[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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[7278] | 26 | // Destructor
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| 27 | ////////////////////////////////////////////////////////////////////////////
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| 28 | t_eph::~t_eph() {
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| 29 | if (_orbCorr)
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| 30 | delete _orbCorr;
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| 31 | if (_clkCorr)
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| 32 | delete _clkCorr;
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| 33 | }
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[5749] | 34 |
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[7481] | 35 | //
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[5749] | 36 | ////////////////////////////////////////////////////////////////////////////
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[6141] | 37 | void t_eph::setOrbCorr(const t_orbCorr* orbCorr) {
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[7888] | 38 | if (_orbCorr) {
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| 39 | delete _orbCorr;
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| 40 | _orbCorr = 0;
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| 41 | }
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[6141] | 42 | _orbCorr = new t_orbCorr(*orbCorr);
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[5749] | 43 | }
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| 44 |
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[7481] | 45 | //
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[5749] | 46 | ////////////////////////////////////////////////////////////////////////////
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[6141] | 47 | void t_eph::setClkCorr(const t_clkCorr* clkCorr) {
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[7888] | 48 | if (_clkCorr) {
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| 49 | delete _clkCorr;
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| 50 | _clkCorr = 0;
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| 51 | }
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[6141] | 52 | _clkCorr = new t_clkCorr(*clkCorr);
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[5749] | 53 | }
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| 54 |
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[7481] | 55 | //
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[5749] | 56 | ////////////////////////////////////////////////////////////////////////////
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[6109] | 57 | t_irc t_eph::getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const {
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[6518] | 58 |
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[8419] | 59 | if (_checkState == bad ||
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| 60 | _checkState == unhealthy) {
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[6518] | 61 | return failure;
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| 62 | }
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[6556] | 63 | const QVector<int> updateInt = QVector<int>() << 1 << 2 << 5 << 10 << 15 << 30
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| 64 | << 60 << 120 << 240 << 300 << 600
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| 65 | << 900 << 1800 << 3600 << 7200
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| 66 | << 10800;
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[5749] | 67 | xc.ReSize(4);
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| 68 | vv.ReSize(3);
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[6213] | 69 | if (position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data()) != success) {
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| 70 | return failure;
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| 71 | }
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[5789] | 72 | if (useCorr) {
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[5839] | 73 | if (_orbCorr && _clkCorr) {
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[5849] | 74 | double dtO = tt - _orbCorr->_time;
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[6556] | 75 | if (_orbCorr->_updateInt) {
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| 76 | dtO -= (0.5 * updateInt[_orbCorr->_updateInt]);
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| 77 | }
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[5839] | 78 | ColumnVector dx(3);
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[5849] | 79 | dx[0] = _orbCorr->_xr[0] + _orbCorr->_dotXr[0] * dtO;
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| 80 | dx[1] = _orbCorr->_xr[1] + _orbCorr->_dotXr[1] * dtO;
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| 81 | dx[2] = _orbCorr->_xr[2] + _orbCorr->_dotXr[2] * dtO;
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| 82 |
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[7133] | 83 | RSW_to_XYZ(xc.Rows(1,3), vv.Rows(1,3), dx, dx);
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[5849] | 84 |
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[5839] | 85 | xc[0] -= dx[0];
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| 86 | xc[1] -= dx[1];
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| 87 | xc[2] -= dx[2];
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[5849] | 88 |
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[7133] | 89 | ColumnVector dv(3);
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| 90 | RSW_to_XYZ(xc.Rows(1,3), vv.Rows(1,3), _orbCorr->_dotXr, dv);
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| 91 |
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| 92 | vv[0] -= dv[0];
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| 93 | vv[1] -= dv[1];
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| 94 | vv[2] -= dv[2];
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| 95 |
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[5849] | 96 | double dtC = tt - _clkCorr->_time;
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[6556] | 97 | if (_clkCorr->_updateInt) {
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| 98 | dtC -= (0.5 * updateInt[_clkCorr->_updateInt]);
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| 99 | }
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[7014] | 100 | xc[3] += _clkCorr->_dClk + _clkCorr->_dotDClk * dtC + _clkCorr->_dotDotDClk * dtC * dtC;
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[5839] | 101 | }
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| 102 | else {
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| 103 | return failure;
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| 104 | }
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[5749] | 105 | }
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| 106 | return success;
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| 107 | }
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| 108 |
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[6801] | 109 | //
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| 110 | //////////////////////////////////////////////////////////////////////////////
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| 111 | QString t_eph::rinexDateStr(const bncTime& tt, const t_prn& prn, double version) {
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| 112 | QString prnStr(prn.toString().c_str());
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| 113 | return rinexDateStr(tt, prnStr, version);
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| 114 | }
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| 115 |
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| 116 | //
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| 117 | //////////////////////////////////////////////////////////////////////////////
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| 118 | QString t_eph::rinexDateStr(const bncTime& tt, const QString& prnStr, double version) {
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| 119 |
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| 120 | QString datStr;
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| 121 |
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| 122 | unsigned year, month, day, hour, min;
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| 123 | double sec;
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| 124 | tt.civil_date(year, month, day);
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| 125 | tt.civil_time(hour, min, sec);
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| 126 |
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| 127 | QTextStream out(&datStr);
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| 128 |
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| 129 | if (version < 3.0) {
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| 130 | QString prnHlp = prnStr.mid(1,2); if (prnHlp[0] == '0') prnHlp[0] = ' ';
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| 131 | out << prnHlp << QString(" %1 %2 %3 %4 %5%6")
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| 132 | .arg(year % 100, 2, 10, QChar('0'))
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| 133 | .arg(month, 2)
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| 134 | .arg(day, 2)
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| 135 | .arg(hour, 2)
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| 136 | .arg(min, 2)
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| 137 | .arg(sec, 5, 'f',1);
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| 138 | }
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| 139 | else {
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| 140 | out << prnStr << QString(" %1 %2 %3 %4 %5 %6")
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| 141 | .arg(year, 4)
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| 142 | .arg(month, 2, 10, QChar('0'))
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| 143 | .arg(day, 2, 10, QChar('0'))
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| 144 | .arg(hour, 2, 10, QChar('0'))
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| 145 | .arg(min, 2, 10, QChar('0'))
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| 146 | .arg(int(sec), 2, 10, QChar('0'));
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| 147 | }
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| 148 |
