Detailed Description

References:

D.D.McCarthy, IERS Technical Note 21, IERS Conventions 1996, July 1996
D.D.McCarthy and G.Petit, IERS Technical Note 32, IERS Conventions 2003, November 2003
D.A.Vallado, Fundamentals of Astrodynamics and Applications 2nd ed, Space Technology Library, 2004
J.Kouba, A Guide to using International GNSS Service (IGS) products, May 2009
RTCM Paper, April 12, 2010, Proposed SSR Messages for SV Orbit Clock, Code Biases, URA
MacMillan et al., Atmospheric gradients and the VLBI terrestrial and celestial reference frames, Geophys. Res. Let., 1997
G.Petit and B.Luzum (eds), IERS Technical Note No. 36, IERS Conventions (2010), 2010
J.Kouba, A simplified yaw-attitude model for eclipsing GPS satellites, GPS Solutions, 13:1-12, 2009
F.Dilssner, GPS IIF-1 satellite antenna phase center and attitude modeling, InsideGNSS, September, 2010
F.Dilssner, The GLONASS-M satellite yaw-attitude model, Advances in Space Research, 2010
IGS MGEX (http://igs.org/mgex)

Data Structures
struct	SatGeom

Functions
void	testEclipse (ObsList &obsList)
	exclude meas of eclipsing satellite (block IIA)

SatGeom	satOrbitGeometry (SatPos &satPos)
	Calculates satellite orbit geometry - for use in calculating modelled yaw.

double	nominalYawGps (double beta, double mu)
	Calculate nominal (ideal) sat yaw for GPS sats Returns result between (-PI, PI].

double	nominalYawGpsAtTime (SatGeom &satGeom, GTime time, GTime reqTime)
	Calculate nominal sat yaw for GPS sats at a given time Returns result between (-PI, PI].

double	nominalYawRate (SatGeom &satGeom)
	Calculates nominal yaw rate.

bool	findCatchupStart (GTime earliestTime, GTime time, SatGeom satGeom, double maxYawRate, GTime &catchupTime, double dt=-1)
	Finds time when max yaw-rate catch-up started, previous to this point in time.

double	circleAreaVisible (double r1, double r2, double d)
	Calculates proportion of circle 1 visible with overlapping circle 2.

double	sunVisibility (Vector3d &rSat, Vector3d &rSun, Vector3d &rMoon)
	Calculates fraction of Sun's disk visible by spacecraft 0 = full eclipse (umbra) 0 < fraction < 1 = partial eclipse (within penumbra) 1 = no eclipse (outside penumbra)

bool	inEclipse (Vector3d &rSat, Vector3d &rSun, Vector3d &rMoon)
	Returns true if satellite is in eclipse (shadow umbra); else false.

void	sunMoonPos (GTime time, VectorEcef &rSun, VectorEcef &rMoon)

GTime	findEclipseBoundaries (GTime time, SatGeom &satGeom, bool searchForward)
	Finds time when eclipse started, prior (default) to this point in time For finding eclipses forward in time, set dt to some positive value.

bool	satYawGpsIIR (SatSys &Sat, AttStatus &attStatus, GTime time, SatGeom &satGeom, double betaBias=0)
	Yaw model for GPS-IIR sats Ref: http://acc.igs.org/orbits/EclipseReadMe.pdf Ref: https://igsac-cnes.cls.fr/documents/meeting/2021_04_28_Strasser_et_al_EGU21.pdf Ref: https://www.researchgate.net/publication/306924379_Observed_features_of_GPS_Block_IIF_satellite_yaw_maneuvers_and_corresponding_modeling Returns false if no modelled yaw available.

bool	satYawGpsIIA (SatSys &Sat, AttStatus &attStatus, GTime time, SatGeom &satGeom)
	Yaw model for GPS-IIA sats Ref: http://acc.igs.org/orbits/EclipseReadMe.pdf Ref: https://igsac-cnes.cls.fr/documents/meeting/2021_04_28_Strasser_et_al_EGU21.pdf Ref: https://tda.jpl.nasa.gov/progress_report/42-123/123B.pdf Returns false if no modelled yaw available.

