[1025] | 1 | #include <sstream>
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[2234] | 2 | #include <iostream>
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[1025] | 3 | #include <iomanip>
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[1239] | 4 | #include <cstring>
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[1025] | 5 |
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[2234] | 6 | #include <newmatio.h>
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| 7 |
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[1025] | 8 | #include "ephemeris.h"
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[2221] | 9 | #include "bncutils.h"
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[2285] | 10 | #include "bnctime.h"
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[5070] | 11 | #include "bnccore.h"
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[5839] | 12 | #include "bncutils.h"
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[6141] | 13 | #include "satObs.h"
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[6044] | 14 | #include "pppInclude.h"
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[6400] | 15 | #include "pppModel.h"
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[1025] | 16 |
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| 17 | using namespace std;
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| 18 |
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[5749] | 19 | // Constructor
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| 20 | ////////////////////////////////////////////////////////////////////////////
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| 21 | t_eph::t_eph() {
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[6518] | 22 | _checkState = unchecked;
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| 23 | _orbCorr = 0;
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| 24 | _clkCorr = 0;
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[5749] | 25 | }
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[7278] | 26 | // Destructor
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| 27 | ////////////////////////////////////////////////////////////////////////////
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| 28 | t_eph::~t_eph() {
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| 29 | if (_orbCorr)
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| 30 | delete _orbCorr;
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| 31 | if (_clkCorr)
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| 32 | delete _clkCorr;
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| 33 | }
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[5749] | 34 |
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[7481] | 35 | //
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[5749] | 36 | ////////////////////////////////////////////////////////////////////////////
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[6141] | 37 | void t_eph::setOrbCorr(const t_orbCorr* orbCorr) {
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[8006] | 38 | if (_orbCorr) {
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| 39 | delete _orbCorr;
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| 40 | _orbCorr = 0;
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| 41 | }
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[6141] | 42 | _orbCorr = new t_orbCorr(*orbCorr);
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[5749] | 43 | }
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| 44 |
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[7481] | 45 | //
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[5749] | 46 | ////////////////////////////////////////////////////////////////////////////
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[6141] | 47 | void t_eph::setClkCorr(const t_clkCorr* clkCorr) {
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[8006] | 48 | if (_clkCorr) {
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| 49 | delete _clkCorr;
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| 50 | _clkCorr = 0;
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| 51 | }
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[6141] | 52 | _clkCorr = new t_clkCorr(*clkCorr);
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[5749] | 53 | }
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| 54 |
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[7481] | 55 | //
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[5749] | 56 | ////////////////////////////////////////////////////////////////////////////
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[6109] | 57 | t_irc t_eph::getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const {
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[6518] | 58 |
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[8420] | 59 | if (_checkState == bad ||
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[8615] | 60 | _checkState == unhealthy ||
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| 61 | _checkState == outdated) {
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[6518] | 62 | return failure;
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| 63 | }
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[6556] | 64 | const QVector<int> updateInt = QVector<int>() << 1 << 2 << 5 << 10 << 15 << 30
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| 65 | << 60 << 120 << 240 << 300 << 600
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| 66 | << 900 << 1800 << 3600 << 7200
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| 67 | << 10800;
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[8541] | 68 | xc.ReSize(6);
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[5749] | 69 | vv.ReSize(3);
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[6213] | 70 | if (position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data()) != success) {
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| 71 | return failure;
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| 72 | }
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[5789] | 73 | if (useCorr) {
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[5839] | 74 | if (_orbCorr && _clkCorr) {
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[5849] | 75 | double dtO = tt - _orbCorr->_time;
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[6556] | 76 | if (_orbCorr->_updateInt) {
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| 77 | dtO -= (0.5 * updateInt[_orbCorr->_updateInt]);
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| 78 | }
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[5839] | 79 | ColumnVector dx(3);
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[5849] | 80 | dx[0] = _orbCorr->_xr[0] + _orbCorr->_dotXr[0] * dtO;
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| 81 | dx[1] = _orbCorr->_xr[1] + _orbCorr->_dotXr[1] * dtO;
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| 82 | dx[2] = _orbCorr->_xr[2] + _orbCorr->_dotXr[2] * dtO;
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| 83 |
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[7133] | 84 | RSW_to_XYZ(xc.Rows(1,3), vv.Rows(1,3), dx, dx);
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[5849] | 85 |
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[5839] | 86 | xc[0] -= dx[0];
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| 87 | xc[1] -= dx[1];
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| 88 | xc[2] -= dx[2];
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[5849] | 89 |
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[7133] | 90 | ColumnVector dv(3);
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| 91 | RSW_to_XYZ(xc.Rows(1,3), vv.Rows(1,3), _orbCorr->_dotXr, dv);
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| 92 |
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| 93 | vv[0] -= dv[0];
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| 94 | vv[1] -= dv[1];
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| 95 | vv[2] -= dv[2];
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| 96 |
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[5849] | 97 | double dtC = tt - _clkCorr->_time;
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[6556] | 98 | if (_clkCorr->_updateInt) {
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| 99 | dtC -= (0.5 * updateInt[_clkCorr->_updateInt]);
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| 100 | }
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[7014] | 101 | xc[3] += _clkCorr->_dClk + _clkCorr->_dotDClk * dtC + _clkCorr->_dotDotDClk * dtC * dtC;
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[5839] | 102 | }
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| 103 | else {
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| 104 | return failure;
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| 105 | }
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[5749] | 106 | }
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| 107 | return success;
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| 108 | }
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| 109 |
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[6801] | 110 | //
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| 111 | //////////////////////////////////////////////////////////////////////////////
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| 112 | QString t_eph::rinexDateStr(const bncTime& tt, const t_prn& prn, double version) {
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| 113 | QString prnStr(prn.toString().c_str());
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| 114 | return rinexDateStr(tt, prnStr, version);
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| 115 | }
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| 116 |
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| 117 | //
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| 118 | //////////////////////////////////////////////////////////////////////////////
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| 119 | QString t_eph::rinexDateStr(const bncTime& tt, const QString& prnStr, double version) {
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| 120 |
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| 121 | QString datStr;
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| 122 |
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| 123 | unsigned year, month, day, hour, min;
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| 124 | double sec;
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| 125 | tt.civil_date(year, month, day);
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| 126 | tt.civil_time(hour, min, sec);
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| 127 |
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| 128 | QTextStream out(&datStr);
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| 129 |
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| 130 | if (version < 3.0) {
