[1025] | 1 | #include <sstream>
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[2234] | 2 | #include <iostream>
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[1025] | 3 | #include <iomanip>
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[1239] | 4 | #include <cstring>
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[1025] | 5 |
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[2234] | 6 | #include <newmatio.h>
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| 7 |
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[1025] | 8 | #include "ephemeris.h"
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[2221] | 9 | #include "bncutils.h"
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[2285] | 10 | #include "bnctime.h"
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[5070] | 11 | #include "bnccore.h"
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[5839] | 12 | #include "bncutils.h"
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[6141] | 13 | #include "satObs.h"
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[6044] | 14 | #include "pppInclude.h"
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[6400] | 15 | #include "pppModel.h"
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[1025] | 16 |
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| 17 | using namespace std;
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| 18 |
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[5749] | 19 | // Constructor
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| 20 | ////////////////////////////////////////////////////////////////////////////
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| 21 | t_eph::t_eph() {
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[6518] | 22 | _checkState = unchecked;
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| 23 | _orbCorr = 0;
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| 24 | _clkCorr = 0;
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[5749] | 25 | }
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| 26 |
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| 27 | //
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| 28 | ////////////////////////////////////////////////////////////////////////////
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[6141] | 29 | void t_eph::setOrbCorr(const t_orbCorr* orbCorr) {
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[5749] | 30 | delete _orbCorr;
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[6141] | 31 | _orbCorr = new t_orbCorr(*orbCorr);
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[5749] | 32 | }
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| 33 |
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| 34 | //
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| 35 | ////////////////////////////////////////////////////////////////////////////
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[6141] | 36 | void t_eph::setClkCorr(const t_clkCorr* clkCorr) {
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[5749] | 37 | delete _clkCorr;
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[6141] | 38 | _clkCorr = new t_clkCorr(*clkCorr);
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[5749] | 39 | }
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| 40 |
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| 41 | //
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| 42 | ////////////////////////////////////////////////////////////////////////////
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[6109] | 43 | t_irc t_eph::getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const {
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[6518] | 44 |
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| 45 | if (_checkState == bad) {
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| 46 | return failure;
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| 47 | }
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[6556] | 48 | const QVector<int> updateInt = QVector<int>() << 1 << 2 << 5 << 10 << 15 << 30
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| 49 | << 60 << 120 << 240 << 300 << 600
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| 50 | << 900 << 1800 << 3600 << 7200
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| 51 | << 10800;
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[5749] | 52 | xc.ReSize(4);
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| 53 | vv.ReSize(3);
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[6213] | 54 | if (position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data()) != success) {
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| 55 | return failure;
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| 56 | }
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[5789] | 57 | if (useCorr) {
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[5839] | 58 | if (_orbCorr && _clkCorr) {
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[5849] | 59 | double dtO = tt - _orbCorr->_time;
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[6556] | 60 | if (_orbCorr->_updateInt) {
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| 61 | dtO -= (0.5 * updateInt[_orbCorr->_updateInt]);
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| 62 | }
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[5839] | 63 | ColumnVector dx(3);
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[5849] | 64 | dx[0] = _orbCorr->_xr[0] + _orbCorr->_dotXr[0] * dtO;
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| 65 | dx[1] = _orbCorr->_xr[1] + _orbCorr->_dotXr[1] * dtO;
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| 66 | dx[2] = _orbCorr->_xr[2] + _orbCorr->_dotXr[2] * dtO;
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| 67 |
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[7133] | 68 | RSW_to_XYZ(xc.Rows(1,3), vv.Rows(1,3), dx, dx);
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[5849] | 69 |
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[5839] | 70 | xc[0] -= dx[0];
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| 71 | xc[1] -= dx[1];
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| 72 | xc[2] -= dx[2];
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[5849] | 73 |
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[7133] | 74 | ColumnVector dv(3);
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| 75 | RSW_to_XYZ(xc.Rows(1,3), vv.Rows(1,3), _orbCorr->_dotXr, dv);
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| 76 |
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| 77 | vv[0] -= dv[0];
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| 78 | vv[1] -= dv[1];
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| 79 | vv[2] -= dv[2];
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| 80 |
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[5849] | 81 | double dtC = tt - _clkCorr->_time;
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[6556] | 82 | if (_clkCorr->_updateInt) {
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| 83 | dtC -= (0.5 * updateInt[_clkCorr->_updateInt]);
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| 84 | }
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[7014] | 85 | xc[3] += _clkCorr->_dClk + _clkCorr->_dotDClk * dtC + _clkCorr->_dotDotDClk * dtC * dtC;
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[5839] | 86 | }
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| 87 | else {
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| 88 | return failure;
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| 89 | }
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[5749] | 90 | }
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| 91 | return success;
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| 92 | }
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| 93 |
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[6801] | 94 | //
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| 95 | //////////////////////////////////////////////////////////////////////////////
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| 96 | QString t_eph::rinexDateStr(const bncTime& tt, const t_prn& prn, double version) {
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| 97 | QString prnStr(prn.toString().c_str());
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| 98 | return rinexDateStr(tt, prnStr, version);
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| 99 | }
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| 100 |
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| 101 | //
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| 102 | //////////////////////////////////////////////////////////////////////////////
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| 103 | QString t_eph::rinexDateStr(const bncTime& tt, const QString& prnStr, double version) {
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| 104 |
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| 105 | QString datStr;
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| 106 |
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| 107 | unsigned year, month, day, hour, min;
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| 108 | double sec;
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| 109 | tt.civil_date(year, month, day);
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| 110 | tt.civil_time(hour, min, sec);
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| 111 |
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| 112 | QTextStream out(&datStr);
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| 113 |
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| 114 | if (version < 3.0) {
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| 115 | QString prnHlp = prnStr.mid(1,2); if (prnHlp[0] == '0') prnHlp[0] = ' ';
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| 116 | out << prnHlp << QString(" %1 %2 %3 %4 %5%6")
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| 117 | .arg(year % 100, 2, 10, QChar('0'))
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| 118 | .arg(month, 2)
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| 119 | .arg(day, 2)