bool	satYawGpsIIF (SatSys &Sat, AttStatus &attStatus, GTime time, SatGeom &satGeom)
	Yaw model for GPS-IIF sats Ref: https://www.researchgate.net/publication/306924379_Observed_features_of_GPS_Block_IIF_satellite_yaw_maneuvers_and_corresponding_modeling Returns false if no modelled yaw available.

bool	satYawGpsIII (AttStatus &attStatus, SatGeom &satGeom)
	Yaw model for GPS-III sats Ref: https://www.gpsworld.com/new-type-on-the-block-generating-high-precision-orbits-for-gps-iii-satellites/.

double	nominalYawGalIov (Vector3d &eSunOrf)
	Calculate nominal (ideal) sat yaw for GAL-IOV sats.

bool	satYawGalIov (SatSys &Sat, AttStatus &attStatus, GTime time, SatGeom &satGeom)
	Yaw model for GAL IOV sats.

double	smoothedYaw (double startYaw, GTime startTime, GTime time, double tMax)
	Smoothed yaw steering for GAL & BDS.

double	colinearAngle (double mu)
	Calculates colinear angle - the scalar angle between midnight or noon, whichever is closest.

bool	satYawGalFoc (SatSys &Sat, AttStatus &attStatus, GTime time, SatGeom &satGeom)
	Yaw model for GAL FOC sats.

void	findCentredYawStart (GTime earliestTime, GTime time, SatGeom &satGeom, double maxYawRate, GTime &startTime, double &startYaw, double dt=-1)
	Finds time when midnight/noon-centred max yaw started, previous to this point in time.

bool	satYawGlo (SatSys &Sat, AttStatus &attStatus, GTime time, SatGeom &satGeom)
	Yaw model for GLONASS sats Returns false if no modelled yaw available Ref: https://igsac-cnes.cls.fr/documents/meeting/2021_04_28_Strasser_et_al_EGU21.pdf.

bool	satYawGloK (SatSys &Sat, AttStatus &attStatus, GTime time, SatGeom &satGeom)
	Yaw model for GLONASS Block K sats Note: no yaw model exists for GLONASS-K yet.

double	orbitNormalYaw ()
	Orbit-normal mode yaw (always zero)

bool	satYawOrbNor (AttStatus &attStatus, double nominalYaw=0)
	Orbit normal yaw model Will set nominalYaw & modelYaw to the orbit-normal yaw (0 or PI) closest to the given nominal yaw.

bool	satYawQzs1 (SatSys &Sat, AttStatus &attStatus, GTime time, SatGeom &satGeom, bool *orbitNormal=nullptr)
	Yaw model for QZSS-1 satellites Requires qzss_yaw_modes.snx - generated by scripts/qzss_ohi_merge.py and ohi-qzs*.txt's from https://qzss.go.jp/en/technical/qzssinfo/index.html Ref: https://qzss.go.jp/en/technical/qzssinfo/index.html.

bool	satYawQzs2I (SatSys &Sat, AttStatus &attStatus, GTime time, SatGeom &satGeom)
	Yaw model for QZSS-2I & QZSS-2A satellites Requires qzss_yaw_modes.snx - generated by scripts/qzss_ohi_merge.py and ohi-qzs*.txt's from https://qzss.go.jp/en/technical/qzssinfo/index.html Ref: https://qzss.go.jp/en/technical/qzssinfo/index.html.

bool	satYawBds3 (AttStatus &attStatus, GTime time, SatGeom &satGeom, double tMax)
	Yaw model for BDS-3I/3M satellites Ref: https://doi.org/10.1007/s10291-018-0783-1 https://doi.org/10.1017/S0373463318000103.