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| 131 | QString prnHlp = prnStr.mid(1,2); if (prnHlp[0] == '0') prnHlp[0] = ' ';
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| 132 | out << prnHlp << QString(" %1 %2 %3 %4 %5%6")
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| 133 | .arg(year % 100, 2, 10, QChar('0'))
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| 134 | .arg(month, 2)
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| 135 | .arg(day, 2)
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| 136 | .arg(hour, 2)
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| 137 | .arg(min, 2)
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| 138 | .arg(sec, 5, 'f',1);
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| 139 | }
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| 140 | else {
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| 141 | out << prnStr << QString(" %1 %2 %3 %4 %5 %6")
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| 142 | .arg(year, 4)
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| 143 | .arg(month, 2, 10, QChar('0'))
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| 144 | .arg(day, 2, 10, QChar('0'))
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| 145 | .arg(hour, 2, 10, QChar('0'))
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| 146 | .arg(min, 2, 10, QChar('0'))
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| 147 | .arg(int(sec), 2, 10, QChar('0'));
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| 148 | }
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| 149 |
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| 150 | return datStr;
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| 151 | }
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| 152 |
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| 153 | // Constructor
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| 154 | //////////////////////////////////////////////////////////////////////////////
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| 155 | t_ephGPS::t_ephGPS(float rnxVersion, const QStringList& lines) {
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| 156 |
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| 157 | const int nLines = 8;
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| 158 |
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| 159 | if (lines.size() != nLines) {
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| 160 | _checkState = bad;
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| 161 | return;
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| 162 | }
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| 163 |
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| 164 | // RINEX Format
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| 165 | // ------------
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| 166 | int fieldLen = 19;
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| 167 |
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| 168 | int pos[4];
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| 169 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
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| 170 | pos[1] = pos[0] + fieldLen;
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| 171 | pos[2] = pos[1] + fieldLen;
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| 172 | pos[3] = pos[2] + fieldLen;
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| 173 |
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| 174 | // Read eight lines
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| 175 | // ----------------
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| 176 | for (int iLine = 0; iLine < nLines; iLine++) {
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| 177 | QString line = lines[iLine];
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| 178 |
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| 179 | if ( iLine == 0 ) {
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| 180 | QTextStream in(line.left(pos[1]).toAscii());
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| 181 | int year, month, day, hour, min;
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| 182 | double sec;
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| 183 |
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[7139] | 184 | QString prnStr, n;
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[6880] | 185 | in >> prnStr;
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[7639] | 186 |
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| 187 | if (prnStr.size() == 1 &&
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[8167] | 188 | (prnStr[0] == 'G' ||
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| 189 | prnStr[0] == 'J' ||
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| 190 | prnStr[0] == 'I')) {
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[7139] | 191 | in >> n;
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| 192 | prnStr.append(n);
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[6880] | 193 | }
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[7639] | 194 |
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[6880] | 195 | in >> year >> month >> day >> hour >> min >> sec;
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[6801] | 196 | if (prnStr.at(0) == 'G') {
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| 197 | _prn.set('G', prnStr.mid(1).toInt());
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| 198 | }
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| 199 | else if (prnStr.at(0) == 'J') {
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| 200 | _prn.set('J', prnStr.mid(1).toInt());
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| 201 | }
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[8167] | 202 | else if (prnStr.at(0) == 'I') {
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| 203 | _prn.set('I', prnStr.mid(1).toInt());
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| 204 | }
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[6801] | 205 | else {
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| 206 | _prn.set('G', prnStr.toInt());
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| 207 | }
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| 208 |
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| 209 | if (year < 80) {
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| 210 | year += 2000;
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| 211 | }
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| 212 | else if (year < 100) {
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| 213 | year += 1900;
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| 214 | }
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| 215 |
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| 216 | _TOC.set(year, month, day, hour, min, sec);
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| 217 |
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| 218 | if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
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| 219 | readDbl(line, pos[2], fieldLen, _clock_drift ) ||
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| 220 | readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
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| 221 | _checkState = bad;
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| 222 | return;
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| 223 | }
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| 224 | }
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| 225 |
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| 226 | else if ( iLine == 1 ) {
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| 227 | if ( readDbl(line, pos[0], fieldLen, _IODE ) ||
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| 228 | readDbl(line, pos[1], fieldLen, _Crs ) ||
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| 229 | readDbl(line, pos[2], fieldLen, _Delta_n) ||
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| 230 | readDbl(line, pos[3], fieldLen, _M0 ) ) {
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| 231 | _checkState = bad;
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| 232 | return;
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| 233 | }
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| 234 | }
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| 235 |
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| 236 | else if ( iLine == 2 ) {
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| 237 | if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
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| 238 | readDbl(line, pos[1], fieldLen, _e ) ||
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| 239 | readDbl(line, pos[2], fieldLen, _Cus ) ||
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| 240 | readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
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| 241 | _checkState = bad;
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| 242 | return;
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| 243 | }
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| 244 | }
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| 245 |
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| 246 | else if ( iLine == 3 ) {
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| 247 | if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
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| 248 | readDbl(line, pos[1], fieldLen, _Cic ) ||
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| 249 | readDbl(line, pos[2], fieldLen, _OMEGA0) ||
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| 250 | readDbl(line, pos[3], fieldLen, _Cis ) ) {
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| 251 | _checkState = bad;
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| 252 | return;
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| 253 | }
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| 254 | }
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| 255 |
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| 256 | else if ( iLine == 4 ) {
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| 257 | if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
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| 258 | readDbl(line, pos[1], fieldLen, _Crc ) ||
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| 259 | readDbl(line, pos[2], fieldLen, _omega ) ||
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| 260 | readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
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| 261 | _checkState = bad;
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| 262 | return;
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| 263 | }
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| 264 | }
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| 265 |
