gps_pvt 0.1.1
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- checksums.yaml +7 -0
- data/.rspec +3 -0
- data/CHANGELOG.md +5 -0
- data/CODE_OF_CONDUCT.md +84 -0
- data/Gemfile +10 -0
- data/README.md +86 -0
- data/Rakefile +86 -0
- data/bin/console +15 -0
- data/bin/setup +8 -0
- data/ext/gps_pvt/Coordinate/Coordinate_wrap.cxx +6613 -0
- data/ext/gps_pvt/GPS/GPS_wrap.cxx +16019 -0
- data/ext/gps_pvt/SylphideMath/SylphideMath_wrap.cxx +21050 -0
- data/ext/gps_pvt/extconf.rb +70 -0
- data/ext/ninja-scan-light/tool/navigation/EGM.h +2971 -0
- data/ext/ninja-scan-light/tool/navigation/GPS.h +2432 -0
- data/ext/ninja-scan-light/tool/navigation/GPS_Solver.h +479 -0
- data/ext/ninja-scan-light/tool/navigation/GPS_Solver_Base.h +1081 -0
- data/ext/ninja-scan-light/tool/navigation/GPS_Solver_MultiFrequency.h +199 -0
- data/ext/ninja-scan-light/tool/navigation/GPS_Solver_RAIM.h +210 -0
- data/ext/ninja-scan-light/tool/navigation/MagneticField.h +928 -0
- data/ext/ninja-scan-light/tool/navigation/NTCM.h +211 -0
- data/ext/ninja-scan-light/tool/navigation/RINEX.h +1781 -0
- data/ext/ninja-scan-light/tool/navigation/WGS84.h +186 -0
- data/ext/ninja-scan-light/tool/navigation/coordinate.h +406 -0
- data/ext/ninja-scan-light/tool/param/bit_array.h +145 -0
- data/ext/ninja-scan-light/tool/param/complex.h +558 -0
- data/ext/ninja-scan-light/tool/param/matrix.h +4049 -0
- data/ext/ninja-scan-light/tool/param/matrix_fixed.h +665 -0
- data/ext/ninja-scan-light/tool/param/matrix_special.h +562 -0
- data/ext/ninja-scan-light/tool/param/quaternion.h +765 -0
- data/ext/ninja-scan-light/tool/param/vector3.h +651 -0
- data/ext/ninja-scan-light/tool/swig/Coordinate.i +177 -0
- data/ext/ninja-scan-light/tool/swig/GPS.i +1102 -0
- data/ext/ninja-scan-light/tool/swig/SylphideMath.i +1234 -0
- data/ext/ninja-scan-light/tool/swig/extconf.rb +5 -0
- data/ext/ninja-scan-light/tool/swig/makefile +53 -0
- data/ext/ninja-scan-light/tool/swig/spec/GPS_spec.rb +417 -0
- data/ext/ninja-scan-light/tool/swig/spec/SylphideMath_spec.rb +489 -0
- data/gps_pvt.gemspec +57 -0
- data/lib/gps_pvt/receiver.rb +375 -0
- data/lib/gps_pvt/ubx.rb +148 -0
- data/lib/gps_pvt/version.rb +5 -0
- data/lib/gps_pvt.rb +9 -0
- data/sig/gps_pvt.rbs +4 -0
- metadata +117 -0
@@ -0,0 +1,2432 @@
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/*
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* Copyright (c) 2016, M.Naruoka (fenrir)
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without modification,
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* are permitted provided that the following conditions are met:
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*
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* - Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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* - Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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* - Neither the name of the naruoka.org nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS
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* BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
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* OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
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* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
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* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#ifndef __GPS_H__
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#define __GPS_H__
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/** @file
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* @brief GPS ICD definitions including C/A code, time, ephemeris, ...
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*/
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#include <vector>
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#include <iterator>
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#include <map>
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#include <bitset>
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#include <ctime>
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#define _USE_MATH_DEFINES
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#include <cmath>
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#include <climits>
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#include <cstdlib>
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#include "WGS84.h"
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#include "coordinate.h"
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#ifdef pow2
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#define POW2_ALREADY_DEFINED
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#else
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#define pow2(x) ((x)*(x))
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#endif
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#ifdef pow3
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#define POW3_ALREADY_DEFINED
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#else
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#define pow3(x) ((x)*(x)*(x))
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#endif
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template <class FloatT = double>
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class GPS_Signal {
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public:
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typedef FloatT float_t;
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class PRN {
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public:
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typedef std::bitset<10> content_t;
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protected:
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content_t content;
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public:
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void reset(){content.set();}
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PRN() : content() {reset();}
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PRN(const unsigned long &init) : content(init) {}
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~PRN(){}
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friend std::ostream &operator<<(std::ostream &out, const PRN &prn){
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out << const_cast<PRN &>(prn).content;
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return out;
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}
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};
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class G1 : public PRN {
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public:
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G1() : PRN() {}
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~G1(){}
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bool get() const {return PRN::content[9];}
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void next(){
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bool tmp(PRN::content[2] ^ PRN::content[9]);
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PRN::content <<= 1;
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PRN::content[0] = tmp;
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}
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};
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class G2 : public PRN {
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protected:
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const int _selector1, _selector2;
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public:
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G2(int selector1, int selector2) : PRN(), _selector1(selector1), _selector2(selector2) {}
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~G2(){}
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bool get() const {return PRN::content[_selector1] ^ PRN::content[_selector2];}
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void next(){
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bool tmp(PRN::content[1]
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^ PRN::content[2]
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^ PRN::content[5]
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^ PRN::content[7]
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^ PRN::content[8]
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^ PRN::content[9]);
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PRN::content <<= 1;
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PRN::content[0] = tmp;
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}
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static G2 get_G2(const int &prn){
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switch(prn){
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case 1: return G2(1, 5);
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case 2: return G2(2, 6);
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case 3: return G2(3, 7);
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case 4: return G2(4, 8);
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case 5: return G2(0, 8);
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case 6: return G2(1, 9);
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case 7: return G2(0, 7);
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case 8: return G2(1, 8);
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case 9: return G2(2, 9);
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case 10: return G2(1, 2);
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case 11: return G2(2, 3);
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case 12: return G2(4, 5);
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case 13: return G2(5, 6);
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case 14: return G2(6, 7);
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case 15: return G2(7, 8);
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case 16: return G2(8, 9);
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case 17: return G2(0, 3);
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case 18: return G2(1, 4);
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case 19: return G2(2, 5);
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case 20: return G2(3, 6);
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case 21: return G2(4, 7);
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case 22: return G2(5, 8);
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case 23: return G2(0, 2);
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case 24: return G2(3, 5);
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case 25: return G2(4, 6);
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case 26: return G2(5, 7);
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case 27: return G2(6, 8);
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case 28: return G2(7, 9);
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case 29: return G2(0, 5);
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case 30: return G2(1, 6);
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case 31: return G2(2, 7);
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case 32: return G2(3, 8);
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case 33: return G2(4, 9);
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case 34: return G2(3, 9);
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case 35: return G2(0, 6);
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case 36: return G2(1, 7);
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default: return G2(3, 9);
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}
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}
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};
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class CA_Code {
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public:
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typedef FloatT float_t;
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static const float_t FREQENCY;
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static const float_t length_1chip() {
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static const float_t res(1. / FREQENCY);
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return res;
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}
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protected:
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G1 g1;
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G2 g2;
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public:
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CA_Code(const int &prn) : g1(), g2(G2::get_G2(prn)){}
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~CA_Code(){}
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bool get() const {return g1.get() ^ g2.get();}
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int get_multi() const {return get() ? 1 : -1;}
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void next(){
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g1.next();
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g2.next();
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}
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};
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};
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template <class FloatT>
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const typename GPS_Signal<FloatT>::float_t GPS_Signal<FloatT>::CA_Code::FREQENCY = 1.023E6;
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template <class FloatT = double>
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struct GPS_Time {
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typedef FloatT float_t;
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static const unsigned int seconds_day = 60U * 60 * 24;
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static const unsigned int seconds_week = (60U * 60 * 24) * 7;
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static const int days_of_month[];
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/**
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* Check whether leap year
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*
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* @param year
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* @return true when leap year, otherwise false
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*/
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static inline bool is_leap_year(const int &year) {
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return (year % 400 == 0) || ((year % 4 == 0) && (year % 100 != 0));
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}
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struct leap_year_prop_res_t {
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int extra_days; ///< extra leap years since 1980
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bool is_leap_year; ///< true when leap year
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};
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/**
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* Check leap year property
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* The return values are;
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* 1) extra_days equals to years which can be divided by 4, but are not leap years
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* since 1980 (the first GPS year), and before (and except for) this_year.
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* 2) is_leap_year equals to whether this_year is leap year or not.
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*
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* @param this_year check target
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* @param skip_init_leap_year_check whether skip initial check whether this_year is leap year or not.
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* @return leap year property
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*/
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static leap_year_prop_res_t leap_year_prop(const int &this_year, const bool &skip_init_leap_year_check = false){
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leap_year_prop_res_t res = {0, skip_init_leap_year_check || (this_year % 4 == 0)};
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do{ // check leap year
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std::div_t y_400(std::div(this_year, 400));
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if((y_400.quot -= 5) < 0){break;} // year < 2000
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res.extra_days += (y_400.quot * 3); // no leap year; [2100, 2200, 2300], [2500, ...
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if(y_400.rem == 0){break;}
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std::div_t y_100(std::div(y_400.rem, 100));
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res.extra_days += y_100.quot;
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if(y_100.rem == 0){ // when this_year is just 2100, 2200, 2300, or 2500, ...
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res.extra_days--;
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res.is_leap_year = false;
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}
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}while(false);
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return res;
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}
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int week;
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float_t seconds;
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GPS_Time() {}
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GPS_Time(const GPS_Time &t)
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: week(t.week), seconds(t.seconds) {}
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GPS_Time(const int &_week, const float_t &_seconds)
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: week(_week), seconds(_seconds) {}
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GPS_Time &canonicalize(){
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int quot(std::floor(seconds / seconds_week));
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week += quot;
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seconds -= (seconds_week * quot);
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return *this;
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}
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GPS_Time(const std::tm &t, const float_t &leap_seconds = 0) {
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int days(-6);
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int y(t.tm_year + 1900); // tm_year is year minus 1900
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bool leap_year;
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{
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leap_year_prop_res_t prop(leap_year_prop(y));
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days -= prop.extra_days;
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leap_year = prop.is_leap_year;
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}
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y -= 1980; // base is 1980/1/6
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days += y * 365 + ((y + 3) / 4);
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for(int i(0); i < t.tm_mon; i++){
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days += days_of_month[i];
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if((i == 1) && leap_year){days++;}
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}
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days += t.tm_mday;
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std::div_t week_day(std::div(days, 7));
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week = week_day.quot;
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seconds = leap_seconds + week_day.rem * seconds_day
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+ t.tm_hour * 60 * 60
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+ t.tm_min * 60
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+ t.tm_sec;
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canonicalize();
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}
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static GPS_Time now(const float_t &leap_seconds = 0) {
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time_t timer;
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std::tm t;
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time(&timer); // Current serial time, then convert the time to struct
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#if defined(_MSC_VER)
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gmtime_s(&t, &timer);
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#elif defined(__GNUC__)
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gmtime_r(&timer, &t);
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#else
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t = *gmtime(&timer);
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#endif
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return GPS_Time(t, leap_seconds);
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}
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float_t serialize() const {
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return seconds + (float_t)seconds_week * week;
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}
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GPS_Time &operator+=(const float_t &sec){
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seconds += sec;
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canonicalize();
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return *this;
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}
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GPS_Time &operator-=(const float_t &sec){
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return operator+=(-sec);
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}
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GPS_Time operator+(const float_t &sec) const {
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GPS_Time t(*this);
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return (t += sec);
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}
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GPS_Time operator-(const float_t &sec) const {
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return operator+(-sec);
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}
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/**
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* Get interval in unit of second
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*/
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float_t operator-(const GPS_Time &t) const {
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float_t res(seconds - t.seconds);
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res += ((float_t)week - t.week) * seconds_week;
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return res;
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}
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friend float_t operator+(float_t v, const GPS_Time &t){
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return v + (((float_t)t.week * seconds_week) + t.seconds);
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319
|
+
}
|
320
|
+
friend float_t operator-(float_t v, const GPS_Time &t){
|
321
|
+
return v - (((float_t)t.week * seconds_week) + t.seconds);
|
322
|
+
}
|
323
|
+
bool operator<(const GPS_Time &t) const {
|
324
|
+
return ((week < t.week) ? true : ((week > t.week) ? false : (seconds < t.seconds)));
|
325
|
+
}
|
326
|
+
bool operator>(const GPS_Time &t) const {
|
327
|
+
return t.operator<(*this);
|
328
|
+
}
|
329
|
+
bool operator==(const GPS_Time &t) const {
|
330
|
+
return (week == t.week) && (seconds == t.seconds);
|
331
|
+
}
|
332
|
+
bool operator!=(const GPS_Time &t) const {
|
333
|
+
return !(operator==(t));
|
334
|
+
}
|
335
|
+
bool operator<=(const GPS_Time &t) const {
|
336
|
+
return ((week < t.week) ? true : ((week > t.week) ? false : (seconds <= t.seconds)));
|
337
|
+
}
|
338
|
+
bool operator>=(const GPS_Time &t) const {
|
339
|
+
return t.operator<=(*this);
|
340
|
+
}
|
341
|
+
|
342
|
+
std::tm c_tm(const float_t &leap_seconds = 0) const {
|
343
|
+
std::tm t;
|
344
|
+
|
345
|
+
GPS_Time mod_t((*this) + leap_seconds);
|
346
|
+
|
347
|
+
std::div_t min_sec(std::div((int)mod_t.seconds, 60));
|
348
|
+
t.tm_sec = min_sec.rem;
|
349
|
+
std::div_t hr_min(std::div(min_sec.quot, 60));
|
350
|
+
t.tm_min = hr_min.rem;
|
351
|
+
std::div_t day_hr(std::div(hr_min.quot, 24));
|
352
|
+
t.tm_hour = day_hr.rem;
|
353
|
+
t.tm_wday = t.tm_mday = day_hr.quot;
|
354
|
+
|
355
|
+
t.tm_mday += 6 + (mod_t.week * 7);
|
356
|
+
std::div_t days_4year(std::div(t.tm_mday, 366 + 365 * 3)); // standard day of years
|
357
|
+
t.tm_mday = days_4year.rem;
|
358
|
+
int y(days_4year.quot * 4 + 1980);
|
359
|
+
bool leap_year;
|
360
|
+
{
|
361
|
+
leap_year_prop_res_t prop(leap_year_prop(y, true));
|
362
|
+
t.tm_mday += prop.extra_days;
|
363
|
+
leap_year = prop.is_leap_year;
|
364
|
+
}
|
365
|
+
|
366
|
+
// process remaining 4 years
|
367
|
+
int doy[] = {
|
368
|
+
leap_year ? 366 : 365,
|
369
|
+
365, 365, 365
|
370
|
+
};
|
371
|
+
for(unsigned i(0); i < sizeof(doy) / sizeof(doy[0]); ++i){
|
372
|
+
if(t.tm_mday <= doy[i]){break;}
|
373
|
+
t.tm_mday -= doy[i];
|
374
|
+
y++;
|
375
|
+
}
|
376
|
+
|
377
|
+
// process current year
|
378
|
+
leap_year = is_leap_year(y);
|
379
|
+
t.tm_yday = t.tm_mday;
|
380
|
+
t.tm_year = y - 1900; // tm_year is year minus 1900.
|
381
|
+
for(t.tm_mon = 0;
|
382
|
+
t.tm_mday > days_of_month[t.tm_mon];
|
383
|
+
(t.tm_mon)++){
|
384
|
+
if((t.tm_mon == 1) && leap_year){
|
385
|
+
if(t.tm_mday == 29){break;}
|
386
|
+
else{t.tm_mday--;}
|
387
|
+
}
|
388
|
+
t.tm_mday -= days_of_month[t.tm_mon];
|
389
|
+
}
|
390
|
+
t.tm_isdst = 0;
|
391
|
+
|
392
|
+
return t;
|
393
|
+
}
|
394
|
+
|
395
|
+
float_t year(const float_t &leap_seconds = 0) const {
|
396
|
+
float_t days((seconds + leap_seconds) / seconds_day + (week * 7) + (6 - 1)); // days from 1980/1/1, whose 00:00:00 is just 0
|
397
|
+
float_t year4;
|
398
|
+
days = std::modf(days / (366 + 365 * 3), &year4) * (366 + 365 * 3);
|
399
|
+
int year(1980 + (int)year4 * 4);
|
400
|
+
bool leap_year;
|
401
|
+
{
|
402
|
+
leap_year_prop_res_t prop(leap_year_prop(year, true));
|
403
|
+
days += prop.extra_days;
|
404
|
+
leap_year = prop.is_leap_year;
|
405
|
+
}
|
406
|
+
|
407
|
+
// process remaining 4 years
|
408
|
+
int doy_i(0), doy[] = {
|
409
|
+
leap_year ? 366 : 365,
|
410
|
+
365, 365, 365,
|
411
|
+
is_leap_year(year + 4) ? 366 : 365,
|
412
|
+
};
|
413
|
+
for(; doy_i < sizeof(doy) / sizeof(doy[0]); ++doy_i){
|
414
|
+
if(days <= doy[doy_i]){break;}
|
415
|
+
days -= doy[doy_i];
|
416
|
+
year++;
|
417
|
+
}
|
418
|
+
|
419
|
+
return days / doy[doy_i] + year;
|
420
|
+
}
|
421
|
+
|
422
|
+
/**
|
423
|
+
* When t >= self positive value will be returned,
|
424
|
+
* otherwise(t < self), negative.
