1 | // Part of BNC, a utility for retrieving decoding and
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2 | // converting GNSS data streams from NTRIP broadcasters.
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3 | //
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4 | // Copyright (C) 2007
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5 | // German Federal Agency for Cartography and Geodesy (BKG)
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6 | // http://www.bkg.bund.de
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7 | // Czech Technical University Prague, Department of Geodesy
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8 | // http://www.fsv.cvut.cz
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9 | //
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10 | // Email: euref-ip@bkg.bund.de
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11 | //
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12 | // This program is free software; you can redistribute it and/or
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13 | // modify it under the terms of the GNU General Public License
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14 | // as published by the Free Software Foundation, version 2.
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15 | //
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16 | // This program is distributed in the hope that it will be useful,
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17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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19 | // GNU General Public License for more details.
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20 | //
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21 | // You should have received a copy of the GNU General Public License
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22 | // along with this program; if not, write to the Free Software
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23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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24 |
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25 | /* -------------------------------------------------------------------------
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26 | * BKG NTRIP Client
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27 | * -------------------------------------------------------------------------
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28 | *
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29 | * Class: bncutils
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30 | *
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31 | * Purpose: Auxiliary Functions
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32 | *
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33 | * Author: L. Mervart
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34 | *
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35 | * Created: 30-Aug-2006
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36 | *
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37 | * Changes:
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38 | *
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39 | * -----------------------------------------------------------------------*/
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40 |
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41 | #include <iostream>
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42 | #include <ctime>
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43 | #include <math.h>
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44 |
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45 | #include <QRegExp>
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46 | #include <QStringList>
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47 | #include <QDateTime>
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48 |
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49 | #include <newmatap.h>
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50 |
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51 | #include "bncutils.h"
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52 | #include "bnccore.h"
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53 |
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54 | using namespace std;
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55 |
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56 | //
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57 | ////////////////////////////////////////////////////////////////////////////
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58 | void expandEnvVar(QString& str) {
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59 |
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60 | QRegExp rx("(\\$\\{.+\\})");
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61 |
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62 | if (rx.indexIn(str) != -1) {
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63 | QStringListIterator it(rx.capturedTexts());
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64 | if (it.hasNext()) {
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65 | QString rxStr = it.next();
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66 | QString envVar = rxStr.mid(2,rxStr.length()-3);
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67 | str.replace(rxStr, qgetenv(envVar.toAscii()));
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68 | }
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69 | }
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70 |
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71 | }
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72 |
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73 | // Strip White Space
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74 | ////////////////////////////////////////////////////////////////////////////
