| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // This file is part of INSTINCT, the INS Toolkit for Integrated | ||
| 2 | // Navigation Concepts and Training by the Institute of Navigation of | ||
| 3 | // the University of Stuttgart, Germany. | ||
| 4 | // | ||
| 5 | // This Source Code Form is subject to the terms of the Mozilla Public | ||
| 6 | // License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| 7 | // file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| 8 | |||
| 9 | /// @file BDSEphemeris.hpp | ||
| 10 | /// @brief BDS Ephemeris information | ||
| 11 | /// @author T. Topp (topp@ins.uni-stuttgart.de) | ||
| 12 | /// @date 2022-12-02 | ||
| 13 | |||
| 14 | #pragma once | ||
| 15 | |||
| 16 | #include "Navigation/GNSS/Satellite/internal/SatNavData.hpp" | ||
| 17 | |||
| 18 | #include "Navigation/Time/InsTime.hpp" | ||
| 19 | |||
| 20 | #include <set> | ||
| 21 | |||
| 22 | namespace NAV | ||
| 23 | { | ||
| 24 | |||
| 25 | // /// @brief List of GEO Satellites of BDS | ||
| 26 | // const static std::set<uint16_t> GeoSats{ 1, 2, 3, 4, 5 }; | ||
| 27 | |||
| 28 | /// @brief Broadcasted ephemeris message data | ||
| 29 | /// @note See \cite BDS-SIS-ICD-2.1 BDS-SIS-ICD-2.1, ch. 5.2.4, p. 23ff | ||
| 30 | class BDSEphemeris final : public SatNavData | ||
| 31 | { | ||
| 32 | public: | ||
| 33 | // ####################################################################################################### | ||
| 34 | // Members | ||
| 35 | // ####################################################################################################### | ||
| 36 | |||
| 37 | /// @brief Number of the satellite | ||
| 38 | const uint16_t satNum; | ||
| 39 | |||
| 40 | // ------------------------------------------ Time Parameters -------------------------------------------- | ||
| 41 | |||
| 42 | /// @brief Time of Clock | ||
| 43 | const InsTime toc; | ||
| 44 | |||
| 45 | /// @brief Time of Ephemeris | ||
| 46 | const InsTime toe; | ||
| 47 | |||
| 48 | /// @brief Age of Data, Ephemeris | ||
| 49 | /// | ||
| 50 | /// Age of data, ephemeris (AODE) is the extrapolated interval of ephemeris parameters. It indicates the time difference between the | ||
| 51 | /// reference epoch of ephemeris parameters and the last observation epoch for extrapolating ephemeris parameters. AODE is updated at the start of | ||
| 52 | /// each hour in BDT, and it is 5 bits long with definitions as follows: | ||
| 53 | /// | ||
| 54 | /// | AODE | Definition | | ||
| 55 | /// | :-: | --- | | ||
| 56 | /// | < 25 | Age of the satellite ephemeris parameters in hours | | ||
| 57 | /// | 25 | Age of the satellite ephemeris parameters is two days | | ||
| 58 | /// | 26 | Age of the satellite ephemeris parameters is three days | | ||
| 59 | /// | 27 | Age of the satellite ephemeris parameters is four days | | ||
| 60 | /// | 28 | Age of the satellite ephemeris parameters is five days | | ||
| 61 | /// | 29 | Age of the satellite ephemeris parameters is six days | | ||
| 62 | /// | 30 | Age of the satellite ephemeris parameters is seven days | | ||
| 63 | /// | 31 | Age of the satellite ephemeris parameters is over seven days | | ||
| 64 | /// | ||
| 65 | /// @note See \cite BDS-SIS-ICD-2.1 BDS ICD, ch. 5.2.4.11, Table 5-8, p. 31f | ||
| 66 | const size_t AODE; | ||
| 67 | |||
| 68 | /// @brief Age of Data, Clock | ||
| 69 | /// | ||
| 70 | /// Age of data, clock (AODC) is the extrapolated interval of clock correction parameters. It indicates the time difference between the | ||
| 71 | /// reference epoch of clock correction parameters and the last observation epoch for extrapolating clock correction parameters. | ||
| 72 | /// AODC is updated at the start of each hour in BDT, and it is 5 bits long with definitions as | ||
| 73 | /// | ||
| 74 | /// | AODC | Definition | | ||
| 75 | /// | :-: | --- | | ||
| 76 | /// | < 25 | Age of the satellite clock correction parameters in hours | | ||
| 77 | /// | 25 | Age of the satellite clock correction parameters is two days | | ||
| 78 | /// | 26 | Age of the satellite clock correction parameters is three days | | ||
