source: ntrip/branches/BNC_2.12/src/ephemeris.cpp@ 8930

Last change on this file since 8930 was 8930, checked in by stuerze, 4 years ago

GPS fit intervall: different specifications in differet RINEX versions are now considerred
File size: 50.0 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61 _checkState == outdated) {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 else if ( iLine == 7 ) {
301 if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
302 _checkState = bad;
303 return;
304 }
305 // fitInterval is not valid for IRNSS
306 if (type() != t_eph::IRNSS) {
307 double fitIntervalRnx;
308 readDbl(line, pos[1], fieldLen, fitIntervalRnx);
309 if (type() == t_eph::GPS) {
310 if (rnxVersion < 3.03) {// specified as flag for GPS
311 _fitInterval = fitIntervalFromFlag(fitIntervalRnx, _IODC, t_eph::GPS);
312 } else { // specified as time period for GPS since 3.03
313 _fitInterval = fitIntervalRnx;
314 }
315 } else if (type() == t_eph::QZSS) { // specified as flag for QZSS
316 _fitInterval = fitIntervalFromFlag(fitIntervalRnx, _IODC, t_eph::QZSS);
317 }
318 }
319 }
320 }
321}
322
323// Compute GPS Satellite Position (virtual)
324////////////////////////////////////////////////////////////////////////////
325t_irc t_ephGPS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
326
327 static const double omegaEarth = 7292115.1467e-11;
328 static const double gmGRS = 398.6005e12;
329
330 memset(xc, 0, 6*sizeof(double));
331 memset(vv, 0, 3*sizeof(double));
332
333 double a0 = _sqrt_A * _sqrt_A;
334 if (a0 == 0) {
335 return failure;
336 }
337
338 double n0 = sqrt(gmGRS/(a0*a0*a0));
339
340 bncTime tt(GPSweek, GPSweeks);
341 double tk = tt - bncTime(int(_TOEweek), _TOEsec);
342
343 double n = n0 + _Delta_n;
344 double M = _M0 + n*tk;
345 double E = M;
346 double E_last;
347 int nLoop = 0;
348 do {
349 E_last = E;
350 E = M + _e*sin(E);
351
352 if (++nLoop == 100) {
353 return failure;
354 }
355 } while ( fabs(E-E_last)*a0 > 0.001 );
356 double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
357 double u0 = v + _omega;
358 double sin2u0 = sin(2*u0);
359 double cos2u0 = cos(2*u0);
360 double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
361 double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
362 double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
363 double xp = r*cos(u);
364 double yp = r*sin(u);
365 double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
366 omegaEarth*_TOEsec;
367
368 double sinom = sin(OM);
369 double cosom = cos(OM);
370 double sini = sin(i);
371 double cosi = cos(i);
372 xc[0] = xp*cosom - yp*cosi*sinom;
373 xc[1] = xp*sinom + yp*cosi*cosom;
374 xc[2] = yp*sini;
375
376 double tc = tt - _TOC;
377 xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
378
379 // Velocity
380 // --------
381 double tanv2 = tan(v/2);
382 double dEdM = 1 / (1 - _e*cos(E));
383 double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
384 * dEdM * n;
385 double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
386 double dotom = _OMEGADOT - omegaEarth;
387 double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
388 double dotr = a0 * _e*sin(E) * dEdM * n
389 + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
390 double dotx = dotr*cos(u) - r*sin(u)*dotu;
391 double doty = dotr*sin(u) + r*cos(u)*dotu;
392
393 vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
394 - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
395 + yp*sini*sinom*doti; // dX / di
396
397 vv[1] = sinom *dotx + cosi*cosom *doty
398 + xp*cosom*dotom - yp*cosi*sinom*dotom
399 - yp*sini*cosom*doti;
400
401 vv[2] = sini *doty + yp*cosi *doti;
402
403 // Relativistic Correction
404 // -----------------------
405 // correspondent to IGS convention and GPS ICD (and SSR standard)
406 xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
407
408 xc[4] = _clock_drift + _clock_driftrate*tc;
409 xc[5] = _clock_driftrate;
410
411 return success;
412}
413
414// RINEX Format String
415//////////////////////////////////////////////////////////////////////////////
416QString t_ephGPS::toString(double version) const {
417
418 QString rnxStr = rinexDateStr(_TOC, _prn, version);
419
420 QTextStream out(&rnxStr);
421
422 out << QString("%1%2%3\n")
423 .arg(_clock_bias, 19, 'e', 12)
424 .arg(_clock_drift, 19, 'e', 12)
425 .arg(_clock_driftrate, 19, 'e', 12);
426
427 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
428
429 out << QString(fmt)
