Broadcasted ephemeris message data. More...

Public Member Functions
	BDSEphemeris (BDSEphemeris &&)=default
	Move constructor.

	BDSEphemeris (const BDSEphemeris &)=default
	Copy constructor.

	BDSEphemeris (const uint16_t &satNum, const InsTime &toc, const InsTime &toe, const size_t &AODE, const size_t &AODC, const std::array< double, 3 > &a, const double &sqrt_A, const double &e, const double &i_0, const double &Omega_0, const double &omega, const double &M_0, const double &delta_n, const double &Omega_dot, const double &i_dot, const double &Cus, const double &Cuc, const double &Cis, const double &Cic, const double &Crs, const double &Crc, const double &svAccuracy, uint8_t satH1, double T_GD1, double T_GD2)
	Constructor.

Corrections	calcClockCorrections (const InsTime &recvTime, double dist, const Frequency &freq) const final
	Calculates clock bias and drift of the satellite.

double	calcSatellitePositionVariance () const final
	Calculates the Variance of the satellite position in [m^2].

bool	isHealthy () const final
	Checks whether the signal is healthy.

BDSEphemeris &	operator= (BDSEphemeris &&)=delete
	Move assignment operator.

BDSEphemeris &	operator= (const BDSEphemeris &)=delete
	Copy assignment operator.

	~BDSEphemeris () final=default
	Destructor.

Public Member Functions inherited from NAV::SatNavData
SatNavData &	operator= (const SatNavData &)=delete
	Copy assignment operator.

SatNavData &	operator= (SatNavData &&)=delete
	Move assignment operator.

	SatNavData (const SatNavData &)=default
	Copy constructor.

	SatNavData (SatNavData &&)=default
	Move constructor.

	SatNavData (Type type, const InsTime &refTime)
	Constructor.

	~SatNavData () override=default
	Destructor.

Public Member Functions inherited from NAV::Clock
	Clock ()=default
	Default Constructor.

	Clock (Clock &&)=default
	Move constructor.

	Clock (const Clock &)=default
	Copy constructor.

Clock &	operator= (Clock &&)=delete
	Move assignment operator.

Clock &	operator= (const Clock &)=delete
	Copy assignment operator.

virtual	~Clock ()=default
	Destructor.

Public Member Functions inherited from NAV::Orbit
Pos	calcSatellitePos (const InsTime &transTime) const
	Calculates position of the satellite at transmission time.

PosVel	calcSatellitePosVel (const InsTime &transTime) const
	Calculates position and velocity of the satellite at transmission time.

PosVelAccel	calcSatellitePosVelAccel (const InsTime &transTime) const
	Calculates position, velocity and acceleration of the satellite at transmission time.

Orbit &	operator= (const Orbit &)=delete
	Copy assignment operator.

Orbit &	operator= (Orbit &&)=delete
	Move assignment operator.

	Orbit ()=default
	Default Constructor.

	Orbit (const Orbit &)=default
	Copy constructor.

	Orbit (Orbit &&)=default
	Move constructor.

virtual	~Orbit ()=default
	Destructor.

Data Fields
const std::array< double, 3 >	a

const size_t	AODC
	Age of Data, Clock.

const size_t	AODE
	Age of Data, Ephemeris.

const double	Cic
	Amplitude of the cosine harmonic correction term to the angle of inclination [rad].

const double	Cis
	Amplitude of the sine harmonic correction term to the angle of inclination [rad].

const double	Crc
	Amplitude of the cosine harmonic correction term to the orbit radius [m].

const double	Crs
	Amplitude of the sine harmonic correction term to the orbit radius [m].

const double	Cuc
	Amplitude of the cosine harmonic correction term to the argument of latitude [rad].

const double	Cus
	Amplitude of the sine harmonic correction term to the argument of latitude [rad].

const double	delta_n
	Mean motion difference from computed value [rad/s].

const double	e
	Eccentricity [-].

const double	i_0
	Inclination angle at reference time [rad].

const double	i_dot
	Rate of change of inclination [rad/s].

const double	M_0
	Mean anomaly at reference time [rad].

const double	omega
	Argument of perigee [rad].

const double	Omega_0
	Longitude of the ascending node at reference time [rad].

const double	Omega_dot
	Rate of change of right ascension [rad/s].

const uint8_t	satH1
	Autonomous Satellite Health flag.

const uint16_t	satNum
	Number of the satellite.

const double	sqrt_A
	Square root of the semi-major axis [m^1/2].

const double	svAccuracy
	SV accuracy [m].

const double	T_GD1
	Equipment Group Delay Differential. B1/B3 [s].

const double	T_GD2
	Equipment Group Delay Differential. B2/B3 [s].

const InsTime	toc
	Time of Clock.

const InsTime	toe
	Time of Ephemeris.

