[1025] | 1 | #include <sstream>
|
---|
[2234] | 2 | #include <iostream>
|
---|
[1025] | 3 | #include <iomanip>
|
---|
[1239] | 4 | #include <cstring>
|
---|
[1025] | 5 |
|
---|
[2234] | 6 | #include <newmatio.h>
|
---|
| 7 |
|
---|
[1025] | 8 | #include "ephemeris.h"
|
---|
[2221] | 9 | #include "bncutils.h"
|
---|
[2285] | 10 | #include "bnctime.h"
|
---|
[5070] | 11 | #include "bnccore.h"
|
---|
[5839] | 12 | #include "bncutils.h"
|
---|
[6141] | 13 | #include "satObs.h"
|
---|
[6044] | 14 | #include "pppInclude.h"
|
---|
[6400] | 15 | #include "pppModel.h"
|
---|
[1025] | 16 |
|
---|
| 17 | using namespace std;
|
---|
| 18 |
|
---|
[5749] | 19 | // Constructor
|
---|
| 20 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 21 | t_eph::t_eph() {
|
---|
[6518] | 22 | _checkState = unchecked;
|
---|
| 23 | _orbCorr = 0;
|
---|
| 24 | _clkCorr = 0;
|
---|
[6798] | 25 | _flags = 0;
|
---|
[5749] | 26 | }
|
---|
| 27 |
|
---|
| 28 | //
|
---|
| 29 | ////////////////////////////////////////////////////////////////////////////
|
---|
[6141] | 30 | void t_eph::setOrbCorr(const t_orbCorr* orbCorr) {
|
---|
[5749] | 31 | delete _orbCorr;
|
---|
[6141] | 32 | _orbCorr = new t_orbCorr(*orbCorr);
|
---|
[5749] | 33 | }
|
---|
| 34 |
|
---|
| 35 | //
|
---|
| 36 | ////////////////////////////////////////////////////////////////////////////
|
---|
[6141] | 37 | void t_eph::setClkCorr(const t_clkCorr* clkCorr) {
|
---|
[5749] | 38 | delete _clkCorr;
|
---|
[6141] | 39 | _clkCorr = new t_clkCorr(*clkCorr);
|
---|
[5749] | 40 | }
|
---|
| 41 |
|
---|
| 42 | //
|
---|
| 43 | ////////////////////////////////////////////////////////////////////////////
|
---|
[6109] | 44 | t_irc t_eph::getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const {
|
---|
[6518] | 45 |
|
---|
| 46 | if (_checkState == bad) {
|
---|
| 47 | return failure;
|
---|
| 48 | }
|
---|
[6556] | 49 | const QVector<int> updateInt = QVector<int>() << 1 << 2 << 5 << 10 << 15 << 30
|
---|
| 50 | << 60 << 120 << 240 << 300 << 600
|
---|
| 51 | << 900 << 1800 << 3600 << 7200
|
---|
| 52 | << 10800;
|
---|
[5749] | 53 | xc.ReSize(4);
|
---|
| 54 | vv.ReSize(3);
|
---|
[6213] | 55 | if (position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data()) != success) {
|
---|
| 56 | return failure;
|
---|
| 57 | }
|
---|
[5789] | 58 | if (useCorr) {
|
---|
[5839] | 59 | if (_orbCorr && _clkCorr) {
|
---|
[5849] | 60 | double dtO = tt - _orbCorr->_time;
|
---|
[6556] | 61 | if (_orbCorr->_updateInt) {
|
---|
| 62 | dtO -= (0.5 * updateInt[_orbCorr->_updateInt]);
|
---|
| 63 | }
|
---|
[5839] | 64 | ColumnVector dx(3);
|
---|
[5849] | 65 | dx[0] = _orbCorr->_xr[0] + _orbCorr->_dotXr[0] * dtO;
|
---|
| 66 | dx[1] = _orbCorr->_xr[1] + _orbCorr->_dotXr[1] * dtO;
|
---|
| 67 | dx[2] = _orbCorr->_xr[2] + _orbCorr->_dotXr[2] * dtO;
|
---|
| 68 |
|
---|
[5839] | 69 | if (_orbCorr->_system == 'R') {
|
---|
[5849] | 70 | RSW_to_XYZ(xc.Rows(1,3), vv.Rows(1,3), dx, dx);
|
---|
[5839] | 71 | }
|
---|
[5849] | 72 |
|
---|
[5839] | 73 | xc[0] -= dx[0];
|
---|
| 74 | xc[1] -= dx[1];
|
---|
| 75 | xc[2] -= dx[2];
|
---|
[5849] | 76 |
|
---|
| 77 | double dtC = tt - _clkCorr->_time;
|
---|
[6556] | 78 | if (_clkCorr->_updateInt) {
|
---|
| 79 | dtC -= (0.5 * updateInt[_clkCorr->_updateInt]);
|
---|
| 80 | }
|
---|
[5849] | 81 | xc[3] += _clkCorr->_dClk + _clkCorr->_dotDClk * dtC + _clkCorr->_dotDotDClk * dtC * dtC;
|
---|
[5839] | 82 | }
|
---|
| 83 | else {
|
---|
| 84 | return failure;
|
---|
| 85 | }
|
---|
[5749] | 86 | }
|
---|
| 87 | return success;
|
---|
| 88 | }
|
---|
| 89 |
|
---|
[2222] | 90 | // Set GPS Satellite Position
|
---|
| 91 | ////////////////////////////////////////////////////////////////////////////
|
---|
[1025] | 92 | void t_ephGPS::set(const gpsephemeris* ee) {
|
---|
| 93 |
|
---|
[4097] | 94 | _receptDateTime = currentDateAndTimeGPS();
|
---|
| 95 |
|
---|
[6374] | 96 | if (PRN_GPS_START <= ee->satellite && ee->satellite <= PRN_GPS_END) {
|
---|
| 97 | _prn.set('G', ee->satellite);
|
---|
| 98 | }
|
---|
| 99 | else if (PRN_QZSS_START <= ee->satellite && ee->satellite <= PRN_QZSS_END) {
|
---|
| 100 | _prn.set('J', ee->satellite - PRN_QZSS_START + 1);
|
---|
| 101 | }
|
---|
| 102 | else {
|
---|
[6518] | 103 | _checkState = bad;
|
---|
[6374] | 104 | return;
|
---|
| 105 | }
|
---|
[1025] | 106 |
|
---|
[4018] | 107 | _TOC.set(ee->GPSweek, ee->TOC);
|
---|
[3734] | 108 | _clock_bias = ee->clock_bias;
|
---|
| 109 | _clock_drift = ee->clock_drift;
|
---|
[1025] | 110 | _clock_driftrate = ee->clock_driftrate;
|
---|
| 111 |
|
---|
[4018] | 112 | _IODE = ee->IODE;
|
---|
[1025] | 113 | _Crs = ee->Crs;
|
---|
| 114 | _Delta_n = ee->Delta_n;
|
---|
| 115 | _M0 = ee->M0;
|
---|
[4018] | 116 |
|
---|
[1025] | 117 | _Cuc = ee->Cuc;
|
---|
| 118 | _e = ee->e;
|
---|
| 119 | _Cus = ee->Cus;
|
---|
| 120 | _sqrt_A = ee->sqrt_A;
|
---|
[4018] | 121 |
|
---|
| 122 | _TOEsec = ee->TOE;
|
---|
[1025] | 123 | _Cic = ee->Cic;
|
---|
| 124 | _OMEGA0 = ee->OMEGA0;
|
---|
| 125 | _Cis = ee->Cis;
|
---|
[4018] | 126 |
|
---|
[1025] | 127 | _i0 = ee->i0;
|
---|
| 128 | _Crc = ee->Crc;
|
---|
| 129 | _omega = ee->omega;
|
---|
| 130 | _OMEGADOT = ee->OMEGADOT;
|
---|
[4018] | 131 |
|
---|
[1025] | 132 | _IDOT = ee->IDOT;
|
---|
[4018] | 133 | _L2Codes = 0.0;
|
---|
[4025] | 134 | _TOEweek = ee->GPSweek;
|
---|
[4018] | 135 | _L2PFlag = 0.0;
|
---|
[1025] | 136 |
|
---|
[4027] | 137 | if (ee->URAindex <= 6) {
|
---|
| 138 | _ura = ceil(10.0*pow(2.0, 1.0+((double)ee->URAindex)/2.0))/10.0;
|
---|
| 139 | }
|
---|
| 140 | else {
|
---|
| 141 | _ura = ceil(10.0*pow(2.0, ((double)ee->URAindex)/2.0))/10.0;
|
---|
| 142 | }
|
---|
[4018] | 143 | _health = ee->SVhealth;
|
---|
[1025] | 144 | _TGD = ee->TGD;
|
---|
[4018] | 145 | _IODC = ee->IODC;
|
---|
[3659] | 146 |
|
---|
[4018] | 147 | _TOT = 0.9999e9;
|
---|
| 148 | _fitInterval = 0.0;
|
---|
[1025] | 149 | }
|
---|
| 150 |
|
---|
[2222] | 151 | // Compute GPS Satellite Position (virtual)
|
---|
[1025] | 152 | ////////////////////////////////////////////////////////////////////////////
|
---|
[6213] | 153 | t_irc t_ephGPS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
|
---|
[1025] | 154 |
|
---|
[6518] | 155 | if (_checkState == bad) {
|
---|
| 156 | return failure;
|
---|
| 157 | }
|
---|
| 158 |
|
---|
[1098] | 159 | static const double omegaEarth = 7292115.1467e-11;
|
---|
[5277] | 160 | static const double gmGRS = 398.6005e12;
|
---|
[1025] | 161 |
|
---|
| 162 | memset(xc, 0, 4*sizeof(double));
|
---|
| 163 | memset(vv, 0, 3*sizeof(double));
|
---|
| 164 |
|
---|
| 165 | double a0 = _sqrt_A * _sqrt_A;
|
---|
| 166 | if (a0 == 0) {
|
---|
[6213] | 167 | return failure;
|
---|
[1025] | 168 | }
|
---|
| 169 |
|
---|
[5277] | 170 | double n0 = sqrt(gmGRS/(a0*a0*a0));
|
---|
[4018] | 171 |
|
---|
| 172 | bncTime tt(GPSweek, GPSweeks);
|
---|
[4543] | 173 | double tk = tt - bncTime(int(_TOEweek), _TOEsec);
|
---|
[4018] | 174 |
|
---|
[1025] | 175 | double n = n0 + _Delta_n;
|
---|
| 176 | double M = _M0 + n*tk;
|
---|
| 177 | double E = M;
|
---|
| 178 | double E_last;
|
---|
| 179 | do {
|
---|
| 180 | E_last = E;
|
---|
| 181 | E = M + _e*sin(E);
|
---|
| 182 | } while ( fabs(E-E_last)*a0 > 0.001 );
|
---|
| 183 | double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
|
---|
| 184 | double u0 = v + _omega;
|
---|
| 185 | double sin2u0 = sin(2*u0);
|
---|
| 186 | double cos2u0 = cos(2*u0);
|
---|
| 187 | double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
|
---|
| 188 | double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
|
---|
| 189 | double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
|
---|
| 190 | double xp = r*cos(u);
|
---|
| 191 | double yp = r*sin(u);
|
---|
| 192 | double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
|
---|
[4018] | 193 | omegaEarth*_TOEsec;
|
---|
[1025] | 194 |
|
---|
| 195 | double sinom = sin(OM);
|
---|
| 196 | double cosom = cos(OM);
|
---|
| 197 | double sini = sin(i);
|
---|
| 198 | double cosi = cos(i);
|
---|
| 199 | xc[0] = xp*cosom - yp*cosi*sinom;
|
---|
| 200 | xc[1] = xp*sinom + yp*cosi*cosom;
|
---|
| 201 | xc[2] = yp*sini;
|
---|
| 202 |
|
---|
[4018] | 203 | double tc = tt - _TOC;
|
---|
[2429] | 204 | xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
|
---|
[1025] | 205 |
|
---|
| 206 | // Velocity
|
---|
| 207 | // --------
|
---|
| 208 | double tanv2 = tan(v/2);
|
---|
| 209 | double dEdM = 1 / (1 - _e*cos(E));
|
---|
| 210 | double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
|
---|
| 211 | * dEdM * n;
|
---|
| 212 | double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
|
---|
| 213 | double dotom = _OMEGADOT - omegaEarth;
|
---|
| 214 | double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
|
---|
| 215 | double dotr = a0 * _e*sin(E) * dEdM * n
|
---|
| 216 | + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
|
---|
| 217 | double dotx = dotr*cos(u) - r*sin(u)*dotu;
|
---|
| 218 | double doty = dotr*sin(u) + r*cos(u)*dotu;
|
---|
| 219 |
|
---|