430 .arg(_IODE, 19, 'e', 12)
431 .arg(_Crs, 19, 'e', 12)
432 .arg(_Delta_n, 19, 'e', 12)
433 .arg(_M0, 19, 'e', 12);
434
435 out << QString(fmt)
436 .arg(_Cuc, 19, 'e', 12)
437 .arg(_e, 19, 'e', 12)
438 .arg(_Cus, 19, 'e', 12)
439 .arg(_sqrt_A, 19, 'e', 12);
440
441 out << QString(fmt)
442 .arg(_TOEsec, 19, 'e', 12)
443 .arg(_Cic, 19, 'e', 12)
444 .arg(_OMEGA0, 19, 'e', 12)
445 .arg(_Cis, 19, 'e', 12);
446
447 out << QString(fmt)
448 .arg(_i0, 19, 'e', 12)
449 .arg(_Crc, 19, 'e', 12)
450 .arg(_omega, 19, 'e', 12)
451 .arg(_OMEGADOT, 19, 'e', 12);
452
453 if (type() == t_eph::IRNSS) {
454 out << QString(fmt)
455 .arg(_IDOT, 19, 'e', 12)
456 .arg(0.0, 19, 'e', 12)
457 .arg(_TOEweek, 19, 'e', 12)
458 .arg(0.0, 19, 'e', 12);
459 }
460 else {
461 out << QString(fmt)
462 .arg(_IDOT, 19, 'e', 12)
463 .arg(_L2Codes, 19, 'e', 12)
464 .arg(_TOEweek, 19, 'e', 12)
465 .arg(_L2PFlag, 19, 'e', 12);
466 }
467
468 if (type() == t_eph::IRNSS) {
469 out << QString(fmt)
470 .arg(_ura, 19, 'e', 12)
471 .arg(_health, 19, 'e', 12)
472 .arg(_TGD, 19, 'e', 12)
473 .arg(0.0, 19, 'e', 12);
474 }
475 else {
476 out << QString(fmt)
477 .arg(_ura, 19, 'e', 12)
478 .arg(_health, 19, 'e', 12)
479 .arg(_TGD, 19, 'e', 12)
480 .arg(_IODC, 19, 'e', 12);
481 }
482
483 double tot = _TOT;
484 if (tot == 0.9999e9 && version < 3.0) {
485 tot = 0.0;
486 }
487 // fitInterval
488 if (type() == t_eph::IRNSS) {// not valid for IRNSS
489 out << QString(fmt)
490 .arg(tot, 19, 'e', 12)
491 .arg(0.0, 19, 'e', 12)
492 .arg("", 19, QChar(' '))
493 .arg("", 19, QChar(' '));
494 }
495 else {
496 double fitIntervalRnx;
497 if (type() == t_eph::GPS) {
498 if (version < 3.03) { // specified as flag)
499 (_fitInterval == 4.0) ? fitIntervalRnx = 0.0 : fitIntervalRnx = 1.0;
500 }
501 else {
502 fitIntervalRnx = _fitInterval; // specified as time period in hours
503 }
504 }
505 else if (type() == t_eph::QZSS) { // specified as flag
506 (_fitInterval == 2.0) ? fitIntervalRnx = 0.0 : fitIntervalRnx = 1.0;
507 }
508 out << QString(fmt)
509 .arg(tot, 19, 'e', 12)
510 .arg(fitIntervalRnx, 19, 'e', 12)
511 .arg("", 19, QChar(' '))
512 .arg("", 19, QChar(' '));
513 }
514
515 return rnxStr;
516}
517
518// Constructor
519//////////////////////////////////////////////////////////////////////////////
520t_ephGlo::t_ephGlo(float rnxVersion, const QStringList& lines) {
521
522 const int nLines = 4;
523
524 if (lines.size() != nLines) {
525 _checkState = bad;
526 return;
527 }
528
529 // RINEX Format
530 // ------------
531 int fieldLen = 19;
532
533 int pos[4];
534 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
535 pos[1] = pos[0] + fieldLen;
536 pos[2] = pos[1] + fieldLen;
537 pos[3] = pos[2] + fieldLen;
538
539 // Read four lines
540 // ---------------
541 for (int iLine = 0; iLine < nLines; iLine++) {
542 QString line = lines[iLine];
543
544 if ( iLine == 0 ) {
545 QTextStream in(line.left(pos[1]).toAscii());
546
547 int year, month, day, hour, min;
548 double sec;
549
550 QString prnStr, n;
551 in >> prnStr;
552 if (prnStr.size() == 1 && prnStr[0] == 'R') {
553 in >> n;
554 prnStr.append(n);
555 }
556 in >> year >> month >> day >> hour >> min >> sec;
557 if (prnStr.at(0) == 'R') {
558 _prn.set('R', prnStr.mid(1).toInt());
559 }
560 else {
561 _prn.set('R', prnStr.toInt());
562 }
563
564 if (year < 80) {
565 year += 2000;
566 }
567 else if (year < 100) {
568 year += 1900;
569 }
570
571 _gps_utc = gnumleap(year, month, day);
572
573 _TOC.set(year, month, day, hour, min, sec);
574 _TOC = _TOC + _gps_utc;
575 int nd = int((_TOC.gpssec())) / (24.0*60.0*60.0);
576 if ( readDbl(line, pos[1], fieldLen, _tau ) ||
577 readDbl(line, pos[2], fieldLen, _gamma) ||
578 readDbl(line, pos[3], fieldLen, _tki ) ) {
579 _checkState = bad;
580 return;
581 }
582 _tki -= nd * 86400.0;
583 _tau = -_tau;
584 }
585
586 else if ( iLine == 1 ) {
587 if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
588 readDbl(line, pos[1], fieldLen, _x_velocity ) ||
589 readDbl(line, pos[2], fieldLen, _x_acceleration) ||
590 readDbl(line, pos[3], fieldLen, _health ) ) {
591 _checkState = bad;
592 return;
593 }
594 }
595
596 else if ( iLine == 2 ) {
597 if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
598 readDbl(line, pos[1], fieldLen, _y_velocity ) ||
599 readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
600 readDbl(line, pos[3], fieldLen, _frequency_number) ) {
601 _checkState = bad;
602 return;
603 }
604 }
605
