source: ntrip/branches/BNC_2.12/src/ephemeris.cpp@ 8580

Last change on this file since 8580 was 8580, checked in by stuerze, 5 years ago

minor changes

File size: 49.4 KB
Line 
1#include <sstream>
2#include <iostream>
3#include <iomanip>
4#include <cstring>
5
6#include <newmatio.h>
7
8#include "ephemeris.h"
9#include "bncutils.h"
10#include "bnctime.h"
11#include "bnccore.h"
12#include "bncutils.h"
13#include "satObs.h"
14#include "pppInclude.h"
15#include "pppModel.h"
16
17using namespace std;
18
19// Constructor
20////////////////////////////////////////////////////////////////////////////
21t_eph::t_eph() {
22 _checkState = unchecked;
23 _orbCorr = 0;
24 _clkCorr = 0;
25}
26// Destructor
27////////////////////////////////////////////////////////////////////////////
28t_eph::~t_eph() {
29 if (_orbCorr)
30 delete _orbCorr;
31 if (_clkCorr)
32 delete _clkCorr;
33}
34
35//
36////////////////////////////////////////////////////////////////////////////
37void t_eph::setOrbCorr(const t_orbCorr* orbCorr) {
38 if (_orbCorr) {
39 delete _orbCorr;
40 _orbCorr = 0;
41 }
42 _orbCorr = new t_orbCorr(*orbCorr);
43}
44
45//
46////////////////////////////////////////////////////////////////////////////
47void t_eph::setClkCorr(const t_clkCorr* clkCorr) {
48 if (_clkCorr) {
49 delete _clkCorr;
50 _clkCorr = 0;
51 }
52 _clkCorr = new t_clkCorr(*clkCorr);
53}
54
55//
56////////////////////////////////////////////////////////////////////////////
57t_irc t_eph::getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const {
58
59 if (_checkState == bad ||
60 _checkState == unhealthy ||
61 _checkState == outdated) {
62 return failure;
63 }
64 const QVector<int> updateInt = QVector<int>() << 1 << 2 << 5 << 10 << 15 << 30
65 << 60 << 120 << 240 << 300 << 600
66 << 900 << 1800 << 3600 << 7200
67 << 10800;
68 xc.ReSize(6);
69 vv.ReSize(3);
70 if (position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data()) != success) {
71 return failure;
72 }
73 if (useCorr) {
74 if (_orbCorr && _clkCorr) {
75 double dtO = tt - _orbCorr->_time;
76 if (_orbCorr->_updateInt) {
77 dtO -= (0.5 * updateInt[_orbCorr->_updateInt]);
78 }
79 ColumnVector dx(3);
80 dx[0] = _orbCorr->_xr[0] + _orbCorr->_dotXr[0] * dtO;
81 dx[1] = _orbCorr->_xr[1] + _orbCorr->_dotXr[1] * dtO;
82 dx[2] = _orbCorr->_xr[2] + _orbCorr->_dotXr[2] * dtO;
83
84 RSW_to_XYZ(xc.Rows(1,3), vv.Rows(1,3), dx, dx);
85
86 xc[0] -= dx[0];
87 xc[1] -= dx[1];
88 xc[2] -= dx[2];
89
90 ColumnVector dv(3);
91 RSW_to_XYZ(xc.Rows(1,3), vv.Rows(1,3), _orbCorr->_dotXr, dv);
92
93 vv[0] -= dv[0];
94 vv[1] -= dv[1];
95 vv[2] -= dv[2];
96
97 double dtC = tt - _clkCorr->_time;
98 if (_clkCorr->_updateInt) {
99 dtC -= (0.5 * updateInt[_clkCorr->_updateInt]);
100 }
101 xc[3] += _clkCorr->_dClk + _clkCorr->_dotDClk * dtC + _clkCorr->_dotDotDClk * dtC * dtC;
102 }
103 else {
104 return failure;
105 }
106 }
107 return success;
108}
109
110//
111//////////////////////////////////////////////////////////////////////////////
112QString t_eph::rinexDateStr(const bncTime& tt, const t_prn& prn, double version) {
113 QString prnStr(prn.toString().c_str());
114 return rinexDateStr(tt, prnStr, version);
115}
116
117//
118//////////////////////////////////////////////////////////////////////////////
119QString t_eph::rinexDateStr(const bncTime& tt, const QString& prnStr, double version) {
120
121 QString datStr;
122
123 unsigned year, month, day, hour, min;
124 double sec;
125 tt.civil_date(year, month, day);
126 tt.civil_time(hour, min, sec);
127
128 QTextStream out(&datStr);
129
130 if (version < 3.0) {
131 QString prnHlp = prnStr.mid(1,2); if (prnHlp[0] == '0') prnHlp[0] = ' ';
132 out << prnHlp << QString(" %1 %2 %3 %4 %5%6")
133 .arg(year % 100, 2, 10, QChar('0'))
134 .arg(month, 2)
135 .arg(day, 2)
136 .arg(hour, 2)
137 .arg(min, 2)
138 .arg(sec, 5, 'f',1);
139 }
140 else {
141 out << prnStr << QString(" %1 %2 %3 %4 %5 %6")
142 .arg(year, 4)
143 .arg(month, 2, 10, QChar('0'))
144 .arg(day, 2, 10, QChar('0'))
145 .arg(hour, 2, 10, QChar('0'))
146 .arg(min, 2, 10, QChar('0'))
147 .arg(int(sec), 2, 10, QChar('0'));
148 }
149
150 return datStr;
151}
152
153// Constructor
154//////////////////////////////////////////////////////////////////////////////
155t_ephGPS::t_ephGPS(float rnxVersion, const QStringList& lines) {
156
157 const int nLines = 8;
158
159 if (lines.size() != nLines) {
160 _checkState = bad;
161 return;
162 }
163
164 // RINEX Format
165 // ------------
166 int fieldLen = 19;
167
168 int pos[4];
169 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
170 pos[1] = pos[0] + fieldLen;
171 pos[2] = pos[1] + fieldLen;
172 pos[3] = pos[2] + fieldLen;
173
174 // Read eight lines
175 // ----------------
176 for (int iLine = 0; iLine < nLines; iLine++) {
177 QString line = lines[iLine];
178
179 if ( iLine == 0 ) {
180 QTextStream in(line.left(pos[1]).toAscii());
181 int year, month, day, hour, min;
182 double sec;
183
184 QString prnStr, n;
185 in >> prnStr;
186
187 if (prnStr.size() == 1 &&
188 (prnStr[0] == 'G' ||
189 prnStr[0] == 'J' ||
190 prnStr[0] == 'I')) {
191 in >> n;
192 prnStr.append(n);
193 }
194
195 in >> year >> month >> day >> hour >> min >> sec;
196 if (prnStr.at(0) == 'G') {
197 _prn.set('G', prnStr.mid(1).toInt());
198 }
199 else if (prnStr.at(0) == 'J') {
200 _prn.set('J', prnStr.mid(1).toInt());
201 }
202 else if (prnStr.at(0) == 'I') {
203 _prn.set('I', prnStr.mid(1).toInt());
204 }
205 else {
206 _prn.set('G', prnStr.toInt());
207 }
208
209 if (year < 80) {
210 year += 2000;
211 }
212 else if (year < 100) {
213 year += 1900;
214 }
215
216 _TOC.set(year, month, day, hour, min, sec);
217
218 if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
219 readDbl(line, pos[2], fieldLen, _clock_drift ) ||
220 readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
221 _checkState = bad;
222 return;
223 }
224 }
225
226 else if ( iLine == 1 ) {
227 if ( readDbl(line, pos[0], fieldLen, _IODE ) ||
228 readDbl(line, pos[1], fieldLen, _Crs ) ||
229 readDbl(line, pos[2], fieldLen, _Delta_n) ||
230 readDbl(line, pos[3], fieldLen, _M0 ) ) {
231 _checkState = bad;
232 return;
233 }
234 }
235
236 else if ( iLine == 2 ) {
237 if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
238 readDbl(line, pos[1], fieldLen, _e ) ||
239 readDbl(line, pos[2], fieldLen, _Cus ) ||