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| 149 | return datStr;
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| 150 | }
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| 151 |
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| 152 | // Constructor
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| 153 | //////////////////////////////////////////////////////////////////////////////
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| 154 | t_ephGPS::t_ephGPS(float rnxVersion, const QStringList& lines) {
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| 155 |
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| 156 | const int nLines = 8;
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| 157 |
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| 158 | if (lines.size() != nLines) {
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| 159 | _checkState = bad;
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| 160 | return;
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| 161 | }
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| 162 |
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| 163 | // RINEX Format
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| 164 | // ------------
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| 165 | int fieldLen = 19;
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| 166 |
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| 167 | int pos[4];
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| 168 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
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| 169 | pos[1] = pos[0] + fieldLen;
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| 170 | pos[2] = pos[1] + fieldLen;
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| 171 | pos[3] = pos[2] + fieldLen;
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| 172 |
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| 173 | // Read eight lines
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| 174 | // ----------------
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| 175 | for (int iLine = 0; iLine < nLines; iLine++) {
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| 176 | QString line = lines[iLine];
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| 177 |
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| 178 | if ( iLine == 0 ) {
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[8204] | 179 | QTextStream in(line.left(pos[1]).toLatin1());
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[6801] | 180 | int year, month, day, hour, min;
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| 181 | double sec;
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| 182 |
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[7139] | 183 | QString prnStr, n;
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[6880] | 184 | in >> prnStr;
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[7639] | 185 |
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| 186 | if (prnStr.size() == 1 &&
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[8168] | 187 | (prnStr[0] == 'G' ||
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| 188 | prnStr[0] == 'J' ||
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| 189 | prnStr[0] == 'I')) {
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[7139] | 190 | in >> n;
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| 191 | prnStr.append(n);
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[6880] | 192 | }
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[7639] | 193 |
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[6880] | 194 | in >> year >> month >> day >> hour >> min >> sec;
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[6801] | 195 | if (prnStr.at(0) == 'G') {
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| 196 | _prn.set('G', prnStr.mid(1).toInt());
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| 197 | }
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| 198 | else if (prnStr.at(0) == 'J') {
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| 199 | _prn.set('J', prnStr.mid(1).toInt());
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| 200 | }
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[8168] | 201 | else if (prnStr.at(0) == 'I') {
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| 202 | _prn.set('I', prnStr.mid(1).toInt());
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| 203 | }
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[6801] | 204 | else {
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| 205 | _prn.set('G', prnStr.toInt());
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| 206 | }
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| 207 |
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| 208 | if (year < 80) {
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| 209 | year += 2000;
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| 210 | }
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| 211 | else if (year < 100) {
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| 212 | year += 1900;
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| 213 | }
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| 214 |
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| 215 | _TOC.set(year, month, day, hour, min, sec);
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| 216 |
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| 217 | if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
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| 218 | readDbl(line, pos[2], fieldLen, _clock_drift ) ||
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| 219 | readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
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| 220 | _checkState = bad;
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| 221 | return;
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| 222 | }
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| 223 | }
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| 224 |
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| 225 | else if ( iLine == 1 ) {
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| 226 | if ( readDbl(line, pos[0], fieldLen, _IODE ) ||
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| 227 | readDbl(line, pos[1], fieldLen, _Crs ) ||
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| 228 | readDbl(line, pos[2], fieldLen, _Delta_n) ||
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| 229 | readDbl(line, pos[3], fieldLen, _M0 ) ) {
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| 230 | _checkState = bad;
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| 231 | return;
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| 232 | }
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| 233 | }
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| 234 |
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| 235 | else if ( iLine == 2 ) {
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| 236 | if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
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| 237 | readDbl(line, pos[1], fieldLen, _e ) ||
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| 238 | readDbl(line, pos[2], fieldLen, _Cus ) ||
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| 239 | readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
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| 240 | _checkState = bad;
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| 241 | return;
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| 242 | }
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| 243 | }
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| 244 |
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| 245 | else if ( iLine == 3 ) {
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| 246 | if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
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| 247 | readDbl(line, pos[1], fieldLen, _Cic ) ||
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| 248 | readDbl(line, pos[2], fieldLen, _OMEGA0) ||
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| 249 | readDbl(line, pos[3], fieldLen, _Cis ) ) {
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| 250 | _checkState = bad;
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| 251 | return;
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| 252 | }
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| 253 | }
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| 254 |
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| 255 | else if ( iLine == 4 ) {
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| 256 | if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
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| 257 | readDbl(line, pos[1], fieldLen, _Crc ) ||
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| 258 | readDbl(line, pos[2], fieldLen, _omega ) ||
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| 259 | readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
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| 260 | _checkState = bad;
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| 261 | return;
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| 262 | }
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| 263 | }
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| 264 |
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[8168] | 265 | else if ( iLine == 5 && type() != t_eph::IRNSS) {
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[6801] | 266 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
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| 267 | readDbl(line, pos[1], fieldLen, _L2Codes) ||
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| 268 | readDbl(line, pos[2], fieldLen, _TOEweek ) ||
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| 269 | readDbl(line, pos[3], fieldLen, _L2PFlag) ) {
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| 270 | _checkState = bad;
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| 271 | return;
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| 272 | }
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| 273 | }
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[8168] | 274 | else if ( iLine == 5 && type() == t_eph::IRNSS) {
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| 275 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
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| 276 | readDbl(line, pos[2], fieldLen, _TOEweek) ) {
