SP3.java

  1. /* Copyright 2002-2012 Space Applications Services
  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.files.sp3;

  19. import java.util.ArrayList;
  20. import java.util.Collections;
  21. import java.util.LinkedHashMap;
  22. import java.util.List;
  23. import java.util.Locale;
  24. import java.util.Map;
  25. import java.util.function.Function;

  27. import org.hipparchus.geometry.euclidean.threed.Vector3D;
  28. import org.orekit.files.general.EphemerisFile;
  29. import org.orekit.frames.Frame;
  30. import org.orekit.gnss.TimeSystem;
  31. import org.orekit.propagation.BoundedPropagator;
  32. import org.orekit.time.AbsoluteDate;
  33. import org.orekit.utils.CartesianDerivativesFilter;
  34. import org.orekit.utils.TimeStampedPVCoordinates;

  36. /**
  37.  * Represents a parsed SP3 orbit file.
  38.  * @author Thomas Neidhart
  39.  * @author Evan Ward
  40.  */
  41. public class SP3
  42.     implements EphemerisFile<SP3.SP3Coordinate, SP3.SP3Ephemeris> {
  43.     /** String representation of the center of ephemeris coordinate system. **/
  44.     public static final String SP3_FRAME_CENTER_STRING = "EARTH";

  46.     /** File type indicator. */
  47.     public enum SP3FileType {
  48.         /** GPS only file. */
  49.         GPS,
  50.         /** Mixed file. */
  51.         MIXED,
  52.         /** GLONASS only file. */
  53.         GLONASS,
  54.         /** LEO only file. */
  55.         LEO,
  56.         /** Galileo only file. */
  57.         GALILEO,
  58.         /** SBAS only file. */
  59.         SBAS,
  60.         /** IRNSS only file. */
  61.         IRNSS,
  62.         /** COMPASS only file. */
  63.         COMPASS,
  64.         /** QZSS only file. */
  65.         QZSS,
  66.         /** undefined file format. */
  67.         UNDEFINED
  68.     }

  70.     /** Orbit type indicator. */
  71.     public enum SP3OrbitType {
  72.         /** fitted. */
  73.         FIT,
  74.         /** extrapolated or predicted. */
  75.         EXT,
  76.         /** broadcast. */
  77.         BCT,
  78.         /** fitted after applying a Helmert transformation. */
  79.         HLM,
  80.         /** other type, defined by SP3 file producing agency.
  81.          * @since 9.3
  82.          */
  83.         OTHER;

  85.         /** Parse a string to get the type.
  86.          * @param s string to parse
  87.          * @return the type corresponding to the string
  88.          */
  89.         public static SP3OrbitType parseType(final String s) {
  90.             final String normalizedString = s.trim().toUpperCase(Locale.US);
  91.             if ("EST".equals(normalizedString)) {
  92.                 return FIT;
  93.             } else if ("BHN".equals(normalizedString)) {
  94.                 // ESOC navigation team uses BHN for files produced
  95.                 // by their main parameter estimation program Bahn
  96.                 return FIT;
  97.             } else if ("PRO".equals(normalizedString)) {
  98.                 // ESOC navigation team uses PRO for files produced
  99.                 // by their orbit propagation program Propag
  100.                 return EXT;
  101.             } else {
  102.                 try {
  103.                     return valueOf(normalizedString);
  104.                 } catch (IllegalArgumentException iae) {
  105.                     return OTHER;
  106.                 }
  107.             }
  108.         }

  110.     }

  112.     /** File type. */
  113.     private SP3FileType type;

  115.     /** Time system. */
  116.     private TimeSystem timeSystem;

  118.     /** Epoch of the file. */
  119.     private AbsoluteDate epoch;

  121.     /** GPS week. */
  122.     private int gpsWeek;

  124.     /** Seconds of the current GPS week. */
  125.     private double secondsOfWeek;

  127.     /** Julian day. */
  128.     private int julianDay;