240 readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
241 _checkState = bad;
242 return;
243 }
244 }
245
246 else if ( iLine == 3 ) {
247 if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
248 readDbl(line, pos[1], fieldLen, _Cic ) ||
249 readDbl(line, pos[2], fieldLen, _OMEGA0) ||
250 readDbl(line, pos[3], fieldLen, _Cis ) ) {
251 _checkState = bad;
252 return;
253 }
254 }
255
256 else if ( iLine == 4 ) {
257 if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
258 readDbl(line, pos[1], fieldLen, _Crc ) ||
259 readDbl(line, pos[2], fieldLen, _omega ) ||
260 readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
261 _checkState = bad;
262 return;
263 }
264 }
265
266 else if ( iLine == 5 && type() != t_eph::IRNSS) {
267 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
268 readDbl(line, pos[1], fieldLen, _L2Codes) ||
269 readDbl(line, pos[2], fieldLen, _TOEweek ) ||
270 readDbl(line, pos[3], fieldLen, _L2PFlag) ) {
271 _checkState = bad;
272 return;
273 }
274 }
275 else if ( iLine == 5 && type() == t_eph::IRNSS) {
276 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
277 readDbl(line, pos[2], fieldLen, _TOEweek) ) {
278 _checkState = bad;
279 return;
280 }
281 }
282
283 else if ( iLine == 6 && type() != t_eph::IRNSS) {
284 if ( readDbl(line, pos[0], fieldLen, _ura ) ||
285 readDbl(line, pos[1], fieldLen, _health) ||
286 readDbl(line, pos[2], fieldLen, _TGD ) ||
287 readDbl(line, pos[3], fieldLen, _IODC ) ) {
288 _checkState = bad;
289 return;
290 }
291 }
292 else if ( iLine == 6 && type() == t_eph::IRNSS) {
293 if ( readDbl(line, pos[0], fieldLen, _ura ) ||
294 readDbl(line, pos[1], fieldLen, _health) ||
295 readDbl(line, pos[2], fieldLen, _TGD ) ) {
296 _checkState = bad;
297 return;
298 }
299 }
300
301 else if ( iLine == 7 ) {
302 if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
303 _checkState = bad;
304 return;
305 }
306 readDbl(line, pos[1], fieldLen, _fitInterval); // _fitInterval optional
307 }
308 }
309}
310
311// Compute GPS Satellite Position (virtual)
312////////////////////////////////////////////////////////////////////////////
313t_irc t_ephGPS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
314
315 if (_checkState == bad ||
316 _checkState == unhealthy ||
317 _checkState == outdated) {
318 return failure;
319 }
320
321 static const double omegaEarth = 7292115.1467e-11;
322 static const double gmGRS = 398.6005e12;
323
324 memset(xc, 0, 6*sizeof(double));
325 memset(vv, 0, 3*sizeof(double));
326
327 double a0 = _sqrt_A * _sqrt_A;
328 if (a0 == 0) {
329 return failure;
330 }
331
332 double n0 = sqrt(gmGRS/(a0*a0*a0));
333
334 bncTime tt(GPSweek, GPSweeks);
335 double tk = tt - bncTime(int(_TOEweek), _TOEsec);
336
337 double n = n0 + _Delta_n;
338 double M = _M0 + n*tk;
339 double E = M;
340 double E_last;
341 int nLoop = 0;
342 do {
343 E_last = E;
344 E = M + _e*sin(E);
345
346 if (++nLoop == 100) {
347 return failure;
348 }
349 } while ( fabs(E-E_last)*a0 > 0.001 );
350 double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
351 double u0 = v + _omega;
352 double sin2u0 = sin(2*u0);
353 double cos2u0 = cos(2*u0);
354 double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
355 double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
356 double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
357 double xp = r*cos(u);
358 double yp = r*sin(u);
359 double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
360 omegaEarth*_TOEsec;
361
362 double sinom = sin(OM);
363 double cosom = cos(OM);
364 double sini = sin(i);
365 double cosi = cos(i);
366 xc[0] = xp*cosom - yp*cosi*sinom;
367 xc[1] = xp*sinom + yp*cosi*cosom;
368 xc[2] = yp*sini;
369
370 double tc = tt - _TOC;
371 xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
372
373 // Velocity
374 // --------
375 double tanv2 = tan(v/2);
376 double dEdM = 1 / (1 - _e*cos(E));
377 double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
378 * dEdM * n;
379 double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
380 double dotom = _OMEGADOT - omegaEarth;
381 double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
382 double dotr = a0 * _e*sin(E) * dEdM * n
383 + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
384 double dotx = dotr*cos(u) - r*sin(u)*dotu;
385 double doty = dotr*sin(u) + r*cos(u)*dotu;
386
387 vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
388 - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
389 + yp*sini*sinom*doti; // dX / di
390
391 vv[1] = sinom *dotx + cosi*cosom *doty
392 + xp*cosom*dotom - yp*cosi*sinom*dotom
393 - yp*sini*cosom*doti;
394
395 vv[2] = sini *doty + yp*cosi *doti;
396
397 // Relativistic Correction
398 // -----------------------
399 // correspondent to IGS convention and GPS ICD (and SSR standard)
400 xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
401
402 xc[4] = _clock_drift + _clock_driftrate*tc;
403 xc[5] = _clock_driftrate;
404
405 return success;
406}
407
408// RINEX Format String
409//////////////////////////////////////////////////////////////////////////////
410QString t_ephGPS::toString(double version) const {
411
412 QString rnxStr = rinexDateStr(_TOC, _prn, version);
413
414 QTextStream out(&rnxStr);
415
416 out << QString("%1%2%3\n")
417 .arg(_clock_bias, 19, 'e', 12)
418 .arg(_clock_drift, 19, 'e', 12)
419 .arg(_clock_driftrate, 19, 'e', 12);
420
421 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
422
423 out << QString(fmt)
424 .arg(_IODE, 19, 'e', 12)
425 .arg(_Crs, 19, 'e', 12)
426 .arg(_Delta_n, 19, 'e', 12)
427 .arg(_M0, 19, 'e', 12);
428
429 out << QString(fmt)
430 .arg(_Cuc, 19, 'e', 12)
431 .arg(_e, 19, 'e', 12)
432 .arg(_Cus, 19, 'e', 12)
433 .arg(_sqrt_A, 19, 'e', 12);
434
435 out << QString(fmt)
436 .arg(_TOEsec, 19, 'e', 12)
437 .arg(_Cic, 19, 'e', 12)
438 .arg(_OMEGA0, 19, 'e', 12)
439 .arg(_Cis, 19, 'e', 12);
440
441 out << QString(fmt)
442 .arg(_i0, 19, 'e', 12)
443 .arg(_Crc, 19, 'e', 12)
444 .arg(_omega, 19, 'e', 12)
445 .arg(_OMEGADOT, 19, 'e', 12);
446
447 if (type() == t_eph::IRNSS) {
448 out << QString(fmt)
449 .arg(_IDOT, 19, 'e', 12)
450 .arg("", 19, QChar(' '))
451 .arg(_TOEweek, 19, 'e', 12)
452 .arg("", 19, QChar(' '));
453 }
454 else {
455 out << QString(fmt)
456 .arg(_IDOT, 19, 'e', 12)
457 .arg(_L2Codes, 19, 'e', 12)