|
425
|
+
*/
|
426
|
+
float_t interval(const unsigned int &t_week,
|
427
|
+
const float_t &t_seconds) const {
|
428
|
+
return t_seconds - seconds
|
429
|
+
+ ((float_t)t_week - week) * seconds_week;
|
430
|
+
}
|
431
|
+
float_t interval(const GPS_Time &t) const {
|
432
|
+
return interval(t.week, t.seconds);
|
433
|
+
}
|
434
|
+
|
435
|
+
friend std::ostream &operator<<(std::ostream &out, const GPS_Time &t){
|
436
|
+
out << t.week << " week " << t.seconds << " sec.";
|
437
|
+
return out;
|
438
|
+
}
|
439
|
+
|
440
|
+
struct leap_second_event_t {
|
441
|
+
int tm_year; // year - 1900
|
442
|
+
int tm_mon; // [0, 11]
|
443
|
+
int tm_mday; // [1, 31]
|
444
|
+
int leap_seconds;
|
445
|
+
struct {
|
446
|
+
int week;
|
447
|
+
float_t seconds;
|
448
|
+
} uncorrected; // to work around of "incomplete type" error within g++
|
449
|
+
leap_second_event_t(
|
450
|
+
const int &year, const int &month, const int &day,
|
451
|
+
const int &leap)
|
452
|
+
: tm_year(year - 1900), tm_mon(month - 1), tm_mday(day),
|
453
|
+
leap_seconds(leap) {
|
454
|
+
std::tm t = {0};
|
455
|
+
t.tm_year = tm_year;
|
456
|
+
t.tm_mon = tm_mon;
|
457
|
+
t.tm_mday = tm_mday;
|
458
|
+
GPS_Time t_gps(t);
|
459
|
+
uncorrected.week = t_gps.week;
|
460
|
+
uncorrected.seconds = t_gps.seconds;
|
461
|
+
}
|
462
|
+
};
|
463
|
+
static const leap_second_event_t leap_second_events[];
|
464
|
+
static int guess_leap_seconds(const std::tm &t) {
|
465
|
+
for(const leap_second_event_t *i(&leap_second_events[0]); i->leap_seconds > 0; ++i){
|
466
|
+
if(t.tm_year > i->tm_year){return i->leap_seconds;}
|
467
|
+
if(t.tm_year < i->tm_year){continue;}
|
468
|
+
if(t.tm_mon > i->tm_mon){return i->leap_seconds;}
|
469
|
+
if(t.tm_mon < i->tm_mon){continue;}
|
470
|
+
if(t.tm_mday >= i->tm_mday){return i->leap_seconds;}
|
471
|
+
}
|
472
|
+
return 0;
|
473
|
+
}
|
474
|
+
static int guess_leap_seconds(const GPS_Time<float_t> &uncorrected) {
|
475
|
+
for(const leap_second_event_t *i(&leap_second_events[0]); i->leap_seconds > 0; ++i){
|
476
|
+
if(uncorrected >= GPS_Time(i->uncorrected.week, i->uncorrected.seconds)){return i->leap_seconds;}
|
477
|
+
}
|
478
|
+
return 0;
|
479
|
+
}
|
480
|
+
};
|
481
|
+
|
482
|
+
template <class FloatT>
|
483
|
+
const int GPS_Time<FloatT>::days_of_month[] = {
|
484
|
+
31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31
|
485
|
+
};
|
486
|
+
|
487
|
+
template <class FloatT>
|
488
|
+
const typename GPS_Time<FloatT>::leap_second_event_t GPS_Time<FloatT>::leap_second_events[] = {
|
489
|
+
leap_second_event_t(2017, 1, 1, 18),
|
490
|
+
leap_second_event_t(2015, 7, 1, 17),
|
491
|
+
leap_second_event_t(2012, 7, 1, 16),
|
492
|
+
leap_second_event_t(2009, 1, 1, 15),
|
493
|
+
leap_second_event_t(2006, 1, 1, 14),
|
494
|
+
leap_second_event_t(1999, 1, 1, 13),
|
495
|
+
leap_second_event_t(1997, 7, 1, 12),
|
496
|
+
leap_second_event_t(1996, 1, 1, 11),
|
497
|
+
leap_second_event_t(1994, 7, 1, 10),
|
498
|
+
leap_second_event_t(1993, 7, 1, 9),
|
499
|
+
leap_second_event_t(1992, 7, 1, 8),
|
500
|
+
leap_second_event_t(1991, 1, 1, 7),
|
501
|
+
leap_second_event_t(1990, 1, 1, 6),
|
502
|
+
leap_second_event_t(1988, 1, 1, 5),
|
503
|
+
leap_second_event_t(1985, 7, 1, 4),
|
504
|
+
leap_second_event_t(1983, 7, 1, 3),
|
505
|
+
leap_second_event_t(1982, 7, 1, 2),
|
506
|
+
leap_second_event_t(1981, 7, 1, 1),
|
507
|
+
leap_second_event_t(1980, 1, 6, 0), // anchor
|
508
|
+
};
|
509
|
+
|
510
|
+
template <class FloatT = double>
|
511
|
+
class GPS_SpaceNode {
|
512
|
+
public:
|
513
|
+
typedef FloatT float_t;
|
514
|
+
static const float_t light_speed;
|
515
|
+
static const float_t L1_Frequency;
|
516
|
+
static const float_t &L1_WaveLength() {
|
517
|
+
static const float_t res(light_speed / L1_Frequency);
|
518
|
+
return res;
|
519
|
+
}
|
520
|
+
static const float_t SC2RAD;
|
521
|
+
|
522
|
+
static const float_t L2_Frequency;
|
523
|
+
static const float_t &L2_WaveLength() {
|
524
|
+
static const float_t res(light_speed / L2_Frequency);
|
525
|
+
return res;
|
526
|
+
}
|
527
|
+
static const float_t gamma_L1_L2;
|
528
|
+
|
529
|
+
protected:
|
530
|
+
static float_t rad2sc(const float_t &rad) {return rad / M_PI;}
|
531
|
+
static float_t sc2rad(const float_t &sc) {return sc * M_PI;}
|
532
|
+
|
533
|
+
public:
|
534
|
+
typedef GPS_SpaceNode<float_t> self_t;
|
535
|
+
typedef GPS_Time<float_t> gps_time_t;
|
536
|
+
typedef System_XYZ<float_t, WGS84> xyz_t;
|
537
|
+
typedef System_LLH<float_t, WGS84> llh_t;
|
538
|
+
typedef System_ENU<float_t, WGS84> enu_t;
|
539
|
+
|
540
|
+
typedef unsigned char u8_t;
|
541
|
+
typedef signed char s8_t;
|
542
|
+
typedef unsigned short u16_t;
|
543
|
+
typedef signed short s16_t;
|
544
|
+
typedef unsigned int u32_t;
|
545
|
+
typedef signed int s32_t;
|
546
|
+
|
547
|
+
typedef int int_t;
|
548
|
+
typedef unsigned int uint_t;
|
549
|
+
|
550
|
+
struct DataParser {
|
551
|
+
template <
|
552
|
+
class OutputT, class InputT,
|
553
|
+
int EffectiveBits_in_InputT = sizeof(InputT) * CHAR_BIT,
|
554
|
+
int PaddingBits_in_InputT_MSB = (int)sizeof(InputT) * CHAR_BIT - EffectiveBits_in_InputT,
|
555
|
+
bool output_is_smaller_than_input
|
556
|
+
= (EffectiveBits_in_InputT >= ((int)sizeof(OutputT) * CHAR_BIT))>
|
557
|
+
struct bits2num_t {
|
558
|
+
static OutputT run(const InputT *buf, const uint_t &index){
|
559
|
+
// ex.1) I_8 0 1 2 3 4 5 6 7 | 8 9 0 1 2 3 4 5
|
560
|
+
// O_8 0*1*2*3* *4*5*6*7
|
561
|
+
// ex.2) I_16 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 | 6 7 8 9 0 1 2 3
|
562
|
+
// O_8 0*1*2*3*4*5*6*7
|
563
|
+
// ex.3) I_16 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 | 6 7 8 9 0 1 2 3
|
564
|
+
// O_8 0*1*2*3* *4*5*6*7
|
565
|
+
static const int
|
566
|
+
output_bits(sizeof(OutputT) * CHAR_BIT),
|
567
|
+
input_bits(sizeof(InputT) * CHAR_BIT);
|
568
|
+
static const int padding_bits_MSB_abs(
|
569
|
+
PaddingBits_in_InputT_MSB * (PaddingBits_in_InputT_MSB >= 0 ? 1 : -1));
|
570
|
+
std::div_t aligned(std::div(index, EffectiveBits_in_InputT));
|
571
|
+
if(PaddingBits_in_InputT_MSB >= 0){
|
572
|
+
OutputT res(
|
573
|
+
(buf[aligned.quot] << (aligned.rem + padding_bits_MSB_abs))
|
574
|
+
>> (input_bits - output_bits));
|
575
|
+
if(aligned.rem > (EffectiveBits_in_InputT - output_bits)){
|
576
|
+
// in case of overrun; ex.1 and ex.3
|
577
|
+
res |= (OutputT)(
|
578
|
+
(buf[++aligned.quot] << padding_bits_MSB_abs)
|
579
|
+
// left shift to remove padding
|
580
|
+
>> (EffectiveBits_in_InputT
|
581
|
+
+ (input_bits - output_bits) - aligned.rem));
|
582
|
+
// right shift to fill remaining;
|
583
|
+
// shift = input - [require_bits = output - (effective - rem)]
|
584
|
+
}
|
585
|
+
return res;
|
586
|
+
}else{
|
587
|
+
// rare case: negative MSB padding
|
588
|
+
int left_shift(aligned.rem + PaddingBits_in_InputT_MSB);
|
589
|
+
OutputT res(
|
590
|
+
(buf[aligned.quot] << (left_shift >= 0 ? left_shift : 0))
|
591
|
+
>> (input_bits - output_bits + (left_shift >= 0 ? 0 : -left_shift)));
|
592
|
+
if(aligned.rem > (EffectiveBits_in_InputT - output_bits)){
|
593
|
+
res |= (OutputT)(
|
594
|
+
buf[++aligned.quot]
|
595
|
+
>> (EffectiveBits_in_InputT + padding_bits_MSB_abs
|
596
|
+
+ (input_bits - output_bits) - aligned.rem));
|
597
|
+
}
|
598
|
+
return res;
|
599
|
+
}
|
600
|
+
}
|
601
|
+
};
|
602
|
+
template <class OutputT, class InputT,
|
603
|
+
int EffectiveBits_in_InputT, int PaddingBits_in_InputT_MSB>
|
604
|
+
struct bits2num_t<OutputT, InputT,
|
605
|
+
EffectiveBits_in_InputT, PaddingBits_in_InputT_MSB, false> {
|
606
|
+
static OutputT run(const InputT *buf, const uint_t &index){
|
607
|
+
// When sizeof(OutputT) > sizeof(InputT)
|
608
|
+
// ex.4) I_8 0 1 2 3 4 5 6 7 | 8 9 0 1 2 3 4 5 | 6 7 8 9 0 1 2 3
|
609
|
+
// O_16 0*1*2*3* *4*5*6*7*8*9*0*1* *2*3*4*5
|
610
|
+
static const int
|
611
|
+
output_bits(sizeof(OutputT) * CHAR_BIT),
|
612
|
+
input_bits(sizeof(InputT) * CHAR_BIT);
|
613
|
+
static const int padding_bits_LSB(
|
614
|
+
input_bits - EffectiveBits_in_InputT - PaddingBits_in_InputT_MSB);
|
615
|
+
static const int padding_bits_LSB_abs(
|
616
|
+
padding_bits_LSB >= 0 ? padding_bits_LSB : -padding_bits_LSB);
|
617
|
+
static const int effective_mask_shift(
|
618
|
+
(PaddingBits_in_InputT_MSB <= 0) ? 0 : (PaddingBits_in_InputT_MSB - 1));
|
619
|
+
static const InputT effective_mask((PaddingBits_in_InputT_MSB <= 0)
|
620
|
+
? (~(InputT)0)
|
621
|
+
: (((((InputT)1) << (input_bits - 1)) - 1) >> effective_mask_shift));
|
622
|
+
static const int shift_after_mask(
|
623
|
+
(PaddingBits_in_InputT_MSB < 0) ? -PaddingBits_in_InputT_MSB : 0);
|
624
|
+
std::div_t aligned(std::div(index, EffectiveBits_in_InputT));
|
625
|
+
OutputT res(0);
|
626
|
+
for(int i(output_bits / EffectiveBits_in_InputT); i > 0; --i, ++aligned.quot){
|
627
|
+
res <<= EffectiveBits_in_InputT;
|
628
|
+
res |= ((padding_bits_LSB >= 0)
|
629
|
+
? (((buf[aligned.quot] & effective_mask) >> shift_after_mask) >> padding_bits_LSB_abs)
|
630
|
+
: (((buf[aligned.quot] & effective_mask) >> shift_after_mask) << padding_bits_LSB_abs));
|
631
|
+
}
|
632
|
+
int last_shift(aligned.rem + (output_bits % EffectiveBits_in_InputT));
|
633
|
+
if(last_shift > 0){
|
634
|
+
res <<= last_shift;
|
635
|
+
res |= (((buf[aligned.quot] & effective_mask) >> shift_after_mask)
|
636
|
+
>> (EffectiveBits_in_InputT + padding_bits_LSB - last_shift));
|
637
|
+
}
|
638
|
+
return res;
|
639
|
+
}
|
640
|
+
};
|
641
|
+
|
642
|
+
template <class OutputT, class InputT>
|
643
|
+
static OutputT bits2num(const InputT *buf, const uint_t &index){
|
644
|
+
return bits2num_t<OutputT, InputT>::run(buf, index);
|
645
|
+
}
|
646
|
+
template <class OutputT, class InputT>
|
647
|
+
static OutputT bits2num(const InputT *buf, const uint_t &index, const uint_t &length){
|
648
|
+
return (bits2num<OutputT, InputT>(buf, index) >> ((sizeof(OutputT) * CHAR_BIT) - length));
|
649
|
+
}
|
650
|
+
|
651
|
+
template <class OutputT,
|
652
|
+
int EffectiveBits_in_InputT, int PaddingBits_in_InputT_MSB,
|
653
|
+
class InputT>
|
654
|
+
static OutputT bits2num(const InputT *buf, const uint_t &index){
|
655
|
+
return bits2num_t<OutputT, InputT,
|
656
|
+
EffectiveBits_in_InputT, PaddingBits_in_InputT_MSB>::run(buf, index);
|
657
|
+
}
|
658
|
+
template <class OutputT,
|
659
|
+
int EffectiveBits_in_InputT, int PaddingBits_in_InputT_MSB,
|
660
|
+
class InputT>
|
661
|
+
static OutputT bits2num(const InputT *buf, const uint_t &index, const uint_t &length){
|
662
|
+
return (bits2num<OutputT,
|
663
|
+
EffectiveBits_in_InputT, PaddingBits_in_InputT_MSB,
|
664
|
+
InputT>(buf, index)
|
665
|
+
>> ((sizeof(OutputT) * CHAR_BIT) - length));
|
666
|
+
}
|
667
|
+
};
|
668
|
+
|
669
|
+
template <class InputT,
|
670
|
+
int EffectiveBits = sizeof(InputT) * CHAR_BIT,
|
671
|
+
int PaddingBits_MSB = (int)sizeof(InputT) * CHAR_BIT - EffectiveBits>
|
672
|
