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//
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// stdafx.h
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//
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#ifndef sgp4_h
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#define sgp4_h
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//#define WIN32_LEAN_AND_MEAN // Exclude rarely-used stuff from Windows headers
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#include <stdio.h>
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//#include <tchar.h>
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#include <ctype.h>
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#include <string>
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#include <map>
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#include <vector>
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#include <algorithm>
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#include <assert.h>
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#include <time.h>
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#include <math.h>
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using namespace std;
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//
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// globals.h
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//
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const double PI = 3.141592653589793;
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const double TWOPI = 2.0 * PI;
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const double RADS_PER_DEG = PI / 180.0;
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const double GM = 398601.2; // Earth gravitational constant, km^3/sec^2
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const double GEOSYNC_ALT = 42241.892; // km
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const double EARTH_DIA = 12800.0; // km
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const double DAY_SIDERAL = (23 * 3600) + (56 * 60) + 4.09; // sec
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const double DAY_24HR = (24 * 3600); // sec
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const double AE = 1.0;
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const double AU = 149597870.0; // Astronomical unit (km) (IAU 76)
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const double SR = 696000.0; // Solar radius (km) (IAU 76)
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const double TWOTHRD = 2.0 / 3.0;
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const double XKMPER_WGS72 = 6378.135; // Earth equatorial radius - km (WGS '72)
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const double F = 1.0 / 298.26; // Earth flattening (WGS '72)
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const double GE = 398600.8; // Earth gravitational constant (WGS '72)
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const double J2 = 1.0826158E-3; // J2 harmonic (WGS '72)
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const double J3 = -2.53881E-6; // J3 harmonic (WGS '72)
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const double J4 = -1.65597E-6; // J4 harmonic (WGS '72)
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const double CK2 = J2 / 2.0;
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const double CK4 = -3.0 * J4 / 8.0;
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const double XJ3 = J3;
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const double E6A = 1.0e-06;
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const double QO = AE + 120.0 / XKMPER_WGS72;
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const double S = AE + 78.0 / XKMPER_WGS72;
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const double HR_PER_DAY = 24.0; // Hours per day (solar)
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const double MIN_PER_DAY = 1440.0; // Minutes per day (solar)
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const double SEC_PER_DAY = 86400.0; // Seconds per day (solar)
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const double OMEGA_E = 1.00273790934; // earth rotation per sideral day
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const double XKE = sqrt(3600.0 * GE / //sqrt(ge) ER^3/min^2
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(XKMPER_WGS72 * XKMPER_WGS72 * XKMPER_WGS72));
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const double QOMS2T = pow((QO - S), 4); //(QO - S)^4 ER^4
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// Utility functions
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double sqr (const double x);
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double Fmod2p(const double arg);
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double AcTan (const double sinx, double cosx);
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double rad2deg(const double);
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double deg2rad(const double);
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//
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// coord.h
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//
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// Copyright 2002-2003 Michael F. Henry
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//
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//////////////////////////////////////////////////////////////////////
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// Geocentric coordinates.
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class cCoordGeo
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{
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public:
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cCoordGeo();
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cCoordGeo(double lat, double lon, double alt) :
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m_Lat(lat), m_Lon(lon), m_Alt(alt) {}
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virtual ~cCoordGeo() {};
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double m_Lat; // Latitude, radians (negative south)
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double m_Lon; // Longitude, radians (negative west)
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double m_Alt; // Altitude, km (above mean sea level)
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};
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//////////////////////////////////////////////////////////////////////
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// Topocentric-Horizon coordinates.
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class cCoordTopo
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{
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public:
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cCoordTopo();
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cCoordTopo(double az, double el, double rng, double rate) :
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m_Az(az), m_El(el), m_Range(rng), m_RangeRate(rate) {}
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virtual ~cCoordTopo() {};
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double m_Az; // Azimuth, radians
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double m_El; // Elevation, radians
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double m_Range; // Range, kilometers
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double m_RangeRate; // Range rate of change, km/sec
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// Negative value means "towards observer"
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};
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// cVector.h: interface for the cVector class.