458 .arg(_TOEweek, 19, 'e', 12)
459 .arg(_L2PFlag, 19, 'e', 12);
460 }
461
462 if (type() == t_eph::IRNSS) {
463 out << QString(fmt)
464 .arg(_ura, 19, 'e', 12)
465 .arg(_health, 19, 'e', 12)
466 .arg(_TGD, 19, 'e', 12)
467 .arg("", 19, QChar(' '));
468 }
469 else {
470 out << QString(fmt)
471 .arg(_ura, 19, 'e', 12)
472 .arg(_health, 19, 'e', 12)
473 .arg(_TGD, 19, 'e', 12)
474 .arg(_IODC, 19, 'e', 12);
475 }
476
477 double tot = _TOT;
478 if (tot == 0.9999e9 && version < 3.0) {
479 tot = 0.0;
480 }
481 if (type() == t_eph::IRNSS) {
482 out << QString(fmt)
483 .arg(tot, 19, 'e', 12)
484 .arg("", 19, QChar(' '))
485 .arg("", 19, QChar(' '))
486 .arg("", 19, QChar(' '));
487 }
488 else {
489 out << QString(fmt)
490 .arg(tot, 19, 'e', 12)
491 .arg(_fitInterval, 19, 'e', 12)
492 .arg("", 19, QChar(' '))
493 .arg("", 19, QChar(' '));
494 }
495
496 return rnxStr;
497}
498
499// Constructor
500//////////////////////////////////////////////////////////////////////////////
501t_ephGlo::t_ephGlo(float rnxVersion, const QStringList& lines) {
502
503 const int nLines = 4;
504
505 if (lines.size() != nLines) {
506 _checkState = bad;
507 return;
508 }
509
510 // RINEX Format
511 // ------------
512 int fieldLen = 19;
513
514 int pos[4];
515 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
516 pos[1] = pos[0] + fieldLen;
517 pos[2] = pos[1] + fieldLen;
518 pos[3] = pos[2] + fieldLen;
519
520 // Read four lines
521 // ---------------
522 for (int iLine = 0; iLine < nLines; iLine++) {
523 QString line = lines[iLine];
524
525 if ( iLine == 0 ) {
526 QTextStream in(line.left(pos[1]).toAscii());
527
528 int year, month, day, hour, min;
529 double sec;
530
531 QString prnStr, n;
532 in >> prnStr;
533 if (prnStr.size() == 1 && prnStr[0] == 'R') {
534 in >> n;
535 prnStr.append(n);
536 }
537 in >> year >> month >> day >> hour >> min >> sec;
538 if (prnStr.at(0) == 'R') {
539 _prn.set('R', prnStr.mid(1).toInt());
540 }
541 else {
542 _prn.set('R', prnStr.toInt());
543 }
544
545 if (year < 80) {
546 year += 2000;
547 }
548 else if (year < 100) {
549 year += 1900;
550 }
551
552 _gps_utc = gnumleap(year, month, day);
553
554 _TOC.set(year, month, day, hour, min, sec);
555 _TOC = _TOC + _gps_utc;
556
557 if ( readDbl(line, pos[1], fieldLen, _tau ) ||
558 readDbl(line, pos[2], fieldLen, _gamma) ||
559 readDbl(line, pos[3], fieldLen, _tki ) ) {
560 _checkState = bad;
561 return;
562 }
563
564 _tau = -_tau;
565 }
566
567 else if ( iLine == 1 ) {
568 if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
569 readDbl(line, pos[1], fieldLen, _x_velocity ) ||
570 readDbl(line, pos[2], fieldLen, _x_acceleration) ||
571 readDbl(line, pos[3], fieldLen, _health ) ) {
572 _checkState = bad;
573 return;
574 }
575 }
576
577 else if ( iLine == 2 ) {
578 if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
579 readDbl(line, pos[1], fieldLen, _y_velocity ) ||
580 readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
581 readDbl(line, pos[3], fieldLen, _frequency_number) ) {
582 _checkState = bad;
583 return;
584 }
585 }
586
587 else if ( iLine == 3 ) {
588 if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
589 readDbl(line, pos[1], fieldLen, _z_velocity ) ||
590 readDbl(line, pos[2], fieldLen, _z_acceleration) ||
591 readDbl(line, pos[3], fieldLen, _E ) ) {
592 _checkState = bad;
593 return;
594 }
595 }
596 }
597
598 // Initialize status vector
599 // ------------------------
600 _tt = _TOC;
601 _xv.ReSize(6);
602 _xv(1) = _x_pos * 1.e3;
603 _xv(2) = _y_pos * 1.e3;
604 _xv(3) = _z_pos * 1.e3;
605 _xv(4) = _x_velocity * 1.e3;
606 _xv(5) = _y_velocity * 1.e3;
607 _xv(6) = _z_velocity * 1.e3;
608}
609
610// Compute Glonass Satellite Position (virtual)
611////////////////////////////////////////////////////////////////////////////
612t_irc t_ephGlo::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
613
614 if (_checkState == bad ||
615 _checkState == unhealthy ||
616 _checkState == outdated) {
617 return failure;
618 }
619
620 static const double nominalStep = 10.0;
621
622 memset(xc, 0, 6*sizeof(double));
623 memset(vv, 0, 3*sizeof(double));
624
625 double dtPos = bncTime(GPSweek, GPSweeks) - _tt;
626
627 if (fabs(dtPos) > 24*3600.0) {
628 return failure;
629 }
630
631
632 int nSteps = int(fabs(dtPos) / nominalStep) + 1;
633 double step = dtPos / nSteps;
634
635 double acc[3];
636 acc[0] = _x_acceleration * 1.e3;
637 acc[1] = _y_acceleration * 1.e3;
638 acc[2] = _z_acceleration * 1.e3;
639 for (int ii = 1; ii <= nSteps; ii++) {
640 _xv = rungeKutta4(_tt.gpssec(), _xv, step, acc, glo_deriv);
641 _tt = _tt + step;
642 }
643
644 // Position and Velocity
645 // ---------------------
646 xc[0] = _xv(1);
647 xc[1] = _xv(2);
648 xc[2] = _xv(3);
649
650 vv[0] = _xv(4);
651 vv[1] = _xv(5);
652 vv[2] = _xv(6);
653
654 // Clock Correction
655 // ----------------
656 double dtClk = bncTime(GPSweek, GPSweeks) - _TOC;
657 xc[3] = -_tau + _gamma * dtClk;
658
659 xc[4] = _gamma;
660 xc[5] = 0.0;
661
662 return success;
663}
664
665// RINEX Format String
666//////////////////////////////////////////////////////////////////////////////
667QString t_ephGlo::toString(double version) const {
668
669 QString rnxStr = rinexDateStr(_TOC-_gps_utc, _prn, version);
670
671 QTextStream out(&rnxStr);
672
673 out << QString("%1%2%3\n")
674 .arg(-_tau, 19, 'e', 12)
675 .arg(_gamma, 19, 'e', 12)
676 .arg(_tki, 19, 'e', 12);
677
678 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
679
680 out << QString(fmt)
681 .arg(_x_pos, 19, 'e', 12)
682 .arg(_x_velocity, 19, 'e', 12)
683 .arg(_x_acceleration, 19, 'e', 12)
684 .arg(_health, 19, 'e', 12);
685
686 out << QString(fmt)
687 .arg(_y_pos, 19, 'e', 12)
688 .arg(_y_velocity, 19, 'e', 12)
689 .arg(_y_acceleration, 19, 'e', 12)
690 .arg(_frequency_number, 19, 'e', 12);
691
692 out << QString(fmt)
693 .arg(_z_pos, 19, 'e', 12)
694 .arg(_z_velocity, 19, 'e', 12)
695 .arg(_z_acceleration, 19, 'e', 12)
696 .arg(_E, 19, 'e', 12);
697
698 return rnxStr;
699}
700
701// Derivative of the state vector using a simple force model (static)
702////////////////////////////////////////////////////////////////////////////
703ColumnVector t_ephGlo::glo_deriv(double /* tt */, const ColumnVector& xv,
704 double* acc) {
705
706 // State vector components
707 // -----------------------
