CNAV_TOP1_LSB;
-            ephemeris_record.d_URA0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_URA));
+            ephemeris_record.URA0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_URA));
-            ephemeris_record.d_Toe1 = static_cast<int32_t>(read_navigation_unsigned(data_bits, CNAV_TOE1));
+            ephemeris_record.toe1 = static_cast<int32_t>(read_navigation_unsigned(data_bits, CNAV_TOE1));
-            ephemeris_record.d_Toe1 *= CNAV_TOE1_LSB;
+            ephemeris_record.toe1 *= CNAV_TOE1_LSB;
-            ephemeris_record.d_DELTA_A = static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_A));
+            ephemeris_record.delta_A = static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_A));
-            ephemeris_record.d_DELTA_A *= CNAV_DELTA_A_LSB;
+            ephemeris_record.delta_A *= CNAV_DELTA_A_LSB;
-            ephemeris_record.d_A_DOT = static_cast<double>(read_navigation_signed(data_bits, CNAV_A_DOT));
+            ephemeris_record.Adot = static_cast<double>(read_navigation_signed(data_bits, CNAV_A_DOT));
-            ephemeris_record.d_A_DOT *= CNAV_A_DOT_LSB;
+            ephemeris_record.Adot *= CNAV_A_DOT_LSB;
-            ephemeris_record.d_Delta_n = static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_N0));
+            ephemeris_record.sqrtA = std::sqrt(CNAV_A_REF + ephemeris_record.delta_A);
-            ephemeris_record.d_Delta_n *= CNAV_DELTA_N0_LSB;
+            ephemeris_record.delta_n = static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_N0));
-            ephemeris_record.d_DELTA_DOT_N = static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_N0_DOT));
+            ephemeris_record.delta_n *= CNAV_DELTA_N0_LSB;
-            ephemeris_record.d_DELTA_DOT_N *= CNAV_DELTA_N0_DOT_LSB;
+            ephemeris_record.delta_ndot = static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_N0_DOT));
-            ephemeris_record.d_M_0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_M0));
+            ephemeris_record.delta_ndot *= CNAV_DELTA_N0_DOT_LSB;
-            ephemeris_record.d_M_0 *= CNAV_M0_LSB;
+            ephemeris_record.M_0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_M0));
-            ephemeris_record.d_e_eccentricity = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_E_ECCENTRICITY));
+            ephemeris_record.M_0 *= CNAV_M0_LSB;
-            ephemeris_record.d_e_eccentricity *= CNAV_E_ECCENTRICITY_LSB;
+            ephemeris_record.ecc = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_E_ECCENTRICITY));
-            ephemeris_record.d_OMEGA = static_cast<double>(read_navigation_signed(data_bits, CNAV_OMEGA));
+            ephemeris_record.ecc *= CNAV_E_ECCENTRICITY_LSB;
-            ephemeris_record.d_OMEGA *= CNAV_OMEGA_LSB;
+            ephemeris_record.omega = static_cast<double>(read_navigation_signed(data_bits, CNAV_OMEGA));
+            ephemeris_record.omega *= CNAV_OMEGA_LSB;
 
-            ephemeris_record.b_integrity_status_flag = static_cast<bool>(read_navigation_bool(data_bits, CNAV_INTEGRITY_FLAG));
+            ephemeris_record.integrity_status_flag = static_cast<bool>(read_navigation_bool(data_bits, CNAV_INTEGRITY_FLAG));
-            ephemeris_record.b_l2c_phasing_flag = static_cast<bool>(read_navigation_bool(data_bits, CNAV_L2_PHASING_FLAG));
+            ephemeris_record.l2c_phasing_flag = static_cast<bool>(read_navigation_bool(data_bits, CNAV_L2_PHASING_FLAG));
 
             b_flag_ephemeris_1 = true;
             break;
         case 11:  // Ephemeris 2/2
-            ephemeris_record.d_Toe2 = static_cast<int32_t>(read_navigation_unsigned(data_bits, CNAV_TOE2));
+            ephemeris_record.toe2 = static_cast<int32_t>(read_navigation_unsigned(data_bits, CNAV_TOE2));
-            ephemeris_record.d_Toe2 *= CNAV_TOE2_LSB;
+            ephemeris_record.toe2 *= CNAV_TOE2_LSB;
-            ephemeris_record.d_OMEGA0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_OMEGA0));
+            ephemeris_record.OMEGA_0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_OMEGA0));
-            ephemeris_record.d_OMEGA0 *= CNAV_OMEGA0_LSB;
+            ephemeris_record.OMEGA_0 *= CNAV_OMEGA0_LSB;
-            ephemeris_record.d_DELTA_OMEGA_DOT = static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_OMEGA_DOT));
+            ephemeris_record.delta_OMEGAdot = static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_OMEGA_DOT));
-            ephemeris_record.d_DELTA_OMEGA_DOT *= CNAV_DELTA_OMEGA_DOT_LSB;
+            ephemeris_record.delta_OMEGAdot *= CNAV_DELTA_OMEGA_DOT_LSB;
-            ephemeris_record.d_i_0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_I0));
+            ephemeris_record.OMEGAdot = CNAV_OMEGA_DOT_REF * GNSS_PI + ephemeris_record.delta_OMEGAdot;
-            ephemeris_record.d_i_0 *= CNAV_I0_LSB;
+            ephemeris_record.i_0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_I0));
-            ephemeris_record.d_IDOT = static_cast<double>(read_navigation_signed(data_bits, CNAV_I0_DOT));
+            ephemeris_record.i_0 *= CNAV_I0_LSB;
-            ephemeris_record.d_IDOT *= CNAV_I0_DOT_LSB;
+            ephemeris_record.idot = static_cast<double>(read_navigation_signed(data_bits, CNAV_I0_DOT));
-            ephemeris_record.d_Cis = static_cast<double>(read_navigation_signed(data_bits, CNAV_CIS));
+            ephemeris_record.idot *= CNAV_I0_DOT_LSB;
-            ephemeris_record.d_Cis *= CNAV_CIS_LSB;
+            ephemeris_record.Cis = static_cast<double>(read_navigation_signed(data_bits, CNAV_CIS));
-            ephemeris_record.d_Cic = static_cast<double>(read_navigation_signed(data_bits, CNAV_CIC));
+            ephemeris_record.Cis *= CNAV_CIS_LSB;
-            ephemeris_record.d_Cic *= CNAV_CIC_LSB;
+            ephemeris_record.Cic = static_cast<double>(read_navigation_signed(data_bits, CNAV_CIC));
-            ephemeris_record.d_Crs = static_cast<double>(read_navigation_signed(data_bits, CNAV_CRS));
+            ephemeris_record.Cic *= CNAV_CIC_LSB;
-            ephemeris_record.d_Crs *= CNAV_CRS_LSB;
+            ephemeris_record.Crs = static_cast<double>(read_navigation_signed(data_bits, CNAV_CRS));
-            ephemeris_record.d_Crc = static_cast<double>(read_navigation_signed(data_bits, CNAV_CRC));
+            ephemeris_record.Crs *= CNAV_CRS_LSB;
-            ephemeris_record.d_Crc *= CNAV_CRC_LSB;
+            ephemeris_record.Crc = static_cast<double>(read_navigation_signed(data_bits, CNAV_CRC));
-            ephemeris_record.d_Cus = static_cast<double>(read_navigation_signed(data_bits, CNAV_CUS));
+            ephemeris_record.Crc *= CNAV_CRC_LSB;
-            ephemeris_record.d_Cus *= CNAV_CUS_LSB;
+            ephemeris_record.Cus = static_cast<double>(read_navigation_signed(data_bits, CNAV_CUS));
-            ephemeris_record.d_Cuc = static_cast<double>(read_navigation_signed(data_bits, CNAV_CUC));
+            ephemeris_record.Cus *= CNAV_CUS_LSB;
-            ephemeris_record.d_Cuc *= CNAV_CUC_LSB;
+            ephemeris_record.Cuc = static_cast<double>(read_navigation_signed(data_bits, CNAV_CUC));
+            ephemeris_record.Cuc *= CNAV_CUC_LSB;
             b_flag_ephemeris_2 = true;
             break;
         case 30:  // (CLOCK, IONO, GRUP DELAY)
             // clock
-            ephemeris_record.d_Toc = static_cast<int32_t>(read_navigation_unsigned(data_bits, CNAV_TOC));
+            ephemeris_record.toc = static_cast<int32_t>(read_navigation_unsigned(data_bits, CNAV_TOC));
-            ephemeris_record.d_Toc *= CNAV_TOC_LSB;
+            ephemeris_record.toc *= CNAV_TOC_LSB;
-            ephemeris_record.d_URA0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_URA_NED0));
+            ephemeris_record.URA0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_URA_NED0));
-            ephemeris_record.d_URA1 = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_URA_NED1));
+            ephemeris_record.URA1 = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_URA_NED1));
-            ephemeris_record.d_URA2 = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_URA_NED2));
+            ephemeris_record.URA2 = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_URA_NED2));
-            ephemeris_record.d_A_f0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF0));
+            ephemeris_record.af0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF0));
-            ephemeris_record.d_A_f0 *= CNAV_AF0_LSB;
+            ephemeris_record.af0 *= CNAV_AF0_LSB;
-            ephemeris_record.d_A_f1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF1));
+            ephemeris_record.af1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF1));
-            ephemeris_record.d_A_f1 *= CNAV_AF1_LSB;
+            ephemeris_record.af1 *= CNAV_AF1_LSB;
-            ephemeris_record.d_A_f2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF2));
+            ephemeris_record.af2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF2));
-            ephemeris_record.d_A_f2 *= CNAV_AF2_LSB;
+            ephemeris_record.af2 *= CNAV_AF2_LSB;
             // group delays
             // Check if the grup delay values are not available. See IS-GPS-200, Table 30-IV.
             // Bit string "1000000000000" is -4096 in 2 complement
-            ephemeris_record.d_TGD = static_cast<double>(read_navigation_signed(data_bits, CNAV_TGD));
+            ephemeris_record.TGD = static_cast<double>(read_navigation_signed(data_bits, CNAV_TGD));
-            if (ephemeris_record.d_TGD < -4095.9)
+            if (ephemeris_record.TGD < -4095.9)
                 {
-                    ephemeris_record.d_TGD = 0.0;
+                    ephemeris_record.TGD = 0.0;
                 }
-            ephemeris_record.d_TGD *= CNAV_TGD_LSB;
+            ephemeris_record.TGD *= CNAV_TGD_LSB;
 