| 79 | /// | 27 | Age of the satellite clock correction parameters is four days | | ||
| 80 | /// | 28 | Age of the satellite clock correction parameters is five days | | ||
| 81 | /// | 29 | Age of the satellite clock correction parameters is six days | | ||
| 82 | /// | 30 | Age of the satellite clock correction parameters is seven days | | ||
| 83 | /// | 31 | Age of the satellite clock correction parameters is over seven days | | ||
| 84 | /// | ||
| 85 | /// @note See \cite BDS-SIS-ICD-2.1 BDS ICD, ch. 5.2.4.9, Table 5-6, p. 28f | ||
| 86 | const size_t AODC; | ||
| 87 | |||
| 88 | /// Polynomial coefficients for clock correction | ||
| 89 | /// - a(0) bias [s] | ||
| 90 | /// - a(1) drift [s/s] | ||
| 91 | /// - a(2) drift rate (aging) [s/s^2] | ||
| 92 | /// | ||
| 93 | /// @note See \cite BDS-SIS-ICD-2.1 BDS ICD, ch. 5.2.4.10, p. 29f | ||
| 94 | const std::array<double, 3> a; | ||
| 95 | |||
| 96 | // --------------------------------------- Keplerian Parameters ------------------------------------------ | ||
| 97 | |||
| 98 | const double sqrt_A; ///< Square root of the semi-major axis [m^1/2] | ||
| 99 | const double e; ///< Eccentricity [-] | ||
| 100 | const double i_0; ///< Inclination angle at reference time [rad] | ||
| 101 | const double Omega_0; ///< Longitude of the ascending node at reference time [rad] | ||
| 102 | const double omega; ///< Argument of perigee [rad] | ||
| 103 | const double M_0; ///< Mean anomaly at reference time [rad] | ||
| 104 | |||
| 105 | // -------------------------------------- Pertubation Parameters ----------------------------------------- | ||
| 106 | |||
| 107 | const double delta_n; ///< Mean motion difference from computed value [rad/s] | ||
| 108 | const double Omega_dot; ///< Rate of change of right ascension [rad/s] | ||
| 109 | const double i_dot; ///< Rate of change of inclination [rad/s] | ||
| 110 | const double Cus; ///< Amplitude of the sine harmonic correction term to the argument of latitude [rad] | ||
| 111 | const double Cuc; ///< Amplitude of the cosine harmonic correction term to the argument of latitude [rad] | ||
| 112 | const double Cis; ///< Amplitude of the sine harmonic correction term to the angle of inclination [rad] | ||
| 113 | const double Cic; ///< Amplitude of the cosine harmonic correction term to the angle of inclination [rad] | ||
| 114 | const double Crs; ///< Amplitude of the sine harmonic correction term to the orbit radius [m] | ||
| 115 | const double Crc; ///< Amplitude of the cosine harmonic correction term to the orbit radius [m] | ||
| 116 | |||
| 117 | // ----------------------------------------------- Other ------------------------------------------------- | ||
| 118 | |||
| 119 | /// @brief SV accuracy [m] | ||
| 120 | /// | ||
| 121 | /// Derived from an URA index (URAI) of the SV for the standard positioning service user. | ||
| 122 | /// | ||
| 123 | /// @note See \cite BDS-SIS-ICD-2.1 BDS ICD, ch. 5.2.4.5, p. 24 | ||
| 124 | const double svAccuracy; | ||
| 125 | |||
| 126 | /// @brief Autonomous Satellite Health flag | ||
| 127 | /// | ||
| 128 | /// 0 = broadcasting satellite is good | ||
| 129 | /// 1 = broadcasting satellite is not good | ||
| 130 | /// | ||
| 131 | /// @note See \cite BDS-SIS-ICD-2.1 BDS ICD, ch. 5.2.4.6, p. 25 | ||
| 132 | const uint8_t satH1; | ||
| 133 | |||
| 134 | /// @brief Equipment Group Delay Differential. B1/B3 [s] | ||
| 135 | /// @note See \cite BDS-SIS-ICD-2.1 BDS ICD, ch. 5.2.4.8, p. 28 | ||
| 136 | const double T_GD1; | ||
| 137 | |||
| 138 | /// @brief Equipment Group Delay Differential. B2/B3 [s] | ||
| 139 | /// @note See \cite BDS-SIS-ICD-2.1 BDS ICD, ch. 5.2.4.8, p. 28 | ||
| 140 | const double T_GD2; | ||
| 141 | |||
| 142 | // ####################################################################################################### | ||
| 143 | // Functions | ||
| 144 | // ####################################################################################################### | ||
| 145 | |||
| 146 | /// @brief Constructor | ||
| 147 | /// @param[in] satNum Number of the satellite | ||