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| 120 | .arg(hour, 2)
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| 121 | .arg(min, 2)
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| 122 | .arg(sec, 5, 'f',1);
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| 123 | }
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| 124 | else {
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| 125 | out << prnStr << QString(" %1 %2 %3 %4 %5 %6")
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| 126 | .arg(year, 4)
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| 127 | .arg(month, 2, 10, QChar('0'))
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| 128 | .arg(day, 2, 10, QChar('0'))
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| 129 | .arg(hour, 2, 10, QChar('0'))
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| 130 | .arg(min, 2, 10, QChar('0'))
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| 131 | .arg(int(sec), 2, 10, QChar('0'));
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| 132 | }
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| 133 |
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| 134 | return datStr;
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| 135 | }
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| 136 |
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| 137 | // Constructor
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| 138 | //////////////////////////////////////////////////////////////////////////////
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| 139 | t_ephGPS::t_ephGPS(float rnxVersion, const QStringList& lines) {
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| 140 |
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| 141 | const int nLines = 8;
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| 142 |
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| 143 | if (lines.size() != nLines) {
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| 144 | _checkState = bad;
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| 145 | return;
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| 146 | }
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| 147 |
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| 148 | // RINEX Format
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| 149 | // ------------
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| 150 | int fieldLen = 19;
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| 151 |
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| 152 | int pos[4];
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| 153 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
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| 154 | pos[1] = pos[0] + fieldLen;
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| 155 | pos[2] = pos[1] + fieldLen;
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| 156 | pos[3] = pos[2] + fieldLen;
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| 157 |
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| 158 | // Read eight lines
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| 159 | // ----------------
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| 160 | for (int iLine = 0; iLine < nLines; iLine++) {
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| 161 | QString line = lines[iLine];
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| 162 |
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| 163 | if ( iLine == 0 ) {
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| 164 | QTextStream in(line.left(pos[1]).toAscii());
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| 165 | int year, month, day, hour, min;
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| 166 | double sec;
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| 167 |
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[7139] | 168 | QString prnStr, n;
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[6880] | 169 | in >> prnStr;
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| 170 | if (prnStr.size() == 1) {
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[7139] | 171 | in >> n;
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| 172 | prnStr.append(n);
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[6880] | 173 | }
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| 174 | in >> year >> month >> day >> hour >> min >> sec;
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[6801] | 175 | if (prnStr.at(0) == 'G') {
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| 176 | _prn.set('G', prnStr.mid(1).toInt());
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| 177 | }
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| 178 | else if (prnStr.at(0) == 'J') {
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| 179 | _prn.set('J', prnStr.mid(1).toInt());
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| 180 | }
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| 181 | else {
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| 182 | _prn.set('G', prnStr.toInt());
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| 183 | }
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| 184 |
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| 185 | if (year < 80) {
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| 186 | year += 2000;
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| 187 | }
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| 188 | else if (year < 100) {
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| 189 | year += 1900;
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| 190 | }
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| 191 |
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| 192 | _TOC.set(year, month, day, hour, min, sec);
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| 193 |
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| 194 | if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
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| 195 | readDbl(line, pos[2], fieldLen, _clock_drift ) ||
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| 196 | readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
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| 197 | _checkState = bad;
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| 198 | return;
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| 199 | }
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| 200 | }
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| 201 |
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| 202 | else if ( iLine == 1 ) {
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| 203 | if ( readDbl(line, pos[0], fieldLen, _IODE ) ||
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| 204 | readDbl(line, pos[1], fieldLen, _Crs ) ||
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| 205 | readDbl(line, pos[2], fieldLen, _Delta_n) ||
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| 206 | readDbl(line, pos[3], fieldLen, _M0 ) ) {
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| 207 | _checkState = bad;
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| 208 | return;
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| 209 | }
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| 210 | }
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| 211 |
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| 212 | else if ( iLine == 2 ) {
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| 213 | if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
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| 214 | readDbl(line, pos[1], fieldLen, _e ) ||
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| 215 | readDbl(line, pos[2], fieldLen, _Cus ) ||
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| 216 | readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
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| 217 | _checkState = bad;
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| 218 | return;
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| 219 | }
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| 220 | }
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| 221 |
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| 222 | else if ( iLine == 3 ) {
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| 223 | if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
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| 224 | readDbl(line, pos[1], fieldLen, _Cic ) ||
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| 225 | readDbl(line, pos[2], fieldLen, _OMEGA0) ||
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| 226 | readDbl(line, pos[3], fieldLen, _Cis ) ) {
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| 227 | _checkState = bad;
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| 228 | return;
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| 229 | }
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| 230 | }
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| 231 |
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| 232 | else if ( iLine == 4 ) {
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| 233 | if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
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| 234 | readDbl(line, pos[1], fieldLen, _Crc ) ||
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| 235 | readDbl(line, pos[2], fieldLen, _omega ) ||
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| 236 | readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
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| 237 | _checkState = bad;
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| 238 | return;
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| 239 | }
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| 240 | }
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| 241 |
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| 242 | else if ( iLine == 5 ) {
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| 243 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