606 else if ( iLine == 3 ) {
607 if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
608 readDbl(line, pos[1], fieldLen, _z_velocity ) ||
609 readDbl(line, pos[2], fieldLen, _z_acceleration) ||
610 readDbl(line, pos[3], fieldLen, _E ) ) {
611 _checkState = bad;
612 return;
613 }
614 }
615 }
616
617 // Initialize status vector
618 // ------------------------
619 _tt = _TOC;
620 _xv.ReSize(6); _xv = 0.0;
621 _xv(1) = _x_pos * 1.e3;
622 _xv(2) = _y_pos * 1.e3;
623 _xv(3) = _z_pos * 1.e3;
624 _xv(4) = _x_velocity * 1.e3;
625 _xv(5) = _y_velocity * 1.e3;
626 _xv(6) = _z_velocity * 1.e3;
627}
628
629// Compute Glonass Satellite Position (virtual)
630////////////////////////////////////////////////////////////////////////////
631t_irc t_ephGlo::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
632
633 static const double nominalStep = 10.0;
634
635 memset(xc, 0, 6*sizeof(double));
636 memset(vv, 0, 3*sizeof(double));
637
638 double dtPos = bncTime(GPSweek, GPSweeks) - _tt;
639
640 if (fabs(dtPos) > 24 * 3600.0) {
641 return failure;
642 }
643
644 int nSteps = int(fabs(dtPos) / nominalStep) + 1;
645 double step = dtPos / nSteps;
646
647 double acc[3];
648 acc[0] = _x_acceleration * 1.e3;
649 acc[1] = _y_acceleration * 1.e3;
650 acc[2] = _z_acceleration * 1.e3;
651 for (int ii = 1; ii <= nSteps; ii++) {
652 _xv = rungeKutta4(_tt.gpssec(), _xv, step, acc, glo_deriv);
653 _tt = _tt + step;
654 }
655
656 // Position and Velocity
657 // ---------------------
658 xc[0] = _xv(1);
659 xc[1] = _xv(2);
660 xc[2] = _xv(3);
661
662 vv[0] = _xv(4);
663 vv[1] = _xv(5);
664 vv[2] = _xv(6);
665
666 // Clock Correction
667 // ----------------
668 double dtClk = bncTime(GPSweek, GPSweeks) - _TOC;
669 xc[3] = -_tau + _gamma * dtClk;
670
671 xc[4] = _gamma;
672 xc[5] = 0.0;
673
674 return success;
675}
676
677// RINEX Format String
678//////////////////////////////////////////////////////////////////////////////
679QString t_ephGlo::toString(double version) const {
680
681 QString rnxStr = rinexDateStr(_TOC -_gps_utc, _prn, version);
682 int nd = int((_TOC - _gps_utc).gpssec()) / (24.0*60.0*60.0);
683 QTextStream out(&rnxStr);
684
685 out << QString("%1%2%3\n")
686 .arg(-_tau, 19, 'e', 12)
687 .arg(_gamma, 19, 'e', 12)
688 .arg(_tki+nd*86400.0, 19, 'e', 12);
689
690 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
691
692 out << QString(fmt)
693 .arg(_x_pos, 19, 'e', 12)
694 .arg(_x_velocity, 19, 'e', 12)
695 .arg(_x_acceleration, 19, 'e', 12)
696 .arg(_health, 19, 'e', 12);
697
698 out << QString(fmt)
699 .arg(_y_pos, 19, 'e', 12)
700 .arg(_y_velocity, 19, 'e', 12)
701 .arg(_y_acceleration, 19, 'e', 12)
702 .arg(_frequency_number, 19, 'e', 12);
703
704 out << QString(fmt)
705 .arg(_z_pos, 19, 'e', 12)
706 .arg(_z_velocity, 19, 'e', 12)
707 .arg(_z_acceleration, 19, 'e', 12)
708 .arg(_E, 19, 'e', 12);
709
710 return rnxStr;
711}
712
713// Derivative of the state vector using a simple force model (static)
714////////////////////////////////////////////////////////////////////////////
715ColumnVector t_ephGlo::glo_deriv(double /* tt */, const ColumnVector& xv,
716 double* acc) {
717
718 // State vector components
719 // -----------------------
720 ColumnVector rr = xv.rows(1,3);
721 ColumnVector vv = xv.rows(4,6);
722
723 // Acceleration
724 // ------------
725 static const double gmWGS = 398.60044e12;
726 static const double AE = 6378136.0;
727 static const double OMEGA = 7292115.e-11;
728 static const double C20 = -1082.6257e-6;
729
730 double rho = rr.norm_Frobenius();
731 double t1 = -gmWGS/(rho*rho*rho);
732 double t2 = 3.0/2.0 * C20 * (gmWGS*AE*AE) / (rho*rho*rho*rho*rho);
733 double t3 = OMEGA * OMEGA;
734 double t4 = 2.0 * OMEGA;
735 double z2 = rr(3) * rr(3);
736
737 // Vector of derivatives
738 // ---------------------
739 ColumnVector va(6);
740 va(1) = vv(1);
741 va(2) = vv(2);
742 va(3) = vv(3);
743 va(4) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(1) + t4*vv(2) + acc[0];
744 va(5) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(2) - t4*vv(1) + acc[1];
745 va(6) = (t1 + t2*(3.0-5.0*z2/(rho*rho)) ) * rr(3) + acc[2];
746
747 return va;
748}
749
750// IOD of Glonass Ephemeris (virtual)
751////////////////////////////////////////////////////////////////////////////
752unsigned int t_ephGlo::IOD() const {
753 bncTime tMoscow = _TOC - _gps_utc + 3 * 3600.0;
754 return (unsigned long)tMoscow.daysec() / 900;
755}
756
