kopia lustrzana https://github.com/f4exb/sdrangel
505 wiersze
19 KiB
C++
505 wiersze
19 KiB
C++
///////////////////////////////////////////////////////////////////////////////////
|
|
// Copyright (C) 2021 Jon Beniston, M7RCE //
|
|
// Copyright (C) 2013 Daniel Warner <contact@danrw.com> //
|
|
// //
|
|
// This program is free software; you can redistribute it and/or modify //
|
|
// it under the terms of the GNU General Public License as published by //
|
|
// the Free Software Foundation as version 3 of the License, or //
|
|
// (at your option) any later version. //
|
|
// //
|
|
// This program is distributed in the hope that it will be useful, //
|
|
// but WITHOUT ANY WARRANTY; without even the implied warranty of //
|
|
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the //
|
|
// GNU General Public License V3 for more details. //
|
|
// //
|
|
// You should have received a copy of the GNU General Public License //
|
|
// along with this program. If not, see <http://www.gnu.org/licenses/>. //
|
|
///////////////////////////////////////////////////////////////////////////////////
|
|
|
|
#include <cmath>
|
|
|
|
#include <CoordTopocentric.h>
|
|
#include <CoordGeodetic.h>
|
|
#include <Observer.h>
|
|
#include <SGP4.h>
|
|
|
|
#include "util/units.h"
|
|
|
|
#include "satellitetrackersgp4.h"
|
|
|
|
// Convert QGP4 DateTime to Qt QDataTime
|
|
static QDateTime dateTimeToQDateTime(DateTime dt)
|
|
{
|
|
QDateTime qdt(QDate(dt.Year(), dt.Month(), dt.Day()), QTime(dt.Hour(), dt.Minute(), dt.Second(), (int)(dt.Microsecond()/1000.0)), Qt::UTC);
|
|
return qdt;
|
|
}
|
|
|
|
// Convert Qt QDataTime to QGP4 DateTime
|
|
static DateTime qDateTimeToDateTime(QDateTime qdt)
|
|
{
|
|
QDateTime utc = qdt.toUTC();
|
|
QDate date = utc.date();
|
|
QTime time = utc.time();
|
|
DateTime dt(date.year(), date.month(), date.day(), time.hour(), time.minute(), time.second());
|
|
return dt;
|
|
}
|
|
|
|
// Get ground track
|
|
// Throws SatelliteException, DecayedException and TleException
|
|
void getGroundTrack(QDateTime dateTime,
|
|
const QString& tle0, const QString& tle1, const QString& tle2,
|
|
int steps, bool forward,
|
|
QList<QGeoCoordinate *>& coordinates)
|
|
{
|
|
Tle tle = Tle(tle0.toStdString(), tle1.toStdString(), tle2.toStdString());
|
|
SGP4 sgp4(tle);
|
|
OrbitalElements ele(tle);
|
|
double periodMins;
|
|
double timeStep;
|
|
|
|
// Note map doesn't support paths wrapping around Earth
|
|
DateTime currentTime = qDateTimeToDateTime(dateTime);
|
|
DateTime endTime;
|
|
if (forward)
|
|
{
|
|
periodMins = ele.Period() * 0.9;
|
|
endTime = currentTime.AddMinutes(periodMins);
|
|
timeStep = periodMins / (steps * 0.9);
|
|
}
|
|
else
|
|
{
|
|
periodMins = ele.Period() * 0.4;
|
|
endTime = currentTime.AddMinutes(-periodMins);
|
|
timeStep = -periodMins / (steps * 0.4);
|
|
}
|
|
|
|
coordinates.clear();
|
|
while ((forward && (currentTime < endTime)) || (!forward && (currentTime > endTime)))
|
|
{
|
|
// Calculate satellite position
|
|
Eci eci = sgp4.FindPosition(currentTime);
|
|
|
|
// Convert satellite position to geodetic coordinates (lat and long)
|
|
CoordGeodetic geo = eci.ToGeodetic();
|
|
|
|