708 ColumnVector rr = xv.rows(1,3);
709 ColumnVector vv = xv.rows(4,6);
710
711 // Acceleration
712 // ------------
713 static const double gmWGS = 398.60044e12;
714 static const double AE = 6378136.0;
715 static const double OMEGA = 7292115.e-11;
716 static const double C20 = -1082.6257e-6;
717
718 double rho = rr.norm_Frobenius();
719 double t1 = -gmWGS/(rho*rho*rho);
720 double t2 = 3.0/2.0 * C20 * (gmWGS*AE*AE) / (rho*rho*rho*rho*rho);
721 double t3 = OMEGA * OMEGA;
722 double t4 = 2.0 * OMEGA;
723 double z2 = rr(3) * rr(3);
724
725 // Vector of derivatives
726 // ---------------------
727 ColumnVector va(6);
728 va(1) = vv(1);
729 va(2) = vv(2);
730 va(3) = vv(3);
731 va(4) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(1) + t4*vv(2) + acc[0];
732 va(5) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(2) - t4*vv(1) + acc[1];
733 va(6) = (t1 + t2*(3.0-5.0*z2/(rho*rho)) ) * rr(3) + acc[2];
734
735 return va;
736}
737
738// IOD of Glonass Ephemeris (virtual)
739////////////////////////////////////////////////////////////////////////////
740unsigned int t_ephGlo::IOD() const {
741 bncTime tMoscow = _TOC - _gps_utc + 3 * 3600.0;
742 return (unsigned long)tMoscow.daysec() / 900;
743}
744
745// Health status of Glonass Ephemeris (virtual)
746////////////////////////////////////////////////////////////////////////////
747unsigned int t_ephGlo::isUnhealthy() const {
748
749 if (_almanac_health_availablility_indicator) {
750 if ((_health == 0 && _almanac_health == 0) ||
751 (_health == 1 && _almanac_health == 0) ||
752 (_health == 1 && _almanac_health == 1)) {
753 return 1;
754 }
755 }
756 else if (!_almanac_health_availablility_indicator) {
757 if (_health) {
758 return 1;
759 }
760 }
761 return 0; /* (_health == 0 && _almanac_health == 1) or (_health == 0) */
762}
763
764// Constructor
765//////////////////////////////////////////////////////////////////////////////
766t_ephGal::t_ephGal(float rnxVersion, const QStringList& lines) {
767 int year, month, day, hour, min;
768 double sec;
769 QString prnStr;
770 const int nLines = 8;
771 if (lines.size() != nLines) {
772 _checkState = bad;
773 return;
774 }
775
776 // RINEX Format
777 // ------------
778 int fieldLen = 19;
779 double SVhealth = 0.0;
780 double datasource = 0.0;
781
782 int pos[4];
783 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
784 pos[1] = pos[0] + fieldLen;
785 pos[2] = pos[1] + fieldLen;
786 pos[3] = pos[2] + fieldLen;
787
788 // Read eight lines
789 // ----------------
790 for (int iLine = 0; iLine < nLines; iLine++) {
791 QString line = lines[iLine];
792
793 if ( iLine == 0 ) {
794 QTextStream in(line.left(pos[1]).toAscii());
795 QString n;
796 in >> prnStr;
797 if (prnStr.size() == 1 && prnStr[0] == 'E') {
798 in >> n;
799 prnStr.append(n);
800 }
801 in >> year >> month >> day >> hour >> min >> sec;
802 if (year < 80) {
803 year += 2000;
804 }
805 else if (year < 100) {
806 year += 1900;
807 }
808
809 _TOC.set(year, month, day, hour, min, sec);
810
811 if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
812 readDbl(line, pos[2], fieldLen, _clock_drift ) ||
813 readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
814 _checkState = bad;
815 return;
816 }
817 }
818
819 else if ( iLine == 1 ) {
820 if ( readDbl(line, pos[0], fieldLen, _IODnav ) ||
821 readDbl(line, pos[1], fieldLen, _Crs ) ||
822 readDbl(line, pos[2], fieldLen, _Delta_n) ||
823 readDbl(line, pos[3], fieldLen, _M0 ) ) {
824 _checkState = bad;
825 return;
826 }
827 }
828
829 else if ( iLine == 2 ) {
830 if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
831 readDbl(line, pos[1], fieldLen, _e ) ||
832 readDbl(line, pos[2], fieldLen, _Cus ) ||
833 readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
834 _checkState = bad;
835 return;
836 }
837 }
838
839 else if ( iLine == 3 ) {
840 if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
841 readDbl(line, pos[1], fieldLen, _Cic ) ||
842 readDbl(line, pos[2], fieldLen, _OMEGA0) ||
843 readDbl(line, pos[3], fieldLen, _Cis ) ) {
844 _checkState = bad;
845 return;
846 }
847 }
848
849 else if ( iLine == 4 ) {
850 if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
851 readDbl(line, pos[1], fieldLen, _Crc ) ||
852 readDbl(line, pos[2], fieldLen, _omega ) ||
853 readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
854 _checkState = bad;
855 return;
856 }
857 }
858
859 else if ( iLine == 5 ) {
860 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
861 readDbl(line, pos[1], fieldLen, datasource) ||
862 readDbl(line, pos[2], fieldLen, _TOEweek ) ) {
863 _checkState = bad;
864 return;
865 } else {
866 if (int(datasource) & (1<<8)) {
867 _fnav = true;
868 _inav = false;
869 } else if (int(datasource) & (1<<9)) {
870 _fnav = false;
871 _inav = true;
872 }
873 _TOEweek -= 1024.0;
874 }
875 }
876
877 else if ( iLine == 6 ) {
878 if ( readDbl(line, pos[0], fieldLen, _SISA ) ||
879 readDbl(line, pos[1], fieldLen, SVhealth) ||
880 readDbl(line, pos[2], fieldLen, _BGD_1_5A) ||
881 readDbl(line, pos[3], fieldLen, _BGD_1_5B) ) {
882 _checkState = bad;
883 return;
884 } else {
885 // Bit 0
886 _e1DataInValid = (int(SVhealth) & (1<<0));
887 // Bit 1-2
888 _E1_bHS = double((int(SVhealth) >> 1) & 0x3);
889 // Bit 3
890 _e5aDataInValid = (int(SVhealth) & (1<<3));
891 // Bit 4-5
892 _E5aHS = double((int(SVhealth) >> 4) & 0x3);
893 // Bit 6
894 _e5bDataInValid = (int(SVhealth) & (1<<6));
895 // Bit 7-8
896 _E5bHS = double((int(SVhealth) >> 7) & 0x3);
897
898 if (prnStr.at(0) == 'E') {
899 _prn.set('E', prnStr.mid(1).toInt(), _inav ? 1 : 0);
900 }
901 }
902 }
903
904 else if ( iLine == 7 ) {
905 if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
906 _checkState = bad;
907 return;
908 }
909 }
910 }
911}
912
913// Compute Galileo Satellite Position (virtual)
914////////////////////////////////////////////////////////////////////////////
915t_irc t_ephGal::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
916
917 if (_checkState == bad ||
918 _checkState == unhealthy ||
919 _checkState == outdated) {
920 return failure;
921 }
922
923 static const double omegaEarth = 7292115.1467e-11;
924 static const double gmWGS = 398.6004418e12;
925
926 memset(xc, 0, 6*sizeof(double));
927 memset(vv, 0, 3*sizeof(double));
928
929 double a0 = _sqrt_A * _sqrt_A;
930 if (a0 == 0) {
931 return failure;
