source: ntrip/trunk/BNC/src/RTCM3/RTCM3coDecoder.cpp@ 10798

Last change on this file since 10798 was 10768, checked in by stuerze, 4 months ago

minor changes
File size: 30.7 KB
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1// Part of BNC, a utility for retrieving decoding and
2// converting GNSS data streams from NTRIP broadcasters.
3//
4// Copyright (C) 2007
5// German Federal Agency for Cartography and Geodesy (BKG)
6// http://www.bkg.bund.de
7// Czech Technical University Prague, Department of Geodesy
8// http://www.fsv.cvut.cz
9//
10// Email: euref-ip@bkg.bund.de
11//
12// This program is free software; you can redistribute it and/or
13// modify it under the terms of the GNU General Public License
14// as published by the Free Software Foundation, version 2.
15//
16// This program is distributed in the hope that it will be useful,
17// but WITHOUT ANY WARRANTY; without even the implied warranty of
18// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19// GNU General Public License for more details.
20//
21// You should have received a copy of the GNU General Public License
22// along with this program; if not, write to the Free Software
23// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25/* -------------------------------------------------------------------------
26 * BKG NTRIP Client
27 * -------------------------------------------------------------------------
28 *
29 * Class: RTCM3coDecoder
30 *
31 * Purpose: RTCM3 Clock Orbit Decoder
32 *
33 * Author: L. Mervart
34 *
35 * Created: 05-May-2008
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <stdio.h>
42#include <math.h>
43
44#include "RTCM3coDecoder.h"
45#include "bncutils.h"
46#include "bncrinex.h"
47#include "bnccore.h"
48#include "bncsettings.h"
49#include "bnctime.h"
50
51using namespace std;
52
53// Constructor
54////////////////////////////////////////////////////////////////////////////
55RTCM3coDecoder::RTCM3coDecoder(const QString& staID) {
56
57 _staID = staID;
58
59 // File Output
60 // -----------
61 bncSettings settings;
62 QString path = settings.value("corrPath").toString();
63 if (!path.isEmpty()) {
64 expandEnvVar(path);
65 if ( path.length() > 0 && path[path.length()-1] != QDir::separator() ) {
66 path += QDir::separator();
67 }
68 _fileNameSkl = path + staID;
69 }
70 _out = 0;
71
72 connect(this, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
73 BNC_CORE, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
74
75 connect(this, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
76 BNC_CORE, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
77
78 connect(this, SIGNAL(newCodeBiases(QList<t_satCodeBias>)),
79 BNC_CORE, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)));
80
81 connect(this, SIGNAL(newPhaseBiases(QList<t_satPhaseBias>)),
82 BNC_CORE, SLOT(slotNewPhaseBiases(QList<t_satPhaseBias>)));
83
84 connect(this, SIGNAL(newTec(t_vTec)),
85 BNC_CORE, SLOT(slotNewTec(t_vTec)));
86
87 connect(this, SIGNAL(providerIDChanged(QString)),
88 BNC_CORE, SIGNAL(providerIDChanged(QString)));
89
90 connect(this, SIGNAL(newMessage(QByteArray,bool)),
91 BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
92
93 reset();
94
95 _providerID[0] = -1;
96 _providerID[1] = -1;
97 _providerID[2] = -1;
98
99 _ssrCorr = 0;
100
101}
102
103// Destructor
104////////////////////////////////////////////////////////////////////////////
105RTCM3coDecoder::~RTCM3coDecoder() {
106 delete _out;
107 delete _ssrCorr;
108 _IODs.clear();
109 _orbCorrections.clear();
110 _clkCorrections.clear();
111 _lastClkCorrections.clear();
112 _codeBiases.clear();
113 _phaseBiases.clear();
114 _vTecMap.clear();
115}
116
117//
118////////////////////////////////////////////////////////////////////////////
119void RTCM3coDecoder::reset() {