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| 244 | readDbl(line, pos[1], fieldLen, _L2Codes) ||
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| 245 | readDbl(line, pos[2], fieldLen, _TOEweek ) ||
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| 246 | readDbl(line, pos[3], fieldLen, _L2PFlag) ) {
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| 247 | _checkState = bad;
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| 248 | return;
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| 249 | }
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| 250 | }
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| 251 |
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| 252 | else if ( iLine == 6 ) {
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| 253 | if ( readDbl(line, pos[0], fieldLen, _ura ) ||
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| 254 | readDbl(line, pos[1], fieldLen, _health) ||
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| 255 | readDbl(line, pos[2], fieldLen, _TGD ) ||
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| 256 | readDbl(line, pos[3], fieldLen, _IODC ) ) {
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| 257 | _checkState = bad;
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| 258 | return;
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| 259 | }
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| 260 | }
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| 261 |
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| 262 | else if ( iLine == 7 ) {
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| 263 | if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
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| 264 | _checkState = bad;
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| 265 | return;
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| 266 | }
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| 267 | readDbl(line, pos[1], fieldLen, _fitInterval); // _fitInterval optional
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| 268 | }
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| 269 | }
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| 270 | }
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| 271 |
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[2222] | 272 | // Compute GPS Satellite Position (virtual)
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[1025] | 273 | ////////////////////////////////////////////////////////////////////////////
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[6213] | 274 | t_irc t_ephGPS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
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[1025] | 275 |
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[6518] | 276 | if (_checkState == bad) {
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| 277 | return failure;
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| 278 | }
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| 279 |
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[1098] | 280 | static const double omegaEarth = 7292115.1467e-11;
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[5277] | 281 | static const double gmGRS = 398.6005e12;
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[1025] | 282 |
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| 283 | memset(xc, 0, 4*sizeof(double));
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| 284 | memset(vv, 0, 3*sizeof(double));
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| 285 |
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| 286 | double a0 = _sqrt_A * _sqrt_A;
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| 287 | if (a0 == 0) {
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[6213] | 288 | return failure;
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[1025] | 289 | }
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| 290 |
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[5277] | 291 | double n0 = sqrt(gmGRS/(a0*a0*a0));
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[4018] | 292 |
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| 293 | bncTime tt(GPSweek, GPSweeks);
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[4543] | 294 | double tk = tt - bncTime(int(_TOEweek), _TOEsec);
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[4018] | 295 |
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[1025] | 296 | double n = n0 + _Delta_n;
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| 297 | double M = _M0 + n*tk;
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| 298 | double E = M;
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| 299 | double E_last;
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| 300 | do {
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| 301 | E_last = E;
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| 302 | E = M + _e*sin(E);
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| 303 | } while ( fabs(E-E_last)*a0 > 0.001 );
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| 304 | double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
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| 305 | double u0 = v + _omega;
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| 306 | double sin2u0 = sin(2*u0);
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| 307 | double cos2u0 = cos(2*u0);
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| 308 | double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
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| 309 | double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
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| 310 | double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
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| 311 | double xp = r*cos(u);
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| 312 | double yp = r*sin(u);
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| 313 | double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
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[4018] | 314 | omegaEarth*_TOEsec;
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[1025] | 315 |
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| 316 | double sinom = sin(OM);
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| 317 | double cosom = cos(OM);
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| 318 | double sini = sin(i);
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| 319 | double cosi = cos(i);
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| 320 | xc[0] = xp*cosom - yp*cosi*sinom;
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| 321 | xc[1] = xp*sinom + yp*cosi*cosom;
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| 322 | xc[2] = yp*sini;
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| 323 |
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[4018] | 324 | double tc = tt - _TOC;
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[2429] | 325 | xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
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[1025] | 326 |
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| 327 | // Velocity
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| 328 | // --------
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| 329 | double tanv2 = tan(v/2);
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| 330 | double dEdM = 1 / (1 - _e*cos(E));
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| 331 | double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
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| 332 | * dEdM * n;
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| 333 | double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
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| 334 | double dotom = _OMEGADOT - omegaEarth;
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| 335 | double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
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| 336 | double dotr = a0 * _e*sin(E) * dEdM * n
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| 337 | + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
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| 338 | double dotx = dotr*cos(u) - r*sin(u)*dotu;
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| 339 | double doty = dotr*sin(u) + r*cos(u)*dotu;
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| 340 |
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| 341 | vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
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| 342 | - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
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| 343 | + yp*sini*sinom*doti; // dX / di
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| 344 |
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| 345 | vv[1] = sinom *dotx + cosi*cosom *doty
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| 346 | + xp*cosom*dotom - yp*cosi*sinom*dotom
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| 347 | - yp*sini*cosom*doti;
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| 348 |
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| 349 | vv[2] = sini *doty + yp*cosi *doti;
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[2429] | 350 |
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| 351 | // Relativistic Correction
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| 352 | // -----------------------
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| 353 | xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
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[6213] | 354 |
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| 355 | return success;
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[1025] | 356 | }
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| 357 |
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[6801] | 358 | // RINEX Format String
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| 359 | //////////////////////////////////////////////////////////////////////////////
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| 360 | QString t_ephGPS::toString(double version) const {
