GNSSOrbitalElementsDriversProvider.java

  1. /* Copyright 2022-2025 Luc Maisonobe
  2.  * Licensed to CS GROUP (CS) under one or more
  3.  * contributor license agreements.  See the NOTICE file distributed with
  4.  * this work for additional information regarding copyright ownership.
  5.  * CS licenses this file to You under the Apache License, Version 2.0
  6.  * (the "License"); you may not use this file except in compliance with
  7.  * the License.  You may obtain a copy of the License at
  8.  *
  9.  *   http://www.apache.org/licenses/LICENSE-2.0
  10.  *
  11.  * Unless required by applicable law or agreed to in writing, software
  12.  * distributed under the License is distributed on an "AS IS" BASIS,
  13.  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  14.  * See the License for the specific language governing permissions and
  15.  * limitations under the License.
  16.  */
  17. package org.orekit.propagation.analytical.gnss.data;

  19. import org.hipparchus.util.FastMath;
  20. import org.orekit.gnss.SatelliteSystem;
  21. import org.orekit.time.AbsoluteDate;
  22. import org.orekit.time.GNSSDate;
  23. import org.orekit.time.TimeScales;
  24. import org.orekit.utils.ParameterDriver;
  25. import org.orekit.utils.ParameterDriversProvider;
  26. import org.orekit.utils.ParameterObserver;
  27. import org.orekit.utils.TimeSpanMap;

  29. import java.util.Arrays;
  30. import java.util.List;

  32. /** This class manages the non-keplerian parameter drivers for
  33.  * {@link GNSSOrbitalElements} and {@link FieldGnssOrbitalElements}.
  34.  * <p>
  35.  * In both primitive double and field classes, only the non-Keplerian parameters
  36.  * are returned in the {@link #getParametersDrivers()} method, the Keplerian orbital
  37.  * parameters must be accessed independently. These groups ensure proper separate
  38.  * computation of state transition matrix and Jacobian matrix by
  39.  * {@link org.orekit.propagation.analytical.gnss.GNSSPropagator} and
  40.  * {@link org.orekit.propagation.analytical.gnss.FieldGnssPropagator}.
  41.  * </p>
  42.  * @since 13.0
  43.  * @author Luc Maisonobe
  44.  */
  45. public abstract class GNSSOrbitalElementsDriversProvider
  46.     implements ParameterDriversProvider {

  48.     /** Name for time parameter. */
  49.     public static final String TIME = "GnssTime";

  51.     /** Name for inclination rate parameter. */
  52.     public static final String INCLINATION_RATE = "GnssInclinationRate";

  54.     /** Name for longitude rate parameter. */
  55.     public static final String LONGITUDE_RATE = "GnssLongitudeRate";

  57.     /** Name for cosine of latitude argument harmonic parameter. */
  58.     public static final String LATITUDE_COSINE = "GnssLatitudeCosine";

  60.     /** Name for sine of latitude argument harmonic parameter. */
  61.     public static final String LATITUDE_SINE = "GnssLatitudeSine";

  63.     /** Name for cosine of orbit radius harmonic parameter. */
  64.     public static final String RADIUS_COSINE = "GnssRadiusCosine";

  66.     /** Name for sine of orbit radius harmonic parameter. */
  67.     public static final String RADIUS_SINE = "GnssRadiusSine";

  69.     /** Name for cosine of inclination harmonic parameter. */
  70.     public static final String INCLINATION_COSINE = "GnssInclinationCosine";

  72.     /** Name for sine of inclination harmonic parameter. */
  73.     public static final String INCLINATION_SINE = "GnssInclinationSine";

  75.     /** Index of time in the list returned by {@link #getParametersDrivers()}. */
  76.     public static final int TIME_INDEX = 0;

  78.     /** Index of inclination rate in the list returned by {@link #getParametersDrivers()}. */
  79.     public static final int I_DOT_INDEX = TIME_INDEX + 1;

  81.     /** Index of longitude rate in the list returned by {@link #getParametersDrivers()}. */
  82.     public static final int OMEGA_DOT_INDEX = I_DOT_INDEX + 1;

  84.     /** Index of cosine on latitude argument in the list returned by {@link #getParametersDrivers()}. */
  85.     public static final int CUC_INDEX = OMEGA_DOT_INDEX + 1;

  87.     /** Index of sine on latitude argument in the list returned by {@link #getParametersDrivers()}. */
  88.     public static final int CUS_INDEX = CUC_INDEX + 1;