Data Fields inherited from NAV::SatNavData
InsTime	refTime
	Reference time of the information.

const Type	type
	Child type (for down-casting)

Private Member Functions
PosVelAccel	calcSatelliteData (const InsTime &transTime, Orbit::Calc calc) const final
	Calculates position, velocity and acceleration of the satellite at transmission time.

Additional Inherited Members
Public Types inherited from NAV::SatNavData
enum	Type : uint8_t { GPSEphemeris , GalileoEphemeris , GLONASSEphemeris , BeiDouEphemeris , QZSSEphemeris , IRNSSEphemeris , SBASEphemeris }
	Child type. More...

Protected Types inherited from NAV::Orbit
enum	Calc : uint8_t { Calc_None , Calc_Position , Calc_Velocity , Calc_Acceleration }
	Calculation flags. More...

Detailed Description

Broadcasted ephemeris message data.

Note: See [5] BDS-SIS-ICD-2.1, ch. 5.2.4, p. 23ff

Definition at line 30 of file BDSEphemeris.hpp.

Constructor & Destructor Documentation

◆ BDSEphemeris() [1/3]

NAV::BDSEphemeris::BDSEphemeris	(	const uint16_t &	satNum,
		const InsTime &	toc,
		const InsTime &	toe,
		const size_t &	AODE,
		const size_t &	AODC,
		const std::array< double, 3 > &	a,
		const double &	sqrt_A,
		const double &	e,
		const double &	i_0,
		const double &	Omega_0,
		const double &	omega,
		const double &	M_0,
		const double &	delta_n,
		const double &	Omega_dot,
		const double &	i_dot,
		const double &	Cus,
		const double &	Cuc,
		const double &	Cis,
		const double &	Cic,
		const double &	Crs,
		const double &	Crc,
		const double &	svAccuracy,
		uint8_t	satH1,
		double	T_GD1,
		double	T_GD2 )

Constructor.

Parameters

[in]	satNum	Number of the satellite
[in]	toc	Time the Clock information is calculated (Time of Clock)
[in]	toe	Time the Orbit information is calculated (Time of Ephemeris)
[in]	AODE	Age of Data, Ephemeris
[in]	AODC	Age of Data, Clock
[in]	a	Polynomial coefficients for clock correction (a0 bias [s], a1 drift [s/s], a2 drift rate (aging) [s/s^2])
[in]	sqrt_A	Square root of the semi-major axis [m^1/2]
[in]	e	Eccentricity [-]
[in]	i_0	Inclination angle at reference time [rad]
[in]	Omega_0	Longitude of the ascending node at reference time [rad]
[in]	omega	Argument of perigee [rad]
[in]	M_0	Mean anomaly at reference time [rad]
[in]	delta_n	Mean motion difference from computed value [rad/s]
[in]	Omega_dot	Rate of change of right ascension [rad/s]
[in]	i_dot	Rate of change of inclination [rad/s]
[in]	Cus	Amplitude of the sine harmonic correction term to the argument of latitude [rad]
[in]	Cuc	Amplitude of the cosine harmonic correction term to the argument of latitude [rad]
[in]	Cis	Amplitude of the sine harmonic correction term to the angle of inclination [rad]
[in]	Cic	Amplitude of the cosine harmonic correction term to the angle of inclination [rad]
[in]	Crs	Amplitude of the sine harmonic correction term to the orbit radius [m]
[in]	Crc	Amplitude of the cosine harmonic correction term to the orbit radius [m]
[in]	svAccuracy	SV accuracy [m]
[in]	satH1	Autonomous Satellite Health flag
[in]	T_GD1	Equipment Group Delay Differential. B1/B3 [s]
[in]	T_GD2	Equipment Group Delay Differential. B2/B3 [s]

Definition at line 23 of file BDSEphemeris.cpp.

◆ ~BDSEphemeris()

NAV::BDSEphemeris::~BDSEphemeris ( )

finaldefault

Destructor.

◆ BDSEphemeris() [2/3]

NAV::BDSEphemeris::BDSEphemeris ( const BDSEphemeris & )

default

Copy constructor.

◆ BDSEphemeris() [3/3]

NAV::BDSEphemeris::BDSEphemeris ( BDSEphemeris && )

default

Move constructor.

Member Function Documentation

◆ calcClockCorrections()

Clock::Corrections NAV::BDSEphemeris::calcClockCorrections	(	const InsTime &	recvTime,
		double	dist,
		const Frequency &	freq ) const

nodiscardfinalvirtual

Calculates clock bias and drift of the satellite.

Parameters

[in]	recvTime	Receive time of the signal
[in]	dist	Distance between receiver and satellite (normally the pseudorange) [m]
[in]	freq	Signal Frequency

Note: See [5] BDS ICD, ch. 5.2.4.10, p. 29ff

Implements NAV::Clock.