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[2221] | 361 |
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[6801] | 362 | QString rnxStr = rinexDateStr(_TOC, _prn, version);
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[2221] | 363 |
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[6801] | 364 | QTextStream out(&rnxStr);
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[2221] | 365 |
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[6801] | 366 | out << QString("%1%2%3\n")
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| 367 | .arg(_clock_bias, 19, 'e', 12)
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| 368 | .arg(_clock_drift, 19, 'e', 12)
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| 369 | .arg(_clock_driftrate, 19, 'e', 12);
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[2221] | 370 |
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[6801] | 371 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
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[2221] | 372 |
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[6801] | 373 | out << QString(fmt)
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| 374 | .arg(_IODE, 19, 'e', 12)
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| 375 | .arg(_Crs, 19, 'e', 12)
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| 376 | .arg(_Delta_n, 19, 'e', 12)
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| 377 | .arg(_M0, 19, 'e', 12);
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| 378 |
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| 379 | out << QString(fmt)
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| 380 | .arg(_Cuc, 19, 'e', 12)
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| 381 | .arg(_e, 19, 'e', 12)
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| 382 | .arg(_Cus, 19, 'e', 12)
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| 383 | .arg(_sqrt_A, 19, 'e', 12);
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| 384 |
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| 385 | out << QString(fmt)
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| 386 | .arg(_TOEsec, 19, 'e', 12)
|
---|
| 387 | .arg(_Cic, 19, 'e', 12)
|
---|
| 388 | .arg(_OMEGA0, 19, 'e', 12)
|
---|
| 389 | .arg(_Cis, 19, 'e', 12);
|
---|
| 390 |
|
---|
| 391 | out << QString(fmt)
|
---|
| 392 | .arg(_i0, 19, 'e', 12)
|
---|
| 393 | .arg(_Crc, 19, 'e', 12)
|
---|
| 394 | .arg(_omega, 19, 'e', 12)
|
---|
| 395 | .arg(_OMEGADOT, 19, 'e', 12);
|
---|
| 396 |
|
---|
| 397 | out << QString(fmt)
|
---|
| 398 | .arg(_IDOT, 19, 'e', 12)
|
---|
| 399 | .arg(_L2Codes, 19, 'e', 12)
|
---|
| 400 | .arg(_TOEweek, 19, 'e', 12)
|
---|
| 401 | .arg(_L2PFlag, 19, 'e', 12);
|
---|
| 402 |
|
---|
| 403 | out << QString(fmt)
|
---|
| 404 | .arg(_ura, 19, 'e', 12)
|
---|
| 405 | .arg(_health, 19, 'e', 12)
|
---|
| 406 | .arg(_TGD, 19, 'e', 12)
|
---|
| 407 | .arg(_IODC, 19, 'e', 12);
|
---|
| 408 |
|
---|
| 409 | out << QString(fmt)
|
---|
| 410 | .arg(_TOT, 19, 'e', 12)
|
---|
| 411 | .arg(_fitInterval, 19, 'e', 12)
|
---|
| 412 | .arg("", 19, QChar(' '))
|
---|
| 413 | .arg("", 19, QChar(' '));
|
---|
| 414 |
|
---|
| 415 | return rnxStr;
|
---|
[2221] | 416 | }
|
---|
| 417 |
|
---|
[6801] | 418 | // Constructor
|
---|
| 419 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 420 | t_ephGlo::t_ephGlo(float rnxVersion, const QStringList& lines) {
|
---|
[2221] | 421 |
|
---|
[6801] | 422 | const int nLines = 4;
|
---|
| 423 |
|
---|
| 424 | if (lines.size() != nLines) {
|
---|
| 425 | _checkState = bad;
|
---|
| 426 | return;
|
---|
[6518] | 427 | }
|
---|
| 428 |
|
---|
[6801] | 429 | // RINEX Format
|
---|
| 430 | // ------------
|
---|
| 431 | int fieldLen = 19;
|
---|
[2221] | 432 |
|
---|
[6801] | 433 | int pos[4];
|
---|
| 434 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
| 435 | pos[1] = pos[0] + fieldLen;
|
---|
| 436 | pos[2] = pos[1] + fieldLen;
|
---|
| 437 | pos[3] = pos[2] + fieldLen;
|
---|
[2221] | 438 |
|
---|
[6801] | 439 | // Read four lines
|
---|
| 440 | // ---------------
|
---|
| 441 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
| 442 | QString line = lines[iLine];
|
---|
[2221] | 443 |
|
---|
[6801] | 444 | if ( iLine == 0 ) {
|
---|
| 445 | QTextStream in(line.left(pos[1]).toAscii());
|
---|
[6213] | 446 |
|
---|
[6801] | 447 | int year, month, day, hour, min;
|
---|
| 448 | double sec;
|
---|
[2221] | 449 |
|
---|
[7139] | 450 | QString prnStr, n;
|
---|
[6880] | 451 | in >> prnStr;
|
---|
| 452 | if (prnStr.size() == 1) {
|
---|
[7139] | 453 | in >> n;
|
---|
| 454 | prnStr.append(n);
|
---|
[6880] | 455 | }
|
---|
| 456 | in >> year >> month >> day >> hour >> min >> sec;
|
---|
[6801] | 457 | if (prnStr.at(0) == 'R') {
|
---|
| 458 | _prn.set('R', prnStr.mid(1).toInt());
|
---|
| 459 | }
|
---|
| 460 | else {
|
---|
| 461 | _prn.set('R', prnStr.toInt());
|
---|
| 462 | }
|
---|
[2221] | 463 |
|
---|
[6801] | 464 | if (year < 80) {
|
---|
| 465 | year += 2000;
|
---|
| 466 | }
|
---|
| 467 | else if (year < 100) {
|
---|
| 468 | year += 1900;
|
---|
| 469 | }
|
---|
[2221] | 470 |
|
---|
[6801] | 471 | _gps_utc = gnumleap(year, month, day);
|
---|
[2221] | 472 |
|
---|
[6801] | 473 | _TOC.set(year, month, day, hour, min, sec);
|
---|
| 474 | _TOC = _TOC + _gps_utc;
|
---|
[6213] | 475 |
|
---|
[6801] | 476 | if ( readDbl(line, pos[1], fieldLen, _tau ) ||
|
---|
| 477 | readDbl(line, pos[2], fieldLen, _gamma) ||
|
---|
| 478 | readDbl(line, pos[3], fieldLen, _tki ) ) {
|
---|
| 479 | _checkState = bad;
|
---|
| 480 | return;
|
---|
| 481 | }
|
---|
[2221] | 482 |
|
---|
[6801] | 483 | _tau = -_tau;
|
---|
| 484 | }
|
---|
| 485 |
|
---|
| 486 | else if ( iLine == 1 ) {
|
---|
| 487 | if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
|
---|
| 488 | readDbl(line, pos[1], fieldLen, _x_velocity ) ||
|
---|
| 489 | readDbl(line, pos[2], fieldLen, _x_acceleration) ||
|
---|
| 490 | readDbl(line, pos[3], fieldLen, _health ) ) {
|
---|
| 491 | _checkState = bad;
|
---|
| 492 | return;
|
---|
| 493 | }
|
---|
| 494 | }
|
---|
| 495 |
|
---|
| 496 | else if ( iLine == 2 ) {
|
---|
| 497 | if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
|
---|
| 498 | readDbl(line, pos[1], fieldLen, _y_velocity ) ||
|
---|
| 499 | readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
|
---|
| 500 | readDbl(line, pos[3], fieldLen, _frequency_number) ) {
|
---|
| 501 | _checkState = bad;
|
---|
| 502 | return;
|
---|
| 503 | }
|
---|
| 504 | }
|
---|
| 505 |
|
---|
| 506 | else if ( iLine == 3 ) {
|
---|
| 507 | if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
|
---|
| 508 | readDbl(line, pos[1], fieldLen, _z_velocity ) ||
|
---|
| 509 | readDbl(line, pos[2], fieldLen, _z_acceleration) ||
|
---|
| 510 | readDbl(line, pos[3], fieldLen, _E ) ) {
|
---|
| 511 | _checkState = bad;
|
---|
| 512 | return;
|
---|
| 513 | }
|
---|
| 514 | }
|
---|
| 515 | }
|
---|
| 516 |
|
---|
| 517 | // Initialize status vector
|
---|
| 518 | // ------------------------
|
---|
| 519 | _tt = _TOC;
|
---|
| 520 | _xv.ReSize(6);
|
---|
| 521 | _xv(1) = _x_pos * 1.e3;
|
---|
| 522 | _xv(2) = _y_pos * 1.e3;
|
---|
| 523 | _xv(3) = _z_pos * 1.e3;
|
---|
| 524 | _xv(4) = _x_velocity * 1.e3;
|
---|
| 525 | _xv(5) = _y_velocity * 1.e3;
|
---|
| 526 | _xv(6) = _z_velocity * 1.e3;
|
---|
[2221] | 527 | }
|
---|
| 528 |
|
---|
[6801] | 529 | // Compute Glonass Satellite Position (virtual)
|
---|
[2771] | 530 | ////////////////////////////////////////////////////////////////////////////
|
---|
[6801] | 531 | t_irc t_ephGlo::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
|
---|
[2771] | 532 |
|
---|
[6518] | 533 | if (_checkState == bad) {
|
---|
| 534 | return failure;
|
---|
| 535 | }
|
---|
| 536 |
|
---|
[6801] | 537 | static const double nominalStep = 10.0;
|
---|
[2771] | 538 |
|
---|
| 539 | memset(xc, 0, 4*sizeof(double));
|
---|
| 540 | memset(vv, 0, 3*sizeof(double));
|
---|
| 541 |
|
---|
[6801] | 542 | double dtPos = bncTime(GPSweek, GPSweeks) - _tt;
|
---|
| 543 |
|
---|
| 544 | if (fabs(dtPos) > 24*3600.0) {
|
---|
[6213] | 545 | return failure;
|
---|
[2771] | 546 | }
|
---|
| 547 |
|
---|
[6801] | 548 | int nSteps = int(fabs(dtPos) / nominalStep) + 1;
|
---|
| 549 | double step = dtPos / nSteps;
|
---|
[4018] | 550 |
|
---|
[6801] | 551 | double acc[3];
|
---|
| 552 | acc[0] = _x_acceleration * 1.e3;
|
---|
| 553 | acc[1] = _y_acceleration * 1.e3;
|
---|
| 554 | acc[2] = _z_acceleration * 1.e3;
|
---|
| 555 | for (int ii = 1; ii <= nSteps; ii++) {
|
---|
| 556 | _xv = rungeKutta4(_tt.gpssec(), _xv, step, acc, glo_deriv);
|
---|
| 557 | _tt = _tt + step;
|
---|
| 558 | }
|
---|
[4018] | 559 |
|
---|
[6801] | 560 | // Position and Velocity
|
---|
| 561 | // ---------------------
|
---|
| 562 | xc[0] = _xv(1);
|
---|
| 563 | xc[1] = _xv(2);
|
---|
| 564 | xc[2] = _xv(3);
|
---|
[2771] | 565 |
|
---|
[6801] | 566 | vv[0] = _xv(4);
|
---|
| 567 | vv[1] = _xv(5);
|
---|
| 568 | vv[2] = _xv(6);
|
---|
[2771] | 569 |
|
---|
[6801] | 570 | // Clock Correction
|
---|
| 571 | // ----------------
|
---|
| 572 | double dtClk = bncTime(GPSweek, GPSweeks) - _TOC;
|
---|
| 573 | xc[3] = -_tau + _gamma * dtClk;
|
---|
[2771] | 574 |
|
---|
[6213] | 575 | return success;
|
---|
[2771] | 576 | }
|
---|
| 577 |
|
---|
[6801] | 578 | // RINEX Format String
|
---|
[3659] | 579 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6801] | 580 | QString t_ephGlo::toString(double version) const {
|
---|
[3664] | 581 |
|
---|
[6801] | 582 | QString rnxStr = rinexDateStr(_TOC-_gps_utc, _prn, version);
|
---|
[3699] | 583 |
|
---|
[6801] | 584 | QTextStream out(&rnxStr);
|
---|
[3664] | 585 |
|
---|
[6801] | 586 | out << QString("%1%2%3\n")
|
---|
| 587 | .arg(-_tau, 19, 'e', 12)
|
---|
| 588 | .arg(_gamma, 19, 'e', 12)
|
---|
| 589 | .arg(_tki, 19, 'e', 12);
|
---|
[3668] | 590 |
|
---|
[6801] | 591 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
[3664] | 592 |
|
---|
[6801] | 593 | out << QString(fmt)
|
---|
| 594 | .arg(_x_pos, 19, 'e', 12)
|
---|
| 595 | .arg(_x_velocity, 19, 'e', 12)
|
---|
| 596 | .arg(_x_acceleration, 19, 'e', 12)
|
---|
| 597 | .arg(_health, 19, 'e', 12);
|
---|
[3664] | 598 |
|
---|
[6801] | 599 | out << QString(fmt)
|
---|