757// Health status of Glonass Ephemeris (virtual)
758////////////////////////////////////////////////////////////////////////////
759unsigned int t_ephGlo::isUnhealthy() const {
760
761 if (_almanac_health_availablility_indicator) {
762 if ((_health == 0 && _almanac_health == 0) ||
763 (_health == 1 && _almanac_health == 0) ||
764 (_health == 1 && _almanac_health == 1)) {
765 return 1;
766 }
767 }
768 else if (!_almanac_health_availablility_indicator) {
769 if (_health) {
770 return 1;
771 }
772 }
773 return 0; /* (_health == 0 && _almanac_health == 1) or (_health == 0) */
774}
775
776// Constructor
777//////////////////////////////////////////////////////////////////////////////
778t_ephGal::t_ephGal(float rnxVersion, const QStringList& lines) {
779 int year, month, day, hour, min;
780 double sec;
781 QString prnStr;
782 const int nLines = 8;
783 if (lines.size() != nLines) {
784 _checkState = bad;
785 return;
786 }
787
788 // RINEX Format
789 // ------------
790 int fieldLen = 19;
791 double SVhealth = 0.0;
792 double datasource = 0.0;
793
794 int pos[4];
795 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
796 pos[1] = pos[0] + fieldLen;
797 pos[2] = pos[1] + fieldLen;
798 pos[3] = pos[2] + fieldLen;
799
800 // Read eight lines
801 // ----------------
802 for (int iLine = 0; iLine < nLines; iLine++) {
803 QString line = lines[iLine];
804
805 if ( iLine == 0 ) {
806 QTextStream in(line.left(pos[1]).toAscii());
807 QString n;
808 in >> prnStr;
809 if (prnStr.size() == 1 && prnStr[0] == 'E') {
810 in >> n;
811 prnStr.append(n);
812 }
813 in >> year >> month >> day >> hour >> min >> sec;
814 if (year < 80) {
815 year += 2000;
816 }
817 else if (year < 100) {
818 year += 1900;
819 }
820
821 _TOC.set(year, month, day, hour, min, sec);
822
823 if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
824 readDbl(line, pos[2], fieldLen, _clock_drift ) ||
825 readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
826 _checkState = bad;
827 return;
828 }
829 }
830
831 else if ( iLine == 1 ) {
832 if ( readDbl(line, pos[0], fieldLen, _IODnav ) ||
833 readDbl(line, pos[1], fieldLen, _Crs ) ||
834 readDbl(line, pos[2], fieldLen, _Delta_n) ||
835 readDbl(line, pos[3], fieldLen, _M0 ) ) {
836 _checkState = bad;
837 return;
838 }
839 }
840
841 else if ( iLine == 2 ) {
842 if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
843 readDbl(line, pos[1], fieldLen, _e ) ||
844 readDbl(line, pos[2], fieldLen, _Cus ) ||
845 readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
846 _checkState = bad;
847 return;
848 }
849 }
850
851 else if ( iLine == 3 ) {
852 if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
853 readDbl(line, pos[1], fieldLen, _Cic ) ||
854 readDbl(line, pos[2], fieldLen, _OMEGA0) ||
855 readDbl(line, pos[3], fieldLen, _Cis ) ) {
856 _checkState = bad;
857 return;
858 }
859 }
860
861 else if ( iLine == 4 ) {
862 if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
863 readDbl(line, pos[1], fieldLen, _Crc ) ||
864 readDbl(line, pos[2], fieldLen, _omega ) ||
865 readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
866 _checkState = bad;
867 return;
868 }
869 }
870
871 else if ( iLine == 5 ) {
872 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
873 readDbl(line, pos[1], fieldLen, datasource) ||
874 readDbl(line, pos[2], fieldLen, _TOEweek ) ) {
875 _checkState = bad;
876 return;
877 } else {
878 if (int(datasource) & (1<<8)) {
879 _fnav = true;
880 _inav = false;
881 } else if (int(datasource) & (1<<9)) {
882 _fnav = false;
883 _inav = true;
884 }
885 _TOEweek -= 1024.0;
886 }
887 }
888
889 else if ( iLine == 6 ) {
890 if ( readDbl(line, pos[0], fieldLen, _SISA ) ||
891 readDbl(line, pos[1], fieldLen, SVhealth) ||
892 readDbl(line, pos[2], fieldLen, _BGD_1_5A) ||
893 readDbl(line, pos[3], fieldLen, _BGD_1_5B) ) {
894 _checkState = bad;
895 return;
896 } else {
897 // Bit 0
898 _e1DataInValid = (int(SVhealth) & (1<<0));
899 // Bit 1-2
900 _E1_bHS = double((int(SVhealth) >> 1) & 0x3);
901 // Bit 3
902 _e5aDataInValid = (int(SVhealth) & (1<<3));
903 // Bit 4-5
904 _E5aHS = double((int(SVhealth) >> 4) & 0x3);
905 // Bit 6
906 _e5bDataInValid = (int(SVhealth) & (1<<6));
907 // Bit 7-8
908 _E5bHS = double((int(SVhealth) >> 7) & 0x3);
909
910 if (prnStr.at(0) == 'E') {
911 _prn.set('E', prnStr.mid(1).toInt(), _inav ? 1 : 0);
912 }
913 }
914 }
915
916 else if ( iLine == 7 ) {
917 if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
