source: ntrip/trunk/BNC/src/bncutils.h @ 8903

Last change on this file since 8903 was 8903, checked in by stuerze, 7 months ago
File size: 9.2 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#ifndef BNCUTILS_H
26#define BNCUTILS_H
27
28#include <vector>
29
30#include <QString>
31#include <QDateTime>
32
33#include <newmat.h>
34#include <bncconst.h>
35#include <ephemeris.h>
36
37class t_eph;
38
39const double RHO_DEG = 180.0 / M_PI;
40const double RHO_SEC = 3600.0 * 180.0 / M_PI;
41const double MJD_J2000 = 51544.5;
42
43static const QVector<int> ssrUpdateInt = QVector<int>()  << 1 << 2 << 5 << 10 << 15 << 30
44                                                         << 60 << 120 << 240 << 300 << 600
45                                                         << 900 << 1800 << 3600 << 7200
46                                                         << 10800;
47
48void         expandEnvVar(QString& str);
49
50/**
51 * Return GPS leap seconds for a given UTC time
52 * @param year 4 digit year
53 * @param month month in year (1-12)
54 * @param day day in month (1-31)
55 * @return number of leap seconds since 6.1.1980
56 */
57int          gnumleap(int year, int month, int day);
58
59/**
60 * Convert Moscow time into GPS or UTC. Note that parts of a second are not preserved
61 * and must be handled separately.
62 * @param week GPS week number (must be prefilled, contains fixed value afterwards)
63 * @param secOfWeek seconds in GPS week (must be prefilled, contains fixed value afterwards)
64 * @param mSecOfWeek milli seconds in GLONASS time
65 * @param fixnumleap when <code>true</code> then result is UTC time, otherwise it is GPS
66 * @return does not return a value, but updates first two arguments
67 */
68void         updatetime(int *week, int *secOfWeek, int mSecOfWeek, bool fixnumleap);
69
70QDateTime    dateAndTimeFromGPSweek(int GPSWeek, double GPSWeeks);
71
72void         currentGPSWeeks(int& week, double& sec);
73
74QDateTime    currentDateAndTimeGPS();
75
76bool         checkForWrongObsEpoch(bncTime obsEpoch);
77
78QByteArray   ggaString(const QByteArray& latitude, const QByteArray& longitude,
79                       const QByteArray& height, const QString& ggaType);
80
81void         RSW_to_XYZ(const ColumnVector& rr, const ColumnVector& vv,
82                        const ColumnVector& rsw, ColumnVector& xyz);
83
84void         XYZ_to_RSW(const ColumnVector& rr, const ColumnVector& vv,
85                        const ColumnVector& xyz, ColumnVector& rsw);
86
87t_irc        xyz2ell(const double* XYZ, double* Ell);
88
89t_irc        xyz2geoc(const double* XYZ, double* Geoc);
90
91void         xyz2neu(const double* Ell, const double* xyz, double* neu);
92
93void         neu2xyz(const double* Ell, const double* neu, double* xyz);
94
95void         jacobiXYZ_NEU(const double* Ell, Matrix& jacobi);
96
97void         jacobiEll_XYZ(const double* Ell, Matrix& jacobi);
98
99void         covariXYZ_NEU(const SymmetricMatrix& Qxyz, const double* Ell,
100                           SymmetricMatrix& Qneu);
101
102void         covariNEU_XYZ(const SymmetricMatrix& Qneu, const double* Ell,
103                           SymmetricMatrix& Qxyz);
104
105double       Frac(double x);
106
107double       Modulo(double x, double y);
108
109double       nint(double val);
110
111ColumnVector rungeKutta4(double xi, const ColumnVector& yi, double dx, double* acc,
112                         ColumnVector (*der)(double x, const ColumnVector& y, double* acc));
113
114void         GPSweekFromDateAndTime(const QDateTime& dateTime, int& GPSWeek, double& GPSWeeks);
115
116void         GPSweekFromYMDhms(int year, int month, int day, int hour, int min, double sec,
117                               int& GPSWeek, double& GPSWeeks);
118
119void         mjdFromDateAndTime(const QDateTime& dateTime, int& mjd, double& dayfrac);
120
121bool         findInVector(const std::vector<QString>& vv, const QString& str);
122
123int          readInt(const QString& str, int pos, int len, int& value);
124
125int          readDbl(const QString& str, int pos, int len, double& value);
126
127void         topos(double xRec, double yRec, double zRec, double xSat, double ySat, double zSat,
128                   double& rho, double& eleSat, double& azSat);
129
130void         deg2DMS(double decDeg, int& deg, int& min, double& sec);
131
132QString      fortranFormat(double value, int width, int prec);
133
134void         kalman(const Matrix& AA, const ColumnVector& ll, const DiagonalMatrix& PP,
135                    SymmetricMatrix& QQ, ColumnVector& xx);
136
137double       djul(long j1, long m1, double tt);
138
139double       gpjd(double second, int nweek) ;
140
141void         jdgp(double tjul, double & second, long & nweek);
142
143void         jmt (double djul, long& jj, long& mm, double& dd);
144
145void         stripWhiteSpace(std::string& str);
146
147double       accuracyFromIndex(int index, t_eph::e_type type);
148
149int          indexFromAccuracy(double accuracy, t_eph::e_type type);
150
151double       fitIntervalFromFlag(int flag, double iodc, t_eph::e_type type);
152
153double       associatedLegendreFunction(int n, int m, double t);
154
155double       factorial(int n);
156
157/** Convert RTCM3 lock-time indicator to lock time in seconds
158* depending on input message format. Returns -1 if format is
159* unknown or indicator is invalid
160*/
161double       lti2sec(int type, int lti);
162
163// CRC24Q checksum calculation function (only full bytes supported).