-            ephemeris_record.d_ISCL1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL1));
+            ephemeris_record.ISCL1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL1));
-            if (ephemeris_record.d_ISCL1 < -4095.9)
+            if (ephemeris_record.ISCL1 < -4095.9)
                 {
-                    ephemeris_record.d_ISCL1 = 0.0;
+                    ephemeris_record.ISCL1 = 0.0;
                 }
-            ephemeris_record.d_ISCL1 *= CNAV_ISCL1_LSB;
+            ephemeris_record.ISCL1 *= CNAV_ISCL1_LSB;
 
-            ephemeris_record.d_ISCL2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL2));
+            ephemeris_record.ISCL2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL2));
-            if (ephemeris_record.d_ISCL2 < -4095.9)
+            if (ephemeris_record.ISCL2 < -4095.9)
                 {
-                    ephemeris_record.d_ISCL2 = 0.0;
+                    ephemeris_record.ISCL2 = 0.0;
                 }
-            ephemeris_record.d_ISCL2 *= CNAV_ISCL2_LSB;
+            ephemeris_record.ISCL2 *= CNAV_ISCL2_LSB;
 
-            ephemeris_record.d_ISCL5I = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL5I));
+            ephemeris_record.ISCL5I = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL5I));
-            if (ephemeris_record.d_ISCL5I < -4095.9)
+            if (ephemeris_record.ISCL5I < -4095.9)
                 {
-                    ephemeris_record.d_ISCL5I = 0.0;
+                    ephemeris_record.ISCL5I = 0.0;
                 }
-            ephemeris_record.d_ISCL5I *= CNAV_ISCL5I_LSB;
+            ephemeris_record.ISCL5I *= CNAV_ISCL5I_LSB;
 
-            ephemeris_record.d_ISCL5Q = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL5Q));
+            ephemeris_record.ISCL5Q = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL5Q));
-            if (ephemeris_record.d_ISCL5Q < -4095.9)
+            if (ephemeris_record.ISCL5Q < -4095.9)
                 {
-                    ephemeris_record.d_ISCL5Q = 0.0;
+                    ephemeris_record.ISCL5Q = 0.0;
                 }
-            ephemeris_record.d_ISCL5Q *= CNAV_ISCL5Q_LSB;
+            ephemeris_record.ISCL5Q *= CNAV_ISCL5Q_LSB;
             // iono
-            iono_record.d_alpha0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ALPHA0));
+            iono_record.alpha0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ALPHA0));
-            iono_record.d_alpha0 = iono_record.d_alpha0 * CNAV_ALPHA0_LSB;
+            iono_record.alpha0 = iono_record.alpha0 * CNAV_ALPHA0_LSB;
-            iono_record.d_alpha1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ALPHA1));
+            iono_record.alpha1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ALPHA1));
-            iono_record.d_alpha1 = iono_record.d_alpha1 * CNAV_ALPHA1_LSB;
+            iono_record.alpha1 = iono_record.alpha1 * CNAV_ALPHA1_LSB;
-            iono_record.d_alpha2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ALPHA2));
+            iono_record.alpha2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ALPHA2));
-            iono_record.d_alpha2 = iono_record.d_alpha2 * CNAV_ALPHA2_LSB;
+            iono_record.alpha2 = iono_record.alpha2 * CNAV_ALPHA2_LSB;
-            iono_record.d_alpha3 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ALPHA3));
+            iono_record.alpha3 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ALPHA3));
-            iono_record.d_alpha3 = iono_record.d_alpha3 * CNAV_ALPHA3_LSB;
+            iono_record.alpha3 = iono_record.alpha3 * CNAV_ALPHA3_LSB;
-            iono_record.d_beta0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_BETA0));
+            iono_record.beta0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_BETA0));
-            iono_record.d_beta0 = iono_record.d_beta0 * CNAV_BETA0_LSB;
+            iono_record.beta0 = iono_record.beta0 * CNAV_BETA0_LSB;
-            iono_record.d_beta1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_BETA1));
+            iono_record.beta1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_BETA1));
-            iono_record.d_beta1 = iono_record.d_beta1 * CNAV_BETA1_LSB;
+            iono_record.beta1 = iono_record.beta1 * CNAV_BETA1_LSB;
-            iono_record.d_beta2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_BETA2));
+            iono_record.beta2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_BETA2));
-            iono_record.d_beta2 = iono_record.d_beta2 * CNAV_BETA2_LSB;
+            iono_record.beta2 = iono_record.beta2 * CNAV_BETA2_LSB;
-            iono_record.d_beta3 = static_cast<double>(read_navigation_signed(data_bits, CNAV_BETA3));
+            iono_record.beta3 = static_cast<double>(read_navigation_signed(data_bits, CNAV_BETA3));
-            iono_record.d_beta3 = iono_record.d_beta3 * CNAV_BETA3_LSB;
+            iono_record.beta3 = iono_record.beta3 * CNAV_BETA3_LSB;
             b_flag_iono_valid = true;
             break;
         case 33:  // (CLOCK & UTC)
-            ephemeris_record.d_Top = static_cast<int32_t>(read_navigation_unsigned(data_bits, CNAV_TOP1));
+            ephemeris_record.top = static_cast<int32_t>(read_navigation_unsigned(data_bits, CNAV_TOP1));
-            ephemeris_record.d_Top = ephemeris_record.d_Top * CNAV_TOP1_LSB;
+            ephemeris_record.top = ephemeris_record.top * CNAV_TOP1_LSB;
-            ephemeris_record.d_Toc = static_cast<int32_t>(read_navigation_unsigned(data_bits, CNAV_TOC));
+            ephemeris_record.toc = static_cast<int32_t>(read_navigation_unsigned(data_bits, CNAV_TOC));
-            ephemeris_record.d_Toc = ephemeris_record.d_Toc * CNAV_TOC_LSB;
+            ephemeris_record.toc = ephemeris_record.toc * CNAV_TOC_LSB;
-            ephemeris_record.d_A_f0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF0));
+            ephemeris_record.af0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF0));
-            ephemeris_record.d_A_f0 = ephemeris_record.d_A_f0 * CNAV_AF0_LSB;
+            ephemeris_record.af0 = ephemeris_record.af0 * CNAV_AF0_LSB;
-            ephemeris_record.d_A_f1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF1));
+            ephemeris_record.af1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF1));
-            ephemeris_record.d_A_f1 = ephemeris_record.d_A_f1 * CNAV_AF1_LSB;
+            ephemeris_record.af1 = ephemeris_record.af1 * CNAV_AF1_LSB;
-            ephemeris_record.d_A_f2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF2));
+            ephemeris_record.af2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF2));
-            ephemeris_record.d_A_f2 = ephemeris_record.d_A_f2 * CNAV_AF2_LSB;
+            ephemeris_record.af2 = ephemeris_record.af2 * CNAV_AF2_LSB;
 
-            utc_model_record.d_A0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_A0));
+            utc_model_record.A0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_A0));
-            utc_model_record.d_A0 = utc_model_record.d_A0 * CNAV_A0_LSB;
+            utc_model_record.A0 = utc_model_record.A0 * CNAV_A0_LSB;
-            utc_model_record.d_A1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_A1));
+            utc_model_record.A1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_A1));
-            utc_model_record.d_A1 = utc_model_record.d_A1 * CNAV_A1_LSB;
+            utc_model_record.A1 = utc_model_record.A1 * CNAV_A1_LSB;
-            utc_model_record.d_A2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_A2));
+            utc_model_record.A2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_A2));
-            utc_model_record.d_A2 = utc_model_record.d_A2 * CNAV_A2_LSB;
+            utc_model_record.A2 = utc_model_record.A2 * CNAV_A2_LSB;
 
-            utc_model_record.d_DeltaT_LS = static_cast<int32_t>(read_navigation_signed(data_bits, CNAV_DELTA_TLS));
+            utc_model_record.DeltaT_LS = static_cast<int32_t>(read_navigation_signed(data_bits, CNAV_DELTA_TLS));
-            utc_model_record.d_DeltaT_LS = utc_model_record.d_DeltaT_LS * CNAV_DELTA_TLS_LSB;
+            utc_model_record.DeltaT_LS = utc_model_record.DeltaT_LS * CNAV_DELTA_TLS_LSB;
 
-            utc_model_record.d_t_OT = static_cast<int32_t>(read_navigation_signed(data_bits, CNAV_TOT));
+            utc_model_record.tot = static_cast<int32_t>(read_navigation_signed(data_bits, CNAV_TOT));
-            utc_model_record.d_t_OT = utc_model_record.d_t_OT * CNAV_TOT_LSB;
+            utc_model_record.tot = utc_model_record.tot * CNAV_TOT_LSB;
 
-            utc_model_record.i_WN_T = static_cast<int32_t>(read_navigation_signed(data_bits, CNAV_WN_OT));
+            utc_model_record.WN_T = static_cast<int32_t>(read_navigation_signed(data_bits, CNAV_WN_OT));
-            utc_model_record.i_WN_T = utc_model_record.i_WN_T * CNAV_WN_OT_LSB;
+            utc_model_record.WN_T = utc_model_record.WN_T * CNAV_WN_OT_LSB;
 
-            utc_model_record.i_WN_LSF = static_cast<int32_t>(read_navigation_signed(data_bits, CNAV_WN_LSF));
+            utc_model_record.WN_LSF = static_cast<int32_t>(read_navigation_signed(data_bits, CNAV_WN_LSF));
-            utc_model_record.i_WN_LSF = utc_model_record.i_WN_LSF * CNAV_WN_LSF_LSB;
+            utc_model_record.WN_LSF = utc_model_record.WN_LSF * CNAV_WN_LSF_LSB;
 
-            utc_model_record.i_DN = static_cast<int32_t>(read_navigation_signed(data_bits, CNAV_DN));
+            utc_model_record.DN = static_cast<int32_t>(read_navigation_signed(data_bits, CNAV_DN));
-            utc_model_record.i_DN = utc_model_record.i_DN * CNAV_DN_LSB;
+            utc_model_record.DN = utc_model_record.DN * CNAV_DN_LSB;
 