918 _checkState = bad;
919 return;
920 }
921 }
922 }
923}
924
925// Compute Galileo Satellite Position (virtual)
926////////////////////////////////////////////////////////////////////////////
927t_irc t_ephGal::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
928
929 static const double omegaEarth = 7292115.1467e-11;
930 static const double gmWGS = 398.6004418e12;
931
932 memset(xc, 0, 6*sizeof(double));
933 memset(vv, 0, 3*sizeof(double));
934
935 double a0 = _sqrt_A * _sqrt_A;
936 if (a0 == 0) {
937 return failure;
938 }
939
940 double n0 = sqrt(gmWGS/(a0*a0*a0));
941
942 bncTime tt(GPSweek, GPSweeks);
943 double tk = tt - bncTime(_TOC.gpsw(), _TOEsec);
944
945 double n = n0 + _Delta_n;
946 double M = _M0 + n*tk;
947 double E = M;
948 double E_last;
949 int nLoop = 0;
950 do {
951 E_last = E;
952 E = M + _e*sin(E);
953
954 if (++nLoop == 100) {
955 return failure;
956 }
957 } while ( fabs(E-E_last)*a0 > 0.001 );
958 double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
959 double u0 = v + _omega;
960 double sin2u0 = sin(2*u0);
961 double cos2u0 = cos(2*u0);
962 double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
963 double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
964 double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
965 double xp = r*cos(u);
966 double yp = r*sin(u);
967 double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
968 omegaEarth*_TOEsec;
969
970 double sinom = sin(OM);
971 double cosom = cos(OM);
972 double sini = sin(i);
973 double cosi = cos(i);
974 xc[0] = xp*cosom - yp*cosi*sinom;
975 xc[1] = xp*sinom + yp*cosi*cosom;
976 xc[2] = yp*sini;
977
978 double tc = tt - _TOC;
979 xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
980
981 // Velocity
982 // --------
983 double tanv2 = tan(v/2);
984 double dEdM = 1 / (1 - _e*cos(E));
985 double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
986 * dEdM * n;
987 double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
988 double dotom = _OMEGADOT - omegaEarth;
989 double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
990 double dotr = a0 * _e*sin(E) * dEdM * n
991 + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
992 double dotx = dotr*cos(u) - r*sin(u)*dotu;
993 double doty = dotr*sin(u) + r*cos(u)*dotu;
994
995 vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
996 - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
997 + yp*sini*sinom*doti; // dX / di
998
999 vv[1] = sinom *dotx + cosi*cosom *doty
1000 + xp*cosom*dotom - yp*cosi*sinom*dotom
1001 - yp*sini*cosom*doti;
1002
1003 vv[2] = sini *doty + yp*cosi *doti;
1004
1005 // Relativistic Correction
1006 // -----------------------
1007 // correspondent to Galileo ICD and to SSR standard
1008 xc[3] -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
1009 // correspondent to IGS convention
1010 //xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
1011
1012 xc[4] = _clock_drift + _clock_driftrate*tc;
1013 xc[5] = _clock_driftrate;
1014
1015 return success;
1016}
1017
1018// Health status of Galileo Ephemeris (virtual)
1019////////////////////////////////////////////////////////////////////////////
1020unsigned int t_ephGal::isUnhealthy() const {
1021 if (_E5aHS && _E5bHS && _E1_bHS) {
1022 return 1;
1023 }
1024 return 0;
1025}
1026
1027// RINEX Format String
1028//////////////////////////////////////////////////////////////////////////////
1029QString t_ephGal::toString(double version) const {
1030
1031 QString rnxStr = rinexDateStr(_TOC, _prn, version);
1032
1033 QTextStream out(&rnxStr);
1034
1035 out << QString("%1%2%3\n")
1036 .arg(_clock_bias, 19, 'e', 12)
1037 .arg(_clock_drift, 19, 'e', 12)
1038 .arg(_clock_driftrate, 19, 'e', 12);
1039
1040 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1041
1042 out << QString(fmt)
1043 .arg(_IODnav, 19, 'e', 12)
1044 .arg(_Crs, 19, 'e', 12)
1045 .arg(_Delta_n, 19, 'e', 12)
1046 .arg(_M0, 19, 'e', 12);
1047
1048 out << QString(fmt)
1049 .arg(_Cuc, 19, 'e', 12)
1050 .arg(_e, 19, 'e', 12)
1051 .arg(_Cus, 19, 'e', 12)
1052 .arg(_sqrt_A, 19, 'e', 12);
1053
1054 out << QString(fmt)
1055 .arg(_TOEsec, 19, 'e', 12)
1056 .arg(_Cic, 19, 'e', 12)
1057 .arg(_OMEGA0, 19, 'e', 12)
1058 .arg(_Cis, 19, 'e', 12);
1059
1060 out << QString(fmt)
1061 .arg(_i0, 19, 'e', 12)
1062 .arg(_Crc, 19, 'e', 12)
1063 .arg(_omega, 19, 'e', 12)
1064 .arg(_OMEGADOT, 19, 'e', 12);
1065
1066 int dataSource = 0;
1067 int SVhealth = 0;