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| 277 | _checkState = bad;
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| 278 | return;
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| 279 | }
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| 280 | }
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[6801] | 281 |
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[8168] | 282 | else if ( iLine == 6 && type() != t_eph::IRNSS) {
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[6801] | 283 | if ( readDbl(line, pos[0], fieldLen, _ura ) ||
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| 284 | readDbl(line, pos[1], fieldLen, _health) ||
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| 285 | readDbl(line, pos[2], fieldLen, _TGD ) ||
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| 286 | readDbl(line, pos[3], fieldLen, _IODC ) ) {
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| 287 | _checkState = bad;
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| 288 | return;
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| 289 | }
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| 290 | }
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[8168] | 291 | else if ( iLine == 6 && type() == t_eph::IRNSS) {
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| 292 | if ( readDbl(line, pos[0], fieldLen, _ura ) ||
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| 293 | readDbl(line, pos[1], fieldLen, _health) ||
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| 294 | readDbl(line, pos[2], fieldLen, _TGD ) ) {
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| 295 | _checkState = bad;
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| 296 | return;
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| 297 | }
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| 298 | }
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[6801] | 299 |
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| 300 | else if ( iLine == 7 ) {
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| 301 | if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
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| 302 | _checkState = bad;
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| 303 | return;
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| 304 | }
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| 305 | readDbl(line, pos[1], fieldLen, _fitInterval); // _fitInterval optional
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| 306 | }
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| 307 | }
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| 308 | }
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| 309 |
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[2222] | 310 | // Compute GPS Satellite Position (virtual)
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[1025] | 311 | ////////////////////////////////////////////////////////////////////////////
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[6213] | 312 | t_irc t_ephGPS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
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[1025] | 313 |
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[8419] | 314 | if (_checkState == bad ||
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| 315 | _checkState == unhealthy) {
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[6518] | 316 | return failure;
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| 317 | }
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| 318 |
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[1098] | 319 | static const double omegaEarth = 7292115.1467e-11;
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[5277] | 320 | static const double gmGRS = 398.6005e12;
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[1025] | 321 |
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| 322 | memset(xc, 0, 4*sizeof(double));
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| 323 | memset(vv, 0, 3*sizeof(double));
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| 324 |
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| 325 | double a0 = _sqrt_A * _sqrt_A;
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| 326 | if (a0 == 0) {
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[6213] | 327 | return failure;
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[1025] | 328 | }
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| 329 |
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[5277] | 330 | double n0 = sqrt(gmGRS/(a0*a0*a0));
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[4018] | 331 |
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| 332 | bncTime tt(GPSweek, GPSweeks);
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[4543] | 333 | double tk = tt - bncTime(int(_TOEweek), _TOEsec);
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[4018] | 334 |
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[1025] | 335 | double n = n0 + _Delta_n;
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| 336 | double M = _M0 + n*tk;
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| 337 | double E = M;
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| 338 | double E_last;
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[8368] | 339 | int nLoop = 0;
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[1025] | 340 | do {
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| 341 | E_last = E;
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| 342 | E = M + _e*sin(E);
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[8368] | 343 |
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| 344 | if (++nLoop == 100) {
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| 345 | return failure;
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| 346 | }
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| 347 | } while ( fabs(E-E_last)*a0 > 0.001);
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[1025] | 348 | double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
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| 349 | double u0 = v + _omega;
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| 350 | double sin2u0 = sin(2*u0);
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| 351 | double cos2u0 = cos(2*u0);
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| 352 | double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
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| 353 | double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
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| 354 | double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
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| 355 | double xp = r*cos(u);
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| 356 | double yp = r*sin(u);
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[7481] | 357 | double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
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[4018] | 358 | omegaEarth*_TOEsec;
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[7278] | 359 |
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[1025] | 360 | double sinom = sin(OM);
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| 361 | double cosom = cos(OM);
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| 362 | double sini = sin(i);
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| 363 | double cosi = cos(i);
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| 364 | xc[0] = xp*cosom - yp*cosi*sinom;
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| 365 | xc[1] = xp*sinom + yp*cosi*cosom;
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[7481] | 366 | xc[2] = yp*sini;
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| 367 |
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[4018] | 368 | double tc = tt - _TOC;
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[2429] | 369 | xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
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[1025] | 370 |
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| 371 | // Velocity
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| 372 | // --------
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| 373 | double tanv2 = tan(v/2);
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| 374 | double dEdM = 1 / (1 - _e*cos(E));
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[7278] | 375 | double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
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[1025] | 376 | * dEdM * n;
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| 377 | double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
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| 378 | double dotom = _OMEGADOT - omegaEarth;
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| 379 | double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
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[7278] | 380 | double dotr = a0 * _e*sin(E) * dEdM * n
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[1025] | 381 | + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
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| 382 | double dotx = dotr*cos(u) - r*sin(u)*dotu;
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| 383 | double doty = dotr*sin(u) + r*cos(u)*dotu;
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| 384 |
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| 385 | vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
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| 386 | - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
|
---|
| 387 | + yp*sini*sinom*doti; // dX / di
|
---|
| 388 |
|
---|
| 389 | vv[1] = sinom *dotx + cosi*cosom *doty
|
---|
| 390 | + xp*cosom*dotom - yp*cosi*sinom*dotom
|
---|
| 391 | - yp*sini*cosom*doti;
|
---|
| 392 |
|
---|
| 393 | vv[2] = sini *doty + yp*cosi *doti;
|
---|
[2429] | 394 |
|
---|
| 395 | // Relativistic Correction
|
---|
| 396 | // -----------------------
|
---|
[7481] | 397 | // correspondent to IGS convention and GPS ICD (and SSR standard)
|
---|
[2429] | 398 | xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
|
---|
[6213] | 399 |
|
---|
| 400 | return success;
|
---|
[1025] | 401 | }
|
---|
| 402 |
|
---|
[6801] | 403 | // RINEX Format String
|
---|
| 404 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 405 | QString t_ephGPS::toString(double version) const {
|
---|
[2221] | 406 |
|
---|
[6801] | 407 | QString rnxStr = rinexDateStr(_TOC, _prn, version);
|
---|
[2221] | 408 |
|