| 220 | vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
|
---|
| 221 | - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
|
---|
| 222 | + yp*sini*sinom*doti; // dX / di
|
---|
| 223 |
|
---|
| 224 | vv[1] = sinom *dotx + cosi*cosom *doty
|
---|
| 225 | + xp*cosom*dotom - yp*cosi*sinom*dotom
|
---|
| 226 | - yp*sini*cosom*doti;
|
---|
| 227 |
|
---|
| 228 | vv[2] = sini *doty + yp*cosi *doti;
|
---|
[2429] | 229 |
|
---|
| 230 | // Relativistic Correction
|
---|
| 231 | // -----------------------
|
---|
| 232 | xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
|
---|
[6213] | 233 |
|
---|
| 234 | return success;
|
---|
[1025] | 235 | }
|
---|
| 236 |
|
---|
[2221] | 237 | // Derivative of the state vector using a simple force model (static)
|
---|
| 238 | ////////////////////////////////////////////////////////////////////////////
|
---|
[2556] | 239 | ColumnVector t_ephGlo::glo_deriv(double /* tt */, const ColumnVector& xv,
|
---|
| 240 | double* acc) {
|
---|
[2221] | 241 |
|
---|
| 242 | // State vector components
|
---|
| 243 | // -----------------------
|
---|
| 244 | ColumnVector rr = xv.rows(1,3);
|
---|
| 245 | ColumnVector vv = xv.rows(4,6);
|
---|
| 246 |
|
---|
| 247 | // Acceleration
|
---|
| 248 | // ------------
|
---|
[5277] | 249 | static const double gmWGS = 398.60044e12;
|
---|
[2221] | 250 | static const double AE = 6378136.0;
|
---|
| 251 | static const double OMEGA = 7292115.e-11;
|
---|
[2561] | 252 | static const double C20 = -1082.6257e-6;
|
---|
[2221] | 253 |
|
---|
| 254 | double rho = rr.norm_Frobenius();
|
---|
[5277] | 255 | double t1 = -gmWGS/(rho*rho*rho);
|
---|
| 256 | double t2 = 3.0/2.0 * C20 * (gmWGS*AE*AE) / (rho*rho*rho*rho*rho);
|
---|
[2221] | 257 | double t3 = OMEGA * OMEGA;
|
---|
| 258 | double t4 = 2.0 * OMEGA;
|
---|
| 259 | double z2 = rr(3) * rr(3);
|
---|
| 260 |
|
---|
| 261 | // Vector of derivatives
|
---|
| 262 | // ---------------------
|
---|
| 263 | ColumnVector va(6);
|
---|
| 264 | va(1) = vv(1);
|
---|
| 265 | va(2) = vv(2);
|
---|
| 266 | va(3) = vv(3);
|
---|
[2556] | 267 | va(4) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(1) + t4*vv(2) + acc[0];
|
---|
| 268 | va(5) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(2) - t4*vv(1) + acc[1];
|
---|
| 269 | va(6) = (t1 + t2*(3.0-5.0*z2/(rho*rho)) ) * rr(3) + acc[2];
|
---|
[2221] | 270 |
|
---|
| 271 | return va;
|
---|
| 272 | }
|
---|
| 273 |
|
---|
| 274 | // Compute Glonass Satellite Position (virtual)
|
---|
| 275 | ////////////////////////////////////////////////////////////////////////////
|
---|
[6213] | 276 | t_irc t_ephGlo::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
|
---|
[2221] | 277 |
|
---|
[6518] | 278 | if (_checkState == bad) {
|
---|
| 279 | return failure;
|
---|
| 280 | }
|
---|
| 281 |
|
---|
[2221] | 282 | static const double nominalStep = 10.0;
|
---|
| 283 |
|
---|
| 284 | memset(xc, 0, 4*sizeof(double));
|
---|
| 285 | memset(vv, 0, 3*sizeof(double));
|
---|
| 286 |
|
---|
[4018] | 287 | double dtPos = bncTime(GPSweek, GPSweeks) - _tt;
|
---|
[2221] | 288 |
|
---|
[6213] | 289 | if (fabs(dtPos) > 24*3600.0) {
|
---|
| 290 | return failure;
|
---|
| 291 | }
|
---|
| 292 |
|
---|
[2221] | 293 | int nSteps = int(fabs(dtPos) / nominalStep) + 1;
|
---|
| 294 | double step = dtPos / nSteps;
|
---|
| 295 |
|
---|
[2556] | 296 | double acc[3];
|
---|
[2557] | 297 | acc[0] = _x_acceleration * 1.e3;
|
---|
[2560] | 298 | acc[1] = _y_acceleration * 1.e3;
|
---|
| 299 | acc[2] = _z_acceleration * 1.e3;
|
---|
[2221] | 300 | for (int ii = 1; ii <= nSteps; ii++) {
|
---|
[4018] | 301 | _xv = rungeKutta4(_tt.gpssec(), _xv, step, acc, glo_deriv);
|
---|
| 302 | _tt = _tt + step;
|
---|
[2221] | 303 | }
|
---|
| 304 |
|
---|
| 305 | // Position and Velocity
|
---|
| 306 | // ---------------------
|
---|
| 307 | xc[0] = _xv(1);
|
---|
| 308 | xc[1] = _xv(2);
|
---|
| 309 | xc[2] = _xv(3);
|
---|
| 310 |
|
---|
| 311 | vv[0] = _xv(4);
|
---|
| 312 | vv[1] = _xv(5);
|
---|
| 313 | vv[2] = _xv(6);
|
---|
| 314 |
|
---|
| 315 | // Clock Correction
|
---|
| 316 | // ----------------
|
---|
[4018] | 317 | double dtClk = bncTime(GPSweek, GPSweeks) - _TOC;
|
---|
[2221] | 318 | xc[3] = -_tau + _gamma * dtClk;
|
---|
[6213] | 319 |
|
---|
| 320 | return success;
|
---|
[2221] | 321 | }
|
---|
| 322 |
|
---|
| 323 | // IOD of Glonass Ephemeris (virtual)
|
---|
| 324 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 325 | int t_ephGlo::IOD() const {
|
---|
[4018] | 326 | bncTime tMoscow = _TOC - _gps_utc + 3 * 3600.0;
|
---|
[3538] | 327 | return int(tMoscow.daysec() / 900);
|
---|
[2221] | 328 | }
|
---|
| 329 |
|
---|
| 330 | // Set Glonass Ephemeris
|
---|
| 331 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5133] | 332 | void t_ephGlo::set(const glonassephemeris* ee) {
|
---|
[2221] | 333 |
|
---|
[4097] | 334 | _receptDateTime = currentDateAndTimeGPS();
|
---|
| 335 |
|
---|
[5776] | 336 | _prn.set('R', ee->almanac_number);
|
---|
[2223] | 337 |
|
---|
[2234] | 338 | int ww = ee->GPSWeek;
|
---|
| 339 | int tow = ee->GPSTOW;
|
---|
[2257] | 340 | updatetime(&ww, &tow, ee->tb*1000, 0); // Moscow -> GPS
|
---|
[2223] | 341 |
|
---|
[3264] | 342 | // Check the day once more
|
---|
| 343 | // -----------------------
|
---|
[5133] | 344 | bool timeChanged = false;
|
---|
[3264] | 345 | {
|
---|
[3268] | 346 | const double secPerDay = 24 * 3600.0;
|
---|
| 347 | const double secPerWeek = 7 * secPerDay;
|
---|
[3266] | 348 | int ww_old = ww;
|
---|
| 349 | int tow_old = tow;
|
---|
[3264] | 350 | int currentWeek;
|
---|
| 351 | double currentSec;
|
---|
| 352 | currentGPSWeeks(currentWeek, currentSec);
|
---|
| 353 | bncTime currentTime(currentWeek, currentSec);
|
---|
| 354 | bncTime hTime(ww, (double) tow);
|
---|
| 355 |
|
---|
[3268] | 356 | if (hTime - currentTime > secPerDay/2.0) {
|
---|
[4904] | 357 | timeChanged = true;
|
---|
[4543] | 358 | tow -= int(secPerDay);
|
---|
[3268] | 359 | if (tow < 0) {
|
---|
[4543] | 360 | tow += int(secPerWeek);
|
---|
[3268] | 361 | ww -= 1;
|
---|
| 362 | }
|
---|
[3264] | 363 | }
|
---|
[3268] | 364 | else if (hTime - currentTime < -secPerDay/2.0) {
|
---|
[4904] | 365 | timeChanged = true;
|
---|
[4543] | 366 | tow += int(secPerDay);
|
---|
[3268] | 367 | if (tow > secPerWeek) {
|
---|
[4543] | 368 | tow -= int(secPerWeek);
|
---|
[3268] | 369 | ww += 1;
|
---|
| 370 | }
|
---|
[3264] | 371 | }
|
---|
| 372 |
|
---|
[5119] | 373 | if (false && timeChanged && BNC_CORE->mode() == t_bncCore::batchPostProcessing) {
|
---|
[3265] | 374 | bncTime newHTime(ww, (double) tow);
|
---|
[3269] | 375 | cout << "GLONASS " << ee->almanac_number << " Time Changed at "
|
---|
[3266] | 376 | << currentTime.datestr() << " " << currentTime.timestr()
|
---|
| 377 | << endl
|
---|
[3268] | 378 | << "old: " << hTime.datestr() << " " << hTime.timestr()
|
---|
[3266] | 379 | << endl
|
---|
| 380 | << "new: " << newHTime.datestr() << " " << newHTime.timestr()
|
---|
| 381 | << endl
|
---|
| 382 | << "eph: " << ee->GPSWeek << " " << ee->GPSTOW << " " << ee->tb
|
---|
| 383 | << endl
|
---|
| 384 | << "ww, tow (old): " << ww_old << " " << tow_old
|
---|
| 385 | << endl
|
---|
| 386 | << "ww, tow (new): " << ww << " " << tow
|
---|
[3267] | 387 | << endl << endl;
|
---|
[3264] | 388 | }
|
---|
| 389 | }
|
---|
| 390 |
|
---|
[3263] | 391 | bncTime hlpTime(ww, (double) tow);
|
---|
[3255] | 392 | unsigned year, month, day;
|
---|
| 393 | hlpTime.civil_date(year, month, day);
|
---|
| 394 | _gps_utc = gnumleap(year, month, day);
|
---|
| 395 |
|
---|
[4018] | 396 | _TOC.set(ww, tow);
|
---|
[2223] | 397 | _E = ee->E;
|
---|
| 398 | _tau = ee->tau;
|
---|
| 399 | _gamma = ee->gamma;
|
---|
| 400 | _x_pos = ee->x_pos;
|
---|
| 401 | _x_velocity = ee->x_velocity;
|
---|
| 402 | _x_acceleration = ee->x_acceleration;
|
---|
| 403 | _y_pos = ee->y_pos;
|
---|
| 404 | _y_velocity = ee->y_velocity;
|
---|
| 405 | _y_acceleration = ee->y_acceleration;
|
---|
| 406 | _z_pos = ee->z_pos;
|
---|
| 407 | _z_velocity = ee->z_velocity;
|
---|
| 408 | _z_acceleration = ee->z_acceleration;
|
---|
| 409 | _health = 0;
|
---|
| 410 | _frequency_number = ee->frequency_number;
|
---|
[2257] | 411 | _tki = ee->tk-3*60*60; if (_tki < 0) _tki += 86400;
|
---|
[2223] | 412 |
|
---|
| 413 | // Initialize status vector
|
---|
| 414 | // ------------------------
|
---|
[4018] | 415 | _tt = _TOC;
|
---|
[2223] | 416 |
|
---|
| 417 | _xv(1) = _x_pos * 1.e3;
|
---|
| 418 | _xv(2) = _y_pos * 1.e3;
|
---|
| 419 | _xv(3) = _z_pos * 1.e3;
|
---|
| 420 | _xv(4) = _x_velocity * 1.e3;
|
---|
| 421 | _xv(5) = _y_velocity * 1.e3;
|
---|
| 422 | _xv(6) = _z_velocity * 1.e3;
|
---|
[2221] | 423 | }
|
---|
[2771] | 424 |
|
---|
| 425 | // Set Galileo Satellite Position
|
---|
| 426 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 427 | void t_ephGal::set(const galileoephemeris* ee) {
|
---|
| 428 |
|
---|
[4097] | 429 | _receptDateTime = currentDateAndTimeGPS();
|
---|
| 430 |
|
---|
[5776] | 431 | _prn.set('E', ee->satellite);
|
---|