  130.     /** Day fraction. */
  131.     private double dayFraction;

  133.     /** Time-interval between epochs. */
  134.     private double epochInterval;

  136.     /** Number of epochs. */
  137.     private int numberOfEpochs;

  139.     /** Coordinate system. */
  140.     private String coordinateSystem;

  142.     /** Data used indicator. */
  143.     private String dataUsed;

  145.     /** Orbit type. */
  146.     private SP3OrbitType orbitType;

  148.     /** Key for orbit type.
  149.      * @since 9.3
  150.      */
  151.     private String orbitTypeKey;

  153.     /** Agency providing the file. */
  154.     private String agency;

  156.     /** Indicates if data contains velocity or not. */
  157.     private CartesianDerivativesFilter filter;

  159.     /** Standard gravitational parameter in m^3 / s^2. */
  160.     private final double mu;

  162.     /** Number of samples to use when interpolating. */
  163.     private final int interpolationSamples;

  165.     /** Maps {@link #coordinateSystem} to a {@link Frame}. */
  166.     private final Function<? super String, ? extends Frame> frameBuilder;

  168.     /** A map containing satellite information. */
  169.     private Map<String, SP3Ephemeris> satellites;

  171.     /**
  172.      * Create a new SP3 file object.
  173.      *
  174.      * @param mu                   is the standard gravitational parameter in m^3 / s^2.
  175.      * @param interpolationSamples number of samples to use in interpolation.
  176.      * @param frameBuilder         for constructing a reference frame from the identifier
  177.      */
  178.     public SP3(final double mu,
  179.                    final int interpolationSamples,
  180.                    final Function<? super String, ? extends Frame> frameBuilder) {
  181.         this.mu = mu;
  182.         this.interpolationSamples = interpolationSamples;
  183.         this.frameBuilder = frameBuilder;
  184.         // must be linked has map to preserve order of satellites in the file.
  185.         satellites = new LinkedHashMap<>();
  186.     }

  188.     /**
  189.      * Set the derivatives filter.
  190.      *
  191.      * @param filter that indicates which derivatives of position are available.
  192.      */
  193.     public void setFilter(final CartesianDerivativesFilter filter) {
  194.         this.filter = filter;
  195.     }

  197.     /** Returns the {@link SP3FileType} associated with this SP3 file.
  198.      * @return the file type for this SP3 file
  199.      */
  200.     public SP3FileType getType() {
  201.         return type;
  202.     }

  204.     /** Set the file type for this SP3 file.
  205.      * @param fileType the file type to be set
  206.      */
  207.     public void setType(final SP3FileType fileType) {
  208.         this.type = fileType;
  209.     }

  211.     /** Returns the {@link TimeSystem} used to time-stamp position entries.
  212.      * @return the {@link TimeSystem} of the orbit file
  213.      */
  214.     public TimeSystem getTimeSystem() {
  215.         return timeSystem;
  216.     }

  218.     /** Set the time system used in this SP3 file.
  219.      * @param system the time system to be set
  220.      */
  221.     public void setTimeSystem(final TimeSystem system) {
  222.         this.timeSystem = system;
  223.     }

  225.     /** Returns the data used indicator from the SP3 file.
  226.      * @return the data used indicator (unparsed)
  227.      */
  228.     public String getDataUsed() {
  229.         return dataUsed;
  230.     }

  232.     /** Set the data used indicator for this SP3 file.
  233.      * @param data the data used indicator to be set
  234.      */
  235.     public void setDataUsed(final String data) {
  236.         this.dataUsed = data;
  237.     }

  239.     /** Returns the start epoch of the orbit file.
  240.      * @return the start epoch
  241.      */
  242.     public AbsoluteDate getEpoch() {
  243.         return epoch;
  244.     }

  246.     /** Set the epoch of the SP3 file.
  247.      * @param time the epoch to be set
  248.      */
  249.     public void setEpoch(final AbsoluteDate time) {
  250.         this.epoch = time;
  251.     }