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[8167] | 266 | else if ( iLine == 5 && type() != t_eph::IRNSS) {
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[6801] | 267 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
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| 268 | readDbl(line, pos[1], fieldLen, _L2Codes) ||
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| 269 | readDbl(line, pos[2], fieldLen, _TOEweek ) ||
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| 270 | readDbl(line, pos[3], fieldLen, _L2PFlag) ) {
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| 271 | _checkState = bad;
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| 272 | return;
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| 273 | }
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| 274 | }
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[8167] | 275 | else if ( iLine == 5 && type() == t_eph::IRNSS) {
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| 276 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
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| 277 | readDbl(line, pos[2], fieldLen, _TOEweek) ) {
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| 278 | _checkState = bad;
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| 279 | return;
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| 280 | }
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| 281 | }
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[6801] | 282 |
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[8167] | 283 | else if ( iLine == 6 && type() != t_eph::IRNSS) {
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[6801] | 284 | if ( readDbl(line, pos[0], fieldLen, _ura ) ||
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| 285 | readDbl(line, pos[1], fieldLen, _health) ||
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| 286 | readDbl(line, pos[2], fieldLen, _TGD ) ||
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| 287 | readDbl(line, pos[3], fieldLen, _IODC ) ) {
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| 288 | _checkState = bad;
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| 289 | return;
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| 290 | }
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| 291 | }
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[8167] | 292 | else if ( iLine == 6 && type() == t_eph::IRNSS) {
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| 293 | if ( readDbl(line, pos[0], fieldLen, _ura ) ||
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| 294 | readDbl(line, pos[1], fieldLen, _health) ||
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| 295 | readDbl(line, pos[2], fieldLen, _TGD ) ) {
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| 296 | _checkState = bad;
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| 297 | return;
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| 298 | }
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| 299 | }
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[6801] | 300 |
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| 301 | else if ( iLine == 7 ) {
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| 302 | if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
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| 303 | _checkState = bad;
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| 304 | return;
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| 305 | }
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| 306 | readDbl(line, pos[1], fieldLen, _fitInterval); // _fitInterval optional
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| 307 | }
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| 308 | }
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| 309 | }
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| 310 |
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[2222] | 311 | // Compute GPS Satellite Position (virtual)
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[1025] | 312 | ////////////////////////////////////////////////////////////////////////////
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[6213] | 313 | t_irc t_ephGPS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
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[1025] | 314 |
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[1098] | 315 | static const double omegaEarth = 7292115.1467e-11;
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[5277] | 316 | static const double gmGRS = 398.6005e12;
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[1025] | 317 |
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[8541] | 318 | memset(xc, 0, 6*sizeof(double));
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[1025] | 319 | memset(vv, 0, 3*sizeof(double));
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| 320 |
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| 321 | double a0 = _sqrt_A * _sqrt_A;
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| 322 | if (a0 == 0) {
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[6213] | 323 | return failure;
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[1025] | 324 | }
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| 325 |
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[5277] | 326 | double n0 = sqrt(gmGRS/(a0*a0*a0));
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[4018] | 327 |
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| 328 | bncTime tt(GPSweek, GPSweeks);
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[4543] | 329 | double tk = tt - bncTime(int(_TOEweek), _TOEsec);
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[4018] | 330 |
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[1025] | 331 | double n = n0 + _Delta_n;
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| 332 | double M = _M0 + n*tk;
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| 333 | double E = M;
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| 334 | double E_last;
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[8370] | 335 | int nLoop = 0;
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[1025] | 336 | do {
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| 337 | E_last = E;
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| 338 | E = M + _e*sin(E);
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[8455] | 339 |
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[8370] | 340 | if (++nLoop == 100) {
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| 341 | return failure;
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| 342 | }
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[1025] | 343 | } while ( fabs(E-E_last)*a0 > 0.001 );
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| 344 | double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
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| 345 | double u0 = v + _omega;
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| 346 | double sin2u0 = sin(2*u0);
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| 347 | double cos2u0 = cos(2*u0);
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| 348 | double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
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| 349 | double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
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| 350 | double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
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| 351 | double xp = r*cos(u);
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| 352 | double yp = r*sin(u);
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[7481] | 353 | double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
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[4018] | 354 | omegaEarth*_TOEsec;
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[7278] | 355 |
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[1025] | 356 | double sinom = sin(OM);
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| 357 | double cosom = cos(OM);
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| 358 | double sini = sin(i);
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| 359 | double cosi = cos(i);
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| 360 | xc[0] = xp*cosom - yp*cosi*sinom;
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| 361 | xc[1] = xp*sinom + yp*cosi*cosom;
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[7481] | 362 | xc[2] = yp*sini;
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| 363 |
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[4018] | 364 | double tc = tt - _TOC;
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[2429] | 365 | xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
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[1025] | 366 |
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| 367 | // Velocity
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| 368 | // --------
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| 369 | double tanv2 = tan(v/2);
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| 370 | double dEdM = 1 / (1 - _e*cos(E));
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[7278] | 371 | double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
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[1025] | 372 | * dEdM * n;
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| 373 | double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
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| 374 | double dotom = _OMEGADOT - omegaEarth;
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| 375 | double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
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[7278] | 376 | double dotr = a0 * _e*sin(E) * dEdM * n
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[1025] | 377 | + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
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| 378 | double dotx = dotr*cos(u) - r*sin(u)*dotu;
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| 379 | double doty = dotr*sin(u) + r*cos(u)*dotu;
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| 380 |
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| 381 | vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
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| 382 | - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
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| 383 | + yp*sini*sinom*doti; // dX / di
|
---|
| 384 |
|
---|
| 385 | vv[1] = sinom *dotx + cosi*cosom *doty
|
---|
| 386 | + xp*cosom*dotom - yp*cosi*sinom*dotom
|
---|
| 387 | - yp*sini*cosom*doti;
|
---|
| 388 |
|
---|
| 389 | vv[2] = sini *doty + yp*cosi *doti;
|
---|
[2429] | 390 |
|
---|
| 391 | // Relativistic Correction
|
---|
| 392 | // -----------------------
|
---|
[7481] | 393 | // correspondent to IGS convention and GPS ICD (and SSR standard)
|
---|
[2429] | 394 | xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
|
---|
[6213] | 395 |
|
---|
[8541] | 396 | xc[4] = _clock_drift + _clock_driftrate*tc;