932 }
933
934 double n0 = sqrt(gmWGS/(a0*a0*a0));
935
936 bncTime tt(GPSweek, GPSweeks);
937 double tk = tt - bncTime(_TOC.gpsw(), _TOEsec);
938
939 double n = n0 + _Delta_n;
940 double M = _M0 + n*tk;
941 double E = M;
942 double E_last;
943 int nLoop = 0;
944 do {
945 E_last = E;
946 E = M + _e*sin(E);
947
948 if (++nLoop == 100) {
949 return failure;
950 }
951 } while ( fabs(E-E_last)*a0 > 0.001 );
952 double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
953 double u0 = v + _omega;
954 double sin2u0 = sin(2*u0);
955 double cos2u0 = cos(2*u0);
956 double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
957 double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
958 double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
959 double xp = r*cos(u);
960 double yp = r*sin(u);
961 double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
962 omegaEarth*_TOEsec;
963
964 double sinom = sin(OM);
965 double cosom = cos(OM);
966 double sini = sin(i);
967 double cosi = cos(i);
968 xc[0] = xp*cosom - yp*cosi*sinom;
969 xc[1] = xp*sinom + yp*cosi*cosom;
970 xc[2] = yp*sini;
971
972 double tc = tt - _TOC;
973 xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
974
975 // Velocity
976 // --------
977 double tanv2 = tan(v/2);
978 double dEdM = 1 / (1 - _e*cos(E));
979 double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
980 * dEdM * n;
981 double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
982 double dotom = _OMEGADOT - omegaEarth;
983 double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
984 double dotr = a0 * _e*sin(E) * dEdM * n
985 + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
986 double dotx = dotr*cos(u) - r*sin(u)*dotu;
987 double doty = dotr*sin(u) + r*cos(u)*dotu;
988
989 vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
990 - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
991 + yp*sini*sinom*doti; // dX / di
992
993 vv[1] = sinom *dotx + cosi*cosom *doty
994 + xp*cosom*dotom - yp*cosi*sinom*dotom
995 - yp*sini*cosom*doti;
996
997 vv[2] = sini *doty + yp*cosi *doti;
998
999 // Relativistic Correction
1000 // -----------------------
1001 // correspondent to Galileo ICD and to SSR standard
1002 xc[3] -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
1003 // correspondent to IGS convention
1004 //xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
1005
1006 xc[4] = _clock_drift + _clock_driftrate*tc;
1007 xc[5] = _clock_driftrate;
1008
1009 return success;
1010}
1011
1012// Health status of Galileo Ephemeris (virtual)
1013////////////////////////////////////////////////////////////////////////////
1014unsigned int t_ephGal::isUnhealthy() const {
1015 if (_E5aHS && _E5bHS && _E1_bHS) {
1016 return 1;
1017 }
1018 return 0;
1019}
1020
1021// RINEX Format String
1022//////////////////////////////////////////////////////////////////////////////
1023QString t_ephGal::toString(double version) const {
1024
1025 QString rnxStr = rinexDateStr(_TOC, _prn, version);
1026
1027 QTextStream out(&rnxStr);
1028
1029 out << QString("%1%2%3\n")
1030 .arg(_clock_bias, 19, 'e', 12)
1031 .arg(_clock_drift, 19, 'e', 12)
1032 .arg(_clock_driftrate, 19, 'e', 12);
1033
1034 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1035
1036 out << QString(fmt)
1037 .arg(_IODnav, 19, 'e', 12)
1038 .arg(_Crs, 19, 'e', 12)
1039 .arg(_Delta_n, 19, 'e', 12)
1040 .arg(_M0, 19, 'e', 12);
1041
1042 out << QString(fmt)
1043 .arg(_Cuc, 19, 'e', 12)
1044 .arg(_e, 19, 'e', 12)
1045 .arg(_Cus, 19, 'e', 12)
1046 .arg(_sqrt_A, 19, 'e', 12);
1047
1048 out << QString(fmt)
1049 .arg(_TOEsec, 19, 'e', 12)
1050 .arg(_Cic, 19, 'e', 12)
1051 .arg(_OMEGA0, 19, 'e', 12)
1052 .arg(_Cis, 19, 'e', 12);
1053
1054 out << QString(fmt)
1055 .arg(_i0, 19, 'e', 12)
1056 .arg(_Crc, 19, 'e', 12)
1057 .arg(_omega, 19, 'e', 12)
1058 .arg(_OMEGADOT, 19, 'e', 12);
1059
1060 int dataSource = 0;
1061 int SVhealth = 0;
1062 double BGD_1_5A = _BGD_1_5A;
1063 double BGD_1_5B = _BGD_1_5B;
1064 if (_fnav) {
1065 dataSource |= (1<<1);
1066 dataSource |= (1<<8);
1067 BGD_1_5B = 0.0;
1068 // SVhealth
1069 // Bit 3 : E5a DVS
1070 if (_e5aDataInValid) {
1071 SVhealth |= (1<<3);
1072 }
1073 // Bit 4-5: E5a HS
1074 if (_E5aHS == 1.0) {
1075 SVhealth |= (1<<4);
1076 }
1077 else if (_E5aHS == 2.0) {
1078 SVhealth |= (1<<5);
1079 }
1080 else if (_E5aHS == 3.0) {
1081 SVhealth |= (1<<4);
1082 SVhealth |= (1<<5);
1083 }
1084 }
1085 else if(_inav) {
1086 // Bit 2 and 0 are set because from MT1046 the data source cannot be determined
1087 // and RNXv3.03 says both can be set if the navigation messages were merged
1088 dataSource |= (1<<0);
1089 dataSource |= (1<<2);
1090 dataSource |= (1<<9);
1091 // SVhealth
1092 // Bit 0 : E1-B DVS
1093 if (_e1DataInValid) {
1094 SVhealth |= (1<<0);
1095 }
1096 // Bit 1-2: E1-B HS
1097 if (_E1_bHS == 1.0) {
1098 SVhealth |= (1<<1);
1099 }
1100 else if (_E1_bHS == 2.0) {
1101 SVhealth |= (1<<2);
1102 }
1103 else if (_E1_bHS == 3.0) {
1104 SVhealth |= (1<<1);
1105 SVhealth |= (1<<2);
1106 }
1107 // Bit 3 : E5a DVS
1108 if (_e5aDataInValid) {
1109 SVhealth |= (1<<3);
1110 }
1111 // Bit 4-5: E5a HS
1112 if (_E5aHS == 1.0) {
1113 SVhealth |= (1<<4);
1114 }
1115 else if (_E5aHS == 2.0) {
1116 SVhealth |= (1<<5);
1117 }
1118 else if (_E5aHS == 3.0) {
1119 SVhealth |= (1<<4);
1120 SVhealth |= (1<<5);
1121 }
1122 // Bit 6 : E5b DVS
1123 if (_e5bDataInValid) {
1124 SVhealth |= (1<<6);
1125 }
1126 // Bit 7-8: E5b HS
1127 if (_E5bHS == 1.0) {
1128 SVhealth |= (1<<7);
1129 }
1130 else if (_E5bHS == 2.0) {
1131 SVhealth |= (1<<8);
1132 }
1133 else if (_E5bHS == 3.0) {
1134 SVhealth |= (1<<7);
1135 SVhealth |= (1<<8);
1136 }
1137 }
1138
1139 out << QString(fmt)
1140 .arg(_IDOT, 19, 'e', 12)
1141 .arg(double(dataSource), 19, 'e', 12)
1142 .arg(_TOEweek + 1024.0, 19, 'e', 12)
1143 .arg(0.0, 19, 'e', 12);
1144
1145 out << QString(fmt)
1146 .arg(_SISA, 19, 'e', 12)
1147 .arg(double(SVhealth), 19, 'e', 12)
1148 .arg(BGD_1_5A, 19, 'e', 12)
1149 .arg(BGD_1_5B, 19, 'e', 12);
1150
1151 double tot = _TOT;
1152 if (tot == 0.9999e9 && version < 3.0) {
1153 tot = 0.0;
1154 }
1155 out << QString(fmt)
1156 .arg(tot, 19, 'e', 12)
1157 .arg("", 19, QChar(' '))
1158 .arg("", 19, QChar(' '))
1159 .arg("", 19, QChar(' '));
1160
1161 return rnxStr;
1162}
1163
1164// Constructor
