ground/gcs/src/libs/utils/worldmagmodel.h

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       worldmagmodel.h
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   6  *             Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
   7  * @brief
   8  * @see        The GNU Public License (GPL) Version 3
   9  * @defgroup
  10  * @{
  11  *
  12  *****************************************************************************/
  13 /*
  14  * This program is free software; you can redistribute it and/or modify
  15  * it under the terms of the GNU General Public License as published by
  16  * the Free Software Foundation; either version 3 of the License, or
  17  * (at your option) any later version.
  18  *
  19  * This program is distributed in the hope that it will be useful, but
  20  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  21  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  22  * for more details.
  23  *
  24  * You should have received a copy of the GNU General Public License along
  25  * with this program; if not, write to the Free Software Foundation, Inc.,
  26  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  27  */
  28
  29 #ifndef WORLDMAGMODEL_H
  30 #define WORLDMAGMODEL_H
  31
  32 #include "utils_global.h"
  33
  34 // ******************************
  35 // internal structure definitions
  36
  37 #define WMM_MAX_MODEL_DEGREES                   12
  38 #define WMM_MAX_SECULAR_VARIATION_MODEL_DEGREES 12
  39 #define WMM_NUMTERMS                            91          // ((WMM_MAX_MODEL_DEGREES + 1) * (WMM_MAX_MODEL_DEGREES + 2) / 2);
  40 #define WMM_NUMPCUP                             92          // NUMTERMS + 1
  41 #define WMM_NUMPCUPS                            13          // WMM_MAX_MODEL_DEGREES + 1
  42
  43 typedef struct {
  44     double EditionDate;
  45     double epoch; // Base time of Geomagnetic model epoch (yrs)
  46     char   ModelName[20];
  47 // double Main_Field_Coeff_G[WMM_NUMTERMS];     // C - Gauss coefficients of main geomagnetic model (nT)
  48 // double Main_Field_Coeff_H[WMM_NUMTERMS];     // C - Gauss coefficients of main geomagnetic model (nT)
  49 // double Secular_Var_Coeff_G[WMM_NUMTERMS];    // CD - Gauss coefficients of secular geomagnetic model (nT/yr)
  50 // double Secular_Var_Coeff_H[WMM_NUMTERMS];    // CD - Gauss coefficients of secular geomagnetic model (nT/yr)
  51     int nMax; // Maximum degree of spherical harmonic model
  52     int nMaxSecVar; // Maxumum degree of spherical harmonic secular model
  53     int SecularVariationUsed; // Whether or not the magnetic secular variation vector will be needed by program
  54 } WMMtype_MagneticModel;
  55
  56 typedef struct {
  57     double a; // semi-major axis of the ellipsoid
  58     double b; // semi-minor axis of the ellipsoid
  59     double fla; // flattening
  60     double epssq; // first eccentricity squared
  61     double eps; // first eccentricity
  62     double re; // mean radius of  ellipsoid
  63 } WMMtype_Ellipsoid;
  64
  65 typedef struct {
  66     double lambda; // longitude
  67     double phi; // geodetic latitude
  68     double HeightAboveEllipsoid; // height above the ellipsoid (HaE)
  69 } WMMtype_CoordGeodetic;
  70
  71 typedef struct {
  72     double lambda; // longitude
  73     double phig; // geocentric latitude
  74     double r; // distance from the center of the ellipsoid
  75 } WMMtype_CoordSpherical;
  76
  77 typedef struct {
  78     int    Year;
  79     int    Month;
  80     int    Day;
  81     double DecimalYear;
  82 } WMMtype_Date;
  83
  84 typedef struct {
  85     double Pcup[WMM_NUMPCUP]; // Legendre Function
  86     double dPcup[WMM_NUMPCUP]; // Derivative of Lagendre fn
  87 } WMMtype_LegendreFunction;
  88
  89 typedef struct {
  90     double Bx; // North
  91     double By; // East
  92     double Bz; // Down
  93 } WMMtype_MagneticResults;
  94
  95 typedef struct {
  96     double RelativeRadiusPower[WMM_MAX_MODEL_DEGREES + 1]; // [earth_reference_radius_km / sph. radius ]^n
  97     double cos_mlambda[WMM_MAX_MODEL_DEGREES + 1]; // cp(m)  - cosine of (m*spherical coord. longitude
  98     double sin_mlambda[WMM_MAX_MODEL_DEGREES + 1]; // sp(m)  - sine of (m*spherical coord. longitude)