QGeoCoordinate *coord = new QGeoCoordinate(Units::radiansToDegrees(geo.latitude),
|
|
Units::radiansToDegrees(geo.longitude),
|
|
geo.altitude * 1000.0);
|
|
coordinates.append(coord);
|
|
// Map is stretched at poles, so use finer steps
|
|
if (std::abs(Units::radiansToDegrees(geo.latitude)) >= 70)
|
|
currentTime = currentTime.AddMinutes(timeStep/4);
|
|
else
|
|
currentTime = currentTime.AddMinutes(timeStep);
|
|
}
|
|
}
|
|
|
|
// Find azimuth and elevation points during a pass
|
|
void getPassAzEl(QLineSeries* azimuth, QLineSeries* elevation, QLineSeries* polar,
|
|
const QString& tle0, const QString& tle1, const QString& tle2,
|
|
double latitude, double longitude, double altitude,
|
|
QDateTime& aos, QDateTime& los)
|
|
{
|
|
try
|
|
{
|
|
Tle tle = Tle(tle0.toStdString(), tle1.toStdString(), tle2.toStdString());
|
|
SGP4 sgp4(tle);
|
|
Observer obs(latitude, longitude, altitude);
|
|
|
|
DateTime aosTime = qDateTimeToDateTime(aos);
|
|
DateTime losTime = qDateTimeToDateTime(los);
|
|
DateTime currentTime(aosTime);
|
|
int steps = 20;
|
|
|
|
double timeStep = (losTime - aosTime).TotalSeconds() / steps;
|
|
if (timeStep <= 0.0)
|
|
{
|
|
qDebug() << "getPassAzEl: AOS is the same as or after LOS";
|
|
return;
|
|
}
|
|
|
|
while (currentTime <= losTime)
|
|
{
|
|
// Calculate satellite position
|
|
Eci eci = sgp4.FindPosition(currentTime);
|
|
|
|
// Calculate angle to satellite from antenna
|
|
CoordTopocentric topo = obs.GetLookAngle(eci);
|
|
|
|
// Save azimuth and elevation in series
|
|
QDateTime qdt = dateTimeToQDateTime(currentTime);
|
|
if (azimuth != nullptr)
|
|
azimuth->append(qdt.toMSecsSinceEpoch(), Units::radiansToDegrees(topo.azimuth));
|
|
if (elevation != nullptr)
|
|
elevation->append(qdt.toMSecsSinceEpoch(), Units::radiansToDegrees(topo.elevation));
|
|
if (polar != nullptr)
|
|
polar->append(Units::radiansToDegrees(topo.azimuth), 90.0-Units::radiansToDegrees(topo.elevation));
|
|
|
|
currentTime = currentTime.AddSeconds(timeStep);
|
|
}
|
|
}
|
|
catch (SatelliteException& se)
|
|
{
|
|
qDebug() << se.what();
|
|
}
|
|
catch (DecayedException& de)
|
|
{
|
|
qDebug() << de.what();
|
|
}
|
|
catch (TleException& tlee)
|
|
{
|
|
qDebug() << tlee.what();
|
|
}
|
|
}
|
|
|
|
// Get whether a pass passes through 0 degreees
|
|
bool getPassesThrough0Deg(const QString& tle0, const QString& tle1, const QString& tle2,
|
|
double latitude, double longitude, double altitude,
|
|
QDateTime& aos, QDateTime& los)
|
|
{
|
|
try
|
|
{
|
|
Tle tle = Tle(tle0.toStdString(), tle1.toStdString(), tle2.toStdString());
|
|
SGP4 sgp4(tle);
|
|
Observer obs(latitude, longitude, altitude);
|
|
|
|
DateTime aosTime = qDateTimeToDateTime(aos);
|
|
DateTime losTime = qDateTimeToDateTime(los);
|
|
DateTime currentTime(aosTime);
|
|
int steps = 20;
|
|
|
|
double timeStep = (losTime - aosTime).TotalSeconds() / steps;
|
|
|
|
double prevAz;
|
|
for (int i = 0; i < steps; i++)
|
|
{
|
|
// Calculate satellite position
|
|
Eci eci = sgp4.FindPosition(currentTime);
|
|
|
|
// Calculate angle to satellite from antenna
|
|
CoordTopocentric topo = obs.GetLookAngle(eci);
|
|
|
|
double az = Units::radiansToDegrees(topo.azimuth);
|
|
if (i == 0)
|
|
prevAz = az;
|
|
|
|
// Does it cross 0 degrees?