| 148 | /// @param[in] toc Time the Clock information is calculated (Time of Clock) | ||
| 149 | /// @param[in] toe Time the Orbit information is calculated (Time of Ephemeris) | ||
| 150 | /// @param[in] AODE Age of Data, Ephemeris | ||
| 151 | /// @param[in] AODC Age of Data, Clock | ||
| 152 | /// @param[in] a Polynomial coefficients for clock correction (a0 bias [s], a1 drift [s/s], a2 drift rate (aging) [s/s^2]) | ||
| 153 | /// @param[in] sqrt_A Square root of the semi-major axis [m^1/2] | ||
| 154 | /// @param[in] e Eccentricity [-] | ||
| 155 | /// @param[in] i_0 Inclination angle at reference time [rad] | ||
| 156 | /// @param[in] Omega_0 Longitude of the ascending node at reference time [rad] | ||
| 157 | /// @param[in] omega Argument of perigee [rad] | ||
| 158 | /// @param[in] M_0 Mean anomaly at reference time [rad] | ||
| 159 | /// @param[in] delta_n Mean motion difference from computed value [rad/s] | ||
| 160 | /// @param[in] Omega_dot Rate of change of right ascension [rad/s] | ||
| 161 | /// @param[in] i_dot Rate of change of inclination [rad/s] | ||
| 162 | /// @param[in] Cus Amplitude of the sine harmonic correction term to the argument of latitude [rad] | ||
| 163 | /// @param[in] Cuc Amplitude of the cosine harmonic correction term to the argument of latitude [rad] | ||
| 164 | /// @param[in] Cis Amplitude of the sine harmonic correction term to the angle of inclination [rad] | ||
| 165 | /// @param[in] Cic Amplitude of the cosine harmonic correction term to the angle of inclination [rad] | ||
| 166 | /// @param[in] Crs Amplitude of the sine harmonic correction term to the orbit radius [m] | ||
| 167 | /// @param[in] Crc Amplitude of the cosine harmonic correction term to the orbit radius [m] | ||
| 168 | /// @param[in] svAccuracy SV accuracy [m] | ||
| 169 | /// @param[in] satH1 Autonomous Satellite Health flag | ||
| 170 | /// @param[in] T_GD1 Equipment Group Delay Differential. B1/B3 [s] | ||
| 171 | /// @param[in] T_GD2 Equipment Group Delay Differential. B2/B3 [s] | ||
| 172 | BDSEphemeris(const uint16_t& satNum, const InsTime& toc, const InsTime& toe, | ||
| 173 | const size_t& AODE, const size_t& AODC, | ||
| 174 | const std::array<double, 3>& a, | ||
| 175 | const double& sqrt_A, const double& e, const double& i_0, const double& Omega_0, const double& omega, const double& M_0, | ||
| 176 | const double& delta_n, const double& Omega_dot, const double& i_dot, const double& Cus, const double& Cuc, | ||
| 177 | const double& Cis, const double& Cic, const double& Crs, const double& Crc, | ||
| 178 | const double& svAccuracy, uint8_t satH1, double T_GD1, double T_GD2); | ||
| 179 | |||
| 180 | #ifdef TESTING | ||
| 181 | /// @brief Constructor for pasting raw data from Nav files | ||
| 182 | /// @param[in] satNum Number of the satellite | ||
| 183 | /// @param[in] year Time of Clock year | ||
| 184 | /// @param[in] month Time of Clock month | ||
| 185 | /// @param[in] day Time of Clock day | ||
| 186 | /// @param[in] hour Time of Clock hour | ||
| 187 | /// @param[in] minute Time of Clock minute | ||
| 188 | /// @param[in] second Time of Clock second | ||
| 189 | /// @param[in] svClockBias Clock correction a(0) bias [s] | ||
| 190 | /// @param[in] svClockDrift Clock correction a(1) drift [s/s] | ||
| 191 | /// @param[in] svClockDriftRate Clock correction a(2) drift rate (aging) [s/s^2] | ||
| 192 | /// @param[in] AODE Age of Data, Ephemeris | ||
| 193 | /// @param[in] Crs Amplitude of the sine harmonic correction term to the orbit radius [m] | ||
| 194 | /// @param[in] delta_n Mean motion difference from computed value [rad/s] | ||
| 195 | /// @param[in] M_0 Mean anomaly at reference time [rad] | ||
| 196 | /// @param[in] Cuc Amplitude of the cosine harmonic correction term to the argument of latitude [rad] | ||
| 197 | /// @param[in] e Eccentricity [-] | ||
| 198 | /// @param[in] Cus Amplitude of the sine harmonic correction term to the argument of latitude [rad] | ||
| 199 | /// @param[in] sqrt_A Square root of the semi-major axis [m^1/2] | ||
| 200 | /// @param[in] Toe Time of Ephemeris | ||
