source: ntrip/branches/BNC_2.12/src/bncephuser.cpp@ 9327

Last change on this file since 9327 was 9327, checked in by stuerze, 3 years ago

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1// converting GNSS data streams from NTRIP broadcasters.
2//
3// Copyright (C) 2007
4// German Federal Agency for Cartography and Geodesy (BKG)
5// http://www.bkg.bund.de
6// Czech Technical University Prague, Department of Geodesy
7// http://www.fsv.cvut.cz
8//
9// Email: euref-ip@bkg.bund.de
10//
11// This program is free software; you can redistribute it and/or
12// modify it under the terms of the GNU General Public License
13// as published by the Free Software Foundation, version 2.
14//
15// This program is distributed in the hope that it will be useful,
16// but WITHOUT ANY WARRANTY; without even the implied warranty of
17// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18// GNU General Public License for more details.
19//
20// You should have received a copy of the GNU General Public License
21// along with this program; if not, write to the Free Software
22// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
23
24/* -------------------------------------------------------------------------
25 * BKG NTRIP Client
26 * -------------------------------------------------------------------------
27 *
28 * Class: bncEphUser
29 *
30 * Purpose: Base for Classes that use Ephemerides
31 *
32 * Author: L. Mervart
33 *
34 * Created: 27-Jan-2011
35 *
36 * Changes:
37 *
38 * -----------------------------------------------------------------------*/
39
40#include <cmath>
41#include <iostream>
42
43#include "bncephuser.h"
44#include "bnccore.h"
45
46using namespace std;
47
48// Constructor
49////////////////////////////////////////////////////////////////////////////
50bncEphUser::bncEphUser(bool connectSlots) {
51 if (connectSlots) {
52 connect(BNC_CORE, SIGNAL(newGPSEph(t_ephGPS)),
53 this, SLOT(slotNewGPSEph(t_ephGPS)), Qt::DirectConnection);
54
55 connect(BNC_CORE, SIGNAL(newGlonassEph(t_ephGlo)),
56 this, SLOT(slotNewGlonassEph(t_ephGlo)), Qt::DirectConnection);
57
58 connect(BNC_CORE, SIGNAL(newGalileoEph(t_ephGal)),
59 this, SLOT(slotNewGalileoEph(t_ephGal)), Qt::DirectConnection);
60
61 connect(BNC_CORE, SIGNAL(newSBASEph(t_ephSBAS)),
62 this, SLOT(slotNewSBASEph(t_ephSBAS)), Qt::DirectConnection);
63
64 connect(BNC_CORE, SIGNAL(newBDSEph(t_ephBDS)),
65 this, SLOT(slotNewBDSEph(t_ephBDS)), Qt::DirectConnection);
66 }
67}
68
69// Destructor
70////////////////////////////////////////////////////////////////////////////
71bncEphUser::~bncEphUser() {
72 QMapIterator<QString, deque<t_eph*> > it(_eph);
73 while (it.hasNext()) {
74 it.next();
75 const deque<t_eph*>& qq = it.value();
76 for (unsigned ii = 0; ii < qq.size(); ii++) {
77 delete qq[ii];
78 }
79 }
80}
81
82// New GPS Ephemeris
83////////////////////////////////////////////////////////////////////////////
84void bncEphUser::slotNewGPSEph(t_ephGPS eph) {
85 putNewEph(&eph, true);
86}
87
88// New Glonass Ephemeris
89////////////////////////////////////////////////////////////////////////////
90void bncEphUser::slotNewGlonassEph(t_ephGlo eph) {
91 putNewEph(&eph, true);
92}
93
94// New Galileo Ephemeris
95////////////////////////////////////////////////////////////////////////////
96void bncEphUser::slotNewGalileoEph(t_ephGal eph) {
97 putNewEph(&eph, true);
98}
99
100// New SBAS Ephemeris
101////////////////////////////////////////////////////////////////////////////
102void bncEphUser::slotNewSBASEph(t_ephSBAS eph) {
103 putNewEph(&eph, true);
104}
105
106// New BDS Ephemeris
107////////////////////////////////////////////////////////////////////////////
108void bncEphUser::slotNewBDSEph(t_ephBDS eph) {
109 putNewEph(&eph, true);
110}
111
112//
113////////////////////////////////////////////////////////////////////////////
