[758] | 1 | /* -------------------------------------------------------------------------
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| 2 | * BKG NTRIP Server
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| 3 | * -------------------------------------------------------------------------
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| 4 | *
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| 5 | * Class: bnseph
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| 6 | *
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| 7 | * Purpose: Retrieve broadcast ephemeris from BNC
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| 8 | *
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| 9 | * Author: L. Mervart
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| 10 | *
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| 11 | * Created: 29-Mar-2008
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| 12 | *
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| 13 | * Changes:
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| 14 | *
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| 15 | * -----------------------------------------------------------------------*/
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| 16 |
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[761] | 17 | #include <iostream>
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| 18 |
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[758] | 19 | #include "bnseph.h"
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[776] | 20 | #include "bnsutils.h"
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[758] | 21 |
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| 22 | using namespace std;
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| 23 |
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| 24 | // Constructor
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| 25 | ////////////////////////////////////////////////////////////////////////////
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| 26 | t_bnseph::t_bnseph(QObject* parent) : QThread(parent) {
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[839] | 27 |
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| 28 | this->setTerminationEnabled(true);
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| 29 |
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[830] | 30 | _socket = 0;
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[1089] | 31 |
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| 32 | QSettings settings;
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| 33 |
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| 34 | QIODevice::OpenMode oMode;
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| 35 | if (Qt::CheckState(settings.value("fileAppend").toInt()) == Qt::Checked) {
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| 36 | oMode = QIODevice::WriteOnly | QIODevice::Unbuffered | QIODevice::Append;
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| 37 | }
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| 38 | else {
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| 39 | oMode = QIODevice::WriteOnly | QIODevice::Unbuffered;
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| 40 | }
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| 41 |
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| 42 | // Echo ephemeris into a file
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| 43 | // ---------------------------
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| 44 | QString echoFileName = settings.value("ephEcho").toString();
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| 45 | if (echoFileName.isEmpty()) {
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| 46 | _echoFile = 0;
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| 47 | _echoStream = 0;
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| 48 | }
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| 49 | else {
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| 50 | _echoFile = new QFile(echoFileName);
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| 51 | if (_echoFile->open(oMode)) {
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| 52 | _echoStream = new QTextStream(_echoFile);
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| 53 | }
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| 54 | else {
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| 55 | _echoStream = 0;
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| 56 | }
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| 57 | }
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[758] | 58 | }
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| 59 |
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| 60 | // Destructor
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| 61 | ////////////////////////////////////////////////////////////////////////////
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| 62 | t_bnseph::~t_bnseph() {
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[759] | 63 | delete _socket;
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[1089] | 64 | delete _echoStream;
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| 65 | delete _echoFile;
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[758] | 66 | }
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| 67 |
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[838] | 68 | // Connect the Socket
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[758] | 69 | ////////////////////////////////////////////////////////////////////////////
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[838] | 70 | void t_bnseph::reconnect() {
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[759] | 71 |
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[838] | 72 | delete _socket;
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[759] | 73 |
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[830] | 74 | QSettings settings;
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[978] | 75 | QString host = settings.value("ephHost").toString();
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| 76 | if (host.isEmpty()) {
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| 77 | host = "localhost";
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| 78 | }
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[830] | 79 | int port = settings.value("ephPort").toInt();
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| 80 |
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| 81 | _socket = new QTcpSocket();
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| 82 | _socket->connectToHost(host, port);
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| 83 |
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[838] | 84 | const int timeOut = 10*1000; // 10 seconds
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[830] | 85 | if (!_socket->waitForConnected(timeOut)) {
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[838] | 86 | emit(newMessage("bnseph::run Connect Timeout"));
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[1083] | 87 | msleep(1000);
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[830] | 88 | }
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[838] | 89 | }
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| 90 |
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| 91 | // Start
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| 92 | ////////////////////////////////////////////////////////////////////////////
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| 93 | void t_bnseph::run() {
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| 94 |
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| 95 | emit(newMessage("bnseph::run Start"));