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75 | void stripWhiteSpace(string& str) {
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76 | if (!str.empty()) {
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77 | string::size_type beg = str.find_first_not_of(" \t\f\n\r\v");
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78 | string::size_type end = str.find_last_not_of(" \t\f\n\r\v");
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79 | if (beg > str.max_size())
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80 | str.erase();
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81 | else
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82 | str = str.substr(beg, end-beg+1);
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83 | }
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84 | }
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85 |
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86 | //
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87 | ////////////////////////////////////////////////////////////////////////////
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88 | QDateTime dateAndTimeFromGPSweek(int GPSWeek, double GPSWeeks) {
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89 |
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90 | static const QDate zeroEpoch(1980, 1, 6);
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91 |
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92 | QDate date(zeroEpoch);
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93 | QTime time(0,0,0,0);
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94 |
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95 | int weekDays = int(GPSWeeks) / 86400;
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96 | date = date.addDays( GPSWeek * 7 + weekDays );
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97 | time = time.addMSecs( int( (GPSWeeks - 86400 * weekDays) * 1e3 ) );
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98 |
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99 | return QDateTime(date,time);
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100 | }
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101 |
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102 | //
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103 | ////////////////////////////////////////////////////////////////////////////
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104 | void currentGPSWeeks(int& week, double& sec) {
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105 |
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106 | QDateTime currDateTimeGPS;
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107 |
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108 | if ( BNC_CORE->dateAndTimeGPSSet() ) {
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109 | currDateTimeGPS = BNC_CORE->dateAndTimeGPS();
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110 | }
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111 | else {
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112 | currDateTimeGPS = QDateTime::currentDateTime().toUTC();
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113 | QDate hlp = currDateTimeGPS.date();
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114 | currDateTimeGPS = currDateTimeGPS.addSecs(gnumleap(hlp.year(),
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115 | hlp.month(), hlp.day()));
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116 | }
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117 |
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118 | QDate currDateGPS = currDateTimeGPS.date();
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119 | QTime currTimeGPS = currDateTimeGPS.time();
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120 |
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121 | week = int( (double(currDateGPS.toJulianDay()) - 2444244.5) / 7 );
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122 |
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123 | sec = (currDateGPS.dayOfWeek() % 7) * 24.0 * 3600.0 +
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124 | currTimeGPS.hour() * 3600.0 +
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125 | currTimeGPS.minute() * 60.0 +
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126 | currTimeGPS.second() +
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127 | currTimeGPS.msec() / 1000.0;
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128 | }
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129 |
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130 | //
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131 | ////////////////////////////////////////////////////////////////////////////
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132 | QDateTime currentDateAndTimeGPS() {
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133 | if ( BNC_CORE->dateAndTimeGPSSet() ) {
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134 | return BNC_CORE->dateAndTimeGPS();
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135 | }
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136 | else {
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137 | int GPSWeek;
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138 | double GPSWeeks;
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139 | currentGPSWeeks(GPSWeek, GPSWeeks);
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140 | return dateAndTimeFromGPSweek(GPSWeek, GPSWeeks);
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141 | }
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142 | }
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143 |
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144 | //
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145 | ////////////////////////////////////////////////////////////////////////////
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146 | QByteArray ggaString(const QByteArray& latitude,
