INSTINCT Code Coverage Report

Directory: src/
File: Navigation/GNSS/Satellite/Ephemeris/GPSEphemeris.hpp
Date: 2025-11-25 23:34:18
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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 GPSEphemeris.hpp
10 /// @brief GPS 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 namespace NAV
21 {
22
23 /// @brief Broadcasted ephemeris message data
24 /// @note See \cite IS-GPS-200M IS-GPS-200M, Table 20-III, p. 105
25 ///
26 /// \image html GPS-satellite-orbits.png "Description of the GPS satellite orbits"
27 class GPSEphemeris final : public SatNavData
28 {
29 public:
30 // #######################################################################################################
31 // Members
32 // #######################################################################################################
33
34 // ------------------------------------------ Time Parameters --------------------------------------------
35
36 /// @brief Time of Clock
37 InsTime toc;
38
39 /// @brief Time of Ephemeris
40 InsTime toe;
41
42 /// @brief Issue of Data, Ephemeris
43 ///
44 /// Provides the user with a convenient means for detecting any change in the ephemeris representation parameters
45 ///
46 /// @note See \cite IS-GPS-200M GPS ICD, ch. 20.3.3.4.1, p.102
47 size_t IODE{};
48
49 /// @brief Issue of Data, Clock
50 ///
51 /// Indicates the issue number of the data set and thereby provides the user with a convenient means of detecting any change in the
52 /// subframe 1 core CEI data. Constraints on the IODC as well as the relationship between the IODC and the IODE (issue of data, ephemeris) terms
53 /// are defined in \cite IS-GPS-200M GPS ICD, ch. 20.3.4.4.
54 ///
55 /// @note See \cite IS-GPS-200M GPS ICD, ch. 20.3.3.3.1.5, p.95
56 size_t IODC{};
57
58 /// Polynomial coefficients for clock correction
59 /// - a(0) bias [s]
60 /// - a(1) drift [s/s]
61 /// - a(2) drift rate (aging) [s/s^2]
62 ///
63 /// @note See \cite IS-GPS-200M GPS ICD, ch. 20.3.3.3.1.8, p.95
64 std::array<double, 3> a{};
65
66 // --------------------------------------- Keplerian Parameters ------------------------------------------
67
68 double sqrt_A{}; ///< Square root of the semi-major axis [m^1/2]
69 double e{}; ///< Eccentricity [-]
70 double i_0{}; ///< Inclination angle at reference time [rad]
71 double Omega_0{}; ///< Longitude of the ascending node at reference time [rad]
72 double omega{}; ///< Argument of perigee [rad]
73 double M_0{}; ///< Mean anomaly at reference time [rad]
74
75 // -------------------------------------- Pertubation Parameters -----------------------------------------
76
77 double delta_n{}; ///< Mean motion difference from computed value [rad/s]
78 double Omega_dot{}; ///< Rate of change of right ascension [rad/s]
79 double i_dot{}; ///< Rate of change of inclination [rad/s]
80 double Cus{}; ///< Amplitude of the sine harmonic correction term to the argument of latitude [rad]
81 double Cuc{}; ///< Amplitude of the cosine harmonic correction term to the argument of latitude [rad]
82 double Cis{}; ///< Amplitude of the sine harmonic correction term to the angle of inclination [rad]
83 double Cic{}; ///< Amplitude of the cosine harmonic correction term to the angle of inclination [rad]
84 double Crs{}; ///< Amplitude of the sine harmonic correction term to the orbit radius [m]
85 double Crc{}; ///< Amplitude of the cosine harmonic correction term to the orbit radius [m]
86
87 // ----------------------------------------------- Other -------------------------------------------------
88
89 /// @brief SV accuracy [m]
90 ///
91 /// Derived from an URA index of the SV for the standard positioning service user.
92 ///
93 /// @note See \cite IS-GPS-200M GPS ICD, ch. 20.3.3.3.1.3, p.92ff
94 double svAccuracy{};
95
96 /// @brief SV health
97 ///
98 /// 0 = all LNAV data are OK
99 /// 1 = some or all LNAV data are bad
100 ///
101 /// @note See \cite IS-GPS-200M GPS ICD, ch. 20.3.3.3.1.4, p. 94
102 /// @note See \cite IS-GPS-200M GPS ICD, ch. 20.3.3.5.1.3, p. 117ff
103 uint8_t svHealth{};
104
105 /// @brief Indicate which code(s) is (are) commanded ON for the in-phase component of the L2 channel.
106 ///
107 /// 00 = Invalid,
108 /// 01 = P-code ON,
109 /// 10 = C/A-code ON,
110 /// 11 = Invalid.
111 ///
112 /// These bits provide no indication of which code(s), if any, may be commanded ON for the quadrature component of the L2 channel.