---|
[6801] | 409 | QTextStream out(&rnxStr);
|
---|
[2221] | 410 |
|
---|
[6801] | 411 | out << QString("%1%2%3\n")
|
---|
| 412 | .arg(_clock_bias, 19, 'e', 12)
|
---|
| 413 | .arg(_clock_drift, 19, 'e', 12)
|
---|
| 414 | .arg(_clock_driftrate, 19, 'e', 12);
|
---|
[2221] | 415 |
|
---|
[6801] | 416 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
[2221] | 417 |
|
---|
[6801] | 418 | out << QString(fmt)
|
---|
| 419 | .arg(_IODE, 19, 'e', 12)
|
---|
| 420 | .arg(_Crs, 19, 'e', 12)
|
---|
| 421 | .arg(_Delta_n, 19, 'e', 12)
|
---|
| 422 | .arg(_M0, 19, 'e', 12);
|
---|
| 423 |
|
---|
| 424 | out << QString(fmt)
|
---|
| 425 | .arg(_Cuc, 19, 'e', 12)
|
---|
| 426 | .arg(_e, 19, 'e', 12)
|
---|
| 427 | .arg(_Cus, 19, 'e', 12)
|
---|
| 428 | .arg(_sqrt_A, 19, 'e', 12);
|
---|
| 429 |
|
---|
| 430 | out << QString(fmt)
|
---|
| 431 | .arg(_TOEsec, 19, 'e', 12)
|
---|
| 432 | .arg(_Cic, 19, 'e', 12)
|
---|
| 433 | .arg(_OMEGA0, 19, 'e', 12)
|
---|
| 434 | .arg(_Cis, 19, 'e', 12);
|
---|
| 435 |
|
---|
| 436 | out << QString(fmt)
|
---|
| 437 | .arg(_i0, 19, 'e', 12)
|
---|
| 438 | .arg(_Crc, 19, 'e', 12)
|
---|
| 439 | .arg(_omega, 19, 'e', 12)
|
---|
| 440 | .arg(_OMEGADOT, 19, 'e', 12);
|
---|
| 441 |
|
---|
[8168] | 442 | if (type() == t_eph::IRNSS) {
|
---|
| 443 | out << QString(fmt)
|
---|
| 444 | .arg(_IDOT, 19, 'e', 12)
|
---|
| 445 | .arg("", 19, QChar(' '))
|
---|
| 446 | .arg(_TOEweek, 19, 'e', 12)
|
---|
| 447 | .arg("", 19, QChar(' '));
|
---|
| 448 | }
|
---|
| 449 | else {
|
---|
| 450 | out << QString(fmt)
|
---|
| 451 | .arg(_IDOT, 19, 'e', 12)
|
---|
| 452 | .arg(_L2Codes, 19, 'e', 12)
|
---|
| 453 | .arg(_TOEweek, 19, 'e', 12)
|
---|
| 454 | .arg(_L2PFlag, 19, 'e', 12);
|
---|
| 455 | }
|
---|
[6801] | 456 |
|
---|
[8168] | 457 | if (type() == t_eph::IRNSS) {
|
---|
| 458 | out << QString(fmt)
|
---|
| 459 | .arg(_ura, 19, 'e', 12)
|
---|
| 460 | .arg(_health, 19, 'e', 12)
|
---|
| 461 | .arg(_TGD, 19, 'e', 12)
|
---|
| 462 | .arg("", 19, QChar(' '));
|
---|
| 463 | }
|
---|
| 464 | else {
|
---|
| 465 | out << QString(fmt)
|
---|
| 466 | .arg(_ura, 19, 'e', 12)
|
---|
| 467 | .arg(_health, 19, 'e', 12)
|
---|
| 468 | .arg(_TGD, 19, 'e', 12)
|
---|
| 469 | .arg(_IODC, 19, 'e', 12);
|
---|
| 470 | }
|
---|
[6801] | 471 |
|
---|
[7922] | 472 | double tot = _TOT;
|
---|
| 473 | if (tot == 0.9999e9 && version < 3.0) {
|
---|
| 474 | tot = 0.0;
|
---|
| 475 | }
|
---|
[8168] | 476 | if (type() == t_eph::IRNSS) {
|
---|
| 477 | out << QString(fmt)
|
---|
| 478 | .arg(tot, 19, 'e', 12)
|
---|
| 479 | .arg("", 19, QChar(' '))
|
---|
| 480 | .arg("", 19, QChar(' '))
|
---|
| 481 | .arg("", 19, QChar(' '));
|
---|
| 482 | }
|
---|
| 483 | else {
|
---|
| 484 | out << QString(fmt)
|
---|
| 485 | .arg(tot, 19, 'e', 12)
|
---|
| 486 | .arg(_fitInterval, 19, 'e', 12)
|
---|
| 487 | .arg("", 19, QChar(' '))
|
---|
| 488 | .arg("", 19, QChar(' '));
|
---|
| 489 | }
|
---|
[6801] | 490 |
|
---|
| 491 | return rnxStr;
|
---|
[2221] | 492 | }
|
---|
| 493 |
|
---|
[6801] | 494 | // Constructor
|
---|
| 495 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 496 | t_ephGlo::t_ephGlo(float rnxVersion, const QStringList& lines) {
|
---|
[2221] | 497 |
|
---|
[6801] | 498 | const int nLines = 4;
|
---|
| 499 |
|
---|
| 500 | if (lines.size() != nLines) {
|
---|
| 501 | _checkState = bad;
|
---|
| 502 | return;
|
---|
[6518] | 503 | }
|
---|
| 504 |
|
---|
[6801] | 505 | // RINEX Format
|
---|
| 506 | // ------------
|
---|
| 507 | int fieldLen = 19;
|
---|
[2221] | 508 |
|
---|
[6801] | 509 | int pos[4];
|
---|
| 510 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
| 511 | pos[1] = pos[0] + fieldLen;
|
---|
| 512 | pos[2] = pos[1] + fieldLen;
|
---|
| 513 | pos[3] = pos[2] + fieldLen;
|
---|
[2221] | 514 |
|
---|
[6801] | 515 | // Read four lines
|
---|
| 516 | // ---------------
|
---|
| 517 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
| 518 | QString line = lines[iLine];
|
---|
[2221] | 519 |
|
---|
[6801] | 520 | if ( iLine == 0 ) {
|
---|
[8204] | 521 | QTextStream in(line.left(pos[1]).toLatin1());
|
---|
[6213] | 522 |
|
---|
[6801] | 523 | int year, month, day, hour, min;
|
---|
| 524 | double sec;
|
---|
[2221] | 525 |
|
---|
[7139] | 526 | QString prnStr, n;
|
---|
[6880] | 527 | in >> prnStr;
|
---|
[7639] | 528 | if (prnStr.size() == 1 && prnStr[0] == 'R') {
|
---|
[7139] | 529 | in >> n;
|
---|
| 530 | prnStr.append(n);
|
---|
[6880] | 531 | }
|
---|
| 532 | in >> year >> month >> day >> hour >> min >> sec;
|
---|
[6801] | 533 | if (prnStr.at(0) == 'R') {
|
---|
| 534 | _prn.set('R', prnStr.mid(1).toInt());
|
---|
| 535 | }
|
---|
| 536 | else {
|
---|
| 537 | _prn.set('R', prnStr.toInt());
|
---|
| 538 | }
|
---|
[2221] | 539 |
|
---|
[6801] | 540 | if (year < 80) {
|
---|
| 541 | year += 2000;
|
---|
| 542 | }
|
---|
| 543 | else if (year < 100) {
|
---|
| 544 | year += 1900;
|
---|
| 545 | }
|
---|
[2221] | 546 |
|
---|
[6801] | 547 | _gps_utc = gnumleap(year, month, day);
|
---|
[2221] | 548 |
|
---|
[6801] | 549 | _TOC.set(year, month, day, hour, min, sec);
|
---|
| 550 | _TOC = _TOC + _gps_utc;
|
---|
[6213] | 551 |
|
---|
[6801] | 552 | if ( readDbl(line, pos[1], fieldLen, _tau ) ||
|
---|
| 553 | readDbl(line, pos[2], fieldLen, _gamma) ||
|
---|
| 554 | readDbl(line, pos[3], fieldLen, _tki ) ) {
|
---|
| 555 | _checkState = bad;
|
---|
| 556 | return;
|
---|
| 557 | }
|
---|
[2221] | 558 |
|
---|
[6801] | 559 | _tau = -_tau;
|
---|
| 560 | }
|
---|
| 561 |
|
---|
| 562 | else if ( iLine == 1 ) {
|
---|
| 563 | if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
|
---|
| 564 | readDbl(line, pos[1], fieldLen, _x_velocity ) ||
|
---|
| 565 | readDbl(line, pos[2], fieldLen, _x_acceleration) ||
|
---|
| 566 | readDbl(line, pos[3], fieldLen, _health ) ) {
|
---|
| 567 | _checkState = bad;
|
---|
| 568 | return;
|
---|
| 569 | }
|
---|
| 570 | }
|
---|
| 571 |
|
---|
| 572 | else if ( iLine == 2 ) {
|
---|
| 573 | if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
|
---|
| 574 | readDbl(line, pos[1], fieldLen, _y_velocity ) ||
|
---|
| 575 | readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
|
---|
| 576 | readDbl(line, pos[3], fieldLen, _frequency_number) ) {
|
---|
| 577 | _checkState = bad;
|
---|
| 578 | return;
|
---|
| 579 | }
|
---|
| 580 | }
|
---|
| 581 |
|
---|
| 582 | else if ( iLine == 3 ) {
|
---|
| 583 | if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
|
---|
| 584 | readDbl(line, pos[1], fieldLen, _z_velocity ) ||
|
---|
| 585 | readDbl(line, pos[2], fieldLen, _z_acceleration) ||
|
---|
| 586 | readDbl(line, pos[3], fieldLen, _E ) ) {
|
---|
| 587 | _checkState = bad;
|
---|
| 588 | return;
|
---|
| 589 | }
|
---|
| 590 | }
|
---|
| 591 | }
|
---|
| 592 |
|
---|
| 593 | // Initialize status vector
|
---|
| 594 | // ------------------------
|
---|
| 595 | _tt = _TOC;
|
---|
| 596 | _xv.ReSize(6);
|
---|
| 597 | _xv(1) = _x_pos * 1.e3;
|
---|
| 598 | _xv(2) = _y_pos * 1.e3;
|
---|
| 599 | _xv(3) = _z_pos * 1.e3;
|
---|
| 600 | _xv(4) = _x_velocity * 1.e3;
|
---|
| 601 | _xv(5) = _y_velocity * 1.e3;
|
---|
| 602 | _xv(6) = _z_velocity * 1.e3;
|
---|
[2221] | 603 | }
|
---|
| 604 |
|
---|
[6801] | 605 | // Compute Glonass Satellite Position (virtual)
|
---|
[2771] | 606 | ////////////////////////////////////////////////////////////////////////////
|
---|
[6801] | 607 | t_irc t_ephGlo::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
|
---|
[2771] | 608 |
|
---|
[8419] | 609 | if (_checkState == bad ||
|
---|
| 610 | _checkState == unhealthy) {
|
---|
[6518] | 611 | return failure;
|
---|
| 612 | }
|
---|
| 613 |
|
---|
[6801] | 614 | static const double nominalStep = 10.0;
|
---|
[2771] | 615 |
|
---|
| 616 | memset(xc, 0, 4*sizeof(double));
|
---|
| 617 | memset(vv, 0, 3*sizeof(double));
|
---|
| 618 |
|
---|
[6801] | 619 | double dtPos = bncTime(GPSweek, GPSweeks) - _tt;
|
---|
| 620 |
|
---|
| 621 | if (fabs(dtPos) > 24*3600.0) {
|
---|
[6213] | 622 | return failure;
|
---|
[2771] | 623 | }
|
---|
| 624 |
|
---|
[6801] | 625 | int nSteps = int(fabs(dtPos) / nominalStep) + 1;
|
---|
| 626 | double step = dtPos / nSteps;
|
---|
[4018] | 627 |
|
---|
[6801] | 628 | double acc[3];
|
---|
| 629 | acc[0] = _x_acceleration * 1.e3;
|
---|
| 630 | acc[1] = _y_acceleration * 1.e3;
|
---|
| 631 | acc[2] = _z_acceleration * 1.e3;
|
---|
| 632 | for (int ii = 1; ii <= nSteps; ii++) {
|
---|
| 633 | _xv = rungeKutta4(_tt.gpssec(), _xv, step, acc, glo_deriv);
|
---|
| 634 | _tt = _tt + step;
|
---|
| 635 | }
|
---|
[4018] | 636 |
|
---|
[6801] | 637 | // Position and Velocity
|
---|
| 638 | // ---------------------
|
---|
| 639 | xc[0] = _xv(1);
|
---|
| 640 | xc[1] = _xv(2);
|
---|
| 641 | xc[2] = _xv(3);
|
---|
[2771] | 642 |
|
---|
[6801] | 643 | vv[0] = _xv(4);
|
---|
| 644 | vv[1] = _xv(5);
|
---|
| 645 | vv[2] = _xv(6);
|
---|
[2771] | 646 |
|
---|
[6801] | 647 | // Clock Correction
|
---|
| 648 | // ----------------
|
---|
| 649 | double dtClk = bncTime(GPSweek, GPSweeks) - _TOC;
|
---|
| 650 | xc[3] = -_tau + _gamma * dtClk;
|
---|
[2771] | 651 |
|
---|
[6213] | 652 | return success;
|
---|
[2771] | 653 | }
|
---|
| 654 |
|
---|
[6801] | 655 | // RINEX Format String
|
---|
[3659] | 656 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6801] | 657 | QString t_ephGlo::toString(double version) const {
|
---|
[3664] | 658 |
|
---|
[6801] | 659 | QString rnxStr = rinexDateStr(_TOC-_gps_utc, _prn, version);
|
---|
[3699] | 660 |
|
---|
[6801] | 661 | QTextStream out(&rnxStr);
|
---|
[3664] | 662 |
|
---|
[6801] | 663 | out << QString("%1%2%3\n")
|
---|
| 664 | .arg(-_tau, 19, 'e', 12)
|
---|
| 665 | .arg(_gamma, 19, 'e', 12)
|
---|
| 666 | .arg(_tki, 19, 'e', 12);
|
---|
[3668] | 667 |
|
---|
[6801] | 668 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
[3664] | 669 |
|
---|
[6801] | 670 | out << QString(fmt)
|
---|
| 671 | .arg(_x_pos, 19, 'e', 12)
|
---|
| 672 | .arg(_x_velocity, 19, 'e', 12)
|
---|
| 673 | .arg(_x_acceleration, 19, 'e', 12)
|
---|
| 674 | .arg(_health, 19, 'e', 12);
|
---|
[3664] | 675 |
|
---|
[6801] | 676 | out << QString(fmt)
|
---|
| 677 | .arg(_y_pos, 19, 'e', 12)
|
---|
| 678 | .arg(_y_velocity, 19, 'e', 12)
|
---|
| 679 | .arg(_y_acceleration, 19, 'e', 12)
|
---|
| 680 | .arg(_frequency_number, 19, 'e', 12);
|
---|
[3666] | 681 |
|
---|
[6801] | 682 | out << QString(fmt)
|
---|
| 683 | .arg(_z_pos, 19, 'e', 12)
|
---|
| 684 | .arg(_z_velocity, 19, 'e', 12)
|
---|
| 685 | .arg(_z_acceleration, 19, 'e', 12)
|
---|
| 686 | .arg(_E, 19, 'e', 12);
|
---|
[3666] | 687 |
|
---|
[6801] | 688 | return rnxStr;
|
---|
[3659] | 689 | }
|
---|
| 690 |
|
---|
[6801] | 691 | // Derivative of the state vector using a simple force model (static)
|
---|
