source: ntrip/trunk/BNC/src/RTCM3/RTCM3coDecoder.cpp@ 10993

Last change on this file since 10993 was 10993, checked in by stuerze, 3 weeks ago

minor changes to allow different formulas for the computation of the relativistic effects in GPS position determination for RTCM-SSR and IGS-SSR
File size: 30.2 KB
Line 
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 orbCorr._rtcmSsr = (_type == RTCMssr || _type == RTCMnewssr);
317
318 _orbCorrections[_lastTime].append(orbCorr);
319
320 _IODs[orbCorr._prn] = _clkOrb.Sat[ii].IOD;
321 }
322
323 // Clock Corrections
324 // -----------------
325 if ( _clkOrb.messageType == _ssrCorr->COTYPE_GPSCOMBINED ||
326 _clkOrb.messageType == _ssrCorr->COTYPE_GLONASSCOMBINED ||
327 _clkOrb.messageType == _ssrCorr->COTYPE_GALILEOCOMBINED ||
328 _clkOrb.messageType == _ssrCorr->COTYPE_QZSSCOMBINED ||
329 _clkOrb.messageType == _ssrCorr->COTYPE_SBASCOMBINED ||
330 _clkOrb.messageType == _ssrCorr->COTYPE_BDSCOMBINED ||
331 _clkOrb.messageType == _ssrCorr->COTYPE_GPSCLOCK ||
332 _clkOrb.messageType == _ssrCorr->COTYPE_GLONASSCLOCK ||
333 _clkOrb.messageType == _ssrCorr->COTYPE_GALILEOCLOCK ||
334 _clkOrb.messageType == _ssrCorr->COTYPE_QZSSCLOCK ||
335 _clkOrb.messageType == _ssrCorr->COTYPE_SBASCLOCK ||
336 _clkOrb.messageType == _ssrCorr->COTYPE_BDSCLOCK) {
337
338 t_clkCorr clkCorr;
339 clkCorr._prn.set(sys, _clkOrb.Sat[ii].ID, flag);
340 clkCorr._staID = _staID.toStdString();
341 clkCorr._time = _lastTime;
342 clkCorr._updateInt = _clkOrb.UpdateInterval;
343 clkCorr._dClk = _clkOrb.Sat[ii].Clock.DeltaA0 / t_CST::c;
344 clkCorr._dotDClk = _clkOrb.Sat[ii].Clock.DeltaA1 / t_CST::c;
345 clkCorr._dotDotDClk = _clkOrb.Sat[ii].Clock.DeltaA2 / t_CST::c;
346
347 _lastClkCorrections[clkCorr._prn] = clkCorr;
348
349 if (_IODs.contains(clkCorr._prn)) {
350 clkCorr._iod = _IODs[clkCorr._prn];
351 _clkCorrections[_lastTime].append(clkCorr);
352 }
353 }
354
355 // High-Resolution Clocks
356 // ----------------------
357 if ( _clkOrb.messageType == _ssrCorr->COTYPE_GPSHR ||
358 _clkOrb.messageType == _ssrCorr->COTYPE_GLONASSHR ||
359 _clkOrb.messageType == _ssrCorr->COTYPE_GALILEOHR ||
360 _clkOrb.messageType == _ssrCorr->COTYPE_QZSSHR ||
361 _clkOrb.messageType == _ssrCorr->COTYPE_SBASHR ||
362 _clkOrb.messageType == _ssrCorr->COTYPE_BDSHR) {
363 t_prn prn(sys, _clkOrb.Sat[ii].ID, flag);
364 if (_lastClkCorrections.contains(prn)) {
365 t_clkCorr clkCorr;
366 clkCorr = _lastClkCorrections[prn];
367 clkCorr._time = _lastTime;
368 clkCorr._updateInt = _clkOrb.UpdateInterval;
369 clkCorr._dClk += _clkOrb.Sat[ii].hrclock / t_CST::c;
370 if (_IODs.contains(clkCorr._prn)) {
371 clkCorr._iod = _IODs[clkCorr._prn];
372 _clkCorrections[_lastTime].append(clkCorr);
373 }
374 }
375 }
376 }
377
378 // Code Biases
379 // -----------
380 for (unsigned ii = 0; ii < CLOCKORBIT_NUMGPS
381 + CLOCKORBIT_NUMGLONASS
382 + CLOCKORBIT_NUMGALILEO
