Index: /trunk/BNC/src/RTCM3/RTCM3Decoder.cpp =================================================================== --- /trunk/BNC/src/RTCM3/RTCM3Decoder.cpp (revision 10576) +++ /trunk/BNC/src/RTCM3/RTCM3Decoder.cpp (revision 10577) @@ -1134,5 +1134,5 @@ eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.type()); eph._TOT = 0.9999e9; - eph._navType = t_eph::LNAV; + eph._ephType = t_eph::LNAV; emit newGPSEph(eph); @@ -1315,5 +1315,5 @@ _gloFrq = QString("%1 %2").arg(eph._prn.toString().c_str()).arg(eph._frequency_number, 2, 'f', 0); - eph._navType = t_eph::FDMA; + eph._ephType = t_eph::FDMA; emit newGlonassEph(eph); @@ -1429,8 +1429,5 @@ GETBITS(i, 4) - if (i <= 6) - eph._ura = ceil(10.0 * pow(2.0, 1.0 + i / 2.0)) / 10.0; - else - eph._ura = ceil(10.0 * pow(2.0, i / 2.0)) / 10.0; + eph._ura = accuracyFromIndex(i, eph.type()); GETBITS(eph._health, 6) GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1)) @@ -1439,5 +1436,5 @@ eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.type()); eph._TOT = 0.9999e9; - eph._navType = t_eph::LNAV; + eph._ephType = t_eph::LNAV; emit newGPSEph(eph); @@ -1570,5 +1567,5 @@ SKIPBITS(2) eph._TOT = 0.9999e9; - eph._navType = t_eph::LNAV; + eph._ephType = t_eph::LNAV; emit newGPSEph(eph); @@ -1645,5 +1642,5 @@ eph._TOT = 0.9999E9; eph._health = 0; - eph._navType = t_eph::SBASL1; + eph._ephType = t_eph::SBASL1; emit newSBASEph(eph); @@ -1770,5 +1767,5 @@ return false; } - eph._navType = t_eph::INAF; + eph._ephType = t_eph::INAF; } else { @@ -1782,5 +1779,5 @@ GETBITS(eph._E5aHS, 2) GETBITS(eph._e5aDataInValid, 1) - eph._navType = t_eph::FNAV; + eph._ephType = t_eph::FNAV; } eph._TOT = 0.9999e9; @@ -1906,8 +1903,8 @@ eph._TOT = 0.9999E9; if (eph._i0 > iMaxGEO) { - eph._navType = t_eph::D1; + eph._ephType = t_eph::D1; } else { - eph._navType = t_eph::D2; + eph._ephType = t_eph::D2; } Index: /trunk/BNC/src/bnccore.cpp =================================================================== --- /trunk/BNC/src/bnccore.cpp (revision 10576) +++ /trunk/BNC/src/bnccore.cpp (revision 10577) @@ -209,5 +209,5 @@ messagePrivate(QString("%1: UNHEALTHY %2:%3") .arg(eph->receptStaID()) - .arg(eph->navTypeString(eph->navType(), eph->prn(), 99.0)) + .arg(eph->ephTypeStr(eph->ephType(), eph->prn(), 99.0)) .arg(eph->rinexDateStr(eph->TOC(), eph->prn(), 99.0)).toLatin1()); } @@ -215,5 +215,5 @@ messagePrivate(QString("%1: WRONG %2:%3") .arg(eph->receptStaID()) - .arg(eph->navTypeString(eph->navType(), eph->prn(), 99.0)) + .arg(eph->ephTypeStr(eph->ephType(), eph->prn(), 99.0)) .arg(eph->rinexDateStr(eph->TOC(), eph->prn(), 99.0)).toLatin1()); } @@ -221,5 +221,5 @@ messagePrivate(QString("%1: OUTDATED %2:%3") .arg(eph->receptStaID()) - .arg(eph->navTypeString(eph->navType(), eph->prn(), 99.0)) + .arg(eph->ephTypeStr(eph->ephType(), eph->prn(), 99.0)) .arg(eph->rinexDateStr(eph->TOC(), eph->prn(), 99.0)).toLatin1()); } Index: /trunk/BNC/src/bncutils.cpp =================================================================== --- /trunk/BNC/src/bncutils.cpp (revision 10576) +++ /trunk/BNC/src/bncutils.cpp (revision 10577) @@ -851,5 +851,6 @@ type == t_eph::BDS || type == t_eph::SBAS|| - type == t_eph::QZSS) { + type == t_eph::QZSS|| + type == t_eph::IRNSS) { if ((index >= 0) && (index <= 6)) { if (index == 3) { @@ -860,7 +861,8 @@ } } - else if ((index > 6) && (index <= 15)) { + else if ((index > 6) && (index < 15)) { accuracy = (10.0 * pow(2.0, (double(index) - 2.0))) / 10.0; - } + + } // index = 15: absence of accuracy prediction => use SV on your own risk else { accuracy = 8192.0; @@ -884,23 +886,4 @@ } } - else if (type == t_eph::IRNSS) { - if ((index >= 0) && (index <= 6)) { - if (index == 1) { - accuracy = 2.8; - } - else if (index == 3) { - accuracy = 5.7; - } - else if (index == 5) { - accuracy = 11.3; - } - else { - accuracy = pow(2, 1 + index / 2); - } - } - else if ((index > 6) && (index <= 15)) { - accuracy = pow(2, index - 2); - } - } return accuracy; } @@ -913,7 +896,8 @@ type == t_eph::BDS || type == t_eph::SBAS || - type == t_eph::QZSS) { - - if (accuracy <= 2.40) { + type == t_eph::QZSS || + type == t_eph::IRNSS) { + + if (accuracy <= 2.40) { return 0; } @@ -966,6 +950,5 @@ if (type == t_eph::Galileo) { - - if (accuracy <= 0.49) { + if (accuracy <= 0.49) { return int(ceil(accuracy * 100.0)); } Index: /trunk/BNC/src/ephemeris.cpp =================================================================== --- /trunk/BNC/src/ephemeris.cpp (revision 10576) +++ /trunk/BNC/src/ephemeris.cpp (revision 10577) @@ -22,7 +22,7 @@ t_eph::t_eph() { _checkState = unchecked; - _navType = undefined; - _orbCorr = 0; - _clkCorr = 0; + _ephType = undefined; + _orbCorr = 0; + _clkCorr = 0; } // Destructor @@ -37,5 +37,5 @@ // //////////////////////////////////////////////////////////////////////////// -void t_eph::setOrbCorr(const t_orbCorr* orbCorr) { +void t_eph::setOrbCorr(const t_orbCorr *orbCorr) { if (_orbCorr) { delete _orbCorr; @@ -47,5 +47,5 @@ // //////////////////////////////////////////////////////////////////////////// -void t_eph::setClkCorr(const t_clkCorr* clkCorr) { +void t_eph::setClkCorr(const t_clkCorr *clkCorr) { if (_clkCorr) { delete _clkCorr; @@ -57,9 +57,9 @@ // //////////////////////////////////////////////////////////////////////////// -t_irc t_eph::getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const { - - if (_checkState == bad || - _checkState == unhealthy || - _checkState == outdated) { +t_irc t_eph::getCrd(const bncTime &tt, ColumnVector &xc, ColumnVector &vv, + bool useCorr) const { + + if (_checkState == bad || _checkState == unhealthy + || _checkState == outdated) { return failure; } @@ -81,5 +81,5 @@ dx[2] = _orbCorr->_xr[2] + _orbCorr->_dotXr[2] * dtO; - RSW_to_XYZ(xc.Rows(1,3), vv.Rows(1,3), dx, dx); + RSW_to_XYZ(xc.Rows(1, 3), vv.Rows(1, 3), dx, dx); xc[0] -= dx[0]; @@ -88,5 +88,5 @@ ColumnVector dv(3); - RSW_to_XYZ(xc.Rows(1,3), vv.Rows(1,3), _orbCorr->_dotXr, dv); + RSW_to_XYZ(xc.Rows(1, 3), vv.Rows(1, 3), _orbCorr->_dotXr, dv); vv[0] -= dv[0]; @@ -98,7 +98,7 @@ dtC -= (0.5 * ssrUpdateInt[_clkCorr->_updateInt]); } - xc[3] += _clkCorr->_dClk + _clkCorr->_dotDClk * dtC + _clkCorr->_dotDotDClk * dtC * dtC; - } - else { + xc[3] += _clkCorr->_dClk + _clkCorr->_dotDClk * dtC + + _clkCorr->_dotDotDClk * dtC * dtC; + } else { return failure; } @@ -106,45 +106,39 @@ return success; } - // ////////////////////////////////////////////////////////////////////////////// -t_irc t_eph::setNavType(QString navTypeStr) { - - if (navTypeStr == "LNAV") { - _navType = t_eph::LNAV; - } - else if (navTypeStr == "FDMA") { - _navType = t_eph::FDMA; - } - else if (navTypeStr == "FNAV") { - _navType = t_eph::FNAV; - } - else if (navTypeStr == "INAV") { - _navType = t_eph::INAF; - } - else if (navTypeStr == "D1") { - _navType = t_eph::D1; - } - else if (navTypeStr == "D2") { - _navType = t_eph::D2; - } - else if (navTypeStr == "SBAS") { - _navType = t_eph::SBASL1; - } - else if (navTypeStr == "CNAV") { - _navType = t_eph::CNAV; - } - else if (navTypeStr == "CNV1") { - _navType = t_eph::CNV1; - } - else if (navTypeStr == "CNV2") { - _navType = t_eph::CNV2; - } - else if (navTypeStr == "CNV3") { - _navType = t_eph::CNV3; - } - else { - _navType = t_eph::undefined; +t_irc t_eph::setEphType(QString ephTypeStr) { + + if (ephTypeStr == "LNAV") { + _ephType = t_eph::LNAV; + } else if (ephTypeStr == "FDMA") { + _ephType = t_eph::FDMA; + } else if (ephTypeStr == "FNAV") { + _ephType = t_eph::FNAV; + } else if (ephTypeStr == "INAV") { + _ephType = t_eph::INAF; + } else if (ephTypeStr == "D1") { + _ephType = t_eph::D1; + } else if (ephTypeStr == "D2") { + _ephType = t_eph::D2; + } else if (ephTypeStr == "SBAS") { + _ephType = t_eph::SBASL1; + } else if (ephTypeStr == "CNAV") { + _ephType = t_eph::CNAV; + } else if (ephTypeStr == "CNV1") { + _ephType = t_eph::CNV1; + } else if (ephTypeStr == "CNV2") { + _ephType = t_eph::CNV2; + } else if (ephTypeStr == "CNV3") { + _ephType = t_eph::CNV3; + } else if (ephTypeStr == "L1NV") { + _ephType = t_eph::L1NV; + } else if (ephTypeStr == "L1OC") { + _ephType = t_eph::L1OC; + } else if (ephTypeStr == "L3OC") { + _ephType = t_eph::L3OC; + } else { + _ephType = t_eph::undefined; return failure; } @@ -155,67 +149,76 @@ // ////////////////////////////////////////////////////////////////////////////// -QString t_eph::navTypeString(e_navType navType, const t_prn& prn, double version) { - QString navTypeString = ""; - QString epochStart; - QString eolStr; - - if (version < 4.0) { - return navTypeString; - } - - if (version == 99.0) { - epochStart = ""; - eolStr = ""; - } - else { - epochStart = "> "; - eolStr = "\n"; - } - - QString ephStr = QString("EPH %1 ").arg(prn.toString().c_str()); - switch (navType) { - case undefined: - navTypeString = epochStart + ephStr + "unknown" + eolStr; - break; - case LNAV: - navTypeString = epochStart + ephStr + "LNAV" + eolStr; - break; - case FDMA: - navTypeString = epochStart + ephStr + "FDMA" + eolStr; - break; - case FNAV: - navTypeString = epochStart + ephStr + "FNAV" + eolStr; - break; - case INAF: - navTypeString = epochStart + ephStr + "INAV" + eolStr; - break; - case D1: - navTypeString = epochStart + ephStr + "D1 " + eolStr; - break; - case D2: - navTypeString = epochStart + ephStr + "D2 " + eolStr; - break; - case SBASL1: - navTypeString = epochStart + ephStr + "SBAS" + eolStr; - break; - case CNAV: - navTypeString = epochStart + ephStr + "CNAV" + eolStr; - break; - case CNV1: - navTypeString = epochStart + ephStr + "CNV1" + eolStr; - break; - case CNV2: - navTypeString = epochStart + ephStr + "CNV2" + eolStr; - break; - case CNV3: - navTypeString = epochStart + ephStr + "CNV3" + eolStr; - break; - } - return navTypeString; - } +QString t_eph::ephTypeStr(e_ephType ephType, const t_prn &prn, double version) { + QString ephTypeStr = ""; + QString epochStart; + QString eolStr; + + if (version < 4.0) { + return ephTypeStr; + } + + if (version == 99.0) { + epochStart = ""; + eolStr = ""; + } else { + epochStart = "> "; + eolStr = "\n"; + } + + QString ephStr = QString("EPH %1 ").arg(prn.toString().c_str()); + switch (ephType) { + case undefined: + ephTypeStr = epochStart + ephStr + "unknown" + eolStr; + break; + case LNAV: + ephTypeStr = epochStart + ephStr + "LNAV" + eolStr; + break; + case FDMA: + ephTypeStr = epochStart + ephStr + "FDMA" + eolStr; + break; + case FNAV: + ephTypeStr = epochStart + ephStr + "FNAV" + eolStr; + break; + case INAF: + ephTypeStr = epochStart + ephStr + "INAV" + eolStr; + break; + case D1: + ephTypeStr = epochStart + ephStr + "D1 " + eolStr; + break; + case D2: + ephTypeStr = epochStart + ephStr + "D2 " + eolStr; + break; + case SBASL1: + ephTypeStr = epochStart + ephStr + "SBAS" + eolStr; + break; + case CNAV: + ephTypeStr = epochStart + ephStr + "CNAV" + eolStr; + break; + case CNV1: + ephTypeStr = epochStart + ephStr + "CNV1" + eolStr; + break; + case CNV2: + ephTypeStr = epochStart + ephStr + "CNV2" + eolStr; + break; + case CNV3: + ephTypeStr = epochStart + ephStr + "CNV3" + eolStr; + break; + case L1NV: + ephTypeStr = epochStart + ephStr + "L1NV" + eolStr; + break; + case L1OC: + ephTypeStr = epochStart + ephStr + "L1OC" + eolStr; + break; + case L3OC: + ephTypeStr = epochStart + ephStr + "L3OC" + eolStr; + break; + } + return ephTypeStr; +} // ////////////////////////////////////////////////////////////////////////////// -QString t_eph::rinexDateStr(const bncTime& tt, const t_prn& prn, double version) { +QString t_eph::rinexDateStr(const bncTime &tt, const t_prn &prn, + double version) { QString prnStr(prn.toString().c_str()); return rinexDateStr(tt, prnStr, version); @@ -224,10 +227,11 @@ // ////////////////////////////////////////////////////////////////////////////// -QString t_eph::rinexDateStr(const bncTime& tt, const QString& prnStr, double version) { +QString t_eph::rinexDateStr(const bncTime &tt, const QString &prnStr, + double version) { QString datStr; unsigned year, month, day, hour, min; - double sec; + double sec; tt.civil_date(year, month, day); tt.civil_time(hour, min, sec); @@ -236,30 +240,20 @@ if (version < 3.0) { - QString prnHlp = prnStr.mid(1,2); if (prnHlp[0] == '0') prnHlp[0] = ' '; - out << prnHlp << QString(" %1 %2 %3 %4 %5%6") - .arg(year % 100, 2, 10, QChar('0')) - .arg(month, 2) - .arg(day, 2) - .arg(hour, 2) - .arg(min, 2) - .arg(sec, 5, 'f',1); - } - else if (version == 99) { - out << QString(" %1 %2 %3 %4 %5 %6") - .arg(year, 4) - .arg(month, 2, 10, QChar('0')) - .arg(day, 2, 10, QChar('0')) - .arg(hour, 2, 10, QChar('0')) - .arg(min, 2, 10, QChar('0')) - .arg(int(sec), 2, 10, QChar('0')); - } - else { - out << prnStr << QString(" %1 %2 %3 %4 %5 %6") - .arg(year, 4) - .arg(month, 2, 10, QChar('0')) - .arg(day, 2, 10, QChar('0')) - .arg(hour, 2, 10, QChar('0')) - .arg(min, 2, 10, QChar('0')) - .arg(int(sec), 2, 10, QChar('0')); + QString prnHlp = prnStr.mid(1, 2); + if (prnHlp[0] == '0') + prnHlp[0] = ' '; + out << prnHlp + << QString(" %1 %2 %3 %4 %5%6").arg(year % 100, 2, 10, QChar('0')).arg( + month, 2).arg(day, 2).arg(hour, 2).arg(min, 2).arg(sec, 5, 'f', 1); + } else if (version == 99) { + out + << QString(" %1 %2 %3 %4 %5 %6").arg(year, 4).arg(month, 2, 10, + QChar('0')).arg(day, 2, 10, QChar('0')).arg(hour, 2, 10, QChar('0')).arg( + min, 2, 10, QChar('0')).arg(int(sec), 2, 10, QChar('0')); + } else { + out << prnStr + << QString(" %1 %2 %3 %4 %5 %6").arg(year, 4).arg(month, 2, 10, + QChar('0')).arg(day, 2, 10, QChar('0')).arg(hour, 2, 10, QChar('0')).arg( + min, 2, 10, QChar('0')).arg(int(sec), 2, 10, QChar('0')); } @@ -269,12 +263,13 @@ // Constructor ////////////////////////////////////////////////////////////////////////////// -t_ephGPS::t_ephGPS(double rnxVersion, const QStringList& lines) { - - int nLines = 8; - - if (navType() == t_eph::CNAV) { +t_ephGPS::t_ephGPS(double rnxVersion, const QStringList &lines) { + + int nLines = 8; // LNAV, + + if (ephType() == t_eph::CNAV || + ephType() == t_eph::L1NV) { nLines += 1; } - if (navType() == t_eph::CNV2) { + if (ephType() == t_eph::CNV2) { nLines += 2; } @@ -290,5 +285,5 @@ int pos[4]; - pos[0] = (rnxVersion <= 2.12) ? 3 : 4; + pos[0] = (rnxVersion <= 2.12) ? 3 : 4; pos[1] = pos[0] + fieldLen; pos[2] = pos[1] + fieldLen; @@ -300,7 +295,7 @@ QString line = lines[iLine]; - if ( iLine == 0 ) { + if (iLine == 0) { QTextStream in(line.left(pos[1]).toLatin1()); - int year, month, day, hour, min; + int year, month, day, hour, min; double sec; @@ -308,8 +303,6 @@ in >> prnStr; - if (prnStr.size() == 1 && - (prnStr[0] == 'G' || - prnStr[0] == 'J' || - prnStr[0] == 'I')) { + if (prnStr.size() == 1 + && (prnStr[0] == 'G' || prnStr[0] == 'J' || prnStr[0] == 'I')) { in >> n; prnStr.append(n); @@ -317,21 +310,17 @@ in >> year >> month >> day >> hour >> min >> sec; - if (prnStr.at(0) == 'G') { + if (prnStr.at(0) == 'G') { _prn.set('G', prnStr.mid(1).toInt()); - } - else if (prnStr.at(0) == 'J') { + } else if (prnStr.at(0) == 'J') { _prn.set('J', prnStr.mid(1).toInt()); - } - else if (prnStr.at(0) == 'I') { + } else if (prnStr.at(0) == 'I') { _prn.set('I', prnStr.mid(1).toInt()); - } - else { + } else { _prn.set('G', prnStr.toInt()); } - if (year < 80) { + if (year < 80) { year += 2000; - } - else if (year < 100) { + } else if (year < 100) { year += 1900; } @@ -339,7 +328,7 @@ _TOC.set(year, month, day, hour, min, sec); - if ( readDbl(line, pos[1], fieldLen, _clock_bias ) || - readDbl(line, pos[2], fieldLen, _clock_drift ) || - readDbl(line, pos[3], fieldLen, _clock_driftrate) ) { + if ( readDbl(line, pos[1], fieldLen, _clock_bias) + || readDbl(line, pos[2], fieldLen, _clock_drift) + || readDbl(line, pos[3], fieldLen, _clock_driftrate)) { _checkState = bad; return; @@ -349,21 +338,20 @@ // BROADCAST ORBIT - 1 // ===================== - else if ( iLine == 1) { - - if (navType() == t_eph::CNAV || - navType() == t_eph::CNV2) { - if ( readDbl(line, pos[0], fieldLen, _ADOT ) || - readDbl(line, pos[1], fieldLen, _Crs ) || - readDbl(line, pos[2], fieldLen, _Delta_n) || - readDbl(line, pos[3], fieldLen, _M0 ) ) { - _checkState = bad; - return; - } - } - else { // LNAV, undefined - if ( readDbl(line, pos[0], fieldLen, _IODE ) || - readDbl(line, pos[1], fieldLen, _Crs ) || - readDbl(line, pos[2], fieldLen, _Delta_n) || - readDbl(line, pos[3], fieldLen, _M0 ) ) { + else if (iLine == 1) { + if (ephType() == t_eph::CNAV || + ephType() == t_eph::CNV2 || + ephType() == t_eph::L1NV) { + if ( readDbl(line, pos[0], fieldLen, _ADOT) + || readDbl(line, pos[1], fieldLen, _Crs) + || readDbl(line, pos[2], fieldLen, _Delta_n) + || readDbl(line, pos[3], fieldLen, _M0)) { + _checkState = bad; + return; + } + } else { // LNAV, undefined + if ( readDbl(line, pos[0], fieldLen, _IODE) + || readDbl(line, pos[1], fieldLen, _Crs) + || readDbl(line, pos[2], fieldLen, _Delta_n) + || readDbl(line, pos[3], fieldLen, _M0)) { _checkState = bad; return; @@ -374,9 +362,9 @@ // BROADCAST ORBIT - 2 // ===================== - else if ( iLine == 2 ) { - if ( readDbl(line, pos[0], fieldLen, _Cuc ) || - readDbl(line, pos[1], fieldLen, _e ) || - readDbl(line, pos[2], fieldLen, _Cus ) || - readDbl(line, pos[3], fieldLen, _sqrt_A) ) { + else if (iLine == 2) { + if ( readDbl(line, pos[0], fieldLen, _Cuc) + || readDbl(line, pos[1], fieldLen, _e) + || readDbl(line, pos[2], fieldLen, _Cus) + || readDbl(line, pos[3], fieldLen, _sqrt_A)) { _checkState = bad; return; @@ -386,21 +374,27 @@ // BROADCAST ORBIT - 3 // ===================== - else if ( iLine == 3 ) { - - if (navType() == t_eph::CNAV || - navType() == t_eph::CNV2) { - if ( readDbl(line, pos[0], fieldLen, _top) || - readDbl(line, pos[1], fieldLen, _Cic ) || - readDbl(line, pos[2], fieldLen, _OMEGA0) || - readDbl(line, pos[3], fieldLen, _Cis ) ) { - _checkState = bad; - return; - } - } - else { // LNAV, undefined - if ( readDbl(line, pos[0], fieldLen, _TOEsec) || - readDbl(line, pos[1], fieldLen, _Cic ) || - readDbl(line, pos[2], fieldLen, _OMEGA0) || - readDbl(line, pos[3], fieldLen, _Cis ) ) { + else if (iLine == 3) { + if (ephType() == t_eph::CNAV || + ephType() == t_eph::CNV2) { + if ( readDbl(line, pos[0], fieldLen, _top) + || readDbl(line, pos[1], fieldLen, _Cic) + || readDbl(line, pos[2], fieldLen, _OMEGA0) + || readDbl(line, pos[3], fieldLen, _Cis)) { + _checkState = bad; + return; + } + } else if (ephType() == t_eph::L1NV) { + if ( readDbl(line, pos[0], fieldLen, _IODE) + || readDbl(line, pos[1], fieldLen, _Cic) + || readDbl(line, pos[2], fieldLen, _OMEGA0) + || readDbl(line, pos[3], fieldLen, _Cis)) { + _checkState = bad; + return; + } + } else { // LNAV, undefined + if ( readDbl(line, pos[0], fieldLen, _TOEsec) + || readDbl(line, pos[1], fieldLen, _Cic) + || readDbl(line, pos[2], fieldLen, _OMEGA0) + || readDbl(line, pos[3], fieldLen, _Cis)) { _checkState = bad; return; @@ -411,9 +405,9 @@ // BROADCAST ORBIT - 4 // ===================== - else if ( iLine == 4 ) { - if ( readDbl(line, pos[0], fieldLen, _i0 ) || - readDbl(line, pos[1], fieldLen, _Crc ) || - readDbl(line, pos[2], fieldLen, _omega ) || - readDbl(line, pos[3], fieldLen, _OMEGADOT) ) { + else if (iLine == 4) { + if ( readDbl(line, pos[0], fieldLen, _i0) + || readDbl(line, pos[1], fieldLen, _Crc) + || readDbl(line, pos[2], fieldLen, _omega) + || readDbl(line, pos[3], fieldLen, _OMEGADOT)) { _checkState = bad; return; @@ -423,12 +417,11 @@ // BROADCAST ORBIT - 5 // ===================== - else if ( iLine == 5 && type() != t_eph::IRNSS) { - - if (navType() == t_eph::CNAV || - navType() == t_eph::CNV2) { - if ( readDbl(line, pos[0], fieldLen, _IDOT ) || - readDbl(line, pos[1], fieldLen, _Delta_n_dot) || - readDbl(line, pos[2], fieldLen, _URAI_NED0 ) || - readDbl(line, pos[3], fieldLen, _URAI_NED1) ) { + else if (iLine == 5 && type() != t_eph::IRNSS) { + if (ephType() == t_eph::CNAV || + ephType() == t_eph::CNV2) { + if ( readDbl(line, pos[0], fieldLen, _IDOT) + || readDbl(line, pos[1], fieldLen, _Delta_n_dot) + || readDbl(line, pos[2], fieldLen, _URAI_NED0) + || readDbl(line, pos[3], fieldLen, _URAI_NED1)) { _checkState = bad; return; @@ -436,18 +429,28 @@ } else { // LNAV, undefined - if ( readDbl(line, pos[0], fieldLen, _IDOT ) || - readDbl(line, pos[1], fieldLen, _L2Codes) || - readDbl(line, pos[2], fieldLen, _TOEweek) || - readDbl(line, pos[3], fieldLen, _L2PFlag) ) { - _checkState = bad; - return; - } - } - } - else if ( iLine == 5 && type() == t_eph::IRNSS) { - if ( readDbl(line, pos[0], fieldLen, _IDOT ) || - readDbl(line, pos[2], fieldLen, _TOEweek) ) { - _checkState = bad; - return; + if ( readDbl(line, pos[0], fieldLen, _IDOT) + || readDbl(line, pos[1], fieldLen, _L2Codes) + || readDbl(line, pos[2], fieldLen, _TOEweek) + || readDbl(line, pos[3], fieldLen, _L2PFlag)) { + _checkState = bad; + return; + } + } + } else if (iLine == 5 && type() == t_eph::IRNSS) { + if (ephType() == t_eph::LNAV || + ephType() == t_eph::undefined) { + if ( readDbl(line, pos[0], fieldLen, _IDOT) + || readDbl(line, pos[2], fieldLen, _TOEweek)) { + _checkState = bad; + return; + } + } + else if (ephType() == t_eph::L1NV) { + if ( readDbl(line, pos[0], fieldLen, _IDOT) + || readDbl(line, pos[1], fieldLen, _Delta_n_dot) + || readDbl(line, pos[3], fieldLen, _RSF)) { + _checkState = bad; + return; + } } } @@ -455,32 +458,44 @@ // BROADCAST ORBIT - 6 // ===================== - else if ( iLine == 6 && type() != t_eph::IRNSS) { - - if (navType() == t_eph::CNAV || - navType() == t_eph::CNV2 ) { - if ( readDbl(line, pos[0], fieldLen, _URAI_ED) || - readDbl(line, pos[1], fieldLen, _health ) || - readDbl(line, pos[2], fieldLen, _TGD ) || - readDbl(line, pos[3], fieldLen, _URAI_NED2) ) { - _checkState = bad; - return; - } - } - else { // LNAV, undefined - if ( readDbl(line, pos[0], fieldLen, _ura ) || - readDbl(line, pos[1], fieldLen, _health) || - readDbl(line, pos[2], fieldLen, _TGD ) || - readDbl(line, pos[3], fieldLen, _IODC ) ) { - _checkState = bad; - return; - } - } - } - else if ( iLine == 6 && type() == t_eph::IRNSS) { - if ( readDbl(line, pos[0], fieldLen, _ura ) || - readDbl(line, pos[1], fieldLen, _health) || - readDbl(line, pos[2], fieldLen, _TGD ) ) { - _checkState = bad; - return; + else if (iLine == 6 && type() != t_eph::IRNSS) { + if (ephType() == t_eph::CNAV || + ephType() == t_eph::CNV2) { + if ( readDbl(line, pos[0], fieldLen, _URAI_ED) + || readDbl(line, pos[1], fieldLen, _health) + || readDbl(line, pos[2], fieldLen, _TGD) + || readDbl(line, pos[3], fieldLen, _URAI_NED2)) { + _checkState = bad; + return; + } + } else { // LNAV, undefined + if ( readDbl(line, pos[0], fieldLen, _ura) + || readDbl(line, pos[1], fieldLen, _health) + || readDbl(line, pos[2], fieldLen, _TGD) + || readDbl(line, pos[3], fieldLen, _IODC)) { + _checkState = bad; + return; + } + } + } + else if (iLine == 6 && type() == t_eph::IRNSS) { + if (ephType() == t_eph::LNAV || + ephType() == t_eph::undefined) { + if ( readDbl(line, pos[0], fieldLen, _ura) + || readDbl(line, pos[1], fieldLen, _health) + || readDbl(line, pos[2], fieldLen, _TGD)) { + _checkState = bad; + return; + } + } + else if (ephType() == t_eph::L1NV) { + int i = 0; + (!_RSF) ? i = 2 : i = 3; + if ( readDbl(line, pos[0], fieldLen, _URAI) + || readDbl(line, pos[1], fieldLen, _health) + || readDbl(line, pos[i], fieldLen, _TGD)) { + _checkState = bad; + return; + } + _ura = accuracyFromIndex(int(_URAI), type()); } } @@ -488,58 +503,85 @@ // BROADCAST ORBIT - 7 // ===================== - else if ( iLine == 7 ) { - if (navType() == t_eph::LNAV || - navType() == t_eph::undefined) { - - if ( readDbl(line, pos[0], fieldLen, _TOT) ) { - _checkState = bad; - return; - } - - if (type() != t_eph::IRNSS) { - double fitIntervalRnx; - if ( readDbl(line, pos[1], fieldLen, fitIntervalRnx) ) { + else if (iLine == 7) { + if (ephType() == t_eph::LNAV || + ephType() == t_eph::undefined) { + if (readDbl(line, pos[0], fieldLen, _TOT)) { + _checkState = bad; + return; + if (type() != t_eph::IRNSS) { + double fitIntervalRnx; + if (readDbl(line, pos[1], fieldLen, fitIntervalRnx)) { + _checkState = bad; + return; + } + if (type() == t_eph::GPS) { // in RINEX specified always as time period for GPS + _fitInterval = fitIntervalRnx; + } + else if (type() == t_eph::QZSS) { // specified as flag for QZSS + if (rnxVersion == 3.02) { + _fitInterval = fitIntervalRnx; // specified as time period + } else { + _fitInterval = fitIntervalFromFlag(fitIntervalRnx, _IODC, t_eph::QZSS); + } + } + } + } + } + else if (ephType() == t_eph::CNAV || + ephType() == t_eph::CNV2) { + if ( readDbl(line, pos[0], fieldLen, _ISC_L1CA) + || readDbl(line, pos[1], fieldLen, _ISC_L2C) + || readDbl(line, pos[2], fieldLen, _ISC_L5I5) + || readDbl(line, pos[3], fieldLen, _ISC_L5Q5)) { + _checkState = bad; + return; + } + } + else if (ephType() == t_eph::L1NV) { + if (!