-            utc_model_record.d_DeltaT_LSF = static_cast<int32_t>(read_navigation_signed(data_bits, CNAV_DELTA_TLSF));
+            utc_model_record.DeltaT_LSF = static_cast<int32_t>(read_navigation_signed(data_bits, CNAV_DELTA_TLSF));
-            utc_model_record.d_DeltaT_LSF = utc_model_record.d_DeltaT_LSF * CNAV_DELTA_TLSF_LSB;
+            utc_model_record.DeltaT_LSF = utc_model_record.DeltaT_LSF * CNAV_DELTA_TLSF_LSB;
             b_flag_utc_valid = true;
             break;
         default:
@@ -289,7 +293,7 @@ bool Gps_CNAV_Navigation_Message::have_new_ephemeris()  // Check if we have a ne
 {
     if (b_flag_ephemeris_1 == true and b_flag_ephemeris_2 == true)
         {
-            if (ephemeris_record.d_Toe1 == ephemeris_record.d_Toe2)  // and ephemeris_record.d_Toe1==ephemeris_record.d_Toc)
+            if (ephemeris_record.toe1 == ephemeris_record.toe2)  // and ephemeris_record.toe1==ephemeris_record.d_Toc)
                 {
                     // if all ephemeris pages have the same TOE, then they belong to the same block
                     // std::cout << "Ephemeris (1, 2) have been received and belong to the same batch\n";

src/core/system_parameters/gps_cnav_utc_model.h

@@ -18,8 +18,7 @@
 #ifndef GNSS_SDR_GPS_CNAV_UTC_MODEL_H
 #define GNSS_SDR_GPS_CNAV_UTC_MODEL_H
 
-#include <boost/serialization/nvp.hpp>
+#include "gps_utc_model.h"
-#include <cstdint>
 
 /** \addtogroup Core
  * \{ */
@@ -32,46 +31,10 @@
  *
  * See https://www.gps.gov/technical/icwg/IS-GPS-200L.pdf Appendix III
  */
-class Gps_CNAV_Utc_Model
+class Gps_CNAV_Utc_Model : public Gps_Utc_Model
 {
 public:
-    /*!
+    Gps_CNAV_Utc_Model() = default;  //!< Default constructor
-     * Default constructor
-     */
-    Gps_CNAV_Utc_Model() = default;
-
-    // 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-200L) [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-200L) [s/s]
-    double d_A0{};           //!< Constant of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200L) [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-200L) [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 valid{};
-
-    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.
-     */
-    inline void serialize(Archive& archive, const uint32_t version)
-    {
-        using boost::serialization::make_nvp;
-        if (version)
-            {
-            };
-        archive& make_nvp("d_A1", d_A1);
-        archive& make_nvp("d_A0", d_A0);
-        archive& make_nvp("d_t_OT", d_t_OT);
-        archive& make_nvp("i_WN_T", i_WN_T);
-        archive& make_nvp("d_DeltaT_LS", d_DeltaT_LS);
-        archive& make_nvp("i_WN_LSF", i_WN_LSF);
-        archive& make_nvp("i_DN", i_DN);
-        archive& make_nvp("d_DeltaT_LSF", d_DeltaT_LSF);
-        archive& make_nvp("valid", valid);
-    }
 };
 
 

src/core/system_parameters/gps_ephemeris.cc

@@ -17,9 +17,8 @@
  */
 
 #include "gps_ephemeris.h"
-#include "GPS_L1_CA.h"
 #include "gnss_satellite.h"
-#include <cmath>
+#include <string>
 
 
 Gps_Ephemeris::Gps_Ephemeris()
@@ -30,195 +29,5 @@ Gps_Ephemeris::Gps_Ephemeris()
         {
             satelliteBlock[i] = gnss_sat.what_block(_system, i);
         }
-}
+    this->System = 'G';
-
-
-double Gps_Ephemeris::check_t(double time)
-{
-    const double half_week = 302400.0;  // seconds
-    double corrTime = time;
-    if (time > half_week)
-        {
-            corrTime = time - 2.0 * half_week;
-        }
-    else if (time < -half_week)
-        {
-            corrTime = time + 2.0 * half_week;
-        }
-    return corrTime;
-}
-
-
-// 20.3.3.3.3.1 User Algorithm for SV Clock Correction.
-double Gps_Ephemeris::sv_clock_drift(double transmitTime)
-{
-    //    double dt;
-    //    dt = check_t(transmitTime - d_Toc);
-    //
-    //    for (int32_t i = 0; i < 2; i++)
-    //        {
-    //            dt -= d_A_f0 + d_A_f1 * dt + d_A_f2 * (dt * dt);
-    //        }
-    //    d_satClkDrift = d_A_f0 + d_A_f1 * dt + d_A_f2 * (dt * dt);
-
-    const double 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);
-    // Correct satellite group delay
-    d_satClkDrift -= d_TGD;
-
-    return d_satClkDrift;
-}
-
-
-// compute the relativistic correction term
-double Gps_Ephemeris::sv_clock_relativistic_term(double transmitTime)
-{
-    // Restore semi-major axis
-    const double a = d_sqrt_A * d_sqrt_A;
-
-    // Time from ephemeris reference epoch
-    const double tk = check_t(transmitTime - d_Toe);
-
-    // Computed mean motion
-    const double n0 = sqrt(GPS_GM / (a * a * a));
-
-    // Corrected mean motion
-    const double n = n0 + d_Delta_n;
-
-    // Mean anomaly
-    const double M = d_M_0 + n * tk;
-
-    // Reduce mean anomaly to between 0 and 2pi
-    // M = fmod((M + 2.0 * GNSS_PI), (2.0 * GNSS_PI));
-
-    // Initial guess of eccentric anomaly
-    double E = M;
-    double E_old;
-    double dE;
-    // --- Iteratively compute eccentric anomaly ----------------------------
-    for (int32_t ii = 1; ii < 20; ii++)
-        {
-            E_old = E;
-            E = M + d_e_eccentricity * sin(E);
-            dE = fmod(E - E_old, 2.0 * GNSS_PI);
-            if (fabs(dE) < 1e-12)
-                {
-                    // Necessary precision is reached, exit from the loop
-                    break;
-                }
-        }
-
-    // Compute relativistic correction term
-    d_dtr = GPS_F * d_e_eccentricity * d_sqrt_A * sin(E);
-    return d_dtr;
-}
-
-
-double Gps_Ephemeris::satellitePosition(double transmitTime)
-{
-    // Find satellite's position -----------------------------------------------
-    // Restore semi-major axis
-    const double a = d_sqrt_A * d_sqrt_A;
-
-    // Time from ephemeris reference epoch
-    double tk = check_t(transmitTime - d_Toe);
-
-    // Computed mean motion
-    const double n0 = sqrt(GPS_GM / (a * a * a));
-
-    // Corrected mean motion
-    const double n = n0 + d_Delta_n;
-
-    // Mean anomaly
-    const double M = d_M_0 + n * tk;
-
-    // Reduce mean anomaly to between 0 and 2pi
-    // M = fmod((M + 2.0 * GNSS_PI), (2.0 * GNSS_PI));
-
-    // Initial guess of eccentric anomaly
-    double E = M;
-    double E_old;
-    double dE;
-    // --- Iteratively compute eccentric anomaly -------------------------------
-    for (int32_t ii = 1; ii < 20; ii++)
-        {
-            E_old = E;
-            E = M + d_e_eccentricity * sin(E);
-            dE = fmod(E - E_old, 2.0 * GNSS_PI);
-            if (fabs(dE) < 1e-12)
-                {
-                    // Necessary precision is reached, exit from the loop
-                    break;
-                }
-        }
-
-    const double sek = sin(E);
-    const double cek = cos(E);
-    const double OneMinusecosE = 1.0 - d_e_eccentricity * cek;
-    const double ekdot = n / OneMinusecosE;
-
-    // Compute the true anomaly
-    const double sq1e2 = sqrt(1.0 - d_e_eccentricity * d_e_eccentricity);
-    const double tmp_Y = sq1e2 * sek;
-    const double tmp_X = cek - d_e_eccentricity;
-    const double nu = atan2(tmp_Y, tmp_X);
-
-    // Compute angle phi (argument of Latitude)
-    const double phi = nu + d_OMEGA;
-    double pkdot = sq1e2 * ekdot / OneMinusecosE;
-
-    // Reduce phi to between 0 and 2*pi rad
-    // phi = fmod((phi), (2.0 * GNSS_PI));
-    const double s2pk = sin(2.0 * phi);
-    const double c2pk = cos(2.0 * phi);
-
-    // Correct argument of latitude
-    const double u = phi + d_Cuc * c2pk + d_Cus * s2pk;
-    const double cuk = cos(u);
-    const double suk = sin(u);
-    const double ukdot = pkdot * (1.0 + 2.0 * (d_Cus * c2pk - d_Cuc * s2pk));
-
-    // Correct radius
-    const double r = a * (1.0 - d_e_eccentricity * cek) + d_Crc * c2pk + d_Crs * s2pk;
-
-    const double rkdot = a * d_e_eccentricity * sek * ekdot + 2.0 * pkdot * (d_Crs * c2pk - d_Crc * s2pk);
-
-    // Correct inclination
-    const double i = d_i_0 + d_IDOT * tk + d_Cic * c2pk + d_Cis * s2pk;
-    const double sik = sin(i);
-    const double cik = cos(i);
-    const double ikdot = d_IDOT + 2.0 * pkdot * (d_Cis * c2pk - d_Cic * s2pk);
-
-    // Compute the angle between the ascending node and the Greenwich meridian
-    const double Omega = d_OMEGA0 + (d_OMEGA_DOT - GNSS_OMEGA_EARTH_DOT) * tk - GNSS_OMEGA_EARTH_DOT * d_Toe;
-    const double sok = sin(Omega);
-    const double cok = cos(Omega);
-
-    // --- Compute satellite coordinates in Earth-fixed coordinates
-    const double xprime = r * cuk;
-    const double yprime = r * suk;
-    d_satpos_X = xprime * cok - yprime * cik * sok;
-    d_satpos_Y = xprime * sok + yprime * cik * cok;
-    d_satpos_Z = yprime * sik;
-
-    // Satellite's velocity. Can be useful for Vector Tracking loops
-    const double Omega_dot = d_OMEGA_DOT - GNSS_OMEGA_EARTH_DOT;
-
-    const double xpkdot = rkdot * cuk - yprime * ukdot;
-    const double ypkdot = rkdot * suk + xprime * ukdot;
-    const double tmp = ypkdot * cik - d_satpos_Z * ikdot;
-
-    d_satvel_X = -Omega_dot * d_satpos_Y + xpkdot * cok - tmp * sok;
-    d_satvel_Y = Omega_dot * d_satpos_X + xpkdot * sok + tmp * cok;
-    d_satvel_Z = yprime * cik * ikdot + ypkdot * sik;
-
-    // Time from ephemeris reference clock
-    tk = check_t(transmitTime - d_Toc);
-
-    double dtr_s = d_A_f0 + d_A_f1 * tk + d_A_f2 * tk * tk;
-
-    /* relativity correction */
-    dtr_s -= 2.0 * sqrt(GPS_GM * a) * d_e_eccentricity * sek / (SPEED_OF_LIGHT_M_S * SPEED_OF_LIGHT_M_S);
-
-    return dtr_s;
 }

src/core/system_parameters/gps_ephemeris.h

@@ -19,6 +19,7 @@
 #define GNSS_SDR_GPS_EPHEMERIS_H
 
 
+#include "gnss_ephemeris.h"
 #include <boost/serialization/nvp.hpp>
 #include <cstdint>
 #include <map>
@@ -31,11 +32,12 @@
 