  253.     /** Returns the GPS week as contained in the SP3 file.
  254.      * @return the GPS week of the SP3 file
  255.      */
  256.     public int getGpsWeek() {
  257.         return gpsWeek;
  258.     }

  260.     /** Set the GPS week of the SP3 file.
  261.      * @param week the GPS week to be set
  262.      */
  263.     public void setGpsWeek(final int week) {
  264.         this.gpsWeek = week;
  265.     }

  267.     /** Returns the seconds of the GPS week as contained in the SP3 file.
  268.      * @return the seconds of the GPS week
  269.      */
  270.     public double getSecondsOfWeek() {
  271.         return secondsOfWeek;
  272.     }

  274.     /** Set the seconds of the GPS week for this SP3 file.
  275.      * @param seconds the seconds to be set
  276.      */
  277.     public void setSecondsOfWeek(final double seconds) {
  278.         this.secondsOfWeek = seconds;
  279.     }

  281.     /** Returns the julian day for this SP3 file.
  282.      * @return the julian day
  283.      */
  284.     public int getJulianDay() {
  285.         return julianDay;
  286.     }

  288.     /** Set the julian day for this SP3 file.
  289.      * @param day the julian day to be set
  290.      */
  291.     public void setJulianDay(final int day) {
  292.         this.julianDay = day;
  293.     }

  295.     /** Returns the day fraction for this SP3 file.
  296.      * @return the day fraction
  297.      */
  298.     public double getDayFraction() {
  299.         return dayFraction;
  300.     }

  302.     /** Set the day fraction for this SP3 file.
  303.      * @param fraction the day fraction to be set
  304.      */
  305.     public void setDayFraction(final double fraction) {
  306.         this.dayFraction = fraction;
  307.     }

  309.     /** Returns the time interval between epochs (in seconds).
  310.      * @return the time interval between epochs
  311.      */
  312.     public double getEpochInterval() {
  313.         return epochInterval;
  314.     }

  316.     /** Set the epoch interval for this SP3 file.
  317.      * @param interval the interval between orbit entries
  318.      */
  319.     public void setEpochInterval(final double interval) {
  320.         this.epochInterval = interval;
  321.     }

  323.     /** Returns the number of epochs contained in this orbit file.
  324.      * @return the number of epochs
  325.      */
  326.     public int getNumberOfEpochs() {
  327.         return numberOfEpochs;
  328.     }

  330.     /** Set the number of epochs as contained in the SP3 file.
  331.      * @param epochCount the number of epochs to be set
  332.      */
  333.     public void setNumberOfEpochs(final int epochCount) {
  334.         this.numberOfEpochs = epochCount;
  335.     }

  337.     /** Returns the coordinate system of the entries in this orbit file.
  338.      * @return the coordinate system
  339.      */
  340.     public String getCoordinateSystem() {
  341.         return coordinateSystem;
  342.     }

  344.     /** Set the coordinate system used for the orbit entries.
  345.      * @param system the coordinate system to be set
  346.      */
  347.     public void setCoordinateSystem(final String system) {
  348.         this.coordinateSystem = system;
  349.     }

  351.     /** Returns the {@link SP3OrbitType} for this SP3 file.
  352.      * @return the orbit type
  353.      */
  354.     public SP3OrbitType getOrbitType() {
  355.         return orbitType;
  356.     }

  358.     /** Returns the orbit type key for this SP3 file.
  359.      * @return the orbit type key
  360.      * @since 9.3
  361.      */
  362.     public String getOrbitTypeKey() {
  363.         return orbitTypeKey;
  364.     }

  366.     /** Set the orbit type key for this SP3 file.
  367.      * @param oTypeKey the orbit type key to be set
  368.      * @since 9.3
  369.      */
  370.     public void setOrbitTypeKey(final String oTypeKey) {
  371.         this.orbitTypeKey = oTypeKey;
  372.         this.orbitType    = SP3OrbitType.parseType(oTypeKey);
  373.     }