|
|
if (((prevAz > 270.0) && (az < 90.0)) || ((prevAz < 90.0) && (az >= 270.0)))
|
|
return true;
|
|
|
|
prevAz = az;
|
|
currentTime = currentTime.AddSeconds(timeStep);
|
|
}
|
|
}
|
|
catch (SatelliteException& se)
|
|
{
|
|
qDebug() << se.what();
|
|
}
|
|
catch (DecayedException& de)
|
|
{
|
|
qDebug() << de.what();
|
|
}
|
|
catch (TleException& tlee)
|
|
{
|
|
qDebug() << tlee.what();
|
|
}
|
|
return false;
|
|
}
|
|
|
|
// Find maximum elevation in a pass
|
|
static double findMaxElevation(Observer& obs1, SGP4& sgp4, const DateTime& aos, const DateTime& los)
|
|
{
|
|
Observer obs(obs1.GetLocation());
|
|
bool running;
|
|
double timeStep = (los - aos).TotalSeconds() / 9.0;
|
|
DateTime currentTime(aos);
|
|
DateTime time1(aos);
|
|
DateTime time2(los);
|
|
double maxElevation;
|
|
|
|
do
|
|
{
|
|
running = true;
|
|
maxElevation = -INFINITY;
|
|
while (running && (currentTime < time2))
|
|
{
|
|
Eci eci = sgp4.FindPosition(currentTime);
|
|
CoordTopocentric topo = obs.GetLookAngle(eci);
|
|
if (topo.elevation > maxElevation)
|
|
{
|
|
maxElevation = topo.elevation;
|
|
currentTime = currentTime.AddSeconds(timeStep);
|
|
if (currentTime > time2)
|
|
currentTime = time2;
|
|
}
|
|
else
|
|
running = false;
|
|
}
|
|
time1 = currentTime.AddSeconds(-2.0 * timeStep);
|
|
time2 = currentTime;
|
|
currentTime = time1;
|
|
timeStep = (time2 - time1).TotalSeconds() / 9.0;
|
|
}
|
|
while (timeStep > 1.0);
|
|
|
|
return Units::radiansToDegrees(maxElevation);
|
|
}
|
|
|
|
// Find the time at which the satellite crossed the minimum elevation required for AOS or LOS
|
|
static DateTime findCrossingPoint(Observer& obs, SGP4& sgp4, const DateTime& initialTime1, const DateTime& initialTime2, double minElevation, bool findingAOS)
|
|
{
|
|
bool running;
|
|
int cnt;
|
|
DateTime time1(initialTime1);
|
|
DateTime time2(initialTime2);
|
|
DateTime middleTime;
|
|
|
|
running = true;
|
|
cnt = 0;
|
|
while (running && (cnt++ < 16))
|
|
{
|
|
middleTime = time1.AddSeconds((time2 - time1).TotalSeconds() / 2.0);
|
|
Eci eci = sgp4.FindPosition(middleTime);
|
|
CoordTopocentric topo = obs.GetLookAngle(eci);
|
|
if (topo.elevation > minElevation)
|
|
{
|
|
if (findingAOS)
|
|
time2 = middleTime;
|
|
else
|
|
time1 = middleTime;
|
|
}
|
|
else
|
|
{
|
|
if (findingAOS)
|
|
time1 = middleTime;
|
|
else
|
|
time2 = middleTime;
|
|
}
|
|
if ((time2 - time1).TotalSeconds() < 1.0)
|
|
{
|
|
running = false;
|
|
int us = middleTime.Microsecond();
|
|
middleTime = middleTime.AddMicroseconds(-us);
|
|
middleTime = middleTime.AddSeconds(findingAOS ? 1 : -1);
|
|
}
|
|
}
|
|
running = true;
|
|
cnt = 0;
|
|
while (running && (cnt++ < 6))
|
|
{
|
|
Eci eci = sgp4.FindPosition(middleTime);
|
|
CoordTopocentric topo = obs.GetLookAngle(eci);
|
|
if (topo.elevation > minElevation)
|
|
middleTime = middleTime.AddSeconds(findingAOS ? -1 : 1);
|
|
else
|
|
running = false;
|
|
}
|
|
return middleTime;
|
|
}
|
|
|
|
// Find when AOS occured, by stepping backwards
|
|
static DateTime findAOSBackwards(Observer& obs, SGP4& sgp4, DateTime& startTime,
|
|
int predictionPeriod, double minElevation, bool& aosUnknown)
|
|
{
|
|
DateTime previousTime(startTime);
|
|
DateTime currentTime(startTime);
|
|
DateTime endTime(startTime.AddDays(-predictionPeriod));
|
|
|
|
while (currentTime >= endTime)
|
|
{
|
|
Eci eci = sgp4.FindPosition(currentTime);
|
|
CoordTopocentric topo = obs.GetLookAngle(eci);
|
|
if (topo.elevation < minElevation)
|
|
{
|
|
aosUnknown = false;
|
|