 
 /*!
- * \brief This class is a storage and orbital model functions for the GPS SV ephemeris data as described in IS-GPS-200L
+ * \brief This class is a storage and orbital model functions for the GPS SV
+ * ephemeris data as described in IS-GPS-200L
  *
  * See https://www.gps.gov/technical/icwg/IS-GPS-200L.pdf Appendix II
  */
-class Gps_Ephemeris
+class Gps_Ephemeris : public Gnss_Ephemeris
 {
 public:
     /*!
@@ -43,62 +45,19 @@ public:
      */
     Gps_Ephemeris();
 
-    /*!
+    int32_t code_on_L2{};   //!< If 1, P code ON in L2;  if 2, C/A code ON in L2;
-     * \brief Compute the ECEF SV coordinates and ECEF velocity
+    bool L2_P_data_flag{};  //!< When true, indicates that the NAV data stream was commanded OFF on the P-code of the L2 channel
-     * Implementation of Table 20-IV (IS-GPS-200L)
+    int32_t 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-200L)
-     * and compute the clock bias term including relativistic effect (return value)
+    int32_t SV_health{};    //!< Satellite heath status
-     */
+    double 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 satellitePosition(double transmitTime);
+    int32_t IODC{};         //!< Issue of Data, Clock
+    int32_t IODE_SF2{};     //!< Issue of Data, Ephemeris (IODE), subframe 2
+    int32_t IODE_SF3{};     //!< Issue of Data, Ephemeris (IODE), subframe 3
+    int32_t 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 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.
-     * \brief Sets (\a d_satClkDrift)and returns the clock drift in seconds according to the User Algorithm for SV Clock Correction
+    double spare1{};
-     *  (IS-GPS-200L,  20.3.3.3.3.1)
+    double spare2{};
-     */
-    double sv_clock_drift(double transmitTime);
-
-    /*!
-     * \brief Sets (\a d_dtr) and returns the clock relativistic correction term in seconds according to the User Algorithm for SV Clock Correction
-     *  (IS-GPS-200L,  20.3.3.3.3.1)
-     */
-    double sv_clock_relativistic_term(double transmitTime);
-
-    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-200L) [s]
-    int32_t d_Toc{};             //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200L) [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-200L)
-    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{};
-
-    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
 
@@ -112,30 +71,17 @@ 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 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 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 antispoofing_flag{};  //!< If true, the AntiSpoofing mode is ON in that SV
-
-    // clock terms derived from ephemeris data
-    double d_satClkDrift{};  //!< GPS clock error
-    double d_dtr{};          //!< relativistic clock correction term
-
-    // satellite positions
-    double d_satpos_X{};  //!< Earth-fixed coordinate x of the satellite [m]. Intersection of the IERS Reference Meridian (IRM) and the plane passing through the origin and normal to the Z-axis.
-    double d_satpos_Y{};  //!< Earth-fixed coordinate y of the satellite [m]. Completes a right-handed, Earth-Centered, Earth-Fixed orthogonal coordinate system.
-    double d_satpos_Z{};  //!< Earth-fixed coordinate z of the satellite [m]. The direction of the IERS (International Earth Rotation and Reference Systems Service) Reference Pole (IRP).
-
-    // Satellite velocity
-    double d_satvel_X{};  //!< Earth-fixed velocity coordinate x of the satellite [m]
-    double d_satvel_Y{};  //!< Earth-fixed velocity coordinate y of the satellite [m]
-    double d_satvel_Z{};  //!< Earth-fixed velocity coordinate z of the satellite [m]
 
     std::map<int, std::string> satelliteBlock;  //!< Map that stores to which block the PRN belongs https://www.navcen.uscg.gov/?Do=constellationStatus
 
     template <class Archive>
 
     /*!
-     * \brief Serialize is a boost standard method to be called by the boost XML serialization. Here is used to save the ephemeris data on disk file.
+     * \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.
      */
     inline void serialize(Archive& archive, const uint32_t version)
     {
@@ -144,58 +90,48 @@ public:
             {
             };
 
-        archive& make_nvp("i_satellite_PRN", i_satellite_PRN);  // SV PRN NUMBER
+        archive& BOOST_SERIALIZATION_NVP(PRN);
-        archive& make_nvp("d_TOW", d_TOW);                      //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
+        archive& BOOST_SERIALIZATION_NVP(M_0);
-        archive& make_nvp("d_IODE_SF2", d_IODE_SF2);
+        archive& BOOST_SERIALIZATION_NVP(delta_n);
-        archive& make_nvp("d_IODE_SF3", d_IODE_SF3);
+        archive& BOOST_SERIALIZATION_NVP(ecc);
-        archive& make_nvp("d_Crs", d_Crs);                        //!< Amplitude of the Sine Harmonic Correction Term to the Orbit Radius [m]
+        archive& BOOST_SERIALIZATION_NVP(sqrtA);
-        archive& make_nvp("d_Delta_n", d_Delta_n);                //!< Mean Motion Difference From Computed Value [semi-circles/s]
+        archive& BOOST_SERIALIZATION_NVP(OMEGA_0);
-        archive& make_nvp("d_M_0", d_M_0);                        //!< Mean Anomaly at Reference Time [semi-circles]
+        archive& BOOST_SERIALIZATION_NVP(i_0);
-        archive& make_nvp("d_Cuc", d_Cuc);                        //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
+        archive& BOOST_SERIALIZATION_NVP(omega);
-        archive& make_nvp("d_e_eccentricity", d_e_eccentricity);  //!< Eccentricity [dimensionless]
+        archive& BOOST_SERIALIZATION_NVP(OMEGAdot);
-        archive& make_nvp("d_Cus", d_Cus);                        //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
+        archive& BOOST_SERIALIZATION_NVP(idot);
-        archive& make_nvp("d_sqrt_A", d_sqrt_A);                  //!< Square Root of the Semi-Major Axis [sqrt(m)]
+        archive& BOOST_SERIALIZATION_NVP(Cuc);
-        archive& make_nvp("d_Toe", d_Toe);                        //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200L) [s]
+        archive& BOOST_SERIALIZATION_NVP(Cus);
-        archive& make_nvp("d_Toc", d_Toc);                        //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200L) [s]
+        archive& BOOST_SERIALIZATION_NVP(Crc);
-        archive& make_nvp("d_Cic", d_Cic);                        //!< Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination [rad]
+        archive& BOOST_SERIALIZATION_NVP(Crs);
-        archive& make_nvp("d_OMEGA0", d_OMEGA0);                  //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
+        archive& BOOST_SERIALIZATION_NVP(Cic);
-        archive& make_nvp("d_Cis", d_Cis);                        //!< Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination [rad]
+        archive& BOOST_SERIALIZATION_NVP(Cis);
-        archive& make_nvp("d_i_0", d_i_0);                        //!< Inclination Angle at Reference Time [semi-circles]
+        archive& BOOST_SERIALIZATION_NVP(toe);
-        archive& make_nvp("d_Crc", d_Crc);                        //!< Amplitude of the Cosine Harmonic Correction Term to the Orbit Radius [m]
+        archive& BOOST_SERIALIZATION_NVP(toc);
-        archive& make_nvp("d_OMEGA", d_OMEGA);                    //!< Argument of Perigee [semi-cicles]
+        archive& BOOST_SERIALIZATION_NVP(af0);
-        archive& make_nvp("d_OMEGA_DOT", d_OMEGA_DOT);            //!< Rate of Right Ascension [semi-circles/s]
+        archive& BOOST_SERIALIZATION_NVP(af1);
-        archive& make_nvp("d_IDOT", d_IDOT);                      //!< Rate of Inclination Angle [semi-circles/s]
+        archive& BOOST_SERIALIZATION_NVP(af2);
-        archive& make_nvp("i_code_on_L2", i_code_on_L2);          //!< If 1, P code ON in L2;  if 2, C/A code ON in L2;
+        archive& BOOST_SERIALIZATION_NVP(WN);
-        archive& make_nvp("i_GPS_week", i_GPS_week);              //!< GPS week number, aka WN [week]
+        archive& BOOST_SERIALIZATION_NVP(tow);
-        archive& make_nvp("b_L2_P_data_flag", b_L2_P_data_flag);  //!< When true, indicates that the NAV data stream was commanded OFF on the P-code of the L2 channel
+        archive& BOOST_SERIALIZATION_NVP(satClkDrift);
-        archive& make_nvp("i_SV_accuracy", 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-200L)
+        archive& BOOST_SERIALIZATION_NVP(dtr);
-        archive& make_nvp("i_SV_health", i_SV_health);
-        archive& make_nvp("d_TGD", d_TGD);    //!< Estimated Group Delay Differential: L1-L2 correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
-        archive& make_nvp("d_IODC", d_IODC);  //!< Issue of Data, Clock
-        archive& make_nvp("i_AODO", 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]
 