120 memset(&_clkOrb, 0, sizeof(_clkOrb));
121 memset(&_codeBias, 0, sizeof(_codeBias));
122 memset(&_phaseBias, 0, sizeof(_phaseBias));
123 memset(&_vTEC, 0, sizeof(_vTEC));
124}
125
126// Reopen Output File
127////////////////////////////////////////////////////////////////////////
128void RTCM3coDecoder::reopen() {
129
130 if (!_fileNameSkl.isEmpty()) {
131
132 bncSettings settings;
133
134 QDateTime datTim = currentDateAndTimeGPS();
135
136 QString hlpStr = bncRinex::nextEpochStr(datTim,
137 settings.value("corrIntr").toString(), 3);
138
139 QString cntStr = (_fileNameSkl.contains("ION")) ? "_ION.ssr" : "_MC.ssr";
140
141 QString fileNameHlp = _fileNameSkl +
142 "_S_" + // stream
143 QString("%1").arg(datTim.date().year()) +
144 QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0')) +
145 hlpStr + // HM_period
146 cntStr; // mixed ION or CLK
147
148 if (_fileName == fileNameHlp) {
149 return;
150 }
151 else {
152 _fileName = fileNameHlp;
153 }
154
155 delete _out;
156 if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
157 _out = new ofstream( _fileName.toLatin1().data(), ios_base::out | ios_base::app );
158 }
159 else {
160 _out = new ofstream( _fileName.toLatin1().data() );
161 }
162 }
163}
164
165//
166////////////////////////////////////////////////////////////////////////////
167t_irc RTCM3coDecoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
168
169 errmsg.clear();
170
171 _buffer.append(QByteArray(buffer,bufLen));
172
173 t_irc retCode = failure;
174
175 while(_buffer.size()) {
176
177 struct SsrCorr::ClockOrbit clkOrbSav;
178 struct SsrCorr::CodeBias codeBiasSav;
179 struct SsrCorr::PhaseBias phaseBiasSav;
180 struct SsrCorr::VTEC vTECSav;
181 memcpy(&clkOrbSav, &_clkOrb, sizeof(clkOrbSav)); // save state
182 memcpy(&codeBiasSav, &_codeBias, sizeof(codeBiasSav));
183 memcpy(&phaseBiasSav, &_phaseBias, sizeof(phaseBiasSav));
184 memcpy(&vTECSav, &_vTEC, sizeof(vTECSav));
185
186 int bytesused = 0;
187
188 GCOB_RETURN irc = _ssrCorr->GetSSR(&_clkOrb, &_codeBias, &_vTEC, &_phaseBias,
189 _buffer.data(), _buffer.size(), &bytesused);
190
191 if (irc <= -30) { // not enough data - restore state and exit loop
192 memcpy(&_clkOrb, &clkOrbSav, sizeof(clkOrbSav));
193 memcpy(&_codeBias, &codeBiasSav, sizeof(codeBiasSav));
194 memcpy(&_phaseBias, &phaseBiasSav, sizeof(phaseBiasSav));
195 memcpy(&_vTEC, &vTECSav, sizeof(vTECSav));
196 break;
197 }
198
199 else if (irc < 0) { // error - skip 1 byte and retry
200 reset();
201 _buffer = _buffer.mid(bytesused ? bytesused : 1);
202 }
203
204 else { // OK or MESSAGEFOLLOWS
205 _buffer = _buffer.mid(bytesused);
206
207 if (irc == GCOBR_OK || irc == GCOBR_MESSAGEFOLLOWS ) {
208 setEpochTime(); // sets _lastTime
209
210 if (_lastTime.valid()) {
211 reopen();
212 checkProviderID();
213 sendResults();
214 retCode = success;
215 }
216 else {
217 emit newMessage("RTCM3coDecoder: _lastTime invalid: " + _staID.toLatin1(), true);
218 retCode = failure;
219 }
220 reset();
221 }
222 }
223 }
224
225 return retCode;
226}
227
228//
229////////////////////////////////////////////////////////////////////////////
230void RTCM3coDecoder::sendResults() {
231
232 // Orbit and clock corrections of all satellites
233 // ---------------------------------------------
234 for (unsigned ii = 0; ii < CLOCKORBIT_NUMGPS
235 + CLOCKORBIT_NUMGLONASS
236 + CLOCKORBIT_NUMGALILEO
237 + CLOCKORBIT_NUMQZSS
238 + CLOCKORBIT_NUMSBAS
239 + _clkOrb.NumberOfSat[CLOCKORBIT_SATBDS];
240 ii++) {
241 if (corrIsOutOfRange(_clkOrb.Sat[ii])) {
242 continue;
243 }
244 char sys = ' ';
245 int num = _clkOrb.Sat[ii].ID;
246 int flag = 0; // to force NAV type usage according SSR standard
247 if (ii < _clkOrb.NumberOfSat[CLOCKORBIT_SATGPS]) {
248 sys = 'G';
249 flag = t_eph::LNAV;
250 }