| 600 | .arg(_y_pos, 19, 'e', 12)
|
---|
| 601 | .arg(_y_velocity, 19, 'e', 12)
|
---|
| 602 | .arg(_y_acceleration, 19, 'e', 12)
|
---|
| 603 | .arg(_frequency_number, 19, 'e', 12);
|
---|
[3666] | 604 |
|
---|
[6801] | 605 | out << QString(fmt)
|
---|
| 606 | .arg(_z_pos, 19, 'e', 12)
|
---|
| 607 | .arg(_z_velocity, 19, 'e', 12)
|
---|
| 608 | .arg(_z_acceleration, 19, 'e', 12)
|
---|
| 609 | .arg(_E, 19, 'e', 12);
|
---|
[3666] | 610 |
|
---|
[6801] | 611 | return rnxStr;
|
---|
[3659] | 612 | }
|
---|
| 613 |
|
---|
[6801] | 614 | // Derivative of the state vector using a simple force model (static)
|
---|
| 615 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 616 | ColumnVector t_ephGlo::glo_deriv(double /* tt */, const ColumnVector& xv,
|
---|
| 617 | double* acc) {
|
---|
[3659] | 618 |
|
---|
[6801] | 619 | // State vector components
|
---|
| 620 | // -----------------------
|
---|
| 621 | ColumnVector rr = xv.rows(1,3);
|
---|
| 622 | ColumnVector vv = xv.rows(4,6);
|
---|
[3699] | 623 |
|
---|
[6801] | 624 | // Acceleration
|
---|
[3699] | 625 | // ------------
|
---|
[6801] | 626 | static const double gmWGS = 398.60044e12;
|
---|
| 627 | static const double AE = 6378136.0;
|
---|
| 628 | static const double OMEGA = 7292115.e-11;
|
---|
| 629 | static const double C20 = -1082.6257e-6;
|
---|
[3699] | 630 |
|
---|
[6801] | 631 | double rho = rr.norm_Frobenius();
|
---|
| 632 | double t1 = -gmWGS/(rho*rho*rho);
|
---|
| 633 | double t2 = 3.0/2.0 * C20 * (gmWGS*AE*AE) / (rho*rho*rho*rho*rho);
|
---|
| 634 | double t3 = OMEGA * OMEGA;
|
---|
| 635 | double t4 = 2.0 * OMEGA;
|
---|
| 636 | double z2 = rr(3) * rr(3);
|
---|
[3699] | 637 |
|
---|
[6801] | 638 | // Vector of derivatives
|
---|
| 639 | // ---------------------
|
---|
| 640 | ColumnVector va(6);
|
---|
| 641 | va(1) = vv(1);
|
---|
| 642 | va(2) = vv(2);
|
---|
| 643 | va(3) = vv(3);
|
---|
| 644 | va(4) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(1) + t4*vv(2) + acc[0];
|
---|
| 645 | va(5) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(2) - t4*vv(1) + acc[1];
|
---|
| 646 | va(6) = (t1 + t2*(3.0-5.0*z2/(rho*rho)) ) * rr(3) + acc[2];
|
---|
[3699] | 647 |
|
---|
[6801] | 648 | return va;
|
---|
| 649 | }
|
---|
[3699] | 650 |
|
---|
[6801] | 651 | // IOD of Glonass Ephemeris (virtual)
|
---|
| 652 | ////////////////////////////////////////////////////////////////////////////
|
---|
[7169] | 653 | unsigned int t_ephGlo::IOD() const {
|
---|
[6801] | 654 | bncTime tMoscow = _TOC - _gps_utc + 3 * 3600.0;
|
---|
[7054] | 655 | return (unsigned long)tMoscow.daysec() / 900;
|
---|
[3659] | 656 | }
|
---|
| 657 |
|
---|
| 658 | // Constructor
|
---|
| 659 | //////////////////////////////////////////////////////////////////////////////
|
---|
[4891] | 660 | t_ephGal::t_ephGal(float rnxVersion, const QStringList& lines) {
|
---|
[6809] | 661 | int year, month, day, hour, min;
|
---|
| 662 | double sec;
|
---|
| 663 | QString prnStr;
|
---|
[4891] | 664 | const int nLines = 8;
|
---|
| 665 | if (lines.size() != nLines) {
|
---|
[6518] | 666 | _checkState = bad;
|
---|
[4891] | 667 | return;
|
---|
| 668 | }
|
---|
| 669 |
|
---|
| 670 | // RINEX Format
|
---|
| 671 | // ------------
|
---|
| 672 | int fieldLen = 19;
|
---|
[6792] | 673 | double SVhealth = 0.0;
|
---|
| 674 | double datasource = 0.0;
|
---|
[6798] | 675 |
|
---|
[4891] | 676 | int pos[4];
|
---|
| 677 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
| 678 | pos[1] = pos[0] + fieldLen;
|
---|
| 679 | pos[2] = pos[1] + fieldLen;
|
---|
| 680 | pos[3] = pos[2] + fieldLen;
|
---|
| 681 |
|
---|
| 682 | // Read eight lines
|
---|
| 683 | // ----------------
|
---|
| 684 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
| 685 | QString line = lines[iLine];
|
---|
| 686 |
|
---|
| 687 | if ( iLine == 0 ) {
|
---|
| 688 | QTextStream in(line.left(pos[1]).toAscii());
|
---|
[7140] | 689 | QString n;
|
---|
[6880] | 690 | in >> prnStr;
|
---|
| 691 | if (prnStr.size() == 1) {
|
---|
[7139] | 692 | in >> n;
|
---|
| 693 | prnStr.append(n);
|
---|
[6880] | 694 | }
|
---|
| 695 | in >> year >> month >> day >> hour >> min >> sec;
|
---|
[4891] | 696 | if (year < 80) {
|
---|
| 697 | year += 2000;
|
---|
| 698 | }
|
---|
| 699 | else if (year < 100) {
|
---|
| 700 | year += 1900;
|
---|
| 701 | }
|
---|
| 702 |
|
---|
| 703 | _TOC.set(year, month, day, hour, min, sec);
|
---|
| 704 |
|
---|
| 705 | if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
|
---|
| 706 | readDbl(line, pos[2], fieldLen, _clock_drift ) ||
|
---|
| 707 | readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
|
---|
[6518] | 708 | _checkState = bad;
|
---|
[4891] | 709 | return;
|
---|
| 710 | }
|
---|
| 711 | }
|
---|
| 712 |
|
---|
| 713 | else if ( iLine == 1 ) {
|
---|
| 714 | if ( readDbl(line, pos[0], fieldLen, _IODnav ) ||
|
---|
| 715 | readDbl(line, pos[1], fieldLen, _Crs ) ||
|
---|
| 716 | readDbl(line, pos[2], fieldLen, _Delta_n) ||
|
---|
| 717 | readDbl(line, pos[3], fieldLen, _M0 ) ) {
|
---|
[6518] | 718 | _checkState = bad;
|
---|
[4891] | 719 | return;
|
---|
| 720 | }
|
---|
| 721 | }
|
---|
| 722 |
|
---|
| 723 | else if ( iLine == 2 ) {
|
---|
| 724 | if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
|
---|
| 725 | readDbl(line, pos[1], fieldLen, _e ) ||
|
---|
| 726 | readDbl(line, pos[2], fieldLen, _Cus ) ||
|
---|
| 727 | readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
|
---|
[6518] | 728 | _checkState = bad;
|
---|
[4891] | 729 | return;
|
---|
| 730 | }
|
---|
| 731 | }
|
---|
| 732 |
|
---|
| 733 | else if ( iLine == 3 ) {
|
---|
| 734 | if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
|
---|
| 735 | readDbl(line, pos[1], fieldLen, _Cic ) ||
|
---|
| 736 | readDbl(line, pos[2], fieldLen, _OMEGA0) ||
|
---|
| 737 | readDbl(line, pos[3], fieldLen, _Cis ) ) {
|
---|
[6518] | 738 | _checkState = bad;
|
---|
[4891] | 739 | return;
|
---|
| 740 | }
|
---|
| 741 | }
|
---|
| 742 |
|
---|
| 743 | else if ( iLine == 4 ) {
|
---|
| 744 | if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
|
---|
| 745 | readDbl(line, pos[1], fieldLen, _Crc ) ||
|
---|
| 746 | readDbl(line, pos[2], fieldLen, _omega ) ||
|
---|
| 747 | readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
|
---|
[6518] | 748 | _checkState = bad;
|
---|
[4891] | 749 | return;
|
---|
| 750 | }
|
---|
| 751 | }
|
---|
| 752 |
|
---|
| 753 | else if ( iLine == 5 ) {
|
---|
[6792] | 754 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
|
---|
| 755 | readDbl(line, pos[1], fieldLen, datasource) ||
|
---|
| 756 | readDbl(line, pos[2], fieldLen, _TOEweek ) ) {
|
---|
[6518] | 757 | _checkState = bad;
|
---|
[4891] | 758 | return;
|
---|
[6792] | 759 | } else {
|
---|
| 760 | if (int(datasource) & (1<<8)) {
|
---|
[6812] | 761 | _fnav = true;
|
---|
| 762 | _inav = false;
|
---|
[6792] | 763 | } else if (int(datasource) & (1<<9)) {
|
---|
[6812] | 764 | _fnav = false;
|
---|
| 765 | _inav = true;
|
---|
[6792] | 766 | }
|
---|
[6892] | 767 | _TOEweek -= 1024.0;
|
---|
[4891] | 768 | }
|
---|
| 769 | }
|
---|
| 770 |
|
---|
| 771 | else if ( iLine == 6 ) {
|
---|
| 772 | if ( readDbl(line, pos[0], fieldLen, _SISA ) ||
|
---|
[6792] | 773 | readDbl(line, pos[1], fieldLen, SVhealth) ||
|
---|
[4891] | 774 | readDbl(line, pos[2], fieldLen, _BGD_1_5A) ||
|
---|
| 775 | readDbl(line, pos[3], fieldLen, _BGD_1_5B) ) {
|
---|
[6518] | 776 | _checkState = bad;
|
---|
[4891] | 777 | return;
|
---|
[6792] | 778 | } else {
|
---|
| 779 | // Bit 0
|
---|
[6812] | 780 | _e1DataInValid = (int(SVhealth) & (1<<0));
|
---|
[6792] | 781 | // Bit 1-2
|
---|
[6802] | 782 | _E1_bHS = double((int(SVhealth) >> 1) & 0x3);
|
---|
[6792] | 783 | // Bit 3
|
---|
[6812] | 784 | _e5aDataInValid = (int(SVhealth) & (1<<3));
|
---|
[6792] | 785 | // Bit 4-5
|
---|
[6802] | 786 | _E5aHS = double((int(SVhealth) >> 4) & 0x3);
|
---|
[6792] | 787 | // Bit 6
|
---|
[6812] | 788 | _e5bDataInValid = (int(SVhealth) & (1<<6));
|
---|
[6792] | 789 | // Bit 7-8
|
---|
[6802] | 790 | _E5bHS = double((int(SVhealth) >> 7) & 0x3);
|
---|
[6809] | 791 |
|
---|
| 792 | if (prnStr.at(0) == 'E') {
|
---|
[7140] | 793 | _prn.set('E', prnStr.mid(1).toInt(), _inav ? 1 : 0);
|
---|
[6809] | 794 | }
|
---|
[4891] | 795 | }
|
---|
| 796 | }
|
---|
| 797 |
|
---|
| 798 | else if ( iLine == 7 ) {
|
---|
| 799 | if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
|
---|
[6518] | 800 | _checkState = bad;
|
---|
[4891] | 801 | return;
|
---|
| 802 | }
|
---|
| 803 | }
|
---|
| 804 | }
|
---|
[3659] | 805 | }
|
---|
[4013] | 806 |
|
---|
[6801] | 807 | // Compute Galileo Satellite Position (virtual)
|
---|
| 808 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 809 | t_irc t_ephGal::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
|
---|
[4013] | 810 |
|
---|
[6801] | 811 | if (_checkState == bad) {
|
---|
| 812 | return failure;
|
---|
| 813 | }
|
---|
[4013] | 814 |
|
---|
[6801] | 815 | static const double omegaEarth = 7292115.1467e-11;
|
---|
| 816 | static const double gmWGS = 398.60044e12;
|
---|
[4023] | 817 |
|
---|
[6801] | 818 | memset(xc, 0, 4*sizeof(double));
|
---|
| 819 | memset(vv, 0, 3*sizeof(double));
|
---|
[4023] | 820 |
|
---|
[6801] | 821 | double a0 = _sqrt_A * _sqrt_A;
|
---|
| 822 | if (a0 == 0) {
|
---|
| 823 | return failure;
|
---|
| 824 | }
|
---|
[4023] | 825 |
|
---|
[6801] | 826 | double n0 = sqrt(gmWGS/(a0*a0*a0));
|
---|
[4023] | 827 |
|
---|
[6801] | 828 | bncTime tt(GPSweek, GPSweeks);
|
---|
| 829 | double tk = tt - bncTime(_TOC.gpsw(), _TOEsec);
|
---|
[4023] | 830 |
|
---|
[6801] | 831 | double n = n0 + _Delta_n;
|
---|
| 832 | double M = _M0 + n*tk;
|
---|
| 833 | double E = M;
|
---|
| 834 | double E_last;
|
---|
| 835 | do {
|
---|
| 836 | E_last = E;
|
---|
| 837 | E = M + _e*sin(E);
|
---|
| 838 | } while ( fabs(E-E_last)*a0 > 0.001 );
|
---|
| 839 | double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
|
---|
| 840 | double u0 = v + _omega;
|
---|
| 841 | double sin2u0 = sin(2*u0);
|
---|
| 842 | double cos2u0 = cos(2*u0);
|
---|
| 843 | double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
|
---|
| 844 | double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
|
---|
| 845 | double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
|
---|
| 846 | double xp = r*cos(u);
|
---|
| 847 | double yp = r*sin(u);