1068 double BGD_1_5A = _BGD_1_5A;
1069 double BGD_1_5B = _BGD_1_5B;
1070 if (_fnav) {
1071 dataSource |= (1<<1);
1072 dataSource |= (1<<8);
1073 BGD_1_5B = 0.0;
1074 // SVhealth
1075 // Bit 3 : E5a DVS
1076 if (_e5aDataInValid) {
1077 SVhealth |= (1<<3);
1078 }
1079 // Bit 4-5: E5a HS
1080 if (_E5aHS == 1.0) {
1081 SVhealth |= (1<<4);
1082 }
1083 else if (_E5aHS == 2.0) {
1084 SVhealth |= (1<<5);
1085 }
1086 else if (_E5aHS == 3.0) {
1087 SVhealth |= (1<<4);
1088 SVhealth |= (1<<5);
1089 }
1090 }
1091 else if(_inav) {
1092 // Bit 2 and 0 are set because from MT1046 the data source cannot be determined
1093 // and RNXv3.03 says both can be set if the navigation messages were merged
1094 dataSource |= (1<<0);
1095 dataSource |= (1<<2);
1096 dataSource |= (1<<9);
1097 // SVhealth
1098 // Bit 0 : E1-B DVS
1099 if (_e1DataInValid) {
1100 SVhealth |= (1<<0);
1101 }
1102 // Bit 1-2: E1-B HS
1103 if (_E1_bHS == 1.0) {
1104 SVhealth |= (1<<1);
1105 }
1106 else if (_E1_bHS == 2.0) {
1107 SVhealth |= (1<<2);
1108 }
1109 else if (_E1_bHS == 3.0) {
1110 SVhealth |= (1<<1);
1111 SVhealth |= (1<<2);
1112 }
1113 // Bit 3 : E5a DVS
1114 if (_e5aDataInValid) {
1115 SVhealth |= (1<<3);
1116 }
1117 // Bit 4-5: E5a HS
1118 if (_E5aHS == 1.0) {
1119 SVhealth |= (1<<4);
1120 }
1121 else if (_E5aHS == 2.0) {
1122 SVhealth |= (1<<5);
1123 }
1124 else if (_E5aHS == 3.0) {
1125 SVhealth |= (1<<4);
1126 SVhealth |= (1<<5);
1127 }
1128 // Bit 6 : E5b DVS
1129 if (_e5bDataInValid) {
1130 SVhealth |= (1<<6);
1131 }
1132 // Bit 7-8: E5b HS
1133 if (_E5bHS == 1.0) {
1134 SVhealth |= (1<<7);
1135 }
1136 else if (_E5bHS == 2.0) {
1137 SVhealth |= (1<<8);
1138 }
1139 else if (_E5bHS == 3.0) {
1140 SVhealth |= (1<<7);
1141 SVhealth |= (1<<8);
1142 }
1143 }
1144
1145 out << QString(fmt)
1146 .arg(_IDOT, 19, 'e', 12)
1147 .arg(double(dataSource), 19, 'e', 12)
1148 .arg(_TOEweek + 1024.0, 19, 'e', 12)
1149 .arg(0.0, 19, 'e', 12);
1150
1151 out << QString(fmt)
1152 .arg(_SISA, 19, 'e', 12)
1153 .arg(double(SVhealth), 19, 'e', 12)
1154 .arg(BGD_1_5A, 19, 'e', 12)
1155 .arg(BGD_1_5B, 19, 'e', 12);
1156
1157 double tot = _TOT;
1158 if (tot == 0.9999e9 && version < 3.0) {
1159 tot = 0.0;
1160 }
1161 out << QString(fmt)
1162 .arg(tot, 19, 'e', 12)
1163 .arg("", 19, QChar(' '))
1164 .arg("", 19, QChar(' '))
1165 .arg("", 19, QChar(' '));
1166
1167 return rnxStr;
1168}
1169
1170// Constructor
1171//////////////////////////////////////////////////////////////////////////////
1172t_ephSBAS::t_ephSBAS(float rnxVersion, const QStringList& lines) {
1173
1174 const int nLines = 4;
1175
1176 if (lines.size() != nLines) {
1177 _checkState = bad;
1178 return;
1179 }
1180
1181 // RINEX Format
1182 // ------------
1183 int fieldLen = 19;
1184
1185 int pos[4];
1186 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
1187 pos[1] = pos[0] + fieldLen;
1188 pos[2] = pos[1] + fieldLen;
1189 pos[3] = pos[2] + fieldLen;
1190
1191 // Read four lines
1192 // ---------------
1193 for (int iLine = 0; iLine < nLines; iLine++) {
1194 QString line = lines[iLine];
1195
1196 if ( iLine == 0 ) {
1197 QTextStream in(line.left(pos[1]).toAscii());
1198
1199 int year, month, day, hour, min;
1200 double sec;
1201
1202 QString prnStr, n;
1203 in >> prnStr;
1204 if (prnStr.size() == 1 && prnStr[0] == 'S') {
1205 in >> n;
1206 prnStr.append(n);
1207 }
1208 in >> year >> month >> day >> hour >> min >> sec;
1209 if (prnStr.at(0) == 'S') {
1210 _prn.set('S', prnStr.mid(1).toInt());
1211 }
1212 else {
1213 _prn.set('S', prnStr.toInt());
1214 }
1215
1216 if (year < 80) {
1217 year += 2000;
1218 }
1219 else if (year < 100) {
1220 year += 1900;
1221 }
1222
1223 _TOC.set(year, month, day, hour, min, sec);
1224
1225 if ( readDbl(line, pos[1], fieldLen, _agf0 ) ||
1226 readDbl(line, pos[2], fieldLen, _agf1 ) ||
1227 readDbl(line, pos[3], fieldLen, _TOT ) ) {
1228 _checkState = bad;
1229 return;
1230 }
1231 }
1232
1233 else if ( iLine == 1 ) {
1234 if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
1235 readDbl(line, pos[1], fieldLen, _x_velocity ) ||
1236 readDbl(line, pos[2], fieldLen, _x_acceleration) ||
1237 readDbl(line, pos[3], fieldLen, _health ) ) {
1238 _checkState = bad;
1239 return;
1240 }
1241 }
1242
1243 else if ( iLine == 2 ) {
1244 if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
1245 readDbl(line, pos[1], fieldLen, _y_velocity ) ||
1246 readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