383 + CLOCKORBIT_NUMQZSS
384 + CLOCKORBIT_NUMSBAS
385 + _codeBias.NumberOfSat[CLOCKORBIT_SATBDS];
386 ii++) {
387 char sys = ' ';
388 int num = _codeBias.Sat[ii].ID;
389 int flag = 0;
390 if (ii < _codeBias.NumberOfSat[CLOCKORBIT_SATGPS]) {
391 sys = 'G';
392 flag = t_eph::LNAV;
393 }
394 else if (ii >= CLOCKORBIT_OFFSETGLONASS &&
395 ii < CLOCKORBIT_OFFSETGLONASS + _codeBias.NumberOfSat[CLOCKORBIT_SATGLONASS]) {
396 sys = 'R';
397 flag = t_eph::FDMA_M;
398 }
399 else if (ii >= CLOCKORBIT_OFFSETGALILEO &&
400 ii < CLOCKORBIT_OFFSETGALILEO + _codeBias.NumberOfSat[CLOCKORBIT_SATGALILEO]) {
401 sys = 'E';
402 flag = t_eph::INAV;
403 }
404 else if (ii >= CLOCKORBIT_OFFSETQZSS &&
405 ii < CLOCKORBIT_OFFSETQZSS + _codeBias.NumberOfSat[CLOCKORBIT_SATQZSS]) {
406 sys = 'J';
407 flag = t_eph::LNAV;
408 }
409 else if (ii >= CLOCKORBIT_OFFSETSBAS &&
410 ii < CLOCKORBIT_OFFSETSBAS + _codeBias.NumberOfSat[CLOCKORBIT_SATSBAS]) {
411 sys = 'S';
412 flag = t_eph::SBASL1;
413 }
414 else if (ii >= CLOCKORBIT_OFFSETBDS &&
415 ii < CLOCKORBIT_OFFSETBDS + _codeBias.NumberOfSat[CLOCKORBIT_SATBDS]) {
416 sys = 'C';
417 if (num < 6) {// GEO
418 flag = t_eph::D2;
419 }
420 else if (num > 58 && num < 63) { // GEO
421 flag = t_eph::D2;
422 }
423 else {
424 flag = t_eph::D1;
425 }
426 }
427 else {
428 continue;
429 }
430 t_satCodeBias satCodeBias;
431 satCodeBias._prn.set(sys, num, flag);
432 satCodeBias._staID = _staID.toStdString();
433 satCodeBias._time = _lastTime;
434 satCodeBias._updateInt = _codeBias.UpdateInterval;
435 for (unsigned jj = 0; jj < _codeBias.Sat[ii].NumberOfCodeBiases; jj++) {
436 const SsrCorr::CodeBias::BiasSat::CodeBiasEntry& biasEntry = _codeBias.Sat[ii].Biases[jj];
437 t_frqCodeBias frqCodeBias;
438 frqCodeBias._rnxType2ch.assign(_ssrCorr->codeTypeToRnxType(sys, biasEntry.Type));
439 frqCodeBias._value = biasEntry.Bias;
440 if (!frqCodeBias._rnxType2ch.empty()) {
441 satCodeBias._bias.push_back(frqCodeBias);
442 }
443 }
444 _codeBiases[_lastTime].append(satCodeBias);
445 }
446
447 // Phase Biases
448 // -----------
449 for (unsigned ii = 0; ii < CLOCKORBIT_NUMGPS
450 + CLOCKORBIT_NUMGLONASS
451 + CLOCKORBIT_NUMGALILEO
452 + CLOCKORBIT_NUMQZSS
453 + CLOCKORBIT_NUMSBAS
454 + _phaseBias.NumberOfSat[CLOCKORBIT_SATBDS];
455 ii++) {
456 char sys = ' ';
457 int num = _phaseBias.Sat[ii].ID;
458 int flag = 0;
459 if (ii < _phaseBias.NumberOfSat[CLOCKORBIT_SATGPS]) {
460 sys = 'G';
461 flag = t_eph::LNAV;
462 }
463 else if (ii >= CLOCKORBIT_OFFSETGLONASS &&
464 ii < CLOCKORBIT_OFFSETGLONASS + _phaseBias.NumberOfSat[CLOCKORBIT_SATGLONASS]) {
465 sys = 'R';
466 flag = t_eph::FDMA_M;
467 }
468 else if (ii >= CLOCKORBIT_OFFSETGALILEO &&
469 ii < CLOCKORBIT_OFFSETGALILEO + _phaseBias.NumberOfSat[CLOCKORBIT_SATGALILEO]) {
470 sys = 'E';
471 flag = t_eph::INAV;
472 }
473 else if (ii >= CLOCKORBIT_OFFSETQZSS &&
474 ii < CLOCKORBIT_OFFSETQZSS + _phaseBias.NumberOfSat[CLOCKORBIT_SATQZSS]) {