| 692 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 693 | ColumnVector t_ephGlo::glo_deriv(double /* tt */, const ColumnVector& xv,
|
---|
| 694 | double* acc) {
|
---|
[3659] | 695 |
|
---|
[6801] | 696 | // State vector components
|
---|
| 697 | // -----------------------
|
---|
| 698 | ColumnVector rr = xv.rows(1,3);
|
---|
| 699 | ColumnVector vv = xv.rows(4,6);
|
---|
[3699] | 700 |
|
---|
[6801] | 701 | // Acceleration
|
---|
[3699] | 702 | // ------------
|
---|
[6801] | 703 | static const double gmWGS = 398.60044e12;
|
---|
| 704 | static const double AE = 6378136.0;
|
---|
| 705 | static const double OMEGA = 7292115.e-11;
|
---|
| 706 | static const double C20 = -1082.6257e-6;
|
---|
[3699] | 707 |
|
---|
[6801] | 708 | double rho = rr.norm_Frobenius();
|
---|
| 709 | double t1 = -gmWGS/(rho*rho*rho);
|
---|
| 710 | double t2 = 3.0/2.0 * C20 * (gmWGS*AE*AE) / (rho*rho*rho*rho*rho);
|
---|
| 711 | double t3 = OMEGA * OMEGA;
|
---|
| 712 | double t4 = 2.0 * OMEGA;
|
---|
| 713 | double z2 = rr(3) * rr(3);
|
---|
[3699] | 714 |
|
---|
[6801] | 715 | // Vector of derivatives
|
---|
| 716 | // ---------------------
|
---|
| 717 | ColumnVector va(6);
|
---|
| 718 | va(1) = vv(1);
|
---|
| 719 | va(2) = vv(2);
|
---|
| 720 | va(3) = vv(3);
|
---|
| 721 | va(4) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(1) + t4*vv(2) + acc[0];
|
---|
| 722 | va(5) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(2) - t4*vv(1) + acc[1];
|
---|
| 723 | va(6) = (t1 + t2*(3.0-5.0*z2/(rho*rho)) ) * rr(3) + acc[2];
|
---|
[3699] | 724 |
|
---|
[6801] | 725 | return va;
|
---|
| 726 | }
|
---|
[3699] | 727 |
|
---|
[6801] | 728 | // IOD of Glonass Ephemeris (virtual)
|
---|
| 729 | ////////////////////////////////////////////////////////////////////////////
|
---|
[7169] | 730 | unsigned int t_ephGlo::IOD() const {
|
---|
[6801] | 731 | bncTime tMoscow = _TOC - _gps_utc + 3 * 3600.0;
|
---|
[7054] | 732 | return (unsigned long)tMoscow.daysec() / 900;
|
---|
[3659] | 733 | }
|
---|
| 734 |
|
---|
[8187] | 735 | // Health status of Glonass Ephemeris (virtual)
|
---|
| 736 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 737 | unsigned int t_ephGlo::isUnhealthy() const {
|
---|
[8215] | 738 |
|
---|
[8217] | 739 | if (_almanac_health_availablility_indicator) {
|
---|
[8215] | 740 | if ((_health == 0 && _almanac_health == 0) ||
|
---|
| 741 | (_health == 1 && _almanac_health == 0) ||
|
---|
| 742 | (_health == 1 && _almanac_health == 1)) {
|
---|
| 743 | return 1;
|
---|
| 744 | }
|
---|
[8187] | 745 | }
|
---|
[8217] | 746 | else if (!_almanac_health_availablility_indicator) {
|
---|
| 747 | if (_health) {
|
---|
| 748 | return 1;
|
---|
| 749 | }
|
---|
| 750 | }
|
---|
[8215] | 751 | return 0; /* (_health == 0 && _almanac_health == 1) or (_health == 0) */
|
---|
[8187] | 752 | }
|
---|
| 753 |
|
---|
[8217] | 754 |
|
---|
[3659] | 755 | // Constructor
|
---|
| 756 | //////////////////////////////////////////////////////////////////////////////
|
---|
[4891] | 757 | t_ephGal::t_ephGal(float rnxVersion, const QStringList& lines) {
|
---|
[6809] | 758 | int year, month, day, hour, min;
|
---|
| 759 | double sec;
|
---|
| 760 | QString prnStr;
|
---|
[4891] | 761 | const int nLines = 8;
|
---|
| 762 | if (lines.size() != nLines) {
|
---|
[6518] | 763 | _checkState = bad;
|
---|
[4891] | 764 | return;
|
---|
| 765 | }
|
---|
| 766 |
|
---|
| 767 | // RINEX Format
|
---|
| 768 | // ------------
|
---|
| 769 | int fieldLen = 19;
|
---|
[6792] | 770 | double SVhealth = 0.0;
|
---|
| 771 | double datasource = 0.0;
|
---|
[6798] | 772 |
|
---|
[4891] | 773 | int pos[4];
|
---|
| 774 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
| 775 | pos[1] = pos[0] + fieldLen;
|
---|
| 776 | pos[2] = pos[1] + fieldLen;
|
---|
| 777 | pos[3] = pos[2] + fieldLen;
|
---|
| 778 |
|
---|
| 779 | // Read eight lines
|
---|
| 780 | // ----------------
|
---|
| 781 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
| 782 | QString line = lines[iLine];
|
---|
| 783 |
|
---|
| 784 | if ( iLine == 0 ) {
|
---|
[8204] | 785 | QTextStream in(line.left(pos[1]).toLatin1());
|
---|
[7140] | 786 | QString n;
|
---|
[6880] | 787 | in >> prnStr;
|
---|
[7639] | 788 | if (prnStr.size() == 1 && prnStr[0] == 'E') {
|
---|
[7139] | 789 | in >> n;
|
---|
| 790 | prnStr.append(n);
|
---|
[6880] | 791 | }
|
---|
| 792 | in >> year >> month >> day >> hour >> min >> sec;
|
---|
[4891] | 793 | if (year < 80) {
|
---|
| 794 | year += 2000;
|
---|
| 795 | }
|
---|
| 796 | else if (year < 100) {
|
---|
| 797 | year += 1900;
|
---|
| 798 | }
|
---|
| 799 |
|
---|
| 800 | _TOC.set(year, month, day, hour, min, sec);
|
---|
| 801 |
|
---|
| 802 | if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
|
---|
| 803 | readDbl(line, pos[2], fieldLen, _clock_drift ) ||
|
---|
| 804 | readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
|
---|
[6518] | 805 | _checkState = bad;
|
---|
[4891] | 806 | return;
|
---|
| 807 | }
|
---|
| 808 | }
|
---|
| 809 |
|
---|
| 810 | else if ( iLine == 1 ) {
|
---|
| 811 | if ( readDbl(line, pos[0], fieldLen, _IODnav ) ||
|
---|
| 812 | readDbl(line, pos[1], fieldLen, _Crs ) ||
|
---|
| 813 | readDbl(line, pos[2], fieldLen, _Delta_n) ||
|
---|
| 814 | readDbl(line, pos[3], fieldLen, _M0 ) ) {
|
---|
[6518] | 815 | _checkState = bad;
|
---|
[4891] | 816 | return;
|
---|
| 817 | }
|
---|
| 818 | }
|
---|
| 819 |
|
---|
| 820 | else if ( iLine == 2 ) {
|
---|
| 821 | if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
|
---|
| 822 | readDbl(line, pos[1], fieldLen, _e ) ||
|
---|
| 823 | readDbl(line, pos[2], fieldLen, _Cus ) ||
|
---|
| 824 | readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
|
---|
[6518] | 825 | _checkState = bad;
|
---|
[4891] | 826 | return;
|
---|
| 827 | }
|
---|
| 828 | }
|
---|
| 829 |
|
---|
| 830 | else if ( iLine == 3 ) {
|
---|
| 831 | if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
|
---|
| 832 | readDbl(line, pos[1], fieldLen, _Cic ) ||
|
---|
| 833 | readDbl(line, pos[2], fieldLen, _OMEGA0) ||
|
---|
| 834 | readDbl(line, pos[3], fieldLen, _Cis ) ) {
|
---|
[6518] | 835 | _checkState = bad;
|
---|
[4891] | 836 | return;
|
---|
| 837 | }
|
---|
| 838 | }
|
---|
| 839 |
|
---|
| 840 | else if ( iLine == 4 ) {
|
---|
| 841 | if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
|
---|
| 842 | readDbl(line, pos[1], fieldLen, _Crc ) ||
|
---|
| 843 | readDbl(line, pos[2], fieldLen, _omega ) ||
|
---|
| 844 | readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
|
---|
[6518] | 845 | _checkState = bad;
|
---|
[4891] | 846 | return;
|
---|
| 847 | }
|
---|
| 848 | }
|
---|
| 849 |
|
---|
| 850 | else if ( iLine == 5 ) {
|
---|
[6792] | 851 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
|
---|
| 852 | readDbl(line, pos[1], fieldLen, datasource) ||
|
---|
| 853 | readDbl(line, pos[2], fieldLen, _TOEweek ) ) {
|
---|
[6518] | 854 | _checkState = bad;
|
---|
[4891] | 855 | return;
|
---|
[6792] | 856 | } else {
|
---|
| 857 | if (int(datasource) & (1<<8)) {
|
---|
[6812] | 858 | _fnav = true;
|
---|
| 859 | _inav = false;
|
---|
[6792] | 860 | } else if (int(datasource) & (1<<9)) {
|
---|
[6812] | 861 | _fnav = false;
|
---|
| 862 | _inav = true;
|
---|
[6792] | 863 | }
|
---|
[6892] | 864 | _TOEweek -= 1024.0;
|
---|
[4891] | 865 | }
|
---|
| 866 | }
|
---|
| 867 |
|
---|
| 868 | else if ( iLine == 6 ) {
|
---|
| 869 | if ( readDbl(line, pos[0], fieldLen, _SISA ) ||
|
---|
[6792] | 870 | readDbl(line, pos[1], fieldLen, SVhealth) ||
|
---|
[4891] | 871 | readDbl(line, pos[2], fieldLen, _BGD_1_5A) ||
|
---|
| 872 | readDbl(line, pos[3], fieldLen, _BGD_1_5B) ) {
|
---|
[6518] | 873 | _checkState = bad;
|
---|
[4891] | 874 | return;
|
---|
[6792] | 875 | } else {
|
---|
| 876 | // Bit 0
|
---|
[6812] | 877 | _e1DataInValid = (int(SVhealth) & (1<<0));
|
---|
[6792] | 878 | // Bit 1-2
|
---|
[6802] | 879 | _E1_bHS = double((int(SVhealth) >> 1) & 0x3);
|
---|
[6792] | 880 | // Bit 3
|
---|
[6812] | 881 | _e5aDataInValid = (int(SVhealth) & (1<<3));
|
---|
[6792] | 882 | // Bit 4-5
|
---|
[6802] | 883 | _E5aHS = double((int(SVhealth) >> 4) & 0x3);
|
---|
[6792] | 884 | // Bit 6
|
---|
[6812] | 885 | _e5bDataInValid = (int(SVhealth) & (1<<6));
|
---|
[6792] | 886 | // Bit 7-8
|
---|
[6802] | 887 | _E5bHS = double((int(SVhealth) >> 7) & 0x3);
|
---|
[6809] | 888 |
|
---|
| 889 | if (prnStr.at(0) == 'E') {
|
---|
[7140] | 890 | _prn.set('E', prnStr.mid(1).toInt(), _inav ? 1 : 0);
|
---|
[6809] | 891 | }
|
---|
[4891] | 892 | }
|
---|
| 893 | }
|
---|
| 894 |
|
---|
| 895 | else if ( iLine == 7 ) {
|
---|
| 896 | if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
|
---|
[6518] | 897 | _checkState = bad;
|
---|
[4891] | 898 | return;
|
---|
| 899 | }
|
---|
| 900 | }
|
---|
| 901 | }
|
---|
[3659] | 902 | }
|
---|
[4013] | 903 |
|
---|
[6801] | 904 | // Compute Galileo Satellite Position (virtual)
|
---|
| 905 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 906 | t_irc t_ephGal::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
|
---|
[4013] | 907 |
|
---|
[8419] | 908 | if (_checkState == bad ||
|
---|
| 909 | _checkState == unhealthy) {
|
---|
[6801] | 910 | return failure;
|
---|
| 911 | }
|
---|
[4013] | 912 |
|
---|
[6801] | 913 | static const double omegaEarth = 7292115.1467e-11;
|
---|
[8212] | 914 | static const double gmWGS = 398.6004418e12;
|
---|
[4023] | 915 |
|
---|
[6801] | 916 | memset(xc, 0, 4*sizeof(double));
|
---|
| 917 | memset(vv, 0, 3*sizeof(double));
|
---|
[4023] | 918 |
|
---|
[6801] | 919 | double a0 = _sqrt_A * _sqrt_A;
|
---|
| 920 | if (a0 == 0) {
|
---|
| 921 | return failure;
|
---|
| 922 | }
|
---|
[4023] | 923 |
|
---|
[6801] | 924 | double n0 = sqrt(gmWGS/(a0*a0*a0));
|
---|
[4023] | 925 |
|
---|
[6801] | 926 | bncTime tt(GPSweek, GPSweeks);
|
---|
| 927 | double tk = tt - bncTime(_TOC.gpsw(), _TOEsec);
|
---|
[4023] | 928 |
|
---|
[6801] | 929 | double n = n0 + _Delta_n;
|
---|
| 930 | double M = _M0 + n*tk;
|
---|
| 931 | double E = M;
|
---|
| 932 | double E_last;
|
---|
[8368] | 933 | int nLoop = 0;
|
---|
[6801] | 934 | do {
|
---|
| 935 | E_last = E;
|
---|
| 936 | E = M + _e*sin(E);
|
---|
[8368] | 937 |
|
---|
| 938 | if (++nLoop == 100) {
|
---|
| 939 | return failure;
|
---|
| 940 | }
|
---|
[6801] | 941 | } while ( fabs(E-E_last)*a0 > 0.001 );
|
---|
| 942 | double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
|
---|
| 943 | double u0 = v + _omega;
|
---|
| 944 | double sin2u0 = sin(2*u0);
|
---|
| 945 | double cos2u0 = cos(2*u0);
|
---|
| 946 | double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
|
---|
| 947 | double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
|
---|
| 948 | double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