|
---|
| 848 | double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
|
---|
| 849 | omegaEarth*_TOEsec;
|
---|
[4023] | 850 |
|
---|
[6801] | 851 | double sinom = sin(OM);
|
---|
| 852 | double cosom = cos(OM);
|
---|
| 853 | double sini = sin(i);
|
---|
| 854 | double cosi = cos(i);
|
---|
| 855 | xc[0] = xp*cosom - yp*cosi*sinom;
|
---|
| 856 | xc[1] = xp*sinom + yp*cosi*cosom;
|
---|
| 857 | xc[2] = yp*sini;
|
---|
[4023] | 858 |
|
---|
[6801] | 859 | double tc = tt - _TOC;
|
---|
| 860 | xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
|
---|
[4023] | 861 |
|
---|
[6801] | 862 | // Velocity
|
---|
| 863 | // --------
|
---|
| 864 | double tanv2 = tan(v/2);
|
---|
| 865 | double dEdM = 1 / (1 - _e*cos(E));
|
---|
| 866 | double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
|
---|
| 867 | * dEdM * n;
|
---|
| 868 | double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
|
---|
| 869 | double dotom = _OMEGADOT - omegaEarth;
|
---|
| 870 | double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
|
---|
| 871 | double dotr = a0 * _e*sin(E) * dEdM * n
|
---|
| 872 | + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
|
---|
| 873 | double dotx = dotr*cos(u) - r*sin(u)*dotu;
|
---|
| 874 | double doty = dotr*sin(u) + r*cos(u)*dotu;
|
---|
[4023] | 875 |
|
---|
[6801] | 876 | vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
|
---|
| 877 | - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
|
---|
| 878 | + yp*sini*sinom*doti; // dX / di
|
---|
| 879 |
|
---|
| 880 | vv[1] = sinom *dotx + cosi*cosom *doty
|
---|
| 881 | + xp*cosom*dotom - yp*cosi*sinom*dotom
|
---|
| 882 | - yp*sini*cosom*doti;
|
---|
| 883 |
|
---|
| 884 | vv[2] = sini *doty + yp*cosi *doti;
|
---|
| 885 |
|
---|
| 886 | // Relativistic Correction
|
---|
| 887 | // -----------------------
|
---|
| 888 | // xc(4) -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
|
---|
| 889 | xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
|
---|
| 890 |
|
---|
| 891 | return success;
|
---|
[4023] | 892 | }
|
---|
| 893 |
|
---|
| 894 | // RINEX Format String
|
---|
| 895 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 896 | QString t_ephGal::toString(double version) const {
|
---|
| 897 |
|
---|
[4029] | 898 | QString rnxStr = rinexDateStr(_TOC, _prn, version);
|
---|
[4023] | 899 |
|
---|
| 900 | QTextStream out(&rnxStr);
|
---|
| 901 |
|
---|
| 902 | out << QString("%1%2%3\n")
|
---|
| 903 | .arg(_clock_bias, 19, 'e', 12)
|
---|
| 904 | .arg(_clock_drift, 19, 'e', 12)
|
---|
| 905 | .arg(_clock_driftrate, 19, 'e', 12);
|
---|
| 906 |
|
---|
| 907 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
| 908 |
|
---|
| 909 | out << QString(fmt)
|
---|
| 910 | .arg(_IODnav, 19, 'e', 12)
|
---|
| 911 | .arg(_Crs, 19, 'e', 12)
|
---|
| 912 | .arg(_Delta_n, 19, 'e', 12)
|
---|
| 913 | .arg(_M0, 19, 'e', 12);
|
---|
| 914 |
|
---|
| 915 | out << QString(fmt)
|
---|
| 916 | .arg(_Cuc, 19, 'e', 12)
|
---|
| 917 | .arg(_e, 19, 'e', 12)
|
---|
| 918 | .arg(_Cus, 19, 'e', 12)
|
---|
| 919 | .arg(_sqrt_A, 19, 'e', 12);
|
---|
| 920 |
|
---|
| 921 | out << QString(fmt)
|
---|
| 922 | .arg(_TOEsec, 19, 'e', 12)
|
---|
| 923 | .arg(_Cic, 19, 'e', 12)
|
---|
| 924 | .arg(_OMEGA0, 19, 'e', 12)
|
---|
| 925 | .arg(_Cis, 19, 'e', 12);
|
---|
| 926 |
|
---|
| 927 | out << QString(fmt)
|
---|
| 928 | .arg(_i0, 19, 'e', 12)
|
---|
| 929 | .arg(_Crc, 19, 'e', 12)
|
---|
| 930 | .arg(_omega, 19, 'e', 12)
|
---|
| 931 | .arg(_OMEGADOT, 19, 'e', 12);
|
---|
| 932 |
|
---|
[6792] | 933 | int dataSource = 0;
|
---|
| 934 | int SVhealth = 0;
|
---|
| 935 | double BGD_1_5A = _BGD_1_5A;
|
---|
| 936 | double BGD_1_5B = _BGD_1_5B;
|
---|
[6812] | 937 | if (_fnav) {
|
---|
[6792] | 938 | dataSource |= (1<<1);
|
---|
| 939 | dataSource |= (1<<8);
|
---|
| 940 | BGD_1_5B = 0.0;
|
---|
| 941 | // SVhealth
|
---|
| 942 | // Bit 3 : E5a DVS
|
---|
[6812] | 943 | if (_e5aDataInValid) {
|
---|
[6792] | 944 | SVhealth |= (1<<3);
|
---|
| 945 | }
|
---|
| 946 | // Bit 4-5: E5a HS
|
---|
| 947 | if (_E5aHS == 1.0) {
|
---|
| 948 | SVhealth |= (1<<4);
|
---|
| 949 | }
|
---|
| 950 | else if (_E5aHS == 2.0) {
|
---|
| 951 | SVhealth |= (1<<5);
|
---|
| 952 | }
|
---|
| 953 | else if (_E5aHS == 3.0) {
|
---|
| 954 | SVhealth |= (1<<4);
|
---|
| 955 | SVhealth |= (1<<5);
|
---|
| 956 | }
|
---|
| 957 | }
|
---|
[6812] | 958 | else if(_inav) {
|
---|
[6803] | 959 | // Bit 2 and 0 are set because from MT1046 the data source cannot be determined
|
---|
| 960 | // and RNXv3.03 says both can be set if the navigation messages were merged
|
---|
[5539] | 961 | dataSource |= (1<<0);
|
---|
[6792] | 962 | dataSource |= (1<<2);
|
---|
[5540] | 963 | dataSource |= (1<<9);
|
---|
[6792] | 964 | // SVhealth
|
---|
| 965 | // Bit 0 : E1-B DVS
|
---|
[6812] | 966 | if (_e1DataInValid) {
|
---|
[6792] | 967 | SVhealth |= (1<<0);
|
---|
| 968 | }
|
---|
| 969 | // Bit 1-2: E1-B HS
|
---|
| 970 | if (_E1_bHS == 1.0) {
|
---|
| 971 | SVhealth |= (1<<1);
|
---|
| 972 | }
|
---|
| 973 | else if (_E1_bHS == 2.0) {
|
---|
| 974 | SVhealth |= (1<<2);
|
---|
| 975 | }
|
---|
[6803] | 976 | else if (_E1_bHS == 3.0) {
|
---|
[6792] | 977 | SVhealth |= (1<<1);
|
---|
| 978 | SVhealth |= (1<<2);
|
---|
| 979 | }
|
---|
[6802] | 980 | // Bit 3 : E5a DVS
|
---|
[6812] | 981 | if (_e5aDataInValid) {
|
---|
[6802] | 982 | SVhealth |= (1<<3);
|
---|
| 983 | }
|
---|
| 984 | // Bit 4-5: E5a HS
|
---|
| 985 | if (_E5aHS == 1.0) {
|
---|
| 986 | SVhealth |= (1<<4);
|
---|
| 987 | }
|
---|
| 988 | else if (_E5aHS == 2.0) {
|
---|
| 989 | SVhealth |= (1<<5);
|
---|
| 990 | }
|
---|
[6803] | 991 | else if (_E5aHS == 3.0) {
|
---|
[6802] | 992 | SVhealth |= (1<<4);
|
---|
| 993 | SVhealth |= (1<<5);
|
---|
| 994 | }
|
---|
[6792] | 995 | // Bit 6 : E5b DVS
|
---|
[6812] | 996 | if (_e5bDataInValid) {
|
---|
[6792] | 997 | SVhealth |= (1<<6);
|
---|
| 998 | }
|
---|
| 999 | // Bit 7-8: E5b HS
|
---|
| 1000 | if (_E5bHS == 1.0) {
|
---|
| 1001 | SVhealth |= (1<<7);
|
---|
| 1002 | }
|
---|
| 1003 | else if (_E5bHS == 2.0) {
|
---|
| 1004 | SVhealth |= (1<<8);
|
---|
| 1005 | }
|
---|
[6803] | 1006 | else if (_E5bHS == 3.0) {
|
---|
[6792] | 1007 | SVhealth |= (1<<7);
|
---|
| 1008 | SVhealth |= (1<<8);
|
---|
| 1009 | }
|
---|
[5539] | 1010 | }
|
---|
[6792] | 1011 |
|
---|
[4023] | 1012 | out << QString(fmt)
|
---|
[5532] | 1013 | .arg(_IDOT, 19, 'e', 12)
|
---|
| 1014 | .arg(double(dataSource), 19, 'e', 12)
|
---|
[6892] | 1015 | .arg(_TOEweek + 1024.0, 19, 'e', 12)
|
---|
[5532] | 1016 | .arg(0.0, 19, 'e', 12);
|
---|
[4023] | 1017 |
|
---|
| 1018 | out << QString(fmt)
|
---|
[6798] | 1019 | .arg(_SISA, 19, 'e', 12)
|
---|
[6792] | 1020 | .arg(double(SVhealth), 19, 'e', 12)
|
---|
| 1021 | .arg(BGD_1_5A, 19, 'e', 12)
|
---|
| 1022 | .arg(BGD_1_5B, 19, 'e', 12);
|
---|
[4023] | 1023 |
|
---|
| 1024 | out << QString(fmt)
|
---|
| 1025 | .arg(_TOT, 19, 'e', 12)
|
---|
[4024] | 1026 | .arg("", 19, QChar(' '))
|
---|
| 1027 | .arg("", 19, QChar(' '))
|
---|
| 1028 | .arg("", 19, QChar(' '));
|
---|
[4023] | 1029 |
|
---|
| 1030 | return rnxStr;
|
---|
| 1031 | }
|
---|
| 1032 |
|
---|
[6385] | 1033 | // Constructor
|
---|
| 1034 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6390] | 1035 | t_ephSBAS::t_ephSBAS(float rnxVersion, const QStringList& lines) {
|
---|
| 1036 |
|
---|
| 1037 | const int nLines = 4;
|
---|
| 1038 |
|
---|
| 1039 | if (lines.size() != nLines) {
|
---|
[6518] | 1040 | _checkState = bad;
|
---|
[6390] | 1041 | return;
|
---|
| 1042 | }
|
---|
| 1043 |
|
---|
| 1044 | // RINEX Format
|
---|
| 1045 | // ------------
|
---|
| 1046 | int fieldLen = 19;
|
---|
| 1047 |
|
---|
| 1048 | int pos[4];
|
---|
| 1049 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
| 1050 | pos[1] = pos[0] + fieldLen;
|
---|
| 1051 | pos[2] = pos[1] + fieldLen;
|
---|
| 1052 | pos[3] = pos[2] + fieldLen;
|
---|
| 1053 |
|
---|
| 1054 | // Read four lines
|
---|
| 1055 | // ---------------
|
---|
| 1056 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
| 1057 | QString line = lines[iLine];
|
---|
| 1058 |
|
---|
| 1059 | if ( iLine == 0 ) {
|
---|
| 1060 | QTextStream in(line.left(pos[1]).toAscii());
|
---|
| 1061 |
|
---|
| 1062 | int year, month, day, hour, min;
|
---|
| 1063 | double sec;
|
---|
[6880] | 1064 |
|
---|
[7139] | 1065 | QString prnStr, n;
|
---|
[6880] | 1066 | in >> prnStr;
|
---|
| 1067 | if (prnStr.size() == 1) {
|
---|
[7139] | 1068 | in >> n;
|
---|
| 1069 | prnStr.append(n);
|
---|
[6880] | 1070 | }
|
---|
| 1071 | in >> year >> month >> day >> hour >> min >> sec;
|
---|
[6390] | 1072 | if (prnStr.at(0) == 'S') {
|
---|
| 1073 | _prn.set('S', prnStr.mid(1).toInt());
|
---|
| 1074 | }
|
---|
| 1075 | else {
|
---|
| 1076 | _prn.set('S', prnStr.toInt());
|
---|
| 1077 | }
|
---|
| 1078 |
|
---|
| 1079 | if (year < 80) {
|
---|
| 1080 | year += 2000;
|
---|
| 1081 | }
|
---|
| 1082 | else if (year < 100) {
|
---|
| 1083 | year += 1900;
|
---|
| 1084 | }
|
---|
| 1085 |
|
---|
| 1086 | _TOC.set(year, month, day, hour, min, sec);
|
---|
| 1087 |
|
---|
| 1088 | if ( readDbl(line, pos[1], fieldLen, _agf0 ) ||
|
---|
| 1089 | readDbl(line, pos[2], fieldLen, _agf1 ) ||
|
---|
| 1090 | readDbl(line, pos[3], fieldLen, _TOW ) ) {
|
---|
[6518] | 1091 | _checkState = bad;
|
---|
[6390] | 1092 | return;
|
---|
| 1093 | }
|
---|
| 1094 | }
|
---|
| 1095 |
|
---|
| 1096 | else if ( iLine == 1 ) {
|
---|
| 1097 | if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
|
---|
| 1098 | readDbl(line, pos[1], fieldLen, _x_velocity ) ||
|
---|
| 1099 | readDbl(line, pos[2], fieldLen, _x_acceleration) ||
|
---|
| 1100 | readDbl(line, pos[3], fieldLen, _health ) ) {
|
---|
[6518] | 1101 | _checkState = bad;
|
---|
[6390] | 1102 | return;
|
---|
| 1103 | }
|
---|
| 1104 | }
|
---|
| 1105 |
|
---|
| 1106 | else if ( iLine == 2 ) {
|
---|
| 1107 | if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
|
---|
| 1108 | readDbl(line, pos[1], fieldLen, _y_velocity ) ||
|
---|
| 1109 | readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
|
---|
| 1110 | readDbl(line, pos[3], fieldLen, _ura ) ) {
|
---|
[6518] | 1111 | _checkState = bad;
|
---|
[6390] | 1112 | return;
|
---|
| 1113 | }
|
---|
| 1114 | }
|
---|
| 1115 |
|
---|
| 1116 | else if ( iLine == 3 ) {
|
---|
[6536] | 1117 | double iodn;