251 else if (ii >= CLOCKORBIT_OFFSETGLONASS &&
252 ii < CLOCKORBIT_OFFSETGLONASS + _clkOrb.NumberOfSat[CLOCKORBIT_SATGLONASS]) {
253 sys = 'R';
254 flag = t_eph::FDMA_M;
255 }
256 else if (ii >= CLOCKORBIT_OFFSETGALILEO &&
257 ii < CLOCKORBIT_OFFSETGALILEO + _clkOrb.NumberOfSat[CLOCKORBIT_SATGALILEO]) {
258 sys = 'E';
259 flag = t_eph::INAV;
260 }
261 else if (ii >= CLOCKORBIT_OFFSETQZSS &&
262 ii < CLOCKORBIT_OFFSETQZSS + _clkOrb.NumberOfSat[CLOCKORBIT_SATQZSS]) {
263 sys = 'J';
264 flag = t_eph::LNAV;
265 }
266 else if (ii >= CLOCKORBIT_OFFSETSBAS &&
267 ii < CLOCKORBIT_OFFSETSBAS + _clkOrb.NumberOfSat[CLOCKORBIT_SATSBAS]) {
268 sys = 'S';
269 flag = t_eph::SBASL1;
270 }
271 else if (ii >= CLOCKORBIT_OFFSETBDS &&
272 ii < CLOCKORBIT_OFFSETBDS + _clkOrb.NumberOfSat[CLOCKORBIT_SATBDS]) {
273 sys = 'C';
274 if (num < 6) {// GEO
275 flag = t_eph::D2;
276 }
277 else if (num > 58 && num < 63) { // GEO
278 flag = t_eph::D2;
279 }
280 else {
281 flag = t_eph::D1;
282 }
283 }
284 else {
285 continue;
286 }
287
288 // Orbit correction
289 // ----------------
290 if ( _clkOrb.messageType == _ssrCorr->COTYPE_GPSCOMBINED ||
291 _clkOrb.messageType == _ssrCorr->COTYPE_GLONASSCOMBINED ||
292 _clkOrb.messageType == _ssrCorr->COTYPE_GALILEOCOMBINED ||
293 _clkOrb.messageType == _ssrCorr->COTYPE_QZSSCOMBINED ||
294 _clkOrb.messageType == _ssrCorr->COTYPE_SBASCOMBINED ||
295 _clkOrb.messageType == _ssrCorr->COTYPE_BDSCOMBINED ||
296 _clkOrb.messageType == _ssrCorr->COTYPE_GPSORBIT ||
297 _clkOrb.messageType == _ssrCorr->COTYPE_GLONASSORBIT ||
298 _clkOrb.messageType == _ssrCorr->COTYPE_GALILEOORBIT ||
299 _clkOrb.messageType == _ssrCorr->COTYPE_QZSSORBIT ||
300 _clkOrb.messageType == _ssrCorr->COTYPE_SBASORBIT ||
301 _clkOrb.messageType == _ssrCorr->COTYPE_BDSORBIT ) {
302
303 t_orbCorr orbCorr;
304 orbCorr._prn.set(sys, num, flag);
305 orbCorr._staID = _staID.toStdString();
306 orbCorr._iod = _clkOrb.Sat[ii].IOD;
307 orbCorr._time = _lastTime;
308 orbCorr._updateInt = _clkOrb.UpdateInterval;
309 orbCorr._system = sys;
310 orbCorr._xr[0] = _clkOrb.Sat[ii].Orbit.DeltaRadial;
311 orbCorr._xr[1] = _clkOrb.Sat[ii].Orbit.DeltaAlongTrack;
312 orbCorr._xr[2] = _clkOrb.Sat[ii].Orbit.DeltaCrossTrack;
313 orbCorr._dotXr[0] = _clkOrb.Sat[ii].Orbit.DotDeltaRadial;
314 orbCorr._dotXr[1] = _clkOrb.Sat[ii].Orbit.DotDeltaAlongTrack;
315 orbCorr._dotXr[2] = _clkOrb.Sat[ii].Orbit.DotDeltaCrossTrack;
316
317 _orbCorrections[_lastTime].append(orbCorr);
318
319 _IODs[orbCorr._prn] = _clkOrb.Sat[ii].IOD;
320 }
321
322 // Clock Corrections
323 // -----------------
324 if ( _clkOrb.messageType == _ssrCorr->COTYPE_GPSCOMBINED ||
325 _clkOrb.messageType == _ssrCorr->COTYPE_GLONASSCOMBINED ||
326 _clkOrb.messageType == _ssrCorr->COTYPE_GALILEOCOMBINED ||
327 _clkOrb.messageType == _ssrCorr->COTYPE_QZSSCOMBINED ||
328 _clkOrb.messageType == _ssrCorr->COTYPE_SBASCOMBINED ||
329 _clkOrb.messageType == _ssrCorr->COTYPE_BDSCOMBINED ||
330 _clkOrb.messageType == _ssrCorr->COTYPE_GPSCLOCK ||
331 _clkOrb.messageType == _ssrCorr->COTYPE_GLONASSCLOCK ||
332 _clkOrb.messageType == _ssrCorr->COTYPE_GALILEOCLOCK ||
333 _clkOrb.messageType == _ssrCorr->COTYPE_QZSSCLOCK ||
334 _clkOrb.messageType == _ssrCorr->COTYPE_SBASCLOCK ||
335 _clkOrb.messageType == _ssrCorr->COTYPE_BDSCLOCK) {
336
337 t_clkCorr clkCorr;
338 clkCorr._prn.set(sys, _clkOrb.Sat[ii].ID, flag);
339 clkCorr._staID = _staID.toStdString();
340 clkCorr._time = _lastTime;
341 clkCorr._updateInt = _clkOrb.UpdateInterval;
342 clkCorr._dClk = _clkOrb.Sat[ii].Clock.DeltaA0 / t_CST::c;
343 clkCorr._dotDClk = _clkOrb.Sat[ii].Clock.DeltaA1 / t_CST::c;
344 clkCorr._dotDotDClk = _clkOrb.Sat[ii].Clock.DeltaA2 / t_CST::c;
345
346 _lastClkCorrections[clkCorr._prn] = clkCorr;
347
348 if (_IODs.contains(clkCorr._prn)) {