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147 | const QByteArray& longitude,
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148 | const QByteArray& height,
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149 | const QString& ggaType) {
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150 |
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151 | double lat = strtod(latitude,NULL);
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152 | double lon = strtod(longitude,NULL);
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153 | double hei = strtod(height,NULL);
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154 | QString sentences = "GPGGA,";
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155 | if (ggaType.contains("GNGGA")) {
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156 | sentences = "GNGGA,";
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157 | }
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158 |
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159 | const char* flagN="N";
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160 | const char* flagE="E";
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161 | if (lon >180.) {lon=(lon-360.)*(-1.); flagE="W";}
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162 | if ((lon < 0.) && (lon >= -180.)) {lon=lon*(-1.); flagE="W";}
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163 | if (lon < -180.) {lon=(lon+360.); flagE="E";}
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164 | if (lat < 0.) {lat=lat*(-1.); flagN="S";}
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165 | QTime ttime(QDateTime::currentDateTime().toUTC().time());
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166 | int lat_deg = (int)lat;
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167 | double lat_min=(lat-lat_deg)*60.;
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168 | int lon_deg = (int)lon;
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169 | double lon_min=(lon-lon_deg)*60.;
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170 | int hh = 0 , mm = 0;
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171 | double ss = 0.0;
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172 | hh=ttime.hour();
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173 | mm=ttime.minute();
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174 | ss=(double)ttime.second()+0.001*ttime.msec();
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175 | QString gga;
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176 | gga += sentences;
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177 | gga += QString("%1%2%3,").arg((int)hh, 2, 10, QLatin1Char('0')).arg((int)mm, 2, 10, QLatin1Char('0')).arg((int)ss, 2, 10, QLatin1Char('0'));
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178 | gga += QString("%1%2,").arg((int)lat_deg,2, 10, QLatin1Char('0')).arg(lat_min, 7, 'f', 4, QLatin1Char('0'));
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179 | gga += flagN;
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180 | gga += QString(",%1%2,").arg((int)lon_deg,3, 10, QLatin1Char('0')).arg(lon_min, 7, 'f', 4, QLatin1Char('0'));
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181 | gga += flagE + QString(",1,05,1.00");
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182 | gga += QString(",%1,").arg(hei, 2, 'f', 1);
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183 | gga += QString("M,10.000,M,,");
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184 | int xori;
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185 | char XOR = 0;
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186 | char *Buff =gga.toAscii().data();
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187 | int iLen = strlen(Buff);
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188 | for (xori = 0; xori < iLen; xori++) {
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189 | XOR ^= (char)Buff[xori];
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190 | }
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191 | gga = "$" + gga + QString("*%1").arg(XOR, 2, 16, QLatin1Char('0'));
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192 |
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193 | return gga.toAscii();
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194 | }
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195 |
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196 | //
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197 | ////////////////////////////////////////////////////////////////////////////
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198 | void RSW_to_XYZ(const ColumnVector& rr, const ColumnVector& vv,
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199 | const ColumnVector& rsw, ColumnVector& xyz) {
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200 |
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201 | ColumnVector along = vv / vv.norm_Frobenius();
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202 | ColumnVector cross = crossproduct(rr, vv); cross /= cross.norm_Frobenius();
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203 | ColumnVector radial = crossproduct(along, cross);
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204 |
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205 | Matrix RR(3,3);
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206 | RR.Column(1) = radial;
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207 | RR.Column(2) = along;
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208 | RR.Column(3) = cross;
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209 |
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210 | xyz = RR * rsw;
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211 | }
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212 |
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213 | // Transformation xyz --> radial, along track, out-of-plane