1247 readDbl(line, pos[3], fieldLen, _ura ) ) {
1248 _checkState = bad;
1249 return;
1250 }
1251 }
1252
1253 else if ( iLine == 3 ) {
1254 double iodn;
1255 if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
1256 readDbl(line, pos[1], fieldLen, _z_velocity ) ||
1257 readDbl(line, pos[2], fieldLen, _z_acceleration) ||
1258 readDbl(line, pos[3], fieldLen, iodn ) ) {
1259 _checkState = bad;
1260 return;
1261 } else {
1262 _IODN = int(iodn);
1263 }
1264 }
1265 }
1266
1267 _x_pos *= 1.e3;
1268 _y_pos *= 1.e3;
1269 _z_pos *= 1.e3;
1270 _x_velocity *= 1.e3;
1271 _y_velocity *= 1.e3;
1272 _z_velocity *= 1.e3;
1273 _x_acceleration *= 1.e3;
1274 _y_acceleration *= 1.e3;
1275 _z_acceleration *= 1.e3;
1276}
1277
1278// IOD of SBAS Ephemeris (virtual)
1279////////////////////////////////////////////////////////////////////////////
1280
1281unsigned int t_ephSBAS::IOD() const {
1282 unsigned char buffer[80];
1283 int size = 0;
1284 int numbits = 0;
1285 long long bitbuffer = 0;
1286 unsigned char *startbuffer = buffer;
1287
1288 SBASADDBITSFLOAT(30, this->_x_pos, 0.08)
1289 SBASADDBITSFLOAT(30, this->_y_pos, 0.08)
1290 SBASADDBITSFLOAT(25, this->_z_pos, 0.4)
1291 SBASADDBITSFLOAT(17, this->_x_velocity, 0.000625)
1292 SBASADDBITSFLOAT(17, this->_y_velocity, 0.000625)
1293 SBASADDBITSFLOAT(18, this->_z_velocity, 0.004)
1294 SBASADDBITSFLOAT(10, this->_x_acceleration, 0.0000125)
1295 SBASADDBITSFLOAT(10, this->_y_acceleration, 0.0000125)
1296 SBASADDBITSFLOAT(10, this->_z_acceleration, 0.0000625)
1297 SBASADDBITSFLOAT(12, this->_agf0, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1298 SBASADDBITSFLOAT(8, this->_agf1, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<10))
1299 SBASADDBITS(5,0); // the last byte is filled by 0-bits to obtain a length of an integer multiple of 8
1300
1301 return CRC24(size, startbuffer);
1302}
1303
1304// Compute SBAS Satellite Position (virtual)
1305////////////////////////////////////////////////////////////////////////////
1306t_irc t_ephSBAS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
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 static const double gmBDS = 398.6004418e12;
1547 static const double omegaBDS = 7292115.0000e-11;
1548
1549 xc[0] = xc[1] = xc[2] = xc[3] = 0.0;
1550 vv[0] = vv[1] = vv[2] = 0.0;
1551
1552 bncTime tt(GPSweek, GPSweeks);
1553
1554 if (_sqrt_A == 0) {
1555 return failure;
1556 }
1557 double a0 = _sqrt_A * _sqrt_A;
1558
1559 double n0 = sqrt(gmBDS/(a0*a0*a0));
1560 double tk = tt - _TOE;
1561 double n = n0 + _Delta_n;
1562 double M = _M0 + n*tk;
1563 double E = M;
1564 double E_last;
1565 int nLoop = 0;
1566 do {
1567 E_last = E;
1568 E = M + _e*sin(E);
1569
1570 if (++nLoop == 100) {
1571 return failure;
1572 }
1573 } while ( fabs(E-E_last)*a0 > 0.001 );
1574
1575 double v = atan2(sqrt(1-_e*_e) * sin(E), cos(E) - _e);
1576 double u0 = v + _omega;
1577 double sin2u0 = sin(2*u0);
1578 double cos2u0 = cos(2*u0);
1579 double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
1580 double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
1581 double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
1582 double xp = r*cos(u);
1583 double yp = r*sin(u);
1584 double toesec = (_TOE.gpssec() - 14.0);
1585 double sinom = 0;
1586 double cosom = 0;
1587 double sini = 0;
1588 double cosi = 0;
1589
1590 // Velocity
1591 // --------
1592 double tanv2 = tan(v/2);
1593 double dEdM = 1 / (1 - _e*cos(E));
1594 double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2)
1595 / (1 + tanv2*tanv2) * dEdM * n;
1596 double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
1597 double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
1598 double dotr = a0 * _e*sin(E) * dEdM * n
1599 + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
1600
1601 double dotx = dotr*cos(u) - r*sin(u)*dotu;
1602 double doty = dotr*sin(u) + r*cos(u)*dotu;
1603
1604 const double iMaxGEO = 10.0 / 180.0 * M_PI;
1605
1606 // MEO/IGSO satellite
1607 // ------------------
1608 if (_i0 > iMaxGEO) {
1609 double OM = _OMEGA0 + (_OMEGADOT - omegaBDS)*tk - omegaBDS*toesec;
1610
1611 sinom = sin(OM);
1612 cosom = cos(OM);
1613 sini = sin(i);
1614 cosi = cos(i);
1615
1616 xc[0] = xp*cosom - yp*cosi*sinom;
1617 xc[1] = xp*sinom + yp*cosi*cosom;
1618 xc[2] = yp*sini;
1619
1620 // Velocity
1621 // --------
1622
1623 double dotom = _OMEGADOT - t_CST::omega;
1624
1625 vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
