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