349 clkCorr._iod = _IODs[clkCorr._prn];
350 _clkCorrections[_lastTime].append(clkCorr);
351 }
352 }
353
354 // High-Resolution Clocks
355 // ----------------------
356 if ( _clkOrb.messageType == _ssrCorr->COTYPE_GPSHR ||
357 _clkOrb.messageType == _ssrCorr->COTYPE_GLONASSHR ||
358 _clkOrb.messageType == _ssrCorr->COTYPE_GALILEOHR ||
359 _clkOrb.messageType == _ssrCorr->COTYPE_QZSSHR ||
360 _clkOrb.messageType == _ssrCorr->COTYPE_SBASHR ||
361 _clkOrb.messageType == _ssrCorr->COTYPE_BDSHR) {
362 t_prn prn(sys, _clkOrb.Sat[ii].ID, flag);
363 if (_lastClkCorrections.contains(prn)) {
364 t_clkCorr clkCorr;
365 clkCorr = _lastClkCorrections[prn];
366 clkCorr._time = _lastTime;
367 clkCorr._updateInt = _clkOrb.UpdateInterval;
368 clkCorr._dClk += _clkOrb.Sat[ii].hrclock / t_CST::c;
369 if (_IODs.contains(clkCorr._prn)) {
370 clkCorr._iod = _IODs[clkCorr._prn];
371 _clkCorrections[_lastTime].append(clkCorr);
372 }
373 }
374 }
375 }
376
377 // Code Biases
378 // -----------
379 for (unsigned ii = 0; ii < CLOCKORBIT_NUMGPS
380 + CLOCKORBIT_NUMGLONASS
381 + CLOCKORBIT_NUMGALILEO
382 + CLOCKORBIT_NUMQZSS
383 + CLOCKORBIT_NUMSBAS
384 + _codeBias.NumberOfSat[CLOCKORBIT_SATBDS];
385 ii++) {
386 char sys = ' ';
387 int num = _codeBias.Sat[ii].ID;
388 int flag = 0;
389 if (ii < _codeBias.NumberOfSat[CLOCKORBIT_SATGPS]) {
390 sys = 'G';
391 flag = t_eph::LNAV;
392 }
393 else if (ii >= CLOCKORBIT_OFFSETGLONASS &&
394 ii < CLOCKORBIT_OFFSETGLONASS + _codeBias.NumberOfSat[CLOCKORBIT_SATGLONASS]) {
395 sys = 'R';
396 flag = t_eph::FDMA_M;
397 }
398 else if (ii >= CLOCKORBIT_OFFSETGALILEO &&
399 ii < CLOCKORBIT_OFFSETGALILEO + _codeBias.NumberOfSat[CLOCKORBIT_SATGALILEO]) {
400 sys = 'E';
401 flag = t_eph::INAV;
402 }
403 else if (ii >= CLOCKORBIT_OFFSETQZSS &&
404 ii < CLOCKORBIT_OFFSETQZSS + _codeBias.NumberOfSat[CLOCKORBIT_SATQZSS]) {
405 sys = 'J';
406 flag = t_eph::LNAV;
407 }
408 else if (ii >= CLOCKORBIT_OFFSETSBAS &&
409 ii < CLOCKORBIT_OFFSETSBAS + _codeBias.NumberOfSat[CLOCKORBIT_SATSBAS]) {
410 sys = 'S';
411 flag = t_eph::SBASL1;
412 }
413 else if (ii >= CLOCKORBIT_OFFSETBDS &&
414 ii < CLOCKORBIT_OFFSETBDS + _codeBias.NumberOfSat[CLOCKORBIT_SATBDS]) {
415 sys = 'C';
416 if (num < 6) {// GEO
417 flag = t_eph::D2;
418 }
419 else if (num > 58 && num < 63) { // GEO
420 flag = t_eph::D2;
421 }
422 else {
423 flag = t_eph::D1;
424 }
425 }
426 else {
427 continue;
428 }
429 t_satCodeBias satCodeBias;
430 satCodeBias._prn.set(sys, num, flag);
431 satCodeBias._staID = _staID.toStdString();
432 satCodeBias._time = _lastTime;
433 satCodeBias._updateInt = _codeBias.UpdateInterval;
434 for (unsigned jj = 0; jj < _codeBias.Sat[ii].NumberOfCodeBiases; jj++) {
435 const SsrCorr::CodeBias::BiasSat::CodeBiasEntry& biasEntry = _codeBias.Sat[ii].Biases[jj];
436 t_frqCodeBias frqCodeBias;
437 frqCodeBias._rnxType2ch.assign(_ssrCorr->codeTypeToRnxType(sys, biasEntry.Type));
438 frqCodeBias._value = biasEntry.Bias;
439 if (!frqCodeBias._rnxType2ch.empty()) {
440 satCodeBias._bias.push_back(frqCodeBias);
441 }
442 }
443 _codeBiases[_lastTime].append(satCodeBias);
444 }
445
446 // Phase Biases
447 // -----------
448 for (unsigned ii = 0; ii < CLOCKORBIT_NUMGPS
449 + CLOCKORBIT_NUMGLONASS
450 + CLOCKORBIT_NUMGALILEO
451 + CLOCKORBIT_NUMQZSS
452 + CLOCKORBIT_NUMSBAS
453 + _phaseBias.NumberOfSat[CLOCKORBIT_SATBDS];
454 ii++) {
455 char sys = ' ';
456 int num = _phaseBias.Sat[ii].ID;
457 int flag = 0;
458 if (ii < _phaseBias.NumberOfSat[CLOCKORBIT_SATGPS]) {
459 sys = 'G';
460 flag = t_eph::LNAV;
461 }
462 else if (ii >= CLOCKORBIT_OFFSETGLONASS &&
463 ii < CLOCKORBIT_OFFSETGLONASS + _phaseBias.NumberOfSat[CLOCKORBIT_SATGLONASS]) {
464 sys = 'R';
465 flag = t_eph::FDMA_M;
466 }
467 else if (ii >= CLOCKORBIT_OFFSETGALILEO &&