475 sys = 'J';
476 flag = t_eph::LNAV;
477 }
478 else if (ii >= CLOCKORBIT_OFFSETSBAS &&
479 ii < CLOCKORBIT_OFFSETSBAS + _phaseBias.NumberOfSat[CLOCKORBIT_SATSBAS]) {
480 sys = 'S';
481 flag = t_eph::SBASL1;
482 }
483 else if (ii >= CLOCKORBIT_OFFSETBDS &&
484 ii < CLOCKORBIT_OFFSETBDS + _phaseBias.NumberOfSat[CLOCKORBIT_SATBDS]) {
485 sys = 'C';
486 if (num < 6) {// GEO
487 flag = t_eph::D2;
488 }
489 else if (num > 58 && num < 63) { // GEO
490 flag = t_eph::D2;
491 }
492 else {
493 flag = t_eph::D1;
494 }
495 }
496 else {
497 continue;
498 }
499 t_satPhaseBias satPhaseBias;
500 satPhaseBias._prn.set(sys, num, flag);
501 satPhaseBias._staID = _staID.toStdString();
502 satPhaseBias._time = _lastTime;
503 satPhaseBias._updateInt = _phaseBias.UpdateInterval;
504 satPhaseBias._dispBiasConstistInd = _phaseBias.DispersiveBiasConsistencyIndicator;
505 satPhaseBias._MWConsistInd = _phaseBias.MWConsistencyIndicator;
506 satPhaseBias._yaw = _phaseBias.Sat[ii].YawAngle;
507 satPhaseBias._yawRate = _phaseBias.Sat[ii].YawRate;
508 for (unsigned jj = 0; jj < _phaseBias.Sat[ii].NumberOfPhaseBiases; jj++) {
509 const SsrCorr::PhaseBias::PhaseBiasSat::PhaseBiasEntry& biasEntry = _phaseBias.Sat[ii].Biases[jj];
510 t_frqPhaseBias frqPhaseBias;
511 frqPhaseBias._rnxType2ch.assign(_ssrCorr->codeTypeToRnxType(sys, biasEntry.Type));
512 frqPhaseBias._value = biasEntry.Bias;
513 frqPhaseBias._fixIndicator = biasEntry.SignalIntegerIndicator;
514 frqPhaseBias._fixWideLaneIndicator = biasEntry.SignalsWideLaneIntegerIndicator;
515 frqPhaseBias._jumpCounter = biasEntry.SignalDiscontinuityCounter;
516 if (!frqPhaseBias._rnxType2ch.empty()) {
517 satPhaseBias._bias.push_back(frqPhaseBias);
518 }
519 }
520 _phaseBiases[_lastTime].append(satPhaseBias);
521 }
522
523 // Ionospheric Model
524 // -----------------
525 if (_vTEC.NumLayers > 0) {
526 _vTecMap[_lastTime]._time = _lastTime;
527 _vTecMap[_lastTime]._updateInt = _vTEC.UpdateInterval;
528 _vTecMap[_lastTime]._staID = _staID.toStdString();
529 for (unsigned ii = 0; ii < _vTEC.NumLayers; ii++) {
530 const SsrCorr::VTEC::IonoLayers& ionoLayer = _vTEC.Layers[ii];
531 t_vTecLayer layer;
532 layer._height = ionoLayer.Height;
533 layer._C.ReSize(ionoLayer.Degree+1, ionoLayer.Order+1);
534 layer._S.ReSize(ionoLayer.Degree+1, ionoLayer.Order+1);
535 for (unsigned iDeg = 0; iDeg <= ionoLayer.Degree; iDeg++) {
536 for (unsigned iOrd = 0; iOrd <= ionoLayer.Order; iOrd++) {
537 layer._C[iDeg][iOrd] = ionoLayer.Cosinus[iDeg][iOrd];
538 layer._S[iDeg][iOrd] = ionoLayer.Sinus[iDeg][iOrd];
539 }
540 }
541 _vTecMap[_lastTime]._layers.push_back(layer);
542 }
543 }
544
545 // Dump all older epochs
546 // ---------------------
547 QMutableMapIterator<bncTime, QList<t_orbCorr> > itOrb(_orbCorrections);
548 while (itOrb.hasNext()) {
549 itOrb.next();
550 if (itOrb.key() < _lastTime) {
551 emit newOrbCorrections(itOrb.value());