  90.     /** Index of cosine on radius in the list returned by {@link #getParametersDrivers()}. */
  91.     public static final int CRC_INDEX = CUS_INDEX + 1;

  93.     /** Index of sine on radius in the list returned by {@link #getParametersDrivers()}. */
  94.     public static final int CRS_INDEX = CRC_INDEX + 1;

  96.     /** Index of cosine on inclination in the list returned by {@link #getParametersDrivers()}. */
  97.     public static final int CIC_INDEX = CRS_INDEX + 1;

  99.     /** Index of sine on inclination in the list returned by {@link #getParametersDrivers()}. */
  100.     public static final int CIS_INDEX = CIC_INDEX + 1;

  102.     /** Size of parameters array. */
  103.     public static final int SIZE = CIS_INDEX + 1;

  105.     /** Mean angular velocity of the Earth for the GNSS model. */
  106.     private final double angularVelocity;

  108.     /** Duration of the GNSS cycle in weeks. */
  109.     private final int weeksInCycle;

  111.     /** Duration of the GNSS cycle in seconds. */
  112.     private final double cycleDuration;

  114.     /** Satellite system to use for interpreting week number. */
  115.     private final SatelliteSystem system;

  117.     /** Known time scales. */
  118.     private final TimeScales timeScales;

  120.     /** PRN number of the satellite. */
  121.     private int prn;

  123.     /** Reference Week of the orbit. */
  124.     private int week;

  126.     /** Reference time. */
  127.     private final ParameterDriver timeDriver;

  129.     /** Inclination rate (rad/s). */
  130.     private final ParameterDriver iDotDriver;

  132.     /** Rate of right ascension (rad/s). */
  133.     private final ParameterDriver domDriver;

  135.     /** Amplitude of the cosine harmonic correction term to the argument of latitude. */
  136.     private final ParameterDriver cucDriver;

  138.     /** Amplitude of the sine harmonic correction term to the argument of latitude. */
  139.     private final ParameterDriver cusDriver;

  141.     /** Amplitude of the cosine harmonic correction term to the orbit radius. */
  142.     private final ParameterDriver crcDriver;

  144.     /** Amplitude of the sine harmonic correction term to the orbit radius. */
  145.     private final ParameterDriver crsDriver;

  147.     /** Amplitude of the cosine harmonic correction term to the inclination. */
  148.     private final ParameterDriver cicDriver;

  150.     /** Amplitude of the sine harmonic correction term to the inclination. */
  151.     private final ParameterDriver cisDriver;

  153.     /** Constructor.
  154.      * @param angularVelocity mean angular velocity of the Earth for the GNSS model
  155.      * @param weeksInCycle    number of weeks in the GNSS cycle
  156.      * @param timeScales      known time scales
  157.      * @param system          satellite system to consider for interpreting week number
  158.      *                        (may be different from real system, for example in Rinex nav, weeks
  159.      *                        are always according to GPS)
  160.      */
  161.     protected GNSSOrbitalElementsDriversProvider(final double angularVelocity, final int weeksInCycle,
  162.                                                  final TimeScales timeScales, final SatelliteSystem system) {

  164.         // immutable fields
  165.         this.angularVelocity = angularVelocity;
  166.         this.weeksInCycle    = weeksInCycle;
  167.         this.cycleDuration   = GNSSConstants.GNSS_WEEK_IN_SECONDS * weeksInCycle;
  168.         this.system          = system;
  169.         this.timeScales      = timeScales;

  171.         this.timeDriver = createDriver(TIME);
  172.         this.iDotDriver = createDriver(INCLINATION_RATE);
  173.         this.domDriver  = createDriver(LONGITUDE_RATE);
  174.         this.cucDriver  = createDriver(LATITUDE_COSINE);
  175.         this.cusDriver  = createDriver(LATITUDE_SINE);
  176.         this.crcDriver  = createDriver(RADIUS_COSINE);
  177.         this.crsDriver  = createDriver(RADIUS_SINE);
  178.         this.cicDriver  = createDriver(INCLINATION_COSINE);
  179.         this.cisDriver  = createDriver(INCLINATION_SINE);

  181.         // automatically update date when time driver is updated
  182.         timeDriver.addObserver(new ParameterObserver() {