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214 | ////////////////////////////////////////////////////////////////////////////
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215 | void XYZ_to_RSW(const ColumnVector& rr, const ColumnVector& vv,
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216 | const ColumnVector& xyz, ColumnVector& rsw) {
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217 |
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218 | ColumnVector along = vv / vv.norm_Frobenius();
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219 | ColumnVector cross = crossproduct(rr, vv); cross /= cross.norm_Frobenius();
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220 | ColumnVector radial = crossproduct(along, cross);
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221 |
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222 | rsw.ReSize(3);
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223 | rsw(1) = DotProduct(xyz, radial);
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224 | rsw(2) = DotProduct(xyz, along);
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225 | rsw(3) = DotProduct(xyz, cross);
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226 | }
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227 |
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228 | // Rectangular Coordinates -> Ellipsoidal Coordinates
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229 | ////////////////////////////////////////////////////////////////////////////
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230 | t_irc xyz2ell(const double* XYZ, double* Ell) {
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231 |
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232 | const double bell = t_CST::aell*(1.0-1.0/t_CST::fInv) ;
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233 | const double e2 = (t_CST::aell*t_CST::aell-bell*bell)/(t_CST::aell*t_CST::aell) ;
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234 | const double e2c = (t_CST::aell*t_CST::aell-bell*bell)/(bell*bell) ;
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235 |
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236 | double nn, ss, zps, hOld, phiOld, theta, sin3, cos3;
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237 |
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238 | ss = sqrt(XYZ[0]*XYZ[0]+XYZ[1]*XYZ[1]) ;
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239 | zps = XYZ[2]/ss ;
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240 | theta = atan( (XYZ[2]*t_CST::aell) / (ss*bell) );
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241 | sin3 = sin(theta) * sin(theta) * sin(theta);
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242 | cos3 = cos(theta) * cos(theta) * cos(theta);
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243 |
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244 | // Closed formula
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245 | Ell[0] = atan( (XYZ[2] + e2c * bell * sin3) / (ss - e2 * t_CST::aell * cos3) );
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246 | Ell[1] = atan2(XYZ[1],XYZ[0]) ;
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247 | nn = t_CST::aell/sqrt(1.0-e2*sin(Ell[0])*sin(Ell[0])) ;
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248 | Ell[2] = ss / cos(Ell[0]) - nn;
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249 |
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250 | const int MAXITER = 100;
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251 | for (int ii = 1; ii <= MAXITER; ii++) {
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252 | nn = t_CST::aell/sqrt(1.0-e2*sin(Ell[0])*sin(Ell[0])) ;
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253 | hOld = Ell[2] ;
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254 | phiOld = Ell[0] ;
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255 | Ell[2] = ss/cos(Ell[0])-nn ;
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256 | Ell[0] = atan(zps/(1.0-e2*nn/(nn+Ell[2]))) ;
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257 | if ( fabs(phiOld-Ell[0]) <= 1.0e-11 && fabs(hOld-Ell[2]) <= 1.0e-5 ) {
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258 | return success;
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259 | }
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260 | }
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261 |
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262 | return failure;
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263 | }
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264 |
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265 | // Rectangular Coordinates -> North, East, Up Components
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266 | ////////////////////////////////////////////////////////////////////////////
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267 | void xyz2neu(const double* Ell, const double* xyz, double* neu) {
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268 |
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269 | double sinPhi = sin(Ell[0]);
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270 | double cosPhi = cos(Ell[0]);
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271 | double sinLam = sin(Ell[1]);
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272 | double cosLam = cos(Ell[1]);
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273 |
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274 | neu[0] = - sinPhi*cosLam * xyz[0]
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275 | - sinPhi*sinLam * xyz[1]
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276 | + cosPhi * xyz[2];
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277 |
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278 | neu[1] = - sinLam * xyz[0]
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279 | + cosLam * xyz[1];
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280 |
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281 | neu[2] = + cosPhi*cosLam * xyz[0]