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//
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// Copyright 2003 (c) Michael F. Henry
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//
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//////////////////////////////////////////////////////////////////////
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class cVector
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{
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public:
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cVector(double x = 0.0, double y = 0.0, double z = 0.0, double w = 0.0) :
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m_x(x), m_y(y), m_z(z), m_w(w) {}
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virtual ~cVector() {};
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void Sub(const cVector&); // subtraction
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void Mul(double factor); // multiply each component by 'factor'
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double Angle(const cVector&) const; // angle between two vectors
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double Magnitude() const; // vector magnitude
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double Dot(const cVector& vec) const; // dot product
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// protected:
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double m_x;
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double m_y;
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double m_z;
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double m_w;
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};
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//
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// cTle.h
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//
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// This class will accept a single set of two-line elements and then allow
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// a client to request specific fields, such as epoch, mean motion,
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// etc., from the set.
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//
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// Copyright 1996-2003 Michael F. Henry
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//
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/////////////////////////////////////////////////////////////////////////////
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class cTle
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{
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public:
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cTle(string&, string&, string&);
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cTle(const cTle &tle);
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~cTle();
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enum eTleLine
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{
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LINE_ZERO,
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LINE_ONE,
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LINE_TWO
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};
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enum eField
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{
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FLD_FIRST,
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FLD_NORADNUM = FLD_FIRST,
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FLD_INTLDESC,
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FLD_SET, // TLE set number
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FLD_EPOCHYEAR, // Epoch: Last two digits of year
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FLD_EPOCHDAY, // Epoch: Fractional Julian Day of year
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FLD_ORBITNUM, // Orbit at epoch
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FLD_I, // Inclination
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FLD_RAAN, // R.A. ascending node
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FLD_E, // Eccentricity
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FLD_ARGPER, // Argument of perigee
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FLD_M, // Mean anomaly
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FLD_MMOTION, // Mean motion
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FLD_MMOTIONDT, // First time derivative of mean motion
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FLD_MMOTIONDT2,// Second time derivative of mean motion
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FLD_BSTAR, // BSTAR Drag
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FLD_LAST // MUST be last
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};
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enum eUnits
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{
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U_FIRST,
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U_RAD = U_FIRST, // radians
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U_DEG, // degrees
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U_NATIVE, // TLE format native units (no conversion)
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U_LAST // MUST be last
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};
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void Initialize();
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static int CheckSum(const string&);
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static bool IsValidLine(string&, eTleLine);
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static string ExpToDecimal(const string&);
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static void TrimLeft(string&);
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static void TrimRight(string&);
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double getField(eField fld, // which field to retrieve
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eUnits unit = U_NATIVE, // return units in rad, deg etc.
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string *pstr = NULL, // return ptr for str value
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bool bStrUnits = false) // 'true': append units to str val
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const;
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string getName() const { return m_strName; }
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string getLine1() const { return m_strLine1;}
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string getLine2() const { return m_strLine2;}
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protected:
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static double ConvertUnits(double val, eField fld, eUnits units);
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private:
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string getUnits(eField) const;
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double getFieldNumeric(eField) const;
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// Satellite name and two data lines
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string m_strName;
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string m_strLine1;
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string m_strLine2;
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// Converted fields, in atof()-readable form
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string m_Field[FLD_LAST];
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// Cache of field values in "double" format
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typedef int FldKey;
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FldKey Key(eUnits u, eField f) const { return (u * 100) + f; }
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mutable map<FldKey, double> m_mapCache;
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};
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///////////////////////////////////////////////////////////////////////////
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//
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// TLE data format
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//
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// [Reference: T.S. Kelso]
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//
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// Two line element data consists of three lines in the following format:
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//
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// AAAAAAAAAAAAAAAAAAAAAA
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// 1 NNNNNU NNNNNAAA NNNNN.NNNNNNNN +.NNNNNNNN +NNNNN-N +NNNNN-N N NNNNN
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// 2 NNNNN NNN.NNNN NNN.NNNN NNNNNNN NNN.NNNN NNN.NNNN NN.NNNNNNNNNNNNNN
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//
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// Line 0 is a twenty-two-character name.