  184.             /** {@inheritDoc} */
  185.             @Override
  186.             public void valueChanged(final double previousValue, final ParameterDriver driver,
  187.                                      final AbsoluteDate date) {
  188.                 setGnssDate(new GNSSDate(week, driver.getValue(), system, timeScales));
  189.             }

  191.             /** {@inheritDoc} */
  192.             @Override
  193.             public void valueSpanMapChanged(final TimeSpanMap<Double> previousValueSpanMap,
  194.                                             final ParameterDriver driver) {
  195.                 // nothing to do
  196.             }
  197.         });

  199.     }

  201.     /** Copy drivers selection settings from another instance.
  202.      * @param original original instance providing selection settings
  203.      */
  204.     protected void copySelectionSettings(final GNSSOrbitalElementsDriversProvider original) {
  205.         timeDriver.setSelected(original.timeDriver.isSelected());
  206.         iDotDriver.setSelected(original.iDotDriver.isSelected());
  207.         domDriver.setSelected(original.domDriver.isSelected());
  208.         cucDriver.setSelected(original.cucDriver.isSelected());
  209.         cusDriver.setSelected(original.cusDriver.isSelected());
  210.         crcDriver.setSelected(original.crcDriver.isSelected());
  211.         crsDriver.setSelected(original.crsDriver.isSelected());
  212.         cicDriver.setSelected(original.cicDriver.isSelected());
  213.         cisDriver.setSelected(original.cisDriver.isSelected());
  214.     }

  216.     /** Set GNSS date.
  217.      * @param gnssDate GNSS date
  218.      */
  219.     protected abstract void setGnssDate(GNSSDate gnssDate);

  221.     /** Create parameter driver.
  222.      * @param name name of the driver
  223.      * @return build driver
  224.      */
  225.     protected static ParameterDriver createDriver(final String name) {
  226.         return new ParameterDriver(name, 0, FastMath.scalb(1.0, -30),
  227.                                    Double.NEGATIVE_INFINITY, Double.POSITIVE_INFINITY);
  228.     }

  230.     /** Get satellite system.
  231.      * @return satellite system
  232.      */
  233.     public SatelliteSystem getSystem() {
  234.         return system;
  235.     }

  237.     /** Get known time scales.
  238.      * @return known time scales
  239.      */
  240.     public TimeScales getTimeScales() {
  241.         return timeScales;
  242.     }

  244.     /** {@inheritDoc}
  245.      * <p>
  246.      * Only the 9 non-Keplerian evolution parameters are listed here,
  247.      * i.e. {@link #getTimeDriver()} (at index {@link #TIME_INDEX}),
  248.      * {@link #getIDotDriver()} (at index {@link #I_DOT_INDEX}),
  249.      * {@link #getOmegaDotDriver()} (at index {@link #OMEGA_DOT_INDEX}),
  250.      * {@link #getCucDriver()} (at index {@link #CUC_INDEX}),
  251.      * {@link #getCusDriver()} (at index {@link #CUS_INDEX}),
  252.      * {@link #getCrcDriver()} (at index {@link #CRC_INDEX}),
  253.      * {@link #getCrsDriver()} (at index {@link #CRS_INDEX}),
  254.      * {@link #getCicDriver()} (at index {@link #CIC_INDEX}),
  255.      * and {@link #getCisDriver()} (at index {@link #CIS_INDEX})
  256.      * </p>
  257.      * <p>
  258.      * The Keplerian orbital parameters drivers are not included.
  259.      * </p>
  260.      */
  261.     @Override
  262.     public List<ParameterDriver> getParametersDrivers() {
  263.         // ensure the parameters are really at the advertised indices
  264.         final ParameterDriver[] array = new ParameterDriver[SIZE];
  265.         array[TIME_INDEX]      = getTimeDriver();
  266.         array[I_DOT_INDEX]     = getIDotDriver();
  267.         array[OMEGA_DOT_INDEX] = getOmegaDotDriver();
  268.         array[CUC_INDEX]       = getCucDriver();
  269.         array[CUS_INDEX]       = getCusDriver();
  270.         array[CRC_INDEX]       = getCrcDriver();
  271.         array[CRS_INDEX]       = getCrsDriver();
  272.         array[CIC_INDEX]       = getCicDriver();
  273.         array[CIS_INDEX]       = getCisDriver();
  274.         return Arrays.asList(array);
  275.     }

  277.     /** Get the mean angular velocity of the Earth of the GNSS model.
  278.      * @return mean angular velocity of the Earth of the GNSS model
  279.      */
  280.     public double getAngularVelocity() {
  281.         return angularVelocity;
  282.     }

