INSTINCT Code Coverage Report

Directory:	src/
File:	Navigation/GNSS/Satellite/Ephemeris/QZSSEphemeris.hpp
Date:	2025-02-07 16:54:41

	Exec	Total	Coverage
Lines:	1	1	100.0%
Functions:	1	1	100.0%
Branches:	0	0	-%

  
      Line
      Branch
      Exec
      Source
    
      // This file is part of INSTINCT, the INS Toolkit for Integrated
    
      // Navigation Concepts and Training by the Institute of Navigation of
    
      // the University of Stuttgart, Germany.
    
      //
    
      // This Source Code Form is subject to the terms of the Mozilla Public
    
      // License, v. 2.0. If a copy of the MPL was not distributed with this
    
      // file, You can obtain one at https://mozilla.org/MPL/2.0/.
    
      /// @file QZSSEphemeris.hpp
    
      /// @brief QZSS Ephemeris information
    
      /// @author P. Peitschat (Hiwi)
    
      /// @author T. Topp (topp@ins.uni-stuttgart.de)
    
      /// @date 2023-10-23
    
      #pragma once
    
      #include <bitset>
    
      #include "Navigation/GNSS/Satellite/internal/SatNavData.hpp"
    
      #include "Navigation/Time/InsTime.hpp"
    
      namespace NAV
    
      {
    
      /// @brief Broadcasted ephemeris message data
    
      /// @note See \cite IS-QZSS-PNT-005 IS QZSS, Table 4.1.2-4, p.46 and Table 4.1.2-7, p.49
    
      class QZSSEphemeris final : public SatNavData
    
      {
    
        public:
    
          // #######################################################################################################
    
          //                                                Members
    
          // #######################################################################################################
    
          // ------------------------------------------ Time Parameters --------------------------------------------
    
          /// @brief Time of Clock
    
          const InsTime toc;
    
          /// @brief Time of Ephemeris
    
          const InsTime toe;
    
          /// @brief Issue of Data, Ephemeris
    
          ///
    
          /// Users can detect the update of the ephemeris parameter by IODE
    
          ///
    
          /// @note See \cite IS-QZSS-PNT-005 IS QZSS, ch. 4.1.2.4, p.50
    
          const size_t IODE;
    
          /// @brief 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 \cite IS-QZSS-PNT-005 IS QZSS, ch. 4.1.2.3, p.48
    
          const size_t IODC;
    
          /// Polynomial coefficients for clock correction
    
          /// - a(0) bias [s]
    
          /// - a(1) drift [s/s]
    
          /// - a(2) drift rate (aging) [s/s^2]
    
          ///
    
          /// @note See \cite IS-QZSS-PNT-005 IS QZSS, ch. 5.5.1, p.130
    
          const std::array<double, 3> a;
    
          // --------------------------------------- Keplerian Parameters ------------------------------------------
    
          const double sqrt_A;  ///< Square root of the semi-major axis [m^1/2]
    
          const double e;       ///< Eccentricity [-]
    
          const double i_0;     ///< Inclination angle at reference time [rad]
    
          const double Omega_0; ///< Longitude of the ascending node at reference time [rad]
    
          const double omega;   ///< Argument of perigee [rad]
    
          const double M_0;     ///< Mean anomaly at reference time [rad]
    
          // -------------------------------------- Pertubation Parameters -----------------------------------------
    
          const double delta_n;   ///< Mean motion difference from computed value [rad/s]
    
          const double Omega_dot; ///< Rate of right ascension [rad/s]
    
          const double i_dot;     ///< Rate of inclination angle [rad/s]
    
          const double Cus;       ///< Amplitude of the sine harmonic correction term to the argument of latitude [rad]
    
          const double Cuc;       ///< Amplitude of the cosine harmonic correction term to the argument of latitude [rad]
    
          const double Cis;       ///< Amplitude of the sine harmonic correction term to the angle of inclination [rad]
    
          const double Cic;       ///< Amplitude of the cosine harmonic correction term to the angle of inclination [rad]
    
          const double Crs;       ///< Amplitude of the sine harmonic correction term to the orbit radius [m]
    
          const double Crc;       ///< Amplitude of the cosine harmonic correction term to the orbit radius [m]
    
          // ----------------------------------------------- Other -------------------------------------------------
    
          /// @brief SV accuracy [m]
    
          ///
    
          /// Derived from an URA index of the SV for the standard positioning service user.
    