|
---|
| 397 | xc[5] = _clock_driftrate;
|
---|
| 398 |
|
---|
[6213] | 399 | return success;
|
---|
[1025] | 400 | }
|
---|
| 401 |
|
---|
[6801] | 402 | // RINEX Format String
|
---|
| 403 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 404 | QString t_ephGPS::toString(double version) const {
|
---|
[2221] | 405 |
|
---|
[6801] | 406 | QString rnxStr = rinexDateStr(_TOC, _prn, version);
|
---|
[2221] | 407 |
|
---|
[6801] | 408 | QTextStream out(&rnxStr);
|
---|
[2221] | 409 |
|
---|
[6801] | 410 | out << QString("%1%2%3\n")
|
---|
| 411 | .arg(_clock_bias, 19, 'e', 12)
|
---|
| 412 | .arg(_clock_drift, 19, 'e', 12)
|
---|
| 413 | .arg(_clock_driftrate, 19, 'e', 12);
|
---|
[2221] | 414 |
|
---|
[6801] | 415 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
[2221] | 416 |
|
---|
[8167] | 417 | out << QString(fmt)
|
---|
[6801] | 418 | .arg(_IODE, 19, 'e', 12)
|
---|
| 419 | .arg(_Crs, 19, 'e', 12)
|
---|
| 420 | .arg(_Delta_n, 19, 'e', 12)
|
---|
| 421 | .arg(_M0, 19, 'e', 12);
|
---|
| 422 |
|
---|
| 423 | out << QString(fmt)
|
---|
| 424 | .arg(_Cuc, 19, 'e', 12)
|
---|
| 425 | .arg(_e, 19, 'e', 12)
|
---|
| 426 | .arg(_Cus, 19, 'e', 12)
|
---|
| 427 | .arg(_sqrt_A, 19, 'e', 12);
|
---|
| 428 |
|
---|
| 429 | out << QString(fmt)
|
---|
| 430 | .arg(_TOEsec, 19, 'e', 12)
|
---|
| 431 | .arg(_Cic, 19, 'e', 12)
|
---|
| 432 | .arg(_OMEGA0, 19, 'e', 12)
|
---|
| 433 | .arg(_Cis, 19, 'e', 12);
|
---|
| 434 |
|
---|
| 435 | out << QString(fmt)
|
---|
| 436 | .arg(_i0, 19, 'e', 12)
|
---|
| 437 | .arg(_Crc, 19, 'e', 12)
|
---|
| 438 | .arg(_omega, 19, 'e', 12)
|
---|
| 439 | .arg(_OMEGADOT, 19, 'e', 12);
|
---|
| 440 |
|
---|
[8167] | 441 | if (type() == t_eph::IRNSS) {
|
---|
| 442 | out << QString(fmt)
|
---|
| 443 | .arg(_IDOT, 19, 'e', 12)
|
---|
| 444 | .arg("", 19, QChar(' '))
|
---|
| 445 | .arg(_TOEweek, 19, 'e', 12)
|
---|
| 446 | .arg("", 19, QChar(' '));
|
---|
| 447 | }
|
---|
| 448 | else {
|
---|
| 449 | out << QString(fmt)
|
---|
| 450 | .arg(_IDOT, 19, 'e', 12)
|
---|
| 451 | .arg(_L2Codes, 19, 'e', 12)
|
---|
| 452 | .arg(_TOEweek, 19, 'e', 12)
|
---|
| 453 | .arg(_L2PFlag, 19, 'e', 12);
|
---|
| 454 | }
|
---|
[6801] | 455 |
|
---|
[8167] | 456 | if (type() == t_eph::IRNSS) {
|
---|
| 457 | out << QString(fmt)
|
---|
| 458 | .arg(_ura, 19, 'e', 12)
|
---|
| 459 | .arg(_health, 19, 'e', 12)
|
---|
| 460 | .arg(_TGD, 19, 'e', 12)
|
---|
| 461 | .arg("", 19, QChar(' '));
|
---|
| 462 | }
|
---|
| 463 | else {
|
---|
| 464 | out << QString(fmt)
|
---|
| 465 | .arg(_ura, 19, 'e', 12)
|
---|
| 466 | .arg(_health, 19, 'e', 12)
|
---|
| 467 | .arg(_TGD, 19, 'e', 12)
|
---|
| 468 | .arg(_IODC, 19, 'e', 12);
|
---|
| 469 | }
|
---|
[6801] | 470 |
|
---|
[7923] | 471 | double tot = _TOT;
|
---|
| 472 | if (tot == 0.9999e9 && version < 3.0) {
|
---|
| 473 | tot = 0.0;
|
---|
| 474 | }
|
---|
[8167] | 475 | if (type() == t_eph::IRNSS) {
|
---|
| 476 | out << QString(fmt)
|
---|
| 477 | .arg(tot, 19, 'e', 12)
|
---|
| 478 | .arg("", 19, QChar(' '))
|
---|
| 479 | .arg("", 19, QChar(' '))
|
---|
| 480 | .arg("", 19, QChar(' '));
|
---|
| 481 | }
|
---|
| 482 | else {
|
---|
| 483 | out << QString(fmt)
|
---|
| 484 | .arg(tot, 19, 'e', 12)
|
---|
| 485 | .arg(_fitInterval, 19, 'e', 12)
|
---|
| 486 | .arg("", 19, QChar(' '))
|
---|
| 487 | .arg("", 19, QChar(' '));
|
---|
| 488 | }
|
---|
[6801] | 489 |
|
---|
| 490 | return rnxStr;
|
---|
[2221] | 491 | }
|
---|
| 492 |
|
---|
[6801] | 493 | // Constructor
|
---|
| 494 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 495 | t_ephGlo::t_ephGlo(float rnxVersion, const QStringList& lines) {
|
---|
[2221] | 496 |
|
---|
[6801] | 497 | const int nLines = 4;
|
---|
| 498 |
|
---|
| 499 | if (lines.size() != nLines) {
|
---|
| 500 | _checkState = bad;
|
---|
| 501 | return;
|
---|
[6518] | 502 | }
|
---|
| 503 |
|
---|
[6801] | 504 | // RINEX Format
|
---|
| 505 | // ------------
|
---|
| 506 | int fieldLen = 19;
|
---|
[2221] | 507 |
|
---|
[6801] | 508 | int pos[4];
|
---|
| 509 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
| 510 | pos[1] = pos[0] + fieldLen;
|
---|
| 511 | pos[2] = pos[1] + fieldLen;
|
---|
| 512 | pos[3] = pos[2] + fieldLen;
|
---|
[2221] | 513 |
|
---|
[6801] | 514 | // Read four lines
|
---|
| 515 | // ---------------
|
---|
| 516 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
| 517 | QString line = lines[iLine];
|
---|
[2221] | 518 |
|
---|
[6801] | 519 | if ( iLine == 0 ) {
|
---|
| 520 | QTextStream in(line.left(pos[1]).toAscii());
|
---|
[6213] | 521 |
|
---|
[6801] | 522 | int year, month, day, hour, min;
|
---|
| 523 | double sec;
|
---|
[2221] | 524 |
|
---|
[7139] | 525 | QString prnStr, n;
|
---|
[6880] | 526 | in >> prnStr;
|
---|
[7639] | 527 | if (prnStr.size() == 1 && prnStr[0] == 'R') {
|
---|
[7139] | 528 | in >> n;
|
---|
| 529 | prnStr.append(n);
|
---|
[6880] | 530 | }
|
---|
| 531 | in >> year >> month >> day >> hour >> min >> sec;
|
---|
[6801] | 532 | if (prnStr.at(0) == 'R') {
|
---|
| 533 | _prn.set('R', prnStr.mid(1).toInt());
|
---|
| 534 | }
|
---|
| 535 | else {
|
---|
| 536 | _prn.set('R', prnStr.toInt());
|
---|
| 537 | }
|
---|
[2221] | 538 |
|
---|
[6801] | 539 | if (year < 80) {
|
---|
| 540 | year += 2000;
|
---|
| 541 | }
|
---|
| 542 | else if (year < 100) {
|
---|
| 543 | year += 1900;
|
---|
| 544 | }
|
---|
[2221] | 545 |
|
---|
[6801] | 546 | _gps_utc = gnumleap(year, month, day);
|
---|
[2221] | 547 |
|
---|
[6801] | 548 | _TOC.set(year, month, day, hour, min, sec);
|
---|
| 549 | _TOC = _TOC + _gps_utc;
|
---|
[6213] | 550 |
|
---|
[6801] | 551 | if ( readDbl(line, pos[1], fieldLen, _tau ) ||
|
---|
| 552 | readDbl(line, pos[2], fieldLen, _gamma) ||
|
---|
| 553 | readDbl(line, pos[3], fieldLen, _tki ) ) {
|
---|
| 554 | _checkState = bad;
|
---|
| 555 | return;
|
---|
| 556 | }
|
---|
[2221] | 557 |
|
---|
[6801] | 558 | _tau = -_tau;
|
---|
| 559 | }
|
---|
| 560 |
|
---|
| 561 | else if ( iLine == 1 ) {
|
---|
| 562 | if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
|
---|
| 563 | readDbl(line, pos[1], fieldLen, _x_velocity ) ||
|
---|
| 564 | readDbl(line, pos[2], fieldLen, _x_acceleration) ||
|
---|
| 565 | readDbl(line, pos[3], fieldLen, _health ) ) {
|
---|
| 566 | _checkState = bad;
|
---|
| 567 | return;
|
---|
| 568 | }
|
---|
| 569 | }
|
---|
| 570 |
|
---|
| 571 | else if ( iLine == 2 ) {
|
---|
| 572 | if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
|
---|
| 573 | readDbl(line, pos[1], fieldLen, _y_velocity ) ||
|
---|
| 574 | readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
|
---|
| 575 | readDbl(line, pos[3], fieldLen, _frequency_number) ) {
|
---|
| 576 | _checkState = bad;
|
---|
| 577 | return;
|
---|
| 578 | }
|
---|
| 579 | }
|
---|
| 580 |
|
---|
| 581 | else if ( iLine == 3 ) {
|
---|
| 582 | if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
|
---|
| 583 | readDbl(line, pos[1], fieldLen, _z_velocity ) ||
|
---|
| 584 | readDbl(line, pos[2], fieldLen, _z_acceleration) ||
|
---|
| 585 | readDbl(line, pos[3], fieldLen, _E ) ) {
|
---|
| 586 | _checkState = bad;
|
---|
| 587 | return;
|
---|
| 588 | }
|
---|
| 589 | }
|
---|
| 590 | }
|
---|
| 591 |
|
---|
| 592 | // Initialize status vector
|
---|
| 593 | // ------------------------
|
---|
| 594 | _tt = _TOC;
|
---|
| 595 | _xv.ReSize(6);
|
---|
| 596 | _xv(1) = _x_pos * 1.e3;
|
---|
| 597 | _xv(2) = _y_pos * 1.e3;
|
---|
| 598 | _xv(3) = _z_pos * 1.e3;
|
---|
| 599 | _xv(4) = _x_velocity * 1.e3;
|
---|
| 600 | _xv(5) = _y_velocity * 1.e3;
|
---|
| 601 | _xv(6) = _z_velocity * 1.e3;
|
---|
[2221] | 602 | }
|
---|
| 603 |
|
---|
[6801] | 604 | // Compute Glonass Satellite Position (virtual)
|
---|
[2771] | 605 | ////////////////////////////////////////////////////////////////////////////
|
---|
[6801] | 606 | t_irc t_ephGlo::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
|
---|
[2771] | 607 |
|
---|
[6801] | 608 | static const double nominalStep = 10.0;
|
---|
[2771] | 609 |
|
---|
[8541] | 610 | memset(xc, 0, 6*sizeof(double));
|
---|
[2771] | 611 | memset(vv, 0, 3*sizeof(double));
|
---|
| 612 |
|
---|
[6801] | 613 | double dtPos = bncTime(GPSweek, GPSweeks) - _tt;
|
---|
| 614 |
|
---|
| 615 | if (fabs(dtPos) > 24*3600.0) {
|
---|
[6213] | 616 | return failure;
|
---|
[2771] | 617 | }
|
---|
| 618 |
|
---|
[8455] | 619 |
|
---|
[6801] | 620 | int nSteps = int(fabs(dtPos) / nominalStep) + 1;
|
---|
| 621 | double step = dtPos / nSteps;
|
---|
[4018] | 622 |
|
---|
[6801] | 623 | double acc[3];
|
---|
| 624 | acc[0] = _x_acceleration * 1.e3;
|
---|
| 625 | acc[1] = _y_acceleration * 1.e3;
|
---|
| 626 | acc[2] = _z_acceleration * 1.e3;
|
---|
| 627 | for (int ii = 1; ii <= nSteps; ii++) {
|
---|
| 628 | _xv = rungeKutta4(_tt.gpssec(), _xv, step, acc, glo_deriv);
|
---|
| 629 | _tt = _tt + step;
|
---|
| 630 | }
|
---|
[4018] | 631 |
|
---|
[6801] | 632 | // Position and Velocity
|
---|
| 633 | // ---------------------
|
---|
| 634 | xc[0] = _xv(1);
|
---|
| 635 | xc[1] = _xv(2);
|
---|
| 636 | xc[2] = _xv(3);
|
---|
[2771] | 637 |
|
---|
[6801] | 638 | vv[0] = _xv(4);
|
---|
| 639 | vv[1] = _xv(5);
|
---|
| 640 | vv[2] = _xv(6);
|
---|
[2771] | 641 |
|
---|
[6801] | 642 | // Clock Correction
|
---|
| 643 | // ----------------
|
---|
| 644 | double dtClk = bncTime(GPSweek, GPSweeks) - _TOC;
|
---|
| 645 | xc[3] = -_tau + _gamma * dtClk;
|
---|
[2771] | 646 |
|
---|
[8541] | 647 | xc[4] = _gamma;
|
---|
| 648 | xc[5] = 0.0;
|
---|
[8484] | 649 |
|
---|
[6213] | 650 | return success;
|
---|
[2771] | 651 | }
|
---|
| 652 |
|
---|
[6801] | 653 | // RINEX Format String
|
---|
[3659] | 654 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6801] | 655 | QString t_ephGlo::toString(double version) const {
|
---|
[3664] | 656 |
|
---|
[6801] | 657 | QString rnxStr = rinexDateStr(_TOC-_gps_utc, _prn, version);
|
---|
[3699] | 658 |
|
---|
[6801] | 659 | QTextStream out(&rnxStr);
|
---|
[3664] | 660 |
|
---|
[6801] | 661 | out << QString("%1%2%3\n")
|
---|
| 662 | .arg(-_tau, 19, 'e', 12)
|
---|
| 663 | .arg(_gamma, 19, 'e', 12)
|
---|
| 664 | .arg(_tki, 19, 'e', 12);
|
---|
[3668] | 665 |
|
---|
[6801] | 666 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
[3664] | 667 |
|
---|
[6801] | 668 | out << QString(fmt)
|
---|
| 669 | .arg(_x_pos, 19, 'e', 12)
|
---|
| 670 | .arg(_x_velocity, 19, 'e', 12)
|
---|
| 671 | .arg(_x_acceleration, 19, 'e', 12)
|
---|
| 672 | .arg(_health, 19, 'e', 12);
|
---|
[3664] | 673 |
|
---|
[6801] | 674 | out << QString(fmt)
|
---|
| 675 | .arg(_y_pos, 19, 'e', 12)
|
---|
| 676 | .arg(_y_velocity, 19, 'e', 12)
|
---|
| 677 | .arg(_y_acceleration, 19, 'e', 12)
|
---|
| 678 | .arg(_frequency_number, 19, 'e', 12);
|
---|
[3666] | 679 |
|
---|
[6801] | 680 | out << QString(fmt)
|
---|
| 681 | .arg(_z_pos, 19, 'e', 12)
|
---|
| 682 | .arg(_z_velocity, 19, 'e', 12)
|
---|
| 683 | .arg(_z_acceleration, 19, 'e', 12)
|
---|
| 684 | .arg(_E, 19, 'e', 12);
|
---|
[3666] | 685 |
|
---|
[6801] | 686 | return rnxStr;
|
---|
[3659] | 687 | }
|
---|
| 688 |
|
---|
[6801] | 689 | // Derivative of the state vector using a simple force model (static)
|
---|
| 690 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 691 | ColumnVector t_ephGlo::glo_deriv(double /* tt */, const ColumnVector& xv,