_RSF) { + if ( readDbl(line, pos[0], fieldLen, _ISC_S) + || readDbl(line, pos[1], fieldLen, _ISC_L1D)) { _checkState = bad; return; } - if (type() == t_eph::GPS) { // in RINEX specified always as time period for GPS - _fitInterval = fitIntervalRnx; - } else if (type() == t_eph::QZSS) { // specified as flag for QZSS - if (rnxVersion == 3.02) { - _fitInterval = fitIntervalRnx; // specified as time period - } - else { - _fitInterval = fitIntervalFromFlag(fitIntervalRnx, _IODC, t_eph::QZSS); - } + } else { + if ( readDbl(line, pos[2], fieldLen, _ISC_L1P) + || readDbl(line, pos[3], fieldLen, _ISC_L1D)) { + _checkState = bad; + return; } } } - - else if (navType() == t_eph::CNAV || - navType() == t_eph::CNV2) { - if ( readDbl(line, pos[0], fieldLen, _ISC_L1CA) || - readDbl(line, pos[1], fieldLen, _ISC_L2C ) || - readDbl(line, pos[2], fieldLen, _ISC_L5I5) || - readDbl(line, pos[3], fieldLen, _ISC_L5Q5) ) { - _checkState = bad; - return; - } - } - } // ===================== // BROADCAST ORBIT - 8 // ===================== - else if ( iLine == 8 ) { - if (navType() == t_eph::CNAV) { - if ( readDbl(line, pos[0], fieldLen, _TOT) || - readDbl(line, pos[1], fieldLen, _wnop) ) { - _checkState = bad; - return; - } - } - else if (navType() == t_eph::CNV2) { - if ( readDbl(line, pos[0], fieldLen, _ISC_L1Cd) || - readDbl(line, pos[1], fieldLen, _ISC_L1Cp)) { + else if (iLine == 8) { + if (ephType() == t_eph::CNAV) { + double intFlags = -1.0; // optional; blank if not provided + if ( readDbl(line, pos[0], fieldLen, _TOT) + || readDbl(line, pos[1], fieldLen, _wnop) + || readDbl(line, pos[2], fieldLen, intFlags)) { + _checkState = bad; + return; + } + if (intFlags > -1.0) { + // Bit 0: + _intSF = (int(intFlags) & (1 << 0)); + // Bit 1: + _L2Cphasing = (int(intFlags) & (1 << 1)); + // Bit 2: + _alert = (int(intFlags) & (1 << 2)); + } + } + else if (ephType() == t_eph::CNV2) { + if ( readDbl(line, pos[0], fieldLen, _ISC_L1Cd) + || readDbl(line, pos[1], fieldLen, _ISC_L1Cp)) { + _checkState = bad; + return; + } + } + else if (ephType() == t_eph::L1NV) { + if ( readDbl(line, pos[0], fieldLen, _TOT)) { _checkState = bad; return; @@ -550,10 +592,20 @@ // BROADCAST ORBIT - 9 // ===================== - else if ( iLine == 9 ) { - if (navType() == t_eph::CNV2) { - if ( readDbl(line, pos[0], fieldLen, _TOT) || - readDbl(line, pos[1], fieldLen, _wnop) ) { - _checkState = bad; - return; + else if (iLine == 9) { + if (ephType() == t_eph::CNV2) { + double intFlags = -1.0; + if ( readDbl(line, pos[0], fieldLen, _TOT) + || readDbl(line, pos[1], fieldLen, _wnop) + || readDbl(line, pos[2], fieldLen, intFlags)) { + _checkState = bad; + return; + } + if (intFlags > -1.0) { + // Bit 0: + _intSF = (int(intFlags) & (1 << 0)); + if (type() == t_eph::QZSS) { + // Bit 1: + _ephSF = (int(intFlags) & (1 << 1)); + } } } @@ -564,11 +616,12 @@ // Compute GPS Satellite Position (virtual) //////////////////////////////////////////////////////////////////////////// -t_irc t_ephGPS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const { +t_irc t_ephGPS::position(int GPSweek, double GPSweeks, double *xc, + double *vv) const { static const double omegaEarth = 7292115.1467e-11; - static const double gmGRS = 398.6005e12; - - memset(xc, 0, 6*sizeof(double)); - memset(vv, 0, 3*sizeof(double)); + static const double gmGRS = 398.6005e12; + + memset(xc, 0, 6 * sizeof(double)); + memset(vv, 0, 3 * sizeof(double)); double a0 = _sqrt_A * _sqrt_A; @@ -577,74 +630,72 @@ } - double n0 = sqrt(gmGRS/(a0*a0*a0)); + double n0 = sqrt(gmGRS / (a0 * a0 * a0)); bncTime tt(GPSweek, GPSweeks); double tk = tt - bncTime(int(_TOEweek), _TOEsec); - double n = n0 + _Delta_n; - double M = _M0 + n*tk; - double E = M; + double n = n0 + _Delta_n; + double M = _M0 + n * tk; + double E = M; double E_last; - int nLoop = 0; + int nLoop = 0; do { E_last = E; - E = M + _e*sin(E); + E = M + _e * sin(E); if (++nLoop == 100) { return failure; } - } while ( fabs(E-E_last)*a0 > 0.001); - double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) ); - double u0 = v + _omega; - double sin2u0 = sin(2*u0); - double cos2u0 = cos(2*u0); - double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0; - double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0; - double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0; - double xp = r*cos(u); - double yp = r*sin(u); - double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk - - omegaEarth*_TOEsec; + } while (fabs(E - E_last) * a0 > 0.001); + double v = 2.0 * atan(sqrt((1.0 + _e) / (1.0 - _e)) * tan(E / 2)); + double u0 = v + _omega; + double sin2u0 = sin(2 * u0); + double cos2u0 = cos(2 * u0); + double r = a0 * (1 - _e * cos(E)) + _Crc * cos2u0 + _Crs * sin2u0; + double i = _i0 + _IDOT * tk + _Cic * cos2u0 + _Cis * sin2u0; + double u = u0 + _Cuc * cos2u0 + _Cus * sin2u0; + double xp = r * cos(u); + double yp = r * sin(u); + double OM = _OMEGA0 + (_OMEGADOT - omegaEarth) * tk - omegaEarth * _TOEsec; double sinom = sin(OM); double cosom = cos(OM); - double sini = sin(i); - double cosi = cos(i); - xc[0] = xp*cosom - yp*cosi*sinom; - xc[1] = xp*sinom + yp*cosi*cosom; - xc[2] = yp*sini; + double sini = sin(i); + double cosi = cos(i); + xc[0] = xp * cosom - yp * cosi * sinom; + xc[1] = xp * sinom + yp * cosi * cosom; + xc[2] = yp * sini; double tc = tt - _TOC; - xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc; + xc[3] = _clock_bias + _clock_drift * tc + _clock_driftrate * tc * tc; // Velocity // -------- - double tanv2 = tan(v/2); - double dEdM = 1 / (1 - _e*cos(E)); - double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2) - * dEdM * n; - double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv; + double tanv2 = tan(v / 2); + double dEdM = 1 / (1 - _e * cos(E)); + double dotv = sqrt((1.0 + _e) / (1.0 - _e)) / cos(E / 2) / cos(E / 2) + / (1 + tanv2 * tanv2) * dEdM * n; + double dotu = dotv + (-_Cuc * sin2u0 + _Cus * cos2u0) * 2 * dotv; double dotom = _OMEGADOT - omegaEarth; - double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv; - double dotr = a0 * _e*sin(E) * dEdM * n - + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv; - double dotx = dotr*cos(u) - r*sin(u)*dotu; - double doty = dotr*sin(u) + r*cos(u)*dotu; - - vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr - - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA - + yp*sini*sinom*doti; // dX / di - - vv[1] = sinom *dotx + cosi*cosom *doty - + xp*cosom*dotom - yp*cosi*sinom*dotom - - yp*sini*cosom*doti; - - vv[2] = sini *doty + yp*cosi *doti; + double doti = _IDOT + (-_Cic * sin2u0 + _Cis * cos2u0) * 2 * dotv; + double dotr = a0 * _e * sin(E) * dEdM * n + + (-_Crc * sin2u0 + _Crs * cos2u0) * 2 * dotv; + double dotx = dotr * cos(u) - r * sin(u) * dotu; + double doty = dotr * sin(u) + r * cos(u) * dotu; + + vv[0] = cosom * dotx - cosi * sinom * doty // dX / dr + - xp * sinom * dotom - yp * cosi * cosom * dotom // dX / dOMEGA + + yp * sini * sinom * doti; // dX / di + + vv[1] = sinom * dotx + cosi * cosom * doty + xp * cosom * dotom + - yp * cosi * sinom * dotom - yp * sini * cosom * doti; + + vv[2] = sini * doty + yp * cosi * doti; // Relativistic Correction // ----------------------- - xc[3] -= 4.442807633e-10 * _e * sqrt(a0) *sin(E); - - xc[4] = _clock_drift + _clock_driftrate*tc; + xc[3] -= 4.442807633e-10 * _e * sqrt(a0) * sin(E); + + xc[4] = _clock_drift + _clock_driftrate * tc; xc[5] = _clock_driftrate; @@ -656,49 +707,53 @@ QString t_ephGPS::toString(double version) const { - QString navStr = navTypeString(_navType, _prn, version); - QString rnxStr = navStr + rinexDateStr(_TOC, _prn, version); + QString ephStr = ephTypeStr(_ephType, _prn, version); + QString rnxStr = ephStr + rinexDateStr(_TOC, _prn, version); QTextStream out(&rnxStr); - out << QString("%1%2%3\n") - .arg(_clock_bias, 19, 'e', 12) - .arg(_clock_drift, 19, 'e', 12) - .arg(_clock_driftrate, 19, 'e', 12); + out + << QString("%1%2%3\n") + .arg(_clock_bias, 19, 'e', 12) + .arg(_clock_drift, 19, 'e', 12) + .arg(_clock_driftrate, 19, 'e', 12); QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n"; - // ===================== // BROADCAST ORBIT - 1 // ===================== - if (navType() == t_eph::CNAV || - navType() == t_eph::CNV2) { - out << QString(fmt) - .arg(_ADOT, 19, 'e', 12) - .arg(_Crs, 19, 'e', 12) - .arg(_Delta_n, 19, 'e', 12) - .arg(_M0, 19, 'e', 12); - } - else { // LNAV, undefinded - out << QString(fmt) - .arg(_IODE, 19, 'e', 12) - .arg(_Crs, 19, 'e', 12) - .arg(_Delta_n, 19, 'e', 12) - .arg(_M0, 19, 'e', 12); + if (ephType() == t_eph::CNAV || + ephType() == t_eph::CNV2 || + ephType() == t_eph::L1NV) { + out + << QString(fmt) + .arg(_ADOT, 19, 'e', 12) + .arg(_Crs, 19, 'e', 12) + .arg(_Delta_n, 19, 'e', 12) + .arg(_M0, 19, 'e', 12); + } else { // LNAV, undefined + out + << QString(fmt) + .arg(_IODE, 19, 'e', 12) + .arg(_Crs, 19, 'e', 12) + .arg(_Delta_n, 19, 'e', 12) + .arg(_M0, 19, 'e', 12); } // ===================== // BROADCAST ORBIT - 2 // ===================== - out << QString(fmt) - .arg(_Cuc, 19, 'e', 12) - .arg(_e, 19, 'e', 12) - .arg(_Cus, 19, 'e', 12) - .arg(_sqrt_A, 19, 'e', 12); + out + << QString(fmt) + .arg(_Cuc, 19, 'e', 12) + .arg(_e, 19, 'e', 12) + .arg(_Cus, 19, 'e', 12) + .arg(_sqrt_A, 19, 'e', 12); // ===================== // BROADCAST ORBIT - 3 // ===================== - if (navType() == t_eph::CNAV || - navType() == t_eph::CNV2) { - out << QString(fmt) + if (ephType() == t_eph::CNAV || + ephType() == t_eph::CNV2) { + out + << QString(fmt) .arg(_top, 19, 'e', 12) .arg(_Cic, 19, 'e', 12) @@ -706,6 +761,15 @@ .arg(_Cis, 19, 'e', 12); } - else { - out << QString(fmt) + else if (ephType() == t_eph::L1NV) { + out + << QString(fmt) + .arg(_IODE, 19, 'e', 12) + .arg(_Cic, 19, 'e', 12) + .arg(_OMEGA0, 19, 'e', 12) + .arg(_Cis, 19, 'e', 12); + } + else { // LNAV, undefined + out + << QString(fmt) .arg(_TOEsec, 19, 'e', 12) .arg(_Cic, 19, 'e', 12) @@ -716,64 +780,100 @@ // BROADCAST ORBIT - 4 // ===================== - out << QString(fmt) - .arg(_i0, 19, 'e', 12) - .arg(_Crc, 19, 'e', 12) - .arg(_omega, 19, 'e', 12) - .arg(_OMEGADOT, 19, 'e', 12); + out + << QString(fmt) + .arg(_i0, 19, 'e', 12) + .arg(_Crc, 19, 'e', 12) + .arg(_omega, 19, 'e', 12) + .arg(_OMEGADOT, 19, 'e', 12); // ===================== // BROADCAST ORBIT - 5 // ===================== - if (type() == t_eph::IRNSS) { - out << QString(fmt) + if (type() != t_eph::IRNSS) { + if (ephType() == t_eph::CNAV || + ephType() == t_eph::CNV2) { + out + << QString(fmt) + .arg(_IDOT, 19, 'e', 12) + .arg(_Delta_n_dot, 19, 'e', 12) + .arg(_URAI_NED0, 19, 'e', 12) + .arg(_URAI_NED1, 19, 'e', 12); + } + else { // LNAV, undefined + out + << QString(fmt) + .arg(_IDOT, 19, 'e', 12) + .arg(_L2Codes, 19, 'e', 12) + .arg(_TOEweek, 19, 'e', 12) + .arg(_L2PFlag, 19, 'e', 12); + } + } + else { + if (ephType() == t_eph::LNAV || + ephType() == t_eph::undefined) { + out + << QString(fmt) .arg(_IDOT, 19, 'e', 12) - .arg(0.0, 19, 'e', 12) + .arg("", 19, QChar(' ')) .arg(_TOEweek, 19, 'e', 12) - .arg(0.0, 19, 'e', 12); + .arg("", 19, QChar(' ')); + } + else if (ephType() == t_eph::L1NV) { + out + << QString(fmt) + .arg(_IDOT, 19, 'e', 12) + .arg(_Delta_n_dot, 19, 'e', 12) + .arg("", 19, QChar(' ')) + .arg(_RSF, 19, 'e', 12); + } + } + // ===================== + // BROADCAST ORBIT - 6 + // ===================== + if (type() != t_eph::IRNSS) { + if (ephType() == t_eph::CNAV || + ephType() == t_eph::CNV2) { + out + << QString(fmt) + .arg(_URAI_ED, 19, 'e', 12) + .arg(_health, 19, 'e', 12) + .arg(_TGD, 19, 'e', 12) + .arg(_URAI_NED2, 19, 'e', 12); + } + else { // LNAV, undefined + out + << QString(fmt) + .arg(_ura, 19, 'e', 12) + .arg(_health, 19, 'e', 12) + .arg(_TGD, 19, 'e', 12) + .arg(_IODC, 19, 'e', 12); + } } else { - if (navType() == t_eph::CNAV || - navType() == t_eph::CNV2) { - out << QString(fmt) - .arg(_IDOT, 19, 'e', 12) - .arg(_Delta_n_dot, 19, 'e', 12) - .arg(_URAI_NED0, 19, 'e', 12) - .arg(_URAI_NED1, 19, 'e', 12); - - } - else { // LNAV, undefined - out << QString(fmt) - .arg(_IDOT, 19, 'e', 12) - .arg(_L2Codes, 19, 'e', 12) - .arg(_TOEweek, 19, 'e', 12) - .arg(_L2PFlag, 19, 'e', 12); - - } - } - // ===================== - // BROADCAST ORBIT - 6 - // ===================== - if (type() == t_eph::IRNSS) { - out << QString(fmt) - .arg(_ura, 19, 'e', 12) - .arg(_health, 19, 'e', 12) - .arg(_TGD, 19, 'e', 12) - .arg(0.0, 19, 'e', 12); - } - else { - if (navType() == t_eph::CNAV || - navType() == t_eph::CNV2) { - out << QString(fmt) - .arg(_URAI_ED, 19, 'e', 12) - .arg(_health, 19, 'e', 12) - .arg(_TGD, 19, 'e', 12) - .arg(_URAI_NED2,19, 'e', 12); - - } - else { // LNAV, undefined - out << QString(fmt) - .arg(_ura, 19, 'e', 12) - .arg(_health, 19, 'e', 12) - .arg(_TGD, 19, 'e', 12) - .arg(_IODC, 19, 'e', 12); + if (ephType() == t_eph::LNAV || + ephType() == t_eph::undefined) { + out + << QString(fmt) + .arg(_ura, 19, 'e', 12) + .arg(_health, 19, 'e', 12) + .arg(_TGD, 19, 'e', 12); + } + else if (ephType() == t_eph::L1NV) { + int i = 0; (!