bool	satYawBds2 (SatSys &Sat, AttStatus &attStatus, GTime time, SatGeom &satGeom, double tMax)
	Yaw model for BDS-2I/2M satellites Requires bds_yaw_modes.snx Ref: https://doi.org/10.1007/s10291-018-0783-1 https://doi.org/10.1017/S0373463318000103.

bool	satYawBds3Secm (AttStatus &attStatus, SatGeom &satGeom)
	Yaw model for BDS-3M-SECM satellites Ref: https://doi.org/10.48550/arXiv.2112.13252.

void	yawToAttVecs (Vector3d &rSat, Vector3d &satVel, double yaw, Vector3d &eXSat, Vector3d &eYSat, Vector3d &eZSat)
	Calculates unit vectors of satellite-fixed coordinates (ECEF) given yaw (assuming Z+ is facing toward Earth)

void	updateSatYaw (SatPos &satPos, AttStatus &attStatus)
	Calculates nominal & model yaw.

bool	satAttModel (Vector3d &rSat, Vector3d &vSat, AttStatus &attStatus, E_Source source)
	Recalls satellite nominal/model attitude Returns false if attitude is invalid.

Matrix3d	rotBasisMat (Vector3d &eX, Vector3d &eY, Vector3d &eZ)
	Converts coords of frame A (expressed in frame G) into transformation matrix from A to G E.g.

void	updateAntAtt (Vector3d &bore, Vector3d &azim, AttStatus &attStatus)
	Calculates antenna attitude - unit vectors of antenna-fixed coordinates (ECEF)

bool	preciseAttitude (string id, GTime time, AttStatus &attStatus)
	Retrieves precise attitude (from file) - unit vectors of satellite-fixed coordinates (ECEF) Returns false if no attitude available (e.g.

bool	kalmanAttitude (string id, GTime time, AttStatus &attStatus, const KFState *kfState_ptr)

bool	updateSatAtt (SatSys &Sat, GTime time, VectorEcef &rSat, VectorEcef &vSat, vector< E_Source > attitudeTypes, AttStatus &attStatus)
	Calculates satellite attitude - unit vectors of satellite-fixed coordinates (ECEF) Returns false if no attitude available (e.g.

bool	updateSatAtt (SatPos &satPos, vector< E_Source > attitudeTypes, AttStatus &attStatus)
	Satellite attitude - calculates unit vectors of satellite-fixed coordinates (ECEF) Returns false if no attitude available (usually due to eclipse)

bool	satQuat (SatPos &satPos, vector< E_Source > attitudeTypes, Quaterniond &quat)
	Satellite attitude - calculates attitude of satellite as a quaternion (ECEF) Also transforms coordinates in body frame into ECEF Returns false if no attitude available (usually due to eclipse)

void	updateSatAtts (SatPos &satPos)
	Update sat nominal/model yaws.

bool	basicRecAttitude (Receiver &rec, AttStatus &attStatus)
	Nominal receiver attitude - unit vectors of receiver-fixed coordinates (ECEF) Orientation of receiver body frame for nominal receiver attitude: x -> east y -> north z -> up.

void	recAtt (Receiver &rec, GTime time, vector< E_Source > attitudeTypes, const KFState kfState_ptr, const KFState remote_ptr)
	Attitude of receiver.

void	phaseWindup (GObs &obs, Receiver &rec, double &phw)
	phase windup model

Function Documentation

◆ basicRecAttitude()

bool basicRecAttitude	(	Receiver &	rec,
		AttStatus &	attStatus )

Nominal receiver attitude - unit vectors of receiver-fixed coordinates (ECEF) Orientation of receiver body frame for nominal receiver attitude: x -> east y -> north z -> up.

Parameters

rec	Receiver position (ECEF)
attStatus	Attitude status

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◆ circleAreaVisible()

double circleAreaVisible	(	double	r1,
		double	r2,
		double	d )

Calculates proportion of circle 1 visible with overlapping circle 2.

