GNSSOrbitalElementsDriversProvider.java
/* Copyright 2022-2025 Luc Maisonobe
* Licensed to CS GROUP (CS) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership.
* CS licenses this file to You under the Apache License, Version 2.0
* (the "License"); you may not use this file except in compliance with
* the License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package org.orekit.propagation.analytical.gnss.data;
import org.hipparchus.util.FastMath;
import org.orekit.gnss.SatelliteSystem;
import org.orekit.time.AbsoluteDate;
import org.orekit.time.GNSSDate;
import org.orekit.time.TimeScales;
import org.orekit.utils.ParameterDriver;
import org.orekit.utils.ParameterDriversProvider;
import org.orekit.utils.ParameterObserver;
import org.orekit.utils.TimeSpanMap;
import java.util.Arrays;
import java.util.List;
/** This class manages the non-keplerian parameter drivers for
* {@link GNSSOrbitalElements} and {@link FieldGnssOrbitalElements}.
* <p>
* In both primitive double and field classes, only the non-Keplerian parameters
* are returned in the {@link #getParametersDrivers()} method, the Keplerian orbital
* parameters must be accessed independently. These groups ensure proper separate
* computation of state transition matrix and Jacobian matrix by
* {@link org.orekit.propagation.analytical.gnss.GNSSPropagator} and
* {@link org.orekit.propagation.analytical.gnss.FieldGnssPropagator}.
* </p>
* @since 13.0
* @author Luc Maisonobe
*/
public abstract class GNSSOrbitalElementsDriversProvider
implements ParameterDriversProvider {
/** Name for time parameter. */
public static final String TIME = "GnssTime";
/** Name for change rate in semi-major axis parameter.
* @since 14.0
*/
public static final String A_DOT = "GnssADot";
/** Name for delta of satellite mean motion.
* @since 14.0
*/
public static final String DELTA_N0 = "GnssDeltaN0";
/** Name for change rate in Δn₀.
* @since 14.0
*/
public static final String DELTA_N0_DOT = "GnssDeltaN0Dot";
/** Name for inclination rate parameter. */
public static final String INCLINATION_RATE = "GnssInclinationRate";
/** Name for longitude rate parameter. */
public static final String LONGITUDE_RATE = "GnssLongitudeRate";
/** Name for cosine of latitude argument harmonic parameter. */
public static final String LATITUDE_COSINE = "GnssLatitudeCosine";
/** Name for sine of latitude argument harmonic parameter. */
public static final String LATITUDE_SINE = "GnssLatitudeSine";
/** Name for cosine of orbit radius harmonic parameter. */
public static final String RADIUS_COSINE = "GnssRadiusCosine";
/** Name for sine of orbit radius harmonic parameter. */
public static final String RADIUS_SINE = "GnssRadiusSine";
/** Name for cosine of inclination harmonic parameter. */
public static final String INCLINATION_COSINE = "GnssInclinationCosine";
/** Name for sine of inclination harmonic parameter. */
public static final String INCLINATION_SINE = "GnssInclinationSine";
/** Index of time in the list returned by {@link #getParametersDrivers()}. */
public static final int TIME_INDEX = 0;
/** Index of change rate in semi-major axis parameter in the list returned by {@link #getParametersDrivers()}.
* @since 14.0
*/
public static final int A_DOT_INDEX = TIME_INDEX + 1;
/** Index of delta of satellite mean motion in the list returned by {@link #getParametersDrivers()}.
* @since 14.0
*/
public static final int DELTA_N0_INDEX = A_DOT_INDEX + 1;
/** Index of change rate in Δn₀ in the list returned by {@link #getParametersDrivers()}.