_RSF) ? i = 2 : i = 3; + if (i == 2) { + out + << QString(fmt) + .arg(_URAI, 19, 'e', 12) + .arg(_health, 19, 'e', 12) + .arg(_TGD, 19, 'e', 12) + .arg("", 19, QChar(' ')); + } + else { + out + << QString(fmt) + .arg(_URAI, 19, 'e', 12) + .arg(_health, 19, 'e', 12) + .arg("", 19, QChar(' ')) + .arg(_TGD, 19, 'e', 12); + } } } @@ -781,6 +881,16 @@ // BROADCAST ORBIT - 7 // ===================== - if (navType() == t_eph::LNAV || - navType() == t_eph::undefined) { + /* + out + << QString(fmt) + .arg(, 19, 'e', 12) + .arg(, 19, 'e', 12) + .arg(, 19, 'e', 12) + .arg(, 19, 'e', 12); + + */ + + if (ephType() == t_eph::LNAV || + ephType() == t_eph::undefined) { double tot = _TOT; @@ -789,10 +899,11 @@ } // fitInterval - if (type() == t_eph::IRNSS) {// not valid for IRNSS - out << QString(fmt) - .arg(tot, 19, 'e', 12) - .arg(0.0, 19, 'e', 12) - .arg("", 19, QChar(' ')) - .arg("", 19, QChar(' ')); + if (type() == t_eph::IRNSS) { + out + << QString(fmt) + .arg(tot, 19, 'e', 12) + .arg("", 19, QChar(' ')) + .arg("", 19, QChar(' ')) + .arg("", 19, QChar(' ')); } else { @@ -803,46 +914,102 @@ (_fitInterval == 2.0) ? fitIntervalRnx = 0.0 : fitIntervalRnx = 1.0; } - out << QString(fmt) - .arg(tot, 19, 'e', 12) - .arg(fitIntervalRnx, 19, 'e', 12) - .arg("", 19, QChar(' ')) - .arg("", 19, QChar(' ')); - } - } - else if (navType() == t_eph::CNAV || - navType() == t_eph::CNV2) { - out << QString(fmt) - .arg(_ISC_L1CA, 19, 'e', 12) - .arg(_ISC_L2C, 19, 'e', 12) - .arg(_ISC_L5I5, 19, 'e', 12) - .arg(_ISC_L5Q5, 19, 'e', 12); + out + << QString(fmt) + .arg(tot, 19, 'e', 12) + .arg(fitIntervalRnx, 19, 'e', 12) + .arg("", 19, QChar(' ')) + .arg("", 19, QChar(' ')); + } + } + else if (ephType() == t_eph::CNAV || + ephType() == t_eph::CNV2) { + out + << QString(fmt) + .arg(_ISC_L1CA, 19, 'e', 12) + .arg(_ISC_L2C, 19, 'e', 12) + .arg(_ISC_L5I5, 19, 'e', 12) + .arg(_ISC_L5Q5, 19, 'e', 12); + } + else if (ephType() == t_eph::L1NV) { + if (_RSF) { + out + << QString(fmt) + .arg(_ISC_S, 19, 'e', 12) + .arg(_ISC_L1D, 19, 'e', 12) + .arg("", 19, QChar(' ')) + .arg("", 19, QChar(' ')); + } + else { + out + << QString(fmt) + .arg("", 19, QChar(' ')) + .arg("", 19, QChar(' ')) + .arg(_ISC_L1P, 19, 'e', 12) + .arg(_ISC_L1D, 19, 'e', 12); + } } // ===================== // BROADCAST ORBIT - 8 // ===================== - if (navType() == t_eph::CNAV) { - out << QString(fmt) - .arg(_TOT, 19, 'e', 12) - .arg(_wnop, 19, 'e', 12) - .arg("", 19, QChar(' ')) - .arg("", 19, QChar(' ')); - } - else if (navType() == t_eph::CNV2) { - out << QString(fmt) - .arg(_ISC_L1Cd, 19, 'e', 12) - .arg(_ISC_L1Cp, 19, 'e', 12) - .arg("", 19, QChar(' ')) - .arg("", 19, QChar(' ')); - } - + if (ephType() == t_eph::CNAV) { + double intFlags; + if (_intSF !=-1 ) { + intFlags |= (1 << 0); + intFlags |= (1 << 1); + intFlags |= (1 << 2); + out + << QString(fmt) + .arg(_TOT, 19, 'e', 12) + .arg(_wnop, 19, 'e', 12) + .arg(intFlags, 19, 'e', 12) + .arg("", 19, QChar(' ')); + } + else { + out + << QString(fmt) + .arg(_TOT, 19, 'e', 12) + .arg(_wnop, 19, 'e', 12) + .arg("", 19, QChar(' ')) + .arg("", 19, QChar(' ')); + } + } + else if (ephType() == t_eph::CNV2) { + out + << QString(fmt) + .arg(_ISC_L1Cd, 19, 'e', 12) + .arg(_ISC_L1Cp, 19, 'e', 12) + .arg("", 19, QChar(' ')) + .arg("", 19, QChar(' ')); + } + else if (ephType() == t_eph::L1NV) { + out + << QString(fmt) + .arg(_TOT, 19, 'e', 12) + .arg("", 19, QChar(' ')) + .arg("", 19, QChar(' ')) + .arg("", 19, QChar(' ')); + } // ===================== // BROADCAST ORBIT - 9 // ===================== - if (navType() == t_eph::CNV2) { - out << QString(fmt) - .arg(_TOT, 19, 'e', 12) - .arg(_wnop, 19, 'e', 12) - .arg("", 19, QChar(' ')) - .arg("", 19, QChar(' ')); + if (ephType() == t_eph::CNV2) { + double intFlags; + if (_intSF !=-1 ) { + intFlags |= (1 << 0); + out + << QString(fmt) + .arg(_TOT, 19, 'e', 12) + .arg(_wnop, 19, 'e', 12) + .arg(intFlags, 19, 'e', 12) + .arg("", 19, QChar(' ')); + } + else { + out + << QString(fmt) + .arg(_TOT, 19, 'e', 12) + .arg(_wnop, 19, 'e', 12) + .arg("", 19, QChar(' ')) + .arg("", 19, QChar(' ')); + } } @@ -852,11 +1019,10 @@ // Constructor ////////////////////////////////////////////////////////////////////////////// -t_ephGlo::t_ephGlo(double rnxVersion, const QStringList& lines) { +t_ephGlo::t_ephGlo(double rnxVersion, const QStringList &lines) { int nLines = 4; if (rnxVersion >= 3.05) { nLines += 1; - } - else { + } else { _M_delta_tau = 0.9999e9; // unknown _M_FT = 1.5e1; // unknown @@ -875,5 +1041,5 @@ int pos[4]; - pos[0] = (rnxVersion <= 2.12) ? 3 : 4; + pos[0] = (rnxVersion <= 2.12) ? 3 : 4; pos[1] = pos[0] + fieldLen; pos[2] = pos[1] + fieldLen; @@ -885,8 +1051,8 @@ QString line = lines[iLine]; - if ( iLine == 0 ) { + if (iLine == 0) { QTextStream in(line.left(pos[1]).toLatin1()); - int year, month, day, hour, min; + int year, month, day, hour, min; double sec; @@ -900,13 +1066,11 @@ if (prnStr.at(0) == 'R') { _prn.set('R', prnStr.mid(1).toInt()); - } - else { + } else { _prn.set('R', prnStr.toInt()); } - if (year < 80) { + if (year < 80) { year += 2000; - } - else if (year < 100) { + } else if (year < 100) { year += 1900; } @@ -915,23 +1079,23 @@ _TOC.set(year, month, day, hour, min, sec); - _TOC = _TOC + _gps_utc; - int nd = int((_TOC.gpssec())) / (24.0*60.0*60.0); - if ( readDbl(line, pos[1], fieldLen, _tau ) || - readDbl(line, pos[2], fieldLen, _gamma) || - readDbl(line, pos[3], fieldLen, _tki ) ) { + _TOC = _TOC + _gps_utc; + int nd = int((_TOC.gpssec())) / (24.0 * 60.0 * 60.0); + if (readDbl(line, pos[1], fieldLen, _tau) + || readDbl(line, pos[2], fieldLen, _gamma) + || readDbl(line, pos[3], fieldLen, _tki)) { _checkState = bad; return; } _tki -= nd * 86400.0; - _tau = -_tau; + _tau = -_tau; } // ===================== // BROADCAST ORBIT - 1 // ===================== - else if ( iLine == 1 ) { - if ( readDbl(line, pos[0], fieldLen, _x_pos ) || - readDbl(line, pos[1], fieldLen, _x_velocity ) || - readDbl(line, pos[2], fieldLen, _x_acceleration) || - readDbl(line, pos[3], fieldLen, _health ) ) { + else if (iLine == 1) { + if (readDbl(line, pos[0], fieldLen, _x_pos) + || readDbl(line, pos[1], fieldLen, _x_velocity) + || readDbl(line, pos[2], fieldLen, _x_acceleration) + || readDbl(line, pos[3], fieldLen, _health)) { _checkState = bad; return; @@ -941,9 +1105,9 @@ // BROADCAST ORBIT - 2 // ===================== - else if ( iLine == 2 ) { - if ( readDbl(line, pos[0], fieldLen, _y_pos ) || - readDbl(line, pos[1], fieldLen, _y_velocity ) || - readDbl(line, pos[2], fieldLen, _y_acceleration ) || - readDbl(line, pos[3], fieldLen, _frequency_number) ) { + else if (iLine == 2) { + if (readDbl(line, pos[0], fieldLen, _y_pos) + || readDbl(line, pos[1], fieldLen, _y_velocity) + || readDbl(line, pos[2], fieldLen, _y_acceleration) + || readDbl(line, pos[3], fieldLen, _frequency_number)) { _checkState = bad; return; @@ -953,9 +1117,9 @@ // BROADCAST ORBIT - 3 // ===================== - else if ( iLine == 3 ) { - if ( readDbl(line, pos[0], fieldLen, _z_pos ) || - readDbl(line, pos[1], fieldLen, _z_velocity ) || - readDbl(line, pos[2], fieldLen, _z_acceleration) || - readDbl(line, pos[3], fieldLen, _E ) ) { + else if (iLine == 3) { + if (readDbl(line, pos[0], fieldLen, _z_pos) + || readDbl(line, pos[1], fieldLen, _z_velocity) + || readDbl(line, pos[2], fieldLen, _z_acceleration) + || readDbl(line, pos[3], fieldLen, _E)) { _checkState = bad; return; @@ -965,41 +1129,39 @@ // BROADCAST ORBIT - 4 // ===================== - else if ( iLine == 4 ) { - if (readDbl(line, pos[0], fieldLen, statusflags ) ) { + else if (iLine == 4) { + if (readDbl(line, pos[0], fieldLen, statusflags)) { //statusflags BLK, do nothing _flags_unknown = true; - } - else { + } else { _flags_unknown = false; // status flags // ============ // bit 0-1 - _M_P = double(bitExtracted(statusflags, 2, 0)); + _M_P = double(bitExtracted(statusflags, 2, 0)); // bit 2-3 - _P1 = double(bitExtracted(statusflags, 2, 2)); + _P1 = double(bitExtracted(statusflags, 2, 2)); // bit 4 - _P2 = double(bitExtracted(statusflags, 1, 4)); + _P2 = double(bitExtracted(statusflags, 1, 4)); // bit 5 - _P3 = double(bitExtracted(statusflags, 1, 5)); + _P3 = double(bitExtracted(statusflags, 1, 5)); // bit 6 _M_P4 = double(bitExtracted(statusflags, 1, 6)); // bit 7-8 - _M_M = double(bitExtracted(statusflags, 2, 7)); + _M_M = double(bitExtracted(statusflags, 2, 7)); /// GLO M/K exclusive flags/values only valid if flag M is set to '01' if (!_M_M) { _M_P4 = 0.0; - _M_P = 0.0; - } - } - if ( readDbl(line, pos[1], fieldLen, _M_delta_tau ) || - readDbl(line, pos[2], fieldLen, _M_FT ) ) { + _M_P = 0.0; + } + } + if (readDbl(line, pos[1], fieldLen, _M_delta_tau) + || readDbl(line, pos[2], fieldLen, _M_FT)) { _checkState = bad; return; } - if (readDbl(line, pos[3], fieldLen, healthflags ) ) { + if (readDbl(line, pos[3], fieldLen, healthflags)) { // healthflags BLK _flags_unknown = true; - } - else { + } else { _flags_unknown = false; // health flags @@ -1008,5 +1170,6 @@ _almanac_health = double(bitExtracted(healthflags, 1, 0)); // bit 1 - _almanac_health_availablility_indicator = double(bitExtracted(healthflags, 1, 1)); + _almanac_health_availablility_indicator = double( + bitExtracted(healthflags, 1, 1)); // bit 2 _M_l3 = double(bitExtracted(healthflags, 1, 2)); @@ -1018,5 +1181,6 @@ // ------------------------ _tt = _TOC; - _xv.ReSize(6); _xv = 0.0; + _xv.ReSize(6); + _xv = 0.0; _xv(1) = _x_pos * 1.e3; _xv(2) = _y_pos * 1.e3; @@ -1029,10 +1193,11 @@ // Compute Glonass Satellite Position (virtual) //////////////////////////////////////////////////////////////////////////// -t_irc t_ephGlo::position(int GPSweek, double GPSweeks, double* xc, double* vv) const { +t_irc t_ephGlo::position(int GPSweek, double GPSweeks, double *xc, + double *vv) const { static const double nominalStep = 10.0; - memset(xc, 0, 6*sizeof(double)); - memset(vv, 0, 3*sizeof(double)); + memset(xc, 0, 6 * sizeof(double)); + memset(vv, 0, 3 * sizeof(double)); double dtPos = bncTime(GPSweek, GPSweeks) - _tt; @@ -1042,5 +1207,5 @@ } - int nSteps = int(fabs(dtPos) / nominalStep) + 1; + int nSteps = int(fabs(dtPos) / nominalStep) + 1; double step = dtPos / nSteps; @@ -1080,13 +1245,12 @@ QString t_ephGlo::toString(double version) const { - QString navStr = navTypeString(_navType, _prn, version); - QString rnxStr = navStr + rinexDateStr(_TOC -_gps_utc, _prn, version); - int nd = int((_TOC - _gps_utc).gpssec()) / (24.0*60.0*60.0); + QString ephStr = ephTypeStr(_ephType, _prn, version); + QString rnxStr = ephStr + rinexDateStr(_TOC - _gps_utc, _prn, version); + int nd = int((_TOC - _gps_utc).gpssec()) / (24.0 * 60.0 * 60.0); QTextStream out(&rnxStr); - out << QString("%1%2%3\n") - .arg(-_tau, 19, 'e', 12) - .arg(_gamma, 19, 'e', 12) - .arg(_tki+nd*86400.0, 19, 'e', 12); + out + << QString("%1%2%3\n").arg(-_tau, 19, 'e', 12).arg(_gamma, 19, 'e', 12).arg( + _tki + nd * 86400.0, 19, 'e', 12); QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n"; @@ -1094,25 +1258,19 @@ // BROADCAST ORBIT - 1 // ===================== - out << QString(fmt) - .arg(_x_pos, 19, 'e', 12) - .arg(_x_velocity, 19, 'e', 12) - .arg(_x_acceleration, 19, 'e', 12) - .arg(_health, 19, 'e', 12); + out + << QString(fmt).arg(_x_pos, 19, 'e', 12).arg(_x_velocity, 19, 'e', 12).arg( + _x_acceleration, 19, 'e', 12).arg(_health, 19, 'e', 12); // ===================== // BROADCAST ORBIT - 2 // ===================== - out << QString(fmt) - .arg(_y_pos, 19, 'e', 12) - .arg(_y_velocity, 19, 'e', 12) - .arg(_y_acceleration, 19, 'e', 12) - .arg(_frequency_number, 19, 'e', 12); + out + << QString(fmt).arg(_y_pos, 19, 'e', 12).arg(_y_velocity, 19, 'e', 12).arg( + _y_acceleration, 19, 'e', 12).arg(_frequency_number, 19, 'e', 12); // ===================== // BROADCAST ORBIT - 3 // ===================== - out << QString(fmt) - .arg(_z_pos, 19, 'e', 12) - .arg(_z_velocity, 19, 'e', 12) - .arg(_z_acceleration, 19, 'e', 12) - .arg(_E, 19, 'e', 12); + out + << QString(fmt).arg(_z_pos, 19, 'e', 12).arg(_z_velocity, 19, 'e', 12).arg( + _z_acceleration, 19, 'e', 12).arg(_E, 19, 'e', 12); // ===================== // BROADCAST ORBIT - 4 @@ -1121,49 +1279,43 @@ // unknown (RINEX version < 3.05) if (_flags_unknown) { - out << QString(fmt) - .arg("", 19, QChar(' ')) // statusflags blank if unknown - .arg(_M_delta_tau, 19, 'e', 12) - .arg(_M_FT, 19, 'e', 12) - .arg("", 19, QChar(' ')); // healthflags blank if unknown - } - else { + out + << QString(fmt).arg("", 19, QChar(' ')) // statusflags blank if unknown + .arg(_M_delta_tau, 19, 'e', 12).arg(_M_FT, 19, 'e', 12).arg("", 19, + QChar(' ')); // healthflags blank if unknown + } else { int statusflags = 0; // bit 7-8 if (_M_M == 2.0) { - statusflags |= (1<<7); + statusflags |= (1 << 7); } // bit 6 if (_M_P4) { - statusflags |= (1<<6); + statusflags |= (1 << 6); } // bit 5 if (_P3) { - statusflags |= (1<<5); + statusflags |= (1 << 5); } // bit 4 if (_P2) { - statusflags |= (1<<4); + statusflags |= (1 << 4); } // bit 2-3 - if (_P1 == 2.0) { - statusflags |= (1<<2); - } - else if (_P1 == 1.0) { - statusflags |= (1<<3); - } - else if (_P1 == 3.0) { - statusflags |= (1<<2); - statusflags |= (1<<3); + if (_P1 == 2.0) { + statusflags |= (1 << 2); + } else if (_P1 == 1.0) { + statusflags |= (1 << 3); + } else if (_P1 == 3.0) { + statusflags |= (1 << 2); + statusflags |= (1 << 3); } // bit 0-1 - if (_M_P == 2.0) { - statusflags |= (1<<0); - } - else if (_M_P == 1.0) { - statusflags |= (1<<1); - } - else if (_M_P == 3.0) { - statusflags |= (1<<0); - statusflags |= (1<<1); + if (_M_P == 2.0) { + statusflags |= (1 << 0); + } else if (_M_P == 1.0) { + statusflags |= (1 << 1); + } else if (_M_P == 3.0) { + statusflags |= (1 << 0); + statusflags |= (1 << 1); } // health flags @@ -1172,19 +1324,18 @@ // bit 0 (is to be ignored, if bit 1 is zero) if (_almanac_health) { - healthflags |= (1<<0); + healthflags |= (1 << 0); } // bit 1 if (_almanac_health_availablility_indicator) { - healthflags |= (1<<1); + healthflags |= (1 << 1); } // bit 2 if (_M_l3) { - healthflags |= (1<<2); - } - out << QString(fmt) - .arg(double(statusflags), 19, 'e', 12) - .arg(_M_delta_tau, 19, 'e', 12) - .arg(_M_FT, 19, 'e', 12) - .arg(double(healthflags), 19, 'e', 12); + healthflags |= (1 << 2); + } + out + << QString(fmt).arg(double(statusflags), 19, 'e', 12).arg( + _M_delta_tau, 19, 'e', 12).arg(_M_FT, 19, 'e', 12).arg( + double(healthflags), 19, 'e', 12); } } @@ -1195,25 +1346,26 @@ // Derivative of the state vector using a simple force model (static) //////////////////////////////////////////////////////////////////////////// -ColumnVector t_ephGlo::glo_deriv(double /* tt */, const ColumnVector& xv, - double* acc) { +ColumnVector t_ephGlo::glo_deriv(double /* tt */, const ColumnVector &xv, + double *acc) { // State vector components // ----------------------- - ColumnVector rr = xv.rows(1,3); - ColumnVector vv = xv.rows(4,6); + ColumnVector rr = xv.rows(1, 3); + ColumnVector vv = xv.rows(4, 6); // Acceleration // ------------ static const double gmWGS = 398.60044e12; - static const double AE = 6378136.0; + static const double AE = 6378136.0; static const double OMEGA = 7292115.e-11; - static const double C20 = -1082.6257e-6; + static const double C20 = -1082.6257e-6; double rho = rr.NormFrobenius(); - double t1 = -gmWGS/(rho*rho*rho); - double t2 = 3.0/2.0 * C20 * (gmWGS*AE*AE) / (rho*rho*rho*rho*rho); - double t3 = OMEGA * OMEGA; - double t4 = 2.0 * OMEGA; - double z2 = rr(3) * rr(3); + double t1 = -gmWGS / (rho * rho * rho); + double t2 = 3.0 / 2.0 * C20 * (gmWGS * AE * AE) + / (rho * rho * rho * rho * rho); + double t3 = OMEGA * OMEGA; + double t4 = 2.0 * OMEGA; + double z2 = rr(3) * rr(3); // Vector of derivatives @@ -1223,7 +1375,9 @@ va(2) = vv(2); va(3) = vv(3); - va(4) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(1) + t4*vv(2) + acc[0]; - va(5) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(2) - t4*vv(1) + acc[1]; - va(6) = (t1 + t2*(3.0-5.0*z2/(rho*rho)) ) * rr(3) + acc[2]; + va(4) = (t1 + t2 * (1.0 - 5.0 * z2 / (rho * rho)) + t3) * rr(1) + t4 * vv(2) + + acc[0]; + va(5) = (t1 + t2 * (1.0 - 5.0 * z2 / (rho * rho)) + t3) * rr(2) - t4 * vv(1) + + acc[1]; + va(6) = (t1 + t2 * (3.0 - 5.0 * z2 / (rho * rho))) * rr(3) + acc[2]; return va; @@ -1234,5 +1388,5 @@ unsigned int t_ephGlo::IOD() const { bncTime tMoscow = _TOC - _gps_utc + 3 * 3600.0; - return (unsigned long)tMoscow.daysec() / 900; + return (unsigned long) tMoscow.daysec() / 900; } @@ -1242,11 +1396,10 @@ if (_almanac_health_availablility_indicator) { - if ((_health == 0 && _almanac_health == 0) || - (_health == 1 && _almanac_health == 0) || - (_health == 1 && _almanac_health == 1)) { - return 1; - } - } - else if (!_almanac_health_availablility_indicator) { + if ((_health == 0 && _almanac_health == 0) + || (_health == 1 && _almanac_health == 0) + || (_health == 1 && _almanac_health == 1)) { + return 1; + } + } else if (!_almanac_health_availablility_indicator) { if (_health) { return 1; @@ -1258,8 +1411,8 @@ // Constructor ////////////////////////////////////////////////////////////////////////////// -t_ephGal::t_ephGal(double rnxVersion, const QStringList& lines) { - int year, month, day, hour, min; - double sec; - QString prnStr; +t_ephGal::t_ephGal(double rnxVersion, const QStringList &lines) { + int year, month, day, hour, min; + double sec; + QString prnStr; const int nLines = 8; if (lines.size() != nLines) { @@ -1275,5 +1428,5 @@ int pos[4]; - pos[0] = (rnxVersion <= 2.12) ? 3 : 4; + pos[0] = (rnxVersion <= 2.12) ? 3 : 4; pos[1] = pos[0] + fieldLen; pos[2] = pos[1] + fieldLen; @@ -1285,5 +1438,5 @@ QString line = lines[iLine]; - if ( iLine == 0 ) { + if (iLine == 0) { QTextStream in(line.left(pos[1]).toLatin1()); QString n; @@ -1294,8 +1447,7 @@ } in >> year >> month >> day >> hour >> min >> sec; - if (year < 80) { + if (year < 80) { year += 2000; - } - else if (year < 100) { + } else if (year < 100) { year += 1900; } @@ -1303,7 +1455,7 @@ _TOC.set(year, month, day, hour, min, sec); - if ( readDbl(line, pos[1], fieldLen, _clock_bias ) || - readDbl(line, pos[2], fieldLen, _clock_drift ) || - readDbl(line, pos[3], fieldLen, _clock_driftrate) ) { + if (readDbl(line, pos[1], fieldLen, _clock_bias) + || readDbl(line, pos[2], fieldLen, _clock_drift) + || readDbl(line, pos[3], fieldLen, _clock_driftrate)) { _checkState = bad; return; @@ -1313,9 +1465,9 @@ // BROADCAST ORBIT - 1 // ===================== - else if ( iLine == 1 ) { - if ( readDbl(line, pos[0], fieldLen, _IODnav ) || - readDbl(line, pos[1], fieldLen, _Crs ) || - readDbl(line, pos[2], fieldLen, _Delta_n) || - readDbl(line, pos[3], fieldLen, _M0 ) ) { + else if (iLine == 1) { + if (readDbl(line, pos[0], fieldLen, _IODnav) + || readDbl(line, pos[1], fieldLen, _Crs) + || readDbl(line, pos[2], fieldLen, _Delta_n) + || readDbl(line, pos[3], fieldLen, _M0)) { _checkState = bad; return; @@ -1325,9 +1477,9 @@ // BROADCAST ORBIT - 2 // ===================== - else if ( iLine == 2 ) { - if ( readDbl(line, pos[0], fieldLen, _Cuc ) || - readDbl(line, pos[1], fieldLen, _e ) || - readDbl(line, pos[2], fieldLen, _Cus ) || - readDbl(line, pos[3], fieldLen, _sqrt_A) ) { + else if (iLine == 2) { + if (readDbl(line, pos[0], fieldLen, _Cuc) + || readDbl(line, pos[1], fieldLen, _e) + || readDbl(line, pos[2], fieldLen, _Cus) + || readDbl(line, pos[3], fieldLen, _sqrt_A)) { _checkState = bad; return; @@ -1337,9 +1489,9 @@ // BROADCAST ORBIT - 3 // ===================== - else if ( iLine == 3 ) { - if ( readDbl(line, pos[0], fieldLen, _TOEsec) || - readDbl(line, pos[1], fieldLen, _Cic ) || - readDbl(line, pos[2], fieldLen, _OMEGA0) || - readDbl(line, pos[3], fieldLen, _Cis ) ) { + else if (iLine == 3) { + if (readDbl(line, pos[0], fieldLen, _TOEsec) + || readDbl(line, pos[1], fieldLen, _Cic) + || readDbl(line, pos[2], fieldLen, _OMEGA0) + || readDbl(line, pos[3], fieldLen, _Cis)) { _checkState = bad; return; @@ -1349,9 +1501,9 @@ // BROADCAST ORBIT - 4 // ===================== - else if ( iLine == 4 ) { - if ( readDbl(line, pos[0], fieldLen, _i0 ) || - readDbl(line, pos[1], fieldLen, _Crc ) || - readDbl(line, pos[2], fieldLen, _omega ) || - readDbl(line, pos[3], fieldLen, _OMEGADOT) ) { + else if (iLine == 4) { + if (readDbl(line, pos[0], fieldLen, _i0) + || readDbl(line, pos[1], fieldLen, _Crc) + || readDbl(line, pos[2], fieldLen, _omega) + || readDbl(line, pos[3], fieldLen, _OMEGADOT)) { _checkState = bad; return; @@ -1361,15 +1513,15 @@ // BROADCAST ORBIT - 5 // ===================== - else if ( iLine == 5 ) { - if ( readDbl(line, pos[0], fieldLen, _IDOT ) || - readDbl(line, pos[1], fieldLen, datasource) || - readDbl(line, pos[2], fieldLen, _TOEweek ) ) { + else if (iLine == 5) { + if (readDbl(line, pos[0], fieldLen, _IDOT) + || readDbl(line, pos[1], fieldLen, datasource) + || readDbl(line, pos[2], fieldLen, _TOEweek)) { _checkState = bad; return; } else { - if (int(datasource) & (1<<8)) { + if (int(datasource) & (1 << 8)) { _fnav = true; _inav = false; - } else if (int(datasource) & (1<<9)) { + } else if (int(datasource) & (1 << 9)) { _fnav = false; _inav = true; @@ -1381,24 +1533,24 @@ // BROADCAST ORBIT - 6 // ===================== - else if ( iLine == 6 ) { - if ( readDbl(line, pos[0], fieldLen, _SISA ) || - readDbl(line, pos[1], fieldLen, SVhealth) || - readDbl(line, pos[2], fieldLen, _BGD_1_5A) || - readDbl(line, pos[3], fieldLen, _BGD_1_5B) ) { + else if (iLine == 6) { + if (readDbl(line, pos[0], fieldLen, _SISA) + || readDbl(line, pos[1], fieldLen, SVhealth) + || readDbl(line, pos[2], fieldLen, _BGD_1_5A) + || readDbl(line, pos[3], fieldLen, _BGD_1_5B)) { _checkState = bad; return; } else { // Bit 0 - _e1DataInValid = (int(SVhealth) & (1<<0)); + _e1DataInValid = (int(SVhealth) & (1 << 0)); // Bit 1-2 - _E1_bHS = double((int(SVhealth) >> 1) & 0x3); + _E1_bHS = double((int(SVhealth) >> 1) & 0x3); // Bit 3 - _e5aDataInValid = (int(SVhealth) & (1<<3)); + _e5aDataInValid = (int(SVhealth) & (1 << 3)); // Bit 4-5 - _E5aHS = double((int(SVhealth) >> 4) & 0x3); + _E5aHS = double((int(SVhealth) >> 4) & 0x3); // Bit 6 - _e5bDataInValid = (int(SVhealth) & (1<<6)); + _e5bDataInValid = (int(SVhealth) & (1 << 6)); // Bit 7-8 - _E5bHS = double((int(SVhealth) >> 7) & 0x3); + _E5bHS = double((int(SVhealth) >> 7) & 0x3); if (prnStr.at(0) == 'E') { @@ -1410,6 +1562,6 @@ // BROADCAST ORBIT - 7 // ===================== - else if ( iLine == 7 ) { - if ( readDbl(line, pos[0], fieldLen, _TOT) ) { + else if (iLine == 7) { + if (readDbl(line, pos[0], fieldLen, _TOT)) { _checkState = bad; return; @@ -1421,11 +1573,12 @@ // Compute Galileo Satellite Position (virtual) //////////////////////////////////////////////////////////////////////////// -t_irc t_ephGal::position(int GPSweek, double GPSweeks, double* xc, double* vv) const { +t_irc t_ephGal::position(int GPSweek, double GPSweeks, double *xc, + double *vv) const { static const double omegaEarth = 7292115.1467e-11; static const double gmWGS = 398.6004418e12; - memset(xc, 0, 6*sizeof(double)); - memset(vv, 0, 3*sizeof(double)); + memset(xc, 0, 6 * sizeof(double)); + memset(vv, 0, 3 * sizeof(double)); double a0 = _sqrt_A * _sqrt_A; @@ -1434,74 +1587,72 @@ } - double n0 = sqrt(gmWGS/(a0*a0*a0)); + double n0 = sqrt(gmWGS / (a0 * a0 * a0)); bncTime tt(GPSweek, GPSweeks); double tk = tt - bncTime(_TOC.gpsw(), _TOEsec); - double n = n0 + _Delta_n; - double M = _M0 + n*tk; - double E = M; + double n = n0 + _Delta_n; + double M = _M0 + n * tk; + double E = M; double E_last; - int nLoop = 0; + int nLoop = 0; do { E_last = E; - E = M + _e*sin(E); + E = M + _e * sin(E); if (++nLoop == 100) { return failure; } - } while ( fabs(E-E_last)*a0 > 0.001 ); - double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) ); - double u0 = v + _omega; - double sin2u0 = sin(2*u0); - double cos2u0 = cos(2*u0); - double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0; - double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0; - double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0; - double xp = r*cos(u); - double yp = r*sin(u); - double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk - - omegaEarth*_TOEsec; + } while (fabs(E - E_last) * a0 > 0.001); + double v = 2.0 * atan(sqrt((1.0 + _e) / (1.0 - _e)) * tan(E / 2)); + double u0 = v + _omega; + double sin2u0 = sin(2 * u0); + double cos2u0 = cos(2 * u0); + double r = a0 * (1 - _e * cos(E)) + _Crc * cos2u0 + _Crs * sin2u0; + double i = _i0 + _IDOT * tk + _Cic * cos2u0 + _Cis * sin2u0; + double u = u0 + _Cuc * cos2u0 + _Cus * sin2u0; + double xp = r * cos(u); + double yp = r * sin(u); + double OM = _OMEGA0 + (_OMEGADOT - omegaEarth) * tk - omegaEarth * _TOEsec; double sinom = sin(OM); double cosom = cos(OM); - double sini = sin(i); - double cosi = cos(i); - xc[0] = xp*cosom - yp*cosi*sinom; - xc[1] = xp*sinom + yp*cosi*cosom; - xc[2] = yp*sini; + double sini = sin(i); + double cosi = cos(i); + xc[0] = xp * cosom - yp * cosi * sinom; + xc[1] = xp * sinom + yp * cosi * cosom; + xc[2] = yp * sini; double tc = tt - _TOC; - xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc; + xc[3] = _clock_bias + _clock_drift * tc + _clock_driftrate * tc * tc; // Velocity // -------- - double tanv2 = tan(v/2); - double dEdM = 1 / (1 - _e*cos(E)); - double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2) - * dEdM * n; - double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv; + double tanv2 = tan(v / 2); + double dEdM = 1 / (1 - _e * cos(E)); + double dotv = sqrt((1.0 + _e) / (1.0 - _e)) / cos(E / 2) / cos(E / 2) + / (1 + tanv2 * tanv2) * dEdM * n; + double dotu = dotv + (-_Cuc * sin2u0 + _Cus * cos2u0) * 2 * dotv; double dotom = _OMEGADOT - omegaEarth; - double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv; - double dotr = a0 * _e*sin(E) * dEdM * n - + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv; - double dotx = dotr*cos(u) - r*sin(u)*dotu; - double doty = dotr*sin(u) + r*cos(u)*dotu; - - vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr - - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA - + yp*sini*sinom*doti; // dX / di - - vv[1] = sinom *dotx + cosi*cosom *doty - + xp*cosom*dotom - yp*cosi*sinom*dotom - - yp*sini*cosom*doti; - - vv[2] = sini *doty + yp*cosi *doti; + double doti = _IDOT + (-_Cic * sin2u0 + _Cis * cos2u0) * 2 * dotv; + double dotr = a0 * _e * sin(E) * dEdM * n + + (-_Crc * sin2u0 + _Crs * cos2u0) * 2 * dotv; + double dotx = dotr * cos(u) - r * sin(u) * dotu; + double doty = dotr * sin(u) + r * cos(u) * dotu; + + vv[0] = cosom * dotx - cosi * sinom * doty // dX / dr + - xp * sinom * dotom - yp * cosi * cosom * dotom // dX / dOMEGA + + yp * sini * sinom * doti; // dX / di + + vv[1] = sinom * dotx + cosi * cosom * doty + xp * cosom * dotom + - yp * cosi * sinom * dotom - yp * sini * cosom * doti; + + vv[2] = sini * doty + yp * cosi * doti; // Relativistic Correction // ----------------------- - xc[3] -= 4.442807309e-10 * _e * sqrt(a0) *sin(E); - - xc[4] = _clock_drift + _clock_driftrate*tc; + xc[3] -= 4.442807309e-10 * _e * sqrt(a0) * sin(E); + + xc[4] = _clock_drift + _clock_driftrate * tc; xc[5] = _clock_driftrate; @@ -1512,12 +1663,9 @@ //////////////////////////////////////////////////////////////////////////// unsigned int t_ephGal::isUnhealthy() const { - if (_E5aHS == 1 || _E5aHS == 3 || - _E5bHS == 1 || _E5bHS == 3 || - _E1_bHS == 1 || _E1_bHS == 3 ) { + if (_E5aHS == 1 || _E5aHS == 3 || _E5bHS == 1 || _E5bHS == 3 || _E1_bHS == 1 + || _E1_bHS == 3) { return 1; } - if (_e5aDataInValid || - _e5bDataInValid || - _e1DataInValid) { + if (_e5aDataInValid || _e5bDataInValid || _e1DataInValid) { return 1; } @@ -1528,10 +1676,10 @@ * SDD v1.3: SHS=2 leads to a newly-defined "EOM" status. * It also means that the satellite signal may be used for PNT. - if (_E5aHS == 2 || - _E5bHS == 2 || - _E1_bHS == 2 ) { - return 1; - } - */ + if (_E5aHS == 2 || + _E5bHS == 2 || + _E1_bHS == 2 ) { + return 1; + } + */ return 0; } @@ -1541,13 +1689,12 @@ QString t_ephGal::toString(double version) const { - QString navStr = navTypeString(_navType, _prn, version); - QString rnxStr = navStr + rinexDateStr(_TOC, _prn, version); + QString ephStr = ephTypeStr(_ephType, _prn, version); + QString rnxStr = ephStr + rinexDateStr(_TOC, _prn, version); QTextStream out(&rnxStr); - out << QString("%1%2%3\n") - .arg(_clock_bias, 19, 'e', 12) - .arg(_clock_drift, 19, 'e', 12) - .arg(_clock_driftrate, 19, 'e', 12); + out + << QString("%1%2%3\n").arg(_clock_bias, 19, 'e', 12).arg(_clock_drift, 19, + 'e', 12).arg(_clock_driftrate, 19, 'e', 12); QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n"; @@ -1555,128 +1702,107 @@ // BROADCAST ORBIT - 1 // ===================== - out << QString(fmt) - .arg(_IODnav, 19, 'e', 12) - .arg(_Crs, 19, 'e', 12) - .arg(_Delta_n, 19, 'e', 12) - .arg(_M0, 19, 'e', 12); + out + << QString(fmt).arg(_IODnav, 19, 'e', 12).arg(_Crs, 19, 'e', 12).arg( + _Delta_n, 19, 'e', 12).arg(_M0, 19, 'e', 12); // ===================== // BROADCAST ORBIT - 2 // ===================== - out << QString(fmt) - .arg(_Cuc, 19, 'e', 12) - .arg(_e, 19, 'e', 12) - .arg(_Cus, 19, 'e', 12) - .arg(_sqrt_A, 19, 'e', 12); + out + << QString(fmt).arg(_Cuc, 19, 'e', 12).arg(_e, 19, 'e', 12).arg(_Cus, 19, + 'e', 12).arg(_sqrt_A, 19, 'e', 12); // ===================== // BROADCAST ORBIT - 3 // ===================== - out << QString(fmt) - .arg(_TOEsec, 19, 'e', 12) - .arg(_Cic, 19, 'e', 12) - .arg(_OMEGA0, 19, 'e', 12) - .arg(_Cis, 19, 'e', 12); + out + << QString(fmt).arg(_TOEsec, 19, 'e', 12).arg(_Cic, 19, 'e', 12).arg( + _OMEGA0, 19, 'e', 12).arg(_Cis, 19, 'e', 12); // ===================== // BROADCAST ORBIT - 4 // ===================== - out << QString(fmt) - .arg(_i0, 19, 'e', 12) - .arg(_Crc, 19, 'e', 12) - .arg(_omega, 19, 'e', 12) - .arg(_OMEGADOT, 19, 'e', 12); + out + << QString(fmt).arg(_i0, 19, 'e', 12).arg(_Crc, 19, 'e', 12).arg(_omega, + 19, 'e', 12).arg(_OMEGADOT, 19, 'e', 12); // ===================== // BROADCAST ORBIT - 5 // ===================== - int dataSource = 0; - int SVhealth = 0; - double BGD_1_5A = _BGD_1_5A; - double BGD_1_5B = _BGD_1_5B; + int dataSource = 0; + int SVhealth = 0; + double BGD_1_5A = _BGD_1_5A; + double BGD_1_5B = _BGD_1_5B; if (_fnav) { - dataSource |= (1<<1); - dataSource |= (1<<8); + dataSource |= (1 << 1); + dataSource |= (1 << 8); BGD_1_5B = 0.0; // SVhealth // Bit 3 : E5a DVS if (_e5aDataInValid) { - SVhealth |= (1<<3); + SVhealth |= (1 << 3); } // Bit 4-5: E5a HS if (_E5aHS == 1.0) { - SVhealth |= (1<<4); - } - else if (_E5aHS == 2.0) { - SVhealth |= (1<<5); - } - else if (_E5aHS == 3.0) { - SVhealth |= (1<<4); - SVhealth |= (1<<5); - } - } - else if(_inav) { + SVhealth |= (1 << 4); + } else if (_E5aHS == 2.0) { + SVhealth |= (1 << 5); + } else if (_E5aHS == 3.0) { + SVhealth |= (1 << 4); + SVhealth |= (1 << 5); + } + } else if (_inav) { // Bit 2 and 0 are set because from MT1046 the data source cannot be determined // and RNXv3.03 says both can be set if the navigation messages were merged - dataSource |= (1<<0); - dataSource |= (1<<2); - dataSource |= (1<<9); + dataSource |= (1 << 0); + dataSource |= (1 << 2); + dataSource |= (1 << 9); // SVhealth // Bit 0 : E1-B DVS if (_e1DataInValid) { - SVhealth |= (1<<0); + SVhealth |= (1 << 0); } // Bit 1-2: E1-B HS - if (_E1_bHS == 1.0) { - SVhealth |= (1<<1); - } - else if (_E1_bHS == 2.0) { - SVhealth |= (1<<2); - } - else if (_E1_bHS == 3.0) { - SVhealth |= (1<<1); - SVhealth |= (1<<2); + if (_E1_bHS == 1.0) { + SVhealth |= (1 << 1); + } else if (_E1_bHS == 2.0) { + SVhealth |= (1 << 2); + } else if (_E1_bHS == 3.0) { + SVhealth |= (1 << 1); + SVhealth |= (1 << 2); } // Bit 3 : E5a DVS if (_e5aDataInValid) { - SVhealth |= (1<<3); + SVhealth |= (1 << 3); } // Bit 4-5: E5a HS - if (_E5aHS == 1.0) { - SVhealth |= (1<<4); - } - else if (_E5aHS == 2.0) { - SVhealth |= (1<<5); - } - else if (_E5aHS == 3.0) { - SVhealth |= (1<<4); - SVhealth |= (1<<5); + if (_E5aHS == 1.0) { + SVhealth |= (1 << 4); + } else if (_E5aHS == 2.0) { + SVhealth |= (1 << 5); + } else if (_E5aHS == 3.0) { + SVhealth |= (1 << 4); + SVhealth |= (1 << 5); } // Bit 6 : E5b DVS if (_e5bDataInValid) { - SVhealth |= (1<<6); + SVhealth |= (1 << 6); } // Bit 7-8: E5b HS - if (_E5bHS == 1.0) { - SVhealth |= (1<<7); - } - else if (_E5bHS == 2.0) { - SVhealth |= (1<<8); - } - else if (_E5bHS == 3.0) { - SVhealth |= (1<<7); - SVhealth |= (1<<8); - } - } - - out << QString(fmt) - .arg(_IDOT, 19, 'e', 12) - .arg(double(dataSource), 19, 'e', 12) - .arg(_TOEweek + 1024.0, 19, 'e', 12) - .arg(0.0, 19, 'e', 12); + if (_E5bHS == 1.0) { + SVhealth |= (1 << 7); + } else if (_E5bHS == 2.0) { + SVhealth |= (1 << 8); + } else if (_E5bHS == 3.0) { + SVhealth |= (1 << 7); + SVhealth |= (1 << 8); + } + } + + out + << QString(fmt).arg(_IDOT, 19, 'e', 12).arg(double(dataSource), 19, 'e', + 12).arg(_TOEweek + 1024.0, 19, 'e', 12).arg(0.0, 19, 'e', 12); // ===================== // BROADCAST ORBIT - 6 // ===================== - out << QString(fmt) - .arg(_SISA, 19, 'e', 12) - .arg(double(SVhealth), 19, 'e', 12) - .arg(BGD_1_5A, 19, 'e', 12) - .arg(BGD_1_5B, 19, 'e', 12); + out + << QString(fmt).arg(_SISA, 19, 'e', 12).arg(double(SVhealth), 19, 'e', 12).arg( + BGD_1_5A, 19, 'e', 12).arg(BGD_1_5B, 19, 'e', 12); // ===================== // BROADCAST ORBIT - 7 @@ -1686,9 +1812,7 @@ tot = 0.0; } - out << QString(fmt) - .arg(tot, 19, 'e', 12) - .arg("", 19, QChar(' ')) - .arg("", 19, QChar(' ')) - .arg("", 19, QChar(' ')); + out + << QString(fmt).arg(tot, 19, 'e', 12).arg("", 19, QChar(' ')).arg("", 19, + QChar(' ')).arg("", 19, QChar(' ')); return rnxStr; @@ -1697,5 +1821,5 @@ // Constructor ////////////////////////////////////////////////////////////////////////////// -t_ephSBAS::t_ephSBAS(double rnxVersion, const QStringList& lines) { +t_ephSBAS::t_ephSBAS(double rnxVersion, const QStringList &lines) { const int nLines = 4; @@ -1711,5 +1835,5 @@ int pos[4]; - pos[0] = (rnxVersion <= 2.12) ? 3 : 4; + pos[0] = (rnxVersion <= 2.12) ? 