Parameters

r1	radius of circle 1
r2	radius of circle 2
d	distance between circle centres

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◆ colinearAngle()

double colinearAngle ( double mu )

Calculates colinear angle - the scalar angle between midnight or noon, whichever is closest.

Parameters

mu	Mu angle (rad)

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◆ findCatchupStart()

bool findCatchupStart	(	GTime	earliestTime,
		GTime	time,
		SatGeom	satGeom,
		double	maxYawRate,
		GTime &	catchupTime,
		double	dt = -1 )

Finds time when max yaw-rate catch-up started, previous to this point in time.

Parameters

earliestTime	Search backwards until this time
time	Solution time
satGeom	Satellite geometry (copy)
maxYawRate	Maximum yaw rate (rad/s)
catchupTime	Time of catchup start
dt	Time step to search backwards by (sec)

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◆ findCentredYawStart()

void findCentredYawStart	(	GTime	earliestTime,
		GTime	time,
		SatGeom &	satGeom,
		double	maxYawRate,
		GTime &	startTime,
		double &	startYaw,
		double	dt = -1 )

Finds time when midnight/noon-centred max yaw started, previous to this point in time.

Parameters

earliestTime	Search backwards until this time
time	Solution time
satGeom	Satellite geometry
maxYawRate	Maximum yaw rate (rad/s)
startTime	Time at max yaw start
startYaw	Yaw at time of max yaw start
dt	Time step to search backwards by (sec)

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◆ findEclipseBoundaries()

GTime findEclipseBoundaries	(	GTime	time,
		SatGeom &	satGeom,
		bool	searchForward )

Finds time when eclipse started, prior (default) to this point in time For finding eclipses forward in time, set dt to some positive value.

Parameters

time	Solution time
satGeom	Satellite geometry
searchForward	Search forward in time

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◆ inEclipse()

bool inEclipse	(	Vector3d &	rSat,
		Vector3d &	rSun,
		Vector3d &	rMoon )

Returns true if satellite is in eclipse (shadow umbra); else false.

Parameters

rSat	Satellite position (ECEF)
rSun	Sun position (ECEF)
rMoon	Moon position (ECEF)

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◆ kalmanAttitude()

bool kalmanAttitude	(	string	id,
		GTime	time,
		AttStatus &	attStatus,
		const KFState *	kfState_ptr )

Parameters

id	Satellite/receiver ID
time	Solution time
attStatus	Attitude status

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◆ nominalYawGalIov()

double nominalYawGalIov ( Vector3d & eSunOrf )

Calculate nominal (ideal) sat yaw for GAL-IOV sats.

Follows IGS convention. Roughly equal to nominalYawGps() Ref: https://www.gsc-europa.eu/support-to-developers/galileo-satellite-metadata#3.1

Parameters

eSunOrf Unit vector to Sun in Orbital reference frame {A,-C,-R}

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◆ nominalYawGps()

double nominalYawGps	(	double	beta,
		double	mu )

Calculate nominal (ideal) sat yaw for GPS sats Returns result between (-PI, PI].

Parameters

beta	Sun elevation angle with respect to the orbital plane
mu	Angle of sat from 'midnight' (when sat is at the furthest point from Sun in its orbit)

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◆ nominalYawGpsAtTime()

double nominalYawGpsAtTime	(	SatGeom &	satGeom,
		GTime	time,
		GTime	reqTime )

Calculate nominal sat yaw for GPS sats at a given time Returns result between (-PI, PI].

Parameters

satGeom	Satellite geometry
time	Time of satGeom
reqTime	Requested time

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◆ nominalYawRate()

double nominalYawRate ( SatGeom & satGeom )

Calculates nominal yaw rate.