|
---|
| 692 | double* acc) {
|
---|
[3659] | 693 |
|
---|
[6801] | 694 | // State vector components
|
---|
| 695 | // -----------------------
|
---|
| 696 | ColumnVector rr = xv.rows(1,3);
|
---|
| 697 | ColumnVector vv = xv.rows(4,6);
|
---|
[3699] | 698 |
|
---|
[6801] | 699 | // Acceleration
|
---|
[3699] | 700 | // ------------
|
---|
[6801] | 701 | static const double gmWGS = 398.60044e12;
|
---|
| 702 | static const double AE = 6378136.0;
|
---|
| 703 | static const double OMEGA = 7292115.e-11;
|
---|
| 704 | static const double C20 = -1082.6257e-6;
|
---|
[3699] | 705 |
|
---|
[6801] | 706 | double rho = rr.norm_Frobenius();
|
---|
| 707 | double t1 = -gmWGS/(rho*rho*rho);
|
---|
| 708 | double t2 = 3.0/2.0 * C20 * (gmWGS*AE*AE) / (rho*rho*rho*rho*rho);
|
---|
| 709 | double t3 = OMEGA * OMEGA;
|
---|
| 710 | double t4 = 2.0 * OMEGA;
|
---|
| 711 | double z2 = rr(3) * rr(3);
|
---|
[3699] | 712 |
|
---|
[6801] | 713 | // Vector of derivatives
|
---|
| 714 | // ---------------------
|
---|
| 715 | ColumnVector va(6);
|
---|
| 716 | va(1) = vv(1);
|
---|
| 717 | va(2) = vv(2);
|
---|
| 718 | va(3) = vv(3);
|
---|
| 719 | va(4) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(1) + t4*vv(2) + acc[0];
|
---|
| 720 | va(5) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(2) - t4*vv(1) + acc[1];
|
---|
| 721 | va(6) = (t1 + t2*(3.0-5.0*z2/(rho*rho)) ) * rr(3) + acc[2];
|
---|
[3699] | 722 |
|
---|
[6801] | 723 | return va;
|
---|
| 724 | }
|
---|
[3699] | 725 |
|
---|
[6801] | 726 | // IOD of Glonass Ephemeris (virtual)
|
---|
| 727 | ////////////////////////////////////////////////////////////////////////////
|
---|
[7169] | 728 | unsigned int t_ephGlo::IOD() const {
|
---|
[6801] | 729 | bncTime tMoscow = _TOC - _gps_utc + 3 * 3600.0;
|
---|
[7054] | 730 | return (unsigned long)tMoscow.daysec() / 900;
|
---|
[3659] | 731 | }
|
---|
| 732 |
|
---|
[8188] | 733 | // Health status of Glonass Ephemeris (virtual)
|
---|
| 734 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 735 | unsigned int t_ephGlo::isUnhealthy() const {
|
---|
[8216] | 736 |
|
---|
[8218] | 737 | if (_almanac_health_availablility_indicator) {
|
---|
[8216] | 738 | if ((_health == 0 && _almanac_health == 0) ||
|
---|
| 739 | (_health == 1 && _almanac_health == 0) ||
|
---|
| 740 | (_health == 1 && _almanac_health == 1)) {
|
---|
| 741 | return 1;
|
---|
| 742 | }
|
---|
[8188] | 743 | }
|
---|
[8218] | 744 | else if (!_almanac_health_availablility_indicator) {
|
---|
| 745 | if (_health) {
|
---|
| 746 | return 1;
|
---|
| 747 | }
|
---|
| 748 | }
|
---|
[8216] | 749 | return 0; /* (_health == 0 && _almanac_health == 1) or (_health == 0) */
|
---|
[8188] | 750 | }
|
---|
| 751 |
|
---|
[3659] | 752 | // Constructor
|
---|
| 753 | //////////////////////////////////////////////////////////////////////////////
|
---|
[4891] | 754 | t_ephGal::t_ephGal(float rnxVersion, const QStringList& lines) {
|
---|
[6809] | 755 | int year, month, day, hour, min;
|
---|
| 756 | double sec;
|
---|
| 757 | QString prnStr;
|
---|
[4891] | 758 | const int nLines = 8;
|
---|
| 759 | if (lines.size() != nLines) {
|
---|
[6518] | 760 | _checkState = bad;
|
---|
[4891] | 761 | return;
|
---|
| 762 | }
|
---|
| 763 |
|
---|
| 764 | // RINEX Format
|
---|
| 765 | // ------------
|
---|
| 766 | int fieldLen = 19;
|
---|
[6792] | 767 | double SVhealth = 0.0;
|
---|
| 768 | double datasource = 0.0;
|
---|
[6798] | 769 |
|
---|
[4891] | 770 | int pos[4];
|
---|
| 771 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
| 772 | pos[1] = pos[0] + fieldLen;
|
---|
| 773 | pos[2] = pos[1] + fieldLen;
|
---|
| 774 | pos[3] = pos[2] + fieldLen;
|
---|
| 775 |
|
---|
| 776 | // Read eight lines
|
---|
| 777 | // ----------------
|
---|
| 778 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
| 779 | QString line = lines[iLine];
|
---|
| 780 |
|
---|
| 781 | if ( iLine == 0 ) {
|
---|
| 782 | QTextStream in(line.left(pos[1]).toAscii());
|
---|
[7140] | 783 | QString n;
|
---|
[6880] | 784 | in >> prnStr;
|
---|
[7639] | 785 | if (prnStr.size() == 1 && prnStr[0] == 'E') {
|
---|
[7139] | 786 | in >> n;
|
---|
| 787 | prnStr.append(n);
|
---|
[6880] | 788 | }
|
---|
| 789 | in >> year >> month >> day >> hour >> min >> sec;
|
---|
[4891] | 790 | if (year < 80) {
|
---|
| 791 | year += 2000;
|
---|
| 792 | }
|
---|
| 793 | else if (year < 100) {
|
---|
| 794 | year += 1900;
|
---|
| 795 | }
|
---|
| 796 |
|
---|
| 797 | _TOC.set(year, month, day, hour, min, sec);
|
---|
| 798 |
|
---|
| 799 | if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
|
---|
| 800 | readDbl(line, pos[2], fieldLen, _clock_drift ) ||
|
---|
| 801 | readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
|
---|
[6518] | 802 | _checkState = bad;
|
---|
[4891] | 803 | return;
|
---|
| 804 | }
|
---|
| 805 | }
|
---|
| 806 |
|
---|
| 807 | else if ( iLine == 1 ) {
|
---|
| 808 | if ( readDbl(line, pos[0], fieldLen, _IODnav ) ||
|
---|
| 809 | readDbl(line, pos[1], fieldLen, _Crs ) ||
|
---|
| 810 | readDbl(line, pos[2], fieldLen, _Delta_n) ||
|
---|
| 811 | readDbl(line, pos[3], fieldLen, _M0 ) ) {
|
---|
[6518] | 812 | _checkState = bad;
|
---|
[4891] | 813 | return;
|
---|
| 814 | }
|
---|
| 815 | }
|
---|
| 816 |
|
---|
| 817 | else if ( iLine == 2 ) {
|
---|
| 818 | if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
|
---|
| 819 | readDbl(line, pos[1], fieldLen, _e ) ||
|
---|
| 820 | readDbl(line, pos[2], fieldLen, _Cus ) ||
|
---|
| 821 | readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
|
---|
[6518] | 822 | _checkState = bad;
|
---|
[4891] | 823 | return;
|
---|
| 824 | }
|
---|
| 825 | }
|
---|
| 826 |
|
---|
| 827 | else if ( iLine == 3 ) {
|
---|
| 828 | if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
|
---|
| 829 | readDbl(line, pos[1], fieldLen, _Cic ) ||
|
---|
| 830 | readDbl(line, pos[2], fieldLen, _OMEGA0) ||
|
---|
| 831 | readDbl(line, pos[3], fieldLen, _Cis ) ) {
|
---|
[6518] | 832 | _checkState = bad;
|
---|
[4891] | 833 | return;
|
---|
| 834 | }
|
---|
| 835 | }
|
---|
| 836 |
|
---|
| 837 | else if ( iLine == 4 ) {
|
---|
| 838 | if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
|
---|
| 839 | readDbl(line, pos[1], fieldLen, _Crc ) ||
|
---|
| 840 | readDbl(line, pos[2], fieldLen, _omega ) ||
|
---|
| 841 | readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
|
---|
[6518] | 842 | _checkState = bad;
|
---|
[4891] | 843 | return;
|
---|
| 844 | }
|
---|
| 845 | }
|
---|
| 846 |
|
---|
| 847 | else if ( iLine == 5 ) {
|
---|
[6792] | 848 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
|
---|
| 849 | readDbl(line, pos[1], fieldLen, datasource) ||
|
---|
| 850 | readDbl(line, pos[2], fieldLen, _TOEweek ) ) {
|
---|
[6518] | 851 | _checkState = bad;
|
---|
[4891] | 852 | return;
|
---|
[6792] | 853 | } else {
|
---|
| 854 | if (int(datasource) & (1<<8)) {
|
---|
[6812] | 855 | _fnav = true;
|
---|
| 856 | _inav = false;
|
---|
[6792] | 857 | } else if (int(datasource) & (1<<9)) {
|
---|
[6812] | 858 | _fnav = false;
|
---|
| 859 | _inav = true;
|
---|
[6792] | 860 | }
|
---|
[6892] | 861 | _TOEweek -= 1024.0;
|
---|
[4891] | 862 | }
|
---|
| 863 | }
|
---|
| 864 |
|
---|
| 865 | else if ( iLine == 6 ) {
|
---|
| 866 | if ( readDbl(line, pos[0], fieldLen, _SISA ) ||
|
---|
[6792] | 867 | readDbl(line, pos[1], fieldLen, SVhealth) ||
|
---|
[4891] | 868 | readDbl(line, pos[2], fieldLen, _BGD_1_5A) ||
|
---|
| 869 | readDbl(line, pos[3], fieldLen, _BGD_1_5B) ) {
|
---|
[6518] | 870 | _checkState = bad;
|
---|
[4891] | 871 | return;
|
---|
[6792] | 872 | } else {
|
---|
| 873 | // Bit 0
|
---|
[6812] | 874 | _e1DataInValid = (int(SVhealth) & (1<<0));
|
---|
[6792] | 875 | // Bit 1-2
|
---|
[6802] | 876 | _E1_bHS = double((int(SVhealth) >> 1) & 0x3);
|
---|
[6792] | 877 | // Bit 3
|
---|
[6812] | 878 | _e5aDataInValid = (int(SVhealth) & (1<<3));
|
---|
[6792] | 879 | // Bit 4-5
|
---|
[6802] | 880 | _E5aHS = double((int(SVhealth) >> 4) & 0x3);
|
---|
[6792] | 881 | // Bit 6
|
---|
[6812] | 882 | _e5bDataInValid = (int(SVhealth) & (1<<6));
|
---|
[6792] | 883 | // Bit 7-8
|
---|
[6802] | 884 | _E5bHS = double((int(SVhealth) >> 7) & 0x3);
|
---|
[6809] | 885 |
|
---|
| 886 | if (prnStr.at(0) == 'E') {
|
---|
[7140] | 887 | _prn.set('E', prnStr.mid(1).toInt(), _inav ? 1 : 0);
|
---|
[6809] | 888 | }
|
---|
[4891] | 889 | }
|
---|
| 890 | }
|
---|
| 891 |
|
---|
| 892 | else if ( iLine == 7 ) {
|
---|
| 893 | if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
|
---|
[6518] | 894 | _checkState = bad;
|
---|
[4891] | 895 | return;
|
---|
| 896 | }
|
---|
| 897 | }
|
---|
| 898 | }
|
---|
[3659] | 899 | }
|
---|
[4013] | 900 |
|
---|
[6801] | 901 | // Compute Galileo Satellite Position (virtual)
|
---|
| 902 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 903 | t_irc t_ephGal::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
|
---|
[4013] | 904 |
|
---|
[6801] | 905 | static const double omegaEarth = 7292115.1467e-11;
|
---|
[8213] | 906 | static const double gmWGS = 398.6004418e12;
|
---|
[4023] | 907 |
|
---|
[8541] | 908 | memset(xc, 0, 6*sizeof(double));
|
---|
[6801] | 909 | memset(vv, 0, 3*sizeof(double));
|
---|
[4023] | 910 |
|
---|
[6801] | 911 | double a0 = _sqrt_A * _sqrt_A;
|
---|
| 912 | if (a0 == 0) {
|
---|
| 913 | return failure;
|
---|
| 914 | }
|
---|
[4023] | 915 |
|
---|
[6801] | 916 | double n0 = sqrt(gmWGS/(a0*a0*a0));
|
---|
[4023] | 917 |
|
---|
[6801] | 918 | bncTime tt(GPSweek, GPSweeks);
|
---|
| 919 | double tk = tt - bncTime(_TOC.gpsw(), _TOEsec);
|
---|
[4023] | 920 |
|
---|
[6801] | 921 | double n = n0 + _Delta_n;
|
---|
| 922 | double M = _M0 + n*tk;
|
---|
| 923 | double E = M;
|
---|
| 924 | double E_last;
|
---|
[8370] | 925 | int nLoop = 0;
|
---|
[6801] | 926 | do {
|
---|
| 927 | E_last = E;
|
---|
| 928 | E = M + _e*sin(E);
|
---|
[8370] | 929 |
|
---|
| 930 | if (++nLoop == 100) {
|
---|
| 931 | return failure;
|
---|
| 932 | }
|
---|
[6801] | 933 | } while ( fabs(E-E_last)*a0 > 0.001 );
|
---|
| 934 | double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
|
---|
| 935 | double u0 = v + _omega;
|
---|
| 936 | double sin2u0 = sin(2*u0);
|
---|
| 937 | double cos2u0 = cos(2*u0);
|
---|
| 938 | double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
|
---|
| 939 | double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
|
---|
| 940 | double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
|
---|
| 941 | double xp = r*cos(u);
|
---|
| 942 | double yp = r*sin(u);
|
---|
| 943 | double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
|
---|
| 944 | omegaEarth*_TOEsec;
|
---|
[4023] | 945 |
|
---|
[6801] | 946 | double sinom = sin(OM);
|
---|
| 947 | double cosom = cos(OM);
|
---|
| 948 | double sini = sin(i);
|
---|
| 949 | double cosi = cos(i);
|
---|
| 950 | xc[0] = xp*cosom - yp*cosi*sinom;
|
---|
| 951 | xc[1] = xp*sinom + yp*cosi*cosom;
|
---|
| 952 | xc[2] = yp*sini;
|
---|
[4023] | 953 |
|
---|
[6801] | 954 | double tc = tt - _TOC;
|
---|
| 955 | xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
|
---|
[4023] | 956 |
|
---|
[6801] | 957 | // Velocity
|
---|
| 958 | // --------
|
---|
| 959 | double tanv2 = tan(v/2);