return findCrossingPoint(obs, sgp4, currentTime, previousTime, minElevation, true);
|
|
}
|
|
previousTime = currentTime;
|
|
currentTime = currentTime - TimeSpan(0, 0, 180);
|
|
}
|
|
aosUnknown = true;
|
|
return currentTime;
|
|
}
|
|
|
|
bool inPassWindow(DateTime dateTime, QTime passStartTime, QTime passEndTime, bool utc)
|
|
{
|
|
// Don't compare seconds as not currently settable in GUI
|
|
QDateTime qdt = dateTimeToQDateTime(dateTime);
|
|
if (!utc)
|
|
qdt = qdt.toLocalTime();
|
|
QTime qt(qdt.time().hour(), qdt.time().minute());
|
|
passStartTime = QTime(passStartTime.hour(), passStartTime.minute());
|
|
passEndTime = QTime(passEndTime.hour(), passEndTime.minute());
|
|
// If passEndTime is before passStartTime, then we allow overnight passes
|
|
if (passEndTime > passStartTime)
|
|
{
|
|
return (qt >= passStartTime) && (qt <= passEndTime);
|
|
}
|
|
else
|
|
{
|
|
return (qt <= passEndTime) || (qt >= passStartTime);
|
|
}
|
|
}
|
|
|
|
// Create a list of satellite passes, between the given start and end times, that exceed the specified minimum elevation
|
|
// We return an uninitalised QDateTime if AOS or LOS is outside of predictionPeriod
|
|
static QList<SatellitePass *> createPassList(Observer& obs, SGP4& sgp4, DateTime& startTime,
|
|
int predictionPeriod, double minAOSElevation, double minPassElevationDeg,
|
|
QTime passStartTime, QTime passEndTime, bool utc,
|
|
int noOfPasses)
|
|
{
|
|
QList<SatellitePass *> passes;
|
|
bool aos = false;
|
|
bool aosUnknown = true;
|
|
double aosAz;
|
|
double losAz;
|
|
DateTime previousTime(startTime);
|
|
DateTime currentTime(startTime);
|
|
DateTime endTime(startTime.AddDays(predictionPeriod));
|
|
DateTime aosTime;
|
|
DateTime losTime;
|
|
|
|
while (currentTime < endTime)
|
|
{
|
|
bool endOfPass = false;
|
|
Eci eci = sgp4.FindPosition(currentTime);
|
|
CoordTopocentric topo = obs.GetLookAngle(eci);
|
|
|
|
if (!aos && (topo.elevation > minAOSElevation))
|
|
{
|
|
if (startTime == currentTime)
|
|
{
|
|
// AOS is before startTime
|
|
aosTime = findAOSBackwards(obs, sgp4, startTime, predictionPeriod, minAOSElevation, aosUnknown);
|
|
}
|
|
else
|
|
{
|
|
aosTime = findCrossingPoint(obs, sgp4, previousTime, currentTime, minAOSElevation, true);
|
|
aosUnknown = false;
|
|
}
|
|
aos = true;
|
|
eci = sgp4.FindPosition(aosTime);
|
|
topo = obs.GetLookAngle(eci);
|
|
aosAz = Units::radiansToDegrees(topo.azimuth);
|
|
}
|
|
else if (aos && (topo.elevation < minAOSElevation))
|
|
{
|
|
aos = false;
|
|
endOfPass = true;
|
|
losTime = findCrossingPoint(obs, sgp4, previousTime, currentTime, minAOSElevation, false);
|
|
eci = sgp4.FindPosition(losTime);
|
|
topo = obs.GetLookAngle(eci);
|
|
losAz = Units::radiansToDegrees(topo.azimuth);
|
|
double maxElevationDeg = findMaxElevation(obs, sgp4, aosTime, losTime);
|
|
if ((maxElevationDeg >= minPassElevationDeg)
|
|
&& inPassWindow(aosTime, passStartTime, passEndTime, utc)
|
|
&& inPassWindow(losTime, passStartTime, passEndTime, utc))
|
|
{
|
|
SatellitePass *pass = new SatellitePass;
|
|
pass->m_aos = aosUnknown ? QDateTime() : dateTimeToQDateTime(aosTime);
|
|
pass->m_los = dateTimeToQDateTime(losTime);
|
|
pass->m_maxElevation = maxElevationDeg;
|
|
pass->m_aosAzimuth = aosAz;
|
|
pass->m_losAzimuth = losAz;
|
|
pass->m_northToSouth = std::min(360.0-aosAz, aosAz-0.0) < std::min(360.0-losAz, losAz-0.0);
|
|
passes.append(pass);
|
|
noOfPasses--;
|
|
if (noOfPasses <= 0)
|
|
return passes;
|
|
}
|
|
}
|
|
previousTime = currentTime;
|
|