Parameters

satGeom Satellite geometry

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◆ orbitNormalYaw()

double orbitNormalYaw ( )

Orbit-normal mode yaw (always zero)

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◆ phaseWindup()

void phaseWindup	(	GObs &	obs,
		Receiver &	rec,
		double &	phw )

phase windup model

Parameters

obs	Observation detailing the satellite to apply model to
rec	Position of receiver (ECEF)
phw	Output of phase windup result

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◆ preciseAttitude()

bool preciseAttitude	(	string	id,
		GTime	time,
		AttStatus &	attStatus )

Retrieves precise attitude (from file) - unit vectors of satellite-fixed coordinates (ECEF) Returns false if no attitude available (e.g.

not found in file, not enough data to interpolate, etc.)

Parameters

id	Satellite/receiver ID
time	Solution time
attStatus	Attitude status

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◆ recAtt()

void recAtt	(	Receiver &	rec,
		GTime	time,
		vector< E_Source >	attitudeTypes,
		const KFState *	kfState_ptr,
		const KFState *	remote_ptr )

Attitude of receiver.

Parameters

rec	Receiver
time	Time
attitudeTypes	Attitude type

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◆ rotBasisMat()

Matrix3d rotBasisMat	(	Vector3d &	eX,
		Vector3d &	eY,
		Vector3d &	eZ )

Converts coords of frame A (expressed in frame G) into transformation matrix from A to G E.g.

if eX/eY/eZ are body coordinates (frame A) in ECEF (frame G), matrix will transform from body frame to ECEF frame: ecef = rot * body.

Parameters

eX	X+ unit vector of new coordinates
eY	Y+ unit vector of new coordinates
eZ	Z+ unit vector of new coordinates

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◆ satAttModel()

bool satAttModel	(	Vector3d &	rSat,
		Vector3d &	vSat,
		AttStatus &	attStatus,
		E_Source	source )

Recalls satellite nominal/model attitude Returns false if attitude is invalid.

Parameters

rSat	Satellite position (ECEF)
vSat	Satellite velocity (ECEF)
attStatus	Attitude status for orientation
source	Type of attitude model to return

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◆ satOrbitGeometry()

SatGeom satOrbitGeometry ( SatPos & satPos )

Calculates satellite orbit geometry - for use in calculating modelled yaw.

Parameters

satPos Observation

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◆ satQuat()

bool satQuat	(	SatPos &	satPos,
		vector< E_Source >	attitudeTypes,
		Quaterniond &	quat )

Satellite attitude - calculates attitude of satellite as a quaternion (ECEF) Also transforms coordinates in body frame into ECEF Returns false if no attitude available (usually due to eclipse)

Parameters

satPos	observation
attitudeTypes	Attitude type
quat	Rotation of satellite from ECEF

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◆ satYawBds2()

bool satYawBds2	(	SatSys &	Sat,
		AttStatus &	attStatus,
		GTime	time,
		SatGeom &	satGeom,
		double	tMax )

Yaw model for BDS-2I/2M satellites Requires bds_yaw_modes.snx Ref: https://doi.org/10.1007/s10291-018-0783-1 https://doi.org/10.1017/S0373463318000103.

Parameters

Sat	Satellite ID
attStatus	Satellite att status
time	Solution time
satGeom	Satellite geometry
tMax	Maximum mnvr time

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◆ satYawBds3()

bool satYawBds3	(	AttStatus &	attStatus,
		GTime	time,
		SatGeom &	satGeom,
		double	tMax )

Yaw model for BDS-3I/3M satellites Ref: https://doi.org/10.1007/s10291-018-0783-1 https://doi.org/10.1017/S0373463318000103.

Parameters

attStatus	Satellite att status
time	Solution time
satGeom	Satellite geometry
tMax	Maximum mnvr time

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◆ satYawBds3Secm()

bool satYawBds3Secm	(	AttStatus &	attStatus,
		SatGeom &	satGeom )

Yaw model for BDS-3M-SECM satellites Ref: https://doi.org/10.48550/arXiv.2112.13252.