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| 96 |
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| 97 | while (true) {
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| 98 | if (_socket == 0 || _socket->state() != QAbstractSocket::ConnectedState) {
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| 99 | reconnect();
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| 100 | }
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| 101 | if (_socket && _socket->state() == QAbstractSocket::ConnectedState) {
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[929] | 102 | readEph();
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[759] | 103 | }
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[838] | 104 | else {
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| 105 | msleep(10);
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| 106 | }
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[759] | 107 | }
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[758] | 108 | }
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| 109 |
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[771] | 110 | // Read One Ephemeris
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| 111 | ////////////////////////////////////////////////////////////////////////////
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| 112 | void t_bnseph::readEph() {
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| 113 |
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[1058] | 114 | int nBytes = 0;
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[1125] | 115 | t_eph* eph = 0;
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[1058] | 116 |
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[929] | 117 | QByteArray line = waitForLine(_socket);
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[1089] | 118 |
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[1125] | 119 | if (line.isEmpty()) {
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| 120 | return;
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| 121 | }
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| 122 |
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[1089] | 123 | if (_echoStream) {
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| 124 | *_echoStream << line;
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| 125 | _echoStream->flush();
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| 126 | }
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| 127 |
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[1058] | 128 | nBytes += line.length();
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[782] | 129 |
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[884] | 130 | QTextStream in(line);
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| 131 | QString prn;
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| 132 |
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| 133 | in >> prn;
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[771] | 134 |
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[884] | 135 | int numlines = 0;
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| 136 | if (prn.indexOf('R') != -1) {
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| 137 | eph = new t_ephGlo();
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| 138 | numlines = 4;
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| 139 | }
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| 140 | else {
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| 141 | eph = new t_ephGPS();
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| 142 | numlines = 8;
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| 143 | }
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[771] | 144 |
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[884] | 145 | QStringList lines;
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| 146 | lines << line;
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| 147 |
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| 148 | for (int ii = 2; ii <= numlines; ii++) {
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[929] | 149 | QByteArray line = waitForLine(_socket);
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[1125] | 150 | if (line.isEmpty()) {
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| 151 | delete eph;
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| 152 | return;
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| 153 | }
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[1089] | 154 |
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| 155 | if (_echoStream) {
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| 156 | *_echoStream << line;
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| 157 | _echoStream->flush();
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| 158 | }
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| 159 |
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[1058] | 160 | nBytes += line.length();
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[884] | 161 | lines << line;
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| 162 | }
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[782] | 163 |
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[884] | 164 | eph->read(lines);
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[782] | 165 |
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[1058] | 166 | emit(newEph(eph, nBytes));
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[884] | 167 | }
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[778] | 168 |
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[886] | 169 | // Compare Time
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| 170 | ////////////////////////////////////////////////////////////////////////////
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| 171 | bool t_eph::isNewerThan(const t_eph* eph) const {
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| 172 | if (_GPSweek > eph->_GPSweek ||
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| 173 | (_GPSweek == eph->_GPSweek && _GPSweeks > eph->_GPSweeks)) {
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| 174 | return true;
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| 175 | }
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| 176 | else {
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| 177 | return false;
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| 178 | }
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| 179 | }
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| 180 |
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[884] | 181 | // Read GPS Ephemeris
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| 182 | ////////////////////////////////////////////////////////////////////////////
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| 183 | void t_ephGPS::read(const QStringList& lines) {
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[782] | 184 |
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[884] | 185 | for (int ii = 1; ii <= lines.size(); ii++) {
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| 186 | QTextStream in(lines.at(ii-1).toAscii());
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[782] | 187 |
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[884] | 188 | if (ii == 1) {
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[800] | 189 | double year, month, day, hour, minute, second;
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[884] | 190 | in >> _prn >> year >> month >> day >> hour >> minute >> second
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| 191 | >> _clock_bias >> _clock_drift >> _clock_driftrate;