* @since 14.0
*/
public static final int DELTA_N0_DOT_INDEX = DELTA_N0_INDEX + 1;
/** Index of inclination rate in the list returned by {@link #getParametersDrivers()}. */
public static final int I_DOT_INDEX = DELTA_N0_DOT_INDEX + 1;
/** Index of longitude rate in the list returned by {@link #getParametersDrivers()}. */
public static final int OMEGA_DOT_INDEX = I_DOT_INDEX + 1;
/** Index of cosine on latitude argument in the list returned by {@link #getParametersDrivers()}. */
public static final int CUC_INDEX = OMEGA_DOT_INDEX + 1;
/** Index of sine on latitude argument in the list returned by {@link #getParametersDrivers()}. */
public static final int CUS_INDEX = CUC_INDEX + 1;
/** Index of cosine on radius in the list returned by {@link #getParametersDrivers()}. */
public static final int CRC_INDEX = CUS_INDEX + 1;
/** Index of sine on radius in the list returned by {@link #getParametersDrivers()}. */
public static final int CRS_INDEX = CRC_INDEX + 1;
/** Index of cosine on inclination in the list returned by {@link #getParametersDrivers()}. */
public static final int CIC_INDEX = CRS_INDEX + 1;
/** Index of sine on inclination in the list returned by {@link #getParametersDrivers()}. */
public static final int CIS_INDEX = CIC_INDEX + 1;
/** Size of parameters array. */
public static final int SIZE = CIS_INDEX + 1;
/** Mean angular velocity of the Earth for the GNSS model. */
private final double angularVelocity;
/** Duration of the GNSS cycle in weeks. */
private final int weeksInCycle;
/** Duration of the GNSS cycle in seconds. */
private final double cycleDuration;
/** Satellite system to use for interpreting week number. */
private final SatelliteSystem system;
/** Known time scales. */
private final TimeScales timeScales;
/** PRN number of the satellite. */
private int prn;
/** Reference Week of the orbit. */
private int week;
/** Reference time. */
private final ParameterDriver timeDriver;
/** Change rate in semi-major axis (m/s).
* @since 14.0
*/
private final ParameterDriver aDotDriver;
/** Delta of satellite mean motion.
* @since 14.0
*/
private final ParameterDriver deltaN0Driver;
/** Change rate in Δn₀.
* @since 14.0
*/
private final ParameterDriver deltaN0DotDriver;
/** Inclination rate (rad/s). */
private final ParameterDriver iDotDriver;
/** Rate of right ascension (rad/s). */
private final ParameterDriver domDriver;
/** Amplitude of the cosine harmonic correction term to the argument of latitude. */
private final ParameterDriver cucDriver;
/** Amplitude of the sine harmonic correction term to the argument of latitude. */
private final ParameterDriver cusDriver;
/** Amplitude of the cosine harmonic correction term to the orbit radius. */
private final ParameterDriver crcDriver;
/** Amplitude of the sine harmonic correction term to the orbit radius. */
private final ParameterDriver crsDriver;
/** Amplitude of the cosine harmonic correction term to the inclination. */
private final ParameterDriver cicDriver;
/** Amplitude of the sine harmonic correction term to the inclination. */
private final ParameterDriver cisDriver;
/** Constructor.
* @param angularVelocity mean angular velocity of the Earth for the GNSS model
* @param weeksInCycle number of weeks in the GNSS cycle
* @param timeScales known time scales
* @param system satellite system to consider for interpreting week number
* (may be different from real system, for example in Rinex nav, weeks
* are always according to GPS)
*/
protected GNSSOrbitalElementsDriversProvider(final double angularVelocity, final int weeksInCycle,
final TimeScales timeScales, final SatelliteSystem system) {
// immutable fields
this.angularVelocity = angularVelocity;
this.weeksInCycle = weeksInCycle;
this.cycleDuration = GNSSConstants.GNSS_WEEK_IN_SECONDS * weeksInCycle;
this.system = system;
this.timeScales = timeScales;
this.timeDriver = createDriver(TIME, -10);
this.aDotDriver = createDriver(A_DOT, -10);
this.deltaN0Driver = createDriver(DELTA_N0, -36);
this.deltaN0DotDriver = createDriver(DELTA_N0_DOT, -46);
this.iDotDriver = createDriver(INCLINATION_RATE, -34);
this.domDriver = createDriver(LONGITUDE_RATE, -34);
this.cucDriver = createDriver(LATITUDE_COSINE, -24);
this.cusDriver = createDriver(LATITUDE_SINE, -24);
this.crcDriver = createDriver(RADIUS_COSINE, 0);
this.crsDriver = createDriver(RADIUS_SINE, 0);
this.cicDriver = createDriver(INCLINATION_COSINE, -24);
this.cisDriver = createDriver(INCLINATION_SINE, -24);
// automatically update date when time driver is updated
timeDriver.addObserver(new ParameterObserver() {
/** {@inheritDoc} */
@Override
public void valueChanged(final double previousValue, final ParameterDriver driver,
final AbsoluteDate date) {
setGnssDate(new GNSSDate(week, driver.getValue(), system, timeScales));
}
/** {@inheritDoc} */
@Override
public void valueSpanMapChanged(final TimeSpanMap<Double> previousValueSpanMap,
final ParameterDriver driver) {
// nothing to do
}
});
}
/** Copy drivers selection settings from another instance.
