source: ntrip/trunk/BNC/src/bncephuser.cpp@ 8938

Last change on this file since 8938 was 8902, checked in by stuerze, 5 years ago

upgrade to newmat11 library
File size: 9.3 KB
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1// converting GNSS data streams from NTRIP broadcasters.
2//
3// Copyright (C) 2007
4// German Federal Agency for Cartography and Geodesy (BKG)
5// http://www.bkg.bund.de
6// Czech Technical University Prague, Department of Geodesy
7// http://www.fsv.cvut.cz
8//
9// Email: euref-ip@bkg.bund.de
10//
11// This program is free software; you can redistribute it and/or
12// modify it under the terms of the GNU General Public License
13// as published by the Free Software Foundation, version 2.
14//
15// This program is distributed in the hope that it will be useful,
16// but WITHOUT ANY WARRANTY; without even the implied warranty of
17// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18// GNU General Public License for more details.
19//
20// You should have received a copy of the GNU General Public License
21// along with this program; if not, write to the Free Software
22// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
23
24/* -------------------------------------------------------------------------
25 * BKG NTRIP Client
26 * -------------------------------------------------------------------------
27 *
28 * Class: bncEphUser
29 *
30 * Purpose: Base for Classes that use Ephemerides
31 *
32 * Author: L. Mervart
33 *
34 * Created: 27-Jan-2011
35 *
36 * Changes:
37 *
38 * -----------------------------------------------------------------------*/
39
40#include <cmath>
41#include <iostream>
42
43#include "bncephuser.h"
44#include "bnccore.h"
45
46using namespace std;
47
48// Constructor
49////////////////////////////////////////////////////////////////////////////
50bncEphUser::bncEphUser(bool connectSlots) {
51 if (connectSlots) {
52 connect(BNC_CORE, SIGNAL(newGPSEph(t_ephGPS)),
53 this, SLOT(slotNewGPSEph(t_ephGPS)), Qt::DirectConnection);
54
55 connect(BNC_CORE, SIGNAL(newGlonassEph(t_ephGlo)),
56 this, SLOT(slotNewGlonassEph(t_ephGlo)), Qt::DirectConnection);
57
58 connect(BNC_CORE, SIGNAL(newGalileoEph(t_ephGal)),
59 this, SLOT(slotNewGalileoEph(t_ephGal)), Qt::DirectConnection);
60
61 connect(BNC_CORE, SIGNAL(newSBASEph(t_ephSBAS)),
62 this, SLOT(slotNewSBASEph(t_ephSBAS)), Qt::DirectConnection);
63
64 connect(BNC_CORE, SIGNAL(newBDSEph(t_ephBDS)),
65 this, SLOT(slotNewBDSEph(t_ephBDS)), Qt::DirectConnection);
66 }
67}
68
69// Destructor
70////////////////////////////////////////////////////////////////////////////
71bncEphUser::~bncEphUser() {
72 QMapIterator<QString, deque<t_eph*> > it(_eph);
73 while (it.hasNext()) {
74 it.next();
75 const deque<t_eph*>& qq = it.value();
76 for (unsigned ii = 0; ii < qq.size(); ii++) {
77 delete qq[ii];
78 }
79 }
80}
81
82// New GPS Ephemeris
83////////////////////////////////////////////////////////////////////////////
84void bncEphUser::slotNewGPSEph(t_ephGPS eph) {
85 putNewEph(&eph, true);
86}
87
88// New Glonass Ephemeris
89////////////////////////////////////////////////////////////////////////////
90void bncEphUser::slotNewGlonassEph(t_ephGlo eph) {
91 putNewEph(&eph, true);
92}
93
94// New Galileo Ephemeris