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[781] | 192 |
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| 193 | if (year < 100) year += 2000;
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| 194 |
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[1101] | 195 | QDateTime* dateTime = new QDateTime(QDate(int(year), int(month), int(day)),
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| 196 | QTime(int(hour), int(minute), int(second)), Qt::UTC);
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[886] | 197 |
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[1101] | 198 | GPSweekFromDateAndTime(*dateTime, _GPSweek, _GPSweeks);
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| 199 |
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| 200 | delete dateTime;
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| 201 |
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[886] | 202 | _TOC = _GPSweeks;
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[781] | 203 | }
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| 204 | else if (ii == 2) {
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[884] | 205 | in >> _IODE >> _Crs >> _Delta_n >> _M0;
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[781] | 206 | }
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| 207 | else if (ii == 3) {
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[884] | 208 | in >> _Cuc >> _e >> _Cus >> _sqrt_A;
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[781] | 209 | }
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| 210 | else if (ii == 4) {
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[884] | 211 | in >> _TOE >> _Cic >> _OMEGA0 >> _Cis;
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[781] | 212 | }
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| 213 | else if (ii == 5) {
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[884] | 214 | in >> _i0 >> _Crc >> _omega >> _OMEGADOT;
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[781] | 215 | }
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| 216 | else if (ii == 6) {
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[884] | 217 | in >> _IDOT;
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[781] | 218 | }
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| 219 | else if (ii == 7) {
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[800] | 220 | double hlp, health;
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[884] | 221 | in >> hlp >> health >> _TGD >> _IODC;
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[781] | 222 | }
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| 223 | else if (ii == 8) {
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[884] | 224 | in >> _TOW;
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[781] | 225 | }
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| 226 | }
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[884] | 227 | }
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[773] | 228 |
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[884] | 229 | // Compute GPS Satellite Position
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| 230 | ////////////////////////////////////////////////////////////////////////////
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| 231 | void t_ephGPS::position(int GPSweek, double GPSweeks, ColumnVector& xc,
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| 232 | ColumnVector& vv) const {
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| 233 |
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[1100] | 234 | static const double secPerWeek = 7 * 86400.0;
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| 235 | static const double omegaEarth = 7292115.1467e-11;
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| 236 | static const double gmWGS = 398.6005e12;
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[884] | 237 |
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| 238 | if (xc.Nrows() < 4) {
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| 239 | xc.ReSize(4);
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| 240 | }
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| 241 | xc = 0.0;
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| 242 |
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| 243 | if (vv.Nrows() < 3) {
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| 244 | vv.ReSize(3);
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| 245 | }
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| 246 | vv = 0.0;
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| 247 |
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| 248 | double a0 = _sqrt_A * _sqrt_A;
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| 249 | if (a0 == 0) {
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| 250 | return;
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| 251 | }
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| 252 |
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| 253 | double n0 = sqrt(gmWGS/(a0*a0*a0));
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| 254 | double tk = GPSweeks - _TOE;
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| 255 | if (GPSweek != _GPSweek) {
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| 256 | tk += (GPSweek - _GPSweek) * secPerWeek;
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| 257 | }
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| 258 | double n = n0 + _Delta_n;
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| 259 | double M = _M0 + n*tk;
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| 260 | double E = M;
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| 261 | double E_last;
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| 262 | do {
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| 263 | E_last = E;
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| 264 | E = M + _e*sin(E);
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| 265 | } while ( fabs(E-E_last)*a0 > 0.001 );
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| 266 | double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
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| 267 | double u0 = v + _omega;
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| 268 | double sin2u0 = sin(2*u0);
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| 269 | double cos2u0 = cos(2*u0);
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| 270 | double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
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| 271 | double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
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| 272 | double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
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| 273 | double xp = r*cos(u);
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| 274 | double yp = r*sin(u);
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| 275 | double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
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| 276 | omegaEarth*_TOE;
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| 277 |
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| 278 | double sinom = sin(OM);
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| 279 | double cosom = cos(OM);
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| 280 | double sini = sin(i);
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| 281 | double cosi = cos(i);
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| 282 | xc(1) = xp*cosom - yp*cosi*sinom;
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| 283 | xc(2) = xp*sinom + yp*cosi*cosom;
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| 284 | xc(3) = yp*sini;
