Broadcasted ephemeris message data. More...

Public Member Functions
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.

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

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

	QZSSEphemeris (const InsTime &toc, const InsTime &toe, const size_t &IODE, const size_t &IODC, 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 svHealth, uint8_t L2ChannelCodes, bool L2DataFlagPCode, const double &T_GD, bool fitIntervalFlag)
	Constructor.

	QZSSEphemeris (const QZSSEphemeris &)=default
	Copy Constructor.

	QZSSEphemeris (QZSSEphemeris &&)=default
	Move Constructor.

	~QZSSEphemeris () 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 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 bool	fitIntervalFlag
	Fit Interval period of the ephemeris.

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

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

const size_t	IODC
	Issue of Data, Clock.

const size_t	IODE
	Issue of Data, Ephemeris.

const uint8_t	L2ChannelCodes
	Indicate which code(s) is (are) commanded ON for the in-phase component of the L2 channel.

const bool	L2DataFlagPCode
	Data Flag for L2 P-Code.

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 right ascension [rad/s].

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

const double	svAccuracy
	SV accuracy [m].

const std::bitset< 6 >	svHealth
	SV health.

const double	T_GD
	Group delay between SV clock and L1C/A [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 [22] IS QZSS, Table 4.1.2-4, p.46 and Table 4.1.2-7, p.49

Definition at line 28 of file QZSSEphemeris.hpp.

Constructor & Destructor Documentation

◆ QZSSEphemeris() [1/3]

NAV::QZSSEphemeris::QZSSEphemeris	(	const InsTime &	toc,
		const InsTime &	toe,
		const size_t &	IODE,
		const size_t &	IODC,
		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	svHealth,
		uint8_t	L2ChannelCodes,
		bool	L2DataFlagPCode,
		const double &	T_GD,
		bool	fitIntervalFlag )

Constructor.

Parameters

[in]	toc	Time the Clock information is calculated (Time of Clock)
[in]	toe	Time the Orbit information is calculated (Time of Ephemeris)
[in]	IODE	Issue of Data, Ephemeris
[in]	IODC	Issue 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]	svHealth	SV Health
[in]	L2ChannelCodes	Indicate which code(s) is (are) commanded ON for the in-phase component of the L2 channel
[in]	L2DataFlagPCode	Data Flag for L2 P-Code (fixed to '1')
[in]	T_GD	Group delay between SV clock and L1C/A [s]
[in]	fitIntervalFlag	Fit Interval period of the ephemeris

Definition at line 19 of file QZSSEphemeris.cpp.

◆ ~QZSSEphemeris()

NAV::QZSSEphemeris::~QZSSEphemeris ( )

finaldefault

Destructor.

◆ QZSSEphemeris() [2/3]

NAV::QZSSEphemeris::QZSSEphemeris ( const QZSSEphemeris & )

default

Copy Constructor.

◆ QZSSEphemeris() [3/3]

NAV::QZSSEphemeris::QZSSEphemeris ( QZSSEphemeris && )

default

Move Constructor.

Member Function Documentation

◆ calcClockCorrections()

Clock::Corrections NAV::QZSSEphemeris::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 [22] IS QZSS, ch. 5.5.2, p.130

Implements NAV::Clock.

Definition at line 97 of file QZSSEphemeris.cpp.

◆ calcSatelliteData()

Orbit::PosVelAccel NAV::QZSSEphemeris::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 [22] IS QZSS, ch. 5.6.1.2, p.133 ff.; See [21] IS-GPS-200 ch. 20.3.3.4.3.1 Table 20-IV p.106-109

Implements NAV::Orbit.

Definition at line 171 of file QZSSEphemeris.cpp.

◆ calcSatellitePositionVariance()

double NAV::QZSSEphemeris::calcSatellitePositionVariance ( ) const

nodiscardfinalvirtual

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

Implements NAV::Orbit.

Definition at line 316 of file QZSSEphemeris.cpp.