+
struct BroadcastedMessage : public DataParser {
|
673
|
+
#define convert_u(bits, offset_bits, length, name) \
|
674
|
+
static u ## bits ## _t name(const InputT *buf){ \
|
675
|
+
return \
|
676
|
+
DataParser::template bits2num<u ## bits ## _t, EffectiveBits, PaddingBits_MSB>( \
|
677
|
+
buf, offset_bits, length); \
|
678
|
+
}
|
679
|
+
#define convert_s(bits, offset_bits, length, name) \
|
680
|
+
static s ## bits ## _t name(const InputT *buf){ \
|
681
|
+
return ((s ## bits ## _t) \
|
682
|
+
DataParser::template bits2num<u ## bits ## _t, EffectiveBits, PaddingBits_MSB>( \
|
683
|
+
buf, offset_bits)) \
|
684
|
+
>> (bits - length); \
|
685
|
+
}
|
686
|
+
#define convert_u_2(bits, offset_bits1, length1, offset_bits2, length2, name) \
|
687
|
+
static u ## bits ## _t name(const InputT *buf){ \
|
688
|
+
return \
|
689
|
+
(DataParser::template bits2num<u ## bits ## _t, EffectiveBits, PaddingBits_MSB>( \
|
690
|
+
buf, offset_bits1, length1) << length2) \
|
691
|
+
| DataParser::template bits2num<u ## bits ## _t, EffectiveBits, PaddingBits_MSB>( \
|
692
|
+
buf, offset_bits2, length2); \
|
693
|
+
}
|
694
|
+
#define convert_s_2(bits, offset_bits1, length1, offset_bits2, length2, name) \
|
695
|
+
static s ## bits ## _t name(const InputT *buf){ \
|
696
|
+
return ((s ## bits ## _t) \
|
697
|
+
((DataParser::template bits2num<u ## bits ## _t, EffectiveBits, PaddingBits_MSB>( \
|
698
|
+
buf, offset_bits1, length1) << (bits - length1)) \
|
699
|
+
| (DataParser::template bits2num<u ## bits ## _t, EffectiveBits, PaddingBits_MSB>( \
|
700
|
+
buf, offset_bits2, length2) << (bits - length1 - length2)))) \
|
701
|
+
>> (bits - length1 - length2); \
|
702
|
+
}
|
703
|
+
convert_u( 8, 0, 8, preamble);
|
704
|
+
convert_u(32, 30, 24, how);
|
705
|
+
convert_u( 8, 49, 3, subframe_id);
|
706
|
+
|
707
|
+
struct SubFrame1 {
|
708
|
+
convert_u(16, 60, 10, WN);
|
709
|
+
convert_u( 8, 72, 4, URA);
|
710
|
+
convert_u( 8, 76, 6, SV_health);
|
711
|
+
convert_u_2(16, 82, 2, 210, 8, iodc);
|
712
|
+
convert_s( 8, 196, 8, t_GD);
|
713
|
+
convert_u(16, 218, 16, t_oc);
|
714
|
+
convert_s( 8, 240, 8, a_f2);
|
715
|
+
convert_s(16, 248, 16, a_f1);
|
716
|
+
convert_s(32, 270, 22, a_f0);
|
717
|
+
};
|
718
|
+
|
719
|
+
struct SubFrame2 {
|
720
|
+
convert_u( 8, 60, 8, iode);
|
721
|
+
convert_s(16, 68, 16, c_rs);
|
722
|
+
convert_s(16, 90, 16, delta_n);
|
723
|
+
convert_s_2(32, 106, 8, 120, 24, M0);
|
724
|
+
convert_s(16, 150, 16, c_uc);
|
725
|
+
convert_u_2(32, 166, 8, 180, 24, e);
|
726
|
+
convert_s(16, 210, 16, c_us);
|
727
|
+
convert_u_2(32, 226, 8, 240, 24, sqrt_A);
|
728
|
+
convert_u(16, 270, 16, t_oe);
|
729
|
+
convert_u( 8, 286, 1, fit);
|
730
|
+
};
|
731
|
+
|
732
|
+
struct SubFrame3 {
|
733
|
+
convert_s(16, 60, 16, c_ic);
|
734
|
+
convert_s_2(32, 76, 8, 90, 24, Omega0);
|
735
|
+
convert_s(16, 120, 16, c_is);
|
736
|
+
convert_s_2(32, 136, 8, 150, 24, i0);
|
737
|
+
convert_s(16, 180, 16, c_rc);
|
738
|
+
convert_s_2(32, 196, 8, 210, 24, omega);
|
739
|
+
convert_s(32, 240, 24, dot_Omega0);
|
740
|
+
convert_u( 8, 270, 8, iode);
|
741
|
+
convert_s(16, 278, 14, dot_i0);
|
742
|
+
};
|
743
|
+
|
744
|
+
convert_u( 8, 62, 6, sv_page_id);
|
745
|
+
|
746
|
+
struct SubFrame4_5_Alnamac {
|
747
|
+
convert_u(16, 68, 16, e);
|
748
|
+
convert_u( 8, 90, 8, t_oa);
|
749
|
+
convert_s(16, 98, 16, delta_i);
|
750
|
+
convert_s(16, 120, 16, dot_Omega0);
|
751
|
+
convert_u( 8, 128, 8, SV_health);
|
752
|
+
convert_u(32, 150, 24, sqrt_A);
|
753
|
+
convert_s(32, 180, 24, Omega0);
|
754
|
+
convert_s(32, 210, 24, omega);
|
755
|
+
convert_s(32, 240, 24, M0);
|
756
|
+
convert_s_2(16, 270, 8, 289, 3, a_f0);
|
757
|
+
convert_s(16, 278, 11, a_f1);
|
758
|
+
};
|
759
|
+
|
760
|
+
struct SubFrame4_Page18 {
|
761
|
+
convert_s( 8, 68, 8, alpha0);
|
762
|
+
convert_s( 8, 76, 8, alpha1);
|
763
|
+
convert_s( 8, 90, 8, alpha2);
|
764
|
+
convert_s( 8, 98, 8, alpha3);
|
765
|
+
convert_s( 8, 106, 8, beta0);
|
766
|
+
convert_s( 8, 120, 8, beta1);
|
767
|
+
convert_s( 8, 128, 8, beta2);
|
768
|
+
convert_s( 8, 136, 8, beta3);
|
769
|
+
convert_s(32, 150, 24, A1);
|
770
|
+
convert_s_2(32, 180, 24, 210, 8, A0);
|
771
|
+
convert_u( 8, 218, 8, t_ot);
|
772
|
+
convert_s( 8, 240, 8, delta_t_LS);
|
773
|
+
convert_u( 8, 226, 8, WN_t);
|
774
|
+
convert_u( 8, 248, 8, WN_LSF);
|
775
|
+
convert_u( 8, 256, 8, DN);
|
776
|
+
convert_s( 8, 270, 8, delta_t_LSF);
|
777
|
+
};
|
778
|
+
#undef convert_s_2
|
779
|
+
#undef convert_u_2
|
780
|
+
#undef convert_s
|
781
|
+
#undef convert_u
|
782
|
+
};
|
783
|
+
|
784
|
+
/**
|
785
|
+
* GPS Ionospheric correction and UTC parameters
|
786
|
+
*
|
787
|
+
*/
|
788
|
+
struct Ionospheric_UTC_Parameters {
|
789
|
+
float_t alpha[4]; ///< Ionospheric parameters[0-3] (s, s/sc, s/sc^2, s/sc^3)
|
790
|
+
float_t beta[4]; ///< Ionospheric parameters[0-3] (s, s/sc, s/sc^2, s/sc^3)
|
791
|
+
float_t A1; ///< UTC parameter (s/s)
|
792
|
+
float_t A0; ///< UTC parameter (s)
|
793
|
+
uint_t t_ot; ///< Epoch time (UTC) (s)
|
794
|
+
uint_t WN_t; ///< Epoch time (UTC) (weeks)
|
795
|
+
int_t delta_t_LS; ///< Current leap seconds (s)
|
796
|
+
uint_t WN_LSF; ///< Last leap second update week (weeks)
|
797
|
+
uint_t DN; ///< Last leap second update day (days)
|
798
|
+
int_t delta_t_LSF; ///< Updated leap seconds (s)
|
799
|
+
|
800
|
+
struct raw_t {
|
801
|
+
s8_t alpha0; ///< Ionospheric parameter (-30, s)
|
802
|
+
s8_t alpha1; ///< Ionospheric parameter (-27, s/sc)
|
803
|
+
s8_t alpha2; ///< Ionospheric parameter (-24, s/sc^2)
|
804
|
+
s8_t alpha3; ///< Ionospheric parameter (-24, s/sc^3)
|
805
|
+
s8_t beta0; ///< Ionospheric parameter (11, s)
|
806
|
+
s8_t beta1; ///< Ionospheric parameter (14, s/sc)
|
807
|
+
s8_t beta2; ///< Ionospheric parameter (16, s/sc^2)
|
808
|
+
s8_t beta3; ///< Ionospheric parameter (16, s/sc^3)
|
809
|
+
s32_t A1; ///< UTC parameter (-50, s/s)
|
810
|
+
s32_t A0; ///< UTC parameter (-30, s)
|
811
|
+
u8_t t_ot; ///< Epoch time (UTC) (12, s)
|
812
|
+
u8_t WN_t; ///< Epoch time (UTC) (weeks, truncated)
|
813
|
+
s8_t delta_t_LS; ///< Current leap seconds (s)
|
814
|
+
u8_t WN_LSF; ///< Last leap second update week (weeks, truncated)
|
815
|
+
u8_t DN; ///< Last leap second update day (days)
|
816
|
+
s8_t delta_t_LSF; ///< Updated leap seconds (s)
|
817
|
+
|
818
|
+
#define fetch_item(name) name = BroadcastedMessage< \
|
819
|
+
InputT, (int)sizeof(InputT) * CHAR_BIT - PaddingBits_MSB - PaddingBits_LSB, PaddingBits_MSB> \
|
820
|
+
:: SubFrame4_Page18 :: name (src)
|
821
|
+
template <int PaddingBits_MSB, int PaddingBits_LSB, class InputT>
|
822
|
+
void update(const InputT *src){
|
823
|
+
fetch_item(alpha0); fetch_item(alpha1); fetch_item(alpha2); fetch_item(alpha3);
|
824
|
+
fetch_item(beta0); fetch_item(beta1); fetch_item(beta2); fetch_item(beta3);
|
825
|
+
fetch_item(A1); fetch_item(A0);
|
826
|
+
fetch_item(WN_t); fetch_item(WN_LSF);
|
827
|
+
fetch_item(t_ot); fetch_item(delta_t_LS); fetch_item(delta_t_LSF);
|
828
|
+
fetch_item(DN);
|
829
|
+
}
|
830
|
+
#undef fetch_item
|
831
|
+
|
832
|
+
enum {
|
833
|
+
SF_alpha0,
|
834
|
+
SF_alpha1,
|
835
|
+
SF_alpha2,
|
836
|
+
SF_alpha3,
|
837
|
+
SF_beta0,
|
838
|
+
SF_beta1,
|
839
|
+
SF_beta2,
|
840
|
+
SF_beta3,
|
841
|
+
SF_A1,
|
842
|
+
SF_A0,
|
843
|
+
|
844
|
+
SF_NUM,
|
845
|
+
};
|
846
|
+
static const float_t sf[SF_NUM];
|
847
|
+
|
848
|
+
operator Ionospheric_UTC_Parameters() const {
|
849
|
+
Ionospheric_UTC_Parameters converted;
|
850
|
+
#define CONVERT(TARGET) \
|
851
|
+
{converted.TARGET = sf[SF_ ## TARGET] * TARGET;}
|
852
|
+
#define CONVERT2(dst, src) \
|
853
|
+
{converted.dst = sf[SF_ ## src] * src;}
|
854
|
+
CONVERT2(alpha[0], alpha0);
|
855
|
+
CONVERT2(alpha[1], alpha1);
|
856
|
+
CONVERT2(alpha[2], alpha2);
|
857
|
+
CONVERT2(alpha[3], alpha3);
|
858
|
+
CONVERT2(beta[0], beta0);
|
859
|
+
CONVERT2(beta[1], beta1);
|
860
|
+
CONVERT2(beta[2], beta2);
|
861
|
+
CONVERT2(beta[3], beta3);
|
862
|
+
CONVERT(A1);
|
863
|
+
CONVERT(A0);
|
864
|
+
converted.t_ot = ((uint_t)t_ot) << 12;
|
865
|
+
converted.WN_t = WN_t;
|
866
|
+
converted.delta_t_LS = delta_t_LS;
|
867
|
+
converted.WN_LSF = WN_LSF;
|
868
|
+
converted.DN = DN;
|
869
|
+
converted.delta_t_LSF = delta_t_LSF;
|
870
|
+
#undef CONVERT
|
871
|
+
#undef CONVERT2
|
872
|
+
return converted;
|
873
|
+
};
|
874
|
+
};
|
875
|
+
};
|
876
|
+
public:
|
877
|
+
|
878
|
+
class SatelliteProperties {
|
879
|
+
public:
|
880
|
+
struct constellation_t {
|
881
|
+
xyz_t position;
|
882
|
+
xyz_t velocity;
|
883
|
+
};
|
884
|
+
|
885
|
+
/**
|
886
|
+
* GPS ephemeris
|
887
|
+
* (Subframe 1,2,3)
|
888
|
+
*
|
889
|
+
*/
|
890
|
+
struct Ephemeris {
|
891
|
+
uint_t svid; ///< Satellite number
|
892
|
+
|
893
|
+
// Subframe.1
|
894
|
+
uint_t WN; ///< Week number
|
895
|
+
int_t URA; ///< User range accuracy (index)
|
896
|
+
uint_t SV_health; ///< Health status
|
897
|
+
int_t iodc; ///< Issue of clock data
|
898
|
+
float_t t_GD; ///< Group delay (s)
|
899
|
+
float_t t_oc; ///< Clock data reference time
|
900
|
+
float_t a_f2; ///< Clock correction parameter (s/s^2)
|
901
|
+
float_t a_f1; ///< Clock correction parameter (s/s)
|
902
|
+
float_t a_f0; ///< Clock correction parameter (s)
|
903
|
+
|
904
|
+
// Subframe.2
|
905
|
+
int_t iode; ///< Issue of ephemeris data
|
906
|
+
float_t c_rs; ///< Sine correction, orbit (m)
|
907
|
+
float_t delta_n; ///< Mean motion difference (rad/s)
|
908
|
+
float_t M0; ///< Mean anomaly (rad)
|
909
|
+
float_t c_uc; ///< Cosine correction, latitude (rad)
|
910
|
+
float_t e; ///< Eccentricity
|
911
|
+
float_t c_us; ///< Sine correction, latitude (rad)
|
912
|
+
float_t sqrt_A; ///< Square root of semi-major axis (sqrt(m))
|
913
|
+
float_t t_oe; ///< Reference time ephemeris (s)
|
914
|
+
float_t fit_interval; ///< Fit interval; if negative, it indicates invalid ephemeris.
|
915
|
+
|
916
|
+
// Subframe.3
|
917
|
+
float_t c_ic; ///< Cosine correction, inclination (rad)
|
918
|
+
float_t Omega0; ///< Longitude of ascending node (rad)
|
919
|
+
float_t c_is; ///< Sine correction, inclination (rad)
|
920
|
+
float_t i0; ///< Inclination angle (rad)
|
921
|
+
float_t c_rc; ///< Cosine correction, orbit (m)
|
922
|
+
float_t omega; ///< Argument of perigee (rad)
|
923
|
+
float_t dot_Omega0; ///< Rate of right ascension (rad/s)
|
924
|
+
float_t dot_i0; ///< Rate of inclination angle (rad/s)
|
925
|
+
|
926
|
+
inline float_t period_from_time_of_clock(const gps_time_t &t) const {
|
927
|
+
return -t.interval(WN, t_oc);
|
928
|
+
}
|
929
|
+
|
930
|
+
inline float_t period_from_time_of_ephemeris(const gps_time_t &t) const {
|
931
|
+
return -t.interval(WN, t_oe);
|
932
|
+
}
|
933
|
+
|
934
|
+
/**
|
935
|
+
* @return (float_t) if valid ephemeris, the return value is always positive,
|
936
|
+
* because (t - t_oc), and (t - t_oe) in equations are normally negative.