1165//////////////////////////////////////////////////////////////////////////////
1166t_ephSBAS::t_ephSBAS(float rnxVersion, const QStringList& lines) {
1167
1168 const int nLines = 4;
1169
1170 if (lines.size() != nLines) {
1171 _checkState = bad;
1172 return;
1173 }
1174
1175 // RINEX Format
1176 // ------------
1177 int fieldLen = 19;
1178
1179 int pos[4];
1180 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
1181 pos[1] = pos[0] + fieldLen;
1182 pos[2] = pos[1] + fieldLen;
1183 pos[3] = pos[2] + fieldLen;
1184
1185 // Read four lines
1186 // ---------------
1187 for (int iLine = 0; iLine < nLines; iLine++) {
1188 QString line = lines[iLine];
1189
1190 if ( iLine == 0 ) {
1191 QTextStream in(line.left(pos[1]).toAscii());
1192
1193 int year, month, day, hour, min;
1194 double sec;
1195
1196 QString prnStr, n;
1197 in >> prnStr;
1198 if (prnStr.size() == 1 && prnStr[0] == 'S') {
1199 in >> n;
1200 prnStr.append(n);
1201 }
1202 in >> year >> month >> day >> hour >> min >> sec;
1203 if (prnStr.at(0) == 'S') {
1204 _prn.set('S', prnStr.mid(1).toInt());
1205 }
1206 else {
1207 _prn.set('S', prnStr.toInt());
1208 }
1209
1210 if (year < 80) {
1211 year += 2000;
1212 }
1213 else if (year < 100) {
1214 year += 1900;
1215 }
1216
1217 _TOC.set(year, month, day, hour, min, sec);
1218
1219 if ( readDbl(line, pos[1], fieldLen, _agf0 ) ||
1220 readDbl(line, pos[2], fieldLen, _agf1 ) ||
1221 readDbl(line, pos[3], fieldLen, _TOT ) ) {
1222 _checkState = bad;
1223 return;
1224 }
1225 }
1226
1227 else if ( iLine == 1 ) {
1228 if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
1229 readDbl(line, pos[1], fieldLen, _x_velocity ) ||
1230 readDbl(line, pos[2], fieldLen, _x_acceleration) ||
1231 readDbl(line, pos[3], fieldLen, _health ) ) {
1232 _checkState = bad;
1233 return;
1234 }
1235 }
1236
1237 else if ( iLine == 2 ) {
1238 if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
1239 readDbl(line, pos[1], fieldLen, _y_velocity ) ||
1240 readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
1241 readDbl(line, pos[3], fieldLen, _ura ) ) {
1242 _checkState = bad;
1243 return;
1244 }
1245 }
1246
1247 else if ( iLine == 3 ) {
1248 double iodn;
1249 if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
1250 readDbl(line, pos[1], fieldLen, _z_velocity ) ||
1251 readDbl(line, pos[2], fieldLen, _z_acceleration) ||
1252 readDbl(line, pos[3], fieldLen, iodn ) ) {
1253 _checkState = bad;
1254 return;
1255 } else {
1256 _IODN = int(iodn);
1257 }
1258 }
1259 }
1260
1261 _x_pos *= 1.e3;
1262 _y_pos *= 1.e3;
1263 _z_pos *= 1.e3;
1264 _x_velocity *= 1.e3;
1265 _y_velocity *= 1.e3;
1266 _z_velocity *= 1.e3;
1267 _x_acceleration *= 1.e3;
1268 _y_acceleration *= 1.e3;
1269 _z_acceleration *= 1.e3;
1270}
1271
1272// IOD of SBAS Ephemeris (virtual)
1273////////////////////////////////////////////////////////////////////////////
1274
1275unsigned int t_ephSBAS::IOD() const {
1276 unsigned char buffer[80];
1277 int size = 0;
1278 int numbits = 0;
1279 long long bitbuffer = 0;
1280 unsigned char *startbuffer = buffer;
1281
1282 SBASADDBITSFLOAT(30, this->_x_pos, 0.08)
1283 SBASADDBITSFLOAT(30, this->_y_pos, 0.08)
1284 SBASADDBITSFLOAT(25, this->_z_pos, 0.4)
1285 SBASADDBITSFLOAT(17, this->_x_velocity, 0.000625)
1286 SBASADDBITSFLOAT(17, this->_y_velocity, 0.000625)
1287 SBASADDBITSFLOAT(18, this->_z_velocity, 0.004)
1288 SBASADDBITSFLOAT(10, this->_x_acceleration, 0.0000125)
1289 SBASADDBITSFLOAT(10, this->_y_acceleration, 0.0000125)
1290 SBASADDBITSFLOAT(10, this->_z_acceleration, 0.0000625)
1291 SBASADDBITSFLOAT(12, this->_agf0, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1292 SBASADDBITSFLOAT(8, this->_agf1, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<10))
1293 SBASADDBITS(5,0); // the last byte is filled by 0-bits to obtain a length of an integer multiple of 8
1294
1295 return CRC24(size, startbuffer);
1296}
1297
1298// Compute SBAS Satellite Position (virtual)
1299////////////////////////////////////////////////////////////////////////////
1300t_irc t_ephSBAS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
1301
1302 if (_checkState == bad ||
1303 _checkState == unhealthy ||
1304 _checkState == outdated) {
1305 return failure;
1306 }
1307
1308 bncTime tt(GPSweek, GPSweeks);
1309 double dt = tt - _TOC;
1310
1311 xc[0] = _x_pos + _x_velocity * dt + _x_acceleration * dt * dt / 2.0;
1312 xc[1] = _y_pos + _y_velocity * dt + _y_acceleration * dt * dt / 2.0;
1313 xc[2] = _z_pos + _z_velocity * dt + _z_acceleration * dt * dt / 2.0;
1314
1315 vv[0] = _x_velocity + _x_acceleration * dt;
1316 vv[1] = _y_velocity + _y_acceleration * dt;
1317 vv[2] = _z_velocity + _z_acceleration * dt;
1318
1319 xc[3] = _agf0 + _agf1 * dt;
1320
1321 xc[4] = _agf1;
1322 xc[5] = 0.0;
1323
1324 return success;
1325}
1326
1327// RINEX Format String
1328//////////////////////////////////////////////////////////////////////////////
1329QString t_ephSBAS::toString(double version) const {
1330
1331 QString rnxStr = rinexDateStr(_TOC, _prn, version);
1332
1333 QTextStream out(&rnxStr);
1334
1335 out << QString("%1%2%3\n")
1336 .arg(_agf0, 19, 'e', 12)
1337 .arg(_agf1, 19, 'e', 12)
1338 .arg(_TOT, 19, 'e', 12);
1339
1340 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1341
1342 out << QString(fmt)
1343 .arg(1.e-3*_x_pos, 19, 'e', 12)
1344 .arg(1.e-3*_x_velocity, 19, 'e', 12)
1345 .arg(1.e-3*_x_acceleration, 19, 'e', 12)
1346 .arg(_health, 19, 'e', 12);
1347
1348 out << QString(fmt)
1349 .arg(1.e-3*_y_pos, 19, 'e', 12)
1350 .arg(1.e-3*_y_velocity, 19, 'e', 12)
1351 .arg(1.e-3*_y_acceleration, 19, 'e', 12)
1352 .arg(_ura, 19, 'e', 12);
1353
1354 out << QString(fmt)
1355 .arg(1.e-3*_z_pos, 19, 'e', 12)
1356 .arg(1.e-3*_z_velocity, 19, 'e', 12)
1357 .arg(1.e-3*_z_acceleration, 19, 'e', 12)
1358 .arg(double(_IODN), 19, 'e', 12);
1359
1360 return rnxStr;
1361}
1362
1363// Constructor
1364//////////////////////////////////////////////////////////////////////////////
1365t_ephBDS::t_ephBDS(float rnxVersion, const QStringList& lines) {
1366
1367 const int nLines = 8;
1368
1369 if (lines.size() != nLines) {
1370 _checkState = bad;
1371 return;
1372 }
1373
1374 // RINEX Format
1375 // ------------
1376 int fieldLen = 19;
1377
1378 int pos[4];
1379 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
1380 pos[1] = pos[0] + fieldLen;