* @param original original instance providing selection settings
*/
protected void copySelectionSettings(final GNSSOrbitalElementsDriversProvider original) {
timeDriver.setSelected(original.timeDriver.isSelected());
aDotDriver.setSelected(original.aDotDriver.isSelected());
deltaN0Driver.setSelected(original.deltaN0Driver.isSelected());
deltaN0DotDriver.setSelected(original.deltaN0DotDriver.isSelected());
iDotDriver.setSelected(original.iDotDriver.isSelected());
domDriver.setSelected(original.domDriver.isSelected());
cucDriver.setSelected(original.cucDriver.isSelected());
cusDriver.setSelected(original.cusDriver.isSelected());
crcDriver.setSelected(original.crcDriver.isSelected());
crsDriver.setSelected(original.crsDriver.isSelected());
cicDriver.setSelected(original.cicDriver.isSelected());
cisDriver.setSelected(original.cisDriver.isSelected());
}
/** Set GNSS date.
* @param gnssDate GNSS date
*/
protected abstract void setGnssDate(GNSSDate gnssDate);
/** Create parameter driver.
* @param name name of the driver
* @param scalePower power of two of the scale parameter
* @return build driver
*/
protected static ParameterDriver createDriver(final String name,
final int scalePower) {
return new ParameterDriver(name, 0, FastMath.scalb(1.0, scalePower),
Double.NEGATIVE_INFINITY, Double.POSITIVE_INFINITY);
}
/** Get satellite system.
* @return satellite system
*/
public SatelliteSystem getSystem() {
return system;
}
/** Get known time scales.
* @return known time scales
*/
public TimeScales getTimeScales() {
return timeScales;
}
/** {@inheritDoc}
* <p>
* Only the 12 non-Keplerian evolution parameters are listed here,
* i.e. {@link #getTimeDriver()} (at index {@link #TIME_INDEX}),
* {@link #getADotDriver()} (at index {@link #A_DOT_INDEX}),
* {@link #getDeltaN0Driver()} (at index {@link #DELTA_N0_INDEX}),
* {@link #getDeltaN0DotDriver()} (at index {@link #DELTA_N0_DOT_INDEX}),
* {@link #getIDotDriver()} (at index {@link #I_DOT_INDEX}),
* {@link #getOmegaDotDriver()} (at index {@link #OMEGA_DOT_INDEX}),
* {@link #getCucDriver()} (at index {@link #CUC_INDEX}),
* {@link #getCusDriver()} (at index {@link #CUS_INDEX}),
* {@link #getCrcDriver()} (at index {@link #CRC_INDEX}),
* {@link #getCrsDriver()} (at index {@link #CRS_INDEX}),
* {@link #getCicDriver()} (at index {@link #CIC_INDEX}),
* and {@link #getCisDriver()} (at index {@link #CIS_INDEX})
* </p>
* <p>
* The Keplerian orbital parameters drivers are not included.
* </p>
*/
@Override
public List<ParameterDriver> getParametersDrivers() {
// ensure the parameters are really at the advertised indices
final ParameterDriver[] array = new ParameterDriver[SIZE];
array[TIME_INDEX] = getTimeDriver();
array[A_DOT_INDEX] = getADotDriver();
array[DELTA_N0_INDEX] = getDeltaN0Driver();
array[DELTA_N0_DOT_INDEX] = getDeltaN0DotDriver();
array[I_DOT_INDEX] = getIDotDriver();
array[OMEGA_DOT_INDEX] = getOmegaDotDriver();
array[CUC_INDEX] = getCucDriver();
array[CUS_INDEX] = getCusDriver();
array[CRC_INDEX] = getCrcDriver();
array[CRS_INDEX] = getCrsDriver();
array[CIC_INDEX] = getCicDriver();
array[CIS_INDEX] = getCisDriver();
return Arrays.asList(array);
}
/** Copy non-Keplerian elements.
* @param original original instance to copy from
* @since 14.0
*/
protected void copyNonKeplerian(final GNSSOrbitalElementsDriversProvider original) {
setPRN(original.getPRN());
setWeek(original.getWeek());
setTime(original.getTime());
setADot(original.getADot());
setDeltaN0(original.getDeltaN0());
setDeltaN0Dot(original.getDeltaN0Dot());
setIDot(original.getIDot());
setOmegaDot(original.getOmegaDot());
setCuc(original.getCuc());
setCus(original.getCus());
setCrc(original.getCrc());
setCrs(original.getCrs());
setCic(original.getCic());
setCis(original.getCis());
}
/** Get the mean angular velocity of the Earth of the GNSS model.