[2771] | 432 |
|
---|
[4018] | 433 | _TOC.set(ee->Week, ee->TOC);
|
---|
[3734] | 434 | _clock_bias = ee->clock_bias;
|
---|
| 435 | _clock_drift = ee->clock_drift;
|
---|
[2771] | 436 | _clock_driftrate = ee->clock_driftrate;
|
---|
| 437 |
|
---|
[4018] | 438 | _IODnav = ee->IODnav;
|
---|
[2771] | 439 | _Crs = ee->Crs;
|
---|
| 440 | _Delta_n = ee->Delta_n;
|
---|
| 441 | _M0 = ee->M0;
|
---|
[4018] | 442 |
|
---|
[2771] | 443 | _Cuc = ee->Cuc;
|
---|
| 444 | _e = ee->e;
|
---|
| 445 | _Cus = ee->Cus;
|
---|
| 446 | _sqrt_A = ee->sqrt_A;
|
---|
[4018] | 447 |
|
---|
[5137] | 448 | _TOEsec = _TOC.gpssec();
|
---|
[6798] | 449 | // _TOEsec = ee->TOE; // TODO:
|
---|
[6792] | 450 |
|
---|
[2771] | 451 | _Cic = ee->Cic;
|
---|
| 452 | _OMEGA0 = ee->OMEGA0;
|
---|
| 453 | _Cis = ee->Cis;
|
---|
[4018] | 454 |
|
---|
[2771] | 455 | _i0 = ee->i0;
|
---|
| 456 | _Crc = ee->Crc;
|
---|
| 457 | _omega = ee->omega;
|
---|
| 458 | _OMEGADOT = ee->OMEGADOT;
|
---|
[4018] | 459 |
|
---|
[2771] | 460 | _IDOT = ee->IDOT;
|
---|
[4018] | 461 | _TOEweek = ee->Week;
|
---|
[6793] | 462 |
|
---|
[6798] | 463 | if ((ee->SISA >= 0) && (ee->SISA <= 49)) {
|
---|
| 464 | _SISA = ee->SISA / 100.0;
|
---|
| 465 | }
|
---|
| 466 | else if((ee->SISA >= 50) && (ee->SISA <= 74)) {
|
---|
| 467 | _SISA = (50 + (ee->SISA - 50.0) * 2.0) / 100.0;
|
---|
| 468 | }
|
---|
| 469 | else if((ee->SISA >= 75) && (ee->SISA <= 99)) {
|
---|
| 470 | _SISA = 1.0 + (ee->SISA - 75.0) * 0.04;
|
---|
| 471 | }
|
---|
| 472 | else if((ee->SISA >= 100) && (ee->SISA <= 125)) {
|
---|
| 473 | _SISA = 2.0 + (ee->SISA - 100.0) * 0.16;
|
---|
| 474 | }
|
---|
| 475 | else if (ee->SISA >= 126 ) {
|
---|
| 476 | _SISA = -1.0;
|
---|
| 477 | }
|
---|
[4018] | 478 | _E5aHS = ee->E5aHS;
|
---|
[5541] | 479 | _E5bHS = ee->E5bHS;
|
---|
[6792] | 480 | _E1_bHS = ee->E1_HS;
|
---|
[3734] | 481 | _BGD_1_5A = ee->BGD_1_5A;
|
---|
| 482 | _BGD_1_5B = ee->BGD_1_5B;
|
---|
[3659] | 483 |
|
---|
[4018] | 484 | _TOT = 0.9999e9;
|
---|
| 485 |
|
---|
[5539] | 486 | _flags = ee->flags;
|
---|
[2771] | 487 | }
|
---|
| 488 |
|
---|
| 489 | // Compute Galileo Satellite Position (virtual)
|
---|
| 490 | ////////////////////////////////////////////////////////////////////////////
|
---|
[6213] | 491 | t_irc t_ephGal::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
|
---|
[2771] | 492 |
|
---|
[6518] | 493 | if (_checkState == bad) {
|
---|
| 494 | return failure;
|
---|
| 495 | }
|
---|
| 496 |
|
---|
[2771] | 497 | static const double omegaEarth = 7292115.1467e-11;
|
---|
[5277] | 498 | static const double gmWGS = 398.60044e12;
|
---|
[2771] | 499 |
|
---|
| 500 | memset(xc, 0, 4*sizeof(double));
|
---|
| 501 | memset(vv, 0, 3*sizeof(double));
|
---|
| 502 |
|
---|
| 503 | double a0 = _sqrt_A * _sqrt_A;
|
---|
| 504 | if (a0 == 0) {
|
---|
[6213] | 505 | return failure;
|
---|
[2771] | 506 | }
|
---|
| 507 |
|
---|
| 508 | double n0 = sqrt(gmWGS/(a0*a0*a0));
|
---|
[4018] | 509 |
|
---|
| 510 | bncTime tt(GPSweek, GPSweeks);
|
---|
| 511 | double tk = tt - bncTime(_TOC.gpsw(), _TOEsec);
|
---|
| 512 |
|
---|
[2771] | 513 | double n = n0 + _Delta_n;
|
---|
| 514 | double M = _M0 + n*tk;
|
---|
| 515 | double E = M;
|
---|
| 516 | double E_last;
|
---|
| 517 | do {
|
---|
| 518 | E_last = E;
|
---|
| 519 | E = M + _e*sin(E);
|
---|
| 520 | } while ( fabs(E-E_last)*a0 > 0.001 );
|
---|
| 521 | double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
|
---|
| 522 | double u0 = v + _omega;
|
---|
| 523 | double sin2u0 = sin(2*u0);
|
---|
| 524 | double cos2u0 = cos(2*u0);
|
---|
| 525 | double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
|
---|
| 526 | double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
|
---|
| 527 | double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
|
---|
| 528 | double xp = r*cos(u);
|
---|
| 529 | double yp = r*sin(u);
|
---|
| 530 | double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
|
---|
[4018] | 531 | omegaEarth*_TOEsec;
|
---|
[2771] | 532 |
|
---|
| 533 | double sinom = sin(OM);
|
---|
| 534 | double cosom = cos(OM);
|
---|
| 535 | double sini = sin(i);
|
---|
| 536 | double cosi = cos(i);
|
---|
| 537 | xc[0] = xp*cosom - yp*cosi*sinom;
|
---|
| 538 | xc[1] = xp*sinom + yp*cosi*cosom;
|
---|
| 539 | xc[2] = yp*sini;
|
---|
| 540 |
|
---|
[4018] | 541 | double tc = tt - _TOC;
|
---|
[2771] | 542 | xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
|
---|
| 543 |
|
---|
| 544 | // Velocity
|
---|
| 545 | // --------
|
---|
| 546 | double tanv2 = tan(v/2);
|
---|
| 547 | double dEdM = 1 / (1 - _e*cos(E));
|
---|
| 548 | double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
|
---|
| 549 | * dEdM * n;
|
---|
| 550 | double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
|
---|
| 551 | double dotom = _OMEGADOT - omegaEarth;
|
---|
| 552 | double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
|
---|
| 553 | double dotr = a0 * _e*sin(E) * dEdM * n
|
---|
| 554 | + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
|
---|
| 555 | double dotx = dotr*cos(u) - r*sin(u)*dotu;
|
---|
| 556 | double doty = dotr*sin(u) + r*cos(u)*dotu;
|
---|
| 557 |
|
---|
| 558 | vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
|
---|
| 559 | - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
|
---|
| 560 | + yp*sini*sinom*doti; // dX / di
|
---|
| 561 |
|
---|
| 562 | vv[1] = sinom *dotx + cosi*cosom *doty
|
---|
| 563 | + xp*cosom*dotom - yp*cosi*sinom*dotom
|
---|
| 564 | - yp*sini*cosom*doti;
|
---|
| 565 |
|
---|
| 566 | vv[2] = sini *doty + yp*cosi *doti;
|
---|
| 567 |
|
---|
| 568 | // Relativistic Correction
|
---|
| 569 | // -----------------------
|
---|
| 570 | // xc(4) -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
|
---|
| 571 | xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
|
---|
[6213] | 572 |
|
---|
| 573 | return success;
|
---|
[2771] | 574 | }
|
---|
| 575 |
|
---|
[3659] | 576 | // Constructor
|
---|
| 577 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 578 | t_ephGPS::t_ephGPS(float rnxVersion, const QStringList& lines) {
|
---|
[3664] | 579 |
|
---|
[3699] | 580 | const int nLines = 8;
|
---|
| 581 |
|
---|
| 582 | if (lines.size() != nLines) {
|
---|
[6518] | 583 | _checkState = bad;
|
---|
[3660] | 584 | return;
|
---|
| 585 | }
|
---|
[3664] | 586 |
|
---|
[3668] | 587 | // RINEX Format
|
---|
| 588 | // ------------
|
---|
| 589 | int fieldLen = 19;
|
---|
| 590 |
|
---|
[3666] | 591 | int pos[4];
|
---|
| 592 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
[3668] | 593 | pos[1] = pos[0] + fieldLen;
|
---|
| 594 | pos[2] = pos[1] + fieldLen;
|
---|
| 595 | pos[3] = pos[2] + fieldLen;
|
---|
[3664] | 596 |
|
---|
| 597 | // Read eight lines
|
---|
| 598 | // ----------------
|
---|
[3699] | 599 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
[3664] | 600 | QString line = lines[iLine];
|
---|
| 601 |
|
---|
| 602 | if ( iLine == 0 ) {
|
---|
[3666] | 603 | QTextStream in(line.left(pos[1]).toAscii());
|
---|
| 604 |
|
---|
| 605 | int year, month, day, hour, min;
|
---|
| 606 | double sec;
|
---|
| 607 |
|
---|
[5776] | 608 | QString prnStr;
|
---|
| 609 | in >> prnStr >> year >> month >> day >> hour >> min >> sec;
|
---|
[6377] | 610 | if (prnStr.at(0) == 'G') {
|
---|
[5776] | 611 | _prn.set('G', prnStr.mid(1).toInt());
|
---|
| 612 | }
|
---|
[6377] | 613 | else if (prnStr.at(0) == 'J') {
|
---|
| 614 | _prn.set('J', prnStr.mid(1).toInt());
|
---|
| 615 | }
|
---|
[5776] | 616 | else {
|
---|
| 617 | _prn.set('G', prnStr.toInt());
|
---|
| 618 | }
|
---|
[3666] | 619 |
|
---|
| 620 | if (year < 80) {
|
---|
| 621 | year += 2000;
|
---|
[3664] | 622 | }
|
---|
[3666] | 623 | else if (year < 100) {
|
---|
| 624 | year += 1900;
|
---|
| 625 | }
|
---|
| 626 |
|
---|
[4018] | 627 | _TOC.set(year, month, day, hour, min, sec);
|
---|
[3666] | 628 |
|
---|
| 629 | if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
|
---|
| 630 | readDbl(line, pos[2], fieldLen, _clock_drift ) ||
|
---|
| 631 | readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
|
---|
[6518] | 632 | _checkState = bad;
|
---|
[3666] | 633 | return;
|
---|
| 634 | }
|
---|
[3660] | 635 | }
|
---|
[3664] | 636 |
|
---|
| 637 | else if ( iLine == 1 ) {
|
---|
[3666] | 638 | if ( readDbl(line, pos[0], fieldLen, _IODE ) ||
|
---|
| 639 | readDbl(line, pos[1], fieldLen, _Crs ) ||
|
---|
| 640 | readDbl(line, pos[2], fieldLen, _Delta_n) ||
|
---|
| 641 | readDbl(line, pos[3], fieldLen, _M0 ) ) {
|
---|
[6518] | 642 | _checkState = bad;
|
---|
[3664] | 643 | return;
|
---|
| 644 | }
|
---|
| 645 | }
|
---|
| 646 |
|
---|
| 647 | else if ( iLine == 2 ) {
|
---|
[3666] | 648 | if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
|
---|
| 649 | readDbl(line, pos[1], fieldLen, _e ) ||
|
---|
| 650 | readDbl(line, pos[2], fieldLen, _Cus ) ||
|
---|
| 651 | readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
|
---|
[6518] | 652 | _checkState = bad;
|
---|
[3664] | 653 | return;
|
---|
| 654 | }
|
---|
| 655 | }
|
---|
| 656 |
|
---|