-        archive& make_nvp("b_fit_interval_flag", 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.
+        archive& BOOST_SERIALIZATION_NVP(IODE_SF2);
-        archive& make_nvp("d_spare1", d_spare1);
+        archive& BOOST_SERIALIZATION_NVP(IODE_SF3);
-        archive& make_nvp("d_spare2", d_spare2);
+        archive& BOOST_SERIALIZATION_NVP(code_on_L2);
-
+        archive& BOOST_SERIALIZATION_NVP(L2_P_data_flag);
-        archive& make_nvp("d_A_f0", d_A_f0);  //!< Coefficient 0 of code phase offset model [s]
+        archive& BOOST_SERIALIZATION_NVP(SV_accuracy);
-        archive& make_nvp("d_A_f1", d_A_f1);  //!< Coefficient 1 of code phase offset model [s/s]
+        archive& BOOST_SERIALIZATION_NVP(SV_health);
-        archive& make_nvp("d_A_f2", d_A_f2);  //!< Coefficient 2 of code phase offset model [s/s^2]
+        archive& BOOST_SERIALIZATION_NVP(TGD);
-
+        archive& BOOST_SERIALIZATION_NVP(IODC);
-        archive& make_nvp("b_integrity_status_flag", b_integrity_status_flag);
+        archive& BOOST_SERIALIZATION_NVP(AODO);
-        archive& make_nvp("b_alert_flag", b_alert_flag);                //!< If true, indicates that the SV URA may be worse than indicated in d_SV_accuracy, use that SV at our own risk.
+        archive& BOOST_SERIALIZATION_NVP(fit_interval_flag);
-        archive& make_nvp("b_antispoofing_flag", b_antispoofing_flag);  //!< If true, the AntiSpoofing mode is ON in that SV
+        archive& BOOST_SERIALIZATION_NVP(spare1);
+        archive& BOOST_SERIALIZATION_NVP(spare2);
+        archive& BOOST_SERIALIZATION_NVP(integrity_status_flag);
+        archive& BOOST_SERIALIZATION_NVP(alert_flag);
+        archive& BOOST_SERIALIZATION_NVP(antispoofing_flag);
     }
-
-private:
-    /*
-     * Accounts for the beginning or end of week crossover
-     *
-     * See paragraph 20.3.3.3.3.1 (IS-GPS-200L)
-     * \param[in]  -  time in seconds
-     * \param[out] -  corrected time, in seconds
-     */
-    double check_t(double time);
 };
 
 

src/core/system_parameters/gps_iono.h

@@ -37,36 +37,36 @@ class Gps_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 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 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 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 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 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 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 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 beta3{};   //!< Coefficient 3 of a cubic equation representing the period of the model [s(semi-circle)^3]
 
     Gps_Iono() = default;  //!< Default constructor
 
     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.
      */
     inline void serialize(Archive& archive, const unsigned int version)
     {
-        using boost::serialization::make_nvp;
         if (version)
             {
             };
-        archive& make_nvp("d_alpha0", d_alpha0);
+        archive& BOOST_SERIALIZATION_NVP(alpha0);
-        archive& make_nvp("d_alpha1", d_alpha1);
+        archive& BOOST_SERIALIZATION_NVP(alpha1);
-        archive& make_nvp("d_alpha2", d_alpha2);
+        archive& BOOST_SERIALIZATION_NVP(alpha2);
-        archive& make_nvp("d_alpha3", d_alpha3);
+        archive& BOOST_SERIALIZATION_NVP(alpha3);
-        archive& make_nvp("d_beta0", d_beta0);
+        archive& BOOST_SERIALIZATION_NVP(beta0);
-        archive& make_nvp("d_beta1", d_beta1);
+        archive& BOOST_SERIALIZATION_NVP(beta1);
-        archive& make_nvp("d_beta2", d_beta2);
+        archive& BOOST_SERIALIZATION_NVP(beta2);
-        archive& make_nvp("d_beta3", d_beta3);
+        archive& BOOST_SERIALIZATION_NVP(beta3);
     }
 };
 

src/core/system_parameters/gps_navigation_message.cc

@@ -426,52 +426,56 @@ double Gps_Navigation_Message::utc_time(const double gpstime_corrected) const
 Gps_Ephemeris Gps_Navigation_Message::get_ephemeris() const
 {
     Gps_Ephemeris ephemeris;
-    ephemeris.i_satellite_PRN = i_satellite_PRN;
+    ephemeris.PRN = i_satellite_PRN;
-    ephemeris.d_TOW = d_TOW;
+    ephemeris.tow = d_TOW;
-    ephemeris.d_Crs = d_Crs;
+    ephemeris.Crs = d_Crs;
-    ephemeris.d_Delta_n = d_Delta_n;
+    ephemeris.delta_n = d_Delta_n;
-    ephemeris.d_M_0 = d_M_0;
+    ephemeris.M_0 = d_M_0;
-    ephemeris.d_Cuc = d_Cuc;
+    ephemeris.Cuc = d_Cuc;
-    ephemeris.d_e_eccentricity = d_e_eccentricity;
+    ephemeris.ecc = d_e_eccentricity;
-    ephemeris.d_Cus = d_Cus;
+    ephemeris.Cus = d_Cus;
-    ephemeris.d_sqrt_A = d_sqrt_A;
+    ephemeris.sqrtA = d_sqrt_A;
-    ephemeris.d_Toe = d_Toe;
+    ephemeris.toe = d_Toe;
-    ephemeris.d_Toc = d_Toc;
+    ephemeris.toc = d_Toc;
-    ephemeris.d_Cic = d_Cic;
+    ephemeris.Cic = d_Cic;
-    ephemeris.d_OMEGA0 = d_OMEGA0;
+    ephemeris.OMEGA_0 = d_OMEGA0;
-    ephemeris.d_Cis = d_Cis;
+    ephemeris.Cis = d_Cis;
-    ephemeris.d_i_0 = d_i_0;
+    ephemeris.i_0 = d_i_0;
-    ephemeris.d_Crc = d_Crc;
+    ephemeris.Crc = d_Crc;
-    ephemeris.d_OMEGA = d_OMEGA;
+    ephemeris.omega = d_OMEGA;
-    ephemeris.d_OMEGA_DOT = d_OMEGA_DOT;
+    ephemeris.OMEGAdot = d_OMEGA_DOT;
-    ephemeris.d_IDOT = d_IDOT;
+    ephemeris.idot = d_IDOT;
-    ephemeris.i_code_on_L2 = i_code_on_L2;
+    ephemeris.code_on_L2 = i_code_on_L2;
-    ephemeris.i_GPS_week = i_GPS_week;
+    ephemeris.WN = i_GPS_week;
-    ephemeris.b_L2_P_data_flag = b_L2_P_data_flag;
+    ephemeris.L2_P_data_flag = b_L2_P_data_flag;
-    ephemeris.i_SV_accuracy = i_SV_accuracy;
+    ephemeris.SV_accuracy = i_SV_accuracy;
-    ephemeris.i_SV_health = i_SV_health;
+    ephemeris.SV_health = i_SV_health;
-    ephemeris.d_TGD = d_TGD;
+    ephemeris.TGD = d_TGD;
-    ephemeris.d_IODC = d_IODC;
+    ephemeris.IODC = d_IODC;
-    ephemeris.d_IODE_SF2 = d_IODE_SF2;
+    ephemeris.IODE_SF2 = d_IODE_SF2;
-    ephemeris.d_IODE_SF3 = d_IODE_SF3;
+    ephemeris.IODE_SF3 = d_IODE_SF3;
-    ephemeris.i_AODO = i_AODO;
+    ephemeris.AODO = i_AODO;
-    ephemeris.b_fit_interval_flag = b_fit_interval_flag;
+    ephemeris.fit_interval_flag = b_fit_interval_flag;
-    ephemeris.d_spare1 = d_spare1;
+    ephemeris.spare1 = d_spare1;
-    ephemeris.d_spare2 = d_spare2;
+    ephemeris.spare2 = d_spare2;
-    ephemeris.d_A_f0 = d_A_f0;
+    ephemeris.af0 = d_A_f0;
-    ephemeris.d_A_f1 = d_A_f1;
+    ephemeris.af1 = d_A_f1;
-    ephemeris.d_A_f2 = d_A_f2;
+    ephemeris.af2 = d_A_f2;
-    ephemeris.b_integrity_status_flag = b_integrity_status_flag;
+    ephemeris.integrity_status_flag = b_integrity_status_flag;
-    ephemeris.b_alert_flag = b_alert_flag;
+    ephemeris.alert_flag = b_alert_flag;
-    ephemeris.b_antispoofing_flag = b_antispoofing_flag;
+    ephemeris.antispoofing_flag = b_antispoofing_flag;
-    ephemeris.d_satClkDrift = d_satClkDrift;
+
-    ephemeris.d_dtr = d_dtr;
+    // These parameters are empty; can be computed later with
-    ephemeris.d_satpos_X = d_satpos_X;
+    // ephemeris.sv_clock_drift(double transmitTime);
-    ephemeris.d_satpos_Y = d_satpos_Y;
+    // ephemeris.satellitePosition(double transmitTime);
-    ephemeris.d_satpos_Z = d_satpos_Z;
+    ephemeris.satClkDrift = d_satClkDrift;
-    ephemeris.d_satvel_X = d_satvel_X;
+    ephemeris.dtr = d_dtr;
-    ephemeris.d_satvel_Y = d_satvel_Y;
+    ephemeris.satpos_X = d_satpos_X;
-    ephemeris.d_satvel_Z = d_satvel_Z;
+    ephemeris.satpos_Y = d_satpos_Y;
+    ephemeris.satpos_Z = d_satpos_Z;
+    ephemeris.satvel_X = d_satvel_X;
+    ephemeris.satvel_Y = d_satvel_Y;
+    ephemeris.satvel_Z = d_satvel_Z;
 
     return ephemeris;
 }
@@ -480,14 +484,14 @@ Gps_Ephemeris Gps_Navigation_Message::get_ephemeris() const
 Gps_Iono Gps_Navigation_Message::get_iono()
 {
     Gps_Iono iono;
-    iono.d_alpha0 = d_alpha0;
+    iono.alpha0 = d_alpha0;
-    iono.d_alpha1 = d_alpha1;
+    iono.alpha1 = d_alpha1;
-    iono.d_alpha2 = d_alpha2;
+    iono.alpha2 = d_alpha2;
-    iono.d_alpha3 = d_alpha3;
+    iono.alpha3 = d_alpha3;
-    iono.d_beta0 = d_beta0;
+    iono.beta0 = d_beta0;
-    iono.d_beta1 = d_beta1;
+    iono.beta1 = d_beta1;
-    iono.d_beta2 = d_beta2;
+    iono.beta2 = d_beta2;
-    iono.d_beta3 = d_beta3;
+    iono.beta3 = d_beta3;
     iono.valid = flag_iono_valid;
     // WARNING: We clear flag_utc_model_valid in order to not re-send the same information to the ionospheric parameters queue
     flag_iono_valid = false;
@@ -500,14 +504,14 @@ Gps_Utc_Model Gps_Navigation_Message::get_utc_model()
     Gps_Utc_Model utc_model;
     utc_model.valid = flag_utc_model_valid;
     // UTC parameters
-    utc_model.d_A1 = d_A1;
+    utc_model.A1 = d_A1;
-    utc_model.d_A0 = d_A0;
+    utc_model.A0 = d_A0;
-    utc_model.d_t_OT = d_t_OT;
+    utc_model.tot = d_t_OT;
-    utc_model.i_WN_T = i_WN_T;
+    utc_model.WN_T = i_WN_T;
-    utc_model.d_DeltaT_LS = d_DeltaT_LS;
+    utc_model.DeltaT_LS = d_DeltaT_LS;
-    utc_model.i_WN_LSF = i_WN_LSF;
+    utc_model.WN_LSF = i_WN_LSF;
-    utc_model.i_DN = i_DN;
+    utc_model.DN = i_DN;
-    utc_model.d_DeltaT_LSF = d_DeltaT_LSF;
+    utc_model.DeltaT_LSF = d_DeltaT_LSF;
     // warning: We clear flag_utc_model_valid in order to not re-send the same information to the ionospheric parameters queue
     flag_utc_model_valid = false;
     return utc_model;

src/core/system_parameters/gps_utc_model.h

@@ -41,37 +41,38 @@ public:
     Gps_Utc_Model() = default;
 
