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https://github.com/gnss-sdr/gnss-sdr
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bc8d0bbe64
Adds set of unit test to check functionality of GLONASS processing for RINEX and RTCM messages. It also fixes a couple of bug fixes with formatting in existing code.
216 lines
14 KiB
C++
216 lines
14 KiB
C++
/*!
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* \file glonass_gnav_ephemeris.h
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* \brief Interface of a GLONASS EPHEMERIS storage
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* \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#ifndef GNSS_SDR_GLONASS_GNAV_EPHEMERIS_H_
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#define GNSS_SDR_GLONASS_GNAV_EPHEMERIS_H_
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#include <map>
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#include <string>
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#include "boost/assign.hpp"
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#include <boost/serialization/nvp.hpp>
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#include <boost/date_time/posix_time/posix_time.hpp>
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/*!
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* \brief This class is a storage and orbital model functions for the GLONASS SV ephemeris data as described in GLONASS ICD (Edition 5.1)
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*
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* See http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf
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*/
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class Glonass_Gnav_Ephemeris
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{
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private:
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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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void gravitational_perturbations();
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double d_Jx_moon; //!< Moon gravitational perturbation
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double d_Jy_moon; //!< Moon gravitational perturbation
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double d_Jz_moon; //!< Moon gravitational perturbation
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double d_Jx_sun; //!< Sun gravitational perturbation
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double d_Jy_sun; //!< Sun gravitational perturbation
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double d_Jz_sun; //!< Sun gravitational perturbation
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public:
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double d_m; //!< String number within frame [dimensionless]
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double d_t_k; //!< GLONASS Time (UTC(SU) + 3 h) referenced to the beginning of the frame within the current day [s]
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double d_t_b; //!< Reference ephemeris relative time in GLONASS Time (UTC(SU) + 3 h). Index of a time interval within current day according to UTC(SU) + 03 hours 00 min. [s]
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double d_M; //!< Type of satellite transmitting navigation signal [dimensionless]
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double d_gamma_n; //!< Relative deviation of predicted carrier frequency value of n- satellite from nominal value at the instant tb [dimensionless]
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double d_tau_n; //!< Correction to the nth satellite time (tn) relative to GLONASS time (te),
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double d_Xn; //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
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double d_Yn; //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
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double d_Zn; //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
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double d_VXn; //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
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double d_VYn; //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
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double d_VZn; //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
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double d_AXn; //!< Earth-fixed acceleration coordinate x of the satellite in PZ-90.02 coordinate system [km/s^2]
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double d_AYn; //!< Earth-fixed acceleration coordinate y of the satellite in PZ-90.02 coordinate system [km/s^2]
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double d_AZn; //!< Earth-fixed acceleration coordinate z of the satellite in PZ-90.02 coordinate system [km/s^2]
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double d_B_n; //!< Health flag [dimensionless]
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double d_P; //!< Technological parameter of control segment, indication the satellite operation mode in respect of time parameters [dimensionless]
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double 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]
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double d_F_T; //!< Parameter that provides the predicted satellite user range accuracy at time tb [dimensionless]
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double d_n; //!< Index of the satellite transmitting given navigation signal. It corresponds to a slot number within GLONASS constellation
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double 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]
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double d_E_n; //!< Characterises "age" of a current information [days]
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double d_P_1; //!< Flag of the immediate data updating [minutes]
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double d_P_2; //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
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double 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]
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double 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]
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double 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]
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double 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]
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// Inmediate deliverables of ephemeris information
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//TODO check how freq channel is managed in gnav message. I think it is a number greater thn 0
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unsigned int i_satellite_freq_channel; //!< SV Frequency Channel Number
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unsigned int i_satellite_PRN; //!< SV PRN NUMBER
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unsigned int i_satellite_slot_number; //!< SV PRN NUMBER
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double d_TOD; //!< Time of Day of the ephemeris set based in start of frame [s]
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double d_D4Y; //!< Day of Year after latest leap year (4 year interval)
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double d_yr; //!< Current year
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double d_satClkDrift; //!< GLONASS clock error
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double d_dtr; //!< relativistic clock correction term
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double d_iode; //!< Issue of data, ephemeris (Bit 0-6 of tb)
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double d_tau_c;
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double d_TOW; // tow of the start of frame
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double d_WN; // week number of the start of frame
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// Need to add a way to compute the GPS week number and GPS TIME OF WEEK from GLONASS ephemeris
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// satellite positions after RK4 Integration
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double d_satpos_X; //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
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double d_satpos_Y; //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
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double d_satpos_Z; //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
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// Satellite velocity after RK4 Integration
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double d_satvel_X; //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
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double d_satvel_Y; //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
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double d_satvel_Z; //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
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// Satellite acceleration after RK4 Integration
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double d_satacc_X; //!< Earth-fixed acceleration coordinate x of the satellite in PZ-90.02 coordinate system [km/s^2]
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double d_satacc_Y; //!< Earth-fixed acceleration coordinate y of the satellite in PZ-90.02 coordinate system [km/s^2]
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double d_satacc_Z; //!< Earth-fixed acceleration coordinate z of the satellite in PZ-90.02 coordinate system [km/s^2]
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template<class Archive>
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/*!