| 657 | else if ( iLine == 3 ) {
|
---|
[4018] | 658 | if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
|
---|
[3666] | 659 | readDbl(line, pos[1], fieldLen, _Cic ) ||
|
---|
| 660 | readDbl(line, pos[2], fieldLen, _OMEGA0) ||
|
---|
| 661 | readDbl(line, pos[3], fieldLen, _Cis ) ) {
|
---|
[6518] | 662 | _checkState = bad;
|
---|
[3664] | 663 | return;
|
---|
| 664 | }
|
---|
| 665 | }
|
---|
| 666 |
|
---|
| 667 | else if ( iLine == 4 ) {
|
---|
[3666] | 668 | if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
|
---|
| 669 | readDbl(line, pos[1], fieldLen, _Crc ) ||
|
---|
| 670 | readDbl(line, pos[2], fieldLen, _omega ) ||
|
---|
| 671 | readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
|
---|
[6518] | 672 | _checkState = bad;
|
---|
[3664] | 673 | return;
|
---|
| 674 | }
|
---|
| 675 | }
|
---|
| 676 |
|
---|
| 677 | else if ( iLine == 5 ) {
|
---|
[4018] | 678 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
|
---|
| 679 | readDbl(line, pos[1], fieldLen, _L2Codes) ||
|
---|
| 680 | readDbl(line, pos[2], fieldLen, _TOEweek ) ||
|
---|
| 681 | readDbl(line, pos[3], fieldLen, _L2PFlag) ) {
|
---|
[6518] | 682 | _checkState = bad;
|
---|
[3664] | 683 | return;
|
---|
| 684 | }
|
---|
| 685 | }
|
---|
| 686 |
|
---|
| 687 | else if ( iLine == 6 ) {
|
---|
[4018] | 688 | if ( readDbl(line, pos[0], fieldLen, _ura ) ||
|
---|
[3666] | 689 | readDbl(line, pos[1], fieldLen, _health) ||
|
---|
| 690 | readDbl(line, pos[2], fieldLen, _TGD ) ||
|
---|
| 691 | readDbl(line, pos[3], fieldLen, _IODC ) ) {
|
---|
[6518] | 692 | _checkState = bad;
|
---|
[3664] | 693 | return;
|
---|
| 694 | }
|
---|
| 695 | }
|
---|
| 696 |
|
---|
| 697 | else if ( iLine == 7 ) {
|
---|
[4224] | 698 | if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
|
---|
[6518] | 699 | _checkState = bad;
|
---|
[3664] | 700 | return;
|
---|
| 701 | }
|
---|
[4224] | 702 | readDbl(line, pos[1], fieldLen, _fitInterval); // _fitInterval optional
|
---|
[3664] | 703 | }
|
---|
[3660] | 704 | }
|
---|
[3659] | 705 | }
|
---|
| 706 |
|
---|
| 707 | // Constructor
|
---|
| 708 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 709 | t_ephGlo::t_ephGlo(float rnxVersion, const QStringList& lines) {
|
---|
| 710 |
|
---|
[3699] | 711 | const int nLines = 4;
|
---|
| 712 |
|
---|
| 713 | if (lines.size() != nLines) {
|
---|
[6518] | 714 | _checkState = bad;
|
---|
[3699] | 715 | return;
|
---|
| 716 | }
|
---|
| 717 |
|
---|
| 718 | // RINEX Format
|
---|
| 719 | // ------------
|
---|
| 720 | int fieldLen = 19;
|
---|
| 721 |
|
---|
| 722 | int pos[4];
|
---|
| 723 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
| 724 | pos[1] = pos[0] + fieldLen;
|
---|
| 725 | pos[2] = pos[1] + fieldLen;
|
---|
| 726 | pos[3] = pos[2] + fieldLen;
|
---|
| 727 |
|
---|
| 728 | // Read four lines
|
---|
| 729 | // ---------------
|
---|
| 730 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
| 731 | QString line = lines[iLine];
|
---|
| 732 |
|
---|
| 733 | if ( iLine == 0 ) {
|
---|
| 734 | QTextStream in(line.left(pos[1]).toAscii());
|
---|
| 735 |
|
---|
| 736 | int year, month, day, hour, min;
|
---|
| 737 | double sec;
|
---|
| 738 |
|
---|
[5776] | 739 | QString prnStr;
|
---|
| 740 | in >> prnStr >> year >> month >> day >> hour >> min >> sec;
|
---|
| 741 | if (prnStr.at(0) == 'R') {
|
---|
| 742 | _prn.set('R', prnStr.mid(1).toInt());
|
---|
| 743 | }
|
---|
| 744 | else {
|
---|
| 745 | _prn.set('R', prnStr.toInt());
|
---|
| 746 | }
|
---|
[3699] | 747 |
|
---|
| 748 | if (year < 80) {
|
---|
| 749 | year += 2000;
|
---|
| 750 | }
|
---|
| 751 | else if (year < 100) {
|
---|
| 752 | year += 1900;
|
---|
| 753 | }
|
---|
| 754 |
|
---|
[3760] | 755 | _gps_utc = gnumleap(year, month, day);
|
---|
| 756 |
|
---|
[4018] | 757 | _TOC.set(year, month, day, hour, min, sec);
|
---|
| 758 | _TOC = _TOC + _gps_utc;
|
---|
[3699] | 759 |
|
---|
[4018] | 760 | if ( readDbl(line, pos[1], fieldLen, _tau ) ||
|
---|
| 761 | readDbl(line, pos[2], fieldLen, _gamma) ||
|
---|
| 762 | readDbl(line, pos[3], fieldLen, _tki ) ) {
|
---|
[6518] | 763 | _checkState = bad;
|
---|
[3699] | 764 | return;
|
---|
| 765 | }
|
---|
[3765] | 766 |
|
---|
| 767 | _tau = -_tau;
|
---|
[3699] | 768 | }
|
---|
| 769 |
|
---|
| 770 | else if ( iLine == 1 ) {
|
---|
| 771 | if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
|
---|
| 772 | readDbl(line, pos[1], fieldLen, _x_velocity ) ||
|
---|
| 773 | readDbl(line, pos[2], fieldLen, _x_acceleration) ||
|
---|
| 774 | readDbl(line, pos[3], fieldLen, _health ) ) {
|
---|
[6518] | 775 | _checkState = bad;
|
---|
[3699] | 776 | return;
|
---|
| 777 | }
|
---|
| 778 | }
|
---|
| 779 |
|
---|
| 780 | else if ( iLine == 2 ) {
|
---|
| 781 | if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
|
---|
| 782 | readDbl(line, pos[1], fieldLen, _y_velocity ) ||
|
---|
| 783 | readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
|
---|
| 784 | readDbl(line, pos[3], fieldLen, _frequency_number) ) {
|
---|
[6518] | 785 | _checkState = bad;
|
---|
[3699] | 786 | return;
|
---|
| 787 | }
|
---|
| 788 | }
|
---|
| 789 |
|
---|
| 790 | else if ( iLine == 3 ) {
|
---|
| 791 | if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
|
---|
| 792 | readDbl(line, pos[1], fieldLen, _z_velocity ) ||
|
---|
| 793 | readDbl(line, pos[2], fieldLen, _z_acceleration) ||
|
---|
| 794 | readDbl(line, pos[3], fieldLen, _E ) ) {
|
---|
[6518] | 795 | _checkState = bad;
|
---|
[3699] | 796 | return;
|
---|
| 797 | }
|
---|
| 798 | }
|
---|
| 799 | }
|
---|
| 800 |
|
---|
| 801 | // Initialize status vector
|
---|
| 802 | // ------------------------
|
---|
[4018] | 803 | _tt = _TOC;
|
---|
| 804 | _xv.ReSize(6);
|
---|
[3699] | 805 | _xv(1) = _x_pos * 1.e3;
|
---|
| 806 | _xv(2) = _y_pos * 1.e3;
|
---|
| 807 | _xv(3) = _z_pos * 1.e3;
|
---|
| 808 | _xv(4) = _x_velocity * 1.e3;
|
---|
| 809 | _xv(5) = _y_velocity * 1.e3;
|
---|
| 810 | _xv(6) = _z_velocity * 1.e3;
|
---|
[3659] | 811 | }
|
---|
| 812 |
|
---|
| 813 | // Constructor
|
---|
| 814 | //////////////////////////////////////////////////////////////////////////////
|
---|
[4891] | 815 | t_ephGal::t_ephGal(float rnxVersion, const QStringList& lines) {
|
---|
[3659] | 816 |
|
---|
[4891] | 817 | const int nLines = 8;
|
---|
| 818 |
|
---|
| 819 | if (lines.size() != nLines) {
|
---|
[6518] | 820 | _checkState = bad;
|
---|
[4891] | 821 | return;
|
---|
| 822 | }
|
---|
| 823 |
|
---|
| 824 | // RINEX Format
|
---|
| 825 | // ------------
|
---|
| 826 | int fieldLen = 19;
|
---|
[6792] | 827 | double SVhealth = 0.0;
|
---|
| 828 | double datasource = 0.0;
|
---|
[6798] | 829 |
|
---|
[4891] | 830 | int pos[4];
|
---|
| 831 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
| 832 | pos[1] = pos[0] + fieldLen;
|
---|
| 833 | pos[2] = pos[1] + fieldLen;
|
---|
| 834 | pos[3] = pos[2] + fieldLen;
|
---|
| 835 |
|
---|
| 836 | // Read eight lines
|
---|
| 837 | // ----------------
|
---|
| 838 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
| 839 | QString line = lines[iLine];
|
---|
| 840 |
|
---|
| 841 | if ( iLine == 0 ) {
|
---|
| 842 | QTextStream in(line.left(pos[1]).toAscii());
|
---|
| 843 |
|
---|
| 844 | int year, month, day, hour, min;
|
---|
| 845 | double sec;
|
---|
| 846 |
|
---|
[5776] | 847 | QString prnStr;
|
---|
| 848 | in >> prnStr >> year >> month >> day >> hour >> min >> sec;
|
---|
| 849 | if (prnStr.at(0) == 'E') {
|
---|
| 850 | _prn.set('E', prnStr.mid(1).toInt());
|
---|
| 851 | }
|
---|
| 852 | else {
|
---|
| 853 | _prn.set('E', prnStr.toInt());
|
---|
| 854 | }
|
---|
[4891] | 855 |
|
---|
| 856 | if (year < 80) {
|
---|
| 857 | year += 2000;
|
---|
| 858 | }
|
---|
| 859 | else if (year < 100) {
|
---|
| 860 | year += 1900;
|
---|
| 861 | }
|
---|
| 862 |
|
---|
| 863 | _TOC.set(year, month, day, hour, min, sec);
|
---|
| 864 |
|
---|
| 865 | if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
|
---|
| 866 | readDbl(line, pos[2], fieldLen, _clock_drift ) ||
|
---|
| 867 | readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
|
---|
[6518] | 868 | _checkState = bad;
|
---|
[4891] | 869 | return;
|
---|
| 870 | }
|
---|
| 871 | }
|
---|
| 872 |
|
---|
| 873 | else if ( iLine == 1 ) {
|
---|
| 874 | if ( readDbl(line, pos[0], fieldLen, _IODnav ) ||
|
---|
| 875 | readDbl(line, pos[1], fieldLen, _Crs ) ||
|
---|
| 876 | readDbl(line, pos[2], fieldLen, _Delta_n) ||
|
---|
| 877 | readDbl(line, pos[3], fieldLen, _M0 ) ) {
|
---|
[6518] | 878 | _checkState = bad;
|
---|
[4891] | 879 | return;
|
---|
| 880 | }
|
---|
| 881 | }
|
---|
| 882 |
|
---|
| 883 | else if ( iLine == 2 ) {
|
---|
| 884 | if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
|
---|
| 885 | readDbl(line, pos[1], fieldLen, _e ) ||
|
---|
| 886 | readDbl(line, pos[2], fieldLen, _Cus ) ||
|
---|
| 887 | readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
|
---|
[6518] | 888 | _checkState = bad;
|
---|
[4891] | 889 | return;
|
---|
| 890 | }
|
---|
| 891 | }
|
---|
| 892 |
|
---|
| 893 | else if ( iLine == 3 ) {
|
---|