  284.     /** Get for the duration of the GNSS cycle in weeks.
  285.      * @return the duration of the GNSS cycle in weeks
  286.      */
  287.     public int getWeeksInCycle() {
  288.         return weeksInCycle;
  289.     }

  291.     /** Get for the duration of the GNSS cycle in seconds.
  292.      * @return the duration of the GNSS cycle in seconds
  293.      */
  294.     public double getCycleDuration() {
  295.         return cycleDuration;
  296.     }

  298.     /** Get the PRN number of the satellite.
  299.      * @return PRN number of the satellite
  300.      */
  301.     public int getPRN() {
  302.         return prn;
  303.     }

  305.     /** Set the PRN number of the satellite.
  306.      * @param number the prn number ot set
  307.      */
  308.     public void setPRN(final int number) {
  309.         this.prn = number;
  310.     }

  312.     /** Get the reference week of the orbit.
  313.      * @return reference week of the orbit
  314.      */
  315.     public int getWeek() {
  316.         return week;
  317.     }

  319.     /** Set the reference week of the orbit.
  320.      * @param week the week to set
  321.      */
  322.     public void setWeek(final int week) {
  323.         this.week = week;
  324.         setGnssDate(new GNSSDate(week, timeDriver.getValue(), system, timeScales));
  325.     }

  327.     /** Get the driver for reference time of the GNSS orbit as a duration from week start.
  328.      * @return driver for the reference time of the GNSS orbit (s)
  329.      */
  330.     public ParameterDriver getTimeDriver() {
  331.         return timeDriver;
  332.     }

  334.     /** Get reference time of the GNSS orbit as a duration from week start.
  335.      * @return reference time of the GNSS orbit (s)
  336.      */
  337.     public double getTime() {
  338.         return getTimeDriver().getValue();
  339.     }

  341.     /** Set reference time of the GNSS orbit as a duration from week start.
  342.      * @param time reference time of the GNSS orbit (s)
  343.      */
  344.     public void setTime(final double time) {
  345.         getTimeDriver().setValue(time);
  346.     }

  348.     /** Get the driver for the rate of inclination angle.
  349.      * @return driver for the rate of inclination angle (rad/s)
  350.      */
  351.     public ParameterDriver getIDotDriver() {
  352.         return iDotDriver;
  353.     }

  355.     /** Get rate of inclination angle.
  356.      * @return rate of inclination angle (rad/s)
  357.      */
  358.     public double getIDot() {
  359.         return getIDotDriver().getValue();
  360.     }

  362.     /** Set the driver for the rate of inclination angle.
  363.      * @param iDot rate of inclination angle (rad/s)
  364.      */
  365.     public void setIDot(final double iDot) {
  366.         getIDotDriver().setValue(iDot);
  367.     }

  369.     /** Get the driver for the rate of right ascension.
  370.      * @return driver for the rate of right ascension (rad/s)
  371.      */
  372.     public ParameterDriver getOmegaDotDriver() {
  373.         return domDriver;
  374.     }

  376.     /** Get rate of right ascension.
  377.      * @return rate of right ascension (rad/s)
  378.      */
  379.     public double getOmegaDot() {
  380.         return getOmegaDotDriver().getValue();
  381.     }

  383.     /** Set rate of right ascension.
  384.      * @param dom rate of right ascension (rad/s)
  385.      */
  386.     public void setOmegaDot(final double dom) {
  387.         getOmegaDotDriver().setValue(dom);
  388.     }

  390.     /** Get the driver for the amplitude of the cosine harmonic correction term to the argument of latitude.
  391.      * @return driver for the amplitude of the cosine harmonic correction term to the argument of latitude (rad)
  392.      */
  393.     public ParameterDriver getCucDriver() {
  394.         return cucDriver;
  395.     }

  397.     /** Get amplitude of the cosine harmonic correction term to the argument of latitude.
  398.      * @return amplitude of the cosine harmonic correction term to the argument of latitude (rad)
  399.      */
  400.     public double getCuc() {
  401.         return getCucDriver().getValue();
  402.     }

  404.     /** Set amplitude of the cosine harmonic correction term to the argument of latitude.
  405.      * @param cuc amplitude of the cosine harmonic correction term to the argument of latitude (rad)
  406.      */
  407.     public void setCuc(final double cuc) {
  408.         getCucDriver().setValue(cuc);
  409.     }