95////////////////////////////////////////////////////////////////////////////
96void bncEphUser::slotNewGalileoEph(t_ephGal eph) {
97 putNewEph(&eph, true);
98}
99
100// New SBAS Ephemeris
101////////////////////////////////////////////////////////////////////////////
102void bncEphUser::slotNewSBASEph(t_ephSBAS eph) {
103 putNewEph(&eph, true);
104}
105
106// New BDS Ephemeris
107////////////////////////////////////////////////////////////////////////////
108void bncEphUser::slotNewBDSEph(t_ephBDS eph) {
109 putNewEph(&eph, true);
110}
111
112//
113////////////////////////////////////////////////////////////////////////////
114t_irc bncEphUser::putNewEph(t_eph* eph, bool realTime) {
115
116 QMutexLocker locker(&_mutex);
117
118 if (eph == 0) {
119 return failure;
120 }
121
122 const t_ephGPS* ephGPS = dynamic_cast<const t_ephGPS*>(eph);
123 const t_ephGlo* ephGlo = dynamic_cast<const t_ephGlo*>(eph);
124 const t_ephGal* ephGal = dynamic_cast<const t_ephGal*>(eph);
125 const t_ephSBAS* ephSBAS = dynamic_cast<const t_ephSBAS*>(eph);
126 const t_ephBDS* ephBDS = dynamic_cast<const t_ephBDS*>(eph);
127
128 t_eph* newEph = 0;
129
130 if (ephGPS) {
131 newEph = new t_ephGPS(*ephGPS);
132 }
133 else if (ephGlo) {
134 newEph = new t_ephGlo(*ephGlo);
135 }
136 else if (ephGal) {
137 newEph = new t_ephGal(*ephGal);
138 }
139 else if (ephSBAS) {
140 newEph = new t_ephSBAS(*ephSBAS);
141 }
142 else if (ephBDS) {
143 newEph = new t_ephBDS(*ephBDS);
144 }
145 else {
146 return failure;
147 }
148
149 QString prn(newEph->prn().toInternalString().c_str());
150
151 const t_eph* ephOld = ephLast(prn);
152
153 if (ephOld &&
154 (ephOld->checkState() == t_eph::bad ||
155 ephOld->checkState() == t_eph::outdated)) {
156 ephOld = 0;
157 }
158
159 if (ephOld == 0 || newEph->isNewerThan(ephOld)) {
160 checkEphemeris(eph, realTime);
161 }
162 else {
163 delete newEph;
164 return failure;
165 }
166
167 if (eph->checkState() != t_eph::bad &&
168 eph->checkState() != t_eph::outdated) {
169 deque<t_eph*>& qq = _eph[prn];
170 qq.push_back(newEph);
171 if (qq.size() > _maxQueueSize) {
172 delete qq.front();
173 qq.pop_front();
174 }
175 ephBufferChanged();
176 return success;
177 }
178 else {
179 delete newEph;
180 return failure;
181 }
182}
183
184//
185////////////////////////////////////////////////////////////////////////////
186void bncEphUser::checkEphemeris(t_eph* eph, bool realTime) {
187
188 if (!eph || eph->checkState() == t_eph::ok || eph->checkState() == t_eph::bad) {
189 return;
190 }
191
192 // Check health status
193 // -------------------
194 if (eph->isUnhealthy()) {
195 eph->setCheckState(t_eph::unhealthy);
196 return;
197 }
198
199 // Simple Check - check satellite radial distance
200 // ----------------------------------------------
201 ColumnVector xc(6);
202 ColumnVector vv(3);
203 if (eph->getCrd(eph->TOC(), xc, vv, false) != success) {
204 eph->setCheckState(t_eph::bad);
205 return;
206 }
207
208 double rr = xc.Rows(1,3).NormFrobenius();
209
210 const double MINDIST = 2.e7;
211 const double MAXDIST = 6.e7;
212 if (rr < MINDIST || rr > MAXDIST || std::isnan(rr)) {
213 eph->setCheckState(t_eph::bad);
214 return;
215 }
216
217 // Check whether the epoch is too far away the current time
218 // --------------------------------------------------------
219 if (realTime) {