|
---|
[6390] | 1118 | if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
|
---|
| 1119 | readDbl(line, pos[1], fieldLen, _z_velocity ) ||
|
---|
| 1120 | readDbl(line, pos[2], fieldLen, _z_acceleration) ||
|
---|
[6536] | 1121 | readDbl(line, pos[3], fieldLen, iodn ) ) {
|
---|
[6518] | 1122 | _checkState = bad;
|
---|
[6390] | 1123 | return;
|
---|
[6891] | 1124 | } else {
|
---|
[6536] | 1125 | _IODN = int(iodn);
|
---|
[6390] | 1126 | }
|
---|
| 1127 | }
|
---|
| 1128 | }
|
---|
| 1129 |
|
---|
| 1130 | _x_pos *= 1.e3;
|
---|
| 1131 | _y_pos *= 1.e3;
|
---|
| 1132 | _z_pos *= 1.e3;
|
---|
| 1133 | _x_velocity *= 1.e3;
|
---|
| 1134 | _y_velocity *= 1.e3;
|
---|
| 1135 | _z_velocity *= 1.e3;
|
---|
| 1136 | _x_acceleration *= 1.e3;
|
---|
| 1137 | _y_acceleration *= 1.e3;
|
---|
| 1138 | _z_acceleration *= 1.e3;
|
---|
[6385] | 1139 | }
|
---|
| 1140 |
|
---|
[7054] | 1141 | // IOD of SBAS Ephemeris (virtual)
|
---|
| 1142 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1143 |
|
---|
[7169] | 1144 | unsigned int t_ephSBAS::IOD() const {
|
---|
[7054] | 1145 | unsigned char buffer[80];
|
---|
| 1146 | int size = 0;
|
---|
| 1147 | int numbits = 0;
|
---|
| 1148 | long long bitbuffer = 0;
|
---|
| 1149 | unsigned char *startbuffer = buffer;
|
---|
| 1150 |
|
---|
| 1151 | SBASADDBITSFLOAT(30, this->_x_pos, 0.08)
|
---|
| 1152 | SBASADDBITSFLOAT(30, this->_y_pos, 0.08)
|
---|
| 1153 | SBASADDBITSFLOAT(25, this->_z_pos, 0.4)
|
---|
| 1154 | SBASADDBITSFLOAT(17, this->_x_velocity, 0.000625)
|
---|
| 1155 | SBASADDBITSFLOAT(17, this->_y_velocity, 0.000625)
|
---|
| 1156 | SBASADDBITSFLOAT(18, this->_z_velocity, 0.004)
|
---|
| 1157 | SBASADDBITSFLOAT(10, this->_x_acceleration, 0.0000125)
|
---|
| 1158 | SBASADDBITSFLOAT(10, this->_y_acceleration, 0.0000125)
|
---|
| 1159 | SBASADDBITSFLOAT(10, this->_z_acceleration, 0.0000625)
|
---|
| 1160 | SBASADDBITSFLOAT(12, this->_agf0, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
|
---|
| 1161 | SBASADDBITSFLOAT(8, this->_agf1, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<10))
|
---|
| 1162 | SBASADDBITS(5,0); // the last byte is filled by 0-bits to obtain a length of an integer multiple of 8
|
---|
| 1163 |
|
---|
| 1164 | return CRC24(size, startbuffer);
|
---|
| 1165 | }
|
---|
| 1166 |
|
---|
[6385] | 1167 | // Compute SBAS Satellite Position (virtual)
|
---|
| 1168 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1169 | t_irc t_ephSBAS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
|
---|
[6386] | 1170 |
|
---|
[6518] | 1171 | if (_checkState == bad) {
|
---|
| 1172 | return failure;
|
---|
| 1173 | }
|
---|
| 1174 |
|
---|
[6386] | 1175 | bncTime tt(GPSweek, GPSweeks);
|
---|
| 1176 | double dt = tt - _TOC;
|
---|
| 1177 |
|
---|
| 1178 | xc[0] = _x_pos + _x_velocity * dt + _x_acceleration * dt * dt / 2.0;
|
---|
| 1179 | xc[1] = _y_pos + _y_velocity * dt + _y_acceleration * dt * dt / 2.0;
|
---|
| 1180 | xc[2] = _z_pos + _z_velocity * dt + _z_acceleration * dt * dt / 2.0;
|
---|
| 1181 |
|
---|
| 1182 | vv[0] = _x_velocity + _x_acceleration * dt;
|
---|
| 1183 | vv[1] = _y_velocity + _y_acceleration * dt;
|
---|
| 1184 | vv[2] = _z_velocity + _z_acceleration * dt;
|
---|
| 1185 |
|
---|
| 1186 | xc[3] = _agf0 + _agf1 * dt;
|
---|
| 1187 |
|
---|
| 1188 | return success;
|
---|
[6385] | 1189 | }
|
---|
| 1190 |
|
---|
| 1191 | // RINEX Format String
|
---|
| 1192 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6388] | 1193 | QString t_ephSBAS::toString(double version) const {
|
---|
| 1194 |
|
---|
| 1195 | QString rnxStr = rinexDateStr(_TOC, _prn, version);
|
---|
| 1196 |
|
---|
| 1197 | QTextStream out(&rnxStr);
|
---|
| 1198 |
|
---|
| 1199 | out << QString("%1%2%3\n")
|
---|
[6390] | 1200 | .arg(_agf0, 19, 'e', 12)
|
---|
| 1201 | .arg(_agf1, 19, 'e', 12)
|
---|
| 1202 | .arg(_TOW, 19, 'e', 12);
|
---|
[6388] | 1203 |
|
---|
| 1204 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
| 1205 |
|
---|
| 1206 | out << QString(fmt)
|
---|
| 1207 | .arg(1.e-3*_x_pos, 19, 'e', 12)
|
---|
| 1208 | .arg(1.e-3*_x_velocity, 19, 'e', 12)
|
---|
| 1209 | .arg(1.e-3*_x_acceleration, 19, 'e', 12)
|
---|
[6390] | 1210 | .arg(_health, 19, 'e', 12);
|
---|
[6388] | 1211 |
|
---|
| 1212 | out << QString(fmt)
|
---|
| 1213 | .arg(1.e-3*_y_pos, 19, 'e', 12)
|
---|
| 1214 | .arg(1.e-3*_y_velocity, 19, 'e', 12)
|
---|
| 1215 | .arg(1.e-3*_y_acceleration, 19, 'e', 12)
|
---|
[6390] | 1216 | .arg(_ura, 19, 'e', 12);
|
---|
[6388] | 1217 |
|
---|
| 1218 | out << QString(fmt)
|
---|
| 1219 | .arg(1.e-3*_z_pos, 19, 'e', 12)
|
---|
| 1220 | .arg(1.e-3*_z_velocity, 19, 'e', 12)
|
---|
| 1221 | .arg(1.e-3*_z_acceleration, 19, 'e', 12)
|
---|
[6536] | 1222 | .arg(double(_IODN), 19, 'e', 12);
|
---|
[6388] | 1223 |
|
---|
| 1224 | return rnxStr;
|
---|
[6385] | 1225 | }
|
---|
[6400] | 1226 |
|
---|
| 1227 | // Constructor
|
---|
| 1228 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6600] | 1229 | t_ephBDS::t_ephBDS(float rnxVersion, const QStringList& lines) {
|
---|
[6400] | 1230 |
|
---|
| 1231 | const int nLines = 8;
|
---|
| 1232 |
|
---|
| 1233 | if (lines.size() != nLines) {
|
---|
[6518] | 1234 | _checkState = bad;
|
---|
[6400] | 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 eight 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;
|
---|
[6880] | 1258 |
|
---|
[7139] | 1259 | QString prnStr, n;
|
---|
[6880] | 1260 | in >> prnStr;
|
---|
| 1261 | if (prnStr.size() == 1) {
|
---|
[7139] | 1262 | in >> n;
|
---|
| 1263 | prnStr.append(n);
|
---|
[6880] | 1264 | }
|
---|
| 1265 | in >> year >> month >> day >> hour >> min >> sec;
|
---|
[6400] | 1266 | if (prnStr.at(0) == 'C') {
|
---|
| 1267 | _prn.set('C', prnStr.mid(1).toInt());
|
---|
| 1268 | }
|
---|
| 1269 | else {
|
---|
| 1270 | _prn.set('C', prnStr.toInt());
|
---|
| 1271 | }
|
---|
| 1272 |
|
---|
| 1273 | if (year < 80) {
|
---|
| 1274 | year += 2000;
|
---|
| 1275 | }
|
---|
| 1276 | else if (year < 100) {
|
---|
| 1277 | year += 1900;
|
---|
| 1278 | }
|
---|
| 1279 |
|
---|
[6812] | 1280 | _TOC.setBDS(year, month, day, hour, min, sec);
|
---|
[6400] | 1281 |
|
---|
| 1282 | if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
|
---|
| 1283 | readDbl(line, pos[2], fieldLen, _clock_drift ) ||
|
---|
| 1284 | readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
|
---|
[6518] | 1285 | _checkState = bad;
|
---|
[6400] | 1286 | return;
|
---|
| 1287 | }
|
---|
| 1288 | }
|
---|
| 1289 |
|
---|
| 1290 | else if ( iLine == 1 ) {
|
---|
| 1291 | double aode;
|
---|
| 1292 | if ( readDbl(line, pos[0], fieldLen, aode ) ||
|
---|
| 1293 | readDbl(line, pos[1], fieldLen, _Crs ) ||
|
---|
| 1294 | readDbl(line, pos[2], fieldLen, _Delta_n) ||
|
---|
| 1295 | readDbl(line, pos[3], fieldLen, _M0 ) ) {
|
---|
[6518] | 1296 | _checkState = bad;
|
---|
[6400] | 1297 | return;
|
---|
| 1298 | }
|
---|
| 1299 | _AODE = int(aode);
|
---|
| 1300 | }
|
---|
| 1301 |
|
---|
| 1302 | else if ( iLine == 2 ) {
|
---|
| 1303 | if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
|
---|
| 1304 | readDbl(line, pos[1], fieldLen, _e ) ||
|
---|
| 1305 | readDbl(line, pos[2], fieldLen, _Cus ) ||
|
---|
| 1306 | readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
|
---|
[6518] | 1307 | _checkState = bad;
|
---|
[6400] | 1308 | return;
|
---|
| 1309 | }
|
---|
| 1310 | }
|
---|
| 1311 |
|
---|
| 1312 | else if ( iLine == 3 ) {
|
---|
[6812] | 1313 | if ( readDbl(line, pos[0], fieldLen, _TOEsec ) ||
|
---|
[6400] | 1314 | readDbl(line, pos[1], fieldLen, _Cic ) ||
|
---|
| 1315 | readDbl(line, pos[2], fieldLen, _OMEGA0) ||
|
---|
| 1316 | readDbl(line, pos[3], fieldLen, _Cis ) ) {
|
---|
[6518] | 1317 | _checkState = bad;
|
---|
[6400] | 1318 | return;
|
---|
| 1319 | }
|
---|
| 1320 | }
|
---|
| 1321 |
|
---|
| 1322 | else if ( iLine == 4 ) {
|
---|
| 1323 | if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
|
---|
| 1324 | readDbl(line, pos[1], fieldLen, _Crc ) ||
|
---|
| 1325 | readDbl(line, pos[2], fieldLen, _omega ) ||
|
---|
| 1326 | readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
|
---|
[6518] | 1327 | _checkState = bad;
|
---|
[6400] | 1328 | return;
|
---|
| 1329 | }
|
---|
| 1330 | }
|
---|
| 1331 |
|
---|
| 1332 | else if ( iLine == 5 ) {
|
---|
| 1333 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
|
---|
[6812] | 1334 | readDbl(line, pos[2], fieldLen, _TOEweek)) {
|
---|
[6518] | 1335 | _checkState = bad;
|
---|
[6400] | 1336 | return;
|
---|
| 1337 | }
|
---|
| 1338 | }
|
---|
| 1339 |
|
---|
| 1340 | else if ( iLine == 6 ) {
|
---|
| 1341 | double SatH1;
|
---|
[6755] | 1342 | if ( readDbl(line, pos[0], fieldLen, _URA ) ||
|
---|
| 1343 | readDbl(line, pos[1], fieldLen, SatH1) ||
|
---|
[6400] | 1344 | readDbl(line, pos[2], fieldLen, _TGD1) ||
|
---|
| 1345 | readDbl(line, pos[3], fieldLen, _TGD2) ) {
|
---|
[6518] | 1346 | _checkState = bad;
|
---|
[6400] | 1347 | return;
|
---|
| 1348 | }
|
---|
| 1349 | _SatH1 = int(SatH1);
|
---|
| 1350 | }
|
---|
| 1351 |
|
---|
| 1352 | else if ( iLine == 7 ) {
|
---|
| 1353 | double aodc;
|
---|
[6812] | 1354 | if ( readDbl(line, pos[0], fieldLen, _TOT) ||
|
---|
[6400] | 1355 | readDbl(line, pos[1], fieldLen, aodc) ) {
|
---|
[6518] | 1356 | _checkState = bad;
|
---|
[6400] | 1357 | return;
|
---|
| 1358 | }
|
---|
[6812] | 1359 | if (_TOT == 0.9999e9) { // 0.9999e9 means not known (RINEX standard)
|
---|
| 1360 | _TOT = _TOEsec;
|
---|
[6400] | 1361 | }
|
---|
| 1362 | _AODC = int(aodc);
|
---|
| 1363 | }
|
---|
| 1364 | }
|
---|
| 1365 |
|
---|
[7138] | 1366 | _TOE.setBDS(int(_TOEweek), _TOEsec);
|
---|
| 1367 |
|
---|
[6400] | 1368 | // remark: actually should be computed from second_tot
|
---|
| 1369 | // but it seems to be unreliable in RINEX files
|
---|
[6843] | 1370 | //_TOT = _TOC.bdssec();
|
---|
[6400] | 1371 | }
|
---|
| 1372 |
|
---|
[7054] | 1373 | // IOD of BDS Ephemeris (virtual)
|
---|
| 1374 | ////////////////////////////////////////////////////////////////////////////
|
---|
[7169] | 1375 | unsigned int t_ephBDS::IOD() const {
|
---|
[7054] | 1376 | unsigned char buffer[80];
|
---|
| 1377 | int size = 0;
|
---|
| 1378 | int numbits = 0;
|
---|
| 1379 | long long bitbuffer = 0;
|
---|
| 1380 | unsigned char *startbuffer = buffer;
|
---|
| 1381 |
|
---|