|
---|
| 949 | double xp = r*cos(u);
|
---|
| 950 | double yp = r*sin(u);
|
---|
| 951 | double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
|
---|
| 952 | omegaEarth*_TOEsec;
|
---|
[4023] | 953 |
|
---|
[6801] | 954 | double sinom = sin(OM);
|
---|
| 955 | double cosom = cos(OM);
|
---|
| 956 | double sini = sin(i);
|
---|
| 957 | double cosi = cos(i);
|
---|
| 958 | xc[0] = xp*cosom - yp*cosi*sinom;
|
---|
| 959 | xc[1] = xp*sinom + yp*cosi*cosom;
|
---|
| 960 | xc[2] = yp*sini;
|
---|
[4023] | 961 |
|
---|
[6801] | 962 | double tc = tt - _TOC;
|
---|
| 963 | xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
|
---|
[4023] | 964 |
|
---|
[6801] | 965 | // Velocity
|
---|
| 966 | // --------
|
---|
| 967 | double tanv2 = tan(v/2);
|
---|
| 968 | double dEdM = 1 / (1 - _e*cos(E));
|
---|
| 969 | double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
|
---|
| 970 | * dEdM * n;
|
---|
| 971 | double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
|
---|
| 972 | double dotom = _OMEGADOT - omegaEarth;
|
---|
| 973 | double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
|
---|
| 974 | double dotr = a0 * _e*sin(E) * dEdM * n
|
---|
| 975 | + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
|
---|
| 976 | double dotx = dotr*cos(u) - r*sin(u)*dotu;
|
---|
| 977 | double doty = dotr*sin(u) + r*cos(u)*dotu;
|
---|
[4023] | 978 |
|
---|
[6801] | 979 | vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
|
---|
| 980 | - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
|
---|
| 981 | + yp*sini*sinom*doti; // dX / di
|
---|
| 982 |
|
---|
| 983 | vv[1] = sinom *dotx + cosi*cosom *doty
|
---|
| 984 | + xp*cosom*dotom - yp*cosi*sinom*dotom
|
---|
| 985 | - yp*sini*cosom*doti;
|
---|
| 986 |
|
---|
| 987 | vv[2] = sini *doty + yp*cosi *doti;
|
---|
| 988 |
|
---|
| 989 | // Relativistic Correction
|
---|
| 990 | // -----------------------
|
---|
[7481] | 991 | // correspondent to Galileo ICD and to SSR standard
|
---|
| 992 | xc[3] -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
|
---|
| 993 | // correspondent to IGS convention
|
---|
| 994 | //xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
|
---|
[6801] | 995 |
|
---|
| 996 | return success;
|
---|
[4023] | 997 | }
|
---|
| 998 |
|
---|
[8187] | 999 | // Health status of Galileo Ephemeris (virtual)
|
---|
| 1000 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1001 | unsigned int t_ephGal::isUnhealthy() const {
|
---|
| 1002 | if (_E5aHS && _E5bHS && _E1_bHS) {
|
---|
| 1003 | return 1;
|
---|
| 1004 | }
|
---|
| 1005 | return 0;
|
---|
| 1006 | }
|
---|
| 1007 |
|
---|
[4023] | 1008 | // RINEX Format String
|
---|
| 1009 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 1010 | QString t_ephGal::toString(double version) const {
|
---|
| 1011 |
|
---|
[4029] | 1012 | QString rnxStr = rinexDateStr(_TOC, _prn, version);
|
---|
[4023] | 1013 |
|
---|
| 1014 | QTextStream out(&rnxStr);
|
---|
| 1015 |
|
---|
| 1016 | out << QString("%1%2%3\n")
|
---|
| 1017 | .arg(_clock_bias, 19, 'e', 12)
|
---|
| 1018 | .arg(_clock_drift, 19, 'e', 12)
|
---|
| 1019 | .arg(_clock_driftrate, 19, 'e', 12);
|
---|
| 1020 |
|
---|
| 1021 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
| 1022 |
|
---|
| 1023 | out << QString(fmt)
|
---|
| 1024 | .arg(_IODnav, 19, 'e', 12)
|
---|
| 1025 | .arg(_Crs, 19, 'e', 12)
|
---|
| 1026 | .arg(_Delta_n, 19, 'e', 12)
|
---|
| 1027 | .arg(_M0, 19, 'e', 12);
|
---|
| 1028 |
|
---|
| 1029 | out << QString(fmt)
|
---|
| 1030 | .arg(_Cuc, 19, 'e', 12)
|
---|
| 1031 | .arg(_e, 19, 'e', 12)
|
---|
| 1032 | .arg(_Cus, 19, 'e', 12)
|
---|
| 1033 | .arg(_sqrt_A, 19, 'e', 12);
|
---|
| 1034 |
|
---|
| 1035 | out << QString(fmt)
|
---|
| 1036 | .arg(_TOEsec, 19, 'e', 12)
|
---|
| 1037 | .arg(_Cic, 19, 'e', 12)
|
---|
| 1038 | .arg(_OMEGA0, 19, 'e', 12)
|
---|
| 1039 | .arg(_Cis, 19, 'e', 12);
|
---|
| 1040 |
|
---|
| 1041 | out << QString(fmt)
|
---|
| 1042 | .arg(_i0, 19, 'e', 12)
|
---|
| 1043 | .arg(_Crc, 19, 'e', 12)
|
---|
| 1044 | .arg(_omega, 19, 'e', 12)
|
---|
| 1045 | .arg(_OMEGADOT, 19, 'e', 12);
|
---|
| 1046 |
|
---|
[6792] | 1047 | int dataSource = 0;
|
---|
| 1048 | int SVhealth = 0;
|
---|
| 1049 | double BGD_1_5A = _BGD_1_5A;
|
---|
| 1050 | double BGD_1_5B = _BGD_1_5B;
|
---|
[6812] | 1051 | if (_fnav) {
|
---|
[6792] | 1052 | dataSource |= (1<<1);
|
---|
| 1053 | dataSource |= (1<<8);
|
---|
| 1054 | BGD_1_5B = 0.0;
|
---|
| 1055 | // SVhealth
|
---|
| 1056 | // Bit 3 : E5a DVS
|
---|
[6812] | 1057 | if (_e5aDataInValid) {
|
---|
[6792] | 1058 | SVhealth |= (1<<3);
|
---|
| 1059 | }
|
---|
| 1060 | // Bit 4-5: E5a HS
|
---|
| 1061 | if (_E5aHS == 1.0) {
|
---|
| 1062 | SVhealth |= (1<<4);
|
---|
| 1063 | }
|
---|
| 1064 | else if (_E5aHS == 2.0) {
|
---|
| 1065 | SVhealth |= (1<<5);
|
---|
| 1066 | }
|
---|
| 1067 | else if (_E5aHS == 3.0) {
|
---|
| 1068 | SVhealth |= (1<<4);
|
---|
| 1069 | SVhealth |= (1<<5);
|
---|
| 1070 | }
|
---|
| 1071 | }
|
---|
[6812] | 1072 | else if(_inav) {
|
---|
[6803] | 1073 | // Bit 2 and 0 are set because from MT1046 the data source cannot be determined
|
---|
| 1074 | // and RNXv3.03 says both can be set if the navigation messages were merged
|
---|
[5539] | 1075 | dataSource |= (1<<0);
|
---|
[6792] | 1076 | dataSource |= (1<<2);
|
---|
[5540] | 1077 | dataSource |= (1<<9);
|
---|
[6792] | 1078 | // SVhealth
|
---|
| 1079 | // Bit 0 : E1-B DVS
|
---|
[6812] | 1080 | if (_e1DataInValid) {
|
---|
[6792] | 1081 | SVhealth |= (1<<0);
|
---|
| 1082 | }
|
---|
| 1083 | // Bit 1-2: E1-B HS
|
---|
| 1084 | if (_E1_bHS == 1.0) {
|
---|
| 1085 | SVhealth |= (1<<1);
|
---|
| 1086 | }
|
---|
| 1087 | else if (_E1_bHS == 2.0) {
|
---|
| 1088 | SVhealth |= (1<<2);
|
---|
| 1089 | }
|
---|
[6803] | 1090 | else if (_E1_bHS == 3.0) {
|
---|
[6792] | 1091 | SVhealth |= (1<<1);
|
---|
| 1092 | SVhealth |= (1<<2);
|
---|
| 1093 | }
|
---|
[6802] | 1094 | // Bit 3 : E5a DVS
|
---|
[6812] | 1095 | if (_e5aDataInValid) {
|
---|
[6802] | 1096 | SVhealth |= (1<<3);
|
---|
| 1097 | }
|
---|
| 1098 | // Bit 4-5: E5a HS
|
---|
| 1099 | if (_E5aHS == 1.0) {
|
---|
| 1100 | SVhealth |= (1<<4);
|
---|
| 1101 | }
|
---|
| 1102 | else if (_E5aHS == 2.0) {
|
---|
| 1103 | SVhealth |= (1<<5);
|
---|
| 1104 | }
|
---|
[6803] | 1105 | else if (_E5aHS == 3.0) {
|
---|
[6802] | 1106 | SVhealth |= (1<<4);
|
---|
| 1107 | SVhealth |= (1<<5);
|
---|
| 1108 | }
|
---|
[6792] | 1109 | // Bit 6 : E5b DVS
|
---|
[6812] | 1110 | if (_e5bDataInValid) {
|
---|
[6792] | 1111 | SVhealth |= (1<<6);
|
---|
| 1112 | }
|
---|
| 1113 | // Bit 7-8: E5b HS
|
---|
| 1114 | if (_E5bHS == 1.0) {
|
---|
| 1115 | SVhealth |= (1<<7);
|
---|
| 1116 | }
|
---|
| 1117 | else if (_E5bHS == 2.0) {
|
---|
| 1118 | SVhealth |= (1<<8);
|
---|
| 1119 | }
|
---|
[6803] | 1120 | else if (_E5bHS == 3.0) {
|
---|
[6792] | 1121 | SVhealth |= (1<<7);
|
---|
| 1122 | SVhealth |= (1<<8);
|
---|
| 1123 | }
|
---|
[5539] | 1124 | }
|
---|
[6792] | 1125 |
|
---|
[4023] | 1126 | out << QString(fmt)
|
---|
[5532] | 1127 | .arg(_IDOT, 19, 'e', 12)
|
---|
| 1128 | .arg(double(dataSource), 19, 'e', 12)
|
---|
[6892] | 1129 | .arg(_TOEweek + 1024.0, 19, 'e', 12)
|
---|
[5532] | 1130 | .arg(0.0, 19, 'e', 12);
|
---|
[4023] | 1131 |
|
---|
| 1132 | out << QString(fmt)
|
---|
[6798] | 1133 | .arg(_SISA, 19, 'e', 12)
|
---|
[6792] | 1134 | .arg(double(SVhealth), 19, 'e', 12)
|
---|
| 1135 | .arg(BGD_1_5A, 19, 'e', 12)
|
---|
| 1136 | .arg(BGD_1_5B, 19, 'e', 12);
|
---|
[4023] | 1137 |
|
---|
[7922] | 1138 |
|
---|
| 1139 | double tot = _TOT;
|
---|
| 1140 | if (tot == 0.9999e9 && version < 3.0) {
|
---|
| 1141 | tot = 0.0;
|
---|
| 1142 | }
|
---|
[4023] | 1143 | out << QString(fmt)
|
---|
[7922] | 1144 | .arg(tot, 19, 'e', 12)
|
---|
[4024] | 1145 | .arg("", 19, QChar(' '))
|
---|
| 1146 | .arg("", 19, QChar(' '))
|
---|
| 1147 | .arg("", 19, QChar(' '));
|
---|
[4023] | 1148 |
|
---|
| 1149 | return rnxStr;
|
---|
| 1150 | }
|
---|
| 1151 |
|
---|
[6385] | 1152 | // Constructor
|
---|
| 1153 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6390] | 1154 | t_ephSBAS::t_ephSBAS(float rnxVersion, const QStringList& lines) {
|
---|
| 1155 |
|
---|
| 1156 | const int nLines = 4;
|
---|
| 1157 |
|
---|
| 1158 | if (lines.size() != nLines) {
|
---|
[6518] | 1159 | _checkState = bad;
|
---|
[6390] | 1160 | return;
|
---|
| 1161 | }
|
---|
| 1162 |
|
---|
| 1163 | // RINEX Format
|
---|
| 1164 | // ------------
|
---|
| 1165 | int fieldLen = 19;
|
---|
| 1166 |
|
---|
| 1167 | int pos[4];
|
---|
| 1168 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
| 1169 | pos[1] = pos[0] + fieldLen;
|
---|
| 1170 | pos[2] = pos[1] + fieldLen;
|
---|
| 1171 | pos[3] = pos[2] + fieldLen;
|
---|
| 1172 |
|
---|
| 1173 | // Read four lines
|
---|
| 1174 | // ---------------
|
---|
| 1175 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
| 1176 | QString line = lines[iLine];
|
---|
| 1177 |
|
---|
| 1178 | if ( iLine == 0 ) {
|
---|
[8204] | 1179 | QTextStream in(line.left(pos[1]).toLatin1());
|
---|
[6390] | 1180 |
|
---|
| 1181 | int year, month, day, hour, min;
|
---|
| 1182 | double sec;
|
---|
[6880] | 1183 |
|
---|
[7139] | 1184 | QString prnStr, n;
|
---|
[6880] | 1185 | in >> prnStr;
|
---|
[7639] | 1186 | if (prnStr.size() == 1 && prnStr[0] == 'S') {
|
---|
[7139] | 1187 | in >> n;
|
---|
| 1188 | prnStr.append(n);
|
---|
[6880] | 1189 | }
|
---|
| 1190 | in >> year >> month >> day >> hour >> min >> sec;
|
---|
[6390] | 1191 | if (prnStr.at(0) == 'S') {
|
---|
| 1192 | _prn.set('S', prnStr.mid(1).toInt());
|
---|
| 1193 | }
|
---|
| 1194 | else {
|
---|
| 1195 | _prn.set('S', prnStr.toInt());
|
---|
| 1196 | }
|
---|
| 1197 |
|
---|
| 1198 | if (year < 80) {
|
---|
| 1199 | year += 2000;
|
---|
| 1200 | }
|
---|
| 1201 | else if (year < 100) {
|
---|
| 1202 | year += 1900;
|
---|
| 1203 | }
|
---|
| 1204 |
|
---|
| 1205 | _TOC.set(year, month, day, hour, min, sec);
|
---|
| 1206 |
|
---|
| 1207 | if ( readDbl(line, pos[1], fieldLen, _agf0 ) ||
|
---|
| 1208 | readDbl(line, pos[2], fieldLen, _agf1 ) ||
|
---|
| 1209 | readDbl(line, pos[3], fieldLen, _TOW ) ) {
|
---|
[6518] | 1210 | _checkState = bad;
|
---|
[6390] | 1211 | return;
|
---|
| 1212 | }
|
---|
| 1213 | }
|
---|
| 1214 |
|
---|
| 1215 | else if ( iLine == 1 ) {
|
---|
| 1216 | if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
|
---|
| 1217 | readDbl(line, pos[1], fieldLen, _x_velocity ) ||
|
---|
| 1218 | readDbl(line, pos[2], fieldLen, _x_acceleration) ||
|
---|
| 1219 | readDbl(line, pos[3], fieldLen, _health ) ) {
|
---|
[6518] | 1220 | _checkState = bad;
|
---|
[6390] | 1221 | return;
|
---|
| 1222 | }
|
---|
| 1223 | }
|
---|
| 1224 |
|
---|
| 1225 | else if ( iLine == 2 ) {
|
---|