114t_irc bncEphUser::putNewEph(t_eph* eph, bool realTime) {
115
116 QMutexLocker locker(&_mutex);
117
118 if (eph == 0) {
119 return failure;
120 }
121
122 const t_ephGPS* ephGPS = dynamic_cast<const t_ephGPS*>(eph);
123 const t_ephGlo* ephGlo = dynamic_cast<const t_ephGlo*>(eph);
124 const t_ephGal* ephGal = dynamic_cast<const t_ephGal*>(eph);
125 const t_ephSBAS* ephSBAS = dynamic_cast<const t_ephSBAS*>(eph);
126 const t_ephBDS* ephBDS = dynamic_cast<const t_ephBDS*>(eph);
127
128 t_eph* newEph = 0;
129
130 if (ephGPS) {
131 newEph = new t_ephGPS(*ephGPS);
132 }
133 else if (ephGlo) {
134 newEph = new t_ephGlo(*ephGlo);
135 }
136 else if (ephGal) {
137 newEph = new t_ephGal(*ephGal);
138 }
139 else if (ephSBAS) {
140 newEph = new t_ephSBAS(*ephSBAS);
141 }
142 else if (ephBDS) {
143 newEph = new t_ephBDS(*ephBDS);
144 }
145 else {
146 return failure;
147 }
148
149 QString prn(newEph->prn().toInternalString().c_str());
150
151 const t_eph* ephOld = ephLast(prn);
152
153 if (ephOld &&
154 (ephOld->checkState() == t_eph::bad ||
155 ephOld->checkState() == t_eph::outdated ||
156 ephOld->checkState() == t_eph::unhealthy)) {
157 ephOld = 0;
158 }
159
160 if ( (ephOld == 0) ||
161 newEph->isNewerThan(ephOld) ||
162 newCorrectedGpsEphSet(newEph) ) {
163 checkEphemeris(newEph, realTime);
164 eph->setCheckState(newEph->checkState());
165 }
166 else {
167 delete newEph;
168 return failure;
169 }
170
171 if (newEph->checkState() != t_eph::bad &&
172 newEph->checkState() != t_eph::outdated) {
173 deque<t_eph*>& qq = _eph[prn];
174 qq.push_back(newEph);
175 if (qq.size() > _maxQueueSize) {
176 delete qq.front();
177 qq.pop_front();
178 }
179 ephBufferChanged();
180 return success;
181 }
182 else {
183 delete newEph;
184 return failure;
185 }
186}
187
188//
189////////////////////////////////////////////////////////////////////////////
190void bncEphUser::checkEphemeris(t_eph* eph, bool realTime) {
191
192 if (!eph) {
193 return;
194 }
195
196 // Check health status
197 // -------------------
198 if (eph->isUnhealthy()) {
199 eph->setCheckState(t_eph::unhealthy);
200 return;
201 }
202
203 // Simple Check - check satellite radial distance
204 // ----------------------------------------------
205 ColumnVector xc(6);
206 ColumnVector vv(3);
207 if (eph->getCrd(eph->TOC(), xc, vv, false) != success) {
208 eph->setCheckState(t_eph::bad);
209 return;
210 }
211 double rr = xc.Rows(1,3).norm_Frobenius();
212
213 const double MINDIST = 2.e7;
214 const double MAXDIST = 6.e7;
215 if (rr < MINDIST || rr > MAXDIST || std::isnan(rr)) {
216 eph->setCheckState(t_eph::bad);
217 return;
218 }
219
220 // Check whether the epoch is too far away the current time
221 // --------------------------------------------------------
222 if (realTime) {
223 bncTime toc = eph->TOC();
224 QDateTime now = currentDateAndTimeGPS();
225 bncTime currentTime(now.toString(Qt::ISODate).toStdString());
226 double dt = currentTime - toc;
227
228 // update interval: 2h, data sets are valid for 4 hours
229 if (eph->type() == t_eph::GPS && (dt > 4*3600.0 || dt < -2*3600.0)) {
230 eph->setCheckState(t_eph::outdated);
231 return;
232 }
233 // update interval: 3h, data sets are valid for 4 hours
234 else if (eph->type() == t_eph::Galileo && (dt > 4*3600.0 || dt < 0.0)) {
235 eph->setCheckState(t_eph::outdated);
236 return;
237 }
238 // updated every 30 minutes
239 else if (eph->type() == t_eph::GLONASS && (dt > 1*3600.0 || dt < -1800.0)) {
240 eph->setCheckState(t_eph::outdated);
241 return;
242 }
243 // orbit parameters are valid for 7200 seconds (minimum)
244 else if (eph->type() == t_eph::QZSS && (dt > 2*3600.0 || dt < -1*3600.0)) {
245 eph->setCheckState(t_eph::outdated);
246 return;
247 }
248 // maximum update interval: 300 sec
249 else if (eph->type() == t_eph::SBAS && (dt > 600 || dt < -300.0)) {