468 ii < CLOCKORBIT_OFFSETGALILEO + _phaseBias.NumberOfSat[CLOCKORBIT_SATGALILEO]) {
469 sys = 'E';
470 flag = t_eph::INAV;
471 }
472 else if (ii >= CLOCKORBIT_OFFSETQZSS &&
473 ii < CLOCKORBIT_OFFSETQZSS + _phaseBias.NumberOfSat[CLOCKORBIT_SATQZSS]) {
474 sys = 'J';
475 flag = t_eph::LNAV;
476 }
477 else if (ii >= CLOCKORBIT_OFFSETSBAS &&
478 ii < CLOCKORBIT_OFFSETSBAS + _phaseBias.NumberOfSat[CLOCKORBIT_SATSBAS]) {
479 sys = 'S';
480 flag = t_eph::SBASL1;
481 }
482 else if (ii >= CLOCKORBIT_OFFSETBDS &&
483 ii < CLOCKORBIT_OFFSETBDS + _phaseBias.NumberOfSat[CLOCKORBIT_SATBDS]) {
484 sys = 'C';
485 if (num < 6) {// GEO
486 flag = t_eph::D2;
487 }
488 else if (num > 58 && num < 63) { // GEO
489 flag = t_eph::D2;
490 }
491 else {
492 flag = t_eph::D1;
493 }
494 }
495 else {
496 continue;
497 }
498 t_satPhaseBias satPhaseBias;
499 satPhaseBias._prn.set(sys, num, flag);
500 satPhaseBias._staID = _staID.toStdString();
501 satPhaseBias._time = _lastTime;
502 satPhaseBias._updateInt = _phaseBias.UpdateInterval;
503 satPhaseBias._dispBiasConstistInd = _phaseBias.DispersiveBiasConsistencyIndicator;
504 satPhaseBias._MWConsistInd = _phaseBias.MWConsistencyIndicator;
505 satPhaseBias._yaw = _phaseBias.Sat[ii].YawAngle;
506 satPhaseBias._yawRate = _phaseBias.Sat[ii].YawRate;
507 for (unsigned jj = 0; jj < _phaseBias.Sat[ii].NumberOfPhaseBiases; jj++) {
508 const SsrCorr::PhaseBias::PhaseBiasSat::PhaseBiasEntry& biasEntry = _phaseBias.Sat[ii].Biases[jj];
509 t_frqPhaseBias frqPhaseBias;
510 frqPhaseBias._rnxType2ch.assign(_ssrCorr->codeTypeToRnxType(sys, biasEntry.Type));
511 frqPhaseBias._value = biasEntry.Bias;
512 frqPhaseBias._fixIndicator = biasEntry.SignalIntegerIndicator;
513 frqPhaseBias._fixWideLaneIndicator = biasEntry.SignalsWideLaneIntegerIndicator;
514 frqPhaseBias._jumpCounter = biasEntry.SignalDiscontinuityCounter;
515 if (!frqPhaseBias._rnxType2ch.empty()) {
516 satPhaseBias._bias.push_back(frqPhaseBias);
517 }
518 }
519 _phaseBiases[_lastTime].append(satPhaseBias);
520 }
521
522 // Ionospheric Model
523 // -----------------
524 if (_vTEC.NumLayers > 0) {
525 _vTecMap[_lastTime]._time = _lastTime;
526 _vTecMap[_lastTime]._updateInt = _vTEC.UpdateInterval;
527 _vTecMap[_lastTime]._staID = _staID.toStdString();
528 for (unsigned ii = 0; ii < _vTEC.NumLayers; ii++) {
529 const SsrCorr::VTEC::IonoLayers& ionoLayer = _vTEC.Layers[ii];
530 t_vTecLayer layer;
531 layer._height = ionoLayer.Height;
532 layer._C.ReSize(ionoLayer.Degree+1, ionoLayer.Order+1);
533 layer._S.ReSize(ionoLayer.Degree+1, ionoLayer.Order+1);
534 for (unsigned iDeg = 0; iDeg <= ionoLayer.Degree; iDeg++) {
535 for (unsigned iOrd = 0; iOrd <= ionoLayer.Order; iOrd++) {
536 layer._C[iDeg][iOrd] = ionoLayer.Cosinus[iDeg][iOrd];
537 layer._S[iDeg][iOrd] = ionoLayer.Sinus[iDeg][iOrd];
538 }
539 }
540 _vTecMap[_lastTime]._layers.push_back(layer);
541 }
542 }
543
544 // Dump all older epochs
545 // ---------------------
546 QMutableMapIterator<bncTime, QList<t_orbCorr> > itOrb(_orbCorrections);
547 while (itOrb.hasNext()) {
548 itOrb.next();
549 if (itOrb.key() < _lastTime) {
550 emit newOrbCorrections(itOrb.value());
551 t_orbCorr::writeEpoch(_out, itOrb.value());
552 itOrb.remove();
553 }
554 }
555 QMutableMapIterator<bncTime, QList<t_clkCorr> > itClk(_clkCorrections);
556 while (itClk.hasNext()) {
557 itClk.next();
558 if (itClk.key() < _lastTime) {
559 emit newClkCorrections(itClk.value());
560 t_clkCorr::writeEpoch(_out, itClk.value());
561 itClk.remove();
562 }
563 }
564 QMutableMapIterator<bncTime, QList<t_satCodeBias> > itCB(_codeBiases);
565 while (itCB.hasNext()) {
566 itCB.next();
567 if (itCB.key() < _lastTime) {
568 emit newCodeBiases(itCB.value());
569 t_satCodeBias::writeEpoch(_out, itCB.value());
570 itCB.remove();
571 }
572 }
573 QMutableMapIterator<bncTime, QList<t_satPhaseBias> > itPB(_phaseBiases);