if (endOfPass)
|
|
currentTime = currentTime + TimeSpan(0, 30, 0); // 30 minutes - no orbit likely to be that fast
|
|
else
|
|
currentTime = currentTime + TimeSpan(0, 0, 180);
|
|
if (currentTime > endTime)
|
|
currentTime = endTime;
|
|
}
|
|
if (aos)
|
|
{
|
|
// Pass still in progress at end time
|
|
Eci eci = sgp4.FindPosition(currentTime);
|
|
CoordTopocentric topo = obs.GetLookAngle(eci);
|
|
losAz = Units::radiansToDegrees(topo.azimuth);
|
|
double maxElevationDeg = findMaxElevation(obs, sgp4, aosTime, losTime);
|
|
if ((maxElevationDeg >= minPassElevationDeg)
|
|
&& inPassWindow(aosTime, passStartTime, passEndTime, utc)
|
|
&& inPassWindow(losTime, passStartTime, passEndTime, utc))
|
|
{
|
|
SatellitePass *pass = new SatellitePass;
|
|
pass->m_aos = aosUnknown ? QDateTime() : dateTimeToQDateTime(aosTime);
|
|
pass->m_los = QDateTime();
|
|
pass->m_aosAzimuth = aosAz;
|
|
pass->m_losAzimuth = losAz;
|
|
pass->m_maxElevation = maxElevationDeg;
|
|
pass->m_northToSouth = std::min(360.0-aosAz, aosAz-0.0) < std::min(360.0-losAz, losAz-0.0);
|
|
passes.append(pass);
|
|
}
|
|
}
|
|
|
|
return passes;
|
|
}
|
|
|
|
void getSatelliteState(QDateTime dateTime,
|
|
const QString& tle0, const QString& tle1, const QString& tle2,
|
|
double latitude, double longitude, double altitude,
|
|
int predictionPeriod, int minAOSElevationDeg, int minPassElevationDeg,
|
|
QTime passStartTime, QTime passFinishTime, bool utc,
|
|
int noOfPasses, int groundTrackSteps, SatelliteState *satState)
|
|
{
|
|
try {
|
|
Tle tle = Tle(tle0.toStdString(), tle1.toStdString(), tle2.toStdString());
|
|
SGP4 sgp4(tle);
|
|
Observer obs(latitude, longitude, altitude);
|
|
|
|
DateTime dt = qDateTimeToDateTime(dateTime);
|
|
|
|
// Calculate satellite position
|
|
Eci eci = sgp4.FindPosition(dt);
|
|
|
|
// Calculate angle to satellite from antenna
|
|
CoordTopocentric topo = obs.GetLookAngle(eci);
|
|
|
|
// Convert satellite position to geodetic coordinates (lat and long)
|
|
CoordGeodetic geo = eci.ToGeodetic();
|
|
|
|
satState->m_latitude = Units::radiansToDegrees(geo.latitude);
|
|
satState->m_longitude = Units::radiansToDegrees(geo.longitude);
|
|
satState->m_altitude = geo.altitude;
|
|
satState->m_azimuth = Units::radiansToDegrees(topo.azimuth);
|
|
satState->m_elevation = Units::radiansToDegrees(topo.elevation);
|
|
satState->m_range = topo.range;
|
|
satState->m_rangeRate = topo.range_rate;
|
|
OrbitalElements ele(tle);
|
|
satState->m_speed = eci.Velocity().Magnitude();
|
|
satState->m_period = ele.Period();
|
|
if (noOfPasses > 0)
|
|
{
|
|
qDeleteAll(satState->m_passes);
|
|
satState->m_passes = createPassList(obs, sgp4, dt, predictionPeriod,
|
|
Units::degreesToRadians((double)minAOSElevationDeg),
|
|
minPassElevationDeg,
|
|
passStartTime, passFinishTime, utc,
|
|
noOfPasses);
|
|
}
|
|
|
|
qDeleteAll(satState->m_groundTrack);
|
|
qDeleteAll(satState->m_predictedGroundTrack);
|
|
getGroundTrack(dateTime, tle0, tle1, tle2, groundTrackSteps, false, satState->m_groundTrack);
|
|
getGroundTrack(dateTime, tle0, tle1, tle2, groundTrackSteps, true, satState->m_predictedGroundTrack);
|
|
}
|
|
catch (SatelliteException& se)
|
|
{
|
|
qDebug() << "getSatelliteState: " << satState->m_name << ": " << se.what();
|
|
}
|
|
catch (DecayedException& de)
|
|
{
|
|
qDebug() << "getSatelliteState: " << satState->m_name << ": " << de.what();
|
|
}
|
|
catch (TleException& tlee)
|
|
{
|
|
qDebug() << "getSatelliteState: " << satState->m_name << ": " << tlee.what();
|
|
}
|
|
}
|