* @return mean angular velocity of the Earth of the GNSS model
*/
public double getAngularVelocity() {
return angularVelocity;
}
/** Get for the duration of the GNSS cycle in weeks.
* @return the duration of the GNSS cycle in weeks
*/
public int getWeeksInCycle() {
return weeksInCycle;
}
/** Get for the duration of the GNSS cycle in seconds.
* @return the duration of the GNSS cycle in seconds
*/
public double getCycleDuration() {
return cycleDuration;
}
/** Get the PRN number of the satellite.
* @return PRN number of the satellite
*/
public int getPRN() {
return prn;
}
/** Set the PRN number of the satellite.
* @param number the prn number ot set
*/
public void setPRN(final int number) {
this.prn = number;
}
/** Get the reference week of the orbit.
* @return reference week of the orbit
*/
public int getWeek() {
return week;
}
/** Set the reference week of the orbit.
* @param week the week to set
*/
public void setWeek(final int week) {
this.week = week;
setGnssDate(new GNSSDate(week, timeDriver.getValue(), system, timeScales));
}
/** Get the driver for reference time of the GNSS orbit as a duration from week start.
* @return driver for the reference time of the GNSS orbit (s)
*/
public ParameterDriver getTimeDriver() {
return timeDriver;
}
/** Get reference time of the GNSS orbit as a duration from week start.
* @return reference time of the GNSS orbit (s)
*/
public double getTime() {
return getTimeDriver().getValue();
}
/** Set reference time of the GNSS orbit as a duration from week start.
* @param time reference time of the GNSS orbit (s)
*/
public void setTime(final double time) {
getTimeDriver().setValue(time);
}
/** Check if elements correspond to a civilian message.
* @return true if elements correspond to a civilian message
* @since 14.0
*/
public boolean isCivilianMessage() {
return false;
}
/** Get driver for the change rate in semi-major axis.
* @return driver for the change rate in semi-major axis
* @since 14.0
*/
public ParameterDriver getADotDriver() {
return aDotDriver;
}
/** Get change rate in semi-major axis.
* @return the change rate in semi-major axis
* @since 14.0
*/
public double getADot() {
return getADotDriver().getValue();
}
/** Set change rate in semi-major axis.
* @param aDot change rate in semi-major axis
* @since 14.0
*/
public void setADot(final double aDot) {
getADotDriver().setValue(aDot);
}
/** Get the driver for delta of satellite mean motion.
* @return driver for delta of satellite mean motion
* @since 14.0
*/
public ParameterDriver getDeltaN0Driver() {
return deltaN0Driver;
}
/** Get the delta of satellite mean motion.
* @return the delta of satellite mean motion
* @since 14.0
*/
public double getDeltaN0() {
return getDeltaN0Driver().getValue();
}
/** Set the delta of satellite mean motion.
* @param deltaN0 the value to set
* @since 14.0
*/
public void setDeltaN0(final double deltaN0) {
getDeltaN0Driver().setValue(deltaN0);
}
/** Get the driver for change rate in Δn₀.
* @return driver for change rate in Δn₀
* @since 14.0
*/
public ParameterDriver getDeltaN0DotDriver() {
return deltaN0DotDriver;
}
/** Get the change rate in Δn₀.
* @return change rate in Δn₀
* @since 14.0
*/
public double getDeltaN0Dot() {
return getDeltaN0DotDriver().getValue();
}
/** Set the change rate in Δn₀.
* @param deltaN0Dot change rate in Δn₀
* @since 14.0
*/
public void setDeltaN0Dot(final double deltaN0Dot) {
getDeltaN0DotDriver().setValue(deltaN0Dot);
}
/** Get the driver for the rate of inclination angle.
* @return driver for the rate of inclination angle (rad/s)
*/
public ParameterDriver getIDotDriver() {
return iDotDriver;
}
/** Get rate of inclination angle.
* @return rate of inclination angle (rad/s)
*/
public double getIDot() {
return getIDotDriver().getValue();
}
/** Set the driver for the rate of inclination angle.
* @param iDot rate of inclination angle (rad/s)
*/
public void setIDot(final double iDot) {
getIDotDriver().setValue(iDot);
}
/** Get the driver for the rate of right ascension.
* @return driver for the rate of right ascension (rad/s)
*/
public ParameterDriver getOmegaDotDriver() {
return domDriver;
}
/** Get rate of right ascension.