          ///
    
          /// @note See \cite IS-QZSS-PNT-005 IS QZSS, ch. 4.1.2.3, p.47
    
          /// @note See \cite IS-QZSS-PNT-005 IS QZSS, ch. 5.4.3, p.125 ff.
    
          /// @note See \cite IS-GPS-200M GPS ICD, ch. 20.3.3.3.1.3, p.92ff
    
          const double svAccuracy;
    
          /// @brief 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
    
          /// --------------------------------------------------
    
          /// 1st bit (MSB) | L1C/A Health | L1C/A
    
          /// 2nd bit       | L2 Health    | L2C
    
          /// 3rd bit       | L5 Health    | L5
    
          /// 4th bit       | L1C Health   | L1C
    
          /// 5th bit (LSB) | L1C/B Health | L1C/B
    
          /// --------------------------------------------------
    
          ///
    
          /// The 5-bit health parameter is defined differently from GPS. For details, see \cite IS-QZSS-PNT-005 IS QZSS, ch. 4.1.2.7, p.61
    
          ///
    
          /// @note See \cite IS-QZSS-PNT-005 IS QZSS, ch. 4.1.2.3, p.47
    
          const std::bitset<6> svHealth;
    
          /// @brief Indicate which code(s) is (are) commanded ON for the in-phase component of the L2 channel.
    
          ///
    
          /// Fixed to '2'.
    
          ///
    
          /// @note See \cite IS-GPS-200M GPS ICD, ch. 20.3.3.3.1.2, p.92
    
          /// @note See \cite RINEX-3.04, A31
    
          const uint8_t L2ChannelCodes;
    
          /// @brief Data Flag for L2 P-Code
    
          ///
    
          /// Fixed to '1' since QZSS does not track L2P.
    
          ///
    
          /// @note See \cite IS-QZSS-PNT-005 IS QZSS, ch. 4.1.2.3, p.48
    
          const bool L2DataFlagPCode;
    
          /// @brief Group delay between SV clock and L1C/A [s]
    
          /// @note See \cite IS-QZSS-PNT-005 IS QZSS, ch. 5.8, p.141 ff.
    
          const double T_GD;
    
          /// @brief 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 \cite IS-QZSS-PNT-005 IS QZSS, ch. 4.1.2.4, p.50
    
          const bool fitIntervalFlag;
    
          // #######################################################################################################
    
          //                                               Functions
    
          // #######################################################################################################
    
          /// @brief Constructor
    
          /// @param[in] toc Time the Clock information is calculated (Time of Clock)
    
          /// @param[in] toe Time the Orbit information is calculated (Time of Ephemeris)
    
          /// @param[in] IODE Issue of Data, Ephemeris
    
          /// @param[in] IODC Issue of Data, Clock
    
          /// @param[in] a Polynomial coefficients for clock correction (a0 bias [s], a1 drift [s/s], a2 drift rate (aging) [s/s^2])
    
          /// @param[in] sqrt_A Square root of the semi-major axis [m^1/2]
    
          /// @param[in] e Eccentricity [-]
    
          /// @param[in] i_0 Inclination angle at reference time [rad]
    
          /// @param[in] Omega_0 Longitude of the ascending node at reference time [rad]
    
          /// @param[in] omega Argument of perigee [rad]
    
          /// @param[in] M_0 Mean anomaly at reference time [rad]
    
          /// @param[in] delta_n Mean motion difference from computed value [rad/s]
    
          /// @param[in] Omega_dot Rate of change of right ascension [rad/s]
    
          /// @param[in] i_dot Rate of change of inclination [rad/s]
    
          /// @param[in] Cus Amplitude of the sine harmonic correction term to the argument of latitude [rad]
    
          /// @param[in] Cuc Amplitude of the cosine harmonic correction term to the argument of latitude [rad]
    
          /// @param[in] Cis Amplitude of the sine harmonic correction term to the angle of inclination [rad]
    
          /// @param[in] Cic Amplitude of the cosine harmonic correction term to the angle of inclination [rad]
    
          /// @param[in] Crs Amplitude of the sine harmonic correction term to the orbit radius [m]
    
          /// @param[in] Crc Amplitude of the cosine harmonic correction term to the orbit radius [m]
    
          /// @param[in] svAccuracy SV accuracy [m]
    