  99 } WMMtype_SphericalHarmonicVariables;
 100
 101 typedef struct {
 102     double Decl; /*1. Angle between the magnetic field vector and true north, positive east */
 103     double Incl; /*2. Angle between the magnetic field vector and the horizontal plane, positive down */
 104     double F; /*3. Magnetic Field Strength */
 105     double H; /*4. Horizontal Magnetic Field Strength */
 106     double X; /*5. Northern component of the magnetic field vector */
 107     double Y; /*6. Eastern component of the magnetic field vector */
 108     double Z; /*7. Downward component of the magnetic field vector */
 109     double GV; /*8. The Grid Variation */
 110     double Decldot; /*9. Yearly Rate of change in declination */
 111     double Incldot; /*10. Yearly Rate of change in inclination */
 112     double Fdot; /*11. Yearly rate of change in Magnetic field strength */
 113     double Hdot; /*12. Yearly rate of change in horizontal field strength */
 114     double Xdot; /*13. Yearly rate of change in the northern component */
 115     double Ydot; /*14. Yearly rate of change in the eastern component */
 116     double Zdot; /*15. Yearly rate of change in the downward component */
 117     double GVdot; /*16. Yearly rate of chnage in grid variation */
 118 } WMMtype_GeoMagneticElements;
 119
 120 // ******************************
 121
 122 namespace Utils {
 123 class QTCREATOR_UTILS_EXPORT WorldMagModel {
 124 public:
 125     WorldMagModel();
 126
 127     int GetMagVector(double LLA[3], int Month, int Day, int Year, double Be[3]);
 128
 129 private:
 130     WMMtype_Ellipsoid Ellip;
 131     WMMtype_MagneticModel MagneticModel;
 132
 133     double decimal_date;
 134
 135     void Initialize();
 136     int Geomag(WMMtype_CoordSpherical *CoordSpherical, WMMtype_CoordGeodetic *CoordGeodetic, WMMtype_GeoMagneticElements *GeoMagneticElements);
 137     void ComputeSphericalHarmonicVariables(WMMtype_CoordSpherical *CoordSpherical, int nMax, WMMtype_SphericalHarmonicVariables *SphVariables);
 138     int AssociatedLegendreFunction(WMMtype_CoordSpherical *CoordSpherical, int nMax, WMMtype_LegendreFunction *LegendreFunction);
 139     void Summation(WMMtype_LegendreFunction *LegendreFunction,
 140                    WMMtype_SphericalHarmonicVariables *SphVariables,
 141                    WMMtype_CoordSpherical *CoordSpherical,
 142                    WMMtype_MagneticResults *MagneticResults);
 143     void SecVarSummation(WMMtype_LegendreFunction *LegendreFunction,
 144                          WMMtype_SphericalHarmonicVariables *SphVariables,
 145                          WMMtype_CoordSpherical *CoordSpherical,
 146                          WMMtype_MagneticResults *MagneticResults);
 147     void RotateMagneticVector(WMMtype_CoordSpherical *CoordSpherical,
 148                               WMMtype_CoordGeodetic *CoordGeodetic,
 149                               WMMtype_MagneticResults *MagneticResultsSph,
 150                               WMMtype_MagneticResults *MagneticResultsGeo);
 151     void CalculateGeoMagneticElements(WMMtype_MagneticResults *MagneticResultsGeo, WMMtype_GeoMagneticElements *GeoMagneticElements);
 152     void CalculateSecularVariation(WMMtype_MagneticResults *MagneticVariation, WMMtype_GeoMagneticElements *MagneticElements);
 153     int PcupHigh(double *Pcup, double *dPcup, double x, int nMax);
 154     void PcupLow(double *Pcup, double *dPcup, double x, int nMax);
 155     void SummationSpecial(WMMtype_SphericalHarmonicVariables *SphVariables, WMMtype_CoordSpherical *CoordSpherical, WMMtype_MagneticResults *MagneticResults);
 156     void SecVarSummationSpecial(WMMtype_SphericalHarmonicVariables *SphVariables, WMMtype_CoordSpherical *CoordSpherical, WMMtype_MagneticResults *MagneticResults);
 157     double get_main_field_coeff_g(int index);
 158     double get_main_field_coeff_h(int index);
 159     double get_secular_var_coeff_g(int index);
 160     double get_secular_var_coeff_h(int index);
 161     int DateToYear(int month, int day, int year);
 162     void GeodeticToSpherical(WMMtype_CoordGeodetic *CoordGeodetic, WMMtype_CoordSpherical *CoordSpherical);
 163 };
 164 }
 165
 166 // ******************************
 167
 168 #endif // ifndef WORLDMAGMODEL_H