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282 | + cosPhi*sinLam * xyz[1]
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283 | + sinPhi * xyz[2];
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284 | }
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285 |
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286 | // North, East, Up Components -> Rectangular Coordinates
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287 | ////////////////////////////////////////////////////////////////////////////
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288 | void neu2xyz(const double* Ell, const double* neu, double* xyz) {
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289 |
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290 | double sinPhi = sin(Ell[0]);
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291 | double cosPhi = cos(Ell[0]);
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292 | double sinLam = sin(Ell[1]);
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293 | double cosLam = cos(Ell[1]);
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294 |
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295 | xyz[0] = - sinPhi*cosLam * neu[0]
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296 | - sinLam * neu[1]
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297 | + cosPhi*cosLam * neu[2];
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298 |
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299 | xyz[1] = - sinPhi*sinLam * neu[0]
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300 | + cosLam * neu[1]
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301 | + cosPhi*sinLam * neu[2];
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302 |
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303 | xyz[2] = + cosPhi * neu[0]
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304 | + sinPhi * neu[2];
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305 | }
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306 |
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307 | //
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308 | ////////////////////////////////////////////////////////////////////////////
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309 | double Frac (double x) {
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310 | return x-floor(x);
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311 | }
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312 |
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313 | //
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314 | ////////////////////////////////////////////////////////////////////////////
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315 | double Modulo (double x, double y) {
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316 | return y*Frac(x/y);
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317 | }
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318 |
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319 | // Round to nearest integer
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320 | ////////////////////////////////////////////////////////////////////////////
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321 | double nint(double val) {
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322 | return ((val < 0.0) ? -floor(fabs(val)+0.5) : floor(val+0.5));
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323 | }
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324 |
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325 | // Jacobian XYZ --> NEU
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326 | ////////////////////////////////////////////////////////////////////////////
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327 | void jacobiXYZ_NEU(const double* Ell, Matrix& jacobi) {
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328 |
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329 | Tracer tracer("jacobiXYZ_NEU");
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330 |
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331 | double sinPhi = sin(Ell[0]);
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332 | double cosPhi = cos(Ell[0]);
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333 | double sinLam = sin(Ell[1]);
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334 | double cosLam = cos(Ell[1]);
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335 |
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336 | jacobi(1,1) = - sinPhi * cosLam;
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337 | jacobi(1,2) = - sinPhi * sinLam;
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338 | jacobi(1,3) = cosPhi;
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339 |
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340 | jacobi(2,1) = - sinLam;
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341 | jacobi(2,2) = cosLam;
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342 | jacobi(2,3) = 0.0;
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343 |
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344 | jacobi(3,1) = cosPhi * cosLam;
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345 | jacobi(3,2) = cosPhi * sinLam;
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346 | jacobi(3,3) = sinPhi;
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347 | }
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348 |
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349 | // Jacobian Ell --> XYZ
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350 | ////////////////////////////////////////////////////////////////////////////
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351 | void jacobiEll_XYZ(const double* Ell, Matrix& jacobi) {
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352 |
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353 | Tracer tracer("jacobiEll_XYZ");
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354 |