Definition at line 98 of file BDSEphemeris.cpp.

◆ calcSatelliteData()

Orbit::PosVelAccel NAV::BDSEphemeris::calcSatelliteData	(	const InsTime &	transTime,
		Orbit::Calc	calc ) const

nodiscardfinalprivatevirtual

Calculates position, velocity and acceleration of the satellite at transmission time.

Parameters

[in]	transTime	Transmit time of the signal
[in]	calc	Flags which determine what should be calculated and returned

Note: See [5] BDS ICD, ch. 5.2.4.12, p. 32ff; See [21] IS-GPS-200 ch. 20.3.3.4.3.1 Table 20-IV p.106-109

Implements NAV::Orbit.

Definition at line 172 of file BDSEphemeris.cpp.

◆ calcSatellitePositionVariance()

double NAV::BDSEphemeris::calcSatellitePositionVariance ( ) const

nodiscardfinalvirtual

Calculates the Variance of the satellite position in [m^2].

Implements NAV::Orbit.

Definition at line 357 of file BDSEphemeris.cpp.

◆ isHealthy()

bool NAV::BDSEphemeris::isHealthy ( ) const

nodiscardfinalvirtual

Checks whether the signal is healthy.

Implements NAV::SatNavData.

Definition at line 352 of file BDSEphemeris.cpp.

◆ operator=() [1/2]

BDSEphemeris & NAV::BDSEphemeris::operator= ( BDSEphemeris && )

delete

Move assignment operator.

◆ operator=() [2/2]

BDSEphemeris & NAV::BDSEphemeris::operator= ( const BDSEphemeris & )

delete

Copy assignment operator.

Field Documentation

◆ a

const std::array<double, 3> NAV::BDSEphemeris::a

Polynomial coefficients for clock correction

a(0) bias [s]
a(1) drift [s/s]
a(2) drift rate (aging) [s/s^2]

Note: See [5] BDS ICD, ch. 5.2.4.10, p. 29f

Definition at line 94 of file BDSEphemeris.hpp.

◆ AODC

const size_t NAV::BDSEphemeris::AODC

Age of Data, Clock.

Age of data, clock (AODC) is the extrapolated interval of clock correction parameters. It indicates the time difference between the reference epoch of clock correction parameters and the last observation epoch for extrapolating clock correction parameters. AODC is updated at the start of each hour in BDT, and it is 5 bits long with definitions as

AODC	Definition
< 25	Age of the satellite clock correction parameters in hours
25	Age of the satellite clock correction parameters is two days
26	Age of the satellite clock correction parameters is three days
27	Age of the satellite clock correction parameters is four days
28	Age of the satellite clock correction parameters is five days
29	Age of the satellite clock correction parameters is six days
30	Age of the satellite clock correction parameters is seven days
31	Age of the satellite clock correction parameters is over seven days

Note: See [5] BDS ICD, ch. 5.2.4.9, Table 5-6, p. 28f

Definition at line 86 of file BDSEphemeris.hpp.

◆ AODE

const size_t NAV::BDSEphemeris::AODE

Age of Data, Ephemeris.

Age of data, ephemeris (AODE) is the extrapolated interval of ephemeris parameters. It indicates the time difference between the reference epoch of ephemeris parameters and the last observation epoch for extrapolating ephemeris parameters. AODE is updated at the start of each hour in BDT, and it is 5 bits long with definitions as follows:

AODE	Definition
< 25	Age of the satellite ephemeris parameters in hours
25	Age of the satellite ephemeris parameters is two days
26	Age of the satellite ephemeris parameters is three days
27	Age of the satellite ephemeris parameters is four days
28	Age of the satellite ephemeris parameters is five days
29	Age of the satellite ephemeris parameters is six days
30	Age of the satellite ephemeris parameters is seven days
31	Age of the satellite ephemeris parameters is over seven days

Note: See [5] BDS ICD, ch. 5.2.4.11, Table 5-8, p. 31f

Definition at line 66 of file BDSEphemeris.hpp.

◆ Cic

const double NAV::BDSEphemeris::Cic

Amplitude of the cosine harmonic correction term to the angle of inclination [rad].

Definition at line 113 of file BDSEphemeris.hpp.

◆ Cis

const double NAV::BDSEphemeris::Cis

Amplitude of the sine harmonic correction term to the angle of inclination [rad].

Definition at line 112 of file BDSEphemeris.hpp.

◆ Crc

const double NAV::BDSEphemeris::Crc

Amplitude of the cosine harmonic correction term to the orbit radius [m].

Definition at line 115 of file BDSEphemeris.hpp.

◆ Crs

const double NAV::BDSEphemeris::Crs

Amplitude of the sine harmonic correction term to the orbit radius [m].

Definition at line 114 of file BDSEphemeris.hpp.