| 1382 | BDSADDBITSFLOAT(14, this->_IDOT, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<13))
|
---|
| 1383 | BDSADDBITSFLOAT(11, this->_clock_driftrate, 1.0/static_cast<double>(1<<30)
|
---|
| 1384 | /static_cast<double>(1<<30)/static_cast<double>(1<<6))
|
---|
| 1385 | BDSADDBITSFLOAT(22, this->_clock_drift, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<20))
|
---|
| 1386 | BDSADDBITSFLOAT(24, this->_clock_bias, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
|
---|
| 1387 | BDSADDBITSFLOAT(18, this->_Crs, 1.0/static_cast<double>(1<<6))
|
---|
| 1388 | BDSADDBITSFLOAT(16, this->_Delta_n, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<13))
|
---|
| 1389 | BDSADDBITSFLOAT(32, this->_M0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
|
---|
| 1390 | BDSADDBITSFLOAT(18, this->_Cuc, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
|
---|
| 1391 | BDSADDBITSFLOAT(32, this->_e, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
|
---|
| 1392 | BDSADDBITSFLOAT(18, this->_Cus, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
|
---|
| 1393 | BDSADDBITSFLOAT(32, this->_sqrt_A, 1.0/static_cast<double>(1<<19))
|
---|
| 1394 | BDSADDBITSFLOAT(18, this->_Cic, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
|
---|
| 1395 | BDSADDBITSFLOAT(32, this->_OMEGA0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
|
---|
| 1396 | BDSADDBITSFLOAT(18, this->_Cis, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
|
---|
| 1397 | BDSADDBITSFLOAT(32, this->_i0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
|
---|
| 1398 | BDSADDBITSFLOAT(18, this->_Crc, 1.0/static_cast<double>(1<<6))
|
---|
| 1399 | BDSADDBITSFLOAT(32, this->_omega, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
|
---|
| 1400 | BDSADDBITSFLOAT(24, this->_OMEGADOT, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<13))
|
---|
| 1401 | BDSADDBITS(5, 0) // the last byte is filled by 0-bits to obtain a length of an integer multiple of 8
|
---|
| 1402 |
|
---|
| 1403 | return CRC24(size, startbuffer);
|
---|
| 1404 | }
|
---|
| 1405 |
|
---|
[6601] | 1406 | // Compute BDS Satellite Position (virtual)
|
---|
[6400] | 1407 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6600] | 1408 | t_irc t_ephBDS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
|
---|
[6400] | 1409 |
|
---|
[6518] | 1410 | if (_checkState == bad) {
|
---|
| 1411 | return failure;
|
---|
| 1412 | }
|
---|
| 1413 |
|
---|
[6602] | 1414 | static const double gmBDS = 398.6004418e12;
|
---|
| 1415 | static const double omegaBDS = 7292115.0000e-11;
|
---|
[6400] | 1416 |
|
---|
| 1417 | xc[0] = xc[1] = xc[2] = xc[3] = 0.0;
|
---|
| 1418 | vv[0] = vv[1] = vv[2] = 0.0;
|
---|
| 1419 |
|
---|
| 1420 | bncTime tt(GPSweek, GPSweeks);
|
---|
| 1421 |
|
---|
| 1422 | if (_sqrt_A == 0) {
|
---|
| 1423 | return failure;
|
---|
| 1424 | }
|
---|
| 1425 | double a0 = _sqrt_A * _sqrt_A;
|
---|
| 1426 |
|
---|
[6602] | 1427 | double n0 = sqrt(gmBDS/(a0*a0*a0));
|
---|
[6400] | 1428 | double tk = tt - _TOE;
|
---|
| 1429 | double n = n0 + _Delta_n;
|
---|
| 1430 | double M = _M0 + n*tk;
|
---|
| 1431 | double E = M;
|
---|
| 1432 | double E_last;
|
---|
| 1433 | int nLoop = 0;
|
---|
| 1434 | do {
|
---|
| 1435 | E_last = E;
|
---|
| 1436 | E = M + _e*sin(E);
|
---|
| 1437 |
|
---|
| 1438 | if (++nLoop == 100) {
|
---|
| 1439 | return failure;
|
---|
| 1440 | }
|
---|
| 1441 | } while ( fabs(E-E_last)*a0 > 0.001 );
|
---|
| 1442 |
|
---|
| 1443 | double v = atan2(sqrt(1-_e*_e) * sin(E), cos(E) - _e);
|
---|
| 1444 | double u0 = v + _omega;
|
---|
| 1445 | double sin2u0 = sin(2*u0);
|
---|
| 1446 | double cos2u0 = cos(2*u0);
|
---|
| 1447 | double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
|
---|
| 1448 | double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
|
---|
| 1449 | double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
|
---|
| 1450 | double xp = r*cos(u);
|
---|
| 1451 | double yp = r*sin(u);
|
---|
| 1452 | double toesec = (_TOE.gpssec() - 14.0);
|
---|
| 1453 | double sinom = 0;
|
---|
| 1454 | double cosom = 0;
|
---|
| 1455 | double sini = 0;
|
---|
| 1456 | double cosi = 0;
|
---|
| 1457 |
|
---|
| 1458 | const double iMaxGEO = 10.0 / 180.0 * M_PI;
|
---|
| 1459 |
|
---|
| 1460 | // MEO/IGSO satellite
|
---|
| 1461 | // ------------------
|
---|
| 1462 | if (_i0 > iMaxGEO) {
|
---|
[6602] | 1463 | double OM = _OMEGA0 + (_OMEGADOT - omegaBDS)*tk - omegaBDS*toesec;
|
---|
[6400] | 1464 |
|
---|
| 1465 | sinom = sin(OM);
|
---|
| 1466 | cosom = cos(OM);
|
---|
| 1467 | sini = sin(i);
|
---|
| 1468 | cosi = cos(i);
|
---|
| 1469 |
|
---|
| 1470 | xc[0] = xp*cosom - yp*cosi*sinom;
|
---|
| 1471 | xc[1] = xp*sinom + yp*cosi*cosom;
|
---|
| 1472 | xc[2] = yp*sini;
|
---|
| 1473 | }
|
---|
| 1474 |
|
---|
| 1475 | // GEO satellite
|
---|
| 1476 | // -------------
|
---|
| 1477 | else {
|
---|
[6602] | 1478 | double OM = _OMEGA0 + _OMEGADOT*tk - omegaBDS*toesec;
|
---|
| 1479 | double ll = omegaBDS*tk;
|
---|
[6400] | 1480 |
|
---|
| 1481 | sinom = sin(OM);
|
---|
| 1482 | cosom = cos(OM);
|
---|
| 1483 | sini = sin(i);
|
---|
| 1484 | cosi = cos(i);
|
---|
| 1485 |
|
---|
| 1486 | double xx = xp*cosom - yp*cosi*sinom;
|
---|
| 1487 | double yy = xp*sinom + yp*cosi*cosom;
|
---|
| 1488 | double zz = yp*sini;
|
---|
| 1489 |
|
---|
| 1490 | Matrix R1 = BNC_PPP::t_astro::rotX(-5.0 / 180.0 * M_PI);
|
---|
| 1491 | Matrix R2 = BNC_PPP::t_astro::rotZ(ll);
|
---|
| 1492 |
|
---|
| 1493 | ColumnVector X1(3); X1 << xx << yy << zz;
|
---|
| 1494 | ColumnVector X2 = R2*R1*X1;
|
---|
| 1495 |
|
---|
| 1496 | xc[0] = X2(1);
|
---|
| 1497 | xc[1] = X2(2);
|
---|
| 1498 | xc[2] = X2(3);
|
---|
| 1499 | }
|
---|
| 1500 |
|
---|
| 1501 | double tc = tt - _TOC;
|
---|
| 1502 | xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc
|
---|
| 1503 | - 4.442807633e-10 * _e * sqrt(a0) *sin(E);
|
---|
| 1504 |
|
---|
| 1505 | // Velocity
|
---|
| 1506 | // --------
|
---|
| 1507 | double tanv2 = tan(v/2);
|
---|
| 1508 | double dEdM = 1 / (1 - _e*cos(E));
|
---|
| 1509 | double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2)
|
---|
| 1510 | / (1 + tanv2*tanv2) * dEdM * n;
|
---|
| 1511 | double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
|
---|
| 1512 | double dotom = _OMEGADOT - t_CST::omega;
|
---|
| 1513 | double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
|
---|
| 1514 | double dotr = a0 * _e*sin(E) * dEdM * n
|
---|
| 1515 | + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
|
---|
| 1516 | double dotx = dotr*cos(u) - r*sin(u)*dotu;
|
---|
| 1517 | double doty = dotr*sin(u) + r*cos(u)*dotu;
|
---|
| 1518 |
|
---|
| 1519 | vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
|
---|
| 1520 | - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
|
---|
| 1521 | + yp*sini*sinom*doti; // dX / di
|
---|
| 1522 |
|
---|
| 1523 | vv[1] = sinom *dotx + cosi*cosom *doty
|
---|
| 1524 | + xp*cosom*dotom - yp*cosi*sinom*dotom
|
---|
| 1525 | - yp*sini*cosom*doti;
|
---|
| 1526 |
|
---|
| 1527 | vv[2] = sini *doty + yp*cosi *doti;
|
---|
| 1528 |
|
---|
| 1529 | // dotC = _clock_drift + _clock_driftrate*tc
|
---|
| 1530 | // - 4.442807633e-10*_e*sqrt(a0)*cos(E) * dEdM * n;
|
---|
| 1531 |
|
---|
| 1532 | return success;
|
---|
| 1533 | }
|
---|
| 1534 |
|
---|
| 1535 | // RINEX Format String
|
---|
| 1536 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6600] | 1537 | QString t_ephBDS::toString(double version) const {
|
---|
[6400] | 1538 |
|
---|
[6812] | 1539 | QString rnxStr = rinexDateStr(_TOC-14.0, _prn, version);
|
---|
[6400] | 1540 |
|
---|
| 1541 | QTextStream out(&rnxStr);
|
---|
| 1542 |
|
---|
| 1543 | out << QString("%1%2%3\n")
|
---|
| 1544 | .arg(_clock_bias, 19, 'e', 12)
|
---|
| 1545 | .arg(_clock_drift, 19, 'e', 12)
|
---|
| 1546 | .arg(_clock_driftrate, 19, 'e', 12);
|
---|
| 1547 |
|
---|
| 1548 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
| 1549 |
|
---|
| 1550 | out << QString(fmt)
|
---|
| 1551 | .arg(double(_AODE), 19, 'e', 12)
|
---|
| 1552 | .arg(_Crs, 19, 'e', 12)
|
---|
| 1553 | .arg(_Delta_n, 19, 'e', 12)
|
---|
| 1554 | .arg(_M0, 19, 'e', 12);
|
---|
| 1555 |
|
---|
| 1556 | out << QString(fmt)
|
---|
| 1557 | .arg(_Cuc, 19, 'e', 12)
|
---|
| 1558 | .arg(_e, 19, 'e', 12)
|
---|
| 1559 | .arg(_Cus, 19, 'e', 12)
|
---|
| 1560 | .arg(_sqrt_A, 19, 'e', 12);
|
---|
| 1561 |
|
---|
[6843] | 1562 | double toes = 0.0;
|
---|
| 1563 | if (_TOEweek > -1.0) {// RINEX input
|
---|
| 1564 | toes = _TOEsec;
|
---|
| 1565 | }
|
---|
| 1566 | else {// RTCM stream input
|
---|
[6812] | 1567 | toes = _TOE.bdssec();
|
---|
[6755] | 1568 | }
|
---|
[6400] | 1569 | out << QString(fmt)
|
---|
[6843] | 1570 | .arg(toes, 19, 'e', 12)
|
---|
[6755] | 1571 | .arg(_Cic, 19, 'e', 12)
|
---|
| 1572 | .arg(_OMEGA0, 19, 'e', 12)
|
---|
| 1573 | .arg(_Cis, 19, 'e', 12);
|
---|
[6400] | 1574 |
|
---|
| 1575 | out << QString(fmt)
|
---|
| 1576 | .arg(_i0, 19, 'e', 12)
|
---|
| 1577 | .arg(_Crc, 19, 'e', 12)
|
---|
| 1578 | .arg(_omega, 19, 'e', 12)
|
---|
| 1579 | .arg(_OMEGADOT, 19, 'e', 12);
|
---|
| 1580 |
|
---|
[6843] | 1581 | double toew = 0.0;
|
---|
| 1582 | if (_TOEweek > -1.0) {// RINEX input
|
---|
| 1583 | toew = _TOEweek;
|
---|
| 1584 | }
|
---|
| 1585 | else {// RTCM stream input
|
---|
| 1586 | toew = double(_TOE.bdsw());
|
---|
| 1587 | }
|
---|
[6400] | 1588 | out << QString(fmt)
|
---|
[6843] | 1589 | .arg(_IDOT, 19, 'e', 12)
|
---|
| 1590 | .arg(0.0, 19, 'e', 12)
|
---|
| 1591 | .arg(toew, 19, 'e', 12)
|
---|
| 1592 | .arg(0.0, 19, 'e', 12);
|
---|
[6400] | 1593 |
|
---|
| 1594 | out << QString(fmt)
|
---|
[6798] | 1595 | .arg(_URA, 19, 'e', 12)
|
---|
[6400] | 1596 | .arg(double(_SatH1), 19, 'e', 12)
|
---|
| 1597 | .arg(_TGD1, 19, 'e', 12)
|
---|
| 1598 | .arg(_TGD2, 19, 'e', 12);
|
---|
| 1599 |
|
---|
[6843] | 1600 | double tots = 0.0;
|
---|
| 1601 | if (_TOEweek > -1.0) {// RINEX input
|
---|
| 1602 | tots = _TOT;
|
---|
| 1603 | }
|
---|
| 1604 | else {// RTCM stream input
|
---|
[6812] | 1605 | tots = _TOE.bdssec();
|
---|
[6755] | 1606 | }
|
---|
[6400] | 1607 | out << QString(fmt)
|
---|
[6792] | 1608 | .arg(tots, 19, 'e', 12)
|
---|
[6755] | 1609 | .arg(double(_AODC), 19, 'e', 12)
|
---|
| 1610 | .arg("", 19, QChar(' '))
|
---|
| 1611 | .arg("", 19, QChar(' '));
|
---|
[6400] | 1612 | return rnxStr;
|
---|
| 1613 | }
|
---|