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//
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// Lines 1 and 2 are the standard Two-Line Orbital Element Set Format identical
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// to that used by NORAD and NASA. The format description is:
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//
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// Line 1
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// Column Description
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// 01-01 Line Number of Element Data
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// 03-07 Satellite Number
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// 10-11 International Designator (Last two digits of launch year)
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// 12-14 International Designator (Launch number of the year)
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// 15-17 International Designator (Piece of launch)
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// 19-20 Epoch Year (Last two digits of year)
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// 21-32 Epoch (Julian Day and fractional portion of the day)
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// 34-43 First Time Derivative of the Mean Motion
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// or Ballistic Coefficient (Depending on ephemeris type)
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// 45-52 Second Time Derivative of Mean Motion (decimal point assumed;
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// blank if N/A)
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// 54-61 BSTAR drag term if GP4 general perturbation theory was used.
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// Otherwise, radiation pressure coefficient. (Decimal point assumed)
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// 63-63 Ephemeris type
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// 65-68 Element number
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// 69-69 Check Sum (Modulo 10)
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// (Letters, blanks, periods, plus signs = 0; minus signs = 1)
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//
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// Line 2
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// Column Description
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// 01-01 Line Number of Element Data
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// 03-07 Satellite Number
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// 09-16 Inclination [Degrees]
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// 18-25 Right Ascension of the Ascending Node [Degrees]
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// 27-33 Eccentricity (decimal point assumed)
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// 35-42 Argument of Perigee [Degrees]
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// 44-51 Mean Anomaly [Degrees]
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// 53-63 Mean Motion [Revs per day]
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// 64-68 Revolution number at epoch [Revs]
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// 69-69 Check Sum (Modulo 10)
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//
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// All other columns are blank or fixed.
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//
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// Example:
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//
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// NOAA 6
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// 1 11416U 86 50.28438588 0.00000140 67960-4 0 5293
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// 2 11416 98.5105 69.3305 0012788 63.2828 296.9658 14.24899292346978
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//
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// cJulian.h
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//
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// Copyright (c) 2003 Michael F. Henry
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//
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//
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// See note in cJulian.cpp for information on this class and the epoch dates
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//
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const double EPOCH_JAN1_00H_1900 = 2415019.5; // Jan 1.0 1900 = Jan 1 1900 00h UTC
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const double EPOCH_JAN1_12H_1900 = 2415020.0; // Jan 1.5 1900 = Jan 1 1900 12h UTC
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const double EPOCH_JAN1_12H_2000 = 2451545.0; // Jan 1.5 2000 = Jan 1 2000 12h UTC
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//////////////////////////////////////////////////////////////////////////////
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class cJulian
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{
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public:
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cJulian() { Initialize(2000, 1); }
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explicit cJulian(time_t t); // Create from time_t
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explicit cJulian(int year, double day); // Create from year, day of year
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explicit cJulian(int year, // i.e., 2004
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int mon, // 1..12
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int day, // 1..31
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int hour, // 0..23
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int min, // 0..59
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double sec = 0.0); // 0..(59.999999...)
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~cJulian() {};
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double toGMST() const; // Greenwich Mean Sidereal Time
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double toLMST(double lon) const; // Local Mean Sideral Time
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time_t toTime() const; // To time_t type - avoid using
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double FromJan1_00h_1900() const { return m_Date - EPOCH_JAN1_00H_1900; }
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double FromJan1_12h_1900() const { return m_Date - EPOCH_JAN1_12H_1900; }
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double FromJan1_12h_2000() const { return m_Date - EPOCH_JAN1_12H_2000; }
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void getComponent(int *pYear, int *pMon = NULL, double *pDOM = NULL) const;
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double getDate() const { return m_Date; }
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void addDay (double day) { m_Date += day; }
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void addHour(double hr ) { m_Date += (hr / HR_PER_DAY ); }
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void addMin (double min) { m_Date += (min / MIN_PER_DAY); }
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void addSec (double sec) { m_Date += (sec / SEC_PER_DAY); }
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double spanDay (const cJulian& b) const { return m_Date - b.m_Date; }
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double spanHour(const cJulian& b) const { return spanDay(b) * HR_PER_DAY; }
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double spanMin (const cJulian& b) const { return spanDay(b) * MIN_PER_DAY; }
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double spanSec (const cJulian& b) const { return spanDay(b) * SEC_PER_DAY; }
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static bool IsLeapYear(int y)
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{ return (y % 4 == 0 && y % 100 != 0) || (y % 400 == 0); }
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protected:
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void Initialize(int year, double day);
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double m_Date; // Julian date
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};
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//
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// cEci.h
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//
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// Copyright (c) 2003 Michael F. Henry
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//
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//////////////////////////////////////////////////////////////////////
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// class cEci
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// Encapsulates an Earth-Centered Inertial position, velocity, and time.