| 894 | if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
|
---|
| 895 | readDbl(line, pos[1], fieldLen, _Cic ) ||
|
---|
| 896 | readDbl(line, pos[2], fieldLen, _OMEGA0) ||
|
---|
| 897 | readDbl(line, pos[3], fieldLen, _Cis ) ) {
|
---|
[6518] | 898 | _checkState = bad;
|
---|
[4891] | 899 | return;
|
---|
| 900 | }
|
---|
| 901 | }
|
---|
| 902 |
|
---|
| 903 | else if ( iLine == 4 ) {
|
---|
| 904 | if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
|
---|
| 905 | readDbl(line, pos[1], fieldLen, _Crc ) ||
|
---|
| 906 | readDbl(line, pos[2], fieldLen, _omega ) ||
|
---|
| 907 | readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
|
---|
[6518] | 908 | _checkState = bad;
|
---|
[4891] | 909 | return;
|
---|
| 910 | }
|
---|
| 911 | }
|
---|
| 912 |
|
---|
| 913 | else if ( iLine == 5 ) {
|
---|
[6792] | 914 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
|
---|
| 915 | readDbl(line, pos[1], fieldLen, datasource) ||
|
---|
| 916 | readDbl(line, pos[2], fieldLen, _TOEweek ) ) {
|
---|
[6518] | 917 | _checkState = bad;
|
---|
[4891] | 918 | return;
|
---|
[6792] | 919 | } else {
|
---|
| 920 | if (int(datasource) & (1<<8)) {
|
---|
| 921 | _flags |= GALEPHF_FNAV;
|
---|
| 922 | } else if (int(datasource) & (1<<9)) {
|
---|
| 923 | _flags |= GALEPHF_INAV;
|
---|
| 924 | }
|
---|
[4891] | 925 | }
|
---|
| 926 | }
|
---|
| 927 |
|
---|
| 928 | else if ( iLine == 6 ) {
|
---|
| 929 | if ( readDbl(line, pos[0], fieldLen, _SISA ) ||
|
---|
[6792] | 930 | readDbl(line, pos[1], fieldLen, SVhealth) ||
|
---|
[4891] | 931 | readDbl(line, pos[2], fieldLen, _BGD_1_5A) ||
|
---|
| 932 | readDbl(line, pos[3], fieldLen, _BGD_1_5B) ) {
|
---|
[6518] | 933 | _checkState = bad;
|
---|
[4891] | 934 | return;
|
---|
[6792] | 935 | } else {
|
---|
| 936 | // Bit 0
|
---|
| 937 | if (int(SVhealth) & (1<<0)) {
|
---|
| 938 | _flags |= GALEPHF_E1DINVALID;
|
---|
| 939 | }
|
---|
| 940 | // Bit 1-2
|
---|
| 941 | _E1_bHS = double((int(SVhealth) >> 1) & 0x3);
|
---|
| 942 | // Bit 3
|
---|
| 943 | if (int(SVhealth) & (1<<3)) {
|
---|
| 944 | _flags |= GALEPHF_E5ADINVALID;
|
---|
| 945 | }
|
---|
| 946 | // Bit 4-5
|
---|
| 947 | _E5aHS = double((int(SVhealth) >> 4) & 0x3);
|
---|
| 948 | // Bit 6
|
---|
| 949 | if (int(SVhealth) & (1<<6)) {
|
---|
| 950 | _flags |= GALEPHF_E5BDINVALID;
|
---|
| 951 | }
|
---|
| 952 | // Bit 7-8
|
---|
| 953 | _E5bHS = double((int(SVhealth) >> 7) & 0x3);
|
---|
[4891] | 954 | }
|
---|
| 955 | }
|
---|
| 956 |
|
---|
| 957 | else if ( iLine == 7 ) {
|
---|
| 958 | if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
|
---|
[6518] | 959 | _checkState = bad;
|
---|
[4891] | 960 | return;
|
---|
| 961 | }
|
---|
| 962 | }
|
---|
| 963 | }
|
---|
[3659] | 964 | }
|
---|
[4013] | 965 |
|
---|
[4021] | 966 | //
|
---|
[4013] | 967 | //////////////////////////////////////////////////////////////////////////////
|
---|
[5776] | 968 | QString t_eph::rinexDateStr(const bncTime& tt, const t_prn& prn, double version) {
|
---|
| 969 | QString prnStr(prn.toString().c_str());
|
---|
| 970 | return rinexDateStr(tt, prnStr, version);
|
---|
| 971 | }
|
---|
[4013] | 972 |
|
---|
[5776] | 973 | //
|
---|
| 974 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 975 | QString t_eph::rinexDateStr(const bncTime& tt, const QString& prnStr, double version) {
|
---|
| 976 |
|
---|
[4021] | 977 | QString datStr;
|
---|
[4013] | 978 |
|
---|
| 979 | unsigned year, month, day, hour, min;
|
---|
[4018] | 980 | double sec;
|
---|
[4029] | 981 | tt.civil_date(year, month, day);
|
---|
| 982 | tt.civil_time(hour, min, sec);
|
---|
[4013] | 983 |
|
---|
[4021] | 984 | QTextStream out(&datStr);
|
---|
[4013] | 985 |
|
---|
| 986 | if (version < 3.0) {
|
---|
[5776] | 987 | QString prnHlp = prnStr.mid(1,2); if (prnHlp[0] == '0') prnHlp[0] = ' ';
|
---|
[4017] | 988 | out << prnHlp << QString(" %1 %2 %3 %4 %5%6")
|
---|
[4013] | 989 | .arg(year % 100, 2, 10, QChar('0'))
|
---|
| 990 | .arg(month, 2)
|
---|
| 991 | .arg(day, 2)
|
---|
| 992 | .arg(hour, 2)
|
---|
| 993 | .arg(min, 2)
|
---|
[4016] | 994 | .arg(sec, 5, 'f',1);
|
---|
[4013] | 995 | }
|
---|
| 996 | else {
|
---|
[5776] | 997 | out << prnStr << QString(" %1 %2 %3 %4 %5 %6")
|
---|
[4013] | 998 | .arg(year, 4)
|
---|
| 999 | .arg(month, 2, 10, QChar('0'))
|
---|
| 1000 | .arg(day, 2, 10, QChar('0'))
|
---|
| 1001 | .arg(hour, 2, 10, QChar('0'))
|
---|
| 1002 | .arg(min, 2, 10, QChar('0'))
|
---|
| 1003 | .arg(int(sec), 2, 10, QChar('0'));
|
---|
| 1004 | }
|
---|
[4021] | 1005 |
|
---|
| 1006 | return datStr;
|
---|
| 1007 | }
|
---|
| 1008 |
|
---|
| 1009 | // RINEX Format String
|
---|
| 1010 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 1011 | QString t_ephGPS::toString(double version) const {
|
---|
| 1012 |
|
---|
[4029] | 1013 | QString rnxStr = rinexDateStr(_TOC, _prn, version);
|
---|
[4013] | 1014 |
|
---|
[4021] | 1015 | QTextStream out(&rnxStr);
|
---|
| 1016 |
|
---|
[4013] | 1017 | out << QString("%1%2%3\n")
|
---|
| 1018 | .arg(_clock_bias, 19, 'e', 12)
|
---|
| 1019 | .arg(_clock_drift, 19, 'e', 12)
|
---|
| 1020 | .arg(_clock_driftrate, 19, 'e', 12);
|
---|
| 1021 |
|
---|
[4015] | 1022 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
| 1023 |
|
---|
| 1024 | out << QString(fmt)
|
---|
[4013] | 1025 | .arg(_IODE, 19, 'e', 12)
|
---|
| 1026 | .arg(_Crs, 19, 'e', 12)
|
---|
| 1027 | .arg(_Delta_n, 19, 'e', 12)
|
---|
| 1028 | .arg(_M0, 19, 'e', 12);
|
---|
| 1029 |
|
---|
[4015] | 1030 | out << QString(fmt)
|
---|
[4013] | 1031 | .arg(_Cuc, 19, 'e', 12)
|
---|
| 1032 | .arg(_e, 19, 'e', 12)
|
---|
| 1033 | .arg(_Cus, 19, 'e', 12)
|
---|
| 1034 | .arg(_sqrt_A, 19, 'e', 12);
|
---|
| 1035 |
|
---|
[4015] | 1036 | out << QString(fmt)
|
---|
[4018] | 1037 | .arg(_TOEsec, 19, 'e', 12)
|
---|
[4013] | 1038 | .arg(_Cic, 19, 'e', 12)
|
---|
| 1039 | .arg(_OMEGA0, 19, 'e', 12)
|
---|
| 1040 | .arg(_Cis, 19, 'e', 12);
|
---|
| 1041 |
|
---|
[4015] | 1042 | out << QString(fmt)
|
---|
[4013] | 1043 | .arg(_i0, 19, 'e', 12)
|
---|
| 1044 | .arg(_Crc, 19, 'e', 12)
|
---|
| 1045 | .arg(_omega, 19, 'e', 12)
|
---|
| 1046 | .arg(_OMEGADOT, 19, 'e', 12);
|
---|
| 1047 |
|
---|
[4015] | 1048 | out << QString(fmt)
|
---|
[4018] | 1049 | .arg(_IDOT, 19, 'e', 12)
|
---|
| 1050 | .arg(_L2Codes, 19, 'e', 12)
|
---|
| 1051 | .arg(_TOEweek, 19, 'e', 12)
|
---|
| 1052 | .arg(_L2PFlag, 19, 'e', 12);
|
---|
[4013] | 1053 |
|
---|
[4015] | 1054 | out << QString(fmt)
|
---|
[4018] | 1055 | .arg(_ura, 19, 'e', 12)
|
---|
[4013] | 1056 | .arg(_health, 19, 'e', 12)
|
---|
| 1057 | .arg(_TGD, 19, 'e', 12)
|
---|
| 1058 | .arg(_IODC, 19, 'e', 12);
|
---|
| 1059 |
|
---|
[4015] | 1060 | out << QString(fmt)
|
---|
[4018] | 1061 | .arg(_TOT, 19, 'e', 12)
|
---|
| 1062 | .arg(_fitInterval, 19, 'e', 12)
|
---|
[4024] | 1063 | .arg("", 19, QChar(' '))
|
---|
| 1064 | .arg("", 19, QChar(' '));
|
---|
[4013] | 1065 |
|
---|
| 1066 | return rnxStr;
|
---|
| 1067 | }
|
---|
[4023] | 1068 |
|
---|
| 1069 | // RINEX Format String
|
---|
| 1070 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 1071 | QString t_ephGlo::toString(double version) const {
|
---|
| 1072 |
|
---|
[4029] | 1073 | QString rnxStr = rinexDateStr(_TOC-_gps_utc, _prn, version);
|
---|
[4023] | 1074 |
|
---|
| 1075 | QTextStream out(&rnxStr);
|
---|
| 1076 |
|
---|
| 1077 | out << QString("%1%2%3\n")
|
---|
| 1078 | .arg(-_tau, 19, 'e', 12)
|
---|
| 1079 | .arg(_gamma, 19, 'e', 12)
|
---|
| 1080 | .arg(_tki, 19, 'e', 12);
|
---|
| 1081 |
|
---|
| 1082 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
| 1083 |
|
---|
| 1084 | out << QString(fmt)
|
---|
| 1085 | .arg(_x_pos, 19, 'e', 12)
|
---|
| 1086 | .arg(_x_velocity, 19, 'e', 12)
|
---|
| 1087 | .arg(_x_acceleration, 19, 'e', 12)
|
---|
| 1088 | .arg(_health, 19, 'e', 12);
|
---|
| 1089 |
|
---|
| 1090 | out << QString(fmt)
|
---|
| 1091 | .arg(_y_pos, 19, 'e', 12)
|
---|
| 1092 | .arg(_y_velocity, 19, 'e', 12)
|
---|
| 1093 | .arg(_y_acceleration, 19, 'e', 12)
|
---|
| 1094 | .arg(_frequency_number, 19, 'e', 12);
|
---|
| 1095 |
|
---|
| 1096 | out << QString(fmt)
|
---|
| 1097 | .arg(_z_pos, 19, 'e', 12)
|
---|
| 1098 | .arg(_z_velocity, 19, 'e', 12)
|
---|
| 1099 | .arg(_z_acceleration, 19, 'e', 12)
|
---|
| 1100 | .arg(_E, 19, 'e', 12);
|
---|
| 1101 |
|
---|
| 1102 | return rnxStr;
|
---|
| 1103 | }
|
---|
| 1104 |
|
---|
| 1105 | // RINEX Format String
|
---|
| 1106 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 1107 | QString t_ephGal::toString(double version) const {
|
---|
| 1108 |
|
---|
[4029] | 1109 | QString rnxStr = rinexDateStr(_TOC, _prn, version);
|
---|
[4023] | 1110 |
|
---|
| 1111 | QTextStream out(&rnxStr);
|
---|
| 1112 |
|
---|
| 1113 | out << QString("%1%2%3\n")
|
---|
| 1114 | .arg(_clock_bias, 19, 'e', 12)
|
---|
| 1115 | .arg(_clock_drift, 19, 'e', 12)
|
---|
| 1116 | .arg(_clock_driftrate, 19, 'e', 12);
|
---|
| 1117 |
|
---|
| 1118 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
| 1119 |
|
---|
| 1120 | out << QString(fmt)
|
---|
| 1121 | .arg(_IODnav, 19, 'e', 12)