  411.     /** Get the driver for the amplitude of the sine harmonic correction term to the argument of latitude.
  412.      * @return driver for the amplitude of the sine harmonic correction term to the argument of latitude (rad)
  413.      */
  414.     public ParameterDriver getCusDriver() {
  415.         return cusDriver;
  416.     }

  418.     /** Get amplitude of the sine harmonic correction term to the argument of latitude.
  419.      * @return amplitude of the sine harmonic correction term to the argument of latitude (rad)
  420.      */
  421.     public double getCus() {
  422.         return getCusDriver().getValue();
  423.     }

  425.     /** Set amplitude of the sine harmonic correction term to the argument of latitude.
  426.      * @param cus amplitude of the sine harmonic correction term to the argument of latitude (rad)
  427.      */
  428.     public void setCus(final double cus) {
  429.         getCusDriver().setValue(cus);
  430.     }

  432.     /** Get the driver for the amplitude of the cosine harmonic correction term to the orbit radius.
  433.      * @return driver for the amplitude of the cosine harmonic correction term to the orbit radius (m)
  434.      */
  435.     public ParameterDriver getCrcDriver() {
  436.         return crcDriver;
  437.     }

  439.     /** Get amplitude of the cosine harmonic correction term to the orbit radius.
  440.      * @return amplitude of the cosine harmonic correction term to the orbit radius (m)
  441.      */
  442.     public double getCrc() {
  443.         return getCrcDriver().getValue();
  444.     }

  446.     /** Set amplitude of the cosine harmonic correction term to the orbit radius.
  447.      * @param crc amplitude of the cosine harmonic correction term to the orbit radius (m)
  448.      */
  449.     public void setCrc(final double crc) {
  450.         getCrcDriver().setValue(crc);
  451.     }

  453.     /** Get the driver for the amplitude of the sine harmonic correction term to the orbit radius.
  454.      * @return driver for the amplitude of the sine harmonic correction term to the orbit radius (m)
  455.      */
  456.     public ParameterDriver getCrsDriver() {
  457.         return crsDriver;
  458.     }

  460.     /** Get amplitude of the sine harmonic correction term to the orbit radius.
  461.      * @return amplitude of the sine harmonic correction term to the orbit radius (m)
  462.      */
  463.     public double getCrs() {
  464.         return getCrsDriver().getValue();
  465.     }

  467.     /** Set amplitude of the sine harmonic correction term to the orbit radius.
  468.      * @param crs amplitude of the sine harmonic correction term to the orbit radius (m)
  469.      */
  470.     public void setCrs(final double crs) {
  471.         getCrsDriver().setValue(crs);
  472.     }

  474.     /** Get the driver for the amplitude of the cosine harmonic correction term to the angle of inclination.
  475.      * @return driver for the amplitude of the cosine harmonic correction term to the angle of inclination (rad)
  476.      */
  477.     public ParameterDriver getCicDriver() {
  478.         return cicDriver;
  479.     }

  481.     /** Get amplitude of the cosine harmonic correction term to the angle of inclination.
  482.      * @return amplitude of the cosine harmonic correction term to the angle of inclination (rad)
  483.      */
  484.     public double getCic() {
  485.         return getCicDriver().getValue();
  486.     }

  488.     /** Set amplitude of the cosine harmonic correction term to the angle of inclination.
  489.      * @param cic amplitude of the cosine harmonic correction term to the angle of inclination (rad)
  490.      */
  491.     public void setCic(final double cic) {
  492.         getCicDriver().setValue(cic);
  493.     }

  495.     /** Get the driver for the amplitude of the sine harmonic correction term to the angle of inclination.
  496.      * @return driver for the amplitude of the sine harmonic correction term to the angle of inclination (rad)
  497.      */
  498.     public ParameterDriver getCisDriver() {
  499.         return cisDriver;
  500.     }

  502.     /** Get amplitude of the sine harmonic correction term to the angle of inclination.
  503.      * @return amplitude of the sine harmonic correction term to the angle of inclination (rad)
  504.      */
  505.     public double getCis() {
  506.         return getCisDriver().getValue();
  507.     }

  509.     /** Set amplitude of the sine harmonic correction term to the angle of inclination.
  510.      * @param cis amplitude of the sine harmonic correction term to the angle of inclination (rad)
  511.      */
  512.     public void setCis(final double cis) {
  513.         getCisDriver().setValue(cis);
  514.     }

  516. }
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