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| 285 |
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| 286 | double tc = GPSweeks - _TOC;
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| 287 | if (GPSweek != _GPSweek) {
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| 288 | tc += (GPSweek - _GPSweek) * secPerWeek;
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| 289 | }
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| 290 | xc(4) = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc
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| 291 | - 4.442807633e-10 * _e * sqrt(a0) *sin(E);
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| 292 |
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| 293 | // Velocity
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| 294 | // --------
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| 295 | double tanv2 = tan(v/2);
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| 296 | double dEdM = 1 / (1 - _e*cos(E));
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| 297 | double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
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| 298 | * dEdM * n;
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| 299 | double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
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| 300 | double dotom = _OMEGADOT - omegaEarth;
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| 301 | double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
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| 302 | double dotr = a0 * _e*sin(E) * dEdM * n
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| 303 | + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
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| 304 | double dotx = dotr*cos(u) - r*sin(u)*dotu;
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| 305 | double doty = dotr*sin(u) + r*cos(u)*dotu;
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| 306 |
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| 307 | vv(1) = cosom *dotx - cosi*sinom *doty // dX / dr
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| 308 | - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
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| 309 | + yp*sini*sinom*doti; // dX / di
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| 310 |
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| 311 | vv(2) = sinom *dotx + cosi*cosom *doty
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| 312 | + xp*cosom*dotom - yp*cosi*sinom*dotom
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| 313 | - yp*sini*cosom*doti;
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| 314 |
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| 315 | vv(3) = sini *doty + yp*cosi *doti;
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[771] | 316 | }
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[884] | 317 |
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[889] | 318 | // Read Glonass Ephemeris
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[884] | 319 | ////////////////////////////////////////////////////////////////////////////
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| 320 | void t_ephGlo::read(const QStringList& lines) {
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| 321 |
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| 322 | for (int ii = 1; ii <= lines.size(); ii++) {
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| 323 | QTextStream in(lines.at(ii-1).toAscii());
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| 324 |
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| 325 | if (ii == 1) {
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| 326 | double year, month, day, hour, minute, second;
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| 327 | in >> _prn >> year >> month >> day >> hour >> minute >> second
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| 328 | >> _tau >> _gamma;
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[886] | 329 |
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| 330 | _tau = -_tau;
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[884] | 331 |
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| 332 | if (year < 100) year += 2000;
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| 333 |
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[1101] | 334 | QDateTime* dateTime = new QDateTime(QDate(int(year), int(month), int(day)),
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| 335 | QTime(int(hour), int(minute), int(second)), Qt::UTC);
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[886] | 336 |
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[1101] | 337 | GPSweekFromDateAndTime(*dateTime, _GPSweek, _GPSweeks);
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[910] | 338 |
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[1101] | 339 | delete dateTime;
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| 340 |
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[911] | 341 | //// beg test
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[912] | 342 | //// _gps_utc = 14.0;
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[911] | 343 | //// end test
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| 344 |
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[910] | 345 | _GPSweeks += _gps_utc;
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[884] | 346 | }
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| 347 | else if (ii == 2) {
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[886] | 348 | in >>_x_pos >> _x_velocity >> _x_acceleration >> _health;
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[884] | 349 | }
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| 350 | else if (ii == 3) {
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| 351 | in >>_y_pos >> _y_velocity >> _y_acceleration >> _frequency_number;
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| 352 | }
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| 353 | else if (ii == 4) {
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| 354 | in >>_z_pos >> _z_velocity >> _z_acceleration >> _E;
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| 355 | }
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| 356 | }
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| 357 |
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[888] | 358 | // Initialize status vector
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| 359 | // ------------------------
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[901] | 360 | _tt = _GPSweeks;
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[888] | 361 |
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[893] | 362 | _xv(1) = _x_pos * 1.e3;
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| 363 | _xv(2) = _y_pos * 1.e3;
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| 364 | _xv(3) = _z_pos * 1.e3;
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| 365 | _xv(4) = _x_velocity * 1.e3;
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| 366 | _xv(5) = _y_velocity * 1.e3;
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| 367 | _xv(6) = _z_velocity * 1.e3;
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[884] | 368 | }
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| 369 |
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| 370 | // Derivative of the state vector using a simple force model (static)
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| 371 | ////////////////////////////////////////////////////////////////////////////
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| 372 | ColumnVector t_ephGlo::glo_deriv(double /* tt */, const ColumnVector& xv) {