113 ///
114 /// @note See \cite IS-GPS-200M GPS ICD, ch. 20.3.3.3.1.2, p. 92
115 uint8_t L2ChannelCodes{};
116
117 /// @brief Data Flag for L2 P-Code
118 ///
119 /// 1 indicates that the LNAV data stream was commanded OFF on the P-code of the in-phase component of the L2 channel.
120 /// This bit provides no indication of whether LNAV data is or is not present on any code modulated on the quadrature component of the L2 channel.
121 ///
122 /// @note See \cite IS-GPS-200M GPS ICD, ch. 20.3.3.3.1.6, p. 95
123 bool L2DataFlagPCode{};
124
125 /// @brief Estimated Group Delay Differential. L1 and L2 correction term [s]
126 /// @note See \cite IS-GPS-200M GPS ICD, ch. 20.3.3.3.1.7, p. 95
127 double T_GD{};
128
129 /// @brief Fit Interval of ephemerides [h]
130 /// @note See \cite IS-GPS-200M GPS ICD, ch. 20.3.3.4.1, p.102
131 double fitInterval{};
132
133 // #######################################################################################################
134 // Functions
135 // #######################################################################################################
136
137 /// @brief Default Constructor
138 /// @param[in] toc Time the Clock information is calculated (Time of Clock)
139 explicit GPSEphemeris(const InsTime& toc);
140
141 /// @brief Constructor
142 /// @param[in] toc Time the Clock information is calculated (Time of Clock)
143 /// @param[in] toe Time the Orbit information is calculated (Time of Ephemeris)
144 /// @param[in] IODE Issue of Data, Ephemeris
145 /// @param[in] IODC Issue of Data, Clock
146 /// @param[in] a Polynomial coefficients for clock correction (a0 bias [s], a1 drift [s/s], a2 drift rate (aging) [s/s^2])
147 /// @param[in] sqrt_A Square root of the semi-major axis [m^1/2]
148 /// @param[in] e Eccentricity [-]
149 /// @param[in] i_0 Inclination angle at reference time [rad]
150 /// @param[in] Omega_0 Longitude of the ascending node at reference time [rad]
151 /// @param[in] omega Argument of perigee [rad]
152 /// @param[in] M_0 Mean anomaly at reference time [rad]
153 /// @param[in] delta_n Mean motion difference from computed value [rad/s]
154 /// @param[in] Omega_dot Rate of change of right ascension [rad/s]
155 /// @param[in] i_dot Rate of change of inclination [rad/s]
156 /// @param[in] Cus Amplitude of the sine harmonic correction term to the argument of latitude [rad]
157 /// @param[in] Cuc Amplitude of the cosine harmonic correction term to the argument of latitude [rad]
158 /// @param[in] Cis Amplitude of the sine harmonic correction term to the angle of inclination [rad]
159 /// @param[in] Cic Amplitude of the cosine harmonic correction term to the angle of inclination [rad]
160 /// @param[in] Crs Amplitude of the sine harmonic correction term to the orbit radius [m]
161 /// @param[in] Crc Amplitude of the cosine harmonic correction term to the orbit radius [m]
162 /// @param[in] svAccuracy SV accuracy [m]
163 /// @param[in] svHealth Signal Health
164 /// @param[in] L2ChannelCodes Indicate which code(s) is (are) commanded ON for the in-phase component of the L2 channel
165 /// @param[in] L2DataFlagPCode Data Flag for L2 P-Code
166 /// @param[in] T_GD Estimated Group Delay Differential. L1 and L2 correction term [s]
167 /// @param[in] fitInterval Fit Interval of ephemerides [h]
168 GPSEphemeris(const InsTime& toc, const InsTime& toe,
169 const size_t& IODE, const size_t& IODC,
170 const std::array<double, 3>& a,
171 const double& sqrt_A, const double& e, const double& i_0, const double& Omega_0, const double& omega, const double& M_0,
172 const double& delta_n, const double& Omega_dot, const double& i_dot, const double& Cus, const double& Cuc,
173 const double& Cis, const double& Cic, const double& Crs, const double& Crc,
174 const double& svAccuracy, uint8_t svHealth,
175 uint8_t L2ChannelCodes, bool L2DataFlagPCode,
176 const double& T_GD,
177 const double& fitInterval);
178
179 #ifdef TESTING
180 /// @brief Constructor for pasting raw data from Nav files
181 /// @param[in] year Time of Clock year
182 /// @param[in] month Time of Clock month
183 /// @param[in] day Time of Clock day
184 /// @param[in] hour Time of Clock hour
185 /// @param[in] minute Time of Clock minute
186 /// @param[in] second Time of Clock second
187 /// @param[in] svClockBias Clock correction a(0) bias [s]