|
---|
| 1122 | .arg(_Crs, 19, 'e', 12)
|
---|
| 1123 | .arg(_Delta_n, 19, 'e', 12)
|
---|
| 1124 | .arg(_M0, 19, 'e', 12);
|
---|
| 1125 |
|
---|
| 1126 | out << QString(fmt)
|
---|
| 1127 | .arg(_Cuc, 19, 'e', 12)
|
---|
| 1128 | .arg(_e, 19, 'e', 12)
|
---|
| 1129 | .arg(_Cus, 19, 'e', 12)
|
---|
| 1130 | .arg(_sqrt_A, 19, 'e', 12);
|
---|
| 1131 |
|
---|
| 1132 | out << QString(fmt)
|
---|
| 1133 | .arg(_TOEsec, 19, 'e', 12)
|
---|
| 1134 | .arg(_Cic, 19, 'e', 12)
|
---|
| 1135 | .arg(_OMEGA0, 19, 'e', 12)
|
---|
| 1136 | .arg(_Cis, 19, 'e', 12);
|
---|
| 1137 |
|
---|
| 1138 | out << QString(fmt)
|
---|
| 1139 | .arg(_i0, 19, 'e', 12)
|
---|
| 1140 | .arg(_Crc, 19, 'e', 12)
|
---|
| 1141 | .arg(_omega, 19, 'e', 12)
|
---|
| 1142 | .arg(_OMEGADOT, 19, 'e', 12);
|
---|
| 1143 |
|
---|
[6792] | 1144 | int dataSource = 0;
|
---|
| 1145 | int SVhealth = 0;
|
---|
| 1146 | double BGD_1_5A = _BGD_1_5A;
|
---|
| 1147 | double BGD_1_5B = _BGD_1_5B;
|
---|
| 1148 | if ((_flags & GALEPHF_FNAV) == GALEPHF_FNAV) {
|
---|
| 1149 | dataSource |= (1<<1);
|
---|
| 1150 | dataSource |= (1<<8);
|
---|
| 1151 | BGD_1_5B = 0.0;
|
---|
| 1152 | // SVhealth
|
---|
| 1153 | // Bit 3 : E5a DVS
|
---|
| 1154 | if ((_flags & GALEPHF_E5ADINVALID) == GALEPHF_E5ADINVALID) {
|
---|
| 1155 | SVhealth |= (1<<3);
|
---|
| 1156 | }
|
---|
| 1157 | // Bit 4-5: E5a HS
|
---|
| 1158 | if (_E5aHS == 1.0) {
|
---|
| 1159 | SVhealth |= (1<<4);
|
---|
| 1160 | }
|
---|
| 1161 | else if (_E5aHS == 2.0) {
|
---|
| 1162 | SVhealth |= (1<<5);
|
---|
| 1163 | }
|
---|
| 1164 | else if (_E5aHS == 3.0) {
|
---|
| 1165 | SVhealth |= (1<<4);
|
---|
| 1166 | SVhealth |= (1<<5);
|
---|
| 1167 | }
|
---|
| 1168 | }
|
---|
| 1169 | else if ((_flags & GALEPHF_INAV) == GALEPHF_INAV) {
|
---|
[5539] | 1170 | dataSource |= (1<<0);
|
---|
[6792] | 1171 | dataSource |= (1<<2);
|
---|
[5540] | 1172 | dataSource |= (1<<9);
|
---|
[6792] | 1173 | // SVhealth
|
---|
| 1174 | // Bit 0 : E1-B DVS
|
---|
| 1175 | if ((_flags & GALEPHF_E1DINVALID) == GALEPHF_E1DINVALID) {
|
---|
| 1176 | SVhealth |= (1<<0);
|
---|
| 1177 | }
|
---|
| 1178 | // Bit 1-2: E1-B HS
|
---|
| 1179 | if (_E1_bHS == 1.0) {
|
---|
| 1180 | SVhealth |= (1<<1);
|
---|
| 1181 | }
|
---|
| 1182 | else if (_E1_bHS == 2.0) {
|
---|
| 1183 | SVhealth |= (1<<2);
|
---|
| 1184 | }
|
---|
| 1185 | else if (_E1_bHS == 3.0) {
|
---|
| 1186 | SVhealth |= (1<<1);
|
---|
| 1187 | SVhealth |= (1<<2);
|
---|
| 1188 | }
|
---|
| 1189 | // Bit 6 : E5b DVS
|
---|
| 1190 | if ((_flags & GALEPHF_E1DINVALID) == GALEPHF_E1DINVALID) {
|
---|
| 1191 | SVhealth |= (1<<6);
|
---|
| 1192 | }
|
---|
| 1193 | // Bit 7-8: E5b HS
|
---|
| 1194 | if (_E5bHS == 1.0) {
|
---|
| 1195 | SVhealth |= (1<<7);
|
---|
| 1196 | }
|
---|
| 1197 | else if (_E5bHS == 2.0) {
|
---|
| 1198 | SVhealth |= (1<<8);
|
---|
| 1199 | }
|
---|
| 1200 | else if (_E5bHS == 3.0) {
|
---|
| 1201 | SVhealth |= (1<<7);
|
---|
| 1202 | SVhealth |= (1<<8);
|
---|
| 1203 | }
|
---|
[5539] | 1204 | }
|
---|
[6792] | 1205 |
|
---|
[4023] | 1206 | out << QString(fmt)
|
---|
[5532] | 1207 | .arg(_IDOT, 19, 'e', 12)
|
---|
| 1208 | .arg(double(dataSource), 19, 'e', 12)
|
---|
| 1209 | .arg(_TOEweek, 19, 'e', 12)
|
---|
| 1210 | .arg(0.0, 19, 'e', 12);
|
---|
[4023] | 1211 |
|
---|
| 1212 | out << QString(fmt)
|
---|
[6798] | 1213 | .arg(_SISA, 19, 'e', 12)
|
---|
[6792] | 1214 | .arg(double(SVhealth), 19, 'e', 12)
|
---|
| 1215 | .arg(BGD_1_5A, 19, 'e', 12)
|
---|
| 1216 | .arg(BGD_1_5B, 19, 'e', 12);
|
---|
[4023] | 1217 |
|
---|
| 1218 | out << QString(fmt)
|
---|
| 1219 | .arg(_TOT, 19, 'e', 12)
|
---|
[4024] | 1220 | .arg("", 19, QChar(' '))
|
---|
| 1221 | .arg("", 19, QChar(' '))
|
---|
| 1222 | .arg("", 19, QChar(' '));
|
---|
[4023] | 1223 |
|
---|
| 1224 | return rnxStr;
|
---|
| 1225 | }
|
---|
| 1226 |
|
---|
[6385] | 1227 | // Constructor
|
---|
| 1228 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6390] | 1229 | t_ephSBAS::t_ephSBAS(float rnxVersion, const QStringList& lines) {
|
---|
| 1230 |
|
---|
| 1231 | const int nLines = 4;
|
---|
| 1232 |
|
---|
| 1233 | if (lines.size() != nLines) {
|
---|
[6518] | 1234 | _checkState = bad;
|
---|
[6390] | 1235 | return;
|
---|
| 1236 | }
|
---|
| 1237 |
|
---|
| 1238 | // RINEX Format
|
---|
| 1239 | // ------------
|
---|
| 1240 | int fieldLen = 19;
|
---|
| 1241 |
|
---|
| 1242 | int pos[4];
|
---|
| 1243 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
| 1244 | pos[1] = pos[0] + fieldLen;
|
---|
| 1245 | pos[2] = pos[1] + fieldLen;
|
---|
| 1246 | pos[3] = pos[2] + fieldLen;
|
---|
| 1247 |
|
---|
| 1248 | // Read four lines
|
---|
| 1249 | // ---------------
|
---|
| 1250 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
| 1251 | QString line = lines[iLine];
|
---|
| 1252 |
|
---|
| 1253 | if ( iLine == 0 ) {
|
---|
| 1254 | QTextStream in(line.left(pos[1]).toAscii());
|
---|
| 1255 |
|
---|
| 1256 | int year, month, day, hour, min;
|
---|
| 1257 | double sec;
|
---|
| 1258 |
|
---|
| 1259 | QString prnStr;
|
---|
| 1260 | in >> prnStr >> year >> month >> day >> hour >> min >> sec;
|
---|
| 1261 | if (prnStr.at(0) == 'S') {
|
---|
| 1262 | _prn.set('S', prnStr.mid(1).toInt());
|
---|
| 1263 | }
|
---|
| 1264 | else {
|
---|
| 1265 | _prn.set('S', prnStr.toInt());
|
---|
| 1266 | }
|
---|
| 1267 |
|
---|
| 1268 | if (year < 80) {
|
---|
| 1269 | year += 2000;
|
---|
| 1270 | }
|
---|
| 1271 | else if (year < 100) {
|
---|
| 1272 | year += 1900;
|
---|
| 1273 | }
|
---|
| 1274 |
|
---|
| 1275 | _TOC.set(year, month, day, hour, min, sec);
|
---|
| 1276 |
|
---|
| 1277 | if ( readDbl(line, pos[1], fieldLen, _agf0 ) ||
|
---|
| 1278 | readDbl(line, pos[2], fieldLen, _agf1 ) ||
|
---|
| 1279 | readDbl(line, pos[3], fieldLen, _TOW ) ) {
|
---|
[6518] | 1280 | _checkState = bad;
|
---|
[6390] | 1281 | return;
|
---|
| 1282 | }
|
---|
| 1283 | }
|
---|
| 1284 |
|
---|
| 1285 | else if ( iLine == 1 ) {
|
---|
| 1286 | if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
|
---|
| 1287 | readDbl(line, pos[1], fieldLen, _x_velocity ) ||
|
---|
| 1288 | readDbl(line, pos[2], fieldLen, _x_acceleration) ||
|
---|
| 1289 | readDbl(line, pos[3], fieldLen, _health ) ) {
|
---|
[6518] | 1290 | _checkState = bad;
|
---|
[6390] | 1291 | return;
|
---|
| 1292 | }
|
---|
| 1293 | }
|
---|
| 1294 |
|
---|
| 1295 | else if ( iLine == 2 ) {
|
---|
| 1296 | if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
|
---|
| 1297 | readDbl(line, pos[1], fieldLen, _y_velocity ) ||
|
---|
| 1298 | readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
|
---|
| 1299 | readDbl(line, pos[3], fieldLen, _ura ) ) {
|
---|
[6518] | 1300 | _checkState = bad;
|
---|
[6390] | 1301 | return;
|
---|
| 1302 | }
|
---|
| 1303 | }
|
---|
| 1304 |
|
---|
| 1305 | else if ( iLine == 3 ) {
|
---|
[6536] | 1306 | double iodn;
|
---|
[6390] | 1307 | if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
|
---|
| 1308 | readDbl(line, pos[1], fieldLen, _z_velocity ) ||
|
---|
| 1309 | readDbl(line, pos[2], fieldLen, _z_acceleration) ||
|
---|
[6536] | 1310 | readDbl(line, pos[3], fieldLen, iodn ) ) {
|
---|
[6518] | 1311 | _checkState = bad;
|
---|
[6390] | 1312 | return;
|
---|
[6536] | 1313 | _IODN = int(iodn);
|
---|
[6390] | 1314 | }
|
---|
| 1315 | }
|
---|
| 1316 | }
|
---|
| 1317 |
|
---|
| 1318 | _x_pos *= 1.e3;
|
---|
| 1319 | _y_pos *= 1.e3;
|
---|
| 1320 | _z_pos *= 1.e3;
|
---|
| 1321 | _x_velocity *= 1.e3;
|
---|
| 1322 | _y_velocity *= 1.e3;
|
---|
| 1323 | _z_velocity *= 1.e3;
|
---|
| 1324 | _x_acceleration *= 1.e3;
|
---|
| 1325 | _y_acceleration *= 1.e3;
|
---|
| 1326 | _z_acceleration *= 1.e3;
|
---|
[6385] | 1327 | }
|
---|
| 1328 |
|
---|
| 1329 | // Set SBAS Satellite Position
|
---|
| 1330 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1331 | void t_ephSBAS::set(const sbasephemeris* ee) {
|
---|
[6386] | 1332 |
|
---|
[6389] | 1333 | _prn.set('S', ee->satellite - PRN_SBAS_START + 20);
|
---|
[6386] | 1334 | _TOC.set(ee->GPSweek_TOE, double(ee->TOE));
|
---|
| 1335 |
|
---|
| 1336 | _IODN = ee->IODN;
|
---|
| 1337 | _TOW = ee->TOW;
|
---|
| 1338 |
|
---|
| 1339 | _agf0 = ee->agf0;
|
---|
| 1340 | _agf1 = ee->agf1;
|
---|
| 1341 |
|
---|
[6389] | 1342 | _x_pos = ee->x_pos;
|
---|
| 1343 | _x_velocity = ee->x_velocity;
|
---|
| 1344 | _x_acceleration = ee->x_acceleration;
|
---|
[6386] | 1345 |
|
---|
[6389] | 1346 | _y_pos = ee->y_pos;
|
---|
| 1347 | _y_velocity = ee->y_velocity;
|
---|
| 1348 | _y_acceleration = ee->y_acceleration;
|
---|
[6386] | 1349 |
|
---|
[6389] | 1350 | _z_pos = ee->z_pos;
|
---|
| 1351 | _z_velocity = ee->z_velocity;
|
---|
| 1352 | _z_acceleration = ee->z_acceleration;
|
---|
[6386] | 1353 |
|
---|
| 1354 | _ura = ee->URA;
|
---|
[6390] | 1355 |
|
---|
| 1356 | _health = 0;
|
---|
[6385] | 1357 | }
|
---|
| 1358 |
|
---|
| 1359 | // Compute SBAS Satellite Position (virtual)
|
---|
| 1360 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1361 | t_irc t_ephSBAS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
|
---|