◆ isHealthy()

bool NAV::QZSSEphemeris::isHealthy ( ) const

nodiscardfinalvirtual

Checks whether the signal is healthy.

Implements NAV::SatNavData.

Definition at line 311 of file QZSSEphemeris.cpp.

◆ operator=() [1/2]

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

delete

Copy assignment operator.

◆ operator=() [2/2]

QZSSEphemeris & NAV::QZSSEphemeris::operator= ( QZSSEphemeris && )

delete

Move assignment operator.

Field Documentation

◆ a

const std::array<double, 3> NAV::QZSSEphemeris::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 [22] IS QZSS, ch. 5.5.1, p.130

Definition at line 72 of file QZSSEphemeris.hpp.

◆ Cic

const double NAV::QZSSEphemeris::Cic

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

Definition at line 91 of file QZSSEphemeris.hpp.

◆ Cis

const double NAV::QZSSEphemeris::Cis

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

Definition at line 90 of file QZSSEphemeris.hpp.

◆ Crc

const double NAV::QZSSEphemeris::Crc

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

Definition at line 93 of file QZSSEphemeris.hpp.

◆ Crs

const double NAV::QZSSEphemeris::Crs

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

Definition at line 92 of file QZSSEphemeris.hpp.

◆ Cuc

const double NAV::QZSSEphemeris::Cuc

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

Definition at line 89 of file QZSSEphemeris.hpp.

◆ Cus

const double NAV::QZSSEphemeris::Cus

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

Definition at line 88 of file QZSSEphemeris.hpp.

◆ delta_n

const double NAV::QZSSEphemeris::delta_n

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

Definition at line 85 of file QZSSEphemeris.hpp.

◆ e

const double NAV::QZSSEphemeris::e

Eccentricity [-].

Definition at line 77 of file QZSSEphemeris.hpp.

◆ fitIntervalFlag

const bool NAV::QZSSEphemeris::fitIntervalFlag

Fit Interval period of the ephemeris.

"0": 2 hours "1": Greater than 2 hours

For QZSS always fixed to "0", since fit interval period of the ephemeris is 2 hours (see Table 4.1.1-2.).

Note: See [22] IS QZSS, ch. 4.1.2.4, p.50

Definition at line 160 of file QZSSEphemeris.hpp.

◆ i_0

const double NAV::QZSSEphemeris::i_0

Inclination angle at reference time [rad].

Definition at line 78 of file QZSSEphemeris.hpp.

◆ i_dot

const double NAV::QZSSEphemeris::i_dot

Rate of inclination angle [rad/s].

Definition at line 87 of file QZSSEphemeris.hpp.

◆ IODC

const size_t NAV::QZSSEphemeris::IODC

Issue of Data, Clock.

Users can detect the update of SV clock parameter by IODC

2 MSBs (most significant bit) of IODC indicate fit intervals:

| 2 MSBs of IODC(binary) | Fit intervals(minutes)

| 00 | 15 | 01 | 30 | 10 | 60

| 11 | 120

Note: See [22] IS QZSS, ch. 4.1.2.3, p.48

Definition at line 64 of file QZSSEphemeris.hpp.

◆ IODE

const size_t NAV::QZSSEphemeris::IODE

Issue of Data, Ephemeris.

Users can detect the update of the ephemeris parameter by IODE

Note: See [22] IS QZSS, ch. 4.1.2.4, p.50

Definition at line 48 of file QZSSEphemeris.hpp.

◆ L2ChannelCodes

const uint8_t NAV::QZSSEphemeris::L2ChannelCodes

Indicate which code(s) is (are) commanded ON for the in-phase component of the L2 channel.

Fixed to '2'.

Note: See [21] GPS ICD, ch. 20.3.3.3.1.2, p.92; See [40], A31

Definition at line 139 of file QZSSEphemeris.hpp.

◆ L2DataFlagPCode

const bool NAV::QZSSEphemeris::L2DataFlagPCode

Data Flag for L2 P-Code.

Fixed to '1' since QZSS does not track L2P.