          /// @param[in] svHealth SV Health
    
          /// @param[in] L2ChannelCodes Indicate which code(s) is (are) commanded ON for the in-phase component of the L2 channel
    
          /// @param[in] L2DataFlagPCode Data Flag for L2 P-Code (fixed to '1')
    
          /// @param[in] T_GD Group delay between SV clock and L1C/A [s]
    
          /// @param[in] fitIntervalFlag Fit Interval period of the ephemeris
    
          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);
    
      #ifdef TESTING
    
          /// @brief Constructor for pasting raw data from Nav files
    
          /// @param[in] year Time of Clock year
    
          /// @param[in] month Time of Clock month
    
          /// @param[in] day Time of Clock day
    
          /// @param[in] hour Time of Clock hour
    
          /// @param[in] minute Time of Clock minute
    
          /// @param[in] second Time of Clock second
    
          /// @param[in] svClockBias Clock correction a(0) bias [s]
    
          /// @param[in] svClockDrift Clock correction a(1) drift [s/s]
    
          /// @param[in] svClockDriftRate Clock correction a(2) drift rate (aging) [s/s^2]
    
          /// @param[in] IODE Issue of Data, Ephemeris
    
          /// @param[in] Crs Amplitude of the sine harmonic correction term to the orbit radius [m]
    
          /// @param[in] delta_n Mean motion difference from computed value [rad/s]
    
          /// @param[in] M_0 Mean anomaly at reference time [rad]
    
          /// @param[in] Cuc Amplitude of the cosine harmonic correction term to the argument of latitude [rad]
    
          /// @param[in] e Eccentricity [-]
    
          /// @param[in] Cus Amplitude of the sine harmonic correction term to the argument of latitude [rad]
    
          /// @param[in] sqrt_A Square root of the semi-major axis [m^1/2]
    
          /// @param[in] Toe Time of Ephemeris
    
          /// @param[in] Cic Amplitude of the cosine harmonic correction term to the angle of inclination [rad]
    
          /// @param[in] Omega_0 Longitude of the ascending node at reference time [rad]
    
          /// @param[in] Cis Amplitude of the sine harmonic correction term to the angle of inclination [rad]
    
          /// @param[in] i_0 Inclination angle at reference time [rad]
    
          /// @param[in] Crc Amplitude of the cosine harmonic correction term to the orbit radius [m]
    
          /// @param[in] omega Argument of perigee [rad]
    
          /// @param[in] Omega_dot Rate of change of right ascension [rad/s]
    
          /// @param[in] i_dot Rate of change of inclination [rad/s]
    
          /// @param[in] L2ChannelCodes Indicate which code(s) is (are) commanded ON for the in-phase component of the L2 channel.
    
          /// @param[in] GPSWeek GPS Week to go with Toe
    
          /// @param[in] L2DataFlagPCode Data Flag for L2 P-Code
    
          /// @param[in] svAccuracy SV accuracy [m]
    
          /// @param[in] svHealth SV health
    
          /// @param[in] T_GD Estimated Group Delay Differential. L1 and L2 correction term [s]
    
          /// @param[in] IODC Issue of Data, Clock
    
          /// @param[in] TransmissionTimeOfMessage Transmission time of message
    
          /// @param[in] fitIntervalFlag Fit Interval period of the ephemeris
    
          /// @param[in] spare1 Spare data
    
          /// @param[in] spare2 Spare data
    
          QZSSEphemeris(int32_t year, int32_t month, int32_t day, int32_t hour, int32_t minute, double second, double svClockBias, double svClockDrift, double svClockDriftRate,
    
                        double IODE, double Crs, double delta_n, double M_0,
    
                        double Cuc, double e, double Cus, double sqrt_A,
    
                        double Toe, double Cic, double Omega_0, double Cis,
    
                        double i_0, double Crc, double omega, double Omega_dot,
    
                        double i_dot, double L2ChannelCodes, double GPSWeek, double L2DataFlagPCode,
    
                        double svAccuracy, double svHealth, double T_GD, double IODC,
    
                        double TransmissionTimeOfMessage, double fitIntervalFlag, double spare1 = 0.0, double spare2 = 0.0);
    
      #endif
    
          /// @brief Destructor
    
      2172
          ~QZSSEphemeris() final = default;
    
          /// @brief Copy Constructor
    
          QZSSEphemeris(const QZSSEphemeris&) = default;
    
