source: ntrip/trunk/BNS/bnseph.h@ 2354

Last change on this file since 2354 was 2017, checked in by mervart, 14 years ago

* empty log message *
File size: 3.8 KB
RevLine 
[758]1#ifndef BNSEPH_H
2#define BNSEPH_H
3
[918]4#include <math.h>
[884]5#include <newmat.h>
6
7#include <QtCore>
[758]8#include <QThread>
[759]9#include <QtNetwork>
[758]10
[884]11
12class t_eph {
[778]13 public:
[884]14 virtual ~t_eph() {};
[886]15
16 bool isNewerThan(const t_eph* eph) const;
17 QString prn() const {return _prn;}
18
[884]19 virtual void position(int GPSweek, double GPSweeks, ColumnVector& xc,
20 ColumnVector& vv) const = 0;
21 virtual void read(const QStringList& lines) = 0;
22 virtual int IOD() const = 0;
[1867]23 virtual int RTCM3(unsigned char *) = 0;
[884]24 protected:
25 QString _prn;
[886]26 int _GPSweek;
27 double _GPSweeks;
[884]28};
[778]29
[884]30class t_ephGlo : public t_eph {
31 public:
32 t_ephGlo() {
[911]33 _gps_utc = 0.0;
[884]34 _xv.ReSize(6);
35 };
36 virtual ~t_ephGlo() {};
37 virtual void read(const QStringList& lines);
38 virtual void position(int GPSweek, double GPSweeks, ColumnVector& xc,
39 ColumnVector& vv) const;
[926]40 virtual int IOD() const;
[1867]41 virtual int RTCM3(unsigned char *);
[884]42 private:
43 static ColumnVector glo_deriv(double /* tt */, const ColumnVector& xv);
[891]44 mutable double _tt; // time in seconds of GPSweek
45 mutable ColumnVector _xv; // status vector (position, velocity) at time _tt
[911]46 double _gps_utc; // GPS - UTC in seconds
[778]47
[889]48 double _E; // [days]
49 double _tau; // [s]
50 double _gamma; //
51 double _x_pos; // [km]
52 double _x_velocity; // [km/s]
53 double _x_acceleration; // [km/s^2]
54 double _y_pos; // [km]
55 double _y_velocity; // [km/s]
56 double _y_acceleration; // [km/s^2]
57 double _z_pos; // [km]
58 double _z_velocity; // [km/s]
59 double _z_acceleration; // [km/s^2]
60 double _health; // 0 = O.K.
61 double _frequency_number; // ICD-GLONASS data position
[1866]62 double _tki; // message frame time
[884]63};
[778]64
[884]65
66class t_ephGPS : public t_eph {
67 public:
68 t_ephGPS() {};
69 virtual ~t_ephGPS() {};
70 virtual void read(const QStringList& lines);
71 virtual void position(int GPSweek, double GPSweeks, ColumnVector& xc,
72 ColumnVector& vv) const;
73 virtual int IOD() const {return int(_IODE);}
[1867]74 virtual int RTCM3(unsigned char *);
[884]75 private:
76 double _TOW; // [s]
77 double _TOC; // [s]
78 double _TOE; // [s]
79 double _IODE;
80 double _IODC;
81
82 double _clock_bias; // [s]
83 double _clock_drift; // [s/s]
84 double _clock_driftrate; // [s/s^2]
85
86 double _Crs; // [m]
87 double _Delta_n; // [rad/s]
88 double _M0; // [rad]
89 double _Cuc; // [rad]
90 double _e; //
91 double _Cus; // [rad]
92 double _sqrt_A; // [m^0.5]
93 double _Cic; // [rad]
94 double _OMEGA0; // [rad]
95 double _Cis; // [rad]
96 double _i0; // [rad]
97 double _Crc; // [m]
98 double _omega; // [rad]
99 double _OMEGADOT; // [rad/s]
100 double _IDOT; // [rad/s]
101
102 double _TGD; // [s]
[1866]103 double _health; // SV health
104 double _ura; // SV accuracy
105 double _L2PFlag; // L2 P data flag
106 double _L2Codes; // Codes on L2 channel
[771]107};
108
[758]109class t_bnseph : public QThread {
110 Q_OBJECT
111 public:
112 t_bnseph(QObject* parent = 0);
113 virtual ~t_bnseph();
114 virtual void run();
115
116 signals:
[1058]117 void newEph(t_eph* eph, int nBytes);
[758]118 void newMessage(const QByteArray msg);
[760]119 void error(const QByteArray msg);
[758]120
121 private:
[838]122 void reconnect();
[771]123 void readEph();
[759]124 QTcpSocket* _socket;
[1089]125 QFile* _echoFile;
126 QTextStream* _echoStream;
[758]127};
128#endif
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