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gnss-sdr/src/core/system_parameters/beidou_dnav_ephemeris.h

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/*!
* \file beidou_dnav_ephemeris.h
* \brief Interface of a BEIDOU EPHEMERIS storage
* \author Sergi Segura, 2018. sergi.segura.munoz(at)gmail.com
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_BEIDOU_DNAV_EPHEMERIS_H_
#define GNSS_SDR_BEIDOU_DNAV_EPHEMERIS_H_
#include <boost/serialization/nvp.hpp>
#include <map>
#include <string>
/*!
* \brief This class is a storage and orbital model functions for the GPS 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
{
public:
/*!
* Default constructor
*/
Beidou_Dnav_Ephemeris();
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-200K) [s]
double d_Toc; //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200K) [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-200K)
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.
* That is, the probability that the instantaneous URE of the conveying signal exceeds 4.42 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-5 per hour. If true, indicates that the conveying signal is provided with an enhanced 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 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 b_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
/*!
* \brief Compute the ECEF SV coordinates and ECEF velocity
* Implementation of Table 20-IV (IS-GPS-200K)
* and compute the clock bias term including relativistic effect (return value)
*/
double satellitePosition(double transmitTime);
/*!
* \brief Sets (\a d_satClkDrift)and returns the clock drift in seconds according to the User Algorithm for SV Clock Correction
* (IS-GPS-200K, 20.3.3.3.3.1)
*/
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-200K, 20.3.3.3.3.1)
*/
double sv_clock_relativistic_term(double transmitTime);
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("i_satellite_PRN", i_satellite_PRN); // SV PRN NUMBER
archive& make_nvp("d_TOW", d_TOW); //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
archive& make_nvp("d_AODE", d_AODE);
archive& make_nvp("d_Crs", d_Crs); //!< Amplitude of the Sine Harmonic Correction Term to the Orbit Radius [m]
archive& make_nvp("d_Delta_n", d_Delta_n); //!< Mean Motion Difference From Computed Value [semi-circles/s]
archive& make_nvp("d_M_0", d_M_0); //!< Mean Anomaly at Reference Time [semi-circles]
archive& make_nvp("d_Cuc", d_Cuc); //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
archive& make_nvp("d_e_eccentricity", d_eccentricity); //!< Eccentricity [dimensionless]
archive& make_nvp("d_Cus", d_Cus); //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
archive& make_nvp("d_sqrt_A", d_sqrt_A); //!< Square Root of the Semi-Major Axis [sqrt(m)]
archive& make_nvp("d_Toe", d_Toe); //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200K) [s]
archive& make_nvp("d_Toc", d_Toe); //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200K) [s]
archive& make_nvp("d_Cic", d_Cic); //!< Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination [rad]
archive& make_nvp("d_OMEGA0", d_OMEGA0); //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
archive& make_nvp("d_Cis", d_Cis); //!< Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination [rad]
archive& make_nvp("d_i_0", d_i_0); //!< Inclination Angle at Reference Time [semi-circles]
archive& make_nvp("d_Crc", d_Crc); //!< Amplitude of the Cosine Harmonic Correction Term to the Orbit Radius [m]
archive& make_nvp("d_OMEGA", d_OMEGA); //!< Argument of Perigee [semi-cicles]
archive& make_nvp("d_OMEGA_DOT", d_OMEGA_DOT); //!< Rate of Right Ascension [semi-circles/s]
archive& make_nvp("d_IDOT", d_IDOT); //!< Rate of Inclination Angle [semi-circles/s]
archive& make_nvp("i_BEIDOU_week", i_BEIDOU_week); //!< GPS week number, aka WN [week]
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-200K)
archive& make_nvp("i_SV_health", i_SV_health);
archive& make_nvp("d_AODC", d_AODC); //!< Issue of Data, Clock
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& 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& make_nvp("d_spare1", d_spare1);
archive& make_nvp("d_spare2", d_spare2);
archive& make_nvp("d_A_f0", d_A_f0); //!< Coefficient 0 of code phase offset model [s]
archive& make_nvp("d_A_f1", d_A_f1); //!< Coefficient 1 of code phase offset model [s/s]
archive& make_nvp("d_A_f2", d_A_f2); //!< Coefficient 2 of code phase offset model [s/s^2]
archive& make_nvp("b_integrity_status_flag", b_integrity_status_flag);
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& make_nvp("b_antispoofing_flag", b_antispoofing_flag); //!< If true, the AntiSpoofing mode is ON in that SV
}
private:
/*
* Accounts for the beginning or end of week crossover
*
* See paragraph 20.3.3.3.3.1 (IS-GPS-200K)
* \param[in] - time in seconds
* \param[out] - corrected time, in seconds
*/
double check_t(double time);
};
#endif
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