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355 | double sinPhi = sin(Ell[0]);
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356 | double cosPhi = cos(Ell[0]);
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357 | double sinLam = sin(Ell[1]);
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358 | double cosLam = cos(Ell[1]);
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359 | double hh = Ell[2];
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360 |
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361 | double bell = t_CST::aell*(1.0-1.0/t_CST::fInv);
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362 | double e2 = (t_CST::aell*t_CST::aell-bell*bell)/(t_CST::aell*t_CST::aell) ;
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363 | double nn = t_CST::aell/sqrt(1.0-e2*sinPhi*sinPhi) ;
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364 |
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365 | jacobi(1,1) = -(nn+hh) * sinPhi * cosLam;
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366 | jacobi(1,2) = -(nn+hh) * cosPhi * sinLam;
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367 | jacobi(1,3) = cosPhi * cosLam;
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368 |
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369 | jacobi(2,1) = -(nn+hh) * sinPhi * sinLam;
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370 | jacobi(2,2) = (nn+hh) * cosPhi * cosLam;
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371 | jacobi(2,3) = cosPhi * sinLam;
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372 |
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373 | jacobi(3,1) = (nn*(1.0-e2)+hh) * cosPhi;
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374 | jacobi(3,2) = 0.0;
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375 | jacobi(3,3) = sinPhi;
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376 | }
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377 |
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378 | // Covariance Matrix in NEU
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379 | ////////////////////////////////////////////////////////////////////////////
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380 | void covariXYZ_NEU(const SymmetricMatrix& QQxyz, const double* Ell,
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381 | SymmetricMatrix& Qneu) {
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382 |
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383 | Tracer tracer("covariXYZ_NEU");
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384 |
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385 | Matrix CC(3,3);
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386 | jacobiXYZ_NEU(Ell, CC);
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387 | Qneu << CC * QQxyz * CC.t();
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388 | }
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389 |
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390 | // Covariance Matrix in XYZ
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391 | ////////////////////////////////////////////////////////////////////////////
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392 | void covariNEU_XYZ(const SymmetricMatrix& QQneu, const double* Ell,
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393 | SymmetricMatrix& Qxyz) {
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394 |
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395 | Tracer tracer("covariNEU_XYZ");
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396 |
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397 | Matrix CC(3,3);
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398 | jacobiXYZ_NEU(Ell, CC);
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399 | Qxyz << CC.t() * QQneu * CC;
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400 | }
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401 |
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402 | // Fourth order Runge-Kutta numerical integrator for ODEs
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403 | ////////////////////////////////////////////////////////////////////////////
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404 | ColumnVector rungeKutta4(
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405 | double xi, // the initial x-value
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406 | const ColumnVector& yi, // vector of the initial y-values
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407 | double dx, // the step size for the integration
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408 | double* acc, // aditional acceleration
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409 | ColumnVector (*der)(double x, const ColumnVector& y, double* acc)
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410 | // A pointer to a function that computes the
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411 | // derivative of a function at a point (x,y)
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412 | ) {
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413 |
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414 | ColumnVector k1 = der(xi , yi , acc) * dx;
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415 | ColumnVector k2 = der(xi+dx/2.0, yi+k1/2.0, acc) * dx;
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416 | ColumnVector k3 = der(xi+dx/2.0, yi+k2/2.0, acc) * dx;
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417 | ColumnVector k4 = der(xi+dx , yi+k3 , acc) * dx;
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418 |
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419 | ColumnVector yf = yi + k1/6.0 + k2/3.0 + k3/3.0 + k4/6.0;
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420 |
|
---|
421 | return yf;
|
---|
422 | }
|
---|
423 | //
|
---|
424 | ////////////////////////////////////////////////////////////////////////////
|
---|
425 | double djul(long jj, long mm, double tt) {
|
---|
426 | long ii, kk;
|
---|
427 | double djul ;
|
---|