| 1226 | if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
|
---|
| 1227 | readDbl(line, pos[1], fieldLen, _y_velocity ) ||
|
---|
| 1228 | readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
|
---|
| 1229 | readDbl(line, pos[3], fieldLen, _ura ) ) {
|
---|
[6518] | 1230 | _checkState = bad;
|
---|
[6390] | 1231 | return;
|
---|
| 1232 | }
|
---|
| 1233 | }
|
---|
| 1234 |
|
---|
| 1235 | else if ( iLine == 3 ) {
|
---|
[6536] | 1236 | double iodn;
|
---|
[6390] | 1237 | if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
|
---|
| 1238 | readDbl(line, pos[1], fieldLen, _z_velocity ) ||
|
---|
| 1239 | readDbl(line, pos[2], fieldLen, _z_acceleration) ||
|
---|
[6536] | 1240 | readDbl(line, pos[3], fieldLen, iodn ) ) {
|
---|
[6518] | 1241 | _checkState = bad;
|
---|
[6390] | 1242 | return;
|
---|
[6891] | 1243 | } else {
|
---|
[6536] | 1244 | _IODN = int(iodn);
|
---|
[6390] | 1245 | }
|
---|
| 1246 | }
|
---|
| 1247 | }
|
---|
| 1248 |
|
---|
[7278] | 1249 | _x_pos *= 1.e3;
|
---|
| 1250 | _y_pos *= 1.e3;
|
---|
| 1251 | _z_pos *= 1.e3;
|
---|
| 1252 | _x_velocity *= 1.e3;
|
---|
| 1253 | _y_velocity *= 1.e3;
|
---|
| 1254 | _z_velocity *= 1.e3;
|
---|
| 1255 | _x_acceleration *= 1.e3;
|
---|
| 1256 | _y_acceleration *= 1.e3;
|
---|
| 1257 | _z_acceleration *= 1.e3;
|
---|
[6385] | 1258 | }
|
---|
| 1259 |
|
---|
[7054] | 1260 | // IOD of SBAS Ephemeris (virtual)
|
---|
| 1261 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1262 |
|
---|
[7169] | 1263 | unsigned int t_ephSBAS::IOD() const {
|
---|
[7054] | 1264 | unsigned char buffer[80];
|
---|
| 1265 | int size = 0;
|
---|
| 1266 | int numbits = 0;
|
---|
| 1267 | long long bitbuffer = 0;
|
---|
| 1268 | unsigned char *startbuffer = buffer;
|
---|
| 1269 |
|
---|
| 1270 | SBASADDBITSFLOAT(30, this->_x_pos, 0.08)
|
---|
| 1271 | SBASADDBITSFLOAT(30, this->_y_pos, 0.08)
|
---|
| 1272 | SBASADDBITSFLOAT(25, this->_z_pos, 0.4)
|
---|
| 1273 | SBASADDBITSFLOAT(17, this->_x_velocity, 0.000625)
|
---|
| 1274 | SBASADDBITSFLOAT(17, this->_y_velocity, 0.000625)
|
---|
| 1275 | SBASADDBITSFLOAT(18, this->_z_velocity, 0.004)
|
---|
| 1276 | SBASADDBITSFLOAT(10, this->_x_acceleration, 0.0000125)
|
---|
| 1277 | SBASADDBITSFLOAT(10, this->_y_acceleration, 0.0000125)
|
---|
| 1278 | SBASADDBITSFLOAT(10, this->_z_acceleration, 0.0000625)
|
---|
| 1279 | SBASADDBITSFLOAT(12, this->_agf0, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
|
---|
| 1280 | SBASADDBITSFLOAT(8, this->_agf1, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<10))
|
---|
| 1281 | SBASADDBITS(5,0); // the last byte is filled by 0-bits to obtain a length of an integer multiple of 8
|
---|
| 1282 |
|
---|
| 1283 | return CRC24(size, startbuffer);
|
---|
| 1284 | }
|
---|
| 1285 |
|
---|
[6385] | 1286 | // Compute SBAS Satellite Position (virtual)
|
---|
| 1287 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1288 | t_irc t_ephSBAS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
|
---|
[6386] | 1289 |
|
---|
[8419] | 1290 | if (_checkState == bad ||
|
---|
| 1291 | _checkState == unhealthy) {
|
---|
[6518] | 1292 | return failure;
|
---|
| 1293 | }
|
---|
| 1294 |
|
---|
[6386] | 1295 | bncTime tt(GPSweek, GPSweeks);
|
---|
| 1296 | double dt = tt - _TOC;
|
---|
| 1297 |
|
---|
[7278] | 1298 | xc[0] = _x_pos + _x_velocity * dt + _x_acceleration * dt * dt / 2.0;
|
---|
| 1299 | xc[1] = _y_pos + _y_velocity * dt + _y_acceleration * dt * dt / 2.0;
|
---|
| 1300 | xc[2] = _z_pos + _z_velocity * dt + _z_acceleration * dt * dt / 2.0;
|
---|
[6386] | 1301 |
|
---|
| 1302 | vv[0] = _x_velocity + _x_acceleration * dt;
|
---|
| 1303 | vv[1] = _y_velocity + _y_acceleration * dt;
|
---|
| 1304 | vv[2] = _z_velocity + _z_acceleration * dt;
|
---|
| 1305 |
|
---|
| 1306 | xc[3] = _agf0 + _agf1 * dt;
|
---|
| 1307 |
|
---|
| 1308 | return success;
|
---|
[6385] | 1309 | }
|
---|
| 1310 |
|
---|
| 1311 | // RINEX Format String
|
---|
| 1312 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6388] | 1313 | QString t_ephSBAS::toString(double version) const {
|
---|
| 1314 |
|
---|
| 1315 | QString rnxStr = rinexDateStr(_TOC, _prn, version);
|
---|
| 1316 |
|
---|
| 1317 | QTextStream out(&rnxStr);
|
---|
| 1318 |
|
---|
| 1319 | out << QString("%1%2%3\n")
|
---|
[6390] | 1320 | .arg(_agf0, 19, 'e', 12)
|
---|
| 1321 | .arg(_agf1, 19, 'e', 12)
|
---|
| 1322 | .arg(_TOW, 19, 'e', 12);
|
---|
[6388] | 1323 |
|
---|
| 1324 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
| 1325 |
|
---|
| 1326 | out << QString(fmt)
|
---|
| 1327 | .arg(1.e-3*_x_pos, 19, 'e', 12)
|
---|
| 1328 | .arg(1.e-3*_x_velocity, 19, 'e', 12)
|
---|
| 1329 | .arg(1.e-3*_x_acceleration, 19, 'e', 12)
|
---|
[6390] | 1330 | .arg(_health, 19, 'e', 12);
|
---|
[6388] | 1331 |
|
---|
| 1332 | out << QString(fmt)
|
---|
| 1333 | .arg(1.e-3*_y_pos, 19, 'e', 12)
|
---|
| 1334 | .arg(1.e-3*_y_velocity, 19, 'e', 12)
|
---|
| 1335 | .arg(1.e-3*_y_acceleration, 19, 'e', 12)
|
---|
[6390] | 1336 | .arg(_ura, 19, 'e', 12);
|
---|
[6388] | 1337 |
|
---|
| 1338 | out << QString(fmt)
|
---|
| 1339 | .arg(1.e-3*_z_pos, 19, 'e', 12)
|
---|
| 1340 | .arg(1.e-3*_z_velocity, 19, 'e', 12)
|
---|
| 1341 | .arg(1.e-3*_z_acceleration, 19, 'e', 12)
|
---|
[6536] | 1342 | .arg(double(_IODN), 19, 'e', 12);
|
---|
[6388] | 1343 |
|
---|
| 1344 | return rnxStr;
|
---|
[6385] | 1345 | }
|
---|
[6400] | 1346 |
|
---|
| 1347 | // Constructor
|
---|
| 1348 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6600] | 1349 | t_ephBDS::t_ephBDS(float rnxVersion, const QStringList& lines) {
|
---|
[6400] | 1350 |
|
---|
| 1351 | const int nLines = 8;
|
---|
| 1352 |
|
---|
| 1353 | if (lines.size() != nLines) {
|
---|
[6518] | 1354 | _checkState = bad;
|
---|
[6400] | 1355 | return;
|
---|
| 1356 | }
|
---|
| 1357 |
|
---|
| 1358 | // RINEX Format
|
---|
| 1359 | // ------------
|
---|
| 1360 | int fieldLen = 19;
|
---|
| 1361 |
|
---|
| 1362 | int pos[4];
|
---|
| 1363 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
| 1364 | pos[1] = pos[0] + fieldLen;
|
---|
| 1365 | pos[2] = pos[1] + fieldLen;
|
---|
| 1366 | pos[3] = pos[2] + fieldLen;
|
---|
| 1367 |
|
---|
| 1368 | // Read eight lines
|
---|
| 1369 | // ----------------
|
---|
| 1370 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
| 1371 | QString line = lines[iLine];
|
---|
| 1372 |
|
---|
| 1373 | if ( iLine == 0 ) {
|
---|
[8204] | 1374 | QTextStream in(line.left(pos[1]).toLatin1());
|
---|
[6400] | 1375 |
|
---|
| 1376 | int year, month, day, hour, min;
|
---|
| 1377 | double sec;
|
---|
[6880] | 1378 |
|
---|
[7139] | 1379 | QString prnStr, n;
|
---|
[6880] | 1380 | in >> prnStr;
|
---|
[7639] | 1381 | if (prnStr.size() == 1 && prnStr[0] == 'C') {
|
---|
[7139] | 1382 | in >> n;
|
---|
| 1383 | prnStr.append(n);
|
---|
[6880] | 1384 | }
|
---|
| 1385 | in >> year >> month >> day >> hour >> min >> sec;
|
---|
[6400] | 1386 | if (prnStr.at(0) == 'C') {
|
---|
| 1387 | _prn.set('C', prnStr.mid(1).toInt());
|
---|
| 1388 | }
|
---|
| 1389 | else {
|
---|
| 1390 | _prn.set('C', prnStr.toInt());
|
---|
| 1391 | }
|
---|
| 1392 |
|
---|
| 1393 | if (year < 80) {
|
---|
| 1394 | year += 2000;
|
---|
| 1395 | }
|
---|
| 1396 | else if (year < 100) {
|
---|
| 1397 | year += 1900;
|
---|
| 1398 | }
|
---|
| 1399 |
|
---|
[6812] | 1400 | _TOC.setBDS(year, month, day, hour, min, sec);
|
---|
[6400] | 1401 |
|
---|
| 1402 | if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
|
---|
| 1403 | readDbl(line, pos[2], fieldLen, _clock_drift ) ||
|
---|
| 1404 | readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
|
---|
[6518] | 1405 | _checkState = bad;
|
---|
[6400] | 1406 | return;
|
---|
| 1407 | }
|
---|
| 1408 | }
|
---|
| 1409 |
|
---|
| 1410 | else if ( iLine == 1 ) {
|
---|
| 1411 | double aode;
|
---|
| 1412 | if ( readDbl(line, pos[0], fieldLen, aode ) ||
|
---|
| 1413 | readDbl(line, pos[1], fieldLen, _Crs ) ||
|
---|
| 1414 | readDbl(line, pos[2], fieldLen, _Delta_n) ||
|
---|
| 1415 | readDbl(line, pos[3], fieldLen, _M0 ) ) {
|
---|
[6518] | 1416 | _checkState = bad;
|
---|
[6400] | 1417 | return;
|
---|
| 1418 | }
|
---|
| 1419 | _AODE = int(aode);
|
---|
| 1420 | }
|
---|
| 1421 |
|
---|
| 1422 | else if ( iLine == 2 ) {
|
---|
| 1423 | if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
|
---|
| 1424 | readDbl(line, pos[1], fieldLen, _e ) ||
|
---|
| 1425 | readDbl(line, pos[2], fieldLen, _Cus ) ||
|
---|
| 1426 | readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
|
---|
[6518] | 1427 | _checkState = bad;
|
---|
[6400] | 1428 | return;
|
---|
| 1429 | }
|
---|
| 1430 | }
|
---|
| 1431 |
|
---|
| 1432 | else if ( iLine == 3 ) {
|
---|
[6812] | 1433 | if ( readDbl(line, pos[0], fieldLen, _TOEsec ) ||
|
---|
[6400] | 1434 | readDbl(line, pos[1], fieldLen, _Cic ) ||
|
---|
| 1435 | readDbl(line, pos[2], fieldLen, _OMEGA0) ||
|
---|
| 1436 | readDbl(line, pos[3], fieldLen, _Cis ) ) {
|
---|
[6518] | 1437 | _checkState = bad;
|
---|
[6400] | 1438 | return;
|
---|
| 1439 | }
|
---|
| 1440 | }
|
---|
| 1441 |
|
---|
| 1442 | else if ( iLine == 4 ) {
|
---|
| 1443 | if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
|
---|
| 1444 | readDbl(line, pos[1], fieldLen, _Crc ) ||
|
---|
| 1445 | readDbl(line, pos[2], fieldLen, _omega ) ||
|
---|
| 1446 | readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
|
---|
[6518] | 1447 | _checkState = bad;
|
---|
[6400] | 1448 | return;
|
---|
| 1449 | }
|
---|
| 1450 | }
|
---|
| 1451 |
|
---|
| 1452 | else if ( iLine == 5 ) {
|
---|
| 1453 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
|
---|
[6812] | 1454 | readDbl(line, pos[2], fieldLen, _TOEweek)) {
|
---|
[6518] | 1455 | _checkState = bad;
|
---|
[6400] | 1456 | return;
|
---|
| 1457 | }
|
---|
| 1458 | }
|
---|
| 1459 |
|
---|
| 1460 | else if ( iLine == 6 ) {
|
---|
| 1461 | double SatH1;
|
---|
[6755] | 1462 | if ( readDbl(line, pos[0], fieldLen, _URA ) ||
|
---|
| 1463 | readDbl(line, pos[1], fieldLen, SatH1) ||
|
---|
[6400] | 1464 | readDbl(line, pos[2], fieldLen, _TGD1) ||
|
---|
| 1465 | readDbl(line, pos[3], fieldLen, _TGD2) ) {
|
---|
[6518] | 1466 | _checkState = bad;
|
---|
[6400] | 1467 | return;
|
---|
| 1468 | }
|
---|
| 1469 | _SatH1 = int(SatH1);
|
---|
| 1470 | }
|
---|
| 1471 |
|
---|
| 1472 | else if ( iLine == 7 ) {
|
---|
| 1473 | double aodc;
|
---|
[6812] | 1474 | if ( readDbl(line, pos[0], fieldLen, _TOT) ||
|
---|
[6400] | 1475 | readDbl(line, pos[1], fieldLen, aodc) ) {
|
---|
[6518] | 1476 | _checkState = bad;
|
---|
[6400] | 1477 | return;
|
---|
| 1478 | }
|
---|
[6812] | 1479 | if (_TOT == 0.9999e9) { // 0.9999e9 means not known (RINEX standard)
|
---|
| 1480 | _TOT = _TOEsec;
|
---|
[6400] | 1481 | }
|
---|
| 1482 | _AODC = int(aodc);
|
---|
| 1483 | }
|
---|
| 1484 | }