          /// @brief Move Constructor
    
          QZSSEphemeris(QZSSEphemeris&&) = default;
    
          /// @brief Copy assignment operator
    
          QZSSEphemeris& operator=(const QZSSEphemeris&) = delete;
    
          /// @brief Move assignment operator
    
          QZSSEphemeris& operator=(QZSSEphemeris&&) = delete;
    
          /// @brief Calculates the Variance of the satellite position in [m^2]
    
          [[nodiscard]] double calcSatellitePositionVariance() const final;
    
          /// @brief Calculates clock bias and drift of the satellite
    
          /// @param[in] recvTime Receive time of the signal
    
          /// @param[in] dist Distance between receiver and satellite (normally the pseudorange) [m]
    
          /// @param[in] freq Signal Frequency
    
          /// @note See \cite IS-QZSS-PNT-005 IS QZSS, ch. 5.5.2, p.130
    
          [[nodiscard]] Corrections calcClockCorrections(const InsTime& recvTime, double dist, const Frequency& freq) const final;
    
          /// @brief Checks whether the signal is healthy
    
          [[nodiscard]] bool isHealthy() const final;
    
        private:
    
          /// @brief Calculates position, velocity and acceleration of the satellite at transmission time
    
          /// @param[in] transTime Transmit time of the signal
    
          /// @param[in] calc Flags which determine what should be calculated and returned
    
          /// @note See \cite IS-QZSS-PNT-005 IS QZSS, ch. 5.6.1.2, p.133 ff.
    
          /// @note See \cite IS-GPS-200M IS-GPS-200 ch. 20.3.3.4.3.1 Table 20-IV p.106-109
    
          [[nodiscard]] PosVelAccel calcSatelliteData(const InsTime& transTime, Orbit::Calc calc) const final;
    
      };
    