1381 pos[2] = pos[1] + fieldLen;
1382 pos[3] = pos[2] + fieldLen;
1383
1384 // Read eight lines
1385 // ----------------
1386 for (int iLine = 0; iLine < nLines; iLine++) {
1387 QString line = lines[iLine];
1388
1389 if ( iLine == 0 ) {
1390 QTextStream in(line.left(pos[1]).toAscii());
1391
1392 int year, month, day, hour, min;
1393 double sec;
1394
1395 QString prnStr, n;
1396 in >> prnStr;
1397 if (prnStr.size() == 1 && prnStr[0] == 'C') {
1398 in >> n;
1399 prnStr.append(n);
1400 }
1401 in >> year >> month >> day >> hour >> min >> sec;
1402 if (prnStr.at(0) == 'C') {
1403 _prn.set('C', prnStr.mid(1).toInt());
1404 }
1405 else {
1406 _prn.set('C', prnStr.toInt());
1407 }
1408
1409 if (year < 80) {
1410 year += 2000;
1411 }
1412 else if (year < 100) {
1413 year += 1900;
1414 }
1415
1416 _TOC.setBDS(year, month, day, hour, min, sec);
1417
1418 if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
1419 readDbl(line, pos[2], fieldLen, _clock_drift ) ||
1420 readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
1421 _checkState = bad;
1422 return;
1423 }
1424 }
1425
1426 else if ( iLine == 1 ) {
1427 double aode;
1428 if ( readDbl(line, pos[0], fieldLen, aode ) ||
1429 readDbl(line, pos[1], fieldLen, _Crs ) ||
1430 readDbl(line, pos[2], fieldLen, _Delta_n) ||
1431 readDbl(line, pos[3], fieldLen, _M0 ) ) {
1432 _checkState = bad;
1433 return;
1434 }
1435 _AODE = int(aode);
1436 }
1437
1438 else if ( iLine == 2 ) {
1439 if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
1440 readDbl(line, pos[1], fieldLen, _e ) ||
1441 readDbl(line, pos[2], fieldLen, _Cus ) ||
1442 readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
1443 _checkState = bad;
1444 return;
1445 }
1446 }
1447
1448 else if ( iLine == 3 ) {
1449 if ( readDbl(line, pos[0], fieldLen, _TOEsec ) ||
1450 readDbl(line, pos[1], fieldLen, _Cic ) ||
1451 readDbl(line, pos[2], fieldLen, _OMEGA0) ||
1452 readDbl(line, pos[3], fieldLen, _Cis ) ) {
1453 _checkState = bad;
1454 return;
1455 }
1456 }
1457
1458 else if ( iLine == 4 ) {
1459 if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
1460 readDbl(line, pos[1], fieldLen, _Crc ) ||
1461 readDbl(line, pos[2], fieldLen, _omega ) ||
1462 readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
1463 _checkState = bad;
1464 return;
1465 }
1466 }
1467
1468 else if ( iLine == 5 ) {
1469 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
1470 readDbl(line, pos[2], fieldLen, _TOEweek)) {
1471 _checkState = bad;
1472 return;
1473 }
1474 }
1475
1476 else if ( iLine == 6 ) {
1477 double SatH1;
1478 if ( readDbl(line, pos[0], fieldLen, _URA ) ||
1479 readDbl(line, pos[1], fieldLen, SatH1) ||
1480 readDbl(line, pos[2], fieldLen, _TGD1) ||
1481 readDbl(line, pos[3], fieldLen, _TGD2) ) {
1482 _checkState = bad;
1483 return;
1484 }
1485 _SatH1 = int(SatH1);
1486 }
1487
1488 else if ( iLine == 7 ) {
1489 double aodc;
1490 if ( readDbl(line, pos[0], fieldLen, _TOT) ||
1491 readDbl(line, pos[1], fieldLen, aodc) ) {
1492 _checkState = bad;
1493 return;
1494 }
1495 if (_TOT == 0.9999e9) { // 0.9999e9 means not known (RINEX standard)
1496 _TOT = _TOEsec;
1497 }
1498 _AODC = int(aodc);
1499 }
1500 }
1501
1502 _TOE.setBDS(int(_TOEweek), _TOEsec);
1503
1504 // remark: actually should be computed from second_tot
1505 // but it seems to be unreliable in RINEX files
1506 //_TOT = _TOC.bdssec();
1507}
1508
1509// IOD of BDS Ephemeris (virtual)
1510////////////////////////////////////////////////////////////////////////////
1511unsigned int t_ephBDS::IOD() const {
1512 unsigned char buffer[80];
1513 int size = 0;
1514 int numbits = 0;
1515 long long bitbuffer = 0;
1516 unsigned char *startbuffer = buffer;
1517
1518 BDSADDBITSFLOAT(14, this->_IDOT, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<13))
1519 BDSADDBITSFLOAT(11, this->_clock_driftrate, 1.0/static_cast<double>(1<<30)
1520 /static_cast<double>(1<<30)/static_cast<double>(1<<6))
1521 BDSADDBITSFLOAT(22, this->_clock_drift, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<20))
1522 BDSADDBITSFLOAT(24, this->_clock_bias, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
1523 BDSADDBITSFLOAT(18, this->_Crs, 1.0/static_cast<double>(1<<6))
1524 BDSADDBITSFLOAT(16, this->_Delta_n, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<13))
1525 BDSADDBITSFLOAT(32, this->_M0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1526 BDSADDBITSFLOAT(18, this->_Cuc, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1527 BDSADDBITSFLOAT(32, this->_e, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
1528 BDSADDBITSFLOAT(18, this->_Cus, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1529 BDSADDBITSFLOAT(32, this->_sqrt_A, 1.0/static_cast<double>(1<<19))
1530 BDSADDBITSFLOAT(18, this->_Cic, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1531 BDSADDBITSFLOAT(32, this->_OMEGA0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1532 BDSADDBITSFLOAT(18, this->_Cis, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1533 BDSADDBITSFLOAT(32, this->_i0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1534 BDSADDBITSFLOAT(18, this->_Crc, 1.0/static_cast<double>(1<<6))
1535 BDSADDBITSFLOAT(32, this->_omega, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1536 BDSADDBITSFLOAT(24, this->_OMEGADOT, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<13))
1537 BDSADDBITS(5, 0) // the last byte is filled by 0-bits to obtain a length of an integer multiple of 8
1538
1539 return CRC24(size, startbuffer);
1540}
1541
1542// Compute BDS Satellite Position (virtual)
1543//////////////////////////////////////////////////////////////////////////////
1544t_irc t_ephBDS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
1545
1546 if (_checkState == bad ||
1547 _checkState == unhealthy ||
1548 _checkState == outdated) {
1549 return failure;
1550 }
1551
1552 static const double gmBDS = 398.6004418e12;
1553 static const double omegaBDS = 7292115.0000e-11;
1554
1555 xc[0] = xc[1] = xc[2] = xc[3] = 0.0;
1556 vv[0] = vv[1] = vv[2] = 0.0;
1557
1558 bncTime tt(GPSweek, GPSweeks);
1559
1560 if (_sqrt_A == 0) {
1561 return failure;
1562 }
1563 double a0 = _sqrt_A * _sqrt_A;
1564
1565 double n0 = sqrt(gmBDS/(a0*a0*a0));
1566 double tk = tt - _TOE;
1567 double n = n0 + _Delta_n;
1568 double M = _M0 + n*tk;
1569 double E = M;