|
---|
| 960 | double dEdM = 1 / (1 - _e*cos(E));
|
---|
| 961 | double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
|
---|
| 962 | * dEdM * n;
|
---|
| 963 | double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
|
---|
| 964 | double dotom = _OMEGADOT - omegaEarth;
|
---|
| 965 | double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
|
---|
| 966 | double dotr = a0 * _e*sin(E) * dEdM * n
|
---|
| 967 | + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
|
---|
| 968 | double dotx = dotr*cos(u) - r*sin(u)*dotu;
|
---|
| 969 | double doty = dotr*sin(u) + r*cos(u)*dotu;
|
---|
[4023] | 970 |
|
---|
[6801] | 971 | vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
|
---|
| 972 | - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
|
---|
| 973 | + yp*sini*sinom*doti; // dX / di
|
---|
| 974 |
|
---|
| 975 | vv[1] = sinom *dotx + cosi*cosom *doty
|
---|
| 976 | + xp*cosom*dotom - yp*cosi*sinom*dotom
|
---|
| 977 | - yp*sini*cosom*doti;
|
---|
| 978 |
|
---|
| 979 | vv[2] = sini *doty + yp*cosi *doti;
|
---|
| 980 |
|
---|
| 981 | // Relativistic Correction
|
---|
| 982 | // -----------------------
|
---|
[7481] | 983 | // correspondent to Galileo ICD and to SSR standard
|
---|
| 984 | xc[3] -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
|
---|
| 985 | // correspondent to IGS convention
|
---|
| 986 | //xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
|
---|
[6801] | 987 |
|
---|
[8541] | 988 | xc[4] = _clock_drift + _clock_driftrate*tc;
|
---|
| 989 | xc[5] = _clock_driftrate;
|
---|
| 990 |
|
---|
[6801] | 991 | return success;
|
---|
[4023] | 992 | }
|
---|
| 993 |
|
---|
[8188] | 994 | // Health status of Galileo Ephemeris (virtual)
|
---|
| 995 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 996 | unsigned int t_ephGal::isUnhealthy() const {
|
---|
| 997 | if (_E5aHS && _E5bHS && _E1_bHS) {
|
---|
| 998 | return 1;
|
---|
| 999 | }
|
---|
| 1000 | return 0;
|
---|
| 1001 | }
|
---|
| 1002 |
|
---|
[4023] | 1003 | // RINEX Format String
|
---|
| 1004 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 1005 | QString t_ephGal::toString(double version) const {
|
---|
| 1006 |
|
---|
[4029] | 1007 | QString rnxStr = rinexDateStr(_TOC, _prn, version);
|
---|
[4023] | 1008 |
|
---|
| 1009 | QTextStream out(&rnxStr);
|
---|
| 1010 |
|
---|
| 1011 | out << QString("%1%2%3\n")
|
---|
| 1012 | .arg(_clock_bias, 19, 'e', 12)
|
---|
| 1013 | .arg(_clock_drift, 19, 'e', 12)
|
---|
| 1014 | .arg(_clock_driftrate, 19, 'e', 12);
|
---|
| 1015 |
|
---|
| 1016 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
| 1017 |
|
---|
| 1018 | out << QString(fmt)
|
---|
| 1019 | .arg(_IODnav, 19, 'e', 12)
|
---|
| 1020 | .arg(_Crs, 19, 'e', 12)
|
---|
| 1021 | .arg(_Delta_n, 19, 'e', 12)
|
---|
| 1022 | .arg(_M0, 19, 'e', 12);
|
---|
| 1023 |
|
---|
| 1024 | out << QString(fmt)
|
---|
| 1025 | .arg(_Cuc, 19, 'e', 12)
|
---|
| 1026 | .arg(_e, 19, 'e', 12)
|
---|
| 1027 | .arg(_Cus, 19, 'e', 12)
|
---|
| 1028 | .arg(_sqrt_A, 19, 'e', 12);
|
---|
| 1029 |
|
---|
| 1030 | out << QString(fmt)
|
---|
| 1031 | .arg(_TOEsec, 19, 'e', 12)
|
---|
| 1032 | .arg(_Cic, 19, 'e', 12)
|
---|
| 1033 | .arg(_OMEGA0, 19, 'e', 12)
|
---|
| 1034 | .arg(_Cis, 19, 'e', 12);
|
---|
| 1035 |
|
---|
| 1036 | out << QString(fmt)
|
---|
| 1037 | .arg(_i0, 19, 'e', 12)
|
---|
| 1038 | .arg(_Crc, 19, 'e', 12)
|
---|
| 1039 | .arg(_omega, 19, 'e', 12)
|
---|
| 1040 | .arg(_OMEGADOT, 19, 'e', 12);
|
---|
| 1041 |
|
---|
[6792] | 1042 | int dataSource = 0;
|
---|
| 1043 | int SVhealth = 0;
|
---|
| 1044 | double BGD_1_5A = _BGD_1_5A;
|
---|
| 1045 | double BGD_1_5B = _BGD_1_5B;
|
---|
[6812] | 1046 | if (_fnav) {
|
---|
[6792] | 1047 | dataSource |= (1<<1);
|
---|
| 1048 | dataSource |= (1<<8);
|
---|
| 1049 | BGD_1_5B = 0.0;
|
---|
| 1050 | // SVhealth
|
---|
| 1051 | // Bit 3 : E5a DVS
|
---|
[6812] | 1052 | if (_e5aDataInValid) {
|
---|
[6792] | 1053 | SVhealth |= (1<<3);
|
---|
| 1054 | }
|
---|
| 1055 | // Bit 4-5: E5a HS
|
---|
| 1056 | if (_E5aHS == 1.0) {
|
---|
| 1057 | SVhealth |= (1<<4);
|
---|
| 1058 | }
|
---|
| 1059 | else if (_E5aHS == 2.0) {
|
---|
| 1060 | SVhealth |= (1<<5);
|
---|
| 1061 | }
|
---|
| 1062 | else if (_E5aHS == 3.0) {
|
---|
| 1063 | SVhealth |= (1<<4);
|
---|
| 1064 | SVhealth |= (1<<5);
|
---|
| 1065 | }
|
---|
| 1066 | }
|
---|
[6812] | 1067 | else if(_inav) {
|
---|
[6803] | 1068 | // Bit 2 and 0 are set because from MT1046 the data source cannot be determined
|
---|
| 1069 | // and RNXv3.03 says both can be set if the navigation messages were merged
|
---|
[5539] | 1070 | dataSource |= (1<<0);
|
---|
[6792] | 1071 | dataSource |= (1<<2);
|
---|
[5540] | 1072 | dataSource |= (1<<9);
|
---|
[6792] | 1073 | // SVhealth
|
---|
| 1074 | // Bit 0 : E1-B DVS
|
---|
[6812] | 1075 | if (_e1DataInValid) {
|
---|
[6792] | 1076 | SVhealth |= (1<<0);
|
---|
| 1077 | }
|
---|
| 1078 | // Bit 1-2: E1-B HS
|
---|
| 1079 | if (_E1_bHS == 1.0) {
|
---|
| 1080 | SVhealth |= (1<<1);
|
---|
| 1081 | }
|
---|
| 1082 | else if (_E1_bHS == 2.0) {
|
---|
| 1083 | SVhealth |= (1<<2);
|
---|
| 1084 | }
|
---|
[6803] | 1085 | else if (_E1_bHS == 3.0) {
|
---|
[6792] | 1086 | SVhealth |= (1<<1);
|
---|
| 1087 | SVhealth |= (1<<2);
|
---|
| 1088 | }
|
---|
[6802] | 1089 | // Bit 3 : E5a DVS
|
---|
[6812] | 1090 | if (_e5aDataInValid) {
|
---|
[6802] | 1091 | SVhealth |= (1<<3);
|
---|
| 1092 | }
|
---|
| 1093 | // Bit 4-5: E5a HS
|
---|
| 1094 | if (_E5aHS == 1.0) {
|
---|
| 1095 | SVhealth |= (1<<4);
|
---|
| 1096 | }
|
---|
| 1097 | else if (_E5aHS == 2.0) {
|
---|
| 1098 | SVhealth |= (1<<5);
|
---|
| 1099 | }
|
---|
[6803] | 1100 | else if (_E5aHS == 3.0) {
|
---|
[6802] | 1101 | SVhealth |= (1<<4);
|
---|
| 1102 | SVhealth |= (1<<5);
|
---|
| 1103 | }
|
---|
[6792] | 1104 | // Bit 6 : E5b DVS
|
---|
[6812] | 1105 | if (_e5bDataInValid) {
|
---|
[6792] | 1106 | SVhealth |= (1<<6);
|
---|
| 1107 | }
|
---|
| 1108 | // Bit 7-8: E5b HS
|
---|
| 1109 | if (_E5bHS == 1.0) {
|
---|
| 1110 | SVhealth |= (1<<7);
|
---|
| 1111 | }
|
---|
| 1112 | else if (_E5bHS == 2.0) {
|
---|
| 1113 | SVhealth |= (1<<8);
|
---|
| 1114 | }
|
---|
[6803] | 1115 | else if (_E5bHS == 3.0) {
|
---|
[6792] | 1116 | SVhealth |= (1<<7);
|
---|
| 1117 | SVhealth |= (1<<8);
|
---|
| 1118 | }
|
---|
[5539] | 1119 | }
|
---|
[6792] | 1120 |
|
---|
[4023] | 1121 | out << QString(fmt)
|
---|
[5532] | 1122 | .arg(_IDOT, 19, 'e', 12)
|
---|
| 1123 | .arg(double(dataSource), 19, 'e', 12)
|
---|
[6892] | 1124 | .arg(_TOEweek + 1024.0, 19, 'e', 12)
|
---|
[5532] | 1125 | .arg(0.0, 19, 'e', 12);
|
---|
[4023] | 1126 |
|
---|
| 1127 | out << QString(fmt)
|
---|
[6798] | 1128 | .arg(_SISA, 19, 'e', 12)
|
---|
[6792] | 1129 | .arg(double(SVhealth), 19, 'e', 12)
|
---|
| 1130 | .arg(BGD_1_5A, 19, 'e', 12)
|
---|
| 1131 | .arg(BGD_1_5B, 19, 'e', 12);
|
---|
[4023] | 1132 |
|
---|
[7923] | 1133 | double tot = _TOT;
|
---|
| 1134 | if (tot == 0.9999e9 && version < 3.0) {
|
---|
| 1135 | tot = 0.0;
|
---|
| 1136 | }
|
---|
[4023] | 1137 | out << QString(fmt)
|
---|
[7923] | 1138 | .arg(tot, 19, 'e', 12)
|
---|
[4024] | 1139 | .arg("", 19, QChar(' '))
|
---|
| 1140 | .arg("", 19, QChar(' '))
|
---|
| 1141 | .arg("", 19, QChar(' '));
|
---|
[4023] | 1142 |
|
---|
| 1143 | return rnxStr;
|
---|
| 1144 | }
|
---|
| 1145 |
|
---|
[6385] | 1146 | // Constructor
|
---|
| 1147 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6390] | 1148 | t_ephSBAS::t_ephSBAS(float rnxVersion, const QStringList& lines) {
|
---|
| 1149 |
|
---|
| 1150 | const int nLines = 4;
|
---|
| 1151 |
|
---|
| 1152 | if (lines.size() != nLines) {
|
---|
[6518] | 1153 | _checkState = bad;
|
---|
[6390] | 1154 | return;
|
---|
| 1155 | }
|
---|
| 1156 |
|
---|
| 1157 | // RINEX Format
|
---|
| 1158 | // ------------
|
---|
| 1159 | int fieldLen = 19;
|
---|
| 1160 |
|
---|
| 1161 | int pos[4];
|
---|
| 1162 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
| 1163 | pos[1] = pos[0] + fieldLen;
|
---|
| 1164 | pos[2] = pos[1] + fieldLen;
|
---|
| 1165 | pos[3] = pos[2] + fieldLen;
|
---|
| 1166 |
|
---|
| 1167 | // Read four lines
|
---|
| 1168 | // ---------------
|
---|
| 1169 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
| 1170 | QString line = lines[iLine];
|
---|
| 1171 |
|
---|
| 1172 | if ( iLine == 0 ) {
|
---|
| 1173 | QTextStream in(line.left(pos[1]).toAscii());
|
---|
| 1174 |
|
---|
| 1175 | int year, month, day, hour, min;
|
---|
| 1176 | double sec;
|
---|
[6880] | 1177 |
|
---|
[7139] | 1178 | QString prnStr, n;
|
---|
[6880] | 1179 | in >> prnStr;
|
---|
[7639] | 1180 | if (prnStr.size() == 1 && prnStr[0] == 'S') {
|
---|
[7139] | 1181 | in >> n;
|
---|
| 1182 | prnStr.append(n);
|
---|
[6880] | 1183 | }
|
---|
| 1184 | in >> year >> month >> day >> hour >> min >> sec;
|
---|
[6390] | 1185 | if (prnStr.at(0) == 'S') {
|
---|
| 1186 | _prn.set('S', prnStr.mid(1).toInt());
|
---|
| 1187 | }
|
---|
| 1188 | else {
|
---|
| 1189 | _prn.set('S', prnStr.toInt());
|
---|
| 1190 | }
|
---|
| 1191 |
|
---|
| 1192 | if (year < 80) {
|
---|
| 1193 | year += 2000;
|
---|
| 1194 | }
|
---|
| 1195 | else if (year < 100) {
|
---|
| 1196 | year += 1900;
|
---|
| 1197 | }
|
---|
| 1198 |
|
---|
| 1199 | _TOC.set(year, month, day, hour, min, sec);
|
---|
| 1200 |
|
---|
| 1201 | if ( readDbl(line, pos[1], fieldLen, _agf0 ) ||
|
---|
| 1202 | readDbl(line, pos[2], fieldLen, _agf1 ) ||
|
---|
[8455] | 1203 | readDbl(line, pos[3], fieldLen, _TOT ) ) {
|
---|
[6518] | 1204 | _checkState = bad;
|
---|
[6390] | 1205 | return;
|
---|
| 1206 | }
|
---|
| 1207 | }
|
---|
| 1208 |
|
---|
| 1209 | else if ( iLine == 1 ) {
|
---|
| 1210 | if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
|
---|
| 1211 | readDbl(line, pos[1], fieldLen, _x_velocity ) ||
|
---|
| 1212 | readDbl(line, pos[2], fieldLen, _x_acceleration) ||
|
---|
| 1213 | readDbl(line, pos[3], fieldLen, _health ) ) {
|
---|
[6518] | 1214 | _checkState = bad;
|
---|
[6390] | 1215 | return;
|
---|
| 1216 | }
|
---|
| 1217 | }
|
---|
| 1218 |
|
---|
| 1219 | else if ( iLine == 2 ) {
|
---|
| 1220 | if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
|
---|
| 1221 | readDbl(line, pos[1], fieldLen, _y_velocity ) ||
|
---|
| 1222 | readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
|
---|
| 1223 | readDbl(line, pos[3], fieldLen, _ura ) ) {
|
---|
[6518] | 1224 | _checkState = bad;
|
---|
[6390] | 1225 | return;
|
---|
| 1226 | }
|
---|
| 1227 | }
|
---|
| 1228 |
|
---|
| 1229 | else if ( iLine == 3 ) {
|
---|
[6536] | 1230 | double iodn;
|
---|
[6390] | 1231 | if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
|
---|
| 1232 | readDbl(line, pos[1], fieldLen, _z_velocity ) ||
|
---|
| 1233 | readDbl(line, pos[2], fieldLen, _z_acceleration) ||
|
---|
[6536] | 1234 | readDbl(line, pos[3], fieldLen, iodn ) ) {
|
---|
[6518] | 1235 | _checkState = bad;
|
---|
[6390] | 1236 | return;
|
---|
[6891] | 1237 | } else {
|
---|
[6536] | 1238 | _IODN = int(iodn);
|
---|
[6390] | 1239 | }
|
---|
| 1240 | }
|
---|
| 1241 | }
|
---|
| 1242 |
|
---|
[7278] | 1243 | _x_pos *= 1.e3;
|
---|
| 1244 | _y_pos *= 1.e3;
|
---|
| 1245 | _z_pos *= 1.e3;
|
---|
| 1246 | _x_velocity *= 1.e3;
|
---|
| 1247 | _y_velocity *= 1.e3;
|
---|