     // UTC parameters
-    double d_A0{};           //!< Constant of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200L) [s]
+    double A0{};           //!< Constant of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200L) [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-200L) [s/s]
+    double A1{};           //!< 1st order term of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200L) [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-200L) [s/s]
+    double A2{};           //!< 2nd order term of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200L) [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-200L) [s]
+    int32_t tot{};         //!< Reference time for UTC data (reference 20.3.4.5 and 20.3.3.5.2.4 IS-GPS-200L) [s]
-    int32_t i_WN_T{};        //!< UTC reference week number [weeks]
+    int32_t 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 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 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 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]
+    int32_t DeltaT_LSF{};  //!< Scheduled future or recent past (relative to NAV message upload) value of the delta time due to leap seconds [s]
 
     bool valid{};
 
     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.
      */
     inline void serialize(Archive& archive, const uint32_t version)
     {
-        using boost::serialization::make_nvp;
         if (version)
             {
             };
-        archive& make_nvp("d_A1", d_A1);
+        archive& BOOST_SERIALIZATION_NVP(A0);
-        archive& make_nvp("d_A0", d_A0);
+        archive& BOOST_SERIALIZATION_NVP(A1);
-        archive& make_nvp("d_t_OT", d_t_OT);
+        archive& BOOST_SERIALIZATION_NVP(A2);
-        archive& make_nvp("i_WN_T", i_WN_T);
+        archive& BOOST_SERIALIZATION_NVP(tot);
-        archive& make_nvp("d_DeltaT_LS", d_DeltaT_LS);
+        archive& BOOST_SERIALIZATION_NVP(WN_T);
-        archive& make_nvp("i_WN_LSF", i_WN_LSF);
+        archive& BOOST_SERIALIZATION_NVP(DeltaT_LS);
-        archive& make_nvp("i_DN", i_DN);
+        archive& BOOST_SERIALIZATION_NVP(WN_LSF);
-        archive& make_nvp("d_DeltaT_LSF", d_DeltaT_LSF);
+        archive& BOOST_SERIALIZATION_NVP(DN);
-        archive& make_nvp("valid", valid);
+        archive& BOOST_SERIALIZATION_NVP(DeltaT_LSF);
+        archive& BOOST_SERIALIZATION_NVP(valid);
     }
 };
 

src/tests/unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc

@@ -143,7 +143,7 @@ TEST_F(RinexPrinterTest, GalileoObsHeader)
 {
     auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, 12, "filename", false, false);
     auto eph = Galileo_Ephemeris();
-    eph.i_satellite_PRN = 1;
+    eph.PRN = 1;
     pvt_solution->galileo_ephemeris_map[1] = eph;
 
     std::map<int, Gnss_Synchro> gnss_observables_map;
@@ -229,7 +229,7 @@ TEST_F(RinexPrinterTest, GlonassObsHeader)
 {
     auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, 12, "filename", false, false);
     auto eph = Glonass_Gnav_Ephemeris();
-    eph.i_satellite_PRN = 1;
+    eph.PRN = 1;
     pvt_solution->glonass_gnav_ephemeris_map[1] = eph;
 
     std::map<int, Gnss_Synchro> gnss_observables_map;
@@ -285,8 +285,8 @@ TEST_F(RinexPrinterTest, MixedObsHeader)
     bool no_more_finds = false;
     auto eph_gal = Galileo_Ephemeris();
     auto eph_gps = Gps_Ephemeris();
-    eph_gal.i_satellite_PRN = 1;
+    eph_gal.PRN = 1;
-    eph_gps.i_satellite_PRN = 1;
+    eph_gps.PRN = 1;
     auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, 12, "filename", false, false);
     pvt_solution->galileo_ephemeris_map[1] = eph_gal;
 
@@ -355,8 +355,8 @@ TEST_F(RinexPrinterTest, MixedObsHeaderGpsGlo)
     bool no_more_finds = false;
     auto eph_glo = Glonass_Gnav_Ephemeris();
     auto eph_gps = Gps_Ephemeris();
-    eph_glo.i_satellite_PRN = 1;
+    eph_glo.PRN = 1;
-    eph_gps.i_satellite_PRN = 1;
+    eph_gps.PRN = 1;
     auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, 12, "filename", false, false);
     pvt_solution->glonass_gnav_ephemeris_map[1] = eph_glo;
 
@@ -423,7 +423,7 @@ TEST_F(RinexPrinterTest, GalileoObsLog)
     std::string line_str;
     bool no_more_finds = false;
     auto eph = Galileo_Ephemeris();
-    eph.i_satellite_PRN = 1;
+    eph.PRN = 1;
     auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, 12, "filename", false, false);
     pvt_solution->galileo_ephemeris_map[1] = eph;
     std::map<int, Gnss_Synchro> gnss_observables_map;
@@ -503,7 +503,7 @@ TEST_F(RinexPrinterTest, GlonassObsLog)
     std::string line_str;
     bool no_more_finds = false;
     auto eph = Glonass_Gnav_Ephemeris();
-    eph.i_satellite_PRN = 22;
+    eph.PRN = 22;
     auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, 12, "filename", false, false);
     pvt_solution->glonass_gnav_ephemeris_map[1] = eph;
     std::map<int, Gnss_Synchro> gnss_observables_map;
@@ -584,8 +584,8 @@ TEST_F(RinexPrinterTest, GpsObsLogDualBand)
     bool no_more_finds = false;
     auto eph = Gps_Ephemeris();
     auto eph_cnav = Gps_CNAV_Ephemeris();
-    eph.i_satellite_PRN = 1;
+    eph.PRN = 1;
-    eph_cnav.i_satellite_PRN = 1;
+    eph_cnav.PRN = 1;
     auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, 12, "filename", false, false);
     pvt_solution->gps_ephemeris_map[1] = eph;
     pvt_solution->gps_cnav_ephemeris_map[1] = eph_cnav;
@@ -676,7 +676,7 @@ TEST_F(RinexPrinterTest, GalileoObsLogDualBand)
 {
     auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, 12, "filename", false, false);
     auto eph = Galileo_Ephemeris();
-    eph.i_satellite_PRN = 1;
+    eph.PRN = 1;
     pvt_solution->galileo_ephemeris_map[1] = eph;
 
     std::map<int, Gnss_Synchro> gnss_observables_map;
@@ -772,8 +772,8 @@ TEST_F(RinexPrinterTest, MixedObsLog)
     bool no_more_finds = false;
     auto eph_gps = Gps_Ephemeris();
     auto eph_gal = Galileo_Ephemeris();
-    eph_gps.i_satellite_PRN = 1;
+    eph_gps.PRN = 1;
-    eph_gal.i_satellite_PRN = 1;
+    eph_gal.PRN = 1;
     auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, 12, "filename", false, false);
     pvt_solution->gps_ephemeris_map[1] = eph_gps;
     pvt_solution->galileo_ephemeris_map[1] = eph_gal;
@@ -896,8 +896,8 @@ TEST_F(RinexPrinterTest, MixedObsLogGpsGlo)
     bool no_more_finds = false;
     auto eph_gps = Gps_Ephemeris();
     auto eph_glo = Glonass_Gnav_Ephemeris();
-    eph_gps.i_satellite_PRN = 1;
+    eph_gps.PRN = 1;
-    eph_glo.i_satellite_PRN = 1;
+    eph_glo.PRN = 1;
     auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, 12, "filename", false, false);
     pvt_solution->gps_ephemeris_map[1] = eph_gps;
     pvt_solution->glonass_gnav_ephemeris_map[1] = eph_glo;

src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc

@@ -247,17 +247,17 @@ TEST(RtcmTest, MT1019)
     Gps_Ephemeris gps_eph = Gps_Ephemeris();
     Gps_Ephemeris gps_eph_read = Gps_Ephemeris();
 
-    gps_eph.i_satellite_PRN = 3;
+    gps_eph.PRN = 3;
-    gps_eph.d_IODC = 4;
+    gps_eph.IODC = 4;
-    gps_eph.d_e_eccentricity = 2.0 * ECCENTRICITY_LSB;
+    gps_eph.ecc = 2.0 * ECCENTRICITY_LSB;
-    gps_eph.b_fit_interval_flag = true;
+    gps_eph.fit_interval_flag = true;
     std::string tx_msg = rtcm->print_MT1019(gps_eph);
 
     EXPECT_EQ(0, rtcm->read_MT1019(tx_msg, gps_eph_read));
-    EXPECT_EQ(static_cast<unsigned int>(3), gps_eph_read.i_satellite_PRN);
+    EXPECT_EQ(static_cast<unsigned int>(3), gps_eph_read.PRN);
-    EXPECT_DOUBLE_EQ(4, gps_eph_read.d_IODC);
+    EXPECT_DOUBLE_EQ(4, gps_eph_read.IODC);
-    EXPECT_DOUBLE_EQ(2.0 * ECCENTRICITY_LSB, gps_eph_read.d_e_eccentricity);
+    EXPECT_DOUBLE_EQ(2.0 * ECCENTRICITY_LSB, gps_eph_read.ecc);
-    EXPECT_EQ(expected_true, gps_eph_read.b_fit_interval_flag);
+    EXPECT_EQ(expected_true, gps_eph_read.fit_interval_flag);
     EXPECT_EQ(1, rtcm->read_MT1019(rtcm->bin_to_binary_data(rtcm->hex_to_bin("FFFFFFFFFFF")), gps_eph_read));
 }
 
@@ -322,16 +322,16 @@ TEST(RtcmTest, MT1045)
     Galileo_Ephemeris gal_eph = Galileo_Ephemeris();
     Galileo_Ephemeris gal_eph_read = Galileo_Ephemeris();
 