552 t_orbCorr::writeEpoch(_out, itOrb.value());
553 itOrb.remove();
554 }
555 }
556 QMutableMapIterator<bncTime, QList<t_clkCorr> > itClk(_clkCorrections);
557 while (itClk.hasNext()) {
558 itClk.next();
559 if (itClk.key() < _lastTime) {
560 emit newClkCorrections(itClk.value());
561 t_clkCorr::writeEpoch(_out, itClk.value());
562 itClk.remove();
563 }
564 }
565 QMutableMapIterator<bncTime, QList<t_satCodeBias> > itCB(_codeBiases);
566 while (itCB.hasNext()) {
567 itCB.next();
568 if (itCB.key() < _lastTime) {
569 emit newCodeBiases(itCB.value());
570 t_satCodeBias::writeEpoch(_out, itCB.value());
571 itCB.remove();
572 }
573 }
574 QMutableMapIterator<bncTime, QList<t_satPhaseBias> > itPB(_phaseBiases);
575 while (itPB.hasNext()) {
576 itPB.next();
577 if (itPB.key() < _lastTime) {
578 emit newPhaseBiases(itPB.value());
579 t_satPhaseBias::writeEpoch(_out, itPB.value());
580 itPB.remove();
581 }
582 }
583 QMutableMapIterator<bncTime, t_vTec> itTec(_vTecMap);
584 while (itTec.hasNext()) {
585 itTec.next();
586 if (itTec.key() < _lastTime) {
587 emit newTec(itTec.value());
588 t_vTec::write(_out, itTec.value());
589 itTec.remove();
590 }
591 }
592}
593
594//
595////////////////////////////////////////////////////////////////////////////
596void RTCM3coDecoder::checkProviderID() {
597
598 if (_clkOrb.SSRProviderID == 0 && _clkOrb.SSRSolutionID == 0 && _clkOrb.SSRIOD == 0) {
599 return;
600 }
601
602 int newProviderID[3];
603 newProviderID[0] = _clkOrb.SSRProviderID;
604 newProviderID[1] = _clkOrb.SSRSolutionID;
605 newProviderID[2] = _clkOrb.SSRIOD;
606 QString newProviderIDStr = QString(" [SSR Provider ID: %1 SSR Solution ID: %2 SSR IOD: %3]: ")
607 .arg(newProviderID[0]).arg(newProviderID[1]).arg(newProviderID[2]);
608
609 bool alreadySet = false;
610 bool different = false;
611
612 for (unsigned ii = 0; ii < 3; ii++) {
613 if (_providerID[ii] != -1) {
614 alreadySet = true;
615 }
616 if (_providerID[ii] != newProviderID[ii]) {
617 different = true;
618 }
619 _providerID[ii] = newProviderID[ii];
620 }
621
622 if (alreadySet && different) {
623 emit newMessage("RTCM3coDecoder: SSR Provider or Service changed " + newProviderIDStr.toLatin1() + _staID.toLatin1(), true);
624 emit providerIDChanged(_staID);
625 }
626}
627
628// Check corrections
629////////////////////////////////////////////////////////////////////////////
630bool RTCM3coDecoder::corrIsOutOfRange(const SsrCorr::ClockOrbit::SatData& coSat) {
631
632 QString ssrParStr;
633 QString ssrParValue;
634 bool corrIsOutOfRange = false;
635
636 switch (_type) {
637 // ======== //
638 // IGS SSR //
639 // ======== //
640 case IGSssr:
641 if (coSat.Clock.DeltaA0 < -209.7151 ||
642 coSat.Clock.DeltaA0 > +209.7151) {
643 ssrParStr = "Clock::DeltaA0";
644 ssrParValue = QString::number(coSat.Clock.DeltaA0, 'f', 4);
645 corrIsOutOfRange = true;
646 }
647 if (coSat.Clock.DeltaA1 < -1.048575 ||