428 | if( mm <= 2 ) {
|
---|
429 | jj = jj - 1;
|
---|
430 | mm = mm + 12;
|
---|
431 | }
|
---|
432 | ii = jj/100;
|
---|
433 | kk = 2 - ii + ii/4;
|
---|
434 | djul = (365.25*jj - fmod( 365.25*jj, 1.0 )) - 679006.0;
|
---|
435 | djul = djul + floor( 30.6001*(mm + 1) ) + tt + kk;
|
---|
436 | return djul;
|
---|
437 | }
|
---|
438 |
|
---|
439 | //
|
---|
440 | ////////////////////////////////////////////////////////////////////////////
|
---|
441 | double gpjd(double second, int nweek) {
|
---|
442 | double deltat;
|
---|
443 | deltat = nweek*7.0 + second/86400.0 ;
|
---|
444 | return( 44244.0 + deltat) ;
|
---|
445 | }
|
---|
446 |
|
---|
447 | //
|
---|
448 | ////////////////////////////////////////////////////////////////////////////
|
---|
449 | void jdgp(double tjul, double & second, long & nweek) {
|
---|
450 | double deltat;
|
---|
451 | deltat = tjul - 44244.0 ;
|
---|
452 | nweek = (long) floor(deltat/7.0);
|
---|
453 | second = (deltat - (nweek)*7.0)*86400.0;
|
---|
454 | }
|
---|
455 |
|
---|
456 | //
|
---|
457 | ////////////////////////////////////////////////////////////////////////////
|
---|
458 | void jmt(double djul, long& jj, long& mm, double& dd) {
|
---|
459 | long ih, ih1, ih2 ;
|
---|
460 | double t1, t2, t3, t4;
|
---|
461 | t1 = 1.0 + djul - fmod( djul, 1.0 ) + 2400000.0;
|
---|
462 | t4 = fmod( djul, 1.0 );
|
---|
463 | ih = long( (t1 - 1867216.25)/36524.25 );
|
---|
464 | t2 = t1 + 1 + ih - ih/4;
|
---|
465 | t3 = t2 - 1720995.0;
|
---|
466 | ih1 = long( (t3 - 122.1)/365.25 );
|
---|
467 | t1 = 365.25*ih1 - fmod( 365.25*ih1, 1.0 );
|
---|
468 | ih2 = long( (t3 - t1)/30.6001 );
|
---|
469 | dd = t3 - t1 - (int)( 30.6001*ih2 ) + t4;
|
---|
470 | mm = ih2 - 1;
|
---|
471 | if ( ih2 > 13 ) mm = ih2 - 13;
|
---|
472 | jj = ih1;
|
---|
473 | if ( mm <= 2 ) jj = jj + 1;
|
---|
474 | }
|
---|
475 |
|
---|
476 | //
|
---|
477 | ////////////////////////////////////////////////////////////////////////////
|
---|
478 | void GPSweekFromDateAndTime(const QDateTime& dateTime,
|
---|
479 | int& GPSWeek, double& GPSWeeks) {
|
---|
480 |
|
---|
481 | static const QDateTime zeroEpoch(QDate(1980, 1, 6),QTime(),Qt::UTC);
|
---|
482 |
|
---|
483 | GPSWeek = zeroEpoch.daysTo(dateTime) / 7;
|
---|
484 |
|
---|
485 | int weekDay = dateTime.date().dayOfWeek() + 1; // Qt: Monday = 1
|
---|
486 | if (weekDay > 7) weekDay = 1;
|
---|
487 |
|
---|
488 | GPSWeeks = (weekDay - 1) * 86400.0
|
---|
489 | - dateTime.time().msecsTo(QTime()) / 1e3;
|
---|
490 | }
|
---|
491 |
|
---|
492 | //
|
---|
493 | ////////////////////////////////////////////////////////////////////////////
|
---|
494 | void GPSweekFromYMDhms(int year, int month, int day, int hour, int min,
|
---|
495 | double sec, int& GPSWeek, double& GPSWeeks) {
|
---|
496 |
|
---|
497 | double mjd = djul(year, month, day);
|
---|
498 |
|
---|
499 | long GPSWeek_long;
|
---|
500 | jdgp(mjd, GPSWeeks, GPSWeek_long);
|
---|
501 | GPSWeek = GPSWeek_long;
|
---|
502 | GPSWeeks += hour * 3600.0 + min * 60.0 + sec;
|
---|
503 | }
|
---|
504 |
|
---|
505 | //
|
---|
506 | ////////////////////////////////////////////////////////////////////////////
|
---|
507 | void mjdFromDateAndTime(const QDateTime& dateTime, int& mjd, double& dayfrac) {
|
---|
508 |
|
---|
509 | static const QDate zeroDate(1858, 11, 17);
|
---|
510 |
|
---|
511 | mjd = zeroDate.daysTo(dateTime.date());
|
---|
512 |
|
---|
513 | dayfrac = (dateTime.time().hour() +
|
---|
514 | (dateTime.time().minute() +
|
---|
515 | (dateTime.time().second() +
|
---|
516 | dateTime.time().msec() / 1000.0) / 60.0) / 60.0) / 24.0;
|
---|
517 | }
|
---|
518 |
|
---|
519 | //
|
---|
520 | ////////////////////////////////////////////////////////////////////////////
|
---|
521 | bool findInVector(const vector<QString>& vv, const QString& str) {
|
---|
522 | std::vector<QString>::const_iterator it;
|
---|
523 | for (it = vv.begin(); it != vv.end(); ++it) {
|
---|
524 | if ( (*it) == str) {
|
---|
525 | return true;
|
---|
526 | }
|
---|
527 | }
|
---|
528 | return false;
|
---|
529 | }
|
---|
530 |
|
---|
531 | //
|
---|
532 | ////////////////////////////////////////////////////////////////////////////
|
---|
533 | int readInt(const QString& str, int pos, int len, int& value) {
|
---|
534 | bool ok;
|
---|
535 | value = str.mid(pos, len).toInt(&ok);
|
---|
536 | return ok ? 0 : 1;
|
---|
537 | }
|
---|
538 |
|
---|
539 | //
|
---|
540 | ////////////////////////////////////////////////////////////////////////////
|
---|
541 | int readDbl(const QString& str, int pos, int len, double& value) {
|
---|
542 | QString hlp = str.mid(pos, len);
|
---|
543 | for (int ii = 0; ii < hlp.length(); ii++) {
|
---|
544 | if (hlp[ii]=='D' || hlp[ii]=='d' || hlp[ii] == 'E') {
|
---|
545 | hlp[ii]='e';
|
---|
546 | }
|
---|
547 | }
|
---|
548 | bool ok;
|
---|
549 | value = hlp.toDouble(&ok);
|
---|
550 | return ok ? 0 : 1;
|
---|
551 | }
|
---|
552 |
|
---|
553 | // Topocentrical Distance and Elevation
|
---|
554 | ////////////////////////////////////////////////////////////////////////////
|
---|
555 | void topos(double xRec, double yRec, double zRec,
|
---|
556 | double xSat, double ySat, double zSat,
|
---|
557 | double& rho, double& eleSat, double& azSat) {
|
---|
558 |
|
---|
559 | double dx[3];
|
---|
560 | dx[0] = xSat-xRec;
|
---|
561 | dx[1] = ySat-yRec;
|
---|
562 | dx[2] = zSat-zRec;
|
---|
563 |
|
---|
564 | rho = sqrt( dx[0]*dx[0] + dx[1]*dx[1] + dx[2]*dx[2] );
|
---|
565 |
|
---|
566 | double xyzRec[3];
|
---|
567 | xyzRec[0] = xRec;
|
---|
568 | xyzRec[1] = yRec;
|
---|
569 | xyzRec[2] = zRec;
|
---|
570 |
|
---|
571 | double Ell[3];
|
---|
572 | double neu[3];
|
---|
573 | xyz2ell(xyzRec, Ell);
|
---|
574 | xyz2neu(Ell, dx, neu);
|
---|
575 |
|
---|
576 | eleSat = acos( sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / rho );
|
---|
577 | if (neu[2] < 0) {
|
---|
578 | eleSat *= -1.0;
|
---|
579 | }
|
---|
580 |
|
---|
581 | azSat = atan2(neu[1], neu[0]);
|
---|
582 | }
|
---|
583 |
|
---|
584 | // Degrees -> degrees, minutes, seconds
|
---|
585 | ////////////////////////////////////////////////////////////////////////////