|
937
|
+
* @see 20.3.4.5, Table 20-XIII
|
938
|
+
*/
|
939
|
+
inline float_t period_from_first_valid_transmission(const gps_time_t &t) const {
|
940
|
+
return period_from_time_of_clock(t) + (fit_interval / 2);
|
941
|
+
}
|
942
|
+
|
943
|
+
/**
|
944
|
+
* Return true when valid
|
945
|
+
*
|
946
|
+
* @param t GPS time
|
947
|
+
*/
|
948
|
+
bool is_valid(const gps_time_t &t) const {
|
949
|
+
return std::abs(period_from_time_of_clock(t)) <= (fit_interval / 2);
|
950
|
+
}
|
951
|
+
|
952
|
+
/**
|
953
|
+
* Return true when newer ephemeris may be available
|
954
|
+
*
|
955
|
+
* @param t GPS time
|
956
|
+
*/
|
957
|
+
bool maybe_better_one_avilable(const gps_time_t &t) const {
|
958
|
+
float_t delta_t(period_from_first_valid_transmission(t));
|
959
|
+
float_t transmission_interval( // @see IDC 20.3.4.5 Reference Times, Table 20-XIII
|
960
|
+
(fit_interval > (4 * 60 * 60))
|
961
|
+
? fit_interval / 2 // fit_interval is more than 4 hour, fit_interval / 2
|
962
|
+
: (1 * 60 * 60)); // fit_interval equals to 4 hour, some SVs transmits every one hour.
|
963
|
+
return !((delta_t >= 0) && (delta_t < transmission_interval));
|
964
|
+
}
|
965
|
+
|
966
|
+
static const float_t URA_limits[];
|
967
|
+
static const int URA_MAX_INDEX;
|
968
|
+
|
969
|
+
static float_t URA_meter(const int_t &index){
|
970
|
+
if(index < 0){return -1;}
|
971
|
+
return (index < URA_MAX_INDEX)
|
972
|
+
? URA_limits[index]
|
973
|
+
: URA_limits[URA_MAX_INDEX - 1] * 2;
|
974
|
+
}
|
975
|
+
|
976
|
+
static int_t URA_index(const float_t &meter){
|
977
|
+
if(meter < 0){return -1;}
|
978
|
+
for(int i(0); i < URA_MAX_INDEX; ++i){
|
979
|
+
if(meter <= URA_limits[i]){return i;}
|
980
|
+
}
|
981
|
+
return URA_MAX_INDEX;
|
982
|
+
}
|
983
|
+
|
984
|
+
float_t eccentric_anomaly(const float_t &period_from_toe) const {
|
985
|
+
|
986
|
+
// Kepler's Equation for Eccentric Anomaly M(Mk)
|
987
|
+
float_t n0(std::sqrt(WGS84::mu_Earth) / pow3(sqrt_A));
|
988
|
+
float_t Mk(M0
|
989
|
+
+ (n0 + delta_n) * period_from_toe);
|
990
|
+
|
991
|
+
// Eccentric Anomaly E(Ek)
|
992
|
+
float_t Ek(Mk);
|
993
|
+
#ifndef KEPLER_DELTA_LIMIT
|
994
|
+
#define KEPLER_DELTA_LIMIT 1E-12
|
995
|
+
#endif
|
996
|
+
for(int loop(0); loop < 10; loop++){
|
997
|
+
float_t Ek2(Mk + e * sin(Ek));
|
998
|
+
if(std::abs(Ek2 - Ek) < KEPLER_DELTA_LIMIT){break;}
|
999
|
+
Ek = Ek2;
|
1000
|
+
}
|
1001
|
+
|
1002
|
+
return Ek;
|
1003
|
+
}
|
1004
|
+
|
1005
|
+
float_t eccentric_anomaly(const gps_time_t &t) const {
|
1006
|
+
return eccentric_anomaly(period_from_time_of_ephemeris(t));
|
1007
|
+
}
|
1008
|
+
|
1009
|
+
float_t eccentric_anomaly_dot(const float_t &eccentric_anomaly) const {
|
1010
|
+
float_t n((std::sqrt(WGS84::mu_Earth) / pow3(sqrt_A)) + delta_n);
|
1011
|
+
return n / (1.0 - e * cos(eccentric_anomaly));
|
1012
|
+
}
|
1013
|
+
|
1014
|
+
/**
|
1015
|
+
* Calculate correction value in accordance with clock error model
|
1016
|
+
*
|
1017
|
+
* @param t current time
|
1018
|
+
* @param pseudo_range pseudo range in meters
|
1019
|
+
* @param gamma factor for compensation of group delay
|
1020
|
+
* L1 = 1, L2 = (77/60)^2, see ICD 20.3.3.3.3.2 L1 - L2 Correction
|
1021
|
+
* @return in seconds
|
1022
|
+
*/
|
1023
|
+
float_t clock_error(const gps_time_t &t, const float_t &pseudo_range = 0,
|
1024
|
+
const float_t &gamma = 1) const{
|
1025
|
+
|
1026
|
+
float_t transit_time(pseudo_range / light_speed);
|
1027
|
+
float_t tk(period_from_time_of_clock(t) - transit_time);
|
1028
|
+
float_t Ek(eccentric_anomaly(tk));
|
1029
|
+
|
1030
|
+
// Relativistic correction term
|
1031
|
+
static const float_t F(-2.0 * std::sqrt(WGS84::mu_Earth) / pow2(light_speed));
|
1032
|
+
float_t dt_r(F * e * sqrt_A * sin(Ek));
|
1033
|
+
|
1034
|
+
float_t dt_sv(a_f0 + a_f1 * tk + a_f2 * pow2(tk) + dt_r); // ICD 20.3.3.3.1 Eq.(2)
|
1035
|
+
|
1036
|
+
return dt_sv - (gamma * t_GD);
|
1037
|
+
}
|
1038
|
+
|
1039
|
+
float_t clock_error_dot(const gps_time_t &t, const float_t &pseudo_range = 0) const {
|
1040
|
+
|
1041
|
+
float_t transit_time(pseudo_range / light_speed);
|
1042
|
+
float_t tk(period_from_time_of_clock(t) - transit_time);
|
1043
|
+
float_t Ek(eccentric_anomaly(tk));
|
1044
|
+
float_t Ek_dot(eccentric_anomaly_dot(Ek));
|
1045
|
+
|
1046
|
+
// Derivative of Relativistic correction term
|
1047
|
+
static const float_t F(-2.0 * std::sqrt(WGS84::mu_Earth) / pow2(light_speed));
|
1048
|
+
float_t dt_r_dot(F * e * sqrt_A * Ek_dot * cos(Ek));
|
1049
|
+
|
1050
|
+
float_t dt_sv_dot(a_f1 + a_f2 * 2 * tk + dt_r_dot);
|
1051
|
+
|
1052
|
+
return dt_sv_dot;
|
1053
|
+
}
|
1054
|
+
|
1055
|
+
constellation_t constellation(
|
1056
|
+
const gps_time_t &t, const float_t &pseudo_range = 0,
|
1057
|
+
const bool &with_velocity = true) const {
|
1058
|
+
|
1059
|
+
constellation_t res;
|
1060
|
+
|
1061
|
+
// Time from ephemeris reference epoch (tk)
|
1062
|
+
float_t tk0(period_from_time_of_ephemeris(t));
|
1063
|
+
|
1064
|
+
// Remove transit time
|
1065
|
+
float_t tk(tk0 - pseudo_range / light_speed);
|
1066
|
+
|
1067
|
+
// Eccentric Anomaly (Ek)
|
1068
|
+
float_t Ek(eccentric_anomaly(tk));
|
1069
|
+
|
1070
|
+
// Corrected Radius (rk)
|
1071
|
+
float_t rk(pow2(sqrt_A)
|
1072
|
+
* (1.0 - e * cos(Ek)));
|
1073
|
+
|
1074
|
+
// True Anomaly (vk)
|
1075
|
+
float_t vk(atan2(
|
1076
|
+
sqrt(1.0 - pow2(e)) * sin(Ek),
|
1077
|
+
cos(Ek) - e));
|
1078
|
+
|
1079
|
+
// (Corrected) Argument of Latitude (pk) [rad]
|
1080
|
+
float_t pk(vk + omega);
|
1081
|
+
|
1082
|
+
// (Corrected) Inclination (ik)
|
1083
|
+
float_t ik(i0);
|
1084
|
+
|
1085
|
+
{ // Correction
|
1086
|
+
float_t pk2_sin(sin(pk * 2)),
|
1087
|
+
pk2_cos(cos(pk * 2));
|
1088
|
+
float_t d_uk(
|
1089
|
+
c_us * pk2_sin
|
1090
|
+
+ c_uc * pk2_cos);
|
1091
|
+
float_t d_rk(
|
1092
|
+
c_rs * pk2_sin
|
1093
|
+
+ c_rc * pk2_cos);
|
1094
|
+
float_t d_ik(
|
1095
|
+
c_is * pk2_sin
|
1096
|
+
+ c_ic * pk2_cos);
|
1097
|
+
|
1098
|
+
pk += d_uk;
|
1099
|
+
rk += d_rk;
|
1100
|
+
ik += d_ik
|
1101
|
+
+ dot_i0 * tk;
|
1102
|
+
}
|
1103
|
+
|
1104
|
+
// Position in orbital plane (xk, yk)
|
1105
|
+
float_t xk(rk * cos(pk)),
|
1106
|
+
yk(rk * sin(pk));
|
1107
|
+
|
1108
|
+
// Corrected longitude of ascending node (Omegak) [rad]
|
1109
|
+
float_t Omegak(Omega0);
|
1110
|
+
if(false){ // __MISUNDERSTANDING_ABOUT_OMEGA0_CORRECTION__
|
1111
|
+
Omegak += (
|
1112
|
+
(dot_Omega0 - WGS84::Omega_Earth_IAU) * tk0
|
1113
|
+
- WGS84::Omega_Earth_IAU * t_oe);
|
1114
|
+
}else{
|
1115
|
+
Omegak += (
|
1116
|
+
dot_Omega0 * tk // corrected with the time when the wave is transmitted
|
1117
|
+
- WGS84::Omega_Earth_IAU * (t_oe + tk0)); // corrected with the time when the wave is received
|
1118
|
+
}
|
1119
|
+
|
1120
|
+
float_t Omegak_sin(sin(Omegak)),
|
1121
|
+
Omegak_cos(cos(Omegak));
|
1122
|
+
float_t ik_sin(sin(ik)),
|
1123
|
+
ik_cos(cos(ik));
|
1124
|
+
|
1125
|
+
res.position.x() = xk * Omegak_cos - yk * Omegak_sin * ik_cos;
|
1126
|
+
res.position.y() = xk * Omegak_sin + yk * Omegak_cos * ik_cos;
|
1127
|
+
res.position.z() = yk * ik_sin;
|
1128
|
+
|
1129
|
+
// Velocity calculation => GPS solution vol.8 (3) http://www.ngs.noaa.gov/gps-toolbox/bc_velo.htm
|
1130
|
+
if(with_velocity){
|
1131
|
+
float_t Ek_dot(eccentric_anomaly_dot(Ek));
|
1132
|
+
float_t vk_dot(sin(Ek) * Ek_dot * (1.0 + e * cos(vk))
|
1133
|
+
/ (sin(vk) * (1.0 - e * cos(Ek))));
|
1134
|
+
|
1135
|
+
float_t pk2_sin(sin(pk * 2)), pk2_cos(cos(pk * 2));
|
1136
|
+
float_t pk_dot(((c_us * pk2_cos - c_uc * pk2_sin) * 2 + 1.0) * vk_dot);
|
1137
|
+
float_t rk_dot(pow2(sqrt_A) * e * sin(Ek) * Ek_dot
|
1138
|
+
+ (c_rs * pk2_cos - c_rc * pk2_sin) * 2 * vk_dot);
|
1139
|
+
float_t ik_dot(dot_i0 + (c_is * pk2_cos - c_ic * pk2_sin) * 2 * vk_dot);
|
1140
|
+
|
1141
|
+
// Velocity in orbital plane (xk_dot, yk_dot)
|
1142
|
+
float_t xk_dot(rk_dot * cos(pk) - yk * pk_dot),
|
1143
|
+
yk_dot(rk_dot * sin(pk) + xk * pk_dot);
|
1144
|
+
|
1145
|
+
float_t Omegak_dot(dot_Omega0 - WGS84::Omega_Earth_IAU);
|
1146
|
+
|
1147
|
+
res.velocity.x() = (xk_dot - yk * ik_cos * Omegak_dot) * Omegak_cos
|
1148
|
+
- (xk * Omegak_dot + yk_dot * ik_cos - yk * ik_sin * ik_dot) * Omegak_sin;
|
1149
|
+
res.velocity.y() = (xk_dot - yk * ik_cos * Omegak_dot) * Omegak_sin
|
1150
|
+
+ (xk * Omegak_dot + yk_dot * ik_cos - yk * ik_sin * ik_dot) * Omegak_cos;
|
1151
|
+
res.velocity.z() = yk_dot * ik_sin + yk * ik_cos * ik_dot;
|
1152
|
+
}
|
1153
|
+
|
1154
|
+
return res;
|
1155
|
+
}
|
1156
|
+
|
1157
|
+
struct raw_t {
|
1158
|
+
u8_t svid; ///< Satellite number
|
1159
|
+
|
1160
|
+
u16_t WN; ///< Week number
|
1161
|
+
u8_t URA; ///< User range accuracy
|
1162
|
+
u8_t SV_health; ///< Health status
|
1163
|
+
u16_t iodc; ///< Issue of clock data
|
1164
|
+
s8_t t_GD; ///< Group delay (-31, s)
|
1165
|
+
u16_t t_oc; ///< Clock data reference time
|
1166
|
+
s8_t a_f2; ///< Clock correction parameter (-55, s/s^2)
|
1167
|
+
s16_t a_f1; ///< Clock correction parameter (-43, s/s)
|
1168
|
+
s32_t a_f0; ///< Clock correction parameter (-31, s)
|
1169
|
+
|
1170
|
+
u8_t iode; ///< Issue of eph. data
|
1171
|
+
s16_t c_rs; ///< Sin. correction, orbit ( -5, m)
|
1172
|
+
s16_t delta_n; ///< Mean motion difference (-43, sc/s)
|
1173
|
+
s32_t M0; ///< Mean anomaly (-31, sc)
|
1174
|
+
s16_t c_uc; ///< Cos. correction, lat. (-29, rad)
|
1175
|
+
u32_t e; ///< Eccentricity (-33)
|
1176
|
+
s16_t c_us; ///< Sin. correction, lat. (-29, rad)
|
1177
|
+
u32_t sqrt_A; ///< Root semi-Major Axis (-19, sqrt(m))
|
1178
|
+
u16_t t_oe; ///< Reference time eph. ( 4, s)
|
1179
|
+
bool fit_interval_flag; ///< Fit interval flag (ICD:20.3.4.4)
|
1180
|
+
|
1181
|
+
s16_t c_ic; ///< Cos. correction, incl. (-29, rad)
|
1182
|
+
s32_t Omega0; ///< Ascending node long. (-31, sc)
|
1183
|
+
s16_t c_is; ///< Sin. correction, incl. (-29, rad)
|
1184
|
+
s32_t i0; ///< Inclination angle (-31, sc)
|
1185
|
+
s16_t c_rc; ///< Cos. correction, orbit ( -5, m)
|
1186
|
+
s32_t omega; ///< Argument of perigee (-31, sc)
|
1187
|
+
s32_t dot_Omega0; ///< Right ascension rate (-43, sc/s)
|
1188
|
+
s16_t dot_i0; ///< Inclination angle rate (-43, sc/s)
|
1189
|
+
|
1190
|
+
#define fetch_item(num, name) name = BroadcastedMessage< \
|
1191
|
+
InputT, (int)sizeof(InputT) * CHAR_BIT - PaddingBits_MSB - PaddingBits_LSB, PaddingBits_MSB> \
|
1192
|
+
:: SubFrame ## num :: name (src)
|
1193
|
+
template <int PaddingBits_MSB, int PaddingBits_LSB, class InputT>
|
1194
|
+
u16_t update_subframe1(const InputT *src){
|
1195
|
+
fetch_item(1, WN);
|
1196
|
+
fetch_item(1, URA);
|
1197
|
+
fetch_item(1, SV_health);
|
1198
|
+
fetch_item(1, iodc);
|
1199
|
+
fetch_item(1, t_GD);
|
1200
|
+
fetch_item(1, t_oc);
|
1201
|
+
fetch_item(1, a_f2);
|
1202
|
+
fetch_item(1, a_f1);
|
1203
|
+
fetch_item(1, a_f0);
|
1204
|
+
return iodc;
|
1205
|
+
}
|
1206
|
+
template <int PaddingBits_MSB, int PaddingBits_LSB, class InputT>
|
1207
|
+
u8_t update_subframe2(const InputT *src){
|
1208
|
+
fetch_item(2, iode);
|
1209
|
+
fetch_item(2, c_rs);
|
1210
|
+
fetch_item(2, delta_n);
|
1211
|
+
fetch_item(2, M0);
|
1212
|
+
fetch_item(2, c_uc);
|
1213
|
+
fetch_item(2, e);
|
1214
|
+
fetch_item(2, c_us);
|
1215
|
+
fetch_item(2, sqrt_A);
|
1216
|
+
fetch_item(2, t_oe);
|
1217
|
+
u8_t fetch_item(2, fit); fit_interval_flag = (fit == 1);
|
1218
|
+
return iode;
|
1219
|
+
}
|
1220
|
+
template <int PaddingBits_MSB, int PaddingBits_LSB, class InputT>
|
1221
|
+
u8_t update_subframe3(const InputT *src){
|
1222
|
+
fetch_item(3, c_ic);
|
1223
|
+
fetch_item(3, Omega0);
|
1224
|
+
fetch_item(3, c_is);
|
1225
|
+
fetch_item(3, i0);
|
1226
|
+
fetch_item(3, c_rc);
|
1227
|
+
fetch_item(3, omega);
|
1228
|
+
fetch_item(3, dot_Omega0);
|
1229
|
+
fetch_item(3, dot_i0);
|
1230
|
+
fetch_item(3, iode);
|
1231
|
+
return iode;
|
1232
|
+
}
|
1233
|
+
#undef fetch_item
|
1234
|
+
|
1235
|
+
static float_t fit_interval(const bool &_flag, const u16_t &_iodc){
|
1236
|
+
// Fit interval (ICD:20.3.4.4)
|
1237
|
+
if(_flag == false){
|
1238
|
+
// normal operation
|
1239
|
+
return 4 * 60 * 60;
|
1240
|
+
}else{
|
1241
|
+
// short/long-term extended operation (Table 20-XI, XII)
|
1242
|
+