648 coSat.Clock.DeltaA1 > +1.048575) {
649 ssrParStr = "Clock::DeltaA1";
650 ssrParValue = QString::number(coSat.Clock.DeltaA1, 'f', 6);
651 corrIsOutOfRange = true;
652 }
653 if (coSat.Clock.DeltaA2 < -1.3421772 ||
654 coSat.Clock.DeltaA2 > +1.3421772) {
655 ssrParStr = "Clock::DeltaA2";
656 ssrParValue = QString::number(coSat.Clock.DeltaA2, 'f', 7);
657 corrIsOutOfRange = true;
658 }
659
660 if (coSat.Orbit.DeltaRadial < -209.7151 ||
661 coSat.Orbit.DeltaRadial > +209.7151) {
662 ssrParStr = "Orbit::DeltaRadial";
663 ssrParValue = QString::number(coSat.Orbit.DeltaRadial, 'f', 4);
664 corrIsOutOfRange = true;
665 }
666
667 if (coSat.Orbit.DeltaAlongTrack < -209.7148 ||
668 coSat.Orbit.DeltaAlongTrack > +209.7148) {
669 ssrParStr = "Orbit::DeltaAlongTrack";
670 ssrParValue = QString::number(coSat.Orbit.DeltaAlongTrack, 'f', 4);
671 corrIsOutOfRange = true;
672 }
673 if (coSat.Orbit.DeltaCrossTrack < -209.7148 ||
674 coSat.Orbit.DeltaCrossTrack > +209.7148) {
675 ssrParStr = "Orbit::DeltaCrossTrack";
676 ssrParValue = QString::number(coSat.Orbit.DeltaCrossTrack, 'f', 4);
677 corrIsOutOfRange = true;
678 }
679
680 if (coSat.Orbit.DotDeltaRadial < -1.048575 ||
681 coSat.Orbit.DotDeltaRadial > +1.048575) {
682 ssrParStr = "Orbit::DotDeltaRadial";
683 ssrParValue = QString::number(coSat.Orbit.DotDeltaRadial, 'f', 6);
684 corrIsOutOfRange = true;
685 }
686 if (coSat.Orbit.DotDeltaAlongTrack < -1.048572 ||
687 coSat.Orbit.DotDeltaAlongTrack > +1.048572) {
688 ssrParStr = "Orbit::DotDeltaAlongTrack";
689 ssrParValue = QString::number(coSat.Orbit.DotDeltaAlongTrack, 'f', 6);
690 corrIsOutOfRange = true;
691 }
692 if (coSat.Orbit.DotDeltaCrossTrack < -1.048572 ||
693 coSat.Orbit.DotDeltaCrossTrack > +1.048572) {
694 ssrParStr = "Orbit::DotDeltaCrossTrack";
695 ssrParValue = QString::number(coSat.Orbit.DotDeltaCrossTrack, 'f', 6);
696 corrIsOutOfRange = true;
697 }
698 break;
699 //==========//
700 // RTCM SSR //
701 // =========//
702 case RTCMssr:
703 case RTCMnewssr:
704 if (coSat.Clock.DeltaA0 < -209.7151 ||
705 coSat.Clock.DeltaA0 > +209.7151) {
706 ssrParStr = "Clock::DeltaA0";
707 ssrParValue = QString::number(coSat.Clock.DeltaA0, 'f', 4);
708 corrIsOutOfRange = true;
709 }
710 if (coSat.Clock.DeltaA1 < -1.048575 ||
711 coSat.Clock.DeltaA1 > +1.048575) {
712 ssrParStr = "Clock::DeltaA1";
713 ssrParValue = QString::number(coSat.Clock.DeltaA1, 'f', 6);
714 corrIsOutOfRange = true;
715 }
716 if (coSat.Clock.DeltaA2 < -1.34217726 ||
717 coSat.Clock.DeltaA2 > +1.34217726) {
718 ssrParStr = "Clock::DeltaA2";
719 ssrParValue = QString::number(coSat.Clock.DeltaA2, 'f', 8);
720 corrIsOutOfRange = true;
721 }
722
723 if (coSat.Orbit.DeltaRadial < -209.7151 ||
724 coSat.Orbit.DeltaRadial > +209.7151) {
725 ssrParStr = "Orbit::DeltaRadial";
726 ssrParValue = QString::number(coSat.Orbit.DeltaRadial, 'f', 4);
727 corrIsOutOfRange = true;
728 }
729