| 1248 | _z_velocity *= 1.e3;
|
---|
| 1249 | _x_acceleration *= 1.e3;
|
---|
| 1250 | _y_acceleration *= 1.e3;
|
---|
| 1251 | _z_acceleration *= 1.e3;
|
---|
[6385] | 1252 | }
|
---|
| 1253 |
|
---|
[7054] | 1254 | // IOD of SBAS Ephemeris (virtual)
|
---|
| 1255 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1256 |
|
---|
[7169] | 1257 | unsigned int t_ephSBAS::IOD() const {
|
---|
[7054] | 1258 | unsigned char buffer[80];
|
---|
| 1259 | int size = 0;
|
---|
| 1260 | int numbits = 0;
|
---|
| 1261 | long long bitbuffer = 0;
|
---|
| 1262 | unsigned char *startbuffer = buffer;
|
---|
| 1263 |
|
---|
| 1264 | SBASADDBITSFLOAT(30, this->_x_pos, 0.08)
|
---|
| 1265 | SBASADDBITSFLOAT(30, this->_y_pos, 0.08)
|
---|
| 1266 | SBASADDBITSFLOAT(25, this->_z_pos, 0.4)
|
---|
| 1267 | SBASADDBITSFLOAT(17, this->_x_velocity, 0.000625)
|
---|
| 1268 | SBASADDBITSFLOAT(17, this->_y_velocity, 0.000625)
|
---|
| 1269 | SBASADDBITSFLOAT(18, this->_z_velocity, 0.004)
|
---|
| 1270 | SBASADDBITSFLOAT(10, this->_x_acceleration, 0.0000125)
|
---|
| 1271 | SBASADDBITSFLOAT(10, this->_y_acceleration, 0.0000125)
|
---|
| 1272 | SBASADDBITSFLOAT(10, this->_z_acceleration, 0.0000625)
|
---|
| 1273 | SBASADDBITSFLOAT(12, this->_agf0, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
|
---|
| 1274 | SBASADDBITSFLOAT(8, this->_agf1, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<10))
|
---|
| 1275 | SBASADDBITS(5,0); // the last byte is filled by 0-bits to obtain a length of an integer multiple of 8
|
---|
| 1276 |
|
---|
| 1277 | return CRC24(size, startbuffer);
|
---|
| 1278 | }
|
---|
| 1279 |
|
---|
[6385] | 1280 | // Compute SBAS Satellite Position (virtual)
|
---|
| 1281 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1282 | t_irc t_ephSBAS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
|
---|
[6386] | 1283 |
|
---|
| 1284 | bncTime tt(GPSweek, GPSweeks);
|
---|
| 1285 | double dt = tt - _TOC;
|
---|
| 1286 |
|
---|
[7278] | 1287 | xc[0] = _x_pos + _x_velocity * dt + _x_acceleration * dt * dt / 2.0;
|
---|
| 1288 | xc[1] = _y_pos + _y_velocity * dt + _y_acceleration * dt * dt / 2.0;
|
---|
| 1289 | xc[2] = _z_pos + _z_velocity * dt + _z_acceleration * dt * dt / 2.0;
|
---|
[6386] | 1290 |
|
---|
| 1291 | vv[0] = _x_velocity + _x_acceleration * dt;
|
---|
| 1292 | vv[1] = _y_velocity + _y_acceleration * dt;
|
---|
| 1293 | vv[2] = _z_velocity + _z_acceleration * dt;
|
---|
| 1294 |
|
---|
| 1295 | xc[3] = _agf0 + _agf1 * dt;
|
---|
| 1296 |
|
---|
[8541] | 1297 | xc[4] = _agf1;
|
---|
| 1298 | xc[5] = 0.0;
|
---|
[8484] | 1299 |
|
---|
[6386] | 1300 | return success;
|
---|
[6385] | 1301 | }
|
---|
| 1302 |
|
---|
| 1303 | // RINEX Format String
|
---|
| 1304 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6388] | 1305 | QString t_ephSBAS::toString(double version) const {
|
---|
| 1306 |
|
---|
| 1307 | QString rnxStr = rinexDateStr(_TOC, _prn, version);
|
---|
| 1308 |
|
---|
| 1309 | QTextStream out(&rnxStr);
|
---|
| 1310 |
|
---|
| 1311 | out << QString("%1%2%3\n")
|
---|
[6390] | 1312 | .arg(_agf0, 19, 'e', 12)
|
---|
| 1313 | .arg(_agf1, 19, 'e', 12)
|
---|
[8455] | 1314 | .arg(_TOT, 19, 'e', 12);
|
---|
[6388] | 1315 |
|
---|
| 1316 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
| 1317 |
|
---|
| 1318 | out << QString(fmt)
|
---|
| 1319 | .arg(1.e-3*_x_pos, 19, 'e', 12)
|
---|
| 1320 | .arg(1.e-3*_x_velocity, 19, 'e', 12)
|
---|
| 1321 | .arg(1.e-3*_x_acceleration, 19, 'e', 12)
|
---|
[6390] | 1322 | .arg(_health, 19, 'e', 12);
|
---|
[6388] | 1323 |
|
---|
| 1324 | out << QString(fmt)
|
---|
| 1325 | .arg(1.e-3*_y_pos, 19, 'e', 12)
|
---|
| 1326 | .arg(1.e-3*_y_velocity, 19, 'e', 12)
|
---|
| 1327 | .arg(1.e-3*_y_acceleration, 19, 'e', 12)
|
---|
[6390] | 1328 | .arg(_ura, 19, 'e', 12);
|
---|
[6388] | 1329 |
|
---|
| 1330 | out << QString(fmt)
|
---|
| 1331 | .arg(1.e-3*_z_pos, 19, 'e', 12)
|
---|
| 1332 | .arg(1.e-3*_z_velocity, 19, 'e', 12)
|
---|
| 1333 | .arg(1.e-3*_z_acceleration, 19, 'e', 12)
|
---|
[6536] | 1334 | .arg(double(_IODN), 19, 'e', 12);
|
---|
[6388] | 1335 |
|
---|
| 1336 | return rnxStr;
|
---|
[6385] | 1337 | }
|
---|
[6400] | 1338 |
|
---|
| 1339 | // Constructor
|
---|
| 1340 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6600] | 1341 | t_ephBDS::t_ephBDS(float rnxVersion, const QStringList& lines) {
|
---|
[6400] | 1342 |
|
---|
| 1343 | const int nLines = 8;
|
---|
| 1344 |
|
---|
| 1345 | if (lines.size() != nLines) {
|
---|
[6518] | 1346 | _checkState = bad;
|
---|
[6400] | 1347 | return;
|
---|
| 1348 | }
|
---|
| 1349 |
|
---|
| 1350 | // RINEX Format
|
---|
| 1351 | // ------------
|
---|
| 1352 | int fieldLen = 19;
|
---|
| 1353 |
|
---|
| 1354 | int pos[4];
|
---|
| 1355 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
| 1356 | pos[1] = pos[0] + fieldLen;
|
---|
| 1357 | pos[2] = pos[1] + fieldLen;
|
---|
| 1358 | pos[3] = pos[2] + fieldLen;
|
---|
| 1359 |
|
---|
| 1360 | // Read eight lines
|
---|
| 1361 | // ----------------
|
---|
| 1362 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
| 1363 | QString line = lines[iLine];
|
---|
| 1364 |
|
---|
| 1365 | if ( iLine == 0 ) {
|
---|
| 1366 | QTextStream in(line.left(pos[1]).toAscii());
|
---|
| 1367 |
|
---|
| 1368 | int year, month, day, hour, min;
|
---|
| 1369 | double sec;
|
---|
[6880] | 1370 |
|
---|
[7139] | 1371 | QString prnStr, n;
|
---|
[6880] | 1372 | in >> prnStr;
|
---|
[7639] | 1373 | if (prnStr.size() == 1 && prnStr[0] == 'C') {
|
---|
[7139] | 1374 | in >> n;
|
---|
| 1375 | prnStr.append(n);
|
---|
[6880] | 1376 | }
|
---|
| 1377 | in >> year >> month >> day >> hour >> min >> sec;
|
---|
[6400] | 1378 | if (prnStr.at(0) == 'C') {
|
---|
| 1379 | _prn.set('C', prnStr.mid(1).toInt());
|
---|
| 1380 | }
|
---|
| 1381 | else {
|
---|
| 1382 | _prn.set('C', prnStr.toInt());
|
---|
| 1383 | }
|
---|
| 1384 |
|
---|
| 1385 | if (year < 80) {
|
---|
| 1386 | year += 2000;
|
---|
| 1387 | }
|
---|
| 1388 | else if (year < 100) {
|
---|
| 1389 | year += 1900;
|
---|
| 1390 | }
|
---|
| 1391 |
|
---|
[6812] | 1392 | _TOC.setBDS(year, month, day, hour, min, sec);
|
---|
[6400] | 1393 |
|
---|
| 1394 | if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
|
---|
| 1395 | readDbl(line, pos[2], fieldLen, _clock_drift ) ||
|
---|
| 1396 | readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
|
---|
[6518] | 1397 | _checkState = bad;
|
---|
[6400] | 1398 | return;
|
---|
| 1399 | }
|
---|
| 1400 | }
|
---|
| 1401 |
|
---|
| 1402 | else if ( iLine == 1 ) {
|
---|
| 1403 | double aode;
|
---|
| 1404 | if ( readDbl(line, pos[0], fieldLen, aode ) ||
|
---|
| 1405 | readDbl(line, pos[1], fieldLen, _Crs ) ||
|
---|
| 1406 | readDbl(line, pos[2], fieldLen, _Delta_n) ||
|
---|
| 1407 | readDbl(line, pos[3], fieldLen, _M0 ) ) {
|
---|
[6518] | 1408 | _checkState = bad;
|
---|
[6400] | 1409 | return;
|
---|
| 1410 | }
|
---|
| 1411 | _AODE = int(aode);
|
---|
| 1412 | }
|
---|
| 1413 |
|
---|
| 1414 | else if ( iLine == 2 ) {
|
---|
| 1415 | if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
|
---|
| 1416 | readDbl(line, pos[1], fieldLen, _e ) ||
|
---|
| 1417 | readDbl(line, pos[2], fieldLen, _Cus ) ||
|
---|
| 1418 | readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
|
---|
[6518] | 1419 | _checkState = bad;
|
---|
[6400] | 1420 | return;
|
---|
| 1421 | }
|
---|
| 1422 | }
|
---|
| 1423 |
|
---|
| 1424 | else if ( iLine == 3 ) {
|
---|
[6812] | 1425 | if ( readDbl(line, pos[0], fieldLen, _TOEsec ) ||
|
---|
[6400] | 1426 | readDbl(line, pos[1], fieldLen, _Cic ) ||
|
---|
| 1427 | readDbl(line, pos[2], fieldLen, _OMEGA0) ||
|
---|
| 1428 | readDbl(line, pos[3], fieldLen, _Cis ) ) {
|
---|
[6518] | 1429 | _checkState = bad;
|
---|
[6400] | 1430 | return;
|
---|
| 1431 | }
|
---|
| 1432 | }
|
---|
| 1433 |
|
---|
| 1434 | else if ( iLine == 4 ) {
|
---|
| 1435 | if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
|
---|
| 1436 | readDbl(line, pos[1], fieldLen, _Crc ) ||
|
---|
| 1437 | readDbl(line, pos[2], fieldLen, _omega ) ||
|
---|
| 1438 | readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
|
---|
[6518] | 1439 | _checkState = bad;
|
---|
[6400] | 1440 | return;
|
---|
| 1441 | }
|
---|
| 1442 | }
|
---|
| 1443 |
|
---|
| 1444 | else if ( iLine == 5 ) {
|
---|
| 1445 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
|
---|
[6812] | 1446 | readDbl(line, pos[2], fieldLen, _TOEweek)) {
|
---|
[6518] | 1447 | _checkState = bad;
|
---|
[6400] | 1448 | return;
|
---|
| 1449 | }
|
---|
| 1450 | }
|
---|
| 1451 |
|
---|
| 1452 | else if ( iLine == 6 ) {
|
---|
| 1453 | double SatH1;
|
---|
[6755] | 1454 | if ( readDbl(line, pos[0], fieldLen, _URA ) ||
|
---|
| 1455 | readDbl(line, pos[1], fieldLen, SatH1) ||
|
---|
[6400] | 1456 | readDbl(line, pos[2], fieldLen, _TGD1) ||
|
---|
| 1457 | readDbl(line, pos[3], fieldLen, _TGD2) ) {
|
---|
[6518] | 1458 | _checkState = bad;
|
---|
[6400] | 1459 | return;
|
---|
| 1460 | }
|
---|
| 1461 | _SatH1 = int(SatH1);
|
---|
| 1462 | }
|
---|
| 1463 |
|
---|
| 1464 | else if ( iLine == 7 ) {
|
---|
| 1465 | double aodc;
|
---|
[6812] | 1466 | if ( readDbl(line, pos[0], fieldLen, _TOT) ||
|
---|
[6400] | 1467 | readDbl(line, pos[1], fieldLen, aodc) ) {
|
---|
[6518] | 1468 | _checkState = bad;
|
---|
[6400] | 1469 | return;
|
---|
| 1470 | }
|
---|
[6812] | 1471 | if (_TOT == 0.9999e9) { // 0.9999e9 means not known (RINEX standard)
|
---|
| 1472 | _TOT = _TOEsec;
|
---|
[6400] | 1473 | }
|
---|
| 1474 | _AODC = int(aodc);
|
---|
| 1475 | }
|
---|
| 1476 | }
|
---|
| 1477 |
|
---|
[7138] | 1478 | _TOE.setBDS(int(_TOEweek), _TOEsec);
|
---|
| 1479 |
|
---|
[6400] | 1480 | // remark: actually should be computed from second_tot
|
---|
| 1481 | // but it seems to be unreliable in RINEX files
|
---|
[6843] | 1482 | //_TOT = _TOC.bdssec();
|
---|
[6400] | 1483 | }
|
---|
| 1484 |
|
---|
[7054] | 1485 | // IOD of BDS Ephemeris (virtual)
|
---|
| 1486 | ////////////////////////////////////////////////////////////////////////////
|
---|
[7169] | 1487 | unsigned int t_ephBDS::IOD() const {
|
---|
[7054] | 1488 | unsigned char buffer[80];
|
---|
| 1489 | int size = 0;
|
---|
| 1490 | int numbits = 0;
|
---|
| 1491 | long long bitbuffer = 0;
|
---|
| 1492 | unsigned char *startbuffer = buffer;
|
---|
| 1493 |
|
---|
| 1494 | BDSADDBITSFLOAT(14, this->_IDOT, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<13))
|
---|
| 1495 | BDSADDBITSFLOAT(11, this->_clock_driftrate, 1.0/static_cast<double>(1<<30)
|
---|
| 1496 | /static_cast<double>(1<<30)/static_cast<double>(1<<6))
|
---|
| 1497 | BDSADDBITSFLOAT(22, this->_clock_drift, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<20))
|
---|
| 1498 | BDSADDBITSFLOAT(24, this->_clock_bias, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
|
---|
| 1499 | BDSADDBITSFLOAT(18, this->_Crs, 1.0/static_cast<double>(1<<6))
|
---|
| 1500 | BDSADDBITSFLOAT(16, this->_Delta_n, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<13))
|
---|
| 1501 | BDSADDBITSFLOAT(32, this->_M0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
|
---|
| 1502 | BDSADDBITSFLOAT(18, this->_Cuc, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
|
---|
| 1503 | BDSADDBITSFLOAT(32, this->_e, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