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| 373 |
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| 374 | // State vector components
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| 375 | // -----------------------
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| 376 | ColumnVector rr = xv.rows(1,3);
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| 377 | ColumnVector vv = xv.rows(4,6);
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| 378 |
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| 379 | // Acceleration
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| 380 | // ------------
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[1100] | 381 | static const double GM = 398.60044e12;
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| 382 | static const double AE = 6378136.0;
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| 383 | static const double OMEGA = 7292115.e-11;
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| 384 | static const double C20 = -1082.63e-6;
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[884] | 385 |
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| 386 | double rho = rr.norm_Frobenius();
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| 387 | double t1 = -GM/(rho*rho*rho);
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| 388 | double t2 = 3.0/2.0 * C20 * (GM*AE*AE) / (rho*rho*rho*rho*rho);
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| 389 | double t3 = OMEGA * OMEGA;
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| 390 | double t4 = 2.0 * OMEGA;
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| 391 | double z2 = rr(3) * rr(3);
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| 392 |
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| 393 | // Vector of derivatives
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| 394 | // ---------------------
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| 395 | ColumnVector va(6);
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| 396 | va(1) = vv(1);
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| 397 | va(2) = vv(2);
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| 398 | va(3) = vv(3);
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| 399 | va(4) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(1) + t4*vv(2);
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| 400 | va(5) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(2) - t4*vv(1);
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| 401 | va(6) = (t1 + t2*(3.0-5.0*z2/(rho*rho)) ) * rr(3);
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| 402 |
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| 403 | return va;
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| 404 | }
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| 405 |
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[889] | 406 | // Compute Glonass Satellite Position
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[884] | 407 | ////////////////////////////////////////////////////////////////////////////
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| 408 | void t_ephGlo::position(int GPSweek, double GPSweeks, ColumnVector& xc,
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| 409 | ColumnVector& vv) const {
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| 410 |
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[1100] | 411 | static const double secPerWeek = 7 * 86400.0;
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| 412 | static const double nominalStep = 10.0;
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[891] | 413 |
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[898] | 414 | double dtPos = GPSweeks - _tt;
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[891] | 415 | if (GPSweek != _GPSweek) {
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[898] | 416 | dtPos += (GPSweek - _GPSweek) * secPerWeek;
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[891] | 417 | }
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| 418 |
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[899] | 419 | int nSteps = int(fabs(dtPos) / nominalStep) + 1;
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| 420 | double step = dtPos / nSteps;
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| 421 |
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| 422 | for (int ii = 1; ii <= nSteps; ii++) {
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[900] | 423 | _xv = rungeKutta4(_tt, _xv, step, glo_deriv);
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[899] | 424 | _tt += step;
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[891] | 425 | }
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| 426 |
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[892] | 427 | // Position and Velocity
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| 428 | // ---------------------
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[891] | 429 | xc(1) = _xv(1);
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| 430 | xc(2) = _xv(2);
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| 431 | xc(3) = _xv(3);
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| 432 |
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| 433 | vv(1) = _xv(4);
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| 434 | vv(2) = _xv(5);
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| 435 | vv(3) = _xv(6);
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[892] | 436 |
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| 437 | // Clock Correction
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| 438 | // ----------------
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| 439 | double dtClk = GPSweeks - _GPSweeks;
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| 440 | if (GPSweek != _GPSweek) {
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| 441 | dtClk += (GPSweek - _GPSweek) * secPerWeek;
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| 442 | }
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[910] | 443 | xc(4) = -_tau + _gamma * dtClk;
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[884] | 444 | }
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| 445 |
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[926] | 446 | // Glonass IOD
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| 447 | ////////////////////////////////////////////////////////////////////////////
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| 448 | int t_ephGlo::IOD() const {
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| 449 | //// return int(fmod(_GPSweeks,86400.0)) / 600;
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| 450 |
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[932] | 451 | //// unsigned int tb = int(fmod(_GPSweeks,86400.0)) * 1000; // msec of day
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| 452 | unsigned int tb = int(fmod(_GPSweeks,86400.0)); //sec of day
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| 453 |
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[926] | 454 | // 5 LSBs of iod are equal to 5 LSBs of tb, remaining bits are zero
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[931] | 455 | // ----------------------------------------------------------------
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| 456 | const int shift = sizeof(tb) * 8 - 5;
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| 457 | unsigned int iod = tb << shift;
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| 458 | return (iod >> shift);
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[926] | 459 | }
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