Parameters

attStatus	Satellite att status
satGeom	Satellite geometry

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◆ satYawGalFoc()

bool satYawGalFoc	(	SatSys &	Sat,
		AttStatus &	attStatus,
		GTime	time,
		SatGeom &	satGeom )

Yaw model for GAL FOC sats.

Follows IGS convention. Returns false if no modelled yaw available Ref: https://www.gsc-europa.eu/support-to-developers/galileo-satellite-metadata#3.1

Parameters

Sat	Satellite ID
attStatus	Satellite yaw status
time	Solution time
satGeom	Satellite geometry

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◆ satYawGalIov()

bool satYawGalIov	(	SatSys &	Sat,
		AttStatus &	attStatus,
		GTime	time,
		SatGeom &	satGeom )

Yaw model for GAL IOV sats.

Follows original GAL convention. Returns false if no modelled yaw available. Aux Sun vector is not provided in [1], so is taken from [2] Ref: https://www.gsc-europa.eu/support-to-developers/galileo-satellite-metadata#3.1 Ref: https://github.com/groops-devs/groops/blob/main/source/programs/simulation/simulateStarCameraGnss.cpp

Parameters

Sat	Satellite ID
attStatus	Satellite att status
time	Solution time
satGeom	Satellite geometry

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◆ satYawGlo()

bool satYawGlo	(	SatSys &	Sat,
		AttStatus &	attStatus,
		GTime	time,
		SatGeom &	satGeom )

Yaw model for GLONASS sats Returns false if no modelled yaw available Ref: https://igsac-cnes.cls.fr/documents/meeting/2021_04_28_Strasser_et_al_EGU21.pdf.

Parameters

Sat	Satellite ID
attStatus	Satellite att status
time	Solution time
satGeom	Satellite geometry

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◆ satYawGloK()

bool satYawGloK	(	SatSys &	Sat,
		AttStatus &	attStatus,
		GTime	time,
		SatGeom &	satGeom )

Yaw model for GLONASS Block K sats Note: no yaw model exists for GLONASS-K yet.

Parameters

Sat	Satellite ID
attStatus	Satellite att status
time	Solution time
satGeom	Satellite geometry

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◆ satYawGpsIIA()

bool satYawGpsIIA	(	SatSys &	Sat,
		AttStatus &	attStatus,
		GTime	time,
		SatGeom &	satGeom )

Yaw model for GPS-IIA sats Ref: http://acc.igs.org/orbits/EclipseReadMe.pdf Ref: https://igsac-cnes.cls.fr/documents/meeting/2021_04_28_Strasser_et_al_EGU21.pdf Ref: https://tda.jpl.nasa.gov/progress_report/42-123/123B.pdf Returns false if no modelled yaw available.

Parameters

Sat	Satellite ID
attStatus	Satellite att status
time	Solution time
satGeom	Satellite geometry

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◆ satYawGpsIIF()

bool satYawGpsIIF	(	SatSys &	Sat,
		AttStatus &	attStatus,
		GTime	time,
		SatGeom &	satGeom )

Yaw model for GPS-IIF sats Ref: https://www.researchgate.net/publication/306924379_Observed_features_of_GPS_Block_IIF_satellite_yaw_maneuvers_and_corresponding_modeling Returns false if no modelled yaw available.

Parameters

Sat	Satellite ID
attStatus	Satellite att status
time	Solution time
satGeom	Satellite geometry

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◆ satYawGpsIII()

bool satYawGpsIII	(	AttStatus &	attStatus,
		SatGeom &	satGeom )

Yaw model for GPS-III sats Ref: https://www.gpsworld.com/new-type-on-the-block-generating-high-precision-orbits-for-gps-iii-satellites/.