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* \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.
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*/
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void serialize(Archive& archive, const unsigned int version)
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{
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using boost::serialization::make_nvp;
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if(version){};
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archive & make_nvp("i_satellite_freq_channel", i_satellite_freq_channel); //!< SV PRN frequency channel number
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archive & make_nvp("d_m", d_m); //!< String number within frame [dimensionless]
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archive & make_nvp("d_t_k", d_t_k); //!< Time referenced to the beginning of the frame within the current day [hours, minutes, seconds]
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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]
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archive & make_nvp("d_M", d_M); //!< Type of satellite transmitting navigation signal [dimensionless]
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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]
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archive & make_nvp("d_tau_n", d_tau_n); //!< Correction to the nth satellite time (tn) relative to GLONASS time (te)
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archive & make_nvp("d_Xn", d_Xn); //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
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archive & make_nvp("d_Yn", d_Yn); //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
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archive & make_nvp("d_Zn", d_Zn); //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
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archive & make_nvp("d_VXn", d_VXn); //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
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archive & make_nvp("d_VYn", d_VYn); //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
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archive & make_nvp("d_VZn", d_VZn); //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
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archive & make_nvp("d_AXn", d_AXn); //!< Earth-fixed acceleration coordinate x of the satellite in PZ-90.02 coordinate system [km/s^2]
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archive & make_nvp("d_AYn", d_AYn); //!< Earth-fixed acceleration coordinate y of the satellite in PZ-90.02 coordinate system [km/s^2]
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archive & make_nvp("d_AZn", d_AZn); //!< Earth-fixed acceleration coordinate z of the satellite in PZ-90.02 coordinate system [km/s^2]
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archive & make_nvp("d_B_n", d_B_n); //!< Health flag [dimensionless]
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archive & make_nvp("d_P", d_P); //!< Technological parameter of control segment, indication the satellite operation mode in respect of time parameters [dimensionless]
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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]
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archive & make_nvp("d_F_T", d_F_T); //!< Parameter that provides the predicted satellite user range accuracy at time tb [dimensionless]
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archive & make_nvp("d_n", d_n); //!< Index of the satellite transmitting given navigation signal. It corresponds to a slot number within GLONASS constellation
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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]
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archive & make_nvp("d_E_n", d_E_n); //!< Characterises "age" of a current information [days]
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archive & make_nvp("d_P_1", d_P_1); //!< Flag of the immediate data updating.
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archive & make_nvp("d_P_2", d_P_2); //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
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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]
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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]
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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]
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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]
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}
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/*!
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* \brief Compute the ECEF SV coordinates and ECEF velocity
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* Implementation of Algorithm A.3.1.2 in GLONASS ICD v5.1
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* and compute the clock bias term including relativistic effect (return value)
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* \param transmitTime Time of ephemeris transmission
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* \return clock bias of satellite
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*/
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double simplified_satellite_position(double transmitTime);
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/*!
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* \brief Compute the ECEF SV coordinates and ECEF velocity
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* Implementation of Algorithm A.3.1.1 in GLONASS ICD v5.1
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* and compute the clock bias term including relativistic effect (return value)
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* \param transmitTime Time of ephemeris transmission
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* \return clock bias of satellite
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*/
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double satellite_position(double transmitTime);
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/*!
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* \brief Sets (\a d_satClkDrift)and returns the clock drift in seconds according to the User Algorithm for SV Clock Correction
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* (IS-GPS-200E, 20.3.3.3.3.1)
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*/
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double sv_clock_drift(double transmitTime, double timeCorrUTC);
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/*!
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* \brief Sets (\a d_dtr) and returns the clock relativistic correction term in seconds according to the User Algorithm for SV Clock Correction
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* (IS-GPS-200E, 20.3.3.3.3.1)
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*/
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double sv_clock_relativistic_term(double transmitTime);
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/*!
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* \brief Computes the GLONASS System Time and returns a boost::posix_time::ptime object
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* \ param offset_time Is the start of day offset to compute the time
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*/
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boost::posix_time::ptime compute_GLONASS_time(const double offset_time) const;
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/*!
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* Default constructor
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*/
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Glonass_Gnav_Ephemeris();
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};
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#endif
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