      } // namespace NAV

Line	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 QZSSEphemeris.hpp
10		/// @brief QZSS Ephemeris information
11		/// @author P. Peitschat (Hiwi)
12		/// @author T. Topp (topp@ins.uni-stuttgart.de)
13		/// @date 2023-10-23
14
15		#pragma once
16
17		#include <bitset>
18
19		#include "Navigation/GNSS/Satellite/internal/SatNavData.hpp"
20
21		#include "Navigation/Time/InsTime.hpp"
22
23		namespace NAV
24		{
25
26		/// @brief Broadcasted ephemeris message data
27		/// @note See \cite IS-QZSS-PNT-005 IS QZSS, Table 4.1.2-4, p.46 and Table 4.1.2-7, p.49
28		class QZSSEphemeris final : public SatNavData
29		{
30		public:
31		// #######################################################################################################
32		// Members
33		// #######################################################################################################
34
35		// ------------------------------------------ Time Parameters --------------------------------------------
36
37		/// @brief Time of Clock
38		const InsTime toc;
39
40		/// @brief Time of Ephemeris
41		const InsTime toe;
42
43		/// @brief Issue of Data, Ephemeris
44		///
45		/// Users can detect the update of the ephemeris parameter by IODE
46		///
47		/// @note See \cite IS-QZSS-PNT-005 IS QZSS, ch. 4.1.2.4, p.50
48		const size_t IODE;
49
50		/// @brief Issue of Data, Clock
51		///
52		/// Users can detect the update of SV clock parameter by IODC
53		/// 2 MSBs (most significant bit) of IODC indicate fit intervals:
54		/// --------------------------------------------------
55		/// \| 2 MSBs of IODC(binary) \| Fit intervals(minutes)
56		/// --------------------------------------------------
57		/// \| 00 \| 15
58		/// \| 01 \| 30
59		/// \| 10 \| 60
60		/// \| 11 \| 120
61		/// --------------------------------------------------
62		///
63		/// @note See \cite IS-QZSS-PNT-005 IS QZSS, ch. 4.1.2.3, p.48
64		const size_t IODC;
65
66		/// Polynomial coefficients for clock correction
67		/// - a(0) bias [s]
68		/// - a(1) drift [s/s]
69		/// - a(2) drift rate (aging) [s/s^2]
70		///
71		/// @note See \cite IS-QZSS-PNT-005 IS QZSS, ch. 5.5.1, p.130
72		const std::array<double, 3> a;
73
74		// --------------------------------------- Keplerian Parameters ------------------------------------------
75
76		const double sqrt_A; ///< Square root of the semi-major axis [m^1/2]
77		const double e; ///< Eccentricity [-]
78		const double i_0; ///< Inclination angle at reference time [rad]
79		const double Omega_0; ///< Longitude of the ascending node at reference time [rad]
80		const double omega; ///< Argument of perigee [rad]
81		const double M_0; ///< Mean anomaly at reference time [rad]
82
83		// -------------------------------------- Pertubation Parameters -----------------------------------------
84
85		const double delta_n; ///< Mean motion difference from computed value [rad/s]
86		const double Omega_dot; ///< Rate of right ascension [rad/s]
87		const double i_dot; ///< Rate of inclination angle [rad/s]
88		const double Cus; ///< Amplitude of the sine harmonic correction term to the argument of latitude [rad]
89		const double Cuc; ///< Amplitude of the cosine harmonic correction term to the argument of latitude [rad]
90		const double Cis; ///< Amplitude of the sine harmonic correction term to the angle of inclination [rad]
91		const double Cic; ///< Amplitude of the cosine harmonic correction term to the angle of inclination [rad]
92		const double Crs; ///< Amplitude of the sine harmonic correction term to the orbit radius [m]
93		const double Crc; ///< Amplitude of the cosine harmonic correction term to the orbit radius [m]
94
95		// ----------------------------------------------- Other -------------------------------------------------
96
97		/// @brief SV accuracy [m]
98		///
99		/// Derived from an URA index of the SV for the standard positioning service user.
100		///
101		/// @note See \cite IS-QZSS-PNT-005 IS QZSS, ch. 4.1.2.3, p.47
102		/// @note See \cite IS-QZSS-PNT-005 IS QZSS, ch. 5.4.3, p.125 ff.
103		/// @note See \cite IS-GPS-200M GPS ICD, ch. 20.3.3.3.1.3, p.92ff
104		const double svAccuracy;
105
106		/// @brief SV health
107		///
108		/// This consists of the 1MSB health and the 5LSBs health
109		///
110		/// 1-bit Health
111		/// --------------------------------------------------
112		/// Bit Location \| Name \| Target Signal
113		/// --------------------------------------------------
114		/// 1st bit (MSB) \| L1 Health \| L1C/A or L1C/B
115		/// --------------------------------------------------
116		///
117		/// 5-bit Health
118		/// --------------------------------------------------
119		/// Bit Location \| Name \| Target Signal