[6386] | 1362 |
|
---|
[6518] | 1363 | if (_checkState == bad) {
|
---|
| 1364 | return failure;
|
---|
| 1365 | }
|
---|
| 1366 |
|
---|
[6386] | 1367 | bncTime tt(GPSweek, GPSweeks);
|
---|
| 1368 | double dt = tt - _TOC;
|
---|
| 1369 |
|
---|
| 1370 | xc[0] = _x_pos + _x_velocity * dt + _x_acceleration * dt * dt / 2.0;
|
---|
| 1371 | xc[1] = _y_pos + _y_velocity * dt + _y_acceleration * dt * dt / 2.0;
|
---|
| 1372 | xc[2] = _z_pos + _z_velocity * dt + _z_acceleration * dt * dt / 2.0;
|
---|
| 1373 |
|
---|
| 1374 | vv[0] = _x_velocity + _x_acceleration * dt;
|
---|
| 1375 | vv[1] = _y_velocity + _y_acceleration * dt;
|
---|
| 1376 | vv[2] = _z_velocity + _z_acceleration * dt;
|
---|
| 1377 |
|
---|
| 1378 | xc[3] = _agf0 + _agf1 * dt;
|
---|
| 1379 |
|
---|
| 1380 | return success;
|
---|
[6385] | 1381 | }
|
---|
| 1382 |
|
---|
| 1383 | // RINEX Format String
|
---|
| 1384 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6388] | 1385 | QString t_ephSBAS::toString(double version) const {
|
---|
| 1386 |
|
---|
| 1387 | QString rnxStr = rinexDateStr(_TOC, _prn, version);
|
---|
| 1388 |
|
---|
| 1389 | QTextStream out(&rnxStr);
|
---|
| 1390 |
|
---|
| 1391 | out << QString("%1%2%3\n")
|
---|
[6390] | 1392 | .arg(_agf0, 19, 'e', 12)
|
---|
| 1393 | .arg(_agf1, 19, 'e', 12)
|
---|
| 1394 | .arg(_TOW, 19, 'e', 12);
|
---|
[6388] | 1395 |
|
---|
| 1396 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
| 1397 |
|
---|
| 1398 | out << QString(fmt)
|
---|
| 1399 | .arg(1.e-3*_x_pos, 19, 'e', 12)
|
---|
| 1400 | .arg(1.e-3*_x_velocity, 19, 'e', 12)
|
---|
| 1401 | .arg(1.e-3*_x_acceleration, 19, 'e', 12)
|
---|
[6390] | 1402 | .arg(_health, 19, 'e', 12);
|
---|
[6388] | 1403 |
|
---|
| 1404 | out << QString(fmt)
|
---|
| 1405 | .arg(1.e-3*_y_pos, 19, 'e', 12)
|
---|
| 1406 | .arg(1.e-3*_y_velocity, 19, 'e', 12)
|
---|
| 1407 | .arg(1.e-3*_y_acceleration, 19, 'e', 12)
|
---|
[6390] | 1408 | .arg(_ura, 19, 'e', 12);
|
---|
[6388] | 1409 |
|
---|
| 1410 | out << QString(fmt)
|
---|
| 1411 | .arg(1.e-3*_z_pos, 19, 'e', 12)
|
---|
| 1412 | .arg(1.e-3*_z_velocity, 19, 'e', 12)
|
---|
| 1413 | .arg(1.e-3*_z_acceleration, 19, 'e', 12)
|
---|
[6536] | 1414 | .arg(double(_IODN), 19, 'e', 12);
|
---|
[6388] | 1415 |
|
---|
| 1416 | return rnxStr;
|
---|
[6385] | 1417 | }
|
---|
[6400] | 1418 |
|
---|
| 1419 | // Constructor
|
---|
| 1420 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6600] | 1421 | t_ephBDS::t_ephBDS(float rnxVersion, const QStringList& lines) {
|
---|
[6400] | 1422 |
|
---|
| 1423 | const int nLines = 8;
|
---|
| 1424 |
|
---|
| 1425 | if (lines.size() != nLines) {
|
---|
[6518] | 1426 | _checkState = bad;
|
---|
[6400] | 1427 | return;
|
---|
| 1428 | }
|
---|
| 1429 |
|
---|
| 1430 | // RINEX Format
|
---|
| 1431 | // ------------
|
---|
| 1432 | int fieldLen = 19;
|
---|
[6756] | 1433 | double TOEw;
|
---|
[6400] | 1434 |
|
---|
| 1435 | int pos[4];
|
---|
| 1436 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
| 1437 | pos[1] = pos[0] + fieldLen;
|
---|
| 1438 | pos[2] = pos[1] + fieldLen;
|
---|
| 1439 | pos[3] = pos[2] + fieldLen;
|
---|
| 1440 |
|
---|
| 1441 | // Read eight lines
|
---|
| 1442 | // ----------------
|
---|
| 1443 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
| 1444 | QString line = lines[iLine];
|
---|
| 1445 |
|
---|
| 1446 | if ( iLine == 0 ) {
|
---|
| 1447 | QTextStream in(line.left(pos[1]).toAscii());
|
---|
| 1448 |
|
---|
| 1449 | int year, month, day, hour, min;
|
---|
| 1450 | double sec;
|
---|
| 1451 |
|
---|
| 1452 | QString prnStr;
|
---|
| 1453 | in >> prnStr >> year >> month >> day >> hour >> min >> sec;
|
---|
| 1454 | if (prnStr.at(0) == 'C') {
|
---|
| 1455 | _prn.set('C', prnStr.mid(1).toInt());
|
---|
| 1456 | }
|
---|
| 1457 | else {
|
---|
| 1458 | _prn.set('C', prnStr.toInt());
|
---|
| 1459 | }
|
---|
| 1460 |
|
---|
| 1461 | if (year < 80) {
|
---|
| 1462 | year += 2000;
|
---|
| 1463 | }
|
---|
| 1464 | else if (year < 100) {
|
---|
| 1465 | year += 1900;
|
---|
| 1466 | }
|
---|
| 1467 |
|
---|
| 1468 | _TOC_bdt.set(year, month, day, hour, min, sec);
|
---|
| 1469 |
|
---|
| 1470 | if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
|
---|
| 1471 | readDbl(line, pos[2], fieldLen, _clock_drift ) ||
|
---|
| 1472 | readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
|
---|
[6518] | 1473 | _checkState = bad;
|
---|
[6400] | 1474 | return;
|
---|
| 1475 | }
|
---|
| 1476 | }
|
---|
| 1477 |
|
---|
| 1478 | else if ( iLine == 1 ) {
|
---|
| 1479 | double aode;
|
---|
| 1480 | if ( readDbl(line, pos[0], fieldLen, aode ) ||
|
---|
| 1481 | readDbl(line, pos[1], fieldLen, _Crs ) ||
|
---|
| 1482 | readDbl(line, pos[2], fieldLen, _Delta_n) ||
|
---|
| 1483 | readDbl(line, pos[3], fieldLen, _M0 ) ) {
|
---|
[6518] | 1484 | _checkState = bad;
|
---|
[6400] | 1485 | return;
|
---|
| 1486 | }
|
---|
| 1487 | _AODE = int(aode);
|
---|
| 1488 | }
|
---|
| 1489 |
|
---|
| 1490 | else if ( iLine == 2 ) {
|
---|
| 1491 | if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
|
---|
| 1492 | readDbl(line, pos[1], fieldLen, _e ) ||
|
---|
| 1493 | readDbl(line, pos[2], fieldLen, _Cus ) ||
|
---|
| 1494 | readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
|
---|
[6518] | 1495 | _checkState = bad;
|
---|
[6400] | 1496 | return;
|
---|
| 1497 | }
|
---|
| 1498 | }
|
---|
| 1499 |
|
---|
| 1500 | else if ( iLine == 3 ) {
|
---|
[6755] | 1501 | if ( readDbl(line, pos[0], fieldLen, _TOEs ) ||
|
---|
[6400] | 1502 | readDbl(line, pos[1], fieldLen, _Cic ) ||
|
---|
| 1503 | readDbl(line, pos[2], fieldLen, _OMEGA0) ||
|
---|
| 1504 | readDbl(line, pos[3], fieldLen, _Cis ) ) {
|
---|
[6518] | 1505 | _checkState = bad;
|
---|
[6400] | 1506 | return;
|
---|
| 1507 | }
|
---|
| 1508 | }
|
---|
| 1509 |
|
---|
| 1510 | else if ( iLine == 4 ) {
|
---|
| 1511 | if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
|
---|
| 1512 | readDbl(line, pos[1], fieldLen, _Crc ) ||
|
---|
| 1513 | readDbl(line, pos[2], fieldLen, _omega ) ||
|
---|
| 1514 | readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
|
---|
[6518] | 1515 | _checkState = bad;
|
---|
[6400] | 1516 | return;
|
---|
| 1517 | }
|
---|
| 1518 | }
|
---|
| 1519 |
|
---|
| 1520 | else if ( iLine == 5 ) {
|
---|
| 1521 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
|
---|
[6756] | 1522 | readDbl(line, pos[2], fieldLen, TOEw) ) {
|
---|
[6518] | 1523 | _checkState = bad;
|
---|
[6400] | 1524 | return;
|
---|
| 1525 | }
|
---|
| 1526 | }
|
---|
| 1527 |
|
---|
| 1528 | else if ( iLine == 6 ) {
|
---|
| 1529 | double SatH1;
|
---|
[6755] | 1530 | if ( readDbl(line, pos[0], fieldLen, _URA ) ||
|
---|
| 1531 | readDbl(line, pos[1], fieldLen, SatH1) ||
|
---|
[6400] | 1532 | readDbl(line, pos[2], fieldLen, _TGD1) ||
|
---|
| 1533 | readDbl(line, pos[3], fieldLen, _TGD2) ) {
|
---|
[6518] | 1534 | _checkState = bad;
|
---|
[6400] | 1535 | return;
|
---|
| 1536 | }
|
---|
| 1537 | _SatH1 = int(SatH1);
|
---|
| 1538 | }
|
---|
| 1539 |
|
---|
| 1540 | else if ( iLine == 7 ) {
|
---|
| 1541 | double aodc;
|
---|
[6755] | 1542 | if ( readDbl(line, pos[0], fieldLen, _TOTs) ||
|
---|
[6400] | 1543 | readDbl(line, pos[1], fieldLen, aodc) ) {
|
---|
[6518] | 1544 | _checkState = bad;
|
---|
[6400] | 1545 | return;
|
---|
| 1546 | }
|
---|
[6755] | 1547 | if (_TOTs == 0.9999e9) { // 0.9999e9 means not known (RINEX standard)
|
---|
| 1548 | _TOTs = _TOEs;
|
---|
[6400] | 1549 | }
|
---|
| 1550 | _AODC = int(aodc);
|
---|
| 1551 | }
|
---|
| 1552 | }
|
---|
| 1553 |
|
---|
[6756] | 1554 | TOEw += 1356; // BDT -> GPS week number
|
---|
| 1555 | _TOE_bdt.set(int(TOEw), _TOEs);
|
---|
[6400] | 1556 |
|
---|
| 1557 | // GPS->BDT
|
---|
| 1558 | // --------
|
---|
| 1559 | _TOC = _TOC_bdt + 14.0;
|
---|
| 1560 | _TOE = _TOE_bdt + 14.0;
|
---|
| 1561 |
|
---|
| 1562 | // remark: actually should be computed from second_tot
|
---|
| 1563 | // but it seems to be unreliable in RINEX files
|
---|
| 1564 | _TOT = _TOC;
|
---|
| 1565 | }
|
---|
| 1566 |
|
---|
[6601] | 1567 | // Set BDS Satellite Position
|
---|
| 1568 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1569 | void t_ephBDS::set(const bdsephemeris* ee) {
|
---|
| 1570 |
|
---|
[6756] | 1571 | // RTCM usage: set RINEX File entries to zero
|
---|
| 1572 | // ------------------------------------------
|
---|
[6755] | 1573 | _TOTs = 0.0;
|
---|
| 1574 | _TOEs = 0.0;
|
---|
| 1575 |
|
---|
[6601] | 1576 | _receptDateTime = currentDateAndTimeGPS();
|
---|
| 1577 |
|
---|
[6616] | 1578 | _prn.set('C', ee->satellite - PRN_BDS_START + 1);
|
---|
[6601] | 1579 |
|
---|
[6616] | 1580 | _TOE_bdt.set(1356 + ee->BDSweek, ee->TOE);
|
---|
| 1581 | _TOE = _TOE_bdt + 14.0;
|
---|
[6601] | 1582 |
|
---|
[6616] | 1583 | _TOC_bdt.set(1356 + ee->BDSweek, ee->TOC);
|
---|
| 1584 | _TOC = _TOC_bdt + 14.0;
|
---|
[6603] | 1585 |
|
---|
[6616] | 1586 | _AODE = ee->AODE;
|
---|
| 1587 | _AODC = ee->AODC;
|
---|
[6603] | 1588 |
|
---|
[6601] | 1589 | _clock_bias = ee->clock_bias;
|
---|
| 1590 | _clock_drift = ee->clock_drift;