220 bncTime toc = eph->TOC();
221 QDateTime now = currentDateAndTimeGPS();
222 bncTime currentTime(now.toString(Qt::ISODate).toStdString());
223 double dt = currentTime - toc;
224
225 // update interval: 2h, data sets are valid for 4 hours
226 if ((eph->type() == t_eph::GPS) &&
227 (dt < -2*3600 || dt > 4*3600)) {
228 eph->setCheckState(t_eph::outdated);
229 return;
230 }
231 // update interval: 3h, data sets are valid for 4 hours
232 else if ((eph->type() == t_eph::Galileo) &&
233 (dt < -3*3600 || dt > 4*3600)) {
234 eph->setCheckState(t_eph::outdated);
235 return;
236 }
237 // updated every 30 minutes
238 else if ((eph->type() == t_eph::GLONASS) &&
239 (dt < -1800 || dt > 2*3600)) {
240 eph->setCheckState(t_eph::outdated);
241 return;
242 }
243 // orbit parameters are valid for 7200 seconds (minimum)
244 else if ((eph->type() == t_eph::QZSS) &&
245 (dt < -1*3600 || dt > 3*3600)) {
246 eph->setCheckState(t_eph::outdated);
247 return;
248 }
249 // maximum update interval: 300 sec
250 else if ((eph->type() == t_eph::SBAS) &&
251 (dt < -300 || dt > 1*3600)) {
252 eph->setCheckState(t_eph::outdated);
253 return;
254 }
255 // updates 1h (GEO) up to 6 hours non-GEO
256 else if ((eph->type() == t_eph::BDS) &&
257 (dt < -1*3600 || dt > 6*3600)) {
258 eph->setCheckState(t_eph::outdated);
259 return;
260 }
261 // update interval: up to 24 hours
262 else if ((eph->type() == t_eph::IRNSS) &&
263 (dt < -1*3600 || dt > 24*3600)) {
264 eph->setCheckState(t_eph::outdated);
265 return;
266 }
267 }
268
269 // Check consistency with older ephemerides
270 // ----------------------------------------
271 const double MAXDIFF = 1000.0;
272 QString prn = QString(eph->prn().toInternalString().c_str());
273 t_eph* ephL = ephLast(prn);
274
275 if (ephL) {
276 ColumnVector xcL(6);
277 ColumnVector vvL(3);
278 ephL->getCrd(eph->TOC(), xcL, vvL, false);
279 double dt = eph->TOC() - ephL->TOC();
280 if (dt < 0.0) {
281 dt += 604800.0;
282 }
283 double diff = (xc.Rows(1,3) - xcL.Rows(1,3)).NormFrobenius();
284 double diffC = fabs(xc(4) - xcL(4)) * t_CST::c;
285
286 // some lines to allow update of ephemeris data sets after outage
287 if (eph->type() == t_eph::GPS && dt > 4*3600) {
288 ephL->setCheckState(t_eph::outdated);
289 return;
290 }
291 else if (eph->type() == t_eph::Galileo && dt > 4*3600) {
292 ephL->setCheckState(t_eph::outdated);
293 return;
294 }
295 else if (eph->type() == t_eph::GLONASS && dt > 2*3600) {
296 ephL->setCheckState(t_eph::outdated);
297 return;
298 }
299 else if (eph->type() == t_eph::QZSS && dt > 3*3600) {
300 ephL->setCheckState(t_eph::outdated);
301 return;
302 }
303 else if (eph->type() == t_eph::SBAS && dt > 3600) {
304 ephL->setCheckState(t_eph::outdated);
305 return;
306 }
307 else if (eph->type() == t_eph::BDS && dt > 6*3600) {
308 ephL->setCheckState(t_eph::outdated);
309 return;
310 }
311 else if (eph->type() == t_eph::IRNSS && dt > 24*3600) {
312 ephL->setCheckState(t_eph::outdated);
313 return;
314 }
315
316
317 if (diff < MAXDIFF && diffC < MAXDIFF) {
318 if (dt != 0.0) {
319 eph->setCheckState(t_eph::ok);
320 ephL->setCheckState(t_eph::ok);
321 }
322 }
323 else {
324 if (ephL->checkState() == t_eph::ok) {
325 eph->setCheckState(t_eph::bad);
326 }
327 }
328 }
329}
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