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https://github.com/gnss-sdr/gnss-sdr
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Removing duplicated code
This commit is contained in:
Javier Arribas
parent
ab75381e33
commit
5b83d828da
@ -262,141 +262,6 @@ signed long int Gps_Navigation_Message::read_navigation_signed(std::bitset<GPS_S
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return value;
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}
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double Gps_Navigation_Message::check_t(double time)
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{
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double corrTime;
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double half_week = 302400; // seconds
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corrTime = time;
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if (time > half_week)
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{
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corrTime = time - 2 * half_week;
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}
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else if (time < -half_week)
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{
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corrTime = time + 2 * half_week;
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}
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return corrTime;
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}
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// 20.3.3.3.3.1 User Algorithm for SV Clock Correction.
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double Gps_Navigation_Message::sv_clock_correction(double transmitTime)
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{
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double dt;
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dt = check_t(transmitTime - d_Toc);
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d_satClkCorr = (d_A_f2 * dt + d_A_f1) * dt + d_A_f0 + d_dtr;
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double correctedTime = transmitTime - d_satClkCorr;
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return correctedTime;
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}
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void Gps_Navigation_Message::satellitePosition(double transmitTime)
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{
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double tk;
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double a;
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double n;
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double n0;
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double M;
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double E;
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double E_old;
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double dE;
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double nu;
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double phi;
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double u;
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double r;
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double i;
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double Omega;
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// Find satellite's position ----------------------------------------------
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// Restore semi-major axis
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a = d_sqrt_A * d_sqrt_A;
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// Time from ephemeris reference epoch
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tk = check_t(transmitTime - d_Toe);
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// Computed mean motion
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n0 = sqrt(GM / (a * a * a));
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// Corrected mean motion
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n = n0 + d_Delta_n;
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// Mean anomaly
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M = d_M_0 + n * tk;
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// Reduce mean anomaly to between 0 and 2pi
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M = fmod((M + 2 * GPS_PI), (2 * GPS_PI));
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// Initial guess of eccentric anomaly
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E = M;
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// --- Iteratively compute eccentric anomaly ----------------------------
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for (int ii = 1; ii < 20; ii++)
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{
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E_old = E;
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E = M + d_e_eccentricity * sin(E);
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dE = fmod(E - E_old, 2 * GPS_PI);
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if (fabs(dE) < 1e-12)
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{
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//Necessary precision is reached, exit from the loop
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break;
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}
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}
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// Compute relativistic correction term
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d_dtr = F * d_e_eccentricity * d_sqrt_A * sin(E);
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// Compute the true anomaly
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double tmp_Y = sqrt(1.0 - d_e_eccentricity * d_e_eccentricity) * sin(E);
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double tmp_X = cos(E) - d_e_eccentricity;
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nu = atan2(tmp_Y, tmp_X);
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// Compute angle phi (argument of Latitude)
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phi = nu + d_OMEGA;
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// Reduce phi to between 0 and 2*pi rad
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phi = fmod((phi), (2 * GPS_PI));
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// Correct argument of latitude
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u = phi + d_Cuc * cos(2 * phi) + d_Cus * sin(2 * phi);
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// Correct radius
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r = a * (1 - d_e_eccentricity * cos(E)) + d_Crc * cos(2 * phi) + d_Crs * sin(2 * phi);
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// Correct inclination
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i = d_i_0 + d_IDOT * tk + d_Cic * cos(2 * phi) + d_Cis * sin(2 * phi);
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// Compute the angle between the ascending node and the Greenwich meridian
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Omega = d_OMEGA0 + (d_OMEGA_DOT - OMEGA_EARTH_DOT) * tk - OMEGA_EARTH_DOT * d_Toe;
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// Reduce to between 0 and 2*pi rad
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Omega = fmod((Omega + 2 * GPS_PI), (2 * GPS_PI));
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// --- Compute satellite coordinates in Earth-fixed coordinates
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d_satpos_X = cos(u) * r * cos(Omega) - sin(u) * r * cos(i) * sin(Omega);
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d_satpos_Y = cos(u) * r * sin(Omega) + sin(u) * r * cos(i) * cos(Omega);
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d_satpos_Z = sin(u) * r * sin(i);
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// Satellite's velocity. Can be useful for Vector Tracking loops
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double Omega_dot = d_OMEGA_DOT - OMEGA_EARTH_DOT;
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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);
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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);
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d_satvel_Z = d_satpos_Y * sin(i);
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}
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int Gps_Navigation_Message::subframe_decoder(char *subframe)
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{
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int subframe_ID = 0;
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@ -58,15 +58,6 @@ private:
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signed long int read_navigation_signed(std::bitset<GPS_SUBFRAME_BITS> bits, const std::vector<std::pair<int,int>> parameter);
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bool read_navigation_bool(std::bitset<GPS_SUBFRAME_BITS> bits, const std::vector<std::pair<int,int>> parameter);
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void print_gps_word_bytes(unsigned int GPS_word);
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/*
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* Accounts for the beginning or end of week crossover
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*
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* See paragraph 20.3.3.3.3.1 (IS-GPS-200E)
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* \param[in] - time in seconds
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* \param[out] - corrected time, in seconds
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*/
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double check_t(double time);
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public:
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bool b_valid_ephemeris_set_flag; // flag indicating that this ephemeris set have passed the validation check
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//broadcast orbit 1
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@ -212,19 +203,6 @@ public:
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*/
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int subframe_decoder(char *subframe);
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/*!
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* \brief Computes the position of the satellite
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*
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* Implementation of Table 20-IV (IS-GPS-200E)
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*/
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void satellitePosition(double transmitTime);
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/*!
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* \brief Sets (\a d_satClkCorr) according to the User Algorithm for SV Clock Correction
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* and returns the corrected clock (IS-GPS-200E, 20.3.3.3.3.1)
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*/
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double sv_clock_correction(double transmitTime);
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/*!
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* \brief Computes the Coordinated Universal Time (UTC) and
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* returns it in [s] (IS-GPS-200E, 20.3.3.5.2.4)
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