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class cEci
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{
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public:
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cEci() { m_VecUnits = UNITS_NONE; }
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cEci(const cCoordGeo &geo, const cJulian &cJulian);
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cEci(const cVector &pos, const cVector &vel,
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const cJulian &date, bool IsAeUnits = true);
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virtual ~cEci() {};
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cCoordGeo toGeo();
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cVector getPos() const { return m_pos; }
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cVector getVel() const { return m_vel; }
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cJulian getDate() const { return m_date; }
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void setUnitsAe() { m_VecUnits = UNITS_AE; }
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void setUnitsKm() { m_VecUnits = UNITS_KM; }
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bool UnitsAreAe() const { return m_VecUnits == UNITS_AE; }
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bool UnitsAreKm() const { return m_VecUnits == UNITS_KM; }
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void ae2km(); // Convert position, velocity vector units from AE to km
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protected:
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void MulPos(double factor) { m_pos.Mul(factor); }
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void MulVel(double factor) { m_vel.Mul(factor); }
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enum VecUnits
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{
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UNITS_NONE, // not initialized
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UNITS_AE,
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UNITS_KM,
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};
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cVector m_pos;
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cVector m_vel;
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cJulian m_date;
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VecUnits m_VecUnits;
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};
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//
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// cNoradBase.h
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//
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// This class provides a base class for the NORAD SGP4/SDP4
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// orbit models.
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//
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// Copyright (c) 2003 Michael F. Henry
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//
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#pragma once
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| 389 |
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| 390 |
//////////////////////////////////////////////////////////////////////////////
|
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| 392 |
class cEci;
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class cOrbit;
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//////////////////////////////////////////////////////////////////////////////
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class cNoradBase
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{
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public:
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| 400 |
cNoradBase(const cOrbit&);
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virtual ~cNoradBase() {};
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virtual bool getPosition(double tsince, cEci &eci) = 0;
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| 405 |
protected:
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cNoradBase& operator=(const cNoradBase&);
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| 407 |
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| 408 |
void Initialize();
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| 409 |
bool FinalPosition(double incl, double omega, double e,
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| 410 |
double a, double xl, double xnode,
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| 411 |
double xn, double tsince, cEci &eci);
|
| 412 |
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| 413 |
const cOrbit &m_Orbit;
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| 414 |
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| 415 |
// Orbital parameter variables which need only be calculated one
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// time for a given orbit (ECI position time-independent).
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double m_satInc; // inclination
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| 418 |
double m_satEcc; // eccentricity
|
| 419 |
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| 420 |
double m_cosio; double m_theta2; double m_x3thm1; double m_eosq;
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| 421 |
double m_betao2; double m_betao; double m_aodp; double m_xnodp;
|
| 422 |
double m_s4; double m_qoms24; double m_perigee; double m_tsi;
|
| 423 |
double m_eta; double m_etasq; double m_eeta; double m_coef;
|
| 424 |
double m_coef1; double m_c1; double m_c2; double m_c3;
|
| 425 |
double m_c4; double m_sinio; double m_a3ovk2; double m_x1mth2;
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| 426 |
double m_xmdot; double m_omgdot; double m_xhdot1; double m_xnodot;
|
| 427 |
double m_xnodcf; double m_t2cof; double m_xlcof; double m_aycof;
|
| 428 |
double m_x7thm1;
|
| 429 |
};
|
| 430 |
//
|
| 431 |
// cOrbit.h
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//
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// This is the header file for the class cOrbit. This class accepts a
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// single satellite's NORAD two-line element set and provides information
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// regarding the satellite's orbit such as period, axis length,
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// ECI coordinates/velocity, etc., using the SGP4/SDP4 orbital models.
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//
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// Copyright (c) 2002-2003 Michael F. Henry
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//
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#pragma once
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#include "math.h"
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using namespace std;
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//////////////////////////////////////////////////////////////////////////////
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class cVector;
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class cGeoCoord;
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class cEci;
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//////////////////////////////////////////////////////////////////////////////
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class cOrbit
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{
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public:
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cOrbit(const cTle &tle);
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virtual ~cOrbit();
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// Return satellite ECI data at given minutes since element's epoch.