* @return rate of right ascension (rad/s)
*/
public double getOmegaDot() {
return getOmegaDotDriver().getValue();
}
/** Set rate of right ascension.
* @param dom rate of right ascension (rad/s)
*/
public void setOmegaDot(final double dom) {
getOmegaDotDriver().setValue(dom);
}
/** Get the driver for the amplitude of the cosine harmonic correction term to the argument of latitude.
* @return driver for the amplitude of the cosine harmonic correction term to the argument of latitude (rad)
*/
public ParameterDriver getCucDriver() {
return cucDriver;
}
/** Get amplitude of the cosine harmonic correction term to the argument of latitude.
* @return amplitude of the cosine harmonic correction term to the argument of latitude (rad)
*/
public double getCuc() {
return getCucDriver().getValue();
}
/** Set amplitude of the cosine harmonic correction term to the argument of latitude.
* @param cuc amplitude of the cosine harmonic correction term to the argument of latitude (rad)
*/
public void setCuc(final double cuc) {
getCucDriver().setValue(cuc);
}
/** Get the driver for the amplitude of the sine harmonic correction term to the argument of latitude.
* @return driver for the amplitude of the sine harmonic correction term to the argument of latitude (rad)
*/
public ParameterDriver getCusDriver() {
return cusDriver;
}
/** Get amplitude of the sine harmonic correction term to the argument of latitude.
* @return amplitude of the sine harmonic correction term to the argument of latitude (rad)
*/
public double getCus() {
return getCusDriver().getValue();
}
/** Set amplitude of the sine harmonic correction term to the argument of latitude.
* @param cus amplitude of the sine harmonic correction term to the argument of latitude (rad)
*/
public void setCus(final double cus) {
getCusDriver().setValue(cus);
}
/** Get the driver for the amplitude of the cosine harmonic correction term to the orbit radius.
* @return driver for the amplitude of the cosine harmonic correction term to the orbit radius (m)
*/
public ParameterDriver getCrcDriver() {
return crcDriver;
}
/** Get amplitude of the cosine harmonic correction term to the orbit radius.
* @return amplitude of the cosine harmonic correction term to the orbit radius (m)
*/
public double getCrc() {
return getCrcDriver().getValue();
}
/** Set amplitude of the cosine harmonic correction term to the orbit radius.
* @param crc amplitude of the cosine harmonic correction term to the orbit radius (m)
*/
public void setCrc(final double crc) {
getCrcDriver().setValue(crc);
}
/** Get the driver for the amplitude of the sine harmonic correction term to the orbit radius.
* @return driver for the amplitude of the sine harmonic correction term to the orbit radius (m)
*/
public ParameterDriver getCrsDriver() {
return crsDriver;
}
/** Get amplitude of the sine harmonic correction term to the orbit radius.
* @return amplitude of the sine harmonic correction term to the orbit radius (m)
*/
public double getCrs() {
return getCrsDriver().getValue();
}
/** Set amplitude of the sine harmonic correction term to the orbit radius.
* @param crs amplitude of the sine harmonic correction term to the orbit radius (m)
*/
public void setCrs(final double crs) {
getCrsDriver().setValue(crs);
}
/** Get the driver for the amplitude of the cosine harmonic correction term to the angle of inclination.
* @return driver for the amplitude of the cosine harmonic correction term to the angle of inclination (rad)
*/
public ParameterDriver getCicDriver() {
return cicDriver;
}
/** Get amplitude of the cosine harmonic correction term to the angle of inclination.
* @return amplitude of the cosine harmonic correction term to the angle of inclination (rad)
*/
public double getCic() {
return getCicDriver().getValue();
}
/** Set amplitude of the cosine harmonic correction term to the angle of inclination.
* @param cic amplitude of the cosine harmonic correction term to the angle of inclination (rad)
*/
public void setCic(final double cic) {
getCicDriver().setValue(cic);
}
/** Get the driver for the amplitude of the sine harmonic correction term to the angle of inclination.
* @return driver for the amplitude of the sine harmonic correction term to the angle of inclination (rad)
*/
public ParameterDriver getCisDriver() {
return cisDriver;
}
/** Get amplitude of the sine harmonic correction term to the angle of inclination.
* @return amplitude of the sine harmonic correction term to the angle of inclination (rad)
*/
public double getCis() {
return getCisDriver().getValue();
}
/** Set amplitude of the sine harmonic correction term to the angle of inclination.
* @param cis amplitude of the sine harmonic correction term to the angle of inclination (rad)
*/
public void setCis(final double cis) {
getCisDriver().setValue(cis);
}
}