|
---|
586 | void deg2DMS(double decDeg, int& deg, int& min, double& sec) {
|
---|
587 | int sgn = (decDeg < 0.0 ? -1 : 1);
|
---|
588 | deg = sgn * static_cast<int>(decDeg);
|
---|
589 | min = static_cast<int>((decDeg - deg)*60);
|
---|
590 | sec = (decDeg - deg - min/60.0) * 3600.0;
|
---|
591 | }
|
---|
592 |
|
---|
593 | //
|
---|
594 | ////////////////////////////////////////////////////////////////////////////
|
---|
595 | QString fortranFormat(double value, int width, int prec) {
|
---|
596 | int expo = value == 0.0 ? 0 : int(log10(fabs(value)));
|
---|
597 | double mant = value == 0.0 ? 0 : value / pow(10, expo);
|
---|
598 | if (fabs(mant) >= 1.0) {
|
---|
599 | mant /= 10.0;
|
---|
600 | expo += 1;
|
---|
601 | }
|
---|
602 | if (expo >= 0) {
|
---|
603 | return QString("%1e+%2").arg(mant, width-4, 'f', prec).arg(expo, 2, 10, QChar('0'));
|
---|
604 | }
|
---|
605 | else {
|
---|
606 | return QString("%1e-%2").arg(mant, width-4, 'f', prec).arg(-expo, 2, 10, QChar('0'));
|
---|
607 | }
|
---|
608 | }
|
---|
609 |
|
---|
610 | //
|
---|
611 | //////////////////////////////////////////////////////////////////////////////
|
---|
612 | void kalman(const Matrix& AA, const ColumnVector& ll, const DiagonalMatrix& PP,
|
---|
613 | SymmetricMatrix& QQ, ColumnVector& xx) {
|
---|
614 |
|
---|
615 | Tracer tracer("kalman");
|
---|
616 |
|
---|
617 | int nPar = AA.Ncols();
|
---|
618 | int nObs = AA.Nrows();
|
---|
619 | UpperTriangularMatrix SS = Cholesky(QQ).t();
|
---|
620 |
|
---|
621 | Matrix SA = SS*AA.t();
|
---|
622 | Matrix SRF(nObs+nPar, nObs+nPar); SRF = 0;
|
---|
623 | for (int ii = 1; ii <= nObs; ++ii) {
|
---|
624 | SRF(ii,ii) = 1.0 / sqrt(PP(ii,ii));
|
---|
625 | }
|
---|
626 |
|
---|
627 | SRF.SubMatrix (nObs+1, nObs+nPar, 1, nObs) = SA;
|
---|
628 | SRF.SymSubMatrix(nObs+1, nObs+nPar) = SS;
|
---|
629 |
|
---|
630 | UpperTriangularMatrix UU;
|
---|
631 | QRZ(SRF, UU);
|
---|
632 |
|
---|
633 | SS = UU.SymSubMatrix(nObs+1, nObs+nPar);
|
---|
634 | UpperTriangularMatrix SH_rt = UU.SymSubMatrix(1, nObs);
|
---|
635 | Matrix YY = UU.SubMatrix(1, nObs, nObs+1, nObs+nPar);
|
---|
636 |
|
---|
637 | UpperTriangularMatrix SHi = SH_rt.i();
|
---|
638 |
|
---|
639 | Matrix KT = SHi * YY;
|
---|
640 | SymmetricMatrix Hi; Hi << SHi * SHi.t();
|
---|
641 |
|
---|
642 | xx += KT.t() * (ll - AA * xx);
|
---|
643 | QQ << (SS.t() * SS);
|
---|
644 | }
|
---|
645 |
|
---|
646 | double accuracyFromIndex(int index, t_eph::e_type type) {
|
---|
647 |
|
---|
648 | if (type == t_eph::GPS || type == t_eph::BDS || type == t_eph::SBAS
|
---|
649 | || type == t_eph::QZSS) {
|
---|
650 |
|
---|
651 | if ((index >= 0) && (index <= 6)) {
|
---|
652 | if (index == 3) {
|
---|
653 | return ceil(10.0 * pow(2.0, (double(index) / 2.0) + 1.0)) / 10.0;
|
---|
654 | }
|
---|
655 | else {
|
---|
656 | return floor(10.0 * pow(2.0, (double(index) / 2.0) + 1.0)) / 10.0;
|
---|
657 | }
|
---|
658 | }
|
---|
659 | else if ((index > 6) && (index <= 15)) {
|
---|
660 | return (10.0 * pow(2.0, (double(index) - 2.0))) / 10.0;
|
---|
661 | }
|
---|
662 | else {
|
---|
663 | return 8192.0;
|
---|
664 | }
|
---|
665 | }
|
---|
666 |
|
---|
667 | if (type == t_eph::Galileo) {
|
---|
668 |
|
---|
669 | if ((index >= 0) && (index <= 49)) {
|
---|
670 | return (double(index) / 100.0);
|
---|
671 | }
|
---|
672 | else if ((index > 49) && (index <= 74)) {
|
---|
673 | return (50.0 + (double(index) - 50.0) * 2.0) / 100.0;
|
---|
674 | }
|
---|
675 | else if ((index > 74) && (index <= 99)) {
|
---|
676 | return 1.0 + (double(index) - 75.0) * 0.04;
|
---|
677 | }
|
---|
678 | else if ((index > 99) && (index <= 125)) {
|
---|
679 | return 2.0 + (double(index) - 100.0) * 0.16;
|
---|
680 | }
|
---|
681 | else {
|
---|
682 | return -1.0;
|
---|
683 | }
|
---|
684 | }
|
---|
685 |
|
---|
686 | return double(index);
|
---|
687 | }
|
---|
688 |
|
---|
689 | int indexFromAccuracy(double accuracy, t_eph::e_type type) {
|
---|
690 |
|
---|
691 | if (type == t_eph::GPS || type == t_eph::BDS || type == t_eph::SBAS
|
---|
692 | || type == t_eph::QZSS) {
|
---|
693 |
|
---|
694 | if (accuracy <= 2.40) {
|
---|
695 | return 0;
|
---|
696 | }
|
---|
697 | else if (accuracy <= 3.40) {
|
---|
698 | return 1;
|
---|
699 | }
|
---|
700 | else if (accuracy <= 4.85) {
|
---|
701 | return 2;
|
---|
702 | }
|
---|
703 | else if (accuracy <= 6.85) {
|
---|
704 | return 3;
|
---|
705 | }
|
---|
706 | else if (accuracy <= 9.65) {
|
---|
707 | return 4;
|
---|
708 | }
|
---|
709 | else if (accuracy <= 13.65) {
|
---|
710 | return 5;
|
---|
711 | }
|
---|
712 | else if (accuracy <= 24.00) {
|
---|
713 | return 6;
|
---|
714 | }
|
---|
715 | else if (accuracy <= 48.00) {
|
---|
716 | return 7;
|
---|
717 | }
|
---|
718 | else if (accuracy <= 96.00) {
|
---|
719 | return 8;
|
---|
720 | }
|
---|
721 | else if (accuracy <= 192.00) {
|
---|
722 | return 9;
|
---|
723 | }
|
---|
724 | else if (accuracy <= 384.00) {
|
---|
725 | return 10;
|
---|
726 | }
|
---|
727 | else if (accuracy <= 768.00) {
|
---|
728 | return 11;
|
---|
729 | }
|
---|
730 | else if (accuracy <= 1536.00) {
|
---|
731 | return 12;
|
---|
732 | }
|
---|
733 | else if (accuracy <= 3072.00) {
|
---|
734 | return 13;
|
---|
735 | }
|
---|
736 | else if (accuracy <= 6144.00) {
|
---|
737 | return 14;
|
---|
738 | }
|
---|
739 | else {
|
---|
740 | return 15;
|
---|
741 | }
|
---|
742 | }
|
---|
743 |
|
---|
744 | if (type == t_eph::Galileo) {
|
---|
745 |
|
---|
746 | if (accuracy <= 0.49) {
|
---|
747 | return int(ceil(accuracy * 100.0));
|
---|
748 | }
|
---|
749 | else if (accuracy <= 0.98) {
|
---|
750 | return int(50.0 + (((accuracy * 100.0) - 50) / 2.0));
|
---|
751 | }
|
---|
752 | else if (accuracy <= 2.0) {
|
---|
753 | return int(75.0 + ((accuracy - 1.0) / 0.04));
|
---|
754 | }
|
---|
755 | else if (accuracy <= 6.0) {
|
---|
756 | return int(100.0 + ((accuracy - 2.0) / 0.16));
|
---|
757 | }
|
---|
758 | else {
|
---|
759 | return 255;
|
---|
760 | }
|
---|
761 | }
|
---|
762 |
|
---|
763 | return (type == t_eph::Galileo) ? 255 : 15;
|
---|
764 | }
|
---|