|
---|
| 1485 |
|
---|
[7138] | 1486 | _TOE.setBDS(int(_TOEweek), _TOEsec);
|
---|
| 1487 |
|
---|
[6400] | 1488 | // remark: actually should be computed from second_tot
|
---|
| 1489 | // but it seems to be unreliable in RINEX files
|
---|
[6843] | 1490 | //_TOT = _TOC.bdssec();
|
---|
[6400] | 1491 | }
|
---|
| 1492 |
|
---|
[7054] | 1493 | // IOD of BDS Ephemeris (virtual)
|
---|
| 1494 | ////////////////////////////////////////////////////////////////////////////
|
---|
[7169] | 1495 | unsigned int t_ephBDS::IOD() const {
|
---|
[8410] | 1496 | return (int(_TOEsec)/720) % 240;
|
---|
[7054] | 1497 | }
|
---|
| 1498 |
|
---|
[6601] | 1499 | // Compute BDS Satellite Position (virtual)
|
---|
[6400] | 1500 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6600] | 1501 | t_irc t_ephBDS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
|
---|
[6400] | 1502 |
|
---|
[8419] | 1503 | if (_checkState == bad ||
|
---|
| 1504 | _checkState == unhealthy) {
|
---|
[6518] | 1505 | return failure;
|
---|
| 1506 | }
|
---|
| 1507 |
|
---|
[6602] | 1508 | static const double gmBDS = 398.6004418e12;
|
---|
| 1509 | static const double omegaBDS = 7292115.0000e-11;
|
---|
[6400] | 1510 |
|
---|
| 1511 | xc[0] = xc[1] = xc[2] = xc[3] = 0.0;
|
---|
| 1512 | vv[0] = vv[1] = vv[2] = 0.0;
|
---|
| 1513 |
|
---|
| 1514 | bncTime tt(GPSweek, GPSweeks);
|
---|
| 1515 |
|
---|
| 1516 | if (_sqrt_A == 0) {
|
---|
| 1517 | return failure;
|
---|
| 1518 | }
|
---|
| 1519 | double a0 = _sqrt_A * _sqrt_A;
|
---|
| 1520 |
|
---|
[6602] | 1521 | double n0 = sqrt(gmBDS/(a0*a0*a0));
|
---|
[6400] | 1522 | double tk = tt - _TOE;
|
---|
| 1523 | double n = n0 + _Delta_n;
|
---|
| 1524 | double M = _M0 + n*tk;
|
---|
| 1525 | double E = M;
|
---|
| 1526 | double E_last;
|
---|
| 1527 | int nLoop = 0;
|
---|
| 1528 | do {
|
---|
| 1529 | E_last = E;
|
---|
| 1530 | E = M + _e*sin(E);
|
---|
| 1531 |
|
---|
| 1532 | if (++nLoop == 100) {
|
---|
| 1533 | return failure;
|
---|
| 1534 | }
|
---|
| 1535 | } while ( fabs(E-E_last)*a0 > 0.001 );
|
---|
| 1536 |
|
---|
| 1537 | double v = atan2(sqrt(1-_e*_e) * sin(E), cos(E) - _e);
|
---|
| 1538 | double u0 = v + _omega;
|
---|
| 1539 | double sin2u0 = sin(2*u0);
|
---|
| 1540 | double cos2u0 = cos(2*u0);
|
---|
| 1541 | double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
|
---|
| 1542 | double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
|
---|
| 1543 | double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
|
---|
| 1544 | double xp = r*cos(u);
|
---|
| 1545 | double yp = r*sin(u);
|
---|
| 1546 | double toesec = (_TOE.gpssec() - 14.0);
|
---|
| 1547 | double sinom = 0;
|
---|
| 1548 | double cosom = 0;
|
---|
| 1549 | double sini = 0;
|
---|
| 1550 | double cosi = 0;
|
---|
[7278] | 1551 |
|
---|
[7481] | 1552 | // Velocity
|
---|
| 1553 | // --------
|
---|
| 1554 | double tanv2 = tan(v/2);
|
---|
| 1555 | double dEdM = 1 / (1 - _e*cos(E));
|
---|
| 1556 | double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2)
|
---|
| 1557 | / (1 + tanv2*tanv2) * dEdM * n;
|
---|
| 1558 | double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
|
---|
| 1559 | double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
|
---|
| 1560 | double dotr = a0 * _e*sin(E) * dEdM * n
|
---|
| 1561 | + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
|
---|
| 1562 |
|
---|
| 1563 | double dotx = dotr*cos(u) - r*sin(u)*dotu;
|
---|
| 1564 | double doty = dotr*sin(u) + r*cos(u)*dotu;
|
---|
| 1565 |
|
---|
[6400] | 1566 | const double iMaxGEO = 10.0 / 180.0 * M_PI;
|
---|
| 1567 |
|
---|
| 1568 | // MEO/IGSO satellite
|
---|
| 1569 | // ------------------
|
---|
| 1570 | if (_i0 > iMaxGEO) {
|
---|
[6602] | 1571 | double OM = _OMEGA0 + (_OMEGADOT - omegaBDS)*tk - omegaBDS*toesec;
|
---|
[6400] | 1572 |
|
---|
| 1573 | sinom = sin(OM);
|
---|
| 1574 | cosom = cos(OM);
|
---|
| 1575 | sini = sin(i);
|
---|
| 1576 | cosi = cos(i);
|
---|
| 1577 |
|
---|
| 1578 | xc[0] = xp*cosom - yp*cosi*sinom;
|
---|
| 1579 | xc[1] = xp*sinom + yp*cosi*cosom;
|
---|
[7278] | 1580 | xc[2] = yp*sini;
|
---|
[7481] | 1581 |
|
---|
| 1582 | // Velocity
|
---|
| 1583 | // --------
|
---|
| 1584 |
|
---|
| 1585 | double dotom = _OMEGADOT - t_CST::omega;
|
---|
| 1586 |
|
---|
| 1587 | vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
|
---|
| 1588 | - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
|
---|
| 1589 | + yp*sini*sinom*doti; // dX / di
|
---|
| 1590 |
|
---|
| 1591 | vv[1] = sinom *dotx + cosi*cosom *doty
|
---|
| 1592 | + xp*cosom*dotom - yp*cosi*sinom*dotom
|
---|
| 1593 | - yp*sini*cosom*doti;
|
---|
| 1594 |
|
---|
| 1595 | vv[2] = sini *doty + yp*cosi *doti;
|
---|
| 1596 |
|
---|
[6400] | 1597 | }
|
---|
| 1598 |
|
---|
| 1599 | // GEO satellite
|
---|
| 1600 | // -------------
|
---|
| 1601 | else {
|
---|
[6602] | 1602 | double OM = _OMEGA0 + _OMEGADOT*tk - omegaBDS*toesec;
|
---|
| 1603 | double ll = omegaBDS*tk;
|
---|
[6400] | 1604 |
|
---|
| 1605 | sinom = sin(OM);
|
---|
| 1606 | cosom = cos(OM);
|
---|
| 1607 | sini = sin(i);
|
---|
| 1608 | cosi = cos(i);
|
---|
| 1609 |
|
---|
| 1610 | double xx = xp*cosom - yp*cosi*sinom;
|
---|
| 1611 | double yy = xp*sinom + yp*cosi*cosom;
|
---|
[7278] | 1612 | double zz = yp*sini;
|
---|
[6400] | 1613 |
|
---|
[7487] | 1614 | Matrix RX = BNC_PPP::t_astro::rotX(-5.0 / 180.0 * M_PI);
|
---|
| 1615 | Matrix RZ = BNC_PPP::t_astro::rotZ(ll);
|
---|
[6400] | 1616 |
|
---|
| 1617 | ColumnVector X1(3); X1 << xx << yy << zz;
|
---|
[7487] | 1618 | ColumnVector X2 = RZ*RX*X1;
|
---|
[6400] | 1619 |
|
---|
| 1620 | xc[0] = X2(1);
|
---|
| 1621 | xc[1] = X2(2);
|
---|
| 1622 | xc[2] = X2(3);
|
---|
[7278] | 1623 |
|
---|
[7481] | 1624 | double dotom = _OMEGADOT;
|
---|
[6400] | 1625 |
|
---|
[7481] | 1626 | double vx = cosom *dotx - cosi*sinom *doty
|
---|
| 1627 | - xp*sinom*dotom - yp*cosi*cosom*dotom
|
---|
| 1628 | + yp*sini*sinom*doti;
|
---|
[6400] | 1629 |
|
---|
[7481] | 1630 | double vy = sinom *dotx + cosi*cosom *doty
|
---|
| 1631 | + xp*cosom*dotom - yp*cosi*sinom*dotom
|
---|
| 1632 | - yp*sini*cosom*doti;
|
---|
[7278] | 1633 |
|
---|
[7501] | 1634 | double vz = sini *doty + yp*cosi *doti;
|
---|
[6400] | 1635 |
|
---|
[7501] | 1636 | ColumnVector V(3); V << vx << vy << vz;
|
---|
[7481] | 1637 |
|
---|
[7487] | 1638 | Matrix RdotZ(3,3);
|
---|
[7481] | 1639 | double C = cos(ll);
|
---|
| 1640 | double S = sin(ll);
|
---|
| 1641 | Matrix UU(3,3);
|
---|
| 1642 | UU[0][0] = -S; UU[0][1] = +C; UU[0][2] = 0.0;
|
---|
| 1643 | UU[1][0] = -C; UU[1][1] = -S; UU[1][2] = 0.0;
|
---|
| 1644 | UU[2][0] = 0.0; UU[2][1] = 0.0; UU[2][2] = 0.0;
|
---|
[7487] | 1645 | RdotZ = omegaBDS * UU;
|
---|
[7481] | 1646 |
|
---|
| 1647 | ColumnVector VV(3);
|
---|
[7487] | 1648 | VV = RZ*RX*V + RdotZ*RX*X1;
|
---|
[7481] | 1649 |
|
---|
| 1650 | vv[0] = VV(1);
|
---|
| 1651 | vv[1] = VV(2);
|
---|
| 1652 | vv[2] = VV(3);
|
---|
| 1653 | }
|
---|
| 1654 |
|
---|
| 1655 | double tc = tt - _TOC;
|
---|
| 1656 | xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
|
---|
| 1657 |
|
---|
[7278] | 1658 | // dotC = _clock_drift + _clock_driftrate*tc
|
---|
[6400] | 1659 | // - 4.442807633e-10*_e*sqrt(a0)*cos(E) * dEdM * n;
|
---|
| 1660 |
|
---|
[7481] | 1661 | // Relativistic Correction
|
---|
| 1662 | // -----------------------
|
---|
| 1663 | // correspondent to BDS ICD and to SSR standard
|
---|
| 1664 | xc[3] -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
|
---|
| 1665 | // correspondent to IGS convention
|
---|
| 1666 | // xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
|
---|
| 1667 |
|
---|
[6400] | 1668 | return success;
|
---|
| 1669 | }
|
---|
| 1670 |
|
---|
| 1671 | // RINEX Format String
|
---|
| 1672 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6600] | 1673 | QString t_ephBDS::toString(double version) const {
|
---|
[8419] | 1674 |
|
---|
[6812] | 1675 | QString rnxStr = rinexDateStr(_TOC-14.0, _prn, version);
|
---|
[6400] | 1676 |
|
---|
| 1677 | QTextStream out(&rnxStr);
|
---|
| 1678 |
|
---|
| 1679 | out << QString("%1%2%3\n")
|
---|
| 1680 | .arg(_clock_bias, 19, 'e', 12)
|
---|
| 1681 | .arg(_clock_drift, 19, 'e', 12)
|
---|
| 1682 | .arg(_clock_driftrate, 19, 'e', 12);
|
---|
| 1683 |
|
---|
| 1684 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
| 1685 |
|
---|
| 1686 | out << QString(fmt)
|
---|
| 1687 | .arg(double(_AODE), 19, 'e', 12)
|
---|
| 1688 | .arg(_Crs, 19, 'e', 12)
|
---|
| 1689 | .arg(_Delta_n, 19, 'e', 12)
|
---|
| 1690 | .arg(_M0, 19, 'e', 12);
|
---|
| 1691 |
|
---|
| 1692 | out << QString(fmt)
|
---|
| 1693 | .arg(_Cuc, 19, 'e', 12)
|
---|
| 1694 | .arg(_e, 19, 'e', 12)
|
---|
| 1695 | .arg(_Cus, 19, 'e', 12)
|
---|
| 1696 | .arg(_sqrt_A, 19, 'e', 12);
|
---|
| 1697 |
|
---|
[6843] | 1698 | double toes = 0.0;
|
---|
| 1699 | if (_TOEweek > -1.0) {// RINEX input
|
---|
| 1700 | toes = _TOEsec;
|
---|
| 1701 | }
|
---|
| 1702 | else {// RTCM stream input
|
---|
[6812] | 1703 | toes = _TOE.bdssec();
|
---|
[6755] | 1704 | }
|
---|
[6400] | 1705 | out << QString(fmt)
|
---|
[6843] | 1706 | .arg(toes, 19, 'e', 12)
|
---|
[6755] | 1707 | .arg(_Cic, 19, 'e', 12)
|
---|
| 1708 | .arg(_OMEGA0, 19, 'e', 12)
|
---|
| 1709 | .arg(_Cis, 19, 'e', 12);
|
---|
[6400] | 1710 |
|
---|
| 1711 | out << QString(fmt)
|
---|
| 1712 | .arg(_i0, 19, 'e', 12)
|
---|
| 1713 | .arg(_Crc, 19, 'e', 12)
|
---|
| 1714 | .arg(_omega, 19, 'e', 12)
|
---|
| 1715 | .arg(_OMEGADOT, 19, 'e', 12);
|
---|
| 1716 |
|
---|
[6843] | 1717 | double toew = 0.0;
|
---|
| 1718 | if (_TOEweek > -1.0) {// RINEX input
|
---|
| 1719 | toew = _TOEweek;
|
---|
| 1720 | }
|
---|
| 1721 | else {// RTCM stream input
|
---|
| 1722 | toew = double(_TOE.bdsw());
|
---|
| 1723 | }
|
---|
[6400] | 1724 | out << QString(fmt)
|
---|
[6843] | 1725 | .arg(_IDOT, 19, 'e', 12)
|
---|
| 1726 | .arg(0.0, 19, 'e', 12)
|
---|
| 1727 | .arg(toew, 19, 'e', 12)
|
---|
| 1728 | .arg(0.0, 19, 'e', 12);
|
---|
[6400] | 1729 |
|
---|
| 1730 | out << QString(fmt)
|
---|
[6798] | 1731 | .arg(_URA, 19, 'e', 12)
|
---|
[6400] | 1732 | .arg(double(_SatH1), 19, 'e', 12)
|
---|
| 1733 | .arg(_TGD1, 19, 'e', 12)
|
---|
| 1734 | .arg(_TGD2, 19, 'e', 12);
|
---|
| 1735 |
|
---|
[6843] | 1736 | double tots = 0.0;
|
---|
| 1737 | if (_TOEweek > -1.0) {// RINEX input
|
---|
| 1738 | tots = _TOT;
|
---|
| 1739 | }
|
---|
| 1740 | else {// RTCM stream input
|
---|
[6812] | 1741 | tots = _TOE.bdssec();
|
---|
[6755] | 1742 | }
|
---|
[6400] | 1743 | out << QString(fmt)
|
---|
[6792] | 1744 | .arg(tots, 19, 'e', 12)
|
---|
[6755] | 1745 | .arg(double(_AODC), 19, 'e', 12)
|
---|
| 1746 | .arg("", 19, QChar(' '))
|
---|
| 1747 | .arg("", 19, QChar(' '));
|
---|
[6400] | 1748 | return rnxStr;
|
---|
| 1749 | }
|
---|