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: bncutils
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6 | *
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7 | * Purpose: Auxiliary Functions
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8 | *
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9 | * Author: L. Mervart
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10 | *
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11 | * Created: 08-Apr-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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17 | #include <iostream>
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18 | #include <ctime>
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19 | #include <math.h>
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20 |
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21 | #include <QRegExp>
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22 | #include <QStringList>
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23 | #include <QDateTime>
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24 |
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25 | #include "bnsutils.h"
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26 | #include "bnseph.h"
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27 |
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28 | using namespace std;
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29 |
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30 | //
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31 | ////////////////////////////////////////////////////////////////////////////
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32 | void expandEnvVar(QString& str) {
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33 |
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34 | QRegExp rx("(\\$\\{.+\\})");
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35 |
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36 | if (rx.indexIn(str) != -1) {
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37 | QStringListIterator it(rx.capturedTexts());
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38 | if (it.hasNext()) {
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39 | QString rxStr = it.next();
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40 | QString envVar = rxStr.mid(2,rxStr.length()-3);
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41 | str.replace(rxStr, qgetenv(envVar.toAscii()));
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42 | }
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43 | }
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44 |
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45 | }
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46 |
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47 | //
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48 | ////////////////////////////////////////////////////////////////////////////
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49 | QDateTime dateAndTimeFromGPSweek(int GPSWeek, double GPSWeeks) {
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50 |
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51 | static const QDate zeroEpoch(1980, 1, 6);
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52 |
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53 | QDate date(zeroEpoch);
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54 | QTime time(0,0,0,0);
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55 |
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56 | int weekDays = int(GPSWeeks) / 86400;
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57 | date = date.addDays( GPSWeek * 7 + weekDays );
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58 | time = time.addMSecs( int( (GPSWeeks - 86400 * weekDays) * 1e3 ) );
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59 |
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60 | return QDateTime(date,time);
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61 | }
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62 |
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63 | //
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64 | ////////////////////////////////////////////////////////////////////////////
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65 | void GPSweekFromDateAndTime(const QDateTime& dateTime,
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66 | int& GPSWeek, double& GPSWeeks) {
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67 |
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68 | static const QDateTime zeroEpoch(QDate(1980, 1, 6));
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69 |
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70 | GPSWeek = zeroEpoch.daysTo(dateTime) / 7;
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71 |
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72 | int weekDay = dateTime.date().dayOfWeek() + 1; // Qt: Monday = 1
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73 | if (weekDay > 7) weekDay = 1;
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74 |
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75 | GPSWeeks = (weekDay - 1) * 86400.0
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76 | - dateTime.time().msecsTo(QTime()) / 1e3;
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77 | }
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78 |
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79 | //
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80 | ////////////////////////////////////////////////////////////////////////////
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81 | void currentGPSWeeks(int& week, double& sec) {
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82 |
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83 | QDateTime currDateTime = QDateTime::currentDateTime().toUTC();
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84 | QDate currDate = currDateTime.date();
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85 | QTime currTime = currDateTime.time();
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86 |
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87 | week = int( (double(currDate.toJulianDay()) - 2444244.5) / 7 );
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88 |
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89 | sec = (currDate.dayOfWeek() % 7) * 24.0 * 3600.0 +
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90 | currTime.hour() * 3600.0 +
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91 | currTime.minute() * 60.0 +
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92 | currTime.second() +
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93 | currTime.msec() / 1000.0;
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94 | }
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95 |
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96 | //
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97 | ////////////////////////////////////////////////////////////////////////////
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98 | void satellitePosition(double GPSweeks, const gpsEph* ep,
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99 | double& X, double& Y, double& Z, double& dt) {
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100 |
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101 | const static double omegaEarth = 7292115.1467e-11;
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102 | const static double gmWGS = 398.6005e12;
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103 |
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104 | X = Y = Z = dt = 0.0;
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105 |
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106 | double a0 = ep->sqrt_A * ep->sqrt_A;
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107 | if (a0 == 0) {
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108 | return;
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109 | }
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110 |
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111 | double n0 = sqrt(gmWGS/(a0*a0*a0));
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112 | double tk = GPSweeks - ep->TOE;
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113 | double n = n0 + ep->Delta_n;
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114 | double M = ep->M0 + n*tk;
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115 | double E = M;
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116 | double E_last;
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117 | do {
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118 | E_last = E;
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119 | E = M + ep->e*sin(E);
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120 | } while ( fabs(E-E_last)*a0 > 0.001 );
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121 | double v = 2.0*atan( sqrt( (1.0 + ep->e)/(1.0 - ep->e) )*tan( E/2 ) );
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122 | double u0 = v + ep->omega;
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123 | double sin2u0 = sin(2*u0);
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124 | double cos2u0 = cos(2*u0);
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125 | double r = a0*(1 - ep->e*cos(E)) + ep->Crc*cos2u0 + ep->Crs*sin2u0;
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126 | double i = ep->i0 + ep->IDOT*tk + ep->Cic*cos2u0 + ep->Cis*sin2u0;
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127 | double u = u0 + ep->Cuc*cos2u0 + ep->Cus*sin2u0;
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128 | double xp = r*cos(u);
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129 | double yp = r*sin(u);
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130 | double OM = ep->OMEGA0 + (ep->OMEGADOT - omegaEarth)*tk -
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131 | omegaEarth*ep->TOE;
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132 |
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133 | double sinom = sin(OM);
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134 | double cosom = cos(OM);
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135 | double sini = sin(i);
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136 | double cosi = cos(i);
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137 | X = xp*cosom - yp*cosi*sinom;
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138 | Y = xp*sinom + yp*cosi*cosom;
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139 | Z = yp*sini;
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140 |
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141 | double tc = GPSweeks - ep->TOC;
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142 | dt = ep->clock_bias + ep->clock_drift*tc + ep->clock_driftrate*tc*tc
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143 | - 4.442807633e-10 * ep->e * sqrt(a0) *sin(E);
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144 | }
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