188 /// @param[in] svClockDrift Clock correction a(1) drift [s/s]
189 /// @param[in] svClockDriftRate Clock correction a(2) drift rate (aging) [s/s^2]
190 /// @param[in] IODE Issue of Data, Ephemeris
191 /// @param[in] Crs Amplitude of the sine harmonic correction term to the orbit radius [m]
192 /// @param[in] delta_n Mean motion difference from computed value [rad/s]
193 /// @param[in] M_0 Mean anomaly at reference time [rad]
194 /// @param[in] Cuc Amplitude of the cosine harmonic correction term to the argument of latitude [rad]
195 /// @param[in] e Eccentricity [-]
196 /// @param[in] Cus Amplitude of the sine harmonic correction term to the argument of latitude [rad]
197 /// @param[in] sqrt_A Square root of the semi-major axis [m^1/2]
198 /// @param[in] Toe Time of Ephemeris
199 /// @param[in] Cic Amplitude of the cosine harmonic correction term to the angle of inclination [rad]
200 /// @param[in] Omega_0 Longitude of the ascending node at reference time [rad]
201 /// @param[in] Cis Amplitude of the sine harmonic correction term to the angle of inclination [rad]
202 /// @param[in] i_0 Inclination angle at reference time [rad]
203 /// @param[in] Crc Amplitude of the cosine harmonic correction term to the orbit radius [m]
204 /// @param[in] omega Argument of perigee [rad]
205 /// @param[in] Omega_dot Rate of change of right ascension [rad/s]
206 /// @param[in] i_dot Rate of change of inclination [rad/s]
207 /// @param[in] L2ChannelCodes Indicate which code(s) is (are) commanded ON for the in-phase component of the L2 channel.
208 /// @param[in] GPSWeek GPS Week to go with Toe
209 /// @param[in] L2DataFlagPCode Data Flag for L2 P-Code
210 /// @param[in] svAccuracy SV accuracy [m]
211 /// @param[in] svHealth SV health
212 /// @param[in] T_GD Estimated Group Delay Differential. L1 and L2 correction term [s]
213 /// @param[in] IODC Issue of Data, Clock
214 /// @param[in] TransmissionTimeOfMessage Transmission time of message
215 /// @param[in] fitInterval Fit Interval of ephemerides [h]
216 /// @param[in] spare1 Spare data
217 /// @param[in] spare2 Spare data
218 GPSEphemeris(int32_t year, int32_t month, int32_t day, int32_t hour, int32_t minute, double second, double svClockBias, double svClockDrift, double svClockDriftRate,
219 double IODE, double Crs, double delta_n, double M_0,
220 double Cuc, double e, double Cus, double sqrt_A,
221 double Toe, double Cic, double Omega_0, double Cis,
222 double i_0, double Crc, double omega, double Omega_dot,
223 double i_dot, double L2ChannelCodes, double GPSWeek, double L2DataFlagPCode,
224 double svAccuracy, double svHealth, double T_GD, double IODC,
225 double TransmissionTimeOfMessage, double fitInterval, double spare1 = 0.0, double spare2 = 0.0);
226 #endif
227
228 /// @brief Destructor
229 20328 ~GPSEphemeris() final = default;
230 /// @brief Copy constructor
231 GPSEphemeris(const GPSEphemeris&) = default;
232 /// @brief Move constructor
233 GPSEphemeris(GPSEphemeris&&) = default;
234 /// @brief Copy assignment operator
235 GPSEphemeris& operator=(const GPSEphemeris&) = delete;
236 /// @brief Move assignment operator
237 GPSEphemeris& operator=(GPSEphemeris&&) = delete;
238
239 /// @brief Calculates the Variance of the satellite position in [m^2]
240 [[nodiscard]] double calcSatellitePositionVariance() const final;
241
242 /// @brief Calculates clock bias and drift of the satellite
243 /// @param[in] recvTime Receive time of the signal
244 /// @param[in] dist Distance between receiver and satellite (normally the pseudorange) [m]
245 /// @param[in] freq Signal Frequency
246 [[nodiscard]] Corrections calcClockCorrections(const InsTime& recvTime, double dist, const Frequency& freq) const final;
247
248 /// @brief Checks whether the signal is healthy
249 [[nodiscard]] bool isHealthy() const final;
250
251 private:
252 /// @brief Calculates position, velocity and acceleration of the satellite at transmission time
253 /// @param[in] transTime Transmit time of the signal
254 /// @param[in] calc Flags which determine what should be calculated and returned
255 /// @note See \cite IS-GPS-200M IS-GPS-200 ch. 20.3.3.4.3.1 Table 20-IV p.106-109
256 [[nodiscard]] PosVelAccel calcSatelliteData(const InsTime& transTime, Orbit::Calc calc) const final;
257 };
258
259 } // namespace NAV
260