Parameters

attStatus	Satellite att status
satGeom	Satellite geometry

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◆ satYawGpsIIR()

bool satYawGpsIIR	(	SatSys &	Sat,
		AttStatus &	attStatus,
		GTime	time,
		SatGeom &	satGeom,
		double	betaBias = 0 )

Yaw model for GPS-IIR sats Ref: http://acc.igs.org/orbits/EclipseReadMe.pdf Ref: https://igsac-cnes.cls.fr/documents/meeting/2021_04_28_Strasser_et_al_EGU21.pdf Ref: https://www.researchgate.net/publication/306924379_Observed_features_of_GPS_Block_IIF_satellite_yaw_maneuvers_and_corresponding_modeling Returns false if no modelled yaw available.

Parameters

Sat	Satellite ID
attStatus	Satellite att status
time	Solution time
satGeom	Satellite geometry
betaBias	Beta angle bias

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◆ satYawOrbNor()

bool satYawOrbNor	(	AttStatus &	attStatus,
		double	nominalYaw = 0 )

Orbit normal yaw model Will set nominalYaw & modelYaw to the orbit-normal yaw (0 or PI) closest to the given nominal yaw.

Parameters

attStatus	Satellite att status
nominalYaw	Nominal yaw

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◆ satYawQzs1()

bool satYawQzs1	(	SatSys &	Sat,
		AttStatus &	attStatus,
		GTime	time,
		SatGeom &	satGeom,
		bool *	orbitNormal = nullptr )

Yaw model for QZSS-1 satellites Requires qzss_yaw_modes.snx - generated by scripts/qzss_ohi_merge.py and ohi-qzs*.txt's from https://qzss.go.jp/en/technical/qzssinfo/index.html Ref: https://qzss.go.jp/en/technical/qzssinfo/index.html.

Parameters

Sat	Satellite ID
attStatus	Satellite att status
time	Solution time
satGeom	Satellite geometry
orbitNormal	Returns true if satellite is in ON mode

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◆ satYawQzs2I()

bool satYawQzs2I	(	SatSys &	Sat,
		AttStatus &	attStatus,
		GTime	time,
		SatGeom &	satGeom )

Yaw model for QZSS-2I & QZSS-2A satellites Requires qzss_yaw_modes.snx - generated by scripts/qzss_ohi_merge.py and ohi-qzs*.txt's from https://qzss.go.jp/en/technical/qzssinfo/index.html Ref: https://qzss.go.jp/en/technical/qzssinfo/index.html.

Parameters

Sat	Satellite ID
attStatus	Satellite att status
time	Solution time
satGeom	Satellite geometry

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◆ smoothedYaw()

double smoothedYaw	(	double	startYaw,
		GTime	startTime,
		GTime	time,
		double	tMax )

Smoothed yaw steering for GAL & BDS.

Parameters

startYaw	Satellite yaw at start of modified yaw steering
startTime	Start time of modified yaw steering (due to noon/midnight turn)
time	Solution time
tMax	Maximum mnvr time

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◆ sunMoonPos()

void sunMoonPos	(	GTime	time,
		VectorEcef &	rSun,
		VectorEcef &	rMoon )

Parameters

time	Time of
rSun	Sun position (ECEF)
rMoon	Moon position (ECEF)

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◆ sunVisibility()

double sunVisibility	(	Vector3d &	rSat,
		Vector3d &	rSun,
		Vector3d &	rMoon )

Calculates fraction of Sun's disk visible by spacecraft 0 = full eclipse (umbra) 0 < fraction < 1 = partial eclipse (within penumbra) 1 = no eclipse (outside penumbra)

Parameters

rSat	Satellite position (ECEF)
rSun	Sun position (ECEF)
rMoon	Moon position (ECEF)

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◆ testEclipse()

void testEclipse ( ObsList & obsList )

exclude meas of eclipsing satellite (block IIA)

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◆ updateAntAtt()

void updateAntAtt	(	Vector3d &	bore,
		Vector3d &	azim,
		AttStatus &	attStatus )

Calculates antenna attitude - unit vectors of antenna-fixed coordinates (ECEF)