730 if (coSat.Orbit.DeltaAlongTrack < -209.7148 ||
731 coSat.Orbit.DeltaAlongTrack > +209.7148) {
732 ssrParStr = "Orbit::DeltaAlongTrack";
733 ssrParValue = QString::number(coSat.Orbit.DeltaAlongTrack, 'f', 4);
734 corrIsOutOfRange = true;
735 }
736 if (coSat.Orbit.DeltaCrossTrack < -209.7148 ||
737 coSat.Orbit.DeltaCrossTrack > +209.7148) {
738 ssrParStr = "Orbit::DeltaCrossTrack";
739 ssrParValue = QString::number(coSat.Orbit.DeltaCrossTrack, 'f', 4);
740 corrIsOutOfRange = true;
741 }
742
743 if (coSat.Orbit.DotDeltaRadial < -1.048575 ||
744 coSat.Orbit.DotDeltaRadial > +1.048575) {
745 ssrParStr = "Orbit::DotDeltaRadial";
746 ssrParValue = QString::number(coSat.Orbit.DotDeltaRadial, 'f', 6);
747 corrIsOutOfRange = true;
748 }
749 if (coSat.Orbit.DotDeltaAlongTrack < -1.048572 ||
750 coSat.Orbit.DotDeltaAlongTrack > +1.048572) {
751 ssrParStr = "Orbit::DotDeltaAlongTrack";
752 ssrParValue = QString::number(coSat.Orbit.DotDeltaAlongTrack, 'f', 6);
753 corrIsOutOfRange = true;
754 }
755 if (coSat.Orbit.DotDeltaCrossTrack < -1.048572 ||
756 coSat.Orbit.DotDeltaCrossTrack > +1.048572) {
757 ssrParStr = "Orbit::DotDeltaCrossTrack";
758 ssrParValue = QString::number(coSat.Orbit.DotDeltaCrossTrack, 'f', 6);
759 corrIsOutOfRange = true;
760 }
761 break;
762 }
763
764 if (corrIsOutOfRange) {
765 emit newMessage("RTCM3coDecoder: Correction " + ssrParStr.toLatin1()
766 + " (" + ssrParValue.toLatin1() + ") "
767 + "is out of range " + _staID.toLatin1(), true);
768 }
769
770 return corrIsOutOfRange;
771}
772
773//
774////////////////////////////////////////////////////////////////////////////
775void RTCM3coDecoder::setEpochTime() {
776
777 _lastTime.reset();
778
779 double epoSecGPS = -1.0;
780 double epoSecGlo = -1.0;
781 double epoSecGal = -1.0;
782 double epoSecQzss = -1.0;
783 double epoSecSbas = -1.0;
784 double epoSecBds = -1.0;
785 if (_clkOrb.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
786 epoSecGPS = _clkOrb.EpochTime[CLOCKORBIT_SATGPS]; // 0 .. 604799 s
787 }
788 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
789 epoSecGPS = _codeBias.EpochTime[CLOCKORBIT_SATGPS]; // 0 .. 604799 s
790 }
791 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
792 epoSecGPS = _phaseBias.EpochTime[CLOCKORBIT_SATGPS]; // 0 .. 604799 s
793 }
794 else if (_vTEC.NumLayers > 0) {
795 epoSecGPS = _vTEC.EpochTime; // 0 .. 604799 s
796 }
797 else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
798 epoSecGlo = _clkOrb.EpochTime[CLOCKORBIT_SATGLONASS]; // 0 .. 86399 s
799 }
800 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
801 epoSecGlo = _codeBias.EpochTime[CLOCKORBIT_SATGLONASS]; // 0 .. 86399 s
802 }
803 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
804 epoSecGlo = _phaseBias.EpochTime[CLOCKORBIT_SATGLONASS]; // 0 .. 86399 s
805 }
806 else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
807 epoSecGal = _clkOrb.EpochTime[CLOCKORBIT_SATGALILEO];