574 while (itPB.hasNext()) {
575 itPB.next();
576 if (itPB.key() < _lastTime) {
577 emit newPhaseBiases(itPB.value());
578 t_satPhaseBias::writeEpoch(_out, itPB.value());
579 itPB.remove();
580 }
581 }
582 QMutableMapIterator<bncTime, t_vTec> itTec(_vTecMap);
583 while (itTec.hasNext()) {
584 itTec.next();
585 if (itTec.key() < _lastTime) {
586 emit newTec(itTec.value());
587 t_vTec::write(_out, itTec.value());
588 itTec.remove();
589 }
590 }
591}
592
593//
594////////////////////////////////////////////////////////////////////////////
595void RTCM3coDecoder::checkProviderID() {
596
597 if (_clkOrb.SSRProviderID == 0 && _clkOrb.SSRSolutionID == 0 && _clkOrb.SSRIOD == 0) {
598 return;
599 }
600
601 int newProviderID[3];
602 newProviderID[0] = _clkOrb.SSRProviderID;
603 newProviderID[1] = _clkOrb.SSRSolutionID;
604 newProviderID[2] = _clkOrb.SSRIOD;
605 QString newProviderIDStr = QString(" [SSR Provider ID: %1 SSR Solution ID: %2 SSR IOD: %3]: ")
606 .arg(newProviderID[0]).arg(newProviderID[1]).arg(newProviderID[2]);
607
608 bool alreadySet = false;
609 bool different = false;
610
611 for (unsigned ii = 0; ii < 3; ii++) {
612 if (_providerID[ii] != -1) {
613 alreadySet = true;
614 }
615 if (_providerID[ii] != newProviderID[ii]) {
616 different = true;
617 }
618 _providerID[ii] = newProviderID[ii];
619 }
620
621 if (alreadySet && different) {
622 emit newMessage("RTCM3coDecoder: SSR Provider or Service changed " + newProviderIDStr.toLatin1() + _staID.toLatin1(), true);
623 emit providerIDChanged(_staID);
624 }
625}
626
627// Check corrections
628////////////////////////////////////////////////////////////////////////////
629bool RTCM3coDecoder::corrIsOutOfRange(const SsrCorr::ClockOrbit::SatData& coSat) {
630
631 QString ssrParStr;
632 QString ssrParValue;
633 bool corrIsOutOfRange = false;
634
635 switch (_type) {
636 // ======== //
637 // IGS SSR //
638 // ======== //
639 case IGSssr:
640 if (coSat.Clock.DeltaA0 < -209.7151 ||
641 coSat.Clock.DeltaA0 > +209.7151) {
642 ssrParStr = "Clock::DeltaA0";
643 ssrParValue = QString::number(coSat.Clock.DeltaA0, 'f', 4);
644 corrIsOutOfRange = true;
645 }
646 if (coSat.Clock.DeltaA1 < -1.048575 ||
647 coSat.Clock.DeltaA1 > +1.048575) {
648 ssrParStr = "Clock::DeltaA1";
649 ssrParValue = QString::number(coSat.Clock.DeltaA1, 'f', 6);
650 corrIsOutOfRange = true;
651 }
652 if (coSat.Clock.DeltaA2 < -1.3421772 ||
653 coSat.Clock.DeltaA2 > +1.3421772) {
654 ssrParStr = "Clock::DeltaA2";
655 ssrParValue = QString::number(coSat.Clock.DeltaA2, 'f', 7);
656 corrIsOutOfRange = true;
657 }
658
659 if (coSat.Orbit.DeltaRadial < -209.7151 ||
660 coSat.Orbit.DeltaRadial > +209.7151) {
661 ssrParStr = "Orbit::DeltaRadial";
662 ssrParValue = QString::number(coSat.Orbit.DeltaRadial, 'f', 4);
663 corrIsOutOfRange = true;
664 }
665
666 if (coSat.Orbit.DeltaAlongTrack < -209.7148 ||
667 coSat.Orbit.DeltaAlongTrack > +209.7148) {
668 ssrParStr = "Orbit::DeltaAlongTrack";
669 ssrParValue = QString::number(coSat.Orbit.DeltaAlongTrack, 'f', 4);
670 corrIsOutOfRange = true;
671 }
672 if (coSat.Orbit.DeltaCrossTrack < -209.7148 ||
673 coSat.Orbit.DeltaCrossTrack > +209.7148) {
674 ssrParStr = "Orbit::DeltaCrossTrack";
675 ssrParValue = QString::number(coSat.Orbit.DeltaCrossTrack, 'f', 4);
676 corrIsOutOfRange = true;
677 }
678
679 if (coSat.Orbit.DotDeltaRadial < -1.048575 ||
680 coSat.Orbit.DotDeltaRadial > +1.048575) {
681 ssrParStr = "Orbit::DotDeltaRadial";
682 ssrParValue = QString::number(coSat.Orbit.DotDeltaRadial, 'f', 6);
683 corrIsOutOfRange = true;
684 }
685 if (coSat.Orbit.DotDeltaAlongTrack < -1.048572 ||
686 coSat.Orbit.DotDeltaAlongTrack > +1.048572) {
687 ssrParStr = "Orbit::DotDeltaAlongTrack";
688 ssrParValue = QString::number(coSat.Orbit.DotDeltaAlongTrack, 'f', 6);