Parameters

bore	Sensor boresight vector (body frame)
azim	Sensor azimuth vector (body frame)
attStatus	Attitude status

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◆ updateSatAtt() [1/2]

bool updateSatAtt	(	SatPos &	satPos,
		vector< E_Source >	attitudeTypes,
		AttStatus &	attStatus )

Satellite attitude - calculates unit vectors of satellite-fixed coordinates (ECEF) Returns false if no attitude available (usually due to eclipse)

Parameters

satPos	satellite position data
attitudeTypes	Attitude type
attStatus	Attitude status

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◆ updateSatAtt() [2/2]

bool updateSatAtt	(	SatSys &	Sat,
		GTime	time,
		VectorEcef &	rSat,
		VectorEcef &	vSat,
		vector< E_Source >	attitudeTypes,
		AttStatus &	attStatus )

Calculates satellite attitude - unit vectors of satellite-fixed coordinates (ECEF) Returns false if no attitude available (e.g.

due to eclipse, not found in file, etc.)

Parameters

Sat	Satellite ID
time	Solution time
rSat	Satellite position (ECEF)
vSat	Satellite velocity (ECEF)
attitudeTypes	Attitude type
attStatus	Attitude status

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◆ updateSatAtts()

void updateSatAtts ( SatPos & satPos )

Update sat nominal/model yaws.

Call outside of multithreading code that may reference the same satellite in different threads

Parameters

satPos observation

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◆ updateSatYaw()

void updateSatYaw	(	SatPos &	satPos,
		AttStatus &	attStatus )

Calculates nominal & model yaw.

Parameters

satPos	Observation
attStatus	Satellite att status. Use a disposable copy if calling inside multithreaded code

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◆ yawToAttVecs()

void yawToAttVecs	(	Vector3d &	rSat,
		Vector3d &	satVel,
		double	yaw,
		Vector3d &	eXSat,
		Vector3d &	eYSat,
		Vector3d &	eZSat )

Calculates unit vectors of satellite-fixed coordinates (ECEF) given yaw (assuming Z+ is facing toward Earth)

Parameters

rSat	Sat position (ECEF)
satVel	Sat velocity (ECEF)
yaw	Yaw (rad)
eXSat	X+ unit vector of satellite-fixed coordinates (ECEF)
eYSat	Y+ unit vector of satellite-fixed coordinates (ECEF)
eZSat	Z+ unit vector of satellite-fixed coordinates (ECEF)

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Detailed Description

References:

Data Structures

Functions

Function Documentation

◆ basicRecAttitude()

◆ circleAreaVisible()

◆ colinearAngle()

◆ findCatchupStart()

◆ findCentredYawStart()

◆ findEclipseBoundaries()

◆ inEclipse()

◆ kalmanAttitude()

◆ nominalYawGalIov()

◆ nominalYawGps()

◆ nominalYawGpsAtTime()

◆ nominalYawRate()

◆ orbitNormalYaw()

◆ phaseWindup()

◆ preciseAttitude()

◆ recAtt()

◆ rotBasisMat()

◆ satAttModel()

◆ satOrbitGeometry()

◆ satQuat()

◆ satYawBds2()

◆ satYawBds3()

◆ satYawBds3Secm()

◆ satYawGalFoc()

◆ satYawGalIov()

◆ satYawGlo()

◆ satYawGloK()

◆ satYawGpsIIA()

◆ satYawGpsIIF()

◆ satYawGpsIII()

◆ satYawGpsIIR()

◆ satYawOrbNor()

◆ satYawQzs1()

◆ satYawQzs2I()

◆ smoothedYaw()

◆ sunMoonPos()

◆ sunVisibility()

◆ testEclipse()

◆ updateAntAtt()

◆ updateSatAtt() [1/2]

◆ updateSatAtt() [2/2]

◆ updateSatAtts()

◆ updateSatYaw()

◆ yawToAttVecs()