if(_iodc >= 240 && _iodc <= 247){
|
1243
|
+
return 8 * 60 * 60;
|
1244
|
+
}else if((_iodc >= 248 && _iodc <= 255) || (_iodc == 496)){
|
1245
|
+
return 14 * 60 * 60;
|
1246
|
+
}else if(_iodc >= 497 && _iodc <= 503){
|
1247
|
+
return 26 * 60 * 60;
|
1248
|
+
}else if(_iodc >= 504 && _iodc <= 510){
|
1249
|
+
return 50 * 60 * 60;
|
1250
|
+
}else if((_iodc == 511) || (_iodc >= 752 && _iodc <= 756)){
|
1251
|
+
return 74 * 60 * 60;
|
1252
|
+
}else if(_iodc >= 757 && _iodc <= 763){
|
1253
|
+
return 98 * 60 * 60;
|
1254
|
+
}else if((_iodc >= 764 && _iodc <= 767) || (_iodc >= 1008 && _iodc <= 1010)){
|
1255
|
+
return 122 * 60 * 60;
|
1256
|
+
}else if(_iodc >= 1011 && _iodc <= 1020){
|
1257
|
+
return 146 * 60 * 60;
|
1258
|
+
}else{
|
1259
|
+
return 6 * 60 * 60;
|
1260
|
+
}
|
1261
|
+
}
|
1262
|
+
}
|
1263
|
+
|
1264
|
+
enum {
|
1265
|
+
SF_t_GD,
|
1266
|
+
SF_t_oc,
|
1267
|
+
SF_a_f0,
|
1268
|
+
SF_a_f1,
|
1269
|
+
SF_a_f2,
|
1270
|
+
|
1271
|
+
SF_c_rs,
|
1272
|
+
SF_delta_n,
|
1273
|
+
SF_M0,
|
1274
|
+
SF_c_uc,
|
1275
|
+
SF_e,
|
1276
|
+
SF_c_us,
|
1277
|
+
SF_sqrt_A,
|
1278
|
+
SF_t_oe,
|
1279
|
+
|
1280
|
+
SF_c_ic,
|
1281
|
+
SF_Omega0,
|
1282
|
+
SF_c_is,
|
1283
|
+
SF_i0,
|
1284
|
+
SF_c_rc,
|
1285
|
+
SF_omega,
|
1286
|
+
SF_dot_Omega0,
|
1287
|
+
SF_dot_i0,
|
1288
|
+
|
1289
|
+
SF_NUM,
|
1290
|
+
};
|
1291
|
+
static const float_t sf[SF_NUM];
|
1292
|
+
|
1293
|
+
operator Ephemeris() const {
|
1294
|
+
Ephemeris converted;
|
1295
|
+
#define CONVERT(TARGET) \
|
1296
|
+
{converted.TARGET = sf[SF_ ## TARGET] * TARGET;}
|
1297
|
+
converted.svid = svid;
|
1298
|
+
|
1299
|
+
converted.WN = WN;
|
1300
|
+
converted.URA = URA;
|
1301
|
+
converted.SV_health = SV_health;
|
1302
|
+
converted.iodc = iodc;
|
1303
|
+
CONVERT(t_GD);
|
1304
|
+
CONVERT(t_oc);
|
1305
|
+
CONVERT(a_f0);
|
1306
|
+
CONVERT(a_f1);
|
1307
|
+
CONVERT(a_f2);
|
1308
|
+
|
1309
|
+
converted.iode = iode;
|
1310
|
+
CONVERT(c_rs);
|
1311
|
+
CONVERT(delta_n);
|
1312
|
+
CONVERT(M0);
|
1313
|
+
CONVERT(c_uc);
|
1314
|
+
CONVERT(e);
|
1315
|
+
CONVERT(c_us);
|
1316
|
+
CONVERT(sqrt_A);
|
1317
|
+
CONVERT(t_oe);
|
1318
|
+
|
1319
|
+
CONVERT(c_ic);
|
1320
|
+
CONVERT(Omega0);
|
1321
|
+
CONVERT(c_is);
|
1322
|
+
CONVERT(i0);
|
1323
|
+
CONVERT(c_rc);
|
1324
|
+
CONVERT(omega);
|
1325
|
+
CONVERT(dot_Omega0);
|
1326
|
+
CONVERT(dot_i0);
|
1327
|
+
#undef CONVERT
|
1328
|
+
converted.fit_interval = fit_interval(fit_interval_flag, iodc);
|
1329
|
+
|
1330
|
+
return converted;
|
1331
|
+
}
|
1332
|
+
|
1333
|
+
raw_t &operator=(const Ephemeris &eph){
|
1334
|
+
#define CONVERT(TARGET) \
|
1335
|
+
{TARGET = (s32_t)((eph.TARGET + 0.5 * sf[SF_ ## TARGET]) / sf[SF_ ## TARGET]);}
|
1336
|
+
svid = eph.svid;
|
1337
|
+
|
1338
|
+
WN = eph.WN;
|
1339
|
+
URA = eph.URA;
|
1340
|
+
SV_health = eph.SV_health;
|
1341
|
+
iodc = eph.iodc;
|
1342
|
+
CONVERT(t_GD);
|
1343
|
+
CONVERT(t_oc);
|
1344
|
+
CONVERT(a_f0);
|
1345
|
+
CONVERT(a_f1);
|
1346
|
+
CONVERT(a_f2);
|
1347
|
+
|
1348
|
+
iode = eph.iode;
|
1349
|
+
CONVERT(c_rs);
|
1350
|
+
CONVERT(delta_n);
|
1351
|
+
CONVERT(M0);
|
1352
|
+
CONVERT(c_uc);
|
1353
|
+
CONVERT(e);
|
1354
|
+
CONVERT(c_us);
|
1355
|
+
CONVERT(sqrt_A);
|
1356
|
+
CONVERT(t_oe);
|
1357
|
+
|
1358
|
+
CONVERT(c_ic);
|
1359
|
+
CONVERT(Omega0);
|
1360
|
+
CONVERT(c_is);
|
1361
|
+
CONVERT(i0);
|
1362
|
+
CONVERT(c_rc);
|
1363
|
+
CONVERT(omega);
|
1364
|
+
CONVERT(dot_Omega0);
|
1365
|
+
CONVERT(dot_i0);
|
1366
|
+
#undef CONVERT
|
1367
|
+
fit_interval_flag = (eph.fit_interval > 5 * 60 * 60);
|
1368
|
+
|
1369
|
+
return *this;
|
1370
|
+
}
|
1371
|
+
};
|
1372
|
+
|
1373
|
+
bool is_equivalent(const Ephemeris &eph) const {
|
1374
|
+
do{
|
1375
|
+
if(WN != eph.WN){break;}
|
1376
|
+
if(URA != eph.URA){break;}
|
1377
|
+
if(SV_health != eph.SV_health){break;}
|
1378
|
+
|
1379
|
+
#define CHECK(TARGET) \
|
1380
|
+
if(std::abs(TARGET - eph.TARGET) > raw_t::sf[raw_t::SF_ ## TARGET]){break;}
|
1381
|
+
CHECK(t_GD);
|
1382
|
+
CHECK(t_oc);
|
1383
|
+
CHECK(a_f2);
|
1384
|
+
CHECK(a_f1);
|
1385
|
+
CHECK(a_f0);
|
1386
|
+
|
1387
|
+
CHECK(c_rs);
|
1388
|
+
CHECK(delta_n);
|
1389
|
+
CHECK(M0);
|
1390
|
+
CHECK(c_uc);
|
1391
|
+
CHECK(e);
|
1392
|
+
CHECK(c_us);
|
1393
|
+
CHECK(sqrt_A);
|
1394
|
+
CHECK(t_oe);
|
1395
|
+
|
1396
|
+
CHECK(c_ic);
|
1397
|
+
CHECK(Omega0);
|
1398
|
+
CHECK(c_is);
|
1399
|
+
CHECK(i0);
|
1400
|
+
CHECK(c_rc);
|
1401
|
+
CHECK(omega);
|
1402
|
+
CHECK(dot_Omega0);
|
1403
|
+
CHECK(dot_i0);
|
1404
|
+
#undef CHECK
|
1405
|
+
return true;
|
1406
|
+
}while(false);
|
1407
|
+
return false;
|
1408
|
+
}
|
1409
|
+
|
1410
|
+
gps_time_t base_time() const {
|
1411
|
+
return gps_time_t(WN, t_oc);
|
1412
|
+
}
|
1413
|
+
};
|
1414
|
+
|
1415
|
+
/**
|
1416
|
+
* GPS almanac
|
1417
|
+
* (Subframe 4,5)
|
1418
|
+
*
|
1419
|
+
*/
|
1420
|
+
struct Almanac {
|
1421
|
+
uint_t svid; ///< Satellite number
|
1422
|
+
|
1423
|
+
float_t e; ///< Eccentricity
|
1424
|
+
float_t t_oa; ///< Almanac reference time (s)
|
1425
|
+
float_t delta_i; ///< Correction to inclination (rad)
|
1426
|
+
float_t dot_Omega0; ///< Omega0 rate (rad/s)
|
1427
|
+
uint_t SV_health; ///< Health status
|
1428
|
+
float_t sqrt_A; ///< Square root of semi-major axis (sqrt(m))
|
1429
|
+
float_t Omega0; ///< Longitude of ascending node (rad)
|
1430
|
+
float_t omega; ///< Argument of perigee (rad)
|
1431
|
+
float_t M0; ///< Mean anomaly (rad)
|
1432
|
+
float_t a_f0; ///< Clock correction parameter (s/s)
|
1433
|
+
float_t a_f1; ///< Clock correction parameter (s)
|
1434
|
+
|
1435
|
+
/**
|
1436
|
+
* Up-cast to ephemeris
|
1437
|
+
*
|
1438
|
+
*/
|
1439
|
+
operator Ephemeris() const {
|
1440
|
+
Ephemeris converted;
|
1441
|
+
|
1442
|
+
converted.svid = svid;
|
1443
|
+
|
1444
|
+
// Subframe.1
|
1445
|
+
converted.WN = 0; // Week number (must be configured later)
|
1446
|
+
converted.URA = -1; // User range accuracy
|
1447
|
+
converted.SV_health = SV_health; // Health status
|
1448
|
+
converted.iodc = -1; // Issue of clock data
|
1449
|
+
converted.t_GD = 0; // Group delay (s)
|
1450
|
+
converted.t_oc = t_oa; // Clock data reference time
|
1451
|
+
converted.a_f2 = 0; // Clock correction parameter (s/s^2)
|
1452
|
+
converted.a_f1 = a_f1; // Clock correction parameter (s/s)
|
1453
|
+
converted.a_f0 = a_f0; // Clock correction parameter (s)
|
1454
|
+
|
1455
|
+
// Subframe.2
|
1456
|
+
converted.iode = -1; // Issue of ephemeris data
|
1457
|
+
converted.c_rs = 0; // Sine correction, orbit (m)
|
1458
|
+
converted.delta_n = 0; // Mean motion difference (rad/s)
|
1459
|
+
converted.M0 = M0; // Mean anomaly (rad)
|
1460
|
+
converted.c_uc = 0; // Cosine correction, latitude (rad)
|
1461
|
+
converted.e = e; // Eccentricity
|
1462
|
+
converted.c_us = 0; // Sine correction, latitude (rad)
|
1463
|
+
converted.sqrt_A = sqrt_A; // Square root of semi-major axis (sqrt(m))
|
1464
|
+
converted.t_oe = t_oa; // Reference time ephemeris (s)
|
1465
|
+
converted.fit_interval = 4 * 60 * 60;// Fit interval
|
1466
|
+
|
1467
|
+
// Subframe.3
|
1468
|
+
converted.c_ic = 0; // Cosine correction, inclination (rad)
|
1469
|
+
converted.Omega0 = Omega0; // Longitude of ascending node (rad)
|
1470
|
+
converted.c_is = 0; // Sine correction, inclination (rad)
|
1471
|
+
converted.i0 = delta_i; // Inclination angle (rad)
|
1472
|
+
converted.c_rc = 0; // Cosine correction, orbit (m)
|
1473
|
+
converted.omega = omega; // Argument of perigee (rad)
|
1474
|
+
converted.dot_Omega0 = dot_Omega0; // Rate of right ascension (rad/s)
|
1475
|
+
converted.dot_i0 = 0; // Rate of inclination angle (rad/s)
|
1476
|
+
|
1477
|
+
return converted;
|
1478
|
+
}
|
1479
|
+
|
1480
|
+
struct raw_t {
|
1481
|
+
u8_t svid; ///< Satellite number
|
1482
|
+
|
1483
|
+
u16_t e; ///< Eccentricity (-21)
|
1484
|
+
u8_t t_oa; ///< Almanac ref. time ( 12, s)
|
1485
|
+
s16_t delta_i; ///< Correction to inc. (-19, sc)
|
1486
|
+
s16_t dot_Omega0; ///< Omega0 rate (-38, sc/s)
|
1487
|
+
u8_t SV_health; ///< Health status
|
1488
|
+
u32_t sqrt_A; ///< Semi-major axis (-11, sqrt(m))
|
1489
|
+
s32_t Omega0; ///< Long. of asc. node (-23, sc)
|
1490
|
+
s32_t omega; ///< Arg. of perigee (-23, sc)
|
1491
|
+
s32_t M0; ///< Mean anomaly (-23, sc)
|
1492
|
+
s16_t a_f0; ///< Clock corr. param. (-20, s)
|
1493
|
+
s16_t a_f1; ///< Clock corr. param. (-38, s)
|
1494
|
+
|
1495
|
+
#define fetch_item(name) name = BroadcastedMessage< \
|
1496
|
+
InputT, (int)sizeof(InputT) * CHAR_BIT - PaddingBits_MSB - PaddingBits_LSB, PaddingBits_MSB> \
|
1497
|
+
:: SubFrame4_5_Alnamac :: name (src)
|
1498
|
+
template <int PaddingBits_MSB, int PaddingBits_LSB, class InputT>
|
1499
|
+
void update(const InputT *src){
|
1500
|
+
fetch_item(e);
|
1501
|
+
fetch_item(t_oa);
|
1502
|
+
fetch_item(delta_i);
|
1503
|
+
fetch_item(dot_Omega0);
|
1504
|
+
fetch_item(SV_health);
|
1505
|
+
fetch_item(sqrt_A);
|
1506
|
+
fetch_item(Omega0);
|
1507
|
+
fetch_item(omega);
|
1508
|
+
fetch_item(M0);
|
1509
|
+
fetch_item(a_f0);
|
1510
|
+
fetch_item(a_f1);
|
1511
|
+
}
|
1512
|
+
#undef fetch_item
|
1513
|
+
|
1514
|
+
enum {
|
1515
|
+
SF_e,
|
1516
|
+
SF_t_oa,
|
1517
|
+
SF_delta_i,
|
1518
|
+
SF_dot_Omega0,
|
1519
|
+
SF_sqrt_A,
|
1520
|
+
SF_Omega0,
|
1521
|
+
SF_omega,
|
1522
|
+
SF_M0,
|
1523
|
+
SF_a_f0,
|
1524
|
+
SF_a_f1,
|
1525
|
+
|
1526
|
+
SF_NUM,
|
1527
|
+
};
|
1528
|
+
static const float_t sf[SF_NUM];
|
1529
|
+
|
1530
|
+
operator Almanac() const {
|
1531
|
+
Almanac converted;
|
1532
|
+
#define CONVERT(TARGET) \
|
1533
|
+
{converted.TARGET = sf[SF_ ## TARGET] * TARGET;}
|
1534
|
+
converted.svid = svid;
|
1535
|
+
CONVERT(e);
|
1536
|
+
CONVERT(t_oa);
|
1537
|
+
CONVERT(delta_i);
|
1538
|
+
CONVERT(dot_Omega0);
|
1539
|
+
converted.SV_health = SV_health;
|
1540
|
+
CONVERT(sqrt_A);
|
1541
|
+
CONVERT(Omega0);
|
1542
|
+
CONVERT(omega);
|
1543
|
+
CONVERT(M0);
|
1544
|
+
CONVERT(a_f0);
|
1545
|
+
CONVERT(a_f1);
|
1546
|
+
#undef CONVERT
|
1547
|
+
return converted;
|
1548
|
+
}
|
1549
|
+
};
|
1550
|
+
};
|
1551
|
+
};
|
1552
|
+
|
1553
|
+
template <
|
1554
|
+
class PropertyT = typename SatelliteProperties::Ephemeris,
|
1555
|
+
int TimeQuantization = 10>
|
1556
|
+
class PropertyHistory {
|
1557
|
+
protected:
|
1558
|
+
struct item_t : public PropertyT {
|
1559
|
+
int priority;
|
1560
|
+
int_t t_tag; ///< time tag calculated with base_time()
|
1561
|
+
|
1562
|
+
static int calc_t_tag(const float_t &t){
|
1563
|
+
float_t res(std::floor((t + (0.5 * TimeQuantization)) / TimeQuantization));
|
1564
|
+
if(res >= INT_MAX){return INT_MAX;}
|
1565
|
+
if(res <= INT_MIN){return INT_MIN;}
|
1566
|
+
return (int)res;
|
1567
|
+
}
|
1568
|
+
static int calc_t_tag(const gps_time_t &t){
|
1569
|
+
return calc_t_tag(t.serialize());
|
1570
|
+
}
|
1571
|
+
static int calc_t_tag(const PropertyT &prop){
|
1572
|
+
return calc_t_tag(prop.base_time());
|
1573
|
+
}
|
1574
|
+
|
1575
|
+
item_t() : priority(0), t_tag(0) {}
|
1576
|
+
item_t(const PropertyT &prop)
|
1577
|
+
: PropertyT(prop), priority(0), t_tag(calc_t_tag(prop)) {}
|
1578
|
+
item_t(const PropertyT &prop, const int &priority_init)
|
1579
|
+
: PropertyT(prop), priority(priority_init), t_tag(calc_t_tag(prop)) {}
|
1580
|
+
item_t &operator=(const PropertyT &prop){
|
1581
|
+
PropertyT::operator=(prop);
|
1582
|
+
t_tag = calc_t_tag(prop);
|
1583
|
+
return *this;
|
1584
|
+
}
|
1585
|
+
|
1586
|
+
bool operator==(const PropertyT &prop){
|
1587
|
+
return PropertyT::is_equivalent(prop);
|
1588
|
+
}
|
1589
|
+
};
|
1590
|
+
typedef std::vector<item_t> history_t;
|
1591
|
+
history_t history; // listed in chronological and higher priority order
|
1592
|
+
typename history_t::size_type selected_index;
|
1593
|
+
|
1594
|
+
typename history_t::iterator selected_iterator() {
|
1595
|
+
typename history_t::iterator it(history.begin());
|
1596
|
+
std::advance(it, selected_index);
|
1597
|
+
return it;
|
1598
|
+
}
|
1599
|
+
|
1600
|
+
public:
|
1601
|
+
PropertyHistory() : history(1), selected_index(0) {}
|
1602
|
+
|
1603
|
+
enum each_mode_t {
|
1604
|
+
EACH_ALL,
|
1605
|
+
EACH_ALL_INVERTED,
|
1606
|
+
EACH_NO_REDUNDANT,
|
1607
|
+
};
|
1608
|
+
|
1609
|
+
/**
|
1610
|
+
* Iterate each item.