164///////////////////////////////////////////////////////////////////
165unsigned long CRC24(long size, const unsigned char *buf);
166
167// RTCM3 GPS EPH encoding
168//////////////////////////////////////////////////////////
169#define GPSTOINT(type, value) static_cast<type>(round(value))
170
171#define GPSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
172                       |(GPSTOINT(long long,b)&((1ULL<<a)-1)); \
173                       numbits += (a); \
174                       while(numbits >= 8) { \
175                       buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
176
177#define GPSADDBITSFLOAT(a,b,c) {long long i = GPSTOINT(long long,(b)/(c)); \
178                             GPSADDBITS(a,i)};
179
180// RTCM3 GLONASS EPH encoding
181//////////////////////////////////////////////////////////
182#define GLONASSTOINT(type, value) static_cast<type>(round(value))
183#define GLONASSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
184                       |(GLONASSTOINT(long long,b)&((1ULL<<(a))-1)); \
185                       numbits += (a); \
186                       while(numbits >= 8) { \
187                       buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
188#define GLONASSADDBITSFLOATM(a,b,c) {int s; long long i; \
189                       if(b < 0.0) \
190                       { \
191                         s = 1; \
192                         i = GLONASSTOINT(long long,(-b)/(c)); \
193                         if(!i) s = 0; \
194                       } \
195                       else \
196                       { \
197                         s = 0; \
198                         i = GLONASSTOINT(long long,(b)/(c)); \
199                       } \
200                       GLONASSADDBITS(1,s) \
201                       GLONASSADDBITS(a-1,i)}
202
203// RTCM3 Galileo EPH encoding
204//////////////////////////////////////////////////////////
205#define GALILEOTOINT(type, value) static_cast<type>(round(value))
206#define GALILEOADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
207                       |(GALILEOTOINT(long long,b)&((1LL<<a)-1)); \
208                       numbits += (a); \
209                       while(numbits >= 8) { \
210                       buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
211#define GALILEOADDBITSFLOAT(a,b,c) {long long i = GALILEOTOINT(long long,(b)/(c)); \
212                             GALILEOADDBITS(a,i)};
213
214// RTCM3 SBAS EPH encoding
215//////////////////////////////////////////////////////////
216#define SBASTOINT(type, value) static_cast<type>(round(value))
217#define SBASADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
218                       |(SBASTOINT(long long,b)&((1ULL<<a)-1)); \
219                       numbits += (a); \
220                       while(numbits >= 8) { \
221                       buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
222#define SBASADDBITSFLOAT(a,b,c) {long long i = SBASTOINT(long long,(b)/(c)); \
223                             SBASADDBITS(a,i)};
224
225// RTCM3 BDS EPH encoding
226//////////////////////////////////////////////////////////
227#define BDSTOINT(type, value) static_cast<type>(round(value))
228#define BDSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
229                       |(BDSTOINT(long long,b)&((1ULL<<a)-1)); \
230                       numbits += (a); \
231                       while(numbits >= 8) { \
232                       buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
233#define BDSADDBITSFLOAT(a,b,c) {long long i = BDSTOINT(long long,(b)/(c)); \
234                             BDSADDBITS(a,i)};
235
236#endif
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