808 }
809 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
810 epoSecGal = _codeBias.EpochTime[CLOCKORBIT_SATGALILEO];
811 }
812 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
813 epoSecGal = _phaseBias.EpochTime[CLOCKORBIT_SATGALILEO];
814 }
815 else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
816 epoSecQzss = _clkOrb.EpochTime[CLOCKORBIT_SATQZSS];
817 }
818 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
819 epoSecQzss = _codeBias.EpochTime[CLOCKORBIT_SATQZSS];
820 }
821 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
822 epoSecQzss = _phaseBias.EpochTime[CLOCKORBIT_SATQZSS];
823 }
824 else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
825 epoSecSbas = _clkOrb.EpochTime[CLOCKORBIT_SATSBAS];
826 }
827 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
828 epoSecSbas = _codeBias.EpochTime[CLOCKORBIT_SATSBAS];
829 }
830 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
831 epoSecSbas = _phaseBias.EpochTime[CLOCKORBIT_SATSBAS];
832 }
833 else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
834 epoSecBds = _clkOrb.EpochTime[CLOCKORBIT_SATBDS];
835 }
836 else if (_codeBias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
837 epoSecBds = _codeBias.EpochTime[CLOCKORBIT_SATBDS];
838 }
839 else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
840 epoSecBds = _phaseBias.EpochTime[CLOCKORBIT_SATBDS];
841 }
842
843 // Retrieve current time
844 // ---------------------
845 int currentWeek = 0;
846 double currentSec = 0.0;
847 currentGPSWeeks(currentWeek, currentSec);
848 bncTime currentTime(currentWeek, currentSec);
849
850 // Set _lastTime close to currentTime
851 // ----------------------------------
852 if (epoSecGPS != -1) {
853 _lastTime.set(currentWeek, epoSecGPS);
854 }
855 else if (epoSecGlo != -1) {
856 QDate date = dateAndTimeFromGPSweek(currentTime.gpsw(), currentTime.gpssec()).date();
857 if (_type == IGSssr) {
858 epoSecGlo = epoSecGlo + gnumleap(date.year(), date.month(), date.day());
859 }
860 if (_type == RTCMssr) {
861 epoSecGlo = epoSecGlo - 3 * 3600 + gnumleap(date.year(), date.month(), date.day());
862 }
863 _lastTime.set(currentWeek, epoSecGlo);
864 }
865 else if (epoSecGal != -1) {
866 _lastTime.set(currentWeek, epoSecGal);
867 }
868 else if (epoSecQzss != -1) {
869 _lastTime.set(currentWeek, epoSecQzss);
870 }
871 else if (epoSecSbas != -1) {
872 _lastTime.set(currentWeek, epoSecSbas);
873 }
874 else if (epoSecBds != -1) {
875 epoSecBds += 14.0;
876 if (epoSecBds > 604800.0) {
877 epoSecBds -= 7.0*24.0*60.0*60.0;
878 }
879 _lastTime.set(currentWeek, epoSecBds);
880 }
881
882 if (_lastTime.valid()) {
883 double maxDiff = 12 * 3600.0;
884 while (_lastTime < currentTime - maxDiff) {
885 _lastTime = _lastTime + maxDiff;
886 }
887 while (_lastTime > currentTime + maxDiff) {
888 _lastTime = _lastTime - maxDiff;
889 }
890 }
891}
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