|
1611
|
+
*
|
1612
|
+
* @param mode If EACH_ALL, all items will be passed, and when multiple items have same t_tag,
|
1613
|
+
* their order will be unchanged (highest to lowest priorities).
|
1614
|
+
* If EACH_ALL_INVERTED, all items will be passed, and when multiple items have same t_tag,
|
1615
|
+
* their order will be inverted (lowest to highest priorities).
|
1616
|
+
* If EACH_NO_REDUNDANT, when multiple items have same t_tag,
|
1617
|
+
* then, only item which has highest priority will be passed.
|
1618
|
+
*/
|
1619
|
+
template <class Functor>
|
1620
|
+
void each(
|
1621
|
+
Functor &functor,
|
1622
|
+
const each_mode_t &mode = EACH_ALL) const {
|
1623
|
+
switch(mode){
|
1624
|
+
case EACH_ALL_INVERTED: {
|
1625
|
+
typename history_t::const_iterator it(history.begin() + 1);
|
1626
|
+
while(it != history.end()){
|
1627
|
+
typename history_t::const_iterator it2(it + 1);
|
1628
|
+
while((it2 != history.end()) && (it->t_tag == it2->t_tag)){
|
1629
|
+
++it2;
|
1630
|
+
}
|
1631
|
+
typename history_t::const_iterator it_next(it2);
|
1632
|
+
do{
|
1633
|
+
functor(*(--it2));
|
1634
|
+
}while(it2 != it);
|
1635
|
+
it = it_next;
|
1636
|
+
}
|
1637
|
+
break;
|
1638
|
+
}
|
1639
|
+
case EACH_NO_REDUNDANT: {
|
1640
|
+
int_t t_tag(0);
|
1641
|
+
for(typename history_t::const_iterator it(history.begin() + 1), it_end(history.end());
|
1642
|
+
it != it_end;
|
1643
|
+
++it){
|
1644
|
+
if(t_tag == it->t_tag){continue;}
|
1645
|
+
functor(*it);
|
1646
|
+
t_tag = it->t_tag;
|
1647
|
+
}
|
1648
|
+
break;
|
1649
|
+
}
|
1650
|
+
case EACH_ALL:
|
1651
|
+
default:
|
1652
|
+
for(typename history_t::const_iterator it(history.begin() + 1), it_end(history.end());
|
1653
|
+
it != it_end;
|
1654
|
+
++it){
|
1655
|
+
functor(*it);
|
1656
|
+
}
|
1657
|
+
break;
|
1658
|
+
}
|
1659
|
+
}
|
1660
|
+
|
1661
|
+
/**
|
1662
|
+
* Add new item
|
1663
|
+
*
|
1664
|
+
* @param item new item, assuming the latest one
|
1665
|
+
* @param priority_delta If the new item is already registered,
|
1666
|
+
* its priority will be increased by priority_delta.
|
1667
|
+
* If priority_delta == 0, the previous item is replaced to the new item.
|
1668
|
+
*/
|
1669
|
+
void add(const PropertyT &item, const int &priority_delta = 1){
|
1670
|
+
int t_tag_new(item_t::calc_t_tag(item));
|
1671
|
+
typename history_t::iterator it_insert(history.begin());
|
1672
|
+
|
1673
|
+
for(typename history_t::reverse_iterator it(history.rbegin()), it_end(history.rend());
|
1674
|
+
it != it_end;
|
1675
|
+
++it){
|
1676
|
+
|
1677
|
+
int delta_t_tag(t_tag_new - it->t_tag);
|
1678
|
+
if(delta_t_tag < 0){continue;} // adding item is older.
|
1679
|
+
|
1680
|
+
it_insert = it.base();
|
1681
|
+
if(delta_t_tag > 0){break;} // adding item is newer.
|
1682
|
+
|
1683
|
+
while(true){ // Loop for items having the same time stamp; delta_t_tag == 0
|
1684
|
+
if(!(it->is_equivalent(item))){
|
1685
|
+
if(it->priority <= priority_delta){
|
1686
|
+
it_insert = it.base() - 1;
|
1687
|
+
}
|
1688
|
+
if(((++it) == history.rend()) || (it->t_tag < t_tag_new)){break;}
|
1689
|
+
continue;
|
1690
|
+
}
|
1691
|
+
|
1692
|
+
// When the content is equivalent
|
1693
|
+
if(priority_delta == 0){ // replace to newer one
|
1694
|
+
*it = item;
|
1695
|
+
return;
|
1696
|
+
}
|
1697
|
+
|
1698
|
+
int rel_pos(selected_index - (std::distance(history.begin(), it.base()) - 1));
|
1699
|
+
int shift(0);
|
1700
|
+
(it->priority) += priority_delta;
|
1701
|
+
item_t copy(*it);
|
1702
|
+
|
1703
|
+
if(priority_delta > 0){ // priority increased, thus move backward
|
1704
|
+
for(typename history_t::reverse_iterator it_previous(it + 1), it_previous_end(history.rend());
|
1705
|
+
it_previous != it_previous_end
|
1706
|
+
&& (it_previous->t_tag == t_tag_new)
|
1707
|
+
&& (it_previous->priority <= copy.priority); // if priority is same or higher, then swap.
|
1708
|
+
++it, ++it_previous, --shift){
|
1709
|
+
*it = *it_previous;
|
1710
|
+
}
|
1711
|
+
if(shift != 0){*it = copy;} // moved
|
1712
|
+
}else{ // priority decreased, thus move forward
|
1713
|
+
typename history_t::iterator it2(it.base() - 1);
|
1714
|
+
for(typename history_t::iterator it2_next(it2 + 1), it2_next_end(history.end());
|
1715
|
+
it2_next != it2_next_end
|
1716
|
+
&& (it2_next->t_tag == t_tag_new)
|
1717
|
+
&& (it2_next->priority > copy.priority); // if priority is lower, then swap.
|
1718
|
+
++it2, ++it2_next, ++shift){
|
1719
|
+
*it2 = *it2_next;
|
1720
|
+
}
|
1721
|
+
if(shift != 0){*it2 = copy;} // moved
|
1722
|
+
}
|
1723
|
+
|
1724
|
+
if(rel_pos == 0){ // When the added item is selected
|
1725
|
+
selected_index += shift;
|
1726
|
+
}else if((rel_pos < 0) && (shift <= rel_pos)){
|
1727
|
+
// When selected item has same time stamp and different content, and its priority is higher.
|
1728
|
+
selected_index++;
|
1729
|
+
}else if((rel_pos > 0) && (shift >= rel_pos)){
|
1730
|
+
// When selected item has same time stamp and different content, and its priority is higher.
|
1731
|
+
selected_index--;
|
1732
|
+
}
|
1733
|
+
|
1734
|
+
return;
|
1735
|
+
}
|
1736
|
+
|
1737
|
+
break; // Reach only when having the same time stamp, but different content
|
1738
|
+
}
|
1739
|
+
|
1740
|
+
// insert new one.
|
1741
|
+
if(std::distance(history.begin(), it_insert) < (int)selected_index){
|
1742
|
+
selected_index++;
|
1743
|
+
}
|
1744
|
+
history.insert(it_insert, item_t(item, priority_delta));
|
1745
|
+
}
|
1746
|
+
|
1747
|
+
/**
|
1748
|
+
* Select best valid item among registered ones.
|
1749
|
+
*
|
1750
|
+
* @param target_time time at measurement
|
1751
|
+
* @param is_valid function to check validity subject to specific time
|
1752
|
+
* @param get_delta_t function to get time difference (delta_t).
|
1753
|
+
* When NULL (default), time tag is used to calculate delta_t.
|
1754
|
+
* @return if true, a better valid item is newly selected; otherwise false.
|
1755
|
+
*/
|
1756
|
+
bool select(
|
1757
|
+
const gps_time_t &target_time,
|
1758
|
+
bool (PropertyT::*is_valid)(const gps_time_t &) const,
|
1759
|
+
float_t (PropertyT::*get_delta_t)(const gps_time_t &) const
|
1760
|
+
#if !defined(SWIG) // work around for SWIG parser error
|
1761
|
+
= NULL
|
1762
|
+
#endif
|
1763
|
+
){
|
1764
|
+
typename history_t::iterator it_selected(selected_iterator());
|
1765
|
+
|
1766
|
+
bool changed(false);
|
1767
|
+
|
1768
|
+
int t_tag(it_selected->t_tag);
|
1769
|
+
int t_tag_target(item_t::calc_t_tag(target_time));
|
1770
|
+
float_t delta_t(get_delta_t
|
1771
|
+
? ((*it_selected).*get_delta_t)(target_time)
|
1772
|
+
: (t_tag_target - t_tag));
|
1773
|
+
|
1774
|
+
typename history_t::iterator it, it_last;
|
1775
|
+
if(delta_t >= 0){
|
1776
|
+
// find newer
|
1777
|
+
it = it_selected + 1;
|
1778
|
+
it_last = history.end();
|
1779
|
+
}else{
|
1780
|
+
// find older (rare case, slow)
|
1781
|
+
it = history.begin();
|
1782
|
+
it_last = it_selected;
|
1783
|
+
delta_t *= -1;
|
1784
|
+
}
|
1785
|
+
|
1786
|
+
/* Selection priority:
|
1787
|
+
* Valid item having higher priority and less abs(delta_t),
|
1788
|
+
* which means when an item has been selected,
|
1789
|
+
* the others having same time tag will be skipped.
|
1790
|
+
*/
|
1791
|
+
for( ; it != it_last; ++it){
|
1792
|
+
if(changed && (t_tag == it->t_tag)){continue;} // skip one having same time tag, because highest priority one is selected.
|
1793
|
+
if(!(((*it).*is_valid)(target_time))){continue;}
|
1794
|
+
float_t delta_t2(get_delta_t
|
1795
|
+
? ((*it).*get_delta_t)(target_time)
|
1796
|
+
: (t_tag_target - it->t_tag));
|
1797
|
+
if(delta_t2 < 0){delta_t2 *= -1;}
|
1798
|
+
if(delta_t > delta_t2){ // update
|
1799
|
+
changed = true;
|
1800
|
+
t_tag = it->t_tag;
|
1801
|
+
delta_t = delta_t2;
|
1802
|
+
selected_index = std::distance(history.begin(), it);
|
1803
|
+
}
|
1804
|
+
}
|
1805
|
+
|
1806
|
+
return changed;
|
1807
|
+
}
|
1808
|
+
|
1809
|
+
/**
|
1810
|
+
* Merge information
|
1811
|
+
*/
|
1812
|
+
void merge(const PropertyHistory &another, const bool &keep_original = true){
|
1813
|
+
history_t list_new;
|
1814
|
+
list_new.push_back(history[0]);
|
1815
|
+
typename history_t::const_iterator
|
1816
|
+
it1(history.begin() + 1), it2(another.history.begin() + 1);
|
1817
|
+
typename history_t::size_type current_index_new(selected_index);
|
1818
|
+
int shift_count(selected_index - 1);
|
1819
|
+
while(true){
|
1820
|
+
if(it1 == history.end()){
|
1821
|
+
while(it2 != another.history.end()){
|
1822
|
+
list_new.push_back(*it2);
|
1823
|
+
}
|
1824
|
+
break;
|
1825
|
+
}else if(it2 == another.history.end()){
|
1826
|
+
while(it1 != history.end()){
|
1827
|
+
list_new.push_back(*it1);
|
1828
|
+
}
|
1829
|
+
break;
|
1830
|
+
}
|
1831
|
+
int delta_t(it1->t_tag - it2->t_tag);
|
1832
|
+
bool use_it1(true);
|
1833
|
+
if(delta_t == 0){
|
1834
|
+
if(it1->is_equivalent(*it2)){
|
1835
|
+
list_new.push_back(keep_original ? *it1 : *it2);
|
1836
|
+
++it1;
|
1837
|
+
++it2;
|
1838
|
+
--shift_count;
|
1839
|
+
continue;
|
1840
|
+
}else if(it1->priority < it2->priority){
|
1841
|
+
use_it1 = false;
|
1842
|
+
}
|
1843
|
+
}else if(delta_t > 0){
|
1844
|
+
use_it1 = false;
|
1845
|
+
}
|
1846
|
+
|
1847
|
+
if(use_it1){
|
1848
|
+
list_new.push_back(*it1);
|
1849
|
+
++it1;
|
1850
|
+
--shift_count;
|
1851
|
+
}else{
|
1852
|
+
list_new.push_back(*it2);
|
1853
|
+
++it2;
|
1854
|
+
if(shift_count >= 0){++current_index_new;}
|
1855
|
+
}
|
1856
|
+
}
|
1857
|
+
history = list_new;
|
1858
|
+
selected_index = current_index_new;
|
1859
|
+
}
|
1860
|
+
|
1861
|
+
const PropertyT ¤t() const {
|
1862
|
+
return history[selected_index];
|
1863
|
+
}
|
1864
|
+
};
|
1865
|
+
|
1866
|
+
class Satellite : public SatelliteProperties {
|
1867
|
+
public:
|
1868
|
+
typedef typename SatelliteProperties::Ephemeris eph_t;
|
1869
|
+
typedef PropertyHistory<eph_t> eph_list_t;
|
1870
|
+
protected:
|
1871
|
+
eph_list_t eph_history;
|
1872
|
+
public:
|
1873
|
+
Satellite() : eph_history() {
|
1874
|
+
// setup first ephemeris as invalid one
|
1875
|
+
eph_t &eph_current(const_cast<eph_t &>(eph_history.current()));
|
1876
|
+
eph_current.WN = 0;
|
1877
|
+
eph_current.t_oc = 0;
|
1878
|
+
eph_current.t_oe = 0;
|
1879
|
+
eph_current.fit_interval = -1;
|
1880
|
+
}
|
1881
|
+
|
1882
|
+
template <class Functor>
|
1883
|
+
void each_ephemeris(
|
1884
|
+
Functor &functor,
|
1885
|
+
const typename eph_list_t::each_mode_t &mode = eph_list_t::EACH_ALL) const {
|
1886
|
+
eph_history.each(functor, mode);
|
1887
|
+
}
|
1888
|
+
|
1889
|
+
void register_ephemeris(const eph_t &eph, const int &priority_delta = 1){
|
1890
|
+
eph_history.add(eph, priority_delta);
|
1891
|
+
}
|
1892
|
+
|
1893
|
+
void merge(const Satellite &another, const bool &keep_original = true){
|
1894
|
+
eph_history.merge(another.eph_history, keep_original);
|
1895
|
+
}
|
1896
|
+
|
1897
|
+
const eph_t &ephemeris() const {
|
1898
|
+
return eph_history.current();
|
1899
|
+
}
|
1900
|
+
|
1901
|
+
/**
|
1902
|
+
* Select appropriate ephemeris within registered ones.