-    gal_eph.i_satellite_PRN = 5;
+    gal_eph.PRN = 5;
-    gal_eph.OMEGA_dot_3 = 53.0 * OMEGA_DOT_3_LSB;
+    gal_eph.OMEGAdot = 53.0 * OMEGA_DOT_3_LSB;
     gal_eph.E5a_DVS = true;
 
     std::string tx_msg = rtcm->print_MT1045(gal_eph);
 
     EXPECT_EQ(0, rtcm->read_MT1045(tx_msg, gal_eph_read));
     EXPECT_EQ(expected_true, gal_eph_read.E5a_DVS);
-    EXPECT_DOUBLE_EQ(53.0 * OMEGA_DOT_3_LSB, gal_eph_read.OMEGA_dot_3);
+    EXPECT_DOUBLE_EQ(53.0 * OMEGA_DOT_3_LSB, gal_eph_read.OMEGAdot);
-    EXPECT_EQ(static_cast<unsigned int>(5), gal_eph_read.i_satellite_PRN);
+    EXPECT_EQ(static_cast<unsigned int>(5), gal_eph_read.PRN);
     EXPECT_EQ(1, rtcm->read_MT1045(rtcm->bin_to_binary_data(rtcm->hex_to_bin("FFFFFFFFFFF")), gal_eph_read));
 }
 
@@ -402,9 +402,9 @@ TEST(RtcmTest, MSMCell)
     bool more_messages = false;
     double obs_time = 25.0;
 
-    gps_eph.i_satellite_PRN = gnss_synchro2.PRN;
+    gps_eph.PRN = gnss_synchro2.PRN;
-    gal_eph.i_satellite_PRN = gnss_synchro.PRN;
+    gal_eph.PRN = gnss_synchro.PRN;
-    // glo_gnav_eph.i_satellite_PRN = gnss_synchro.PRN;
+    // glo_gnav_eph.PRN = gnss_synchro.PRN;
 
     std::string MSM1 = rtcm->print_MSM_1(gps_eph,
         {},
@@ -529,7 +529,7 @@ TEST(RtcmTest, MSM1)
     bool more_messages = false;
     double obs_time = 25.0;
 
-    gps_eph.i_satellite_PRN = gnss_synchro.PRN;
+    gps_eph.PRN = gnss_synchro.PRN;
 
     std::string MSM1 = rtcm->print_MSM_1(gps_eph,
         {}, {}, {},

src/tests/unit-tests/signal-processing-blocks/pvt/serdes_monitor_pvt_test.cc

@@ -32,7 +32,7 @@ TEST(Serdes_Monitor_Pvt_Test, Simpletest)
 
     serdes.readProtobuffer(mon);
 
-    gnss_sdr::MonitorGalileoEphemeris ephgal;
+    gnss_sdr::GalileoEphemeris ephgal;
     Serdes_Galileo_Eph gal_serdes = Serdes_Galileo_Eph();
     gal_serdes.readProtobuffer(ephgal);
 

src/utils/front-end-cal/front_end_cal.cc

@@ -56,8 +56,8 @@ bool FrontEndCal::read_assistance_from_XML()
                 {
                     std::cout << "SUPL: Read XML Ephemeris for GPS SV " << gps_eph_iter->first << '\n';
                     LOG(INFO) << "SUPL: Read XML Ephemeris for GPS SV " << gps_eph_iter->first;
-                    LOG(INFO) << "New Ephemeris record inserted with Toe=" << gps_eph_iter->second.d_Toe << " and GPS Week=" << gps_eph_iter->second.i_GPS_week;
+                    LOG(INFO) << "New Ephemeris record inserted with Toe=" << gps_eph_iter->second.toe << " and GPS Week=" << gps_eph_iter->second.WN;
-                    global_gps_ephemeris_map.write(gps_eph_iter->second.i_satellite_PRN, gps_eph_iter->second);
+                    global_gps_ephemeris_map.write(gps_eph_iter->second.PRN, gps_eph_iter->second);
                 }
             return true;
         }
@@ -134,8 +134,8 @@ int FrontEndCal::Get_SUPL_Assist()
                                 {
                                     LOG(INFO) << "SUPL: Received Ephemeris for GPS SV " << gps_eph_iter->first;
                                     std::cout << "SUPL: Received Ephemeris for GPS SV " << gps_eph_iter->first << '\n';
-                                    LOG(INFO) << "New Ephemeris record inserted with Toe=" << gps_eph_iter->second.d_Toe << " and GPS Week=" << gps_eph_iter->second.i_GPS_week;
+                                    LOG(INFO) << "New Ephemeris record inserted with Toe=" << gps_eph_iter->second.toe << " and GPS Week=" << gps_eph_iter->second.WN;
-                                    global_gps_ephemeris_map.write(gps_eph_iter->second.i_satellite_PRN, gps_eph_iter->second);
+                                    global_gps_ephemeris_map.write(gps_eph_iter->second.PRN, gps_eph_iter->second);
                                 }
                             // Save ephemeris to XML file
                             std::string eph_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ephemeris_xml", eph_default_xml_filename);
@@ -200,7 +200,7 @@ int FrontEndCal::Get_SUPL_Assist()
                                     LOG(INFO) << "SUPL: Received Acquisition assistance for GPS SV " << gps_acq_iter->first;
                                     std::cout << "SUPL: Received Acquisition assistance for GPS SV " << gps_acq_iter->first << '\n';
                                     LOG(INFO) << "New acq assist record inserted";
-                                    global_gps_acq_assist_map.write(gps_acq_iter->second.i_satellite_PRN, gps_acq_iter->second);
+                                    global_gps_acq_assist_map.write(gps_acq_iter->second.PRN, gps_acq_iter->second);
                                 }
                         }
                     else
@@ -323,9 +323,9 @@ double FrontEndCal::estimate_doppler_from_eph(unsigned int PRN, double tow, doub
             for (int i = 0; i < n_points; i++)
                 {
                     eph_it->second.satellitePosition(obs_time);
-                    SV_pos_ecef(0) = eph_it->second.d_satpos_X;
+                    SV_pos_ecef(0) = eph_it->second.satpos_X;
-                    SV_pos_ecef(1) = eph_it->second.d_satpos_Y;
+                    SV_pos_ecef(1) = eph_it->second.satpos_Y;
-                    SV_pos_ecef(2) = eph_it->second.d_satpos_Z;
+                    SV_pos_ecef(2) = eph_it->second.satpos_Z;
                     // SV distances to observer (true range)
                     ranges(i) = arma::norm(SV_pos_ecef - obs_ecef, 2);
                     obs_time += step_secs;

src/utils/front-end-cal/main.cc

@@ -495,12 +495,12 @@ int main(int argc, char** argv)
                 {
                     std::map<int, Gps_Ephemeris> Eph_map;
                     Eph_map = global_gps_ephemeris_map.get_map_copy();
-                    current_TOW = Eph_map.begin()->second.d_TOW;
+                    current_TOW = Eph_map.begin()->second.tow;
 
-                    time_t t = utc_time(Eph_map.begin()->second.i_GPS_week, static_cast<int64_t>(current_TOW));
+                    time_t t = utc_time(Eph_map.begin()->second.WN, static_cast<int64_t>(current_TOW));
 
                     std::cout << "Reference Time:\n";
-                    std::cout << "  GPS Week: " << Eph_map.begin()->second.i_GPS_week << '\n';
+                    std::cout << "  GPS Week: " << Eph_map.begin()->second.WN << '\n';
                     std::cout << "  GPS TOW:  " << static_cast<int64_t>(current_TOW) << " " << static_cast<int64_t>(current_TOW) * 0.08 << '\n';
                     std::cout << "  ~ UTC:    " << ctime(&t) << '\n';
                     std::cout << "Current TOW obtained from SUPL assistance = " << current_TOW << '\n';

src/utils/rinex2assist/main.cc

@@ -174,47 +174,47 @@ int main(int argc, char** argv)
             if (hdr.fileSys == "G: (GPS)" || hdr.fileSys == "MIXED")
                 {
                     gps_utc_model.valid = (hdr.valid > 2147483648) ? true : false;
-                    gps_utc_model.d_A1 = hdr.mapTimeCorr["GPUT"].A0;
+                    gps_utc_model.A1 = hdr.mapTimeCorr["GPUT"].A0;
-                    gps_utc_model.d_A0 = hdr.mapTimeCorr["GPUT"].A1;
+                    gps_utc_model.A0 = hdr.mapTimeCorr["GPUT"].A1;
-                    gps_utc_model.d_t_OT = hdr.mapTimeCorr["GPUT"].refSOW;
+                    gps_utc_model.tot = hdr.mapTimeCorr["GPUT"].refSOW;
-                    gps_utc_model.i_WN_T = hdr.mapTimeCorr["GPUT"].refWeek;
+                    gps_utc_model.WN_T = hdr.mapTimeCorr["GPUT"].refWeek;
-                    gps_utc_model.d_DeltaT_LS = hdr.leapSeconds;
+                    gps_utc_model.DeltaT_LS = hdr.leapSeconds;
-                    gps_utc_model.i_WN_LSF = hdr.leapWeek;
+                    gps_utc_model.WN_LSF = hdr.leapWeek;
-                    gps_utc_model.i_DN = hdr.leapDay;
+                    gps_utc_model.DN = hdr.leapDay;
-                    gps_utc_model.d_DeltaT_LSF = hdr.leapDelta;
+                    gps_utc_model.DeltaT_LSF = hdr.leapDelta;
 