| 201 | /// @param[in] Cic Amplitude of the cosine harmonic correction term to the angle of inclination [rad] | ||
| 202 | /// @param[in] Omega_0 Longitude of the ascending node at reference time [rad] | ||
| 203 | /// @param[in] Cis Amplitude of the sine harmonic correction term to the angle of inclination [rad] | ||
| 204 | /// @param[in] i_0 Inclination angle at reference time [rad] | ||
| 205 | /// @param[in] Crc Amplitude of the cosine harmonic correction term to the orbit radius [m] | ||
| 206 | /// @param[in] omega Argument of perigee [rad] | ||
| 207 | /// @param[in] Omega_dot Rate of change of right ascension [rad/s] | ||
| 208 | /// @param[in] i_dot Rate of change of inclination [rad/s] | ||
| 209 | /// @param[in] spare1 Spare data | ||
| 210 | /// @param[in] BDTWeek BDT Week to go with Toe (not GPS Week) | ||
| 211 | /// @param[in] spare2 Spare data | ||
| 212 | /// @param[in] svAccuracy SV accuracy [m] | ||
| 213 | /// @param[in] satH1 Autonomous Satellite Health flag | ||
| 214 | /// @param[in] T_GD1 Equipment Group Delay Differential. B1/B3 [s] | ||
| 215 | /// @param[in] T_GD2 Equipment Group Delay Differential. B2/B3 [s] | ||
| 216 | /// @param[in] TransmissionTimeOfMessage Transmission time of message | ||
| 217 | /// @param[in] AODC Age of Data, Clock | ||
| 218 | /// @param[in] spare3 Spare data | ||
| 219 | /// @param[in] spare4 Spare data | ||
| 220 | BDSEphemeris(int32_t satNum, int32_t year, int32_t month, int32_t day, int32_t hour, int32_t minute, double second, double svClockBias, double svClockDrift, double svClockDriftRate, | ||
| 221 | double AODE, double Crs, double delta_n, double M_0, | ||
| 222 | double Cuc, double e, double Cus, double sqrt_A, | ||
| 223 | double Toe, double Cic, double Omega_0, double Cis, | ||
| 224 | double i_0, double Crc, double omega, double Omega_dot, | ||
| 225 | double i_dot, double spare1, double BDTWeek, double spare2, | ||
| 226 | double svAccuracy, double satH1, double T_GD1, double T_GD2, | ||
| 227 | double TransmissionTimeOfMessage, double AODC, double spare3 = 0.0, double spare4 = 0.0); | ||
| 228 | #endif | ||
| 229 | |||
| 230 | /// @brief Destructor | ||
| 231 | 13780 | ~BDSEphemeris() final = default; | |
| 232 | /// @brief Copy constructor | ||
| 233 | BDSEphemeris(const BDSEphemeris&) = default; | ||
| 234 | /// @brief Move constructor | ||
| 235 | BDSEphemeris(BDSEphemeris&&) = default; | ||
| 236 | /// @brief Copy assignment operator | ||
| 237 | BDSEphemeris& operator=(const BDSEphemeris&) = delete; | ||
| 238 | /// @brief Move assignment operator | ||
| 239 | BDSEphemeris& operator=(BDSEphemeris&&) = delete; | ||
| 240 | |||
| 241 | /// @brief Calculates the Variance of the satellite position in [m^2] | ||
| 242 | [[nodiscard]] double calcSatellitePositionVariance() const final; | ||
| 243 | |||
| 244 | /// @brief Calculates clock bias and drift of the satellite | ||
| 245 | /// @param[in] recvTime Receive time of the signal | ||
| 246 | /// @param[in] dist Distance between receiver and satellite (normally the pseudorange) [m] | ||
| 247 | /// @param[in] freq Signal Frequency | ||
| 248 | /// @note See \cite BDS-SIS-ICD-2.1 BDS ICD, ch. 5.2.4.10, p. 29ff | ||
| 249 | [[nodiscard]] Corrections calcClockCorrections(const InsTime& recvTime, double dist, const Frequency& freq) const final; | ||
| 250 | |||
| 251 | /// @brief Checks whether the signal is healthy | ||
| 252 | [[nodiscard]] bool isHealthy() const final; | ||
| 253 | |||
| 254 | private: | ||
| 255 | /// @brief Calculates position, velocity and acceleration of the satellite at transmission time | ||
| 256 | /// @param[in] transTime Transmit time of the signal | ||
| 257 | /// @param[in] calc Flags which determine what should be calculated and returned | ||
| 258 | /// @note See \cite BDS-SIS-ICD-2.1 BDS ICD, ch. 5.2.4.12, p. 32ff | ||
| 259 | /// @note See \cite IS-GPS-200M IS-GPS-200 ch. 20.3.3.4.3.1 Table 20-IV p.106-109 | ||
| 260 | [[nodiscard]] PosVelAccel calcSatelliteData(const InsTime& transTime, Orbit::Calc calc) const final; | ||
| 261 | }; | ||
| 262 | |||
| 263 | } // namespace NAV | ||
| 264 |