250 eph->setCheckState(t_eph::outdated);
251 return;
252 }
253 // updates 1h (GEO) up to 6 hours non-GEO
254 else if (eph->type() == t_eph::BDS && (dt > 6*3600 || dt < 0.0)) {
255 eph->setCheckState(t_eph::outdated);
256 return;
257 }
258 // update interval: up to 24 hours
259 else if (eph->type() == t_eph::IRNSS && fabs(dt > 24*3600.0)) {
260 eph->setCheckState(t_eph::outdated);
261 return;
262 }
263 }
264
265 // Check consistency with older ephemeris
266 // --------------------------------------
267 const double MAXDIFF = 10.0;
268 const double MINDIFF = 0.005;
269 QString prn = QString(eph->prn().toInternalString().c_str());
270 t_eph* ephL = ephLast(prn);
271
272 if (ephL) {
273 ColumnVector xcL(6);
274 ColumnVector vvL(3);
275 ephL->getCrd(eph->TOC(), xcL, vvL, false);
276
277 double diff = (xc.Rows(1,3) - xcL.Rows(1,3)).norm_Frobenius();
278 double diffC = fabs(xc(4) - xcL(4)) * t_CST::c;
279
280 if (diff < MAXDIFF && diffC < MAXDIFF) {
281 if (diff < MINDIFF && diffC < MINDIFF &&
282 ephL->checkState() == t_eph::ok) {
283 // to prevent the same data sets with different TOC values
284 eph->setCheckState(t_eph::bad);
285 }
286 else {
287 eph->setCheckState(t_eph::ok);
288 ephL->setCheckState(t_eph::ok);
289 }
290 }
291 else {
292 if (ephL->checkState() == t_eph::ok) {
293 eph->setCheckState(t_eph::bad);
294 }
295 }
296
297 double dt = eph->TOC() - ephL->TOC();
298 // some lines to allow update of ephemeris data sets after an outage
299 // -----------------------------------------------------------------
300 // update interval: 2h,
301 // sometimes corrected BRDC sets are sent with TOC values 16 seconds
302 // before the nominal TOC (integer time)
303 if (eph->type() == t_eph::GPS && dt > (2*3600.0 + 60.0)) {
304 ephL->setCheckState(t_eph::outdated);
305 return;
306 }
307 // update interval: 3h,
308 else if (eph->type() == t_eph::Galileo && dt > (3*3600.0 + 60.0)) {
309 ephL->setCheckState(t_eph::outdated);
310 return;
311 }
312 // updated every 30 minutes
313 else if (eph->type() == t_eph::GLONASS && dt > ( 1800.0 + 60.0)) {
314 ephL->setCheckState(t_eph::outdated);
315 return;
316 }
317 // updated every ?
318 else if (eph->type() == t_eph::QZSS && dt > (2*3600.0 + 60.0)) {
319 ephL->setCheckState(t_eph::outdated);
320 return;
321 }
322 // maximum update interval: 300 sec
323 else if (eph->type() == t_eph::SBAS && dt > ( 300.0)) {
324 ephL->setCheckState(t_eph::outdated);
325 return;
326 }
327 // updates 1h (GEO) up to 6 hours non-GEO
328 else if (eph->type() == t_eph::BDS && dt > 6*3600.0) {
329 ephL->setCheckState(t_eph::outdated);
330 return;
331 }
332 // update interval: up to 24 hours
333 else if (eph->type() == t_eph::IRNSS && dt > 24*3600.0) {
334 ephL->setCheckState(t_eph::outdated);
335 return;
336 }
337 }
338}
339
340//
341////////////////////////////////////////////////////////////////////////////
342bool bncEphUser::newCorrectedGpsEphSet(const t_eph* eph) {
343
344 if (eph->prn().system() != 'G') {
345 return false;
346 }
347
348 bool correctedGpsEphSet = false;
349 if ((fmod(eph->TOC().daysec()+16.0, 7200) == 0.0)) {
350 // sometimes corrected BRDC sets are sent with TOC values 16 seconds
351 // before the nominal TOC (integer time)
352 correctedGpsEphSet = true;
353 } else {
354 return false;
355 }
356
357 QString prn = QString(eph->prn().toInternalString().c_str());
358 t_eph* ephL = ephLast(prn);
359 if (!ephL) {
360 // first set is a corrected set for GPS
361 if (correctedGpsEphSet) {
362 return true;
363 }
364 else {
365 return false;
366 }
367 }
368 else {
369 double dt = eph->TOC() - ephL->TOC();
370 if (correctedGpsEphSet) {
371 // set already available
372 if (dt == 0.0) {
373 return false;
374 }
375 else {
376 return true;
377 }
378 }
379 }
380
381 return false;
382}
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