|
---|
| 1504 | BDSADDBITSFLOAT(18, this->_Cus, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
|
---|
| 1505 | BDSADDBITSFLOAT(32, this->_sqrt_A, 1.0/static_cast<double>(1<<19))
|
---|
| 1506 | BDSADDBITSFLOAT(18, this->_Cic, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
|
---|
| 1507 | BDSADDBITSFLOAT(32, this->_OMEGA0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
|
---|
| 1508 | BDSADDBITSFLOAT(18, this->_Cis, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
|
---|
| 1509 | BDSADDBITSFLOAT(32, this->_i0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
|
---|
| 1510 | BDSADDBITSFLOAT(18, this->_Crc, 1.0/static_cast<double>(1<<6))
|
---|
| 1511 | BDSADDBITSFLOAT(32, this->_omega, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
|
---|
| 1512 | BDSADDBITSFLOAT(24, this->_OMEGADOT, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<13))
|
---|
| 1513 | BDSADDBITS(5, 0) // the last byte is filled by 0-bits to obtain a length of an integer multiple of 8
|
---|
| 1514 |
|
---|
| 1515 | return CRC24(size, startbuffer);
|
---|
| 1516 | }
|
---|
| 1517 |
|
---|
[6601] | 1518 | // Compute BDS Satellite Position (virtual)
|
---|
[6400] | 1519 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6600] | 1520 | t_irc t_ephBDS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
|
---|
[6400] | 1521 |
|
---|
[6602] | 1522 | static const double gmBDS = 398.6004418e12;
|
---|
| 1523 | static const double omegaBDS = 7292115.0000e-11;
|
---|
[6400] | 1524 |
|
---|
| 1525 | xc[0] = xc[1] = xc[2] = xc[3] = 0.0;
|
---|
| 1526 | vv[0] = vv[1] = vv[2] = 0.0;
|
---|
| 1527 |
|
---|
| 1528 | bncTime tt(GPSweek, GPSweeks);
|
---|
| 1529 |
|
---|
| 1530 | if (_sqrt_A == 0) {
|
---|
| 1531 | return failure;
|
---|
| 1532 | }
|
---|
| 1533 | double a0 = _sqrt_A * _sqrt_A;
|
---|
| 1534 |
|
---|
[6602] | 1535 | double n0 = sqrt(gmBDS/(a0*a0*a0));
|
---|
[6400] | 1536 | double tk = tt - _TOE;
|
---|
| 1537 | double n = n0 + _Delta_n;
|
---|
| 1538 | double M = _M0 + n*tk;
|
---|
| 1539 | double E = M;
|
---|
| 1540 | double E_last;
|
---|
| 1541 | int nLoop = 0;
|
---|
| 1542 | do {
|
---|
| 1543 | E_last = E;
|
---|
| 1544 | E = M + _e*sin(E);
|
---|
| 1545 |
|
---|
| 1546 | if (++nLoop == 100) {
|
---|
| 1547 | return failure;
|
---|
| 1548 | }
|
---|
| 1549 | } while ( fabs(E-E_last)*a0 > 0.001 );
|
---|
| 1550 |
|
---|
| 1551 | double v = atan2(sqrt(1-_e*_e) * sin(E), cos(E) - _e);
|
---|
| 1552 | double u0 = v + _omega;
|
---|
| 1553 | double sin2u0 = sin(2*u0);
|
---|
| 1554 | double cos2u0 = cos(2*u0);
|
---|
| 1555 | double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
|
---|
| 1556 | double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
|
---|
| 1557 | double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
|
---|
| 1558 | double xp = r*cos(u);
|
---|
| 1559 | double yp = r*sin(u);
|
---|
| 1560 | double toesec = (_TOE.gpssec() - 14.0);
|
---|
| 1561 | double sinom = 0;
|
---|
| 1562 | double cosom = 0;
|
---|
| 1563 | double sini = 0;
|
---|
| 1564 | double cosi = 0;
|
---|
[7278] | 1565 |
|
---|
[7481] | 1566 | // Velocity
|
---|
| 1567 | // --------
|
---|
| 1568 | double tanv2 = tan(v/2);
|
---|
| 1569 | double dEdM = 1 / (1 - _e*cos(E));
|
---|
| 1570 | double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2)
|
---|
| 1571 | / (1 + tanv2*tanv2) * dEdM * n;
|
---|
| 1572 | double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
|
---|
| 1573 | double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
|
---|
| 1574 | double dotr = a0 * _e*sin(E) * dEdM * n
|
---|
| 1575 | + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
|
---|
| 1576 |
|
---|
| 1577 | double dotx = dotr*cos(u) - r*sin(u)*dotu;
|
---|
| 1578 | double doty = dotr*sin(u) + r*cos(u)*dotu;
|
---|
| 1579 |
|
---|
[6400] | 1580 | const double iMaxGEO = 10.0 / 180.0 * M_PI;
|
---|
| 1581 |
|
---|
| 1582 | // MEO/IGSO satellite
|
---|
| 1583 | // ------------------
|
---|
| 1584 | if (_i0 > iMaxGEO) {
|
---|
[6602] | 1585 | double OM = _OMEGA0 + (_OMEGADOT - omegaBDS)*tk - omegaBDS*toesec;
|
---|
[6400] | 1586 |
|
---|
| 1587 | sinom = sin(OM);
|
---|
| 1588 | cosom = cos(OM);
|
---|
| 1589 | sini = sin(i);
|
---|
| 1590 | cosi = cos(i);
|
---|
| 1591 |
|
---|
| 1592 | xc[0] = xp*cosom - yp*cosi*sinom;
|
---|
| 1593 | xc[1] = xp*sinom + yp*cosi*cosom;
|
---|
[7278] | 1594 | xc[2] = yp*sini;
|
---|
[7481] | 1595 |
|
---|
| 1596 | // Velocity
|
---|
| 1597 | // --------
|
---|
| 1598 |
|
---|
| 1599 | double dotom = _OMEGADOT - t_CST::omega;
|
---|
| 1600 |
|
---|
| 1601 | vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
|
---|
| 1602 | - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
|
---|
| 1603 | + yp*sini*sinom*doti; // dX / di
|
---|
| 1604 |
|
---|
| 1605 | vv[1] = sinom *dotx + cosi*cosom *doty
|
---|
| 1606 | + xp*cosom*dotom - yp*cosi*sinom*dotom
|
---|
| 1607 | - yp*sini*cosom*doti;
|
---|
| 1608 |
|
---|
| 1609 | vv[2] = sini *doty + yp*cosi *doti;
|
---|
| 1610 |
|
---|
[6400] | 1611 | }
|
---|
| 1612 |
|
---|
| 1613 | // GEO satellite
|
---|
| 1614 | // -------------
|
---|
| 1615 | else {
|
---|
[6602] | 1616 | double OM = _OMEGA0 + _OMEGADOT*tk - omegaBDS*toesec;
|
---|
| 1617 | double ll = omegaBDS*tk;
|
---|
[6400] | 1618 |
|
---|
| 1619 | sinom = sin(OM);
|
---|
| 1620 | cosom = cos(OM);
|
---|
| 1621 | sini = sin(i);
|
---|
| 1622 | cosi = cos(i);
|
---|
| 1623 |
|
---|
| 1624 | double xx = xp*cosom - yp*cosi*sinom;
|
---|
| 1625 | double yy = xp*sinom + yp*cosi*cosom;
|
---|
[7278] | 1626 | double zz = yp*sini;
|
---|
[6400] | 1627 |
|
---|
[7487] | 1628 | Matrix RX = BNC_PPP::t_astro::rotX(-5.0 / 180.0 * M_PI);
|
---|
| 1629 | Matrix RZ = BNC_PPP::t_astro::rotZ(ll);
|
---|
[6400] | 1630 |
|
---|
| 1631 | ColumnVector X1(3); X1 << xx << yy << zz;
|
---|
[7487] | 1632 | ColumnVector X2 = RZ*RX*X1;
|
---|
[6400] | 1633 |
|
---|
| 1634 | xc[0] = X2(1);
|
---|
| 1635 | xc[1] = X2(2);
|
---|
| 1636 | xc[2] = X2(3);
|
---|
[7278] | 1637 |
|
---|
[7481] | 1638 | double dotom = _OMEGADOT;
|
---|
[6400] | 1639 |
|
---|
[7481] | 1640 | double vx = cosom *dotx - cosi*sinom *doty
|
---|
| 1641 | - xp*sinom*dotom - yp*cosi*cosom*dotom
|
---|
| 1642 | + yp*sini*sinom*doti;
|
---|
[6400] | 1643 |
|
---|
[7481] | 1644 | double vy = sinom *dotx + cosi*cosom *doty
|
---|
| 1645 | + xp*cosom*dotom - yp*cosi*sinom*dotom
|
---|
| 1646 | - yp*sini*cosom*doti;
|
---|
[7278] | 1647 |
|
---|
[7501] | 1648 | double vz = sini *doty + yp*cosi *doti;
|
---|
[6400] | 1649 |
|
---|
[7501] | 1650 | ColumnVector V(3); V << vx << vy << vz;
|
---|
[7481] | 1651 |
|
---|
[7487] | 1652 | Matrix RdotZ(3,3);
|
---|
[7481] | 1653 | double C = cos(ll);
|
---|
| 1654 | double S = sin(ll);
|
---|
| 1655 | Matrix UU(3,3);
|
---|
| 1656 | UU[0][0] = -S; UU[0][1] = +C; UU[0][2] = 0.0;
|
---|
| 1657 | UU[1][0] = -C; UU[1][1] = -S; UU[1][2] = 0.0;
|
---|
| 1658 | UU[2][0] = 0.0; UU[2][1] = 0.0; UU[2][2] = 0.0;
|
---|
[7487] | 1659 | RdotZ = omegaBDS * UU;
|
---|
[7481] | 1660 |
|
---|
| 1661 | ColumnVector VV(3);
|
---|
[7487] | 1662 | VV = RZ*RX*V + RdotZ*RX*X1;
|
---|
[7481] | 1663 |
|
---|
| 1664 | vv[0] = VV(1);
|
---|
| 1665 | vv[1] = VV(2);
|
---|
| 1666 | vv[2] = VV(3);
|
---|
| 1667 | }
|
---|
| 1668 |
|
---|
| 1669 | double tc = tt - _TOC;
|
---|
| 1670 | xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
|
---|
| 1671 |
|
---|
[7278] | 1672 | // dotC = _clock_drift + _clock_driftrate*tc
|
---|
[6400] | 1673 | // - 4.442807633e-10*_e*sqrt(a0)*cos(E) * dEdM * n;
|
---|
| 1674 |
|
---|
[7481] | 1675 | // Relativistic Correction
|
---|
| 1676 | // -----------------------
|
---|
| 1677 | // correspondent to BDS ICD and to SSR standard
|
---|
[8541] | 1678 | xc[3] -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
|
---|
[7481] | 1679 | // correspondent to IGS convention
|
---|
| 1680 | // xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
|
---|
| 1681 |
|
---|
[8541] | 1682 | xc[4] = _clock_drift + _clock_driftrate*tc;
|
---|
| 1683 | xc[5] = _clock_driftrate;
|
---|
| 1684 |
|
---|
[6400] | 1685 | return success;
|
---|
| 1686 | }
|
---|
| 1687 |
|
---|
| 1688 | // RINEX Format String
|
---|
| 1689 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6600] | 1690 | QString t_ephBDS::toString(double version) const {
|
---|
[6400] | 1691 |
|
---|
[6812] | 1692 | QString rnxStr = rinexDateStr(_TOC-14.0, _prn, version);
|
---|
[6400] | 1693 |
|
---|
| 1694 | QTextStream out(&rnxStr);
|
---|
| 1695 |
|
---|
| 1696 | out << QString("%1%2%3\n")
|
---|
| 1697 | .arg(_clock_bias, 19, 'e', 12)
|
---|
| 1698 | .arg(_clock_drift, 19, 'e', 12)
|
---|
| 1699 | .arg(_clock_driftrate, 19, 'e', 12);
|
---|
| 1700 |
|
---|
| 1701 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
| 1702 |
|
---|
| 1703 | out << QString(fmt)
|
---|
| 1704 | .arg(double(_AODE), 19, 'e', 12)
|
---|
| 1705 | .arg(_Crs, 19, 'e', 12)
|
---|
| 1706 | .arg(_Delta_n, 19, 'e', 12)
|
---|
| 1707 | .arg(_M0, 19, 'e', 12);
|
---|
| 1708 |
|
---|
| 1709 | out << QString(fmt)
|
---|
| 1710 | .arg(_Cuc, 19, 'e', 12)
|
---|
| 1711 | .arg(_e, 19, 'e', 12)
|
---|
| 1712 | .arg(_Cus, 19, 'e', 12)
|
---|
| 1713 | .arg(_sqrt_A, 19, 'e', 12);
|
---|
| 1714 |
|
---|
[6843] | 1715 | double toes = 0.0;
|
---|
| 1716 | if (_TOEweek > -1.0) {// RINEX input
|
---|
| 1717 | toes = _TOEsec;
|
---|
| 1718 | }
|
---|
| 1719 | else {// RTCM stream input
|
---|
[6812] | 1720 | toes = _TOE.bdssec();
|
---|
[6755] | 1721 | }
|
---|
[6400] | 1722 | out << QString(fmt)
|
---|
[6843] | 1723 | .arg(toes, 19, 'e', 12)
|
---|
[6755] | 1724 | .arg(_Cic, 19, 'e', 12)
|
---|
| 1725 | .arg(_OMEGA0, 19, 'e', 12)
|
---|
| 1726 | .arg(_Cis, 19, 'e', 12);
|
---|
[6400] | 1727 |
|
---|
| 1728 | out << QString(fmt)
|
---|
| 1729 | .arg(_i0, 19, 'e', 12)
|
---|
| 1730 | .arg(_Crc, 19, 'e', 12)
|
---|
| 1731 | .arg(_omega, 19, 'e', 12)
|
---|
| 1732 | .arg(_OMEGADOT, 19, 'e', 12);
|
---|
| 1733 |
|
---|
[6843] | 1734 | double toew = 0.0;
|
---|
| 1735 | if (_TOEweek > -1.0) {// RINEX input
|
---|
| 1736 | toew = _TOEweek;
|
---|
| 1737 | }
|
---|
| 1738 | else {// RTCM stream input
|
---|
| 1739 | toew = double(_TOE.bdsw());
|
---|
| 1740 | }
|
---|
[6400] | 1741 | out << QString(fmt)
|
---|
[6843] | 1742 | .arg(_IDOT, 19, 'e', 12)
|
---|
| 1743 | .arg(0.0, 19, 'e', 12)
|
---|
| 1744 | .arg(toew, 19, 'e', 12)
|
---|
| 1745 | .arg(0.0, 19, 'e', 12);
|
---|
[6400] | 1746 |
|
---|
| 1747 | out << QString(fmt)
|
---|
[6798] | 1748 | .arg(_URA, 19, 'e', 12)
|
---|
[6400] | 1749 | .arg(double(_SatH1), 19, 'e', 12)
|
---|
| 1750 | .arg(_TGD1, 19, 'e', 12)
|
---|
| 1751 | .arg(_TGD2, 19, 'e', 12);
|
---|
| 1752 |
|
---|
[6843] | 1753 | double tots = 0.0;
|
---|
| 1754 | if (_TOEweek > -1.0) {// RINEX input
|
---|
| 1755 | tots = _TOT;
|
---|
| 1756 | }
|
---|
| 1757 | else {// RTCM stream input
|
---|
[6812] | 1758 | tots = _TOE.bdssec();
|
---|
[6755] | 1759 | }
|
---|
[6400] | 1760 | out << QString(fmt)
|
---|
[6792] | 1761 | .arg(tots, 19, 'e', 12)
|
---|
[6755] | 1762 | .arg(double(_AODC), 19, 'e', 12)
|
---|
| 1763 | .arg("", 19, QChar(' '))
|
---|
| 1764 | .arg("", 19, QChar(' '));
|
---|
[6400] | 1765 | return rnxStr;
|
---|
| 1766 | }
|
---|