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bool getPosition(double tsince, cEci *pEci) const;
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double Inclination() const { return radGet(cTle::FLD_I); }
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double Eccentricity() const { return m_tle.getField(cTle::FLD_E); }
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double RAAN() const { return radGet(cTle::FLD_RAAN); }
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double ArgPerigee() const { return radGet(cTle::FLD_ARGPER); }
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double BStar() const { return m_tle.getField(cTle::FLD_BSTAR) / AE;}
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double Drag() const { return m_tle.getField(cTle::FLD_MMOTIONDT); }
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double mnMotion() const { return m_tle.getField(cTle::FLD_MMOTION); }
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double mnAnomaly() const { return radGet(cTle::FLD_M); }
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double mnAnomaly(cJulian t) const; // mean anomaly (in radians) at time t
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cJulian Epoch() const { return m_jdEpoch; }
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double TPlusEpoch(const cJulian &t) const; // time span [t - epoch] in secs
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string SatName(bool fAppendId = false) const;
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// "Recovered" from the input elements
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double SemiMajor() const { return m_aeAxisSemiMajorRec; }
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double SemiMinor() const { return m_aeAxisSemiMinorRec; }
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double mnMotionRec() const { return m_mnMotionRec; } // mn motion, rads/min
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double Major() const { return 2.0 * SemiMajor(); } // major axis in AE
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double Minor() const { return 2.0 * SemiMinor(); } // minor axis in AE
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double Perigee() const { return m_kmPerigeeRec; } // perigee in km
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double Apogee() const { return m_kmApogeeRec; } // apogee in km
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double Period() const; // period in seconds
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protected:
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double radGet(cTle::eField fld) const
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{ return m_tle.getField(fld, cTle::U_RAD); }
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double degGet(cTle::eField fld) const
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{ return m_tle.getField(fld, cTle::U_DEG); }
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private:
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cTle m_tle;
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cJulian m_jdEpoch;
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cNoradBase *m_pNoradModel;
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// Caching variables; note units are not necessarily the same as tle units
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mutable double m_secPeriod;
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// Caching variables recovered from the input TLE elements
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double m_aeAxisSemiMinorRec; // semi-minor axis, in AE units
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double m_aeAxisSemiMajorRec; // semi-major axis, in AE units
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double m_mnMotionRec; // radians per minute
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double m_kmPerigeeRec; // perigee, in km
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double m_kmApogeeRec; // apogee, in km
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| 508 |
};
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|
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//
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| 511 |
// cNoradSGP4.h
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| 512 |
//
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| 513 |
// This class implements the NORAD Simple General Perturbation 4 orbit
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| 514 |
// model. This model provides the ECI coordiantes/velocity of satellites
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| 515 |
// with orbit periods less than 225 minutes.
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| 516 |
//
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| 517 |
// Copyright (c) 2003 Michael F. Henry
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| 518 |
//
|
| 519 |
#pragma once
|
| 520 |
|
| 521 |
class cOrbit;
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| 522 |
|
| 523 |
//////////////////////////////////////////////////////////////////////////////
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class cNoradSGP4 : public cNoradBase
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{
|
| 526 |
public:
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| 527 |
cNoradSGP4(const cOrbit &orbit);
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| 528 |
virtual ~cNoradSGP4() {};
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| 529 |
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virtual bool getPosition(double tsince, cEci &eci);
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| 531 |
|
| 532 |
protected:
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| 533 |
double m_c5;
|
| 534 |
double m_omgcof;
|
| 535 |
double m_xmcof;
|
| 536 |
double m_delmo;
|
| 537 |
double m_sinmo;
|
| 538 |
};
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| 539 |
|
| 540 |
//
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| 541 |
// cNoradSDP4.h
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| 542 |
//
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| 543 |
// This class implements the NORAD Simple Deep Perturbation 4 orbit
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| 544 |
// model. This model provides the ECI coordinates/velocity of satellites
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// with periods >= 225 minutes.