                     // Collect iono parameters from RINEX header
                     gps_iono.valid = (hdr.mapIonoCorr["GPSA"].param[0] == 0) ? false : true;
-                    gps_iono.d_alpha0 = hdr.mapIonoCorr["GPSA"].param[0];
+                    gps_iono.alpha0 = hdr.mapIonoCorr["GPSA"].param[0];
-                    gps_iono.d_alpha1 = hdr.mapIonoCorr["GPSA"].param[1];
+                    gps_iono.alpha1 = hdr.mapIonoCorr["GPSA"].param[1];
-                    gps_iono.d_alpha2 = hdr.mapIonoCorr["GPSA"].param[2];
+                    gps_iono.alpha2 = hdr.mapIonoCorr["GPSA"].param[2];
-                    gps_iono.d_alpha3 = hdr.mapIonoCorr["GPSA"].param[3];
+                    gps_iono.alpha3 = hdr.mapIonoCorr["GPSA"].param[3];
-                    gps_iono.d_beta0 = hdr.mapIonoCorr["GPSB"].param[0];
+                    gps_iono.beta0 = hdr.mapIonoCorr["GPSB"].param[0];
-                    gps_iono.d_beta1 = hdr.mapIonoCorr["GPSB"].param[1];
+                    gps_iono.beta1 = hdr.mapIonoCorr["GPSB"].param[1];
-                    gps_iono.d_beta2 = hdr.mapIonoCorr["GPSB"].param[2];
+                    gps_iono.beta2 = hdr.mapIonoCorr["GPSB"].param[2];
-                    gps_iono.d_beta3 = hdr.mapIonoCorr["GPSB"].param[3];
+                    gps_iono.beta3 = hdr.mapIonoCorr["GPSB"].param[3];
                 }
             if (hdr.fileSys == "E: (GAL)" || hdr.fileSys == "MIXED")
                 {
-                    gal_utc_model.A0_6 = hdr.mapTimeCorr["GAUT"].A0;
+                    gal_utc_model.A0 = hdr.mapTimeCorr["GAUT"].A0;
-                    gal_utc_model.A1_6 = hdr.mapTimeCorr["GAUT"].A1;
+                    gal_utc_model.A1 = hdr.mapTimeCorr["GAUT"].A1;
-                    gal_utc_model.Delta_tLS_6 = hdr.leapSeconds;
+                    gal_utc_model.Delta_tLS = hdr.leapSeconds;
-                    gal_utc_model.t0t_6 = hdr.mapTimeCorr["GAUT"].refSOW;
+                    gal_utc_model.tot = hdr.mapTimeCorr["GAUT"].refSOW;
-                    gal_utc_model.WNot_6 = hdr.mapTimeCorr["GAUT"].refWeek;
+                    gal_utc_model.WNot = hdr.mapTimeCorr["GAUT"].refWeek;
-                    gal_utc_model.WN_LSF_6 = hdr.leapWeek;
+                    gal_utc_model.WN_LSF = hdr.leapWeek;
-                    gal_utc_model.DN_6 = hdr.leapDay;
+                    gal_utc_model.DN = hdr.leapDay;
-                    gal_utc_model.Delta_tLSF_6 = hdr.leapDelta;
+                    gal_utc_model.Delta_tLSF = hdr.leapDelta;
                     gal_utc_model.flag_utc_model = (hdr.mapTimeCorr["GAUT"].A0 == 0.0);
-                    gal_iono.ai0_5 = hdr.mapIonoCorr["GAL"].param[0];
+                    gal_iono.ai0 = hdr.mapIonoCorr["GAL"].param[0];
-                    gal_iono.ai1_5 = hdr.mapIonoCorr["GAL"].param[1];
+                    gal_iono.ai1 = hdr.mapIonoCorr["GAL"].param[1];
-                    gal_iono.ai2_5 = hdr.mapIonoCorr["GAL"].param[2];
+                    gal_iono.ai2 = hdr.mapIonoCorr["GAL"].param[2];
-                    gal_iono.Region1_flag_5 = false;
+                    gal_iono.Region1_flag = false;
-                    gal_iono.Region2_flag_5 = false;
+                    gal_iono.Region2_flag = false;
-                    gal_iono.Region3_flag_5 = false;
+                    gal_iono.Region3_flag = false;
-                    gal_iono.Region4_flag_5 = false;
+                    gal_iono.Region4_flag = false;
-                    gal_iono.Region5_flag_5 = false;
+                    gal_iono.Region5_flag = false;
-                    gal_iono.TOW_5 = 0.0;
+                    gal_iono.tow = 0.0;
-                    gal_iono.WN_5 = 0.0;
+                    gal_iono.WN = 0.0;
                 }
 
             // Read navigation data
@@ -224,44 +224,44 @@ int main(int argc, char** argv)
                         {
                             // Fill GPS ephemeris object
                             Gps_Ephemeris eph;
-                            eph.i_satellite_PRN = rne.PRNID;
+                            eph.PRN = rne.PRNID;
-                            eph.d_TOW = rne.xmitTime;
+                            eph.tow = rne.xmitTime;
-                            eph.d_IODE_SF2 = rne.IODE;
+                            eph.IODE_SF2 = rne.IODE;
-                            eph.d_IODE_SF3 = rne.IODE;
+                            eph.IODE_SF3 = rne.IODE;
-                            eph.d_Crs = rne.Crs;
+                            eph.Crs = rne.Crs;
-                            eph.d_Delta_n = rne.dn;
+                            eph.delta_n = rne.dn;
-                            eph.d_M_0 = rne.M0;
+                            eph.M_0 = rne.M0;
-                            eph.d_Cuc = rne.Cuc;
+                            eph.Cuc = rne.Cuc;
-                            eph.d_e_eccentricity = rne.ecc;
+                            eph.ecc = rne.ecc;
-                            eph.d_Cus = rne.Cus;
+                            eph.Cus = rne.Cus;
-                            eph.d_sqrt_A = rne.Ahalf;
+                            eph.sqrtA = rne.Ahalf;
-                            eph.d_Toe = rne.Toe;
+                            eph.toe = rne.Toe;
-                            eph.d_Toc = rne.Toc;
+                            eph.toc = rne.Toc;
-                            eph.d_Cic = rne.Cic;
+                            eph.Cic = rne.Cic;
-                            eph.d_OMEGA0 = rne.OMEGA0;
+                            eph.OMEGA_0 = rne.OMEGA0;
-                            eph.d_Cis = rne.Cis;
+                            eph.Cis = rne.Cis;
-                            eph.d_i_0 = rne.i0;
+                            eph.i_0 = rne.i0;
-                            eph.d_Crc = rne.Crc;
+                            eph.Crc = rne.Crc;
-                            eph.d_OMEGA = rne.w;
+                            eph.omega = rne.w;
-                            eph.d_OMEGA_DOT = rne.OMEGAdot;
+                            eph.OMEGAdot = rne.OMEGAdot;
-                            eph.d_IDOT = rne.idot;
+                            eph.idot = rne.idot;
-                            eph.i_code_on_L2 = rne.codeflgs;  //
+                            eph.code_on_L2 = rne.codeflgs;  //
-                            eph.i_GPS_week = rne.weeknum;
+                            eph.WN = rne.weeknum;
-                            eph.b_L2_P_data_flag = rne.L2Pdata;
+                            eph.L2_P_data_flag = rne.L2Pdata;
-                            eph.i_SV_accuracy = rne.accuracy;
+                            eph.SV_accuracy = rne.accuracy;
-                            eph.i_SV_health = rne.health;
+                            eph.SV_health = rne.health;
-                            eph.d_TGD = rne.Tgd;
+                            eph.TGD = rne.Tgd;
-                            eph.d_IODC = rne.IODC;
+                            eph.IODC = rne.IODC;
-                            eph.i_AODO = 0;  //
+                            eph.AODO = 0;  //
-                            eph.b_fit_interval_flag = (rne.fitint > 4) ? true : false;
+                            eph.fit_interval_flag = (rne.fitint > 4) ? true : false;
-                            eph.d_spare1 = 0.0;
+                            eph.spare1 = 0.0;
-                            eph.d_spare2 = 0.0;
+                            eph.spare2 = 0.0;
-                            eph.d_A_f0 = rne.af0;
+                            eph.af0 = rne.af0;
-                            eph.d_A_f1 = rne.af1;
+                            eph.af1 = rne.af1;
-                            eph.d_A_f2 = rne.af2;
+                            eph.af2 = rne.af2;
-                            eph.b_integrity_status_flag = false;  //
+                            eph.integrity_status_flag = false;  //
-                            eph.b_alert_flag = false;             //
+                            eph.alert_flag = false;             //
-                            eph.b_antispoofing_flag = false;      //
+                            eph.antispoofing_flag = false;      //
                             eph_map[i] = eph;
                             i++;
                         }
@@ -269,28 +269,28 @@ int main(int argc, char** argv)
                         {
                             // Fill Galileo ephemeris object
                             Galileo_Ephemeris eph;
-                            eph.i_satellite_PRN = rne.PRNID;
+                            eph.PRN = rne.PRNID;
-                            eph.M0_1 = rne.M0;
+                            eph.M_0 = rne.M0;
-                            eph.e_1 = rne.ecc;
+                            eph.ecc = rne.ecc;
-                            eph.A_1 = rne.Ahalf;
+                            eph.sqrtA = rne.Ahalf;
-                            eph.OMEGA_0_2 = rne.OMEGA0;
+                            eph.OMEGA_0 = rne.OMEGA0;
-                            eph.i_0_2 = rne.i0;
+                            eph.i_0 = rne.i0;
-                            eph.omega_2 = rne.w;
+                            eph.omega = rne.w;
-                            eph.OMEGA_dot_3 = rne.OMEGAdot;
+                            eph.OMEGAdot = rne.OMEGAdot;
-                            eph.delta_n_3 = rne.dn;
+                            eph.delta_n = rne.dn;
-                            eph.iDot_2 = rne.idot;
+                            eph.idot = rne.idot;
-                            eph.C_uc_3 = rne.Cuc;
+                            eph.Cuc = rne.Cuc;
-                            eph.C_us_3 = rne.Cus;
+                            eph.Cus = rne.Cus;
-                            eph.C_rc_3 = rne.Crc;
+                            eph.Crc = rne.Crc;
-                            eph.C_rs_3 = rne.Crs;
+                            eph.Crs = rne.Crs;
-                            eph.C_ic_4 = rne.Cic;
+                            eph.Cic = rne.Cic;
-                            eph.C_is_4 = rne.Cis;
+                            eph.Cis = rne.Cis;
-                            eph.t0e_1 = rne.Toe;
+                            eph.toe = rne.Toe;
-                            eph.t0c_4 = rne.Toc;
+                            eph.toc = rne.Toc;
-                            eph.af0_4 = rne.af0;
+                            eph.af0 = rne.af0;
-                            eph.af1_4 = rne.af1;
+                            eph.af1 = rne.af1;
-                            eph.af2_4 = rne.af2;
+                            eph.af2 = rne.af2;
-                            eph.WN_5 = rne.weeknum;
+                            eph.WN = rne.weeknum;
                             eph_gal_map[j] = eph;
                             j++;
                         }
@@ -392,7 +392,7 @@ int main(int argc, char** argv)
             std::cout << "Generated file: " << xml_filename << '\n';
         }
 
-    if (gal_utc_model.A0_6 != 0)
+    if (gal_utc_model.A0 != 0)
         {
             std::ofstream ofs5;
             xml_filename = "gal_utc_model.xml";
@@ -410,7 +410,7 @@ int main(int argc, char** argv)
                 }
             std::cout << "Generated file: " << xml_filename << '\n';
         }
-    if (gal_iono.ai0_5 != 0)
+    if (gal_iono.ai0 != 0)
         {
             std::ofstream ofs7;
             xml_filename = "gal_iono.xml";