  375.     /** Returns the agency that prepared this SP3 file.
  376.      * @return the agency
  377.      */
  378.     public String getAgency() {
  379.         return agency;
  380.     }

  382.     /** Set the agency string for this SP3 file.
  383.      * @param agencyStr the agency string to be set
  384.      */
  385.     public void setAgency(final String agencyStr) {
  386.         this.agency = agencyStr;
  387.     }

  389.     /** Add a new satellite with a given identifier to the list of
  390.      * stored satellites.
  391.      * @param satId the satellite identifier
  392.      */
  393.     public void addSatellite(final String satId) {
  394.         // only add satellites which have not been added before
  395.         satellites.putIfAbsent(satId, new SP3Ephemeris(satId));
  396.     }

  398.     @Override
  399.     public Map<String, SP3Ephemeris> getSatellites() {
  400.         return Collections.unmodifiableMap(satellites);
  401.     }

  403.     /** Get the number of satellites contained in this orbit file.
  404.      * @return the number of satellites
  405.      */
  406.     public int getSatelliteCount() {
  407.         return satellites.size();
  408.     }

  410.     /**
  411.      * Set the formal accuracy for a satellite.
  412.      *
  413.      * @param index    is the index of the satellite.
  414.      * @param accuracy of the satellite, in m.
  415.      */
  416.     public void setAccuracy(final int index, final double accuracy) {
  417.         int n = index;
  418.         for (final SP3Ephemeris ephemeris : satellites.values()) {
  419.             if (n == 0) {
  420.                 ephemeris.setAccuracy(accuracy);
  421.                 return;
  422.             }
  423.             n--;
  424.         }
  425.     }

  427.     /**
  428.      * Get the formal accuracy for a satellite.
  429.      *
  430.      * @param index    is the index of the satellite.
  431.      * @return accuracy of the satellite, in m.
  432.      */
  433.     public double getAccuracy(final int index) {
  434.         int n = index;
  435.         for (final SP3Ephemeris ephemeris : satellites.values()) {
  436.             if (n == 0) {
  437.                 return ephemeris.getAccuracy();
  438.             }
  439.             n--;
  440.         }
  441.         return Double.NaN;
  442.     }

  444.     /** Tests whether a satellite with the given id is contained in this orbit
  445.      * file.
  446.      * @param satId the satellite id
  447.      * @return {@code true} if the satellite is contained in the file,
  448.      *         {@code false} otherwise
  449.      */
  450.     public boolean containsSatellite(final String satId) {
  451.         return satellites.containsKey(satId);
  452.     }

  454.     /**
  455.      * Adds a new P/V coordinate for a given satellite.
  456.      *
  457.      * @param satId the satellite identifier
  458.      * @param coord the P/V coordinate of the satellite
  459.      */
  460.     public void addSatelliteCoordinate(final String satId, final SP3Coordinate coord) {
  461.         satellites.get(satId).coordinates.add(coord);
  462.     }

  464.     /** An ephemeris for a single satellite in a SP3 file. */
  465.     public class SP3Ephemeris
  466.         implements  EphemerisFile.SatelliteEphemeris<SP3Coordinate, SP3Ephemeris>,
  467.                     EphemerisFile.EphemerisSegment<SP3Coordinate> {

  469.         /** Satellite ID. */
  470.         private final String id;
  471.         /** Ephemeris Data. */
  472.         private final List<SP3Coordinate> coordinates;
  473.         /** Accuracy in m. */
  474.         private double accuracy;

  476.         /**
  477.          * Create an ephemeris for a single satellite.
  478.          *
  479.          * @param id of the satellite.
  480.          */
  481.         public SP3Ephemeris(final String id) {
  482.             this.id = id;
  483.             this.coordinates = new ArrayList<>();
  484.         }

  486.         @Override
  487.         public String getId() {
  488.             return this.id;
  489.         }