|
---|
| 1591 | _clock_driftrate = ee->clock_driftrate;
|
---|
| 1592 |
|
---|
| 1593 | _Crs = ee->Crs;
|
---|
| 1594 | _Delta_n = ee->Delta_n;
|
---|
| 1595 | _M0 = ee->M0;
|
---|
| 1596 |
|
---|
| 1597 | _Cuc = ee->Cuc;
|
---|
| 1598 | _e = ee->e;
|
---|
| 1599 | _Cus = ee->Cus;
|
---|
| 1600 | _sqrt_A = ee->sqrt_A;
|
---|
| 1601 |
|
---|
| 1602 | _Cic = ee->Cic;
|
---|
| 1603 | _OMEGA0 = ee->OMEGA0;
|
---|
| 1604 | _Cis = ee->Cis;
|
---|
| 1605 |
|
---|
| 1606 | _i0 = ee->i0;
|
---|
| 1607 | _Crc = ee->Crc;
|
---|
| 1608 | _omega = ee->omega;
|
---|
| 1609 | _OMEGADOT = ee->OMEGADOT;
|
---|
| 1610 | _IDOT = ee->IDOT;
|
---|
| 1611 |
|
---|
| 1612 | _TGD1 = ee->TGD_B1_B3;
|
---|
| 1613 | _TGD2 = ee->TGD_B2_B3;
|
---|
| 1614 |
|
---|
[6798] | 1615 | if ((ee->URAI < 6) && (ee->URAI >= 0)) {
|
---|
| 1616 | _URA = ceil(10.0 * pow(2.0, ((double)ee->URAI/2.0) + 1.0)) / 10.0;
|
---|
| 1617 | }
|
---|
| 1618 | if ((ee->URAI >= 6) && (ee->URAI < 15)) {
|
---|
| 1619 | _URA = ceil(10.0 * pow(2.0, ((double)ee->URAI/2.0) )) / 10.0;
|
---|
| 1620 | }
|
---|
[6621] | 1621 | _SatH1 = (ee->flags & BDSEPHF_SATH1) ? 1: 0;
|
---|
[6601] | 1622 |
|
---|
| 1623 | }
|
---|
| 1624 |
|
---|
| 1625 | // Compute BDS Satellite Position (virtual)
|
---|
[6400] | 1626 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6600] | 1627 | t_irc t_ephBDS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
|
---|
[6400] | 1628 |
|
---|
[6518] | 1629 | if (_checkState == bad) {
|
---|
| 1630 | return failure;
|
---|
| 1631 | }
|
---|
| 1632 |
|
---|
[6602] | 1633 | static const double gmBDS = 398.6004418e12;
|
---|
| 1634 | static const double omegaBDS = 7292115.0000e-11;
|
---|
[6400] | 1635 |
|
---|
| 1636 | xc[0] = xc[1] = xc[2] = xc[3] = 0.0;
|
---|
| 1637 | vv[0] = vv[1] = vv[2] = 0.0;
|
---|
| 1638 |
|
---|
| 1639 | bncTime tt(GPSweek, GPSweeks);
|
---|
| 1640 |
|
---|
| 1641 | if (_sqrt_A == 0) {
|
---|
| 1642 | return failure;
|
---|
| 1643 | }
|
---|
| 1644 | double a0 = _sqrt_A * _sqrt_A;
|
---|
| 1645 |
|
---|
[6602] | 1646 | double n0 = sqrt(gmBDS/(a0*a0*a0));
|
---|
[6400] | 1647 | double tk = tt - _TOE;
|
---|
| 1648 | double n = n0 + _Delta_n;
|
---|
| 1649 | double M = _M0 + n*tk;
|
---|
| 1650 | double E = M;
|
---|
| 1651 | double E_last;
|
---|
| 1652 | int nLoop = 0;
|
---|
| 1653 | do {
|
---|
| 1654 | E_last = E;
|
---|
| 1655 | E = M + _e*sin(E);
|
---|
| 1656 |
|
---|
| 1657 | if (++nLoop == 100) {
|
---|
| 1658 | return failure;
|
---|
| 1659 | }
|
---|
| 1660 | } while ( fabs(E-E_last)*a0 > 0.001 );
|
---|
| 1661 |
|
---|
| 1662 | double v = atan2(sqrt(1-_e*_e) * sin(E), cos(E) - _e);
|
---|
| 1663 | double u0 = v + _omega;
|
---|
| 1664 | double sin2u0 = sin(2*u0);
|
---|
| 1665 | double cos2u0 = cos(2*u0);
|
---|
| 1666 | double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
|
---|
| 1667 | double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
|
---|
| 1668 | double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
|
---|
| 1669 | double xp = r*cos(u);
|
---|
| 1670 | double yp = r*sin(u);
|
---|
| 1671 | double toesec = (_TOE.gpssec() - 14.0);
|
---|
| 1672 |
|
---|
| 1673 | double sinom = 0;
|
---|
| 1674 | double cosom = 0;
|
---|
| 1675 | double sini = 0;
|
---|
| 1676 | double cosi = 0;
|
---|
| 1677 |
|
---|
| 1678 | const double iMaxGEO = 10.0 / 180.0 * M_PI;
|
---|
| 1679 |
|
---|
| 1680 | // MEO/IGSO satellite
|
---|
| 1681 | // ------------------
|
---|
| 1682 | if (_i0 > iMaxGEO) {
|
---|
[6602] | 1683 | double OM = _OMEGA0 + (_OMEGADOT - omegaBDS)*tk - omegaBDS*toesec;
|
---|
[6400] | 1684 |
|
---|
| 1685 | sinom = sin(OM);
|
---|
| 1686 | cosom = cos(OM);
|
---|
| 1687 | sini = sin(i);
|
---|
| 1688 | cosi = cos(i);
|
---|
| 1689 |
|
---|
| 1690 | xc[0] = xp*cosom - yp*cosi*sinom;
|
---|
| 1691 | xc[1] = xp*sinom + yp*cosi*cosom;
|
---|
| 1692 | xc[2] = yp*sini;
|
---|
| 1693 | }
|
---|
| 1694 |
|
---|
| 1695 | // GEO satellite
|
---|
| 1696 | // -------------
|
---|
| 1697 | else {
|
---|
[6602] | 1698 | double OM = _OMEGA0 + _OMEGADOT*tk - omegaBDS*toesec;
|
---|
| 1699 | double ll = omegaBDS*tk;
|
---|
[6400] | 1700 |
|
---|
| 1701 | sinom = sin(OM);
|
---|
| 1702 | cosom = cos(OM);
|
---|
| 1703 | sini = sin(i);
|
---|
| 1704 | cosi = cos(i);
|
---|
| 1705 |
|
---|
| 1706 | double xx = xp*cosom - yp*cosi*sinom;
|
---|
| 1707 | double yy = xp*sinom + yp*cosi*cosom;
|
---|
| 1708 | double zz = yp*sini;
|
---|
| 1709 |
|
---|
| 1710 | Matrix R1 = BNC_PPP::t_astro::rotX(-5.0 / 180.0 * M_PI);
|
---|
| 1711 | Matrix R2 = BNC_PPP::t_astro::rotZ(ll);
|
---|
| 1712 |
|
---|
| 1713 | ColumnVector X1(3); X1 << xx << yy << zz;
|
---|
| 1714 | ColumnVector X2 = R2*R1*X1;
|
---|
| 1715 |
|
---|
| 1716 | xc[0] = X2(1);
|
---|
| 1717 | xc[1] = X2(2);
|
---|
| 1718 | xc[2] = X2(3);
|
---|
| 1719 | }
|
---|
| 1720 |
|
---|
| 1721 | double tc = tt - _TOC;
|
---|
| 1722 | xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc
|
---|
| 1723 | - 4.442807633e-10 * _e * sqrt(a0) *sin(E);
|
---|
| 1724 |
|
---|
| 1725 | // Velocity
|
---|
| 1726 | // --------
|
---|
| 1727 | double tanv2 = tan(v/2);
|
---|
| 1728 | double dEdM = 1 / (1 - _e*cos(E));
|
---|
| 1729 | double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2)
|
---|
| 1730 | / (1 + tanv2*tanv2) * dEdM * n;
|
---|
| 1731 | double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
|
---|
| 1732 | double dotom = _OMEGADOT - t_CST::omega;
|
---|
| 1733 | double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
|
---|
| 1734 | double dotr = a0 * _e*sin(E) * dEdM * n
|
---|
| 1735 | + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
|
---|
| 1736 | double dotx = dotr*cos(u) - r*sin(u)*dotu;
|
---|
| 1737 | double doty = dotr*sin(u) + r*cos(u)*dotu;
|
---|
| 1738 |
|
---|
| 1739 | vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
|
---|
| 1740 | - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
|
---|
| 1741 | + yp*sini*sinom*doti; // dX / di
|
---|
| 1742 |
|
---|
| 1743 | vv[1] = sinom *dotx + cosi*cosom *doty
|
---|
| 1744 | + xp*cosom*dotom - yp*cosi*sinom*dotom
|
---|
| 1745 | - yp*sini*cosom*doti;
|
---|
| 1746 |
|
---|
| 1747 | vv[2] = sini *doty + yp*cosi *doti;
|
---|
| 1748 |
|
---|
| 1749 | // dotC = _clock_drift + _clock_driftrate*tc
|
---|
| 1750 | // - 4.442807633e-10*_e*sqrt(a0)*cos(E) * dEdM * n;
|
---|
| 1751 |
|
---|
| 1752 | return success;
|
---|
| 1753 | }
|
---|
| 1754 |
|
---|
| 1755 | // RINEX Format String
|
---|
| 1756 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6600] | 1757 | QString t_ephBDS::toString(double version) const {
|
---|
[6400] | 1758 |
|
---|
| 1759 | QString rnxStr = rinexDateStr(_TOC_bdt, _prn, version);
|
---|
| 1760 |
|
---|
| 1761 | QTextStream out(&rnxStr);
|
---|
| 1762 |
|
---|
| 1763 | out << QString("%1%2%3\n")
|
---|
| 1764 | .arg(_clock_bias, 19, 'e', 12)
|
---|
| 1765 | .arg(_clock_drift, 19, 'e', 12)
|
---|
| 1766 | .arg(_clock_driftrate, 19, 'e', 12);
|
---|
| 1767 |
|
---|
| 1768 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
| 1769 |
|
---|
| 1770 | out << QString(fmt)
|
---|
| 1771 | .arg(double(_AODE), 19, 'e', 12)
|
---|
| 1772 | .arg(_Crs, 19, 'e', 12)
|
---|
| 1773 | .arg(_Delta_n, 19, 'e', 12)
|
---|
| 1774 | .arg(_M0, 19, 'e', 12);
|
---|
| 1775 |
|
---|
| 1776 | out << QString(fmt)
|
---|
| 1777 | .arg(_Cuc, 19, 'e', 12)
|
---|
| 1778 | .arg(_e, 19, 'e', 12)
|
---|
| 1779 | .arg(_Cus, 19, 'e', 12)
|
---|
| 1780 | .arg(_sqrt_A, 19, 'e', 12);
|
---|
| 1781 |
|
---|
[6755] | 1782 | double toes = _TOEs;
|
---|
| 1783 | if (!toes) { // RTCM stream input
|
---|
| 1784 | toes = _TOE_bdt.gpssec();
|
---|
| 1785 | }
|
---|
[6400] | 1786 | out << QString(fmt)
|
---|
[6755] | 1787 | .arg(toes, 19, 'e', 12)
|
---|
| 1788 | .arg(_Cic, 19, 'e', 12)
|
---|
| 1789 | .arg(_OMEGA0, 19, 'e', 12)
|
---|
| 1790 | .arg(_Cis, 19, 'e', 12);
|
---|
[6400] | 1791 |
|
---|
| 1792 | out << QString(fmt)
|
---|
| 1793 | .arg(_i0, 19, 'e', 12)
|
---|
| 1794 | .arg(_Crc, 19, 'e', 12)
|
---|
| 1795 | .arg(_omega, 19, 'e', 12)
|
---|
| 1796 | .arg(_OMEGADOT, 19, 'e', 12);
|
---|
| 1797 |
|
---|
| 1798 | out << QString(fmt)
|
---|
[6756] | 1799 | .arg(_IDOT, 19, 'e', 12)
|
---|
| 1800 | .arg(0.0, 19, 'e', 12)
|
---|
| 1801 | .arg(double(_TOE_bdt.gpsw() - 1356.0), 19, 'e', 12)
|
---|
| 1802 | .arg(0.0, 19, 'e', 12);
|
---|
[6400] | 1803 |
|
---|
| 1804 | out << QString(fmt)
|
---|
[6798] | 1805 | .arg(_URA, 19, 'e', 12)
|
---|
[6400] | 1806 | .arg(double(_SatH1), 19, 'e', 12)
|
---|
| 1807 | .arg(_TGD1, 19, 'e', 12)
|
---|
| 1808 | .arg(_TGD2, 19, 'e', 12);
|
---|
| 1809 |
|
---|
[6755] | 1810 | double tots = _TOTs;
|
---|
| 1811 | if (!tots) { // RTCM stream input
|
---|
| 1812 | tots = _TOE_bdt.gpssec();
|
---|
| 1813 | }
|
---|
[6400] | 1814 | out << QString(fmt)
|
---|
[6792] | 1815 | .arg(tots, 19, 'e', 12)
|
---|
[6755] | 1816 | .arg(double(_AODC), 19, 'e', 12)
|
---|
| 1817 | .arg("", 19, QChar(' '))
|
---|
| 1818 | .arg("", 19, QChar(' '));
|
---|
[6400] | 1819 | return rnxStr;
|
---|
| 1820 | }
|
---|
| 1821 |
|
---|