mirror of https://github.com/gnss-sdr/gnss-sdr
121 lines
5.4 KiB
C++
121 lines
5.4 KiB
C++
/*!
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* \file gnss_ephemeris.h
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* \brief Base class for GNSS Ephemeris
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* \author Carles Fernandez, 2021. cfernandez(at)cttc.es
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*
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*
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* -----------------------------------------------------------------------------
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*
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* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
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* This file is part of GNSS-SDR.
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*
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* Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
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* SPDX-License-Identifier: GPL-3.0-or-later
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*
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* -----------------------------------------------------------------------------
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*/
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#ifndef GNSS_SDR_GNSS_EPHEMERIS_H
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#define GNSS_SDR_GNSS_EPHEMERIS_H
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#include <array>
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#include <cstdint>
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/*!
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* \brief Base class for GNSS ephemeris storage
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*/
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class Gnss_Ephemeris
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{
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public:
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Gnss_Ephemeris() = default;
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/*!
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* \brief Sets (\a satClkDrift) and (\a dtr), and returns the clock drift in
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* seconds according to the User Algorithm for SV Clock Correction
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* (IS-GPS-200M, 20.3.3.3.3.1, and Galileo OS SIS ICD, 5.1.4).
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*/
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double sv_clock_drift(double transmitTime);
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/*!
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* \brief Computes prediction of the Doppler shift for a given time and receiver's position and velocity.
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* \f[
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* f_{d} = - \mathbf{v} \frac{\mathbf{x}^{T}}{\left| \mathbf{x} \right| } \frac{f_{L}}{c}
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* \f]
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* where:
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* \f[
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* \mathbf{v} = \mathbf{v}_{sat} - \mathbf{v}_{rx}
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* \f]
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* \f[
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* \mathbf{x} = \mathbf{x}_{sat} - \mathbf{x}_{rx}
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* \f]
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* \f[
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* \left| \mathbf{x} \right| = \sqrt{\mathbf{x}\mathbf{x}^{T}}
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* \f]
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*
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* @param[in] rx_time_s Time of Week in seconds
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* @param[in] lat Receiver's latitude in degrees
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* @param[in] lon Receiver's longitude in degrees
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* @param[in] h Receiver's height in meters
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* @param[in] ve Receiver's velocity in the East direction [m/s]
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* @param[in] vn Receiver's velocity in the North direction [m/s]
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* @param[in] vu Receiver's velocity in the Up direction [m/s]
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* @param[in] band Signal band for which the Doppler will be computed
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* (1: L1 C/A, E1B, BI1; 2: L2C, BI2; 3: BI3; 5: L5/E5a; 6: E6B; 7: E5b; 8: E5a+E5b)
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*/
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double predicted_doppler(double rx_time_s, double lat, double lon, double h, double ve, double vn, double vu, int band) const;
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void satellitePosition(double transmitTime); //!< Computes the ECEF SV coordinates and ECEF velocity
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uint32_t PRN{}; //!< SV ID
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double M_0{}; //!< Mean anomaly at reference time [rad]
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double delta_n{}; //!< Mean motion difference from computed value [rad/sec]
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double ecc{}; //!< Eccentricity
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double sqrtA{}; //!< Square root of the semi-major axis [meters^1/2]
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double OMEGA_0{}; //!< Longitude of ascending node of orbital plane at weekly epoch [rad]
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double i_0{}; //!< Inclination angle at reference time [rad]
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double omega{}; //!< Argument of perigee [rad]
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double OMEGAdot{}; //!< Rate of right ascension [rad/sec]
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double idot{}; //!< Rate of inclination angle [rad/sec]
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double Cuc{}; //!< Amplitude of the cosine harmonic correction term to the argument of latitude [rad]
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double Cus{}; //!< Amplitude of the sine harmonic correction term to the argument of latitude [rad]
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double Crc{}; //!< Amplitude of the cosine harmonic correction term to the orbit radius [meters]
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double Crs{}; //!< Amplitude of the sine harmonic correction term to the orbit radius [meters]
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double Cic{}; //!< Amplitude of the cosine harmonic correction term to the angle of inclination [rad]
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double Cis{}; //!< Amplitude of the sine harmonic correction term to the angle of inclination [rad]
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int32_t toe{}; //!< Ephemeris reference time [s]
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// Clock correction parameters
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int32_t toc{}; //!< Clock correction data reference Time of Week [sec]
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double af0{}; //!< SV clock bias correction coefficient [s]
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double af1{}; //!< SV clock drift correction coefficient [s/s]
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double af2{}; //!< SV clock drift rate correction coefficient [s/s^2]
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double satClkDrift{}; //!< SV clock drift
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double dtr{}; //!< Relativistic clock correction term
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// Time
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int32_t WN{}; //!< Week number
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int32_t tow{}; //!< Time of Week
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// satellite positions
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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.
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double satpos_Y{}; //!< Earth-fixed coordinate y of the satellite [m]. Completes a right-handed, Earth-Centered, Earth-Fixed orthogonal coordinate system.
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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).
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// Satellite velocity
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double satvel_X{}; //!< Earth-fixed velocity coordinate x of the satellite [m]
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double satvel_Y{}; //!< Earth-fixed velocity coordinate y of the satellite [m]
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double satvel_Z{}; //!< Earth-fixed velocity coordinate z of the satellite [m]
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protected:
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char System{}; //!< Character ID of the GNSS system. 'G': GPS. 'E': Galileo. 'B': BeiDou
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private:
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void satellitePosVelComputation(double transmitTime, std::array<double, 7>& pos_vel_dtr) const;
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double check_t(double time) const;
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double sv_clock_relativistic_term(double transmitTime) const;
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};
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#endif // GNSS_SDR_GNSS_EPHEMERIS_H
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