◆ Cuc

const double NAV::BDSEphemeris::Cuc

Amplitude of the cosine harmonic correction term to the argument of latitude [rad].

Definition at line 111 of file BDSEphemeris.hpp.

◆ Cus

const double NAV::BDSEphemeris::Cus

Amplitude of the sine harmonic correction term to the argument of latitude [rad].

Definition at line 110 of file BDSEphemeris.hpp.

◆ delta_n

const double NAV::BDSEphemeris::delta_n

Mean motion difference from computed value [rad/s].

Definition at line 107 of file BDSEphemeris.hpp.

◆ e

const double NAV::BDSEphemeris::e

Eccentricity [-].

Definition at line 99 of file BDSEphemeris.hpp.

◆ i_0

const double NAV::BDSEphemeris::i_0

Inclination angle at reference time [rad].

Definition at line 100 of file BDSEphemeris.hpp.

◆ i_dot

const double NAV::BDSEphemeris::i_dot

Rate of change of inclination [rad/s].

Definition at line 109 of file BDSEphemeris.hpp.

◆ M_0

const double NAV::BDSEphemeris::M_0

Mean anomaly at reference time [rad].

Definition at line 103 of file BDSEphemeris.hpp.

◆ omega

const double NAV::BDSEphemeris::omega

Argument of perigee [rad].

Definition at line 102 of file BDSEphemeris.hpp.

◆ Omega_0

const double NAV::BDSEphemeris::Omega_0

Longitude of the ascending node at reference time [rad].

Definition at line 101 of file BDSEphemeris.hpp.

◆ Omega_dot

const double NAV::BDSEphemeris::Omega_dot

Rate of change of right ascension [rad/s].

Definition at line 108 of file BDSEphemeris.hpp.

◆ satH1

const uint8_t NAV::BDSEphemeris::satH1

Autonomous Satellite Health flag.

0 = broadcasting satellite is good 1 = broadcasting satellite is not good

Note: See [5] BDS ICD, ch. 5.2.4.6, p. 25

Definition at line 132 of file BDSEphemeris.hpp.

◆ satNum

const uint16_t NAV::BDSEphemeris::satNum

Number of the satellite.

Definition at line 38 of file BDSEphemeris.hpp.

◆ sqrt_A

const double NAV::BDSEphemeris::sqrt_A

Square root of the semi-major axis [m^1/2].

Definition at line 98 of file BDSEphemeris.hpp.

◆ svAccuracy

const double NAV::BDSEphemeris::svAccuracy

SV accuracy [m].

Derived from an URA index (URAI) of the SV for the standard positioning service user.

Note: See [5] BDS ICD, ch. 5.2.4.5, p. 24

Definition at line 124 of file BDSEphemeris.hpp.

◆ T_GD1

const double NAV::BDSEphemeris::T_GD1

Equipment Group Delay Differential. B1/B3 [s].

Note: See [5] BDS ICD, ch. 5.2.4.8, p. 28

Definition at line 136 of file BDSEphemeris.hpp.

◆ T_GD2

const double NAV::BDSEphemeris::T_GD2

Equipment Group Delay Differential. B2/B3 [s].

Note: See [5] BDS ICD, ch. 5.2.4.8, p. 28

Definition at line 140 of file BDSEphemeris.hpp.

◆ toc

const InsTime NAV::BDSEphemeris::toc

Time of Clock.

Definition at line 43 of file BDSEphemeris.hpp.

◆ toe

const InsTime NAV::BDSEphemeris::toe

Time of Ephemeris.

Definition at line 46 of file BDSEphemeris.hpp.

The documentation for this class was generated from the following files:

/home/runner/work/INSTINCT/INSTINCT/src/Navigation/GNSS/Satellite/Ephemeris/BDSEphemeris.hpp
/home/runner/work/INSTINCT/INSTINCT/src/Navigation/GNSS/Satellite/Ephemeris/BDSEphemeris.cpp

Public Member Functions

Data Fields

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ BDSEphemeris() [1/3]

◆ ~BDSEphemeris()

◆ BDSEphemeris() [2/3]

◆ BDSEphemeris() [3/3]

Member Function Documentation

◆ calcClockCorrections()

◆ calcSatelliteData()

◆ calcSatellitePositionVariance()

◆ isHealthy()

◆ operator=() [1/2]

◆ operator=() [2/2]

Field Documentation

◆ a

◆ AODC

◆ AODE

◆ Cic

◆ Cis

◆ Crc

◆ Crs

◆ Cuc

◆ Cus

◆ delta_n

◆ e

◆ i_0

◆ i_dot

◆ M_0

◆ omega

◆ Omega_0

◆ Omega_dot

◆ satH1

◆ satNum

◆ sqrt_A

◆ svAccuracy

◆ T_GD1

◆ T_GD2

◆ toc

◆ toe