|
1903
|
+
*
|
1904
|
+
* @param target_time time at measurement
|
1905
|
+
* @return if true, appropriate ephemeris is selected, otherwise, not selected.
|
1906
|
+
*/
|
1907
|
+
bool select_ephemeris(const gps_time_t &target_time){
|
1908
|
+
bool is_valid(ephemeris().is_valid(target_time));
|
1909
|
+
if(is_valid && (!ephemeris().maybe_better_one_avilable(target_time))){
|
1910
|
+
return true; // conservative
|
1911
|
+
}
|
1912
|
+
return eph_history.select(
|
1913
|
+
target_time,
|
1914
|
+
&eph_t::is_valid,
|
1915
|
+
&eph_t::period_from_time_of_clock) || is_valid;
|
1916
|
+
}
|
1917
|
+
|
1918
|
+
float_t clock_error(const gps_time_t &t, const float_t &pseudo_range = 0) const{
|
1919
|
+
return ephemeris().clock_error(t, pseudo_range);
|
1920
|
+
}
|
1921
|
+
|
1922
|
+
float_t clock_error_dot(const gps_time_t &t, const float_t &pseudo_range = 0) const {
|
1923
|
+
return ephemeris().clock_error_dot(t, pseudo_range);
|
1924
|
+
}
|
1925
|
+
|
1926
|
+
typename SatelliteProperties::constellation_t constellation(
|
1927
|
+
const gps_time_t &t, const float_t &pseudo_range = 0,
|
1928
|
+
const bool &with_velocity = true) const {
|
1929
|
+
return ephemeris().constellation(t, pseudo_range, with_velocity);
|
1930
|
+
}
|
1931
|
+
|
1932
|
+
xyz_t position(const gps_time_t &t, const float_t &pseudo_range = 0) const {
|
1933
|
+
return constellation(t, pseudo_range, false).position;
|
1934
|
+
}
|
1935
|
+
|
1936
|
+
xyz_t velocity(const gps_time_t &t, const float_t &pseudo_range = 0) const {
|
1937
|
+
return constellation(t, pseudo_range, true).velocity;
|
1938
|
+
}
|
1939
|
+
};
|
1940
|
+
public:
|
1941
|
+
typedef std::map<int, Satellite> satellites_t;
|
1942
|
+
protected:
|
1943
|
+
Ionospheric_UTC_Parameters _iono_utc;
|
1944
|
+
bool _iono_initialized, _utc_initialized;
|
1945
|
+
satellites_t _satellites;
|
1946
|
+
public:
|
1947
|
+
GPS_SpaceNode()
|
1948
|
+
: _iono_initialized(false), _utc_initialized(false),
|
1949
|
+
_satellites() {
|
1950
|
+
}
|
1951
|
+
~GPS_SpaceNode(){
|
1952
|
+
_satellites.clear();
|
1953
|
+
}
|
1954
|
+
const Ionospheric_UTC_Parameters &iono_utc() const {
|
1955
|
+
return _iono_utc;
|
1956
|
+
}
|
1957
|
+
bool is_valid_iono() const {
|
1958
|
+
return _iono_initialized;
|
1959
|
+
}
|
1960
|
+
bool is_valid_utc() const {
|
1961
|
+
return _utc_initialized;
|
1962
|
+
}
|
1963
|
+
bool is_valid_iono_utc() const {
|
1964
|
+
return is_valid_iono() && is_valid_utc();
|
1965
|
+
}
|
1966
|
+
const Ionospheric_UTC_Parameters &update_iono_utc(
|
1967
|
+
const Ionospheric_UTC_Parameters ¶ms,
|
1968
|
+
const bool &iono_valid = true,
|
1969
|
+
const bool &utc_valid = true) {
|
1970
|
+
_iono_initialized = iono_valid;
|
1971
|
+
_utc_initialized = utc_valid;
|
1972
|
+
return (_iono_utc = params);
|
1973
|
+
}
|
1974
|
+
|
1975
|
+
const satellites_t &satellites() const {
|
1976
|
+
return _satellites;
|
1977
|
+
}
|
1978
|
+
Satellite &satellite(const int &prn) {
|
1979
|
+
return _satellites[prn];
|
1980
|
+
}
|
1981
|
+
bool has_satellite(const int &prn) const {
|
1982
|
+
return _satellites.find(prn) != _satellites.end();
|
1983
|
+
}
|
1984
|
+
void update_all_ephemeris(const gps_time_t &target_time) {
|
1985
|
+
for(typename satellites_t::iterator it(_satellites.begin()), it_end(_satellites.end());
|
1986
|
+
it != it_end; ++it){
|
1987
|
+
it->second.select_ephemeris(target_time);
|
1988
|
+
}
|
1989
|
+
}
|
1990
|
+
void merge(const self_t &another, const bool &keep_original = true){
|
1991
|
+
for(typename satellites_t::const_iterator it(another._satellites.begin()), it_end(another._satellites.end());
|
1992
|
+
it != it_end;
|
1993
|
+
++it){
|
1994
|
+
satellite(it->first).merge(it->second, keep_original);
|
1995
|
+
}
|
1996
|
+
if((!is_valid_iono_utc()) || (!keep_original)){
|
1997
|
+
_iono_utc = another._iono_utc;
|
1998
|
+
_iono_initialized = another._iono_initialized;
|
1999
|
+
_utc_initialized = another._utc_initialized;
|
2000
|
+
}
|
2001
|
+
}
|
2002
|
+
|
2003
|
+
/**
|
2004
|
+
* Calculate pierce point position
|
2005
|
+
*
|
2006
|
+
* @param relative_pos satellite position (relative position, NEU)
|
2007
|
+
* @param usrllh user position (absolute position, LLH)
|
2008
|
+
* @param height_over_ellipsoid
|
2009
|
+
* @see DO-229D A4.4.10.1 Pierce Point Location Determination
|
2010
|
+
*/
|
2011
|
+
struct pierce_point_res_t {
|
2012
|
+
float_t latitude, longitude;
|
2013
|
+
};
|
2014
|
+
static pierce_point_res_t pierce_point(
|
2015
|
+
const enu_t &relative_pos,
|
2016
|
+
const llh_t &usrllh,
|
2017
|
+
const float_t &height_over_ellipsoid = 350E3) {
|
2018
|
+
float_t el(relative_pos.elevation()),
|
2019
|
+
az(relative_pos.azimuth());
|
2020
|
+
// Earth's central angle between use pos. and projection of PP.
|
2021
|
+
float_t psi_pp(M_PI / 2 - el
|
2022
|
+
- std::asin(WGS84::R_e / (WGS84::R_e + height_over_ellipsoid) * std::cos(el)));
|
2023
|
+
float_t phi_pp(
|
2024
|
+
std::asin(std::sin(usrllh.latitude() * std::cos(psi_pp)
|
2025
|
+
+ std::cos(usrllh.latitude()) * std::sin(psi_pp) * std::cos(az)))); // latitude
|
2026
|
+
float_t lambda_pp_last(
|
2027
|
+
std::asin(std::sin(psi_pp) * std::sin(az) / std::cos(phi_pp)));
|
2028
|
+
|
2029
|
+
pierce_point_res_t res;
|
2030
|
+
res.latitude = phi_pp;
|
2031
|
+
{
|
2032
|
+
const float_t phi_limit(std::asin(WGS84::R_e / (WGS84::R_e + height_over_ellipsoid)));
|
2033
|
+
// Check whether longitude is opposite side.
|
2034
|
+
// This is possible when pierce point is located on the horizontal plane.
|
2035
|
+
// If pierce point height is 350km, the limit latitude yields asin(Re / (350E3 + Re)) = 71.4 [deg].
|
2036
|
+
float_t lhs(std::tan(psi_pp) * std::cos(az)), rhs(std::tan(M_PI / 2 - usrllh.latitude()));
|
2037
|
+
if(((usrllh.latitude() > phi_limit) && (lhs > rhs))
|
2038
|
+
|| ((usrllh.latitude() < -phi_limit) & (lhs < rhs))){
|
2039
|
+
res.longitude = usrllh.longitude() + M_PI - lambda_pp_last;
|
2040
|
+
}else{
|
2041
|
+
res.longitude = usrllh.longitude() + lambda_pp_last;
|
2042
|
+
}
|
2043
|
+
}
|
2044
|
+
return res;
|
2045
|
+
}
|
2046
|
+
|
2047
|
+
/**
|
2048
|
+
* Calculate ratio of slant versus vertical
|
2049
|
+
*
|
2050
|
+
* @relative_pos satellite position (relative position, NEU)
|
2051
|
+
* @param height_over_ellipsoid
|
2052
|
+
* @see spherically single layer approach, for example,
|
2053
|
+
* Eq.(3) of "Ionospheric Range Error Correction Models" by N. Jakowski
|
2054
|
+
*/
|
2055
|
+
static float_t slant_factor(
|
2056
|
+
const enu_t &relative_pos,
|
2057
|
+
const float_t &height_over_ellipsoid = 350E3) {
|
2058
|
+
return std::sqrt(
|
2059
|
+
-std::pow(std::cos(relative_pos.elevation()) / ((height_over_ellipsoid / WGS84::R_e) + 1), 2)
|
2060
|
+
+ 1);
|
2061
|
+
}
|
2062
|
+
|
2063
|
+
/**
|
2064
|
+
* Calculate ionospheric delay by using TEC
|
2065
|
+
*
|
2066
|
+
* @param tec TEC (total electron count)
|
2067
|
+
* @param freq frequency (default is L1 frequency)
|
2068
|
+
* @return delay (if delayed, positive number will be returned)
|
2069
|
+
* @see http://www.navipedia.net/index.php/Ionospheric_Delay Eq.(13)
|
2070
|
+
*/
|
2071
|
+
static float_t tec2delay(const float_t &tec, const float_t &freq = L1_Frequency) {
|
2072
|
+
const float_t a_f(40.3E16 / std::pow(freq, 2));
|
2073
|
+
return a_f * tec;
|
2074
|
+
}
|
2075
|
+
|
2076
|
+
/**
|
2077
|
+
* Calculate correction value in accordance with ionospheric model
|
2078
|
+
*
|
2079
|
+
* @param relative_pos satellite position (relative position, NEU)
|
2080
|
+
* @param usrllh user position (absolute position, LLH)
|
2081
|
+
* @return correction in meters
|
2082
|
+
*/
|
2083
|
+
float_t iono_correction(
|
2084
|
+
const enu_t &relative_pos,
|
2085
|
+
const llh_t &usrllh,
|
2086
|
+
const gps_time_t &t) const {
|
2087
|
+
|
2088
|
+
|
2089
|
+
// Elevation and azimuth
|
2090
|
+
float_t el(relative_pos.elevation()),
|
2091
|
+
az(relative_pos.azimuth());
|
2092
|
+
float_t sc_el(rad2sc(el)),
|
2093
|
+
sc_az(rad2sc(az));
|
2094
|
+
|
2095
|
+
// Pierce point (PP stands for the earth projection of the Pierce point)
|
2096
|
+
// (the following equation is based on GPS ICD)
|
2097
|
+
float_t psi(0.0137 / (sc_el + 0.11) - 0.022); // central angle between user pos and PP.