689 corrIsOutOfRange = true;
690 }
691 if (coSat.Orbit.DotDeltaCrossTrack < -1.048572 ||
692 coSat.Orbit.DotDeltaCrossTrack > +1.048572) {
693 ssrParStr = "Orbit::DotDeltaCrossTrack";
694 ssrParValue = QString::number(coSat.Orbit.DotDeltaCrossTrack, 'f', 6);
695 corrIsOutOfRange = true;
696 }
697 break;
698 //==========//
699 // RTCM SSR //
700 // =========//
701 case RTCMssr:
702 case RTCMnewssr:
703 if (coSat.Clock.DeltaA0 < -209.7151 ||
704 coSat.Clock.DeltaA0 > +209.7151) {
705 ssrParStr = "Clock::DeltaA0";
706 ssrParValue = QString::number(coSat.Clock.DeltaA0, 'f', 4);
707 corrIsOutOfRange = true;
708 }
709 if (coSat.Clock.DeltaA1 < -1.048575 ||
710 coSat.Clock.DeltaA1 > +1.048575) {
711 ssrParStr = "Clock::DeltaA1";
712 ssrParValue = QString::number(coSat.Clock.DeltaA1, 'f', 6);
713 corrIsOutOfRange = true;
714 }
715 if (coSat.Clock.DeltaA2 < -1.34217726 ||
716 coSat.Clock.DeltaA2 > +1.34217726) {
717 ssrParStr = "Clock::DeltaA2";
718 ssrParValue = QString::number(coSat.Clock.DeltaA2, 'f', 8);
719 corrIsOutOfRange = true;
720 }
721
722 if (coSat.Orbit.DeltaRadial < -209.7151 ||
723 coSat.Orbit.DeltaRadial > +209.7151) {
724 ssrParStr = "Orbit::DeltaRadial";
725 ssrParValue = QString::number(coSat.Orbit.DeltaRadial, 'f', 4);
726 corrIsOutOfRange = true;
727 }
728
729 if (coSat.Orbit.DeltaAlongTrack < -209.7148 ||
730 coSat.Orbit.DeltaAlongTrack > +209.7148) {
731 ssrParStr = "Orbit::DeltaAlongTrack";
732 ssrParValue = QString::number(coSat.Orbit.DeltaAlongTrack, 'f', 4);
733 corrIsOutOfRange = true;
734 }
735 if (coSat.Orbit.DeltaCrossTrack < -209.7148 ||
736 coSat.Orbit.DeltaCrossTrack > +209.7148) {
737 ssrParStr = "Orbit::DeltaCrossTrack";
738 ssrParValue = QString::number(coSat.Orbit.DeltaCrossTrack, 'f', 4);
739 corrIsOutOfRange = true;
740 }
741
742 if (coSat.Orbit.DotDeltaRadial < -1.048575 ||
743 coSat.Orbit.DotDeltaRadial > +1.048575) {
744 ssrParStr = "Orbit::DotDeltaRadial";
745 ssrParValue = QString::number(coSat.Orbit.DotDeltaRadial, 'f', 6);
746 corrIsOutOfRange = true;
747 }
748 if (coSat.Orbit.DotDeltaAlongTrack < -1.048572 ||
749 coSat.Orbit.DotDeltaAlongTrack > +1.048572) {
750 ssrParStr = "Orbit::DotDeltaAlongTrack";
751 ssrParValue = QString::number(coSat.Orbit.DotDeltaAlongTrack, 'f', 6);
752 corrIsOutOfRange = true;
753 }
754 if (coSat.Orbit.DotDeltaCrossTrack < -1.048572 ||
755 coSat.Orbit.DotDeltaCrossTrack > +1.048572) {
756 ssrParStr = "Orbit::DotDeltaCrossTrack";
757 ssrParValue = QString::number(coSat.Orbit.DotDeltaCrossTrack, 'f', 6);
758 corrIsOutOfRange = true;
759 }
760 break;
761 }
762
763 if (corrIsOutOfRange) {
764 emit newMessage("RTCM3coDecoder: Correction " + ssrParStr.toLatin1()
765 + " (" + ssrParValue.toLatin1() + ") "
766 + "is out of range " + _staID.toLatin1(), true);
767 }
768
769 return corrIsOutOfRange;
770}
771
772//
773////////////////////////////////////////////////////////////////////////////
774void RTCM3coDecoder::setEpochTime() {
775
776 _lastTime.reset();
777
778 double epoSecGPS = -1.0;
779 double epoSecGlo = -1.0;
780 double epoSecGal = -1.0;
781 double epoSecQzss = -1.0;
782 double epoSecSbas = -1.0;
783 double epoSecBds = -1.0;
784 if (_clkOrb.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
785 epoSecGPS = _clkOrb.EpochTime[CLOCKORBIT_SATGPS]; // 0 .. 604799 s
786 }
787 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
788 epoSecGPS = _codeBias.EpochTime[CLOCKORBIT_SATGPS]; // 0 .. 604799 s
789 }
790 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
791 epoSecGPS = _phaseBias.EpochTime[CLOCKORBIT_SATGPS]; // 0 .. 604799 s
792 }
793 else if (_vTEC.NumLayers > 0) {
794 epoSecGPS = _vTEC.EpochTime; // 0 .. 604799 s
795 }
796 else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
