Constants.hpp

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// This file is part of INSTINCT, the INS Toolkit for Integrated
// Navigation Concepts and Training by the Institute of Navigation of
// the University of Stuttgart, Germany.
//
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0. If a copy of the MPL was not distributed with this
// file, You can obtain one at https://mozilla.org/MPL/2.0/.
 
 
#pragma once
 
#include <cmath>
#include "util/Eigen.hpp"
#include <gcem.hpp>
 
namespace NAV
{
 
template<typename Scalar = double>
class InsConst
{
  public:
    InsConst() = delete;
 
    static constexpr Scalar pseudometre = 6370000;
 
    static constexpr Scalar C = 299792458.0;
 
    static constexpr Scalar G_NORM = 9.80665;
 
    class WGS84
    {
      public:
        WGS84() = delete;
 
        static constexpr Scalar a = 6378137.0;
        static constexpr Scalar f = 1.0 / 298.257223563;
        static constexpr Scalar b = a - f * a;
        static constexpr Scalar e_squared = 2 * f - f * f;
        static constexpr Scalar MU = 3.986004418e14;
        static constexpr Scalar J2 = 1.081874e-3;
        static constexpr Scalar omega_ie = 7.2921151467e-05;
    };
 
    class GRS80
    {
      public:
        GRS80() = delete;
 
        static constexpr Scalar a = 6378137;
        static constexpr Scalar f = 1.0 / 298.257222101;
        static constexpr Scalar b = a - f * a;
        static constexpr Scalar e_squared = 2 * f - f * f;
    };
 
    class PZ90
    {
      public:
        PZ90() = delete;
 
        static constexpr Scalar a = 6378136;
        static constexpr Scalar f = 1.0 / 298.25784;
        static constexpr Scalar b = a - f * a;
        static constexpr Scalar e_squared = 2 * f - f * f;
        static constexpr Scalar MU = 3.986004418e14;
        static constexpr Scalar omega_ie = 7.292115e-05;
 
        static constexpr Scalar J2 = 1.08262575e-3;
    };
 
    class GPS
    {
      public:
        GPS() = delete;
 
        static constexpr Scalar MU = 3.986005e+14;
        static constexpr Scalar omega_ie = WGS84::omega_ie;
        static constexpr Scalar F = -2.0 * gcem::sqrt(MU) / (C * C);
        static constexpr Scalar R_E = WGS84::a;
        static constexpr Scalar J2 = 1.0826262e-3;
    };
 
    class GLO
    {
      public:
        GLO() = delete;
 
        static constexpr Scalar a = PZ90::a;
        static constexpr Scalar MU = PZ90::MU;
        static constexpr Scalar omega_ie = 7.2921151467e-05;
        static constexpr Scalar J2 = PZ90::J2;
        static constexpr Scalar C20_bar = 1.0 / gcem::sqrt(5.0) * J2;
        static constexpr Scalar C20 = -J2;
    };
 
    class GAL
    {
      public:
        GAL() = delete;
 
        static constexpr Scalar omega_ie = WGS84::omega_ie;
        static constexpr Scalar MU = 3.986004418e+14;
        static constexpr Scalar F = -2.0 * gcem::sqrt(MU) / (C * C);
    };
 
    static constexpr Scalar omega_ie = WGS84::omega_ie;
    static constexpr Scalar omega_ie_Skydel = 7.2921155e-5; // FIXME: Skydel (for compatibility with Skydel's IMU plugin)
 
    const static inline Eigen::Vector3<Scalar> e_omega_ie{ 0.0, 0.0, omega_ie };
 
    static constexpr Scalar N_A = 6.02214076e23;
    static constexpr Scalar k_B = 1.380649e-23;
    static constexpr Scalar Rg = N_A * k_B;
 
    static constexpr Scalar dMtr = 28.965e-3;
};
 
} // namespace NAV