1626 - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
1627 + yp*sini*sinom*doti; // dX / di
1628
1629 vv[1] = sinom *dotx + cosi*cosom *doty
1630 + xp*cosom*dotom - yp*cosi*sinom*dotom
1631 - yp*sini*cosom*doti;
1632
1633 vv[2] = sini *doty + yp*cosi *doti;
1634
1635 }
1636
1637 // GEO satellite
1638 // -------------
1639 else {
1640 double OM = _OMEGA0 + _OMEGADOT*tk - omegaBDS*toesec;
1641 double ll = omegaBDS*tk;
1642
1643 sinom = sin(OM);
1644 cosom = cos(OM);
1645 sini = sin(i);
1646 cosi = cos(i);
1647
1648 double xx = xp*cosom - yp*cosi*sinom;
1649 double yy = xp*sinom + yp*cosi*cosom;
1650 double zz = yp*sini;
1651
1652 Matrix RX = BNC_PPP::t_astro::rotX(-5.0 / 180.0 * M_PI);
1653 Matrix RZ = BNC_PPP::t_astro::rotZ(ll);
1654
1655 ColumnVector X1(3); X1 << xx << yy << zz;
1656 ColumnVector X2 = RZ*RX*X1;
1657
1658 xc[0] = X2(1);
1659 xc[1] = X2(2);
1660 xc[2] = X2(3);
1661
1662 double dotom = _OMEGADOT;
1663
1664 double vx = cosom *dotx - cosi*sinom *doty
1665 - xp*sinom*dotom - yp*cosi*cosom*dotom
1666 + yp*sini*sinom*doti;
1667
1668 double vy = sinom *dotx + cosi*cosom *doty
1669 + xp*cosom*dotom - yp*cosi*sinom*dotom
1670 - yp*sini*cosom*doti;
1671
1672 double vz = sini *doty + yp*cosi *doti;
1673
1674 ColumnVector V(3); V << vx << vy << vz;
1675
1676 Matrix RdotZ(3,3);
1677 double C = cos(ll);
1678 double S = sin(ll);
1679 Matrix UU(3,3);
1680 UU[0][0] = -S; UU[0][1] = +C; UU[0][2] = 0.0;
1681 UU[1][0] = -C; UU[1][1] = -S; UU[1][2] = 0.0;
1682 UU[2][0] = 0.0; UU[2][1] = 0.0; UU[2][2] = 0.0;
1683 RdotZ = omegaBDS * UU;
1684
1685 ColumnVector VV(3);
1686 VV = RZ*RX*V + RdotZ*RX*X1;
1687
1688 vv[0] = VV(1);
1689 vv[1] = VV(2);
1690 vv[2] = VV(3);
1691 }
1692
1693 double tc = tt - _TOC;
1694 xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
1695
1696 // dotC = _clock_drift + _clock_driftrate*tc
1697 // - 4.442807633e-10*_e*sqrt(a0)*cos(E) * dEdM * n;
1698
1699 // Relativistic Correction
1700 // -----------------------
1701 // correspondent to BDS ICD and to SSR standard
1702 xc[3] -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
1703 // correspondent to IGS convention
1704 // xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
1705
1706 xc[4] = _clock_drift + _clock_driftrate*tc;
1707 xc[5] = _clock_driftrate;
1708
1709 return success;
1710}
1711
1712// RINEX Format String
1713//////////////////////////////////////////////////////////////////////////////
1714QString t_ephBDS::toString(double version) const {
1715
1716 QString rnxStr = rinexDateStr(_TOC-14.0, _prn, version);
1717
1718 QTextStream out(&rnxStr);
1719
1720 out << QString("%1%2%3\n")
1721 .arg(_clock_bias, 19, 'e', 12)
1722 .arg(_clock_drift, 19, 'e', 12)
1723 .arg(_clock_driftrate, 19, 'e', 12);
1724
1725 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1726
1727 out << QString(fmt)
1728 .arg(double(_AODE), 19, 'e', 12)
1729 .arg(_Crs, 19, 'e', 12)
1730 .arg(_Delta_n, 19, 'e', 12)
1731 .arg(_M0, 19, 'e', 12);
1732
1733 out << QString(fmt)
1734 .arg(_Cuc, 19, 'e', 12)
1735 .arg(_e, 19, 'e', 12)
1736 .arg(_Cus, 19, 'e', 12)
1737 .arg(_sqrt_A, 19, 'e', 12);
1738
1739 double toes = 0.0;
1740 if (_TOEweek > -1.0) {// RINEX input
1741 toes = _TOEsec;
1742 }
1743 else {// RTCM stream input
1744 toes = _TOE.bdssec();
1745 }
1746 out << QString(fmt)
1747 .arg(toes, 19, 'e', 12)
1748 .arg(_Cic, 19, 'e', 12)
1749 .arg(_OMEGA0, 19, 'e', 12)
1750 .arg(_Cis, 19, 'e', 12);
1751
1752 out << QString(fmt)
1753 .arg(_i0, 19, 'e', 12)
1754 .arg(_Crc, 19, 'e', 12)
1755 .arg(_omega, 19, 'e', 12)
1756 .arg(_OMEGADOT, 19, 'e', 12);
1757
1758 double toew = 0.0;
1759 if (_TOEweek > -1.0) {// RINEX input
1760 toew = _TOEweek;
1761 }
1762 else {// RTCM stream input
1763 toew = double(_TOE.bdsw());
1764 }
1765 out << QString(fmt)
1766 .arg(_IDOT, 19, 'e', 12)
1767 .arg(0.0, 19, 'e', 12)
1768 .arg(toew, 19, 'e', 12)
1769 .arg(0.0, 19, 'e', 12);
1770
1771 out << QString(fmt)
1772 .arg(_URA, 19, 'e', 12)
1773 .arg(double(_SatH1), 19, 'e', 12)
1774 .arg(_TGD1, 19, 'e', 12)
1775 .arg(_TGD2, 19, 'e', 12);
1776
1777 double tots = 0.0;
1778 if (_TOEweek > -1.0) {// RINEX input
1779 tots = _TOT;
1780 }
1781 else {// RTCM stream input
1782 tots = _TOE.bdssec();
1783 }
1784 out << QString(fmt)
1785 .arg(tots, 19, 'e', 12)
1786 .arg(double(_AODC), 19, 'e', 12)
1787 .arg("", 19, QChar(' '))
1788 .arg("", 19, QChar(' '));
1789 return rnxStr;
1790}
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