120		/// --------------------------------------------------
121		/// 1st bit (MSB) \| L1C/A Health \| L1C/A
122		/// 2nd bit \| L2 Health \| L2C
123		/// 3rd bit \| L5 Health \| L5
124		/// 4th bit \| L1C Health \| L1C
125		/// 5th bit (LSB) \| L1C/B Health \| L1C/B
126		/// --------------------------------------------------
127		///
128		/// The 5-bit health parameter is defined differently from GPS. For details, see \cite IS-QZSS-PNT-005 IS QZSS, ch. 4.1.2.7, p.61
129		///
130		/// @note See \cite IS-QZSS-PNT-005 IS QZSS, ch. 4.1.2.3, p.47
131		const std::bitset<6> svHealth;
132
133		/// @brief Indicate which code(s) is (are) commanded ON for the in-phase component of the L2 channel.
134		///
135		/// Fixed to '2'.
136		///
137		/// @note See \cite IS-GPS-200M GPS ICD, ch. 20.3.3.3.1.2, p.92
138		/// @note See \cite RINEX-3.04, A31
139		const uint8_t L2ChannelCodes;
140
141		/// @brief Data Flag for L2 P-Code
142		///
143		/// Fixed to '1' since QZSS does not track L2P.
144		///
145		/// @note See \cite IS-QZSS-PNT-005 IS QZSS, ch. 4.1.2.3, p.48
146		const bool L2DataFlagPCode;
147
148		/// @brief Group delay between SV clock and L1C/A [s]
149		/// @note See \cite IS-QZSS-PNT-005 IS QZSS, ch. 5.8, p.141 ff.
150		const double T_GD;
151
152		/// @brief Fit Interval period of the ephemeris
153		///
154		/// "0": 2 hours
155		/// "1": Greater than 2 hours
156		///
157		/// For QZSS always fixed to "0", since fit interval period of the ephemeris is 2 hours (see Table 4.1.1-2.).
158		///
159		/// @note See \cite IS-QZSS-PNT-005 IS QZSS, ch. 4.1.2.4, p.50
160		const bool fitIntervalFlag;
161
162		// #######################################################################################################
163		// Functions
164		// #######################################################################################################
165
166		/// @brief Constructor
167		/// @param[in] toc Time the Clock information is calculated (Time of Clock)
168		/// @param[in] toe Time the Orbit information is calculated (Time of Ephemeris)
169		/// @param[in] IODE Issue of Data, Ephemeris
170		/// @param[in] IODC Issue of Data, Clock
171		/// @param[in] a Polynomial coefficients for clock correction (a0 bias [s], a1 drift [s/s], a2 drift rate (aging) [s/s^2])
172		/// @param[in] sqrt_A Square root of the semi-major axis [m^1/2]
173		/// @param[in] e Eccentricity [-]
174		/// @param[in] i_0 Inclination angle at reference time [rad]
175		/// @param[in] Omega_0 Longitude of the ascending node at reference time [rad]
176		/// @param[in] omega Argument of perigee [rad]
177		/// @param[in] M_0 Mean anomaly at reference time [rad]
178		/// @param[in] delta_n Mean motion difference from computed value [rad/s]
179		/// @param[in] Omega_dot Rate of change of right ascension [rad/s]
180		/// @param[in] i_dot Rate of change of inclination [rad/s]
181		/// @param[in] Cus Amplitude of the sine harmonic correction term to the argument of latitude [rad]
182		/// @param[in] Cuc Amplitude of the cosine harmonic correction term to the argument of latitude [rad]
183		/// @param[in] Cis Amplitude of the sine harmonic correction term to the angle of inclination [rad]
184		/// @param[in] Cic Amplitude of the cosine harmonic correction term to the angle of inclination [rad]
185		/// @param[in] Crs Amplitude of the sine harmonic correction term to the orbit radius [m]
186		/// @param[in] Crc Amplitude of the cosine harmonic correction term to the orbit radius [m]
187		/// @param[in] svAccuracy SV accuracy [m]
188		/// @param[in] svHealth SV Health
189		/// @param[in] L2ChannelCodes Indicate which code(s) is (are) commanded ON for the in-phase component of the L2 channel
190		/// @param[in] L2DataFlagPCode Data Flag for L2 P-Code (fixed to '1')
191		/// @param[in] T_GD Group delay between SV clock and L1C/A [s]
192		/// @param[in] fitIntervalFlag Fit Interval period of the ephemeris
193		QZSSEphemeris(const InsTime& toc, const InsTime& toe,
194		const size_t& IODE, const size_t& IODC,
195		const std::array<double, 3>& a,
196		const double& sqrt_A, const double& e, const double& i_0, const double& Omega_0, const double& omega, const double& M_0,
197		const double& delta_n, const double& Omega_dot, const double& i_dot, const double& Cus, const double& Cuc,
198		const double& Cis, const double& Cic, const double& Crs, const double& Crc,
199		const double& svAccuracy, uint8_t svHealth,
200		uint8_t L2ChannelCodes, bool L2DataFlagPCode,
201		const double& T_GD, bool fitIntervalFlag);
202
203		#ifdef TESTING
204		/// @brief Constructor for pasting raw data from Nav files
205		/// @param[in] year Time of Clock year
206		/// @param[in] month Time of Clock month
207		/// @param[in] day Time of Clock day