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//
|
| 547 |
// Copyright (c) 2003 Michael F. Henry
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| 548 |
//
|
| 549 |
#pragma once
|
| 550 |
|
| 551 |
class cOrbit;
|
| 552 |
|
| 553 |
//////////////////////////////////////////////////////////////////////////////
|
| 554 |
class cNoradSDP4 : public cNoradBase
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| 555 |
{
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| 556 |
public:
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| 557 |
cNoradSDP4(const cOrbit &orbit);
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| 558 |
virtual ~cNoradSDP4() {};
|
| 559 |
|
| 560 |
virtual bool getPosition(double tsince, cEci &eci);
|
| 561 |
|
| 562 |
protected:
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| 563 |
bool DeepInit(double *eosq, double *sinio, double *cosio, double *m_betao,
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| 564 |
double *m_aodp, double *m_theta2, double *m_sing, double *m_cosg,
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| 565 |
double *m_betao2,double *xmdot, double *omgdot, double *xnodott);
|
| 566 |
|
| 567 |
bool DeepSecular(double *xmdf, double *omgadf,double *xnode, double *emm,
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| 568 |
double *xincc, double *xnn, double *tsince);
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bool DeepCalcDotTerms (double *pxndot, double *pxnddt, double *pxldot);
|
| 570 |
void DeepCalcIntegrator(double *pxndot, double *pxnddt, double *pxldot,
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| 571 |
const double &delt);
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| 572 |
bool DeepPeriodics(double *e, double *xincc, double *omgadf,
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| 573 |
double *xnode, double *xmam);
|
| 574 |
double m_sing;
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double m_cosg;
|
| 576 |
|
| 577 |
// Deep Initialization
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| 578 |
double eqsq; double siniq; double cosiq; double rteqsq; double ao;
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| 579 |
double cosq2; double sinomo; double cosomo; double bsq; double xlldot;
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| 580 |
double omgdt; double xnodot;
|
| 581 |
|
| 582 |
// Deep Secular, Periodic
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| 583 |
double xll; double omgasm; double xnodes; double _em;
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| 584 |
double xinc; double xn; double t;
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| 585 |
|
| 586 |
// Variables shared by "Deep" routines
|
| 587 |
double dp_e3; double dp_ee2; double dp_savtsn; double dp_se2;
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| 588 |
double dp_se3; double dp_sgh2; double dp_sgh3; double dp_sgh4;
|
| 589 |
double dp_sghs; double dp_sh2; double dp_sh3; double dp_si2;
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| 590 |
double dp_si3; double dp_sl2; double dp_sl3; double dp_sl4;
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| 591 |
double dp_xgh2; double dp_xgh3; double dp_xgh4; double dp_xh2;
|
| 592 |
double dp_xh3; double dp_xi2; double dp_xi3; double dp_xl2;
|
| 593 |
double dp_xl3; double dp_xl4; double dp_xqncl; double dp_zmol;
|
| 594 |
double dp_zmos;
|
| 595 |
|
| 596 |
double dp_atime; double dp_d2201; double dp_d2211; double dp_d3210;
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| 597 |
double dp_d3222; double dp_d4410; double dp_d4422; double dp_d5220;
|
| 598 |
double dp_d5232; double dp_d5421; double dp_d5433; double dp_del1;
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| 599 |
double dp_del2; double dp_del3; double dp_fasx2; double dp_fasx4;
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| 600 |
double dp_fasx6; double dp_omegaq; double dp_sse; double dp_ssg;
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| 601 |
double dp_ssh; double dp_ssi; double dp_ssl; double dp_step2;
|
| 602 |
double dp_stepn; double dp_stepp; double dp_thgr; double dp_xfact;
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| 603 |
double dp_xlamo; double dp_xli; double dp_xni;
|
| 604 |
|
| 605 |
bool dp_iresfl;
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| 606 |
bool dp_isynfl;
|
| 607 |
|
| 608 |
// DeepInit vars that change with epoch
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| 609 |
double dpi_c; double dpi_ctem; double dpi_day; double dpi_gam;
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| 610 |
double dpi_stem; double dpi_xnodce; double dpi_zcosgl; double dpi_zcoshl;
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| 611 |
double dpi_zcosil; double dpi_zsingl; double dpi_zsinhl; double dpi_zsinil;
|
| 612 |
double dpi_zx; double dpi_zy;
|
| 613 |
|
| 614 |
};
|
| 615 |
|
| 616 |
#endif
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