797 epoSecGlo = _clkOrb.EpochTime[CLOCKORBIT_SATGLONASS]; // 0 .. 86399 s
798 }
799 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
800 epoSecGlo = _codeBias.EpochTime[CLOCKORBIT_SATGLONASS]; // 0 .. 86399 s
801 }
802 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
803 epoSecGlo = _phaseBias.EpochTime[CLOCKORBIT_SATGLONASS]; // 0 .. 86399 s
804 }
805 else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
806 epoSecGal = _clkOrb.EpochTime[CLOCKORBIT_SATGALILEO];
807 }
808 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
809 epoSecGal = _codeBias.EpochTime[CLOCKORBIT_SATGALILEO];
810 }
811 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
812 epoSecGal = _phaseBias.EpochTime[CLOCKORBIT_SATGALILEO];
813 }
814 else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
815 epoSecQzss = _clkOrb.EpochTime[CLOCKORBIT_SATQZSS];
816 }
817 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
818 epoSecQzss = _codeBias.EpochTime[CLOCKORBIT_SATQZSS];
819 }
820 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
821 epoSecQzss = _phaseBias.EpochTime[CLOCKORBIT_SATQZSS];
822 }
823 else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
824 epoSecSbas = _clkOrb.EpochTime[CLOCKORBIT_SATSBAS];
825 }
826 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
827 epoSecSbas = _codeBias.EpochTime[CLOCKORBIT_SATSBAS];
828 }
829 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
830 epoSecSbas = _phaseBias.EpochTime[CLOCKORBIT_SATSBAS];
831 }
832 else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
833 epoSecBds = _clkOrb.EpochTime[CLOCKORBIT_SATBDS];
834 }
835 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
836 epoSecBds = _codeBias.EpochTime[CLOCKORBIT_SATBDS];
837 }
838 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
839 epoSecBds = _phaseBias.EpochTime[CLOCKORBIT_SATBDS];
840 }
841
842 // Retrieve current time
843 // ---------------------
844 int currentWeek = 0;
845 double currentSec = 0.0;
846 currentGPSWeeks(currentWeek, currentSec);
847 bncTime currentTime(currentWeek, currentSec);
848
849 // Set _lastTime close to currentTime
850 // ----------------------------------
851 if (epoSecGPS != -1) {
852 _lastTime.set(currentWeek, epoSecGPS);
853 }
854 else if (epoSecGlo != -1) {
855 QDate date = dateAndTimeFromGPSweek(currentTime.gpsw(), currentTime.gpssec()).date();
856 if (_type == IGSssr) {
857 if (epoSecGPS != epoSecGlo) {// should be not done in case of an IGS-SSR encoding error => line has to be deleted
858 epoSecGlo = epoSecGlo + gnumleap(date.year(), date.month(), date.day());
859 }
860 }
861 if (_type == RTCMssr) {
862 epoSecGlo = epoSecGlo - 3 * 3600 + gnumleap(date.year(), date.month(), date.day());
863 }
864 _lastTime.set(currentWeek, epoSecGlo);
865 }
866 else if (epoSecGal != -1) {
867 _lastTime.set(currentWeek, epoSecGal);
868 }
869 else if (epoSecQzss != -1) {
870 _lastTime.set(currentWeek, epoSecQzss);
871 }
872 else if (epoSecSbas != -1) {
873 _lastTime.set(currentWeek, epoSecSbas);
874 }
875 else if (epoSecBds != -1) {
876 if (_type == IGSssr) {
877 if (epoSecGPS != -1 && epoSecGPS != epoSecBds) {// should be not done in case of an IGS-SSR encoding error => line has to be deleted
878 epoSecBds += 14.0;
879 if (epoSecBds > 604800.0) {
880 epoSecBds -= 7.0*24.0*60.0*60.0;
881 }
882 }
883 }// line has to be deleted
884 if (_type == RTCMssr) {
885 epoSecBds += 14.0;
886 if (epoSecBds > 604800.0) {
887 epoSecBds -= 7.0*24.0*60.0*60.0;
888 }
889 }
890 _lastTime.set(currentWeek, epoSecBds);
891 }
892
893 if (_lastTime.valid()) {
894 double maxDiff = 12 * 3600.0;
895 while (_lastTime < currentTime - maxDiff) {
896 _lastTime = _lastTime + maxDiff;
897 }
898 while (_lastTime > currentTime + maxDiff) {
899 _lastTime = _lastTime - maxDiff;
900 }
901 }
902}
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