Note: See [22] IS QZSS, ch. 4.1.2.3, p.48

Definition at line 146 of file QZSSEphemeris.hpp.

◆ M_0

const double NAV::QZSSEphemeris::M_0

Mean anomaly at reference time [rad].

Definition at line 81 of file QZSSEphemeris.hpp.

◆ omega

const double NAV::QZSSEphemeris::omega

Argument of perigee [rad].

Definition at line 80 of file QZSSEphemeris.hpp.

◆ Omega_0

const double NAV::QZSSEphemeris::Omega_0

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

Definition at line 79 of file QZSSEphemeris.hpp.

◆ Omega_dot

const double NAV::QZSSEphemeris::Omega_dot

Rate of right ascension [rad/s].

Definition at line 86 of file QZSSEphemeris.hpp.

◆ sqrt_A

const double NAV::QZSSEphemeris::sqrt_A

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

Definition at line 76 of file QZSSEphemeris.hpp.

◆ svAccuracy

const double NAV::QZSSEphemeris::svAccuracy

SV accuracy [m].

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

Note: See [22] IS QZSS, ch. 4.1.2.3, p.47; See [22] IS QZSS, ch. 5.4.3, p.125 ff.; See [21] GPS ICD, ch. 20.3.3.3.1.3, p.92ff

Definition at line 104 of file QZSSEphemeris.hpp.

◆ svHealth

const std::bitset<6> NAV::QZSSEphemeris::svHealth

SV health.

This consists of the 1MSB health and the 5LSBs health

1-bit Health

Bit Location | Name | Target Signal

1st bit (MSB) | L1 Health | L1C/A or L1C/B

5-bit Health

Bit Location | Name | Target Signal

5th bit (LSB) | L1C/B Health | L1C/B

The 5-bit health parameter is defined differently from GPS. For details, see [22] IS QZSS, ch. 4.1.2.7, p.61

Note: See [22] IS QZSS, ch. 4.1.2.3, p.47

Definition at line 131 of file QZSSEphemeris.hpp.

◆ T_GD

const double NAV::QZSSEphemeris::T_GD

Group delay between SV clock and L1C/A [s].

Note: See [22] IS QZSS, ch. 5.8, p.141 ff.

Definition at line 150 of file QZSSEphemeris.hpp.

◆ toc

const InsTime NAV::QZSSEphemeris::toc

Time of Clock.

Definition at line 38 of file QZSSEphemeris.hpp.

◆ toe

const InsTime NAV::QZSSEphemeris::toe

Time of Ephemeris.

Definition at line 41 of file QZSSEphemeris.hpp.

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

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

Public Member Functions

Data Fields

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ QZSSEphemeris() [1/3]

◆ ~QZSSEphemeris()

◆ QZSSEphemeris() [2/3]

◆ QZSSEphemeris() [3/3]

Member Function Documentation

◆ calcClockCorrections()

◆ calcSatelliteData()

◆ calcSatellitePositionVariance()

◆ isHealthy()

◆ operator=() [1/2]

◆ operator=() [2/2]

Field Documentation

◆ a

◆ Cic

◆ Cis

◆ Crc

◆ Crs

◆ Cuc

◆ Cus

◆ delta_n

◆ e

◆ fitIntervalFlag

◆ i_0

◆ i_dot

◆ IODC

2 MSBs (most significant bit) of IODC indicate fit intervals:

| 2 MSBs of IODC(binary) | Fit intervals(minutes)

| 11 | 120

◆ IODE

◆ L2ChannelCodes

◆ L2DataFlagPCode

◆ M_0

◆ omega

◆ Omega_0

◆ Omega_dot

◆ sqrt_A

◆ svAccuracy

◆ svHealth

1-bit Health

Bit Location | Name | Target Signal

1st bit (MSB) | L1 Health | L1C/A or L1C/B

5-bit Health

Bit Location | Name | Target Signal

5th bit (LSB) | L1C/B Health | L1C/B

◆ T_GD

◆ toc

◆ toe