1570 double E_last;
1571 int nLoop = 0;
1572 do {
1573 E_last = E;
1574 E = M + _e*sin(E);
1575
1576 if (++nLoop == 100) {
1577 return failure;
1578 }
1579 } while ( fabs(E-E_last)*a0 > 0.001 );
1580
1581 double v = atan2(sqrt(1-_e*_e) * sin(E), cos(E) - _e);
1582 double u0 = v + _omega;
1583 double sin2u0 = sin(2*u0);
1584 double cos2u0 = cos(2*u0);
1585 double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
1586 double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
1587 double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
1588 double xp = r*cos(u);
1589 double yp = r*sin(u);
1590 double toesec = (_TOE.gpssec() - 14.0);
1591 double sinom = 0;
1592 double cosom = 0;
1593 double sini = 0;
1594 double cosi = 0;
1595
1596 // Velocity
1597 // --------
1598 double tanv2 = tan(v/2);
1599 double dEdM = 1 / (1 - _e*cos(E));
1600 double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2)
1601 / (1 + tanv2*tanv2) * dEdM * n;
1602 double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
1603 double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
1604 double dotr = a0 * _e*sin(E) * dEdM * n
1605 + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
1606
1607 double dotx = dotr*cos(u) - r*sin(u)*dotu;
1608 double doty = dotr*sin(u) + r*cos(u)*dotu;
1609
1610 const double iMaxGEO = 10.0 / 180.0 * M_PI;
1611
1612 // MEO/IGSO satellite
1613 // ------------------
1614 if (_i0 > iMaxGEO) {
1615 double OM = _OMEGA0 + (_OMEGADOT - omegaBDS)*tk - omegaBDS*toesec;
1616
1617 sinom = sin(OM);
1618 cosom = cos(OM);
1619 sini = sin(i);
1620 cosi = cos(i);
1621
1622 xc[0] = xp*cosom - yp*cosi*sinom;
1623 xc[1] = xp*sinom + yp*cosi*cosom;
1624 xc[2] = yp*sini;
1625
1626 // Velocity
1627 // --------
1628
1629 double dotom = _OMEGADOT - t_CST::omega;
1630
1631 vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
1632 - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
1633 + yp*sini*sinom*doti; // dX / di
1634
1635 vv[1] = sinom *dotx + cosi*cosom *doty
1636 + xp*cosom*dotom - yp*cosi*sinom*dotom
1637 - yp*sini*cosom*doti;
1638
1639 vv[2] = sini *doty + yp*cosi *doti;
1640
1641 }
1642
1643 // GEO satellite
1644 // -------------
1645 else {
1646 double OM = _OMEGA0 + _OMEGADOT*tk - omegaBDS*toesec;
1647 double ll = omegaBDS*tk;
1648
1649 sinom = sin(OM);
1650 cosom = cos(OM);
1651 sini = sin(i);
1652 cosi = cos(i);
1653
1654 double xx = xp*cosom - yp*cosi*sinom;
1655 double yy = xp*sinom + yp*cosi*cosom;
1656 double zz = yp*sini;
1657
1658 Matrix RX = BNC_PPP::t_astro::rotX(-5.0 / 180.0 * M_PI);
1659 Matrix RZ = BNC_PPP::t_astro::rotZ(ll);
1660
1661 ColumnVector X1(3); X1 << xx << yy << zz;
1662 ColumnVector X2 = RZ*RX*X1;
1663
1664 xc[0] = X2(1);
1665 xc[1] = X2(2);
1666 xc[2] = X2(3);
1667
1668 double dotom = _OMEGADOT;
1669
1670 double vx = cosom *dotx - cosi*sinom *doty
1671 - xp*sinom*dotom - yp*cosi*cosom*dotom
1672 + yp*sini*sinom*doti;
1673
1674 double vy = sinom *dotx + cosi*cosom *doty
1675 + xp*cosom*dotom - yp*cosi*sinom*dotom
1676 - yp*sini*cosom*doti;
1677
1678 double vz = sini *doty + yp*cosi *doti;
1679
1680 ColumnVector V(3); V << vx << vy << vz;
1681
1682 Matrix RdotZ(3,3);
1683 double C = cos(ll);
1684 double S = sin(ll);
1685 Matrix UU(3,3);
1686 UU[0][0] = -S; UU[0][1] = +C; UU[0][2] = 0.0;
1687 UU[1][0] = -C; UU[1][1] = -S; UU[1][2] = 0.0;
1688 UU[2][0] = 0.0; UU[2][1] = 0.0; UU[2][2] = 0.0;
1689 RdotZ = omegaBDS * UU;
1690
1691 ColumnVector VV(3);
1692 VV = RZ*RX*V + RdotZ*RX*X1;
1693
1694 vv[0] = VV(1);
1695 vv[1] = VV(2);
1696 vv[2] = VV(3);
1697 }
1698
1699 double tc = tt - _TOC;
1700 xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
1701
1702 // dotC = _clock_drift + _clock_driftrate*tc
1703 // - 4.442807633e-10*_e*sqrt(a0)*cos(E) * dEdM * n;
1704
1705 // Relativistic Correction
1706 // -----------------------
1707 // correspondent to BDS ICD and to SSR standard
1708 xc[3] -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
1709 // correspondent to IGS convention
1710 // xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
1711
1712 xc[4] = _clock_drift + _clock_driftrate*tc;
1713 xc[5] = _clock_driftrate;
1714
1715 return success;
1716}
1717
1718// RINEX Format String
1719//////////////////////////////////////////////////////////////////////////////
1720QString t_ephBDS::toString(double version) const {
1721
1722 QString rnxStr = rinexDateStr(_TOC-14.0, _prn, version);
1723
1724 QTextStream out(&rnxStr);
1725
1726 out << QString("%1%2%3\n")
1727 .arg(_clock_bias, 19, 'e', 12)
1728 .arg(_clock_drift, 19, 'e', 12)
1729 .arg(_clock_driftrate, 19, 'e', 12);
1730
1731 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1732
1733 out << QString(fmt)
1734 .arg(double(_AODE), 19, 'e', 12)
1735 .arg(_Crs, 19, 'e', 12)
1736 .arg(_Delta_n, 19, 'e', 12)
1737 .arg(_M0, 19, 'e', 12);
1738
1739 out << QString(fmt)
1740 .arg(_Cuc, 19, 'e', 12)
1741 .arg(_e, 19, 'e', 12)
1742 .arg(_Cus, 19, 'e', 12)
1743 .arg(_sqrt_A, 19, 'e', 12);
1744
1745 double toes = 0.0;
1746 if (_TOEweek > -1.0) {// RINEX input
1747 toes = _TOEsec;
1748 }
1749 else {// RTCM stream input
1750 toes = _TOE.bdssec();
1751 }
1752 out << QString(fmt)
1753 .arg(toes, 19, 'e', 12)
1754 .arg(_Cic, 19, 'e', 12)
1755 .arg(_OMEGA0, 19, 'e', 12)
1756 .arg(_Cis, 19, 'e', 12);
1757
1758 out << QString(fmt)
1759 .arg(_i0, 19, 'e', 12)
1760 .arg(_Crc, 19, 'e', 12)
1761 .arg(_omega, 19, 'e', 12)
1762 .arg(_OMEGADOT, 19, 'e', 12);
1763
1764 double toew = 0.0;
1765 if (_TOEweek > -1.0) {// RINEX input
1766 toew = _TOEweek;
1767 }
1768 else {// RTCM stream input
1769 toew = double(_TOE.bdsw());
1770 }
1771 out << QString(fmt)
1772 .arg(_IDOT, 19, 'e', 12)
1773 .arg(0.0, 19, 'e', 12)
1774 .arg(toew, 19, 'e', 12)
1775 .arg(0.0, 19, 'e', 12);
1776
1777 out << QString(fmt)
1778 .arg(_URA, 19, 'e', 12)
1779 .arg(double(_SatH1), 19, 'e', 12)
1780 .arg(_TGD1, 19, 'e', 12)
1781 .arg(_TGD2, 19, 'e', 12);
1782
1783 double tots = 0.0;
1784 if (_TOEweek > -1.0) {// RINEX input
1785 tots = _TOT;
1786 }
1787 else {// RTCM stream input
1788 tots = _TOE.bdssec();
1789 }
1790 out << QString(fmt)
1791 .arg(tots, 19, 'e', 12)
1792 .arg(double(_AODC), 19, 'e', 12)
1793 .arg("", 19, QChar(' '))
1794 .arg("", 19, QChar(' '));
1795 return rnxStr;
1796}
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