  491.         @Override
  492.         public double getMu() {
  493.             return mu;
  494.         }

  496.         @Override
  497.         public Frame getFrame() {
  498.             return frameBuilder.apply(SP3_FRAME_CENTER_STRING);
  499.         }

  501.         @Override
  502.         public int getInterpolationSamples() {
  503.             return interpolationSamples;
  504.         }

  506.         @Override
  507.         public CartesianDerivativesFilter getAvailableDerivatives() {
  508.             return filter;
  509.         }

  511.         @Override
  512.         public List<SP3Coordinate> getCoordinates() {
  513.             return Collections.unmodifiableList(this.coordinates);
  514.         }

  516.         /** Returns a list containing only {@code this}. */
  517.         @Override
  518.         public List<SP3Ephemeris> getSegments() {
  519.             return Collections.singletonList(this);
  520.         }

  522.         @Override
  523.         public AbsoluteDate getStart() {
  524.             return coordinates.get(0).getDate();
  525.         }

  527.         @Override
  528.         public AbsoluteDate getStop() {
  529.             return coordinates.get(coordinates.size() - 1).getDate();
  530.         }

  532.         @Override
  533.         public BoundedPropagator getPropagator() {
  534.             return EphemerisSegment.super.getPropagator();
  535.         }

  537.         /**
  538.          * Set the accuracy for this satellite.
  539.          *
  540.          * @param accuracy in m.
  541.          */
  542.         public void setAccuracy(final double accuracy) {
  543.             this.accuracy = accuracy;
  544.         }

  546.         /**
  547.          * Get the formal accuracy for this satellite.
  548.          *
  549.          * <p>The accuracy is limited by the SP3 standard to be a power of 2 in mm.
  550.          * The value returned here is in meters.</p>
  551.          *
  552.          * @return magnitude of one standard deviation, in m.
  553.          */
  554.         public double getAccuracy() {
  555.             return accuracy;
  556.         }

  558.     }

  560.     /** A single record of position clock and possibly derivatives in an SP3 file. */
  561.     public static class SP3Coordinate extends TimeStampedPVCoordinates {

  563.         /** Serializable UID. */
  564.         private static final long serialVersionUID = 20161116L;
  565.         /** Clock correction in s. */
  566.         private final double clock;
  567.         /** Clock rate in s / s. */
  568.         private final double clockRate;

  570.         /**
  571.          * Create a coordinate with only position.
  572.          *
  573.          * @param date     of validity.
  574.          * @param position of the satellite.
  575.          * @param clock    correction in s.
  576.          */
  577.         public SP3Coordinate(final AbsoluteDate date,
  578.                              final Vector3D position,
  579.                              final double clock) {
  580.             this(date, position, Vector3D.ZERO, clock, 0);
  581.         }

  583.         /**
  584.          * Create a coordinate with position and velocity.
  585.          *
  586.          * @param date      of validity.
  587.          * @param position  of the satellite.
  588.          * @param velocity  of the satellite.
  589.          * @param clock     correction in s.
  590.          * @param clockRate in s / s.
  591.          */
  592.         public SP3Coordinate(final AbsoluteDate date,
  593.                              final Vector3D position,
  594.                              final Vector3D velocity,
  595.                              final double clock,
  596.                              final double clockRate) {
  597.             super(date, position, velocity, Vector3D.ZERO);
  598.             this.clock = clock;
  599.             this.clockRate = clockRate;
  600.         }

  602.         /**
  603.          * Returns the clock correction value.
  604.          *
  605.          * @return the clock correction in s.
  606.          */
  607.         public double getClockCorrection() {
  608.             return clock;
  609.         }

  611.         /**
  612.          * Returns the clock rate.
  613.          *
  614.          * @return the clock rate of change in s/s.
  615.          */
  616.         public double getClockRateChange() {
  617.             return clockRate;
  618.         }

  620.     }

  622. }
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