| 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 Orbit.hpp | ||
| 10 | /// @brief Abstract satellite orbit information | ||
| 11 | /// @author T. Topp (topp@ins.uni-stuttgart.de) | ||
| 12 | /// @date 2022-12-02 | ||
| 13 | |||
| 14 | #pragma once | ||
| 15 | |||
| 16 | #include <cstdint> | ||
| 17 | #include "Navigation/Time/InsTime.hpp" | ||
| 18 | #include "util/Eigen.hpp" | ||
| 19 | |||
| 20 | namespace NAV | ||
| 21 | { | ||
| 22 | |||
| 23 | /// @brief Abstract satellite orbit information | ||
| 24 | class Orbit | ||
| 25 | { | ||
| 26 | public: | ||
| 27 | /// Satellite Position | ||
| 28 | struct Pos | ||
| 29 | { | ||
| 30 | Eigen::Vector3d e_pos; ///< The WGS84 ECEF position of the satellite at transmit time of the signal, in ECEF axes at the time of reception [m] | ||
| 31 | }; | ||
| 32 | /// Satellite Position and Velocity | ||
| 33 | struct PosVel | ||
| 34 | { | ||
| 35 | Eigen::Vector3d e_pos; ///< The WGS84 ECEF position of the satellite at transmit time of the signal, in ECEF axes at the time of reception [m] | ||
| 36 | Eigen::Vector3d e_vel; ///< The WGS84 ECEF velocity of the satellite at transmit time of the signal, in ECEF axes at the time of reception [m] | ||
| 37 | }; | ||
| 38 | /// Satellite Position, Velocity and Acceleration | ||
| 39 | struct PosVelAccel | ||
| 40 | { | ||
| 41 | Eigen::Vector3d e_pos; ///< The WGS84 ECEF position of the satellite at transmit time of the signal, in ECEF axes at the time of reception [m] | ||
| 42 | Eigen::Vector3d e_vel; ///< The WGS84 ECEF velocity of the satellite at transmit time of the signal, in ECEF axes at the time of reception [m] | ||
| 43 | Eigen::Vector3d e_accel; ///< The WGS84 ECEF acceleration of the satellite at transmit time of the signal, in ECEF axes at the time of reception [m] | ||
| 44 | }; | ||
| 45 | |||
| 46 | /// @brief Default Constructor | ||
| 47 | 41371 | Orbit() = default; | |
| 48 | /// @brief Destructor | ||
| 49 | 82742 | virtual ~Orbit() = default; | |
| 50 | /// @brief Copy constructor | ||
| 51 | Orbit(const Orbit&) = default; | ||
| 52 | /// @brief Move constructor | ||
| 53 | Orbit(Orbit&&) = default; | ||
| 54 | /// @brief Copy assignment operator | ||
| 55 | Orbit& operator=(const Orbit&) = delete; | ||
| 56 | /// @brief Move assignment operator | ||
| 57 | Orbit& operator=(Orbit&&) = delete; | ||
| 58 | |||
| 59 | /// @brief Calculates position of the satellite at transmission time | ||
| 60 | /// @param[in] transTime Transmit time to calculate the satellite position for | ||
| 61 | [[nodiscard]] Pos calcSatellitePos(const InsTime& transTime) const; | ||
| 62 | /// @brief Calculates position and velocity of the satellite at transmission time | ||
| 63 | /// @param[in] transTime Transmit time to calculate the satellite position and velocity for | ||
| 64 | [[nodiscard]] PosVel calcSatellitePosVel(const InsTime& transTime) const; | ||
| 65 | /// @brief Calculates position, velocity and acceleration of the satellite at transmission time | ||
| 66 | /// @param[in] transTime Transmit time to calculate the satellite position, velocity and acceleration for | ||
| 67 | [[nodiscard]] PosVelAccel calcSatellitePosVelAccel(const InsTime& transTime) const; | ||
| 68 | |||
| 69 | /// @brief Calculates the Variance of the satellite position in [m^2] | ||
| 70 | [[nodiscard]] virtual double calcSatellitePositionVariance() const = 0; | ||
| 71 | |||
| 72 | protected: | ||
| 73 | /// @brief Calculation flags | ||
| 74 | enum Calc : uint8_t | ||
| 75 | { | ||
| 76 | Calc_None = 0b000, ///< None | ||
| 77 | Calc_Position = 0b001, ///< Position calculation flag | ||
| 78 | Calc_Velocity = 0b010, ///< Velocity calculation flag | ||
| 79 | Calc_Acceleration = 0b100, ///< Acceleration calculation flag | ||
| 80 | }; | ||
| 81 | |||
| 82 | public: | ||
| 83 | friend Orbit::Calc operator|(Orbit::Calc lhs, Orbit::Calc rhs); | ||
| 84 | friend Orbit::Calc operator&(Orbit::Calc lhs, Orbit::Calc rhs); | ||
| 85 | |||
| 86 | protected: | ||
| 87 | /// @brief Calculates position, velocity and acceleration of the satellite at transmission time | ||
| 88 | /// @param[in] transTime Transmit time to calculate the satellite data for | ||
| 89 | /// @param[in] calc Flags which determine what should be calculated and returned | ||
| 90 | [[nodiscard]] virtual PosVelAccel calcSatelliteData(const InsTime& transTime, Calc calc) const = 0; | ||
| 91 | }; | ||
| 92 | |||
| 93 | /// @brief Allows construction of Calc objects | ||
| 94 | /// @param[in] lhs Left-hand side enum value. | ||
| 95 | /// @param[in] rhs Right-hand side enum value. | ||
| 96 | /// @return The binary ORed value. | ||
| 97 | 64596 | inline Orbit::Calc operator|(Orbit::Calc lhs, Orbit::Calc rhs) { return static_cast<Orbit::Calc>(static_cast<int>(lhs) | static_cast<int>(rhs)); } | |
| 98 | |||
| 99 | /// @brief Allows construction of Calc objects | ||
| 100 | /// @param[in] lhs Left-hand side enum value. | ||
| 101 | /// @param[in] rhs Right-hand side enum value. | ||
| 102 | /// @return The binary ANDed value. | ||
| 103 | 201800 | inline Orbit::Calc operator&(Orbit::Calc lhs, Orbit::Calc rhs) { return static_cast<Orbit::Calc>(static_cast<int>(lhs) & static_cast<int>(rhs)); } | |
| 104 | |||
| 105 | } // namespace NAV | ||
| 106 |