|
2098
|
+
float_t phi_i(rad2sc(usrllh.latitude())
|
2099
|
+
+ psi * cos(az)); // geodetic latitude of PP [sc]
|
2100
|
+
if(phi_i > 0.416){phi_i = 0.416;}
|
2101
|
+
else if(phi_i < -0.416){phi_i = -0.416;}
|
2102
|
+
float_t lambda_i(rad2sc(usrllh.longitude())
|
2103
|
+
+ psi * sin(az) / cos(sc2rad(phi_i))); // geodetic longitude of PP [sc]
|
2104
|
+
float_t phi_m(phi_i
|
2105
|
+
+ 0.064 * cos(sc2rad(lambda_i - 1.617))); // geomagnetic latitude of PP [sc]
|
2106
|
+
|
2107
|
+
// Local time [sec]
|
2108
|
+
float_t lt(4.32E4 * lambda_i + t.seconds);
|
2109
|
+
lt -= std::floor(lt / gps_time_t::seconds_day) * gps_time_t::seconds_day; // lt = [0,86400)
|
2110
|
+
|
2111
|
+
// Period and amplitude of cosine function
|
2112
|
+
float_t amp(0), per(0);
|
2113
|
+
float_t phi_mn(1.);
|
2114
|
+
for(int i(0); i < 4; i++){
|
2115
|
+
amp += _iono_utc.alpha[i] * phi_mn;
|
2116
|
+
per += _iono_utc.beta[i] * phi_mn;
|
2117
|
+
phi_mn *= phi_m;
|
2118
|
+
}
|
2119
|
+
if(amp < 0){amp = 0;}
|
2120
|
+
if(per < 72000){per = 72000;}
|
2121
|
+
|
2122
|
+
// Obliquity factor
|
2123
|
+
float_t F(1.0 + 16.0 * pow((0.53 - sc_el), 3));
|
2124
|
+
|
2125
|
+
float_t x(M_PI * 2 * (lt - 50400) / per); // phase [rad] => (-1.4 pi) < x < (0.42 pi) because min(per) = 72000
|
2126
|
+
//x -= M_PI * 2 * std::floor(x / (M_PI * 2) + 0.5); // x = [-pi,pi)
|
2127
|
+
|
2128
|
+
float_t T_iono(5E-9);
|
2129
|
+
if(std::abs(x) < 1.57){
|
2130
|
+
T_iono += amp * (1. - pow2(x) * (1.0 / 2 - pow2(x) / 24)); // ICD p.148
|
2131
|
+
}
|
2132
|
+
T_iono *= F;
|
2133
|
+
|
2134
|
+
return -T_iono * light_speed;
|
2135
|
+
}
|
2136
|
+
|
2137
|
+
/**
|
2138
|
+
* Calculate correction value in accordance with ionospheric model
|
2139
|
+
*
|
2140
|
+
* @param sat satellite position (absolute position, XYZ)
|
2141
|
+
* @param usr user position (absolute position, XYZ)
|
2142
|
+
* @return correction in meters
|
2143
|
+
*/
|
2144
|
+
float_t iono_correction(
|
2145
|
+
const xyz_t &sat,
|
2146
|
+
const xyz_t &usr,
|
2147
|
+
const gps_time_t &t) const {
|
2148
|
+
return iono_correction(
|
2149
|
+
enu_t::relative(sat, usr),
|
2150
|
+
usr.llh(),
|
2151
|
+
t);
|
2152
|
+
}
|
2153
|
+
|
2154
|
+
struct IonospericCorrection {
|
2155
|
+
const GPS_SpaceNode<float_t> &space_node;
|
2156
|
+
float_t operator()(
|
2157
|
+
const enu_t &relative_pos,
|
2158
|
+
const llh_t &usrllh,
|
2159
|
+
const gps_time_t &t) const {
|
2160
|
+
return space_node.iono_correction(relative_pos, usrllh, t);
|
2161
|
+
}
|
2162
|
+
float_t operator()(
|
2163
|
+
const xyz_t &sat,
|
2164
|
+
const xyz_t &usr,
|
2165
|
+
const gps_time_t &t) const {
|
2166
|
+
return space_node.iono_correction(sat, usr, t);
|
2167
|
+
}
|
2168
|
+
};
|
2169
|
+
IonospericCorrection iono_correction() const {
|
2170
|
+
IonospericCorrection res = {*this};
|
2171
|
+
return res;
|
2172
|
+
}
|
2173
|
+
|
2174
|
+
/**
|
2175
|
+
* Calculate correction value in accordance with tropospheric model
|
2176
|
+
*
|
2177
|
+
* @param relative_pos satellite position (relative position, NEU)
|
2178
|
+
* @param usrllh user position (absolute position, LLH)
|
2179
|
+
* @return correction in meters
|
2180
|
+
*/
|
2181
|
+
float_t tropo_correction(
|
2182
|
+
const enu_t &relative_pos,
|
2183
|
+
const llh_t &usrllh) const {
|
2184
|
+
|
2185
|
+
// Elevation (rad)
|
2186
|
+
float_t el(relative_pos.elevation());
|
2187
|
+
|
2188
|
+
// Altitude (m)
|
2189
|
+
const float_t &h(usrllh.height());
|
2190
|
+
float_t f(1.0);
|
2191
|
+
if(h > (1.0 / 2.3E-5)){
|
2192
|
+
f = 0;
|
2193
|
+
}else if(h > 0){
|
2194
|
+
f -= h * 2.3E-5;
|
2195
|
+
}
|
2196
|
+
|
2197
|
+
return -2.47 * pow(f, 5) / (sin(el) + 0.0121);
|
2198
|
+
}
|
2199
|
+
|
2200
|
+
struct NiellMappingFunction {
|
2201
|
+
float_t hydrostatic, wet;
|
2202
|
+
static float_t marini1972_2(const float_t &v, const float_t (&coef)[3]) {
|
2203
|
+
return (coef[0] / ((coef[1] / (coef[2] + v)) + v) + v);
|
2204
|
+
}
|
2205
|
+
static float_t marini1972(const float_t &sin_elv, const float_t (&coef)[3]) {
|
2206
|
+
return marini1972_2(1, coef) / marini1972_2(sin_elv, coef);
|
2207
|
+
}
|
2208
|
+
static NiellMappingFunction get(
|
2209
|
+
const float_t &year,
|
2210
|
+
const float_t &latitude, const float_t &elevation, const float_t &height_km){
|
2211
|
+
static const struct coef_t {
|
2212
|
+
float_t coef[3];
|
2213
|
+
} tbl_hyd_avg[] = {
|
2214
|
+
{1.2769934e-3, 2.9153695e-3, 62.610505e-3}, // 15
|
2215
|
+
{1.2683230e-3, 2.9152299e-3, 62.837393e-3}, // 30
|
2216
|
+
{1.2465397e-3, 2.9288445e-3, 63.721774e-3}, // 45
|
2217
|
+
{1.2196049e-3, 2.9022565e-3, 63.824265e-3}, // 60
|
2218
|
+
{1.2045996e-3, 2.9024912e-3, 64.258455e-3}, // 75
|
2219
|
+
}, tbl_hyd_amp[] = {
|
2220
|
+
{0.0, 0.0, 0.0 }, // 15
|
2221
|
+
{1.2709626e-5, 2.1414979e-5, 9.0128400e-5}, // 30
|
2222
|
+
{2.6523662e-5, 3.0160779e-5, 4.3497037e-5}, // 45
|
2223
|
+
{3.4000452e-5, 7.2562722e-5, 84.795348e-5}, // 60
|
2224
|
+
{4.1202191e-5, 11.723375e-5, 170.37206e-5}, // 75
|
2225
|
+
}, tbl_wet[] = {
|
2226
|
+
{5.8021897e-4, 1.4275268e-3, 4.3472961e-2}, // 15
|
2227
|
+
{5.6794847e-4, 1.5138625e-3, 4.6729510e-2}, // 30
|
2228
|
+
{5.8118019e-4, 1.4572752e-3, 4.3908931e-2}, // 45
|
2229
|
+
{5.9727542e-4, 1.5007428e-3, 4.4626982e-2}, // 60
|
2230
|
+
{6.1641693e-4, 1.7599082e-3, 5.4736038e-2}, // 75
|
2231
|
+
};
|
2232
|
+
static const int tbl_length(sizeof(tbl_hyd_avg) / sizeof(tbl_hyd_avg[0]));
|
2233
|
+
static const float_t delta(M_PI / 180 * 15);
|
2234
|
+
float_t idx_f(latitude / delta);
|
2235
|
+
int idx(idx_f);
|
2236
|
+
|
2237
|
+
coef_t abc_avg, abc_amp, abc_wet;
|
2238
|
+
if(idx < 1){
|
2239
|
+
abc_avg = tbl_hyd_avg[0];
|
2240
|
+
abc_amp = tbl_hyd_amp[0];
|
2241
|
+
abc_wet = tbl_wet[0];
|
2242
|
+
}else if(idx >= (tbl_length - 1)){
|
2243
|
+
abc_avg = tbl_hyd_avg[tbl_length - 1];
|
2244
|
+
abc_amp = tbl_hyd_amp[tbl_length - 1];
|
2245
|
+
abc_wet = tbl_wet[tbl_length - 1];
|
2246
|
+
}else{
|
2247
|
+
// interpolation
|
2248
|
+
float_t weight_b((idx_f - idx) / delta), weight_a(1. - weight_b);
|
2249
|
+
for(int i(0); i < 3; ++i){
|
2250
|
+
abc_avg = tbl_hyd_avg[i] * weight_a + tbl_hyd_avg[i + 1] * weight_b;
|
2251
|
+
abc_amp = tbl_hyd_amp[i] * weight_a + tbl_hyd_amp[i + 1] * weight_b;
|
2252
|
+
abc_wet = tbl_wet[i] * weight_a + tbl_wet[i + 1] * weight_b;;
|
2253
|
+
}
|
2254
|
+
}
|
2255
|
+
|
2256
|
+
NiellMappingFunction res;
|
2257
|
+
float_t sin_elv(sin(elevation));
|
2258
|
+
{
|
2259
|
+
float_t xi[3];
|
2260
|
+
float_t k_amp(cos(M_PI * 2 * (year - (28. / 365.25))));
|
2261
|
+
for(int i(0); i < 3; ++i){
|
2262
|
+
xi[i] = abc_avg.coef[i] - abc_amp.coef[i] * k_amp;
|
2263
|
+
}
|
2264
|
+
|
2265
|
+
static const float_t abc_ht[] = {2.53e-5, 5.49e-3, 1.14e-3};
|
2266
|
+
res.hydrostatic = marini1972(sin_elv, xi)
|
2267
|
+
+ ((1. / sin_elv) - marini1972(sin_elv, abc_ht)) * height_km;
|
2268
|
+
}
|
2269
|
+
res.wet = marini1972(sin_elv, abc_wet);
|
2270
|
+
return res;
|
2271
|
+
}
|
2272
|
+
NiellMappingFunction(
|
2273
|
+
const enu_t &relative_pos,
|
2274
|
+
const llh_t &usrllh,
|
2275
|
+
const gps_time_t &t){
|
2276
|
+
(*this) = get(t.year(), usrllh.latitude(), relative_pos.elevation(), usrllh.height() / 1E3);
|
2277
|
+
}
|
2278
|
+
};
|
2279
|
+
|
2280
|
+
static float_t tropo_correction_zenith_hydrostatic_Saastamoinen(
|
2281
|
+
const float_t &latitude, const float_t &p_hpa, const float_t &height_km){
|
2282
|
+
return (0.0022767 * p_hpa)
|
2283
|
+
/ (1. - 0.00266 * cos(latitude * 2) - 0.00028 * height_km);
|
2284
|
+
}
|
2285
|
+
|
2286
|
+
/**
|
2287
|
+
* Calculate correction value in accordance with tropospheric model
|
2288
|
+
*
|
2289
|
+
* @param sat satellite position (absolute position, XYZ)
|
2290
|
+
* @param usr user position (absolute position, XYZ)
|
2291
|
+
* @return correction in meters
|
2292
|
+
*/
|
2293
|
+
float_t tropo_correction(
|
2294
|
+
const xyz_t &sat,
|
2295
|
+
const xyz_t &usr) const {
|
2296
|
+
return tropo_correction(
|
2297
|
+
enu_t::relative(sat, usr),
|
2298
|
+
usr.llh());
|
2299
|
+
}
|
2300
|
+
|
2301
|
+
struct TropospericCorrection {
|
2302
|
+
const GPS_SpaceNode<float_t> &space_node;
|
2303
|
+
float_t operator()(
|
2304
|
+
const enu_t &relative_pos,
|
2305
|
+
const llh_t &usrllh) const {
|
2306
|
+
return space_node.tropo_correction(relative_pos, usrllh);
|
2307
|
+
}
|
2308
|
+
float_t operator()(
|
2309
|
+
const xyz_t &sat,
|
2310
|
+
const xyz_t &usr) const {
|
2311
|
+
return space_node.tropo_correction(sat, usr);
|
2312
|
+
}
|
2313
|
+
};
|
2314
|
+
TropospericCorrection tropo_correction() const {
|
2315
|
+
TropospericCorrection res = {*this};
|
2316
|
+
return res;
|
2317
|
+
}
|
2318
|
+
};
|
2319
|
+
|
2320
|
+
template <class FloatT>
|
2321
|
+
const typename GPS_SpaceNode<FloatT>::float_t GPS_SpaceNode<FloatT>::light_speed = 2.99792458E8;
|
2322
|
+
|
2323
|
+
template <class FloatT>
|
2324
|
+
const typename GPS_SpaceNode<FloatT>::float_t GPS_SpaceNode<FloatT>::L1_Frequency = 1575.42E6;
|
2325
|
+
|
2326
|
+
#define GPS_SC2RAD 3.1415926535898
|
2327
|
+
template <class FloatT>
|
2328
|
+
const typename GPS_SpaceNode<FloatT>::float_t GPS_SpaceNode<FloatT>::SC2RAD = GPS_SC2RAD;
|
2329
|
+
|
2330
|
+
template <class FloatT>
|
2331
|
+
const typename GPS_SpaceNode<FloatT>::float_t GPS_SpaceNode<FloatT>::L2_Frequency = 1227.6E6;
|
2332
|
+
|
2333
|
+
template <class FloatT>
|
2334
|
+
const typename GPS_SpaceNode<FloatT>::float_t GPS_SpaceNode<FloatT>::gamma_L1_L2 = (FloatT)(77 * 77) / (60 * 60);
|
2335
|
+
|
2336
|
+
#define POWER_2(n) \
|
2337
|
+
(((n) >= 0) \
|
2338
|
+
? (float_t)(1 << (n >= 0 ? n : 0)) \
|
2339
|
+
: (((float_t)1) / (1 << (-(n) >= 30 ? 30 : -(n > 0 ? 0 : n))) \
|
2340
|
+
/ (1 << (-(n) >= 30 ? (-(n) - 30) : 0))))
|
2341
|
+
template <class FloatT>
|
2342
|
+
const typename GPS_SpaceNode<FloatT>::float_t GPS_SpaceNode<FloatT>::Ionospheric_UTC_Parameters::raw_t::sf[] = {
|
2343
|
+
POWER_2(-30), // alpha0
|
2344
|
+
POWER_2(-27), // alpha1
|
2345
|
+
POWER_2(-24), // alpha2
|
2346
|
+
POWER_2(-24), // alpha3
|
2347
|
+
POWER_2( 11), // beta0
|
2348
|
+
POWER_2( 14), // beta1
|
2349
|
+
POWER_2( 16), // beta2
|
2350
|
+
POWER_2( 16), // beta3
|
2351
|
+
POWER_2(-50), // A1
|
2352
|
+
POWER_2(-30), // A0
|
2353
|
+
};
|
2354
|
+
|
2355
|
+
template <class FloatT>
|
2356
|
+
const typename GPS_SpaceNode<FloatT>::float_t GPS_SpaceNode<FloatT>::SatelliteProperties::Ephemeris::raw_t::sf[] = {
|
2357
|
+
POWER_2(-31), // t_GD
|
2358
|
+
POWER_2(4), // t_oc
|
2359
|
+
POWER_2(-31), // a_f0
|
2360
|
+
POWER_2(-43), // a_f1
|
2361
|
+
POWER_2(-55), // a_f2
|
2362
|
+
|
2363
|
+
POWER_2(-5), // c_rs
|
2364
|
+
GPS_SC2RAD * POWER_2(-43), // delta_n
|
2365
|
+
GPS_SC2RAD * POWER_2(-31), // M0
|
2366
|
+
POWER_2(-29), // c_uc
|
2367
|
+
POWER_2(-33), // e
|
2368
|
+
POWER_2(-29), // c_us
|
2369
|
+
POWER_2(-19), // sqrt_A
|
2370
|
+
POWER_2(4), // t_oe
|
2371
|
+
|
2372
|
+
POWER_2(-29), // c_ic
|
2373
|
+
GPS_SC2RAD * POWER_2(-31), // Omega0
|
2374
|
+
POWER_2(-29), // c_is
|
2375
|
+
GPS_SC2RAD * POWER_2(-31), // i0
|
2376
|
+
POWER_2(-5), // c_rc
|
2377
|
+
GPS_SC2RAD * POWER_2(-31), // omega
|
2378
|
+
GPS_SC2RAD * POWER_2(-43), // dot_Omega0
|
2379
|
+
GPS_SC2RAD * POWER_2(-43), // dot_i0
|
2380
|
+
};
|
2381
|
+
|
2382
|
+
template <class FloatT>
|
2383
|
+
const typename GPS_SpaceNode<FloatT>::float_t GPS_SpaceNode<FloatT>::SatelliteProperties::Almanac::raw_t::sf[] = {
|
2384
|
+
POWER_2(-21), // e
|
2385
|
+
POWER_2(12), // t_oa
|
2386
|
+
GPS_SC2RAD * POWER_2(-19), // delta_i
|
2387
|
+
GPS_SC2RAD * POWER_2(-38), // dot_Omega0
|
2388
|
+
POWER_2(-11), // sqrt_A
|
2389
|
+
GPS_SC2RAD * POWER_2(-23), // Omega0
|
2390
|
+
GPS_SC2RAD * POWER_2(-23), // omega
|
2391
|
+
GPS_SC2RAD * POWER_2(-23), // M0
|
2392
|
+
POWER_2(-20), // a_f0
|
2393
|
+
POWER_2(-38), // a_f1
|
2394
|
+
};
|
2395
|
+
#undef POWER_2
|
2396
|
+
#undef GPS_SC2RAD
|
2397
|
+
|
2398
|
+
template <class FloatT>
|
2399
|
+
const typename GPS_SpaceNode<FloatT>::float_t GPS_SpaceNode<FloatT>::SatelliteProperties::Ephemeris::URA_limits[] = {
|
2400
|
+
2.40,
|
2401
|
+
3.40,
|
2402
|
+
4.85,
|
2403
|
+
6.85,
|
2404
|
+
9.65,
|
2405
|
+
13.65,
|
2406
|
+
24.00,
|
2407
|
+
48.00,
|
2408
|
+
96.00,
|
2409
|
+
192.00,
|
2410
|
+
384.00,
|
2411
|
+
768.00,
|
2412
|
+
1536.00,
|
2413
|
+
3072.00,
|
2414
|
+
6144.00,
|
2415
|
+
};
|
2416
|
+
|
2417
|
+
template <class FloatT>
|
2418
|
+
const int GPS_SpaceNode<FloatT>::SatelliteProperties::Ephemeris::URA_MAX_INDEX
|
2419
|
+
= sizeof(URA_limits) / sizeof(URA_limits[0]);
|
2420
|
+
|
2421
|
+
#ifdef POW2_ALREADY_DEFINED
|
2422
|
+
#undef POW2_ALREADY_DEFINED
|
2423
|
+
#else
|
2424
|
+
#undef pow2
|
2425
|
+
#endif
|
2426
|
+
#ifdef POW3_ALREADY_DEFINED
|
2427
|
+
#undef POW3_ALREADY_DEFINED
|
2428
|
+
#else
|
2429
|
+
#undef pow3
|
2430
|
+
#endif
|
2431
|
+
|
2432
|
+
#endif /* __GPS_H__ */
|