208		/// @param[in] hour Time of Clock hour
209		/// @param[in] minute Time of Clock minute
210		/// @param[in] second Time of Clock second
211		/// @param[in] svClockBias Clock correction a(0) bias [s]
212		/// @param[in] svClockDrift Clock correction a(1) drift [s/s]
213		/// @param[in] svClockDriftRate Clock correction a(2) drift rate (aging) [s/s^2]
214		/// @param[in] IODE Issue of Data, Ephemeris
215		/// @param[in] Crs Amplitude of the sine harmonic correction term to the orbit radius [m]
216		/// @param[in] delta_n Mean motion difference from computed value [rad/s]
217		/// @param[in] M_0 Mean anomaly at reference time [rad]
218		/// @param[in] Cuc Amplitude of the cosine harmonic correction term to the argument of latitude [rad]
219		/// @param[in] e Eccentricity [-]
220		/// @param[in] Cus Amplitude of the sine harmonic correction term to the argument of latitude [rad]
221		/// @param[in] sqrt_A Square root of the semi-major axis [m^1/2]
222		/// @param[in] Toe Time of Ephemeris
223		/// @param[in] Cic Amplitude of the cosine harmonic correction term to the angle of inclination [rad]
224		/// @param[in] Omega_0 Longitude of the ascending node at reference time [rad]
225		/// @param[in] Cis Amplitude of the sine harmonic correction term to the angle of inclination [rad]
226		/// @param[in] i_0 Inclination angle at reference time [rad]
227		/// @param[in] Crc Amplitude of the cosine harmonic correction term to the orbit radius [m]
228		/// @param[in] omega Argument of perigee [rad]
229		/// @param[in] Omega_dot Rate of change of right ascension [rad/s]
230		/// @param[in] i_dot Rate of change of inclination [rad/s]
231		/// @param[in] L2ChannelCodes Indicate which code(s) is (are) commanded ON for the in-phase component of the L2 channel.
232		/// @param[in] GPSWeek GPS Week to go with Toe
233		/// @param[in] L2DataFlagPCode Data Flag for L2 P-Code
234		/// @param[in] svAccuracy SV accuracy [m]
235		/// @param[in] svHealth SV health
236		/// @param[in] T_GD Estimated Group Delay Differential. L1 and L2 correction term [s]
237		/// @param[in] IODC Issue of Data, Clock
238		/// @param[in] TransmissionTimeOfMessage Transmission time of message
239		/// @param[in] fitIntervalFlag Fit Interval period of the ephemeris
240		/// @param[in] spare1 Spare data
241		/// @param[in] spare2 Spare data
242		QZSSEphemeris(int32_t year, int32_t month, int32_t day, int32_t hour, int32_t minute, double second, double svClockBias, double svClockDrift, double svClockDriftRate,
243		double IODE, double Crs, double delta_n, double M_0,
244		double Cuc, double e, double Cus, double sqrt_A,
245		double Toe, double Cic, double Omega_0, double Cis,
246		double i_0, double Crc, double omega, double Omega_dot,
247		double i_dot, double L2ChannelCodes, double GPSWeek, double L2DataFlagPCode,
248		double svAccuracy, double svHealth, double T_GD, double IODC,
249		double TransmissionTimeOfMessage, double fitIntervalFlag, double spare1 = 0.0, double spare2 = 0.0);
250		#endif
251
252		/// @brief Destructor
253	2172	~QZSSEphemeris() final = default;
254		/// @brief Copy Constructor
255		QZSSEphemeris(const QZSSEphemeris&) = default;
256		/// @brief Move Constructor
257		QZSSEphemeris(QZSSEphemeris&&) = default;
258		/// @brief Copy assignment operator
259		QZSSEphemeris& operator=(const QZSSEphemeris&) = delete;
260		/// @brief Move assignment operator
261		QZSSEphemeris& operator=(QZSSEphemeris&&) = delete;
262
263		/// @brief Calculates the Variance of the satellite position in [m^2]
264		[[nodiscard]] double calcSatellitePositionVariance() const final;
265
266		/// @brief Calculates clock bias and drift of the satellite
267		/// @param[in] recvTime Receive time of the signal
268		/// @param[in] dist Distance between receiver and satellite (normally the pseudorange) [m]
269		/// @param[in] freq Signal Frequency
270		/// @note See \cite IS-QZSS-PNT-005 IS QZSS, ch. 5.5.2, p.130
271		[[nodiscard]] Corrections calcClockCorrections(const InsTime& recvTime, double dist, const Frequency& freq) const final;
272
273		/// @brief Checks whether the signal is healthy
274		[[nodiscard]] bool isHealthy() const final;
275
276		private:
277		/// @brief Calculates position, velocity and acceleration of the satellite at transmission time
278		/// @param[in] transTime Transmit time of the signal
279		/// @param[in] calc Flags which determine what should be calculated and returned
280		/// @note See \cite IS-QZSS-PNT-005 IS QZSS, ch. 5.6.1.2, p.133 ff.
281		/// @note See \cite IS-GPS-200M IS-GPS-200 ch. 20.3.3.4.3.1 Table 20-IV p.106-109
282		[[nodiscard]] PosVelAccel calcSatelliteData(const InsTime& transTime, Orbit::Calc calc) const final;
283		};
284
285		} // namespace NAV
286