3 : 4; pos[1] = pos[0] + fieldLen; pos[2] = pos[1] + fieldLen; @@ -1721,8 +1845,8 @@ QString line = lines[iLine]; - if ( iLine == 0 ) { + if (iLine == 0) { QTextStream in(line.left(pos[1]).toLatin1()); - int year, month, day, hour, min; + int year, month, day, hour, min; double sec; @@ -1736,13 +1860,11 @@ if (prnStr.at(0) == 'S') { _prn.set('S', prnStr.mid(1).toInt()); - } - else { + } else { _prn.set('S', prnStr.toInt()); } - if (year < 80) { + if (year < 80) { year += 2000; - } - else if (year < 100) { + } else if (year < 100) { year += 1900; } @@ -1750,7 +1872,7 @@ _TOC.set(year, month, day, hour, min, sec); - if ( readDbl(line, pos[1], fieldLen, _agf0 ) || - readDbl(line, pos[2], fieldLen, _agf1 ) || - readDbl(line, pos[3], fieldLen, _TOT ) ) { + if (readDbl(line, pos[1], fieldLen, _agf0) + || readDbl(line, pos[2], fieldLen, _agf1) + || readDbl(line, pos[3], fieldLen, _TOT)) { _checkState = bad; return; @@ -1760,9 +1882,9 @@ // BROADCAST ORBIT - 1 // ===================== - else if ( iLine == 1 ) { - if ( readDbl(line, pos[0], fieldLen, _x_pos ) || - readDbl(line, pos[1], fieldLen, _x_velocity ) || - readDbl(line, pos[2], fieldLen, _x_acceleration) || - readDbl(line, pos[3], fieldLen, _health ) ) { + else if (iLine == 1) { + if (readDbl(line, pos[0], fieldLen, _x_pos) + || readDbl(line, pos[1], fieldLen, _x_velocity) + || readDbl(line, pos[2], fieldLen, _x_acceleration) + || readDbl(line, pos[3], fieldLen, _health)) { _checkState = bad; return; @@ -1772,9 +1894,9 @@ // BROADCAST ORBIT - 2 // ===================== - else if ( iLine == 2 ) { - if ( readDbl(line, pos[0], fieldLen, _y_pos ) || - readDbl(line, pos[1], fieldLen, _y_velocity ) || - readDbl(line, pos[2], fieldLen, _y_acceleration ) || - readDbl(line, pos[3], fieldLen, _ura ) ) { + else if (iLine == 2) { + if (readDbl(line, pos[0], fieldLen, _y_pos) + || readDbl(line, pos[1], fieldLen, _y_velocity) + || readDbl(line, pos[2], fieldLen, _y_acceleration) + || readDbl(line, pos[3], fieldLen, _ura)) { _checkState = bad; return; @@ -1784,10 +1906,10 @@ // BROADCAST ORBIT - 3 // ===================== - else if ( iLine == 3 ) { + else if (iLine == 3) { double iodn; - if ( readDbl(line, pos[0], fieldLen, _z_pos ) || - readDbl(line, pos[1], fieldLen, _z_velocity ) || - readDbl(line, pos[2], fieldLen, _z_acceleration) || - readDbl(line, pos[3], fieldLen, iodn ) ) { + if (readDbl(line, pos[0], fieldLen, _z_pos) + || readDbl(line, pos[1], fieldLen, _z_velocity) + || readDbl(line, pos[2], fieldLen, _z_acceleration) + || readDbl(line, pos[3], fieldLen, iodn)) { _checkState = bad; return; @@ -1798,10 +1920,10 @@ } - _x_pos *= 1.e3; - _y_pos *= 1.e3; - _z_pos *= 1.e3; - _x_velocity *= 1.e3; - _y_velocity *= 1.e3; - _z_velocity *= 1.e3; + _x_pos *= 1.e3; + _y_pos *= 1.e3; + _z_pos *= 1.e3; + _x_velocity *= 1.e3; + _y_velocity *= 1.e3; + _z_velocity *= 1.e3; _x_acceleration *= 1.e3; _y_acceleration *= 1.e3; @@ -1828,7 +1950,9 @@ SBASADDBITSFLOAT(10, this->_y_acceleration, 0.0000125) SBASADDBITSFLOAT(10, this->_z_acceleration, 0.0000625) - SBASADDBITSFLOAT(12, this->_agf0, 1.0/static_cast(1<<30)/static_cast(1<<1)) - SBASADDBITSFLOAT(8, this->_agf1, 1.0/static_cast(1<<30)/static_cast(1<<10)) - SBASADDBITS(5,0); // the last byte is filled by 0-bits to obtain a length of an integer multiple of 8 + SBASADDBITSFLOAT(12, this->_agf0, + 1.0 / static_cast(1 << 30) / static_cast(1 << 1)) + SBASADDBITSFLOAT(8, this->_agf1, + 1.0 / static_cast(1 << 30) / static_cast(1 << 10)) + SBASADDBITS(5, 0); // the last byte is filled by 0-bits to obtain a length of an integer multiple of 8 return CRC24(size, startbuffer); @@ -1837,8 +1961,9 @@ // Compute SBAS Satellite Position (virtual) //////////////////////////////////////////////////////////////////////////// -t_irc t_ephSBAS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const { +t_irc t_ephSBAS::position(int GPSweek, double GPSweeks, double *xc, + double *vv) const { bncTime tt(GPSweek, GPSweeks); - double dt = tt - _TOC; + double dt = tt - _TOC; xc[0] = _x_pos + _x_velocity * dt + _x_acceleration * dt * dt / 2.0; @@ -1863,5 +1988,5 @@ // Bit 5 - bool URAindexIs15 = (int(_health) & (1<<5)); + bool URAindexIs15 = (int(_health) & (1 << 5)); if (URAindexIs15) { // in this case it is recommended @@ -1871,5 +1996,5 @@ // Bit 0-3 - int MT17health = (int(_health)) & (0x0f); + int MT17health = (int(_health)) & (0x0f); if (MT17health) { return 1; @@ -1883,18 +2008,16 @@ } - // RINEX Format String ////////////////////////////////////////////////////////////////////////////// QString t_ephSBAS::toString(double version) const { - QString navStr = navTypeString(_navType, _prn, version); - QString rnxStr = navStr + rinexDateStr(_TOC, _prn, version); + QString ephStr = ephTypeStr(_ephType, _prn, version); + QString rnxStr = ephStr + rinexDateStr(_TOC, _prn, version); QTextStream out(&rnxStr); - out << QString("%1%2%3\n") - .arg(_agf0, 19, 'e', 12) - .arg(_agf1, 19, 'e', 12) - .arg(_TOT, 19, 'e', 12); + out + << QString("%1%2%3\n").arg(_agf0, 19, 'e', 12).arg(_agf1, 19, 'e', 12).arg( + _TOT, 19, 'e', 12); QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n"; @@ -1902,25 +2025,22 @@ // BROADCAST ORBIT - 1 // ===================== - out << QString(fmt) - .arg(1.e-3*_x_pos, 19, 'e', 12) - .arg(1.e-3*_x_velocity, 19, 'e', 12) - .arg(1.e-3*_x_acceleration, 19, 'e', 12) - .arg(_health, 19, 'e', 12); + out + << QString(fmt).arg(1.e-3 * _x_pos, 19, 'e', 12).arg(1.e-3 * _x_velocity, + 19, 'e', 12).arg(1.e-3 * _x_acceleration, 19, 'e', 12).arg(_health, + 19, 'e', 12); // ===================== // BROADCAST ORBIT - 2 // ===================== - out << QString(fmt) - .arg(1.e-3*_y_pos, 19, 'e', 12) - .arg(1.e-3*_y_velocity, 19, 'e', 12) - .arg(1.e-3*_y_acceleration, 19, 'e', 12) - .arg(_ura, 19, 'e', 12); + out + << QString(fmt).arg(1.e-3 * _y_pos, 19, 'e', 12).arg(1.e-3 * _y_velocity, + 19, 'e', 12).arg(1.e-3 * _y_acceleration, 19, 'e', 12).arg(_ura, 19, + 'e', 12); // ===================== // BROADCAST ORBIT - 3 // ===================== - out << QString(fmt) - .arg(1.e-3*_z_pos, 19, 'e', 12) - .arg(1.e-3*_z_velocity, 19, 'e', 12) - .arg(1.e-3*_z_acceleration, 19, 'e', 12) - .arg(double(_IODN), 19, 'e', 12); + out + << QString(fmt).arg(1.e-3 * _z_pos, 19, 'e', 12).arg(1.e-3 * _z_velocity, + 19, 'e', 12).arg(1.e-3 * _z_acceleration, 19, 'e', 12).arg( + double(_IODN), 19, 'e', 12); return rnxStr; @@ -1929,13 +2049,12 @@ // Constructor ////////////////////////////////////////////////////////////////////////////// -t_ephBDS::t_ephBDS(double rnxVersion, const QStringList& lines) { +t_ephBDS::t_ephBDS(double rnxVersion, const QStringList &lines) { int nLines = 8; - if (navType() == t_eph::CNV1 || - navType() == t_eph::CNV2) { + if (ephType() == t_eph::CNV1 || ephType() == t_eph::CNV2) { nLines += 2; } - if (navType() == t_eph::CNV3) { + if (ephType() == t_eph::CNV3) { nLines += 1; } @@ -1951,5 +2070,5 @@ int pos[4]; - pos[0] = (rnxVersion <= 2.12) ? 3 : 4; + pos[0] = (rnxVersion <= 2.12) ? 3 : 4; pos[1] = pos[0] + fieldLen; pos[2] = pos[1] + fieldLen; @@ -1961,8 +2080,8 @@ QString line = lines[iLine]; - if ( iLine == 0 ) { + if (iLine == 0) { QTextStream in(line.left(pos[1]).toLatin1()); - int year, month, day, hour, min; + int year, month, day, hour, min; double sec; @@ -1976,13 +2095,11 @@ if (prnStr.at(0) == 'C') { _prn.set('C', prnStr.mid(1).toInt()); - } - else { + } else { _prn.set('C', prnStr.toInt()); } - if (year < 80) { + if (year < 80) { year += 2000; - } - else if (year < 100) { + } else if (year < 100) { year += 1900; } @@ -1990,7 +2107,7 @@ _TOC.setBDS(year, month, day, hour, min, sec); - if ( readDbl(line, pos[1], fieldLen, _clock_bias ) || - readDbl(line, pos[2], fieldLen, _clock_drift ) || - readDbl(line, pos[3], fieldLen, _clock_driftrate) ) { + if (readDbl(line, pos[1], fieldLen, _clock_bias) + || readDbl(line, pos[2], fieldLen, _clock_drift) + || readDbl(line, pos[3], fieldLen, _clock_driftrate)) { _checkState = bad; return; @@ -2000,10 +2117,10 @@ // BROADCAST ORBIT - 1 // ===================== - else if ( iLine == 1 ) { + else if (iLine == 1) { double aode; - if ( readDbl(line, pos[0], fieldLen, aode ) || - readDbl(line, pos[1], fieldLen, _Crs ) || - readDbl(line, pos[2], fieldLen, _Delta_n) || - readDbl(line, pos[3], fieldLen, _M0 ) ) { + if (readDbl(line, pos[0], fieldLen, aode) + || readDbl(line, pos[1], fieldLen, _Crs) + || readDbl(line, pos[2], fieldLen, _Delta_n) + || readDbl(line, pos[3], fieldLen, _M0)) { _checkState = bad; return; @@ -2014,9 +2131,9 @@ // BROADCAST ORBIT - 2 // ===================== - else if ( iLine == 2 ) { - if ( readDbl(line, pos[0], fieldLen, _Cuc ) || - readDbl(line, pos[1], fieldLen, _e ) || - readDbl(line, pos[2], fieldLen, _Cus ) || - readDbl(line, pos[3], fieldLen, _sqrt_A) ) { + else if (iLine == 2) { + if (readDbl(line, pos[0], fieldLen, _Cuc) + || readDbl(line, pos[1], fieldLen, _e) + || readDbl(line, pos[2], fieldLen, _Cus) + || readDbl(line, pos[3], fieldLen, _sqrt_A)) { _checkState = bad; return; @@ -2026,9 +2143,9 @@ // BROADCAST ORBIT - 3 // ===================== - else if ( iLine == 3 ) { - if ( readDbl(line, pos[0], fieldLen, _TOEsec ) || - readDbl(line, pos[1], fieldLen, _Cic ) || - readDbl(line, pos[2], fieldLen, _OMEGA0) || - readDbl(line, pos[3], fieldLen, _Cis ) ) { + else if (iLine == 3) { + if (readDbl(line, pos[0], fieldLen, _TOEsec) + || readDbl(line, pos[1], fieldLen, _Cic) + || readDbl(line, pos[2], fieldLen, _OMEGA0) + || readDbl(line, pos[3], fieldLen, _Cis)) { _checkState = bad; return; @@ -2038,9 +2155,9 @@ // BROADCAST ORBIT - 4 // ===================== - else if ( iLine == 4 ) { - if ( readDbl(line, pos[0], fieldLen, _i0 ) || - readDbl(line, pos[1], fieldLen, _Crc ) || - readDbl(line, pos[2], fieldLen, _omega ) || - readDbl(line, pos[3], fieldLen, _OMEGADOT) ) { + else if (iLine == 4) { + if (readDbl(line, pos[0], fieldLen, _i0) + || readDbl(line, pos[1], fieldLen, _Crc) + || readDbl(line, pos[2], fieldLen, _omega) + || readDbl(line, pos[3], fieldLen, _OMEGADOT)) { _checkState = bad; return; @@ -2050,20 +2167,18 @@ // BROADCAST ORBIT - 5 // ===================== - else if ( iLine == 5 ) { - - if (navType() == t_eph::CNV1 || - navType() == t_eph::CNV2 || - navType() == t_eph::CNV3 ) { - if ( readDbl(line, pos[0], fieldLen, _IDOT ) || - readDbl(line, pos[1], fieldLen, _Delta_n_dot) || - readDbl(line, pos[2], fieldLen, _satType ) || - readDbl(line, pos[3], fieldLen, _top ) ) { - _checkState = bad; - return; - } - } - else { // D1, D2, undefined - if ( readDbl(line, pos[0], fieldLen, _IDOT ) || - readDbl(line, pos[2], fieldLen, _BDTweek)) { + else if (iLine == 5) { + + if (ephType() == t_eph::CNV1 || ephType() == t_eph::CNV2 + || ephType() == t_eph::CNV3) { + if (readDbl(line, pos[0], fieldLen, _IDOT) + || readDbl(line, pos[1], fieldLen, _Delta_n_dot) + || readDbl(line, pos[2], fieldLen, _satType) + || readDbl(line, pos[3], fieldLen, _top)) { + _checkState = bad; + return; + } + } else { // D1, D2, undefined + if (readDbl(line, pos[0], fieldLen, _IDOT) + || readDbl(line, pos[2], fieldLen, _BDTweek)) { _checkState = bad; return; @@ -2074,22 +2189,20 @@ // BROADCAST ORBIT - 6 // ===================== - else if ( iLine == 6 ) { - if (navType() == t_eph::CNV1 || - navType() == t_eph::CNV2 || - navType() == t_eph::CNV3 ) { - if ( readDbl(line, pos[0], fieldLen, _SISAI_oe ) || - readDbl(line, pos[1], fieldLen, _SISAI_ocb ) || - readDbl(line, pos[2], fieldLen, _SISAI_oc1 ) || - readDbl(line, pos[3], fieldLen, _SISAI_oc2 ) ) { - _checkState = bad; - return; - } - } - else { // D1, D2, undefined + else if (iLine == 6) { + if (ephType() == t_eph::CNV1 || ephType() == t_eph::CNV2 + || ephType() == t_eph::CNV3) { + if (readDbl(line, pos[0], fieldLen, _SISAI_oe) + || readDbl(line, pos[1], fieldLen, _SISAI_ocb) + || readDbl(line, pos[2], fieldLen, _SISAI_oc1) + || readDbl(line, pos[3], fieldLen, _SISAI_oc2)) { + _checkState = bad; + return; + } + } else { // D1, D2, undefined double SatH1; - if ( readDbl(line, pos[0], fieldLen, _URA ) || - readDbl(line, pos[1], fieldLen, SatH1) || - readDbl(line, pos[2], fieldLen, _TGD1) || - readDbl(line, pos[3], fieldLen, _TGD2) ) { + if (readDbl(line, pos[0], fieldLen, _URA) + || readDbl(line, pos[1], fieldLen, SatH1) + || readDbl(line, pos[2], fieldLen, _TGD1) + || readDbl(line, pos[3], fieldLen, _TGD2)) { _checkState = bad; return; @@ -2101,36 +2214,33 @@ // BROADCAST ORBIT - 7 // ===================== - else if ( iLine == 7 ) { - if (navType() == t_eph::CNV1) { - if ( readDbl(line, pos[0], fieldLen, _ISC_B1Cd) || - readDbl(line, pos[2], fieldLen, _TGD_B1Cp) || - readDbl(line, pos[3], fieldLen, _TGD_B2ap) ) { - _checkState = bad; - return; - } - } - else if (navType() == t_eph::CNV2) { - if ( readDbl(line, pos[1], fieldLen, _ISC_B2ad) || - readDbl(line, pos[2], fieldLen, _TGD_B1Cp) || - readDbl(line, pos[3], fieldLen, _TGD_B2ap) ) { - _checkState = bad; - return; - } - } - else if (navType() == t_eph::CNV3) { + else if (iLine == 7) { + if (ephType() == t_eph::CNV1) { + if (readDbl(line, pos[0], fieldLen, _ISC_B1Cd) + || readDbl(line, pos[2], fieldLen, _TGD_B1Cp) + || readDbl(line, pos[3], fieldLen, _TGD_B2ap)) { + _checkState = bad; + return; + } + } else if (ephType() == t_eph::CNV2) { + if (readDbl(line, pos[1], fieldLen, _ISC_B2ad) + || readDbl(line, pos[2], fieldLen, _TGD_B1Cp) + || readDbl(line, pos[3], fieldLen, _TGD_B2ap)) { + _checkState = bad; + return; + } + } else if (ephType() == t_eph::CNV3) { double health; - if ( readDbl(line, pos[0], fieldLen, _SISMAI ) || - readDbl(line, pos[1], fieldLen, health ) || - readDbl(line, pos[2], fieldLen, _INTEGRITYF_B2b) || - readDbl(line, pos[3], fieldLen, _TGD_B2bI) ) { + if (readDbl(line, pos[0], fieldLen, _SISMAI) + || readDbl(line, pos[1], fieldLen, health) + || readDbl(line, pos[2], fieldLen, _INTEGRITYF_B2b) + || readDbl(line, pos[3], fieldLen, _TGD_B2bI)) { _checkState = bad; return; } _health = int(health); - } - else { // D1, D2 or undefined + } else { // D1, D2 or undefined double aodc; - if ( readDbl(line, pos[0], fieldLen, _TOT) || - readDbl(line, pos[1], fieldLen, aodc) ) { + if (readDbl(line, pos[0], fieldLen, _TOT) + || readDbl(line, pos[1], fieldLen, aodc)) { _checkState = bad; return; @@ -2145,28 +2255,26 @@ // BROADCAST ORBIT - 8 // ===================== - else if ( iLine == 8 ) { + else if (iLine == 8) { double health; - if (navType() == t_eph::CNV1) { - if ( readDbl(line, pos[0], fieldLen, _SISMAI ) || - readDbl(line, pos[1], fieldLen, health ) || - readDbl(line, pos[2], fieldLen, _INTEGRITYF_B1C) || - readDbl(line, pos[3], fieldLen, _IODC) ) { + if (ephType() == t_eph::CNV1) { + if (readDbl(line, pos[0], fieldLen, _SISMAI) + || readDbl(line, pos[1], fieldLen, health) + || readDbl(line, pos[2], fieldLen, _INTEGRITYF_B1C) + || readDbl(line, pos[3], fieldLen, _IODC)) { _checkState = bad; return; } _health = int(health); - } - else if (navType() == t_eph::CNV2) { - if ( readDbl(line, pos[0], fieldLen, _SISMAI ) || - readDbl(line, pos[1], fieldLen, health ) || - readDbl(line, pos[2], fieldLen, _INTEGRITYF_B2aB1C) || - readDbl(line, pos[3], fieldLen, _IODC) ) { + } else if (ephType() == t_eph::CNV2) { + if (readDbl(line, pos[0], fieldLen, _SISMAI) + || readDbl(line, pos[1], fieldLen, health) + || readDbl(line, pos[2], fieldLen, _INTEGRITYF_B2aB1C) + || readDbl(line, pos[3], fieldLen, _IODC)) { _checkState = bad; return; } _health = int(health); - } - else if (navType() == t_eph::CNV3) { - if ( readDbl(line, pos[0], fieldLen, _TOT)) { + } else if (ephType() == t_eph::CNV3) { + if (readDbl(line, pos[0], fieldLen, _TOT)) { _checkState = bad; return; @@ -2178,19 +2286,18 @@ // BROADCAST ORBIT - 9 // ===================== - else if ( iLine == 9 ) { - - if (navType() == t_eph::CNV1 || - navType() == t_eph::CNV2) { - if ( readDbl(line, pos[0], fieldLen, _TOT) || - readDbl(line, pos[3], fieldLen, _IODE) ) { - _checkState = bad; - return; - } - } - - } - } - - _TOE.setBDS(int(_BDTweek), _TOEsec); + else if (iLine == 9) { + + if (ephType() == t_eph::CNV1 || ephType() == t_eph::CNV2) { + if (readDbl(line, pos[0], fieldLen, _TOT) + || readDbl(line, pos[3], fieldLen, _IODE)) { + _checkState = bad; + return; + } + } + + } + } + + _TOE.setBDS(int(_BDTweek), _TOEsec); // remark: actually should be computed from second_tot // but it seems to be unreliable in RINEX files @@ -2201,12 +2308,13 @@ //////////////////////////////////////////////////////////////////////////// unsigned int t_ephBDS::IOD() const { - return (int(_TOC.gpssec())/720) % 240; //return (int(_TOEsec)/720) % 240; + return (int(_TOC.gpssec()) / 720) % 240; //return (int(_TOEsec)/720) % 240; } // Compute BDS Satellite Position (virtual) ////////////////////////////////////////////////////////////////////////////// -t_irc t_ephBDS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const { - - static const double gmBDS = 398.6004418e12; +t_irc t_ephBDS::position(int GPSweek, double GPSweeks, double *xc, + double *vv) const { + + static const double gmBDS = 398.6004418e12; static const double omegaBDS = 7292115.0000e-11; @@ -2221,48 +2329,48 @@ double a0 = _sqrt_A * _sqrt_A; - double n0 = sqrt(gmBDS/(a0*a0*a0)); + double n0 = sqrt(gmBDS / (a0 * a0 * a0)); double tk = tt - _TOE; - double n = n0 + _Delta_n; - double M = _M0 + n*tk; - double E = M; + double n = n0 + _Delta_n; + double M = _M0 + n * tk; + double E = M; double E_last; - int nLoop = 0; + int nLoop = 0; do { E_last = E; - E = M + _e*sin(E); + E = M + _e * sin(E); if (++nLoop == 100) { return failure; } - } while ( fabs(E-E_last)*a0 > 0.001 ); - - double v = atan2(sqrt(1-_e*_e) * sin(E), cos(E) - _e); - double u0 = v + _omega; - double sin2u0 = sin(2*u0); - double cos2u0 = cos(2*u0); - double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0; - double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0; - double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0; - double xp = r*cos(u); - double yp = r*sin(u); + } while (fabs(E - E_last) * a0 > 0.001); + + double v = atan2(sqrt(1 - _e * _e) * sin(E), cos(E) - _e); + double u0 = v + _omega; + double sin2u0 = sin(2 * u0); + double cos2u0 = cos(2 * u0); + double r = a0 * (1 - _e * cos(E)) + _Crc * cos2u0 + _Crs * sin2u0; + double i = _i0 + _IDOT * tk + _Cic * cos2u0 + _Cis * sin2u0; + double u = u0 + _Cuc * cos2u0 + _Cus * sin2u0; + double xp = r * cos(u); + double yp = r * sin(u); double toesec = (_TOE.gpssec() - 14.0); double sinom = 0; double cosom = 0; - double sini = 0; - double cosi = 0; + double sini = 0; + double cosi = 0; // Velocity // -------- - double tanv2 = tan(v/2); - double dEdM = 1 / (1 - _e*cos(E)); - double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) - / (1 + tanv2*tanv2) * dEdM * n; - double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv; - double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv; - double dotr = a0 * _e*sin(E) * dEdM * n - + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv; - - double dotx = dotr*cos(u) - r*sin(u)*dotu; - double doty = dotr*sin(u) + r*cos(u)*dotu; + double tanv2 = tan(v / 2); + double dEdM = 1 / (1 - _e * cos(E)); + double dotv = sqrt((1.0 + _e) / (1.0 - _e)) / cos(E / 2) / cos(E / 2) + / (1 + tanv2 * tanv2) * dEdM * n; + double dotu = dotv + (-_Cuc * sin2u0 + _Cus * cos2u0) * 2 * dotv; + double doti = _IDOT + (-_Cic * sin2u0 + _Cis * cos2u0) * 2 * dotv; + double dotr = a0 * _e * sin(E) * dEdM * n + + (-_Crc * sin2u0 + _Crs * cos2u0) * 2 * dotv; + + double dotx = dotr * cos(u) - r * sin(u) * dotu; + double doty = dotr * sin(u) + r * cos(u) * dotu; const double iMaxGEO = 10.0 / 180.0 * M_PI; @@ -2271,14 +2379,14 @@ // ------------------ if (_i0 > iMaxGEO) { - double OM = _OMEGA0 + (_OMEGADOT - omegaBDS)*tk - omegaBDS*toesec; + double OM = _OMEGA0 + (_OMEGADOT - omegaBDS) * tk - omegaBDS * toesec; sinom = sin(OM); cosom = cos(OM); - sini = sin(i); - cosi = cos(i); - - xc[0] = xp*cosom - yp*cosi*sinom; - xc[1] = xp*sinom + yp*cosi*cosom; - xc[2] = yp*sini; + sini = sin(i); + cosi = cos(i); + + xc[0] = xp * cosom - yp * cosi * sinom; + xc[1] = xp * sinom + yp * cosi * cosom; + xc[2] = yp * sini; // Velocity @@ -2287,13 +2395,12 @@ double dotom = _OMEGADOT - t_CST::omega; - vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr - - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA - + yp*sini*sinom*doti; // dX / di - - vv[1] = sinom *dotx + cosi*cosom *doty - + xp*cosom*dotom - yp*cosi*sinom*dotom - - yp*sini*cosom*doti; - - vv[2] = sini *doty + yp*cosi *doti; + vv[0] = cosom * dotx - cosi * sinom * doty // dX / dr + - xp * sinom * dotom - yp * cosi * cosom * dotom // dX / dOMEGA + + yp * sini * sinom * doti; // dX / di + + vv[1] = sinom * dotx + cosi * cosom * doty + xp * cosom * dotom + - yp * cosi * sinom * dotom - yp * sini * cosom * doti; + + vv[2] = sini * doty + yp * cosi * doti; } @@ -2302,21 +2409,22 @@ // ------------- else { - double OM = _OMEGA0 + _OMEGADOT*tk - omegaBDS*toesec; - double ll = omegaBDS*tk; + double OM = _OMEGA0 + _OMEGADOT * tk - omegaBDS * toesec; + double ll = omegaBDS * tk; sinom = sin(OM); cosom = cos(OM); - sini = sin(i); - cosi = cos(i); - - double xx = xp*cosom - yp*cosi*sinom; - double yy = xp*sinom + yp*cosi*cosom; - double zz = yp*sini; + sini = sin(i); + cosi = cos(i); + + double xx = xp * cosom - yp * cosi * sinom; + double yy = xp * sinom + yp * cosi * cosom; + double zz = yp * sini; Matrix RX = BNC_PPP::t_astro::rotX(-5.0 / 180.0 * M_PI); Matrix RZ = BNC_PPP::t_astro::rotZ(ll); - ColumnVector X1(3); X1 << xx << yy << zz; - ColumnVector X2 = RZ*RX*X1; + ColumnVector X1(3); + X1 << xx << yy << zz; + ColumnVector X2 = RZ * RX * X1; xc[0] = X2(1); @@ -2326,27 +2434,32 @@ double dotom = _OMEGADOT; - double vx = cosom *dotx - cosi*sinom *doty - - xp*sinom*dotom - yp*cosi*cosom*dotom - + yp*sini*sinom*doti; - - double vy = sinom *dotx + cosi*cosom *doty - + xp*cosom*dotom - yp*cosi*sinom*dotom - - yp*sini*cosom*doti; - - double vz = sini *doty + yp*cosi *doti; - - ColumnVector V(3); V << vx << vy << vz; - - Matrix RdotZ(3,3); + double vx = cosom * dotx - cosi * sinom * doty - xp * sinom * dotom + - yp * cosi * cosom * dotom + yp * sini * sinom * doti; + + double vy = sinom * dotx + cosi * cosom * doty + xp * cosom * dotom + - yp * cosi * sinom * dotom - yp * sini * cosom * doti; + + double vz = sini * doty + yp * cosi * doti; + + ColumnVector V(3); + V << vx << vy << vz; + + Matrix RdotZ(3, 3); double C = cos(ll); double S = sin(ll); - Matrix UU(3,3); - UU[0][0] = -S; UU[0][1] = +C; UU[0][2] = 0.0; - UU[1][0] = -C; UU[1][1] = -S; UU[1][2] = 0.0; - UU[2][0] = 0.0; UU[2][1] = 0.0; UU[2][2] = 0.0; + Matrix UU(3, 3); + UU[0][0] = -S; + UU[0][1] = +C; + UU[0][2] = 0.0; + UU[1][0] = -C; + UU[1][1] = -S; + UU[1][2] = 0.0; + UU[2][0] = 0.0; + UU[2][1] = 0.0; + UU[2][2] = 0.0; RdotZ = omegaBDS * UU; ColumnVector VV(3); - VV = RZ*RX*V + RdotZ*RX*X1; + VV = RZ * RX * V + RdotZ * RX * X1; vv[0] = VV(1); @@ -2356,5 +2469,5 @@ double tc = tt - _TOC; - xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc; + xc[3] = _clock_bias + _clock_drift * tc + _clock_driftrate * tc * tc; // dotC = _clock_drift + _clock_driftrate*tc @@ -2363,12 +2476,11 @@ // Relativistic Correction // ----------------------- - xc[3] -= 4.442807309e-10 * _e * sqrt(a0) *sin(E); - - xc[4] = _clock_drift + _clock_driftrate*tc; + xc[3] -= 4.442807309e-10 * _e * sqrt(a0) * sin(E); + + xc[4] = _clock_drift + _clock_driftrate * tc; xc[5] = _clock_driftrate; return success; } - // Health status of SBAS Ephemeris (virtual) @@ -2376,7 +2488,6 @@ unsigned int t_ephBDS::isUnhealthy() const { - if (navType() == t_eph::CNV1 || - navType() == t_eph::CNV2 || - navType() == t_eph::CNV3) { + if (ephType() == t_eph::CNV1 || ephType() == t_eph::CNV2 + || ephType() == t_eph::CNV3) { return static_cast(_health); } @@ -2385,5 +2496,4 @@ } - // RINEX Format String @@ -2391,13 +2501,12 @@ QString t_ephBDS::toString(double version) const { - QString navStr = navTypeString(_navType, _prn, version); - QString rnxStr = navStr + rinexDateStr(_TOC-14.0, _prn, version); + QString ephStr = ephTypeStr(_ephType, _prn, version); + QString rnxStr = ephStr + rinexDateStr(_TOC - 14.0, _prn, version); QTextStream out(&rnxStr); - out << QString("%1%2%3\n") - .arg(_clock_bias, 19, 'e', 12) - .arg(_clock_drift, 19, 'e', 12) - .arg(_clock_driftrate, 19, 'e', 12); + out + << QString("%1%2%3\n").arg(_clock_bias, 19, 'e', 12).arg(_clock_drift, 19, + 'e', 12).arg(_clock_driftrate, 19, 'e', 12); QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n"; @@ -2405,108 +2514,76 @@ // BROADCAST ORBIT - 1 // ===================== - out << QString(fmt) - .arg(double(_AODE), 19, 'e', 12) - .arg(_Crs, 19, 'e', 12) - .arg(_Delta_n, 19, 'e', 12) - .arg(_M0, 19, 'e', 12); + out + << QString(fmt).arg(double(_AODE), 19, 'e', 12).arg(_Crs, 19, 'e', 12).arg( + _Delta_n, 19, 'e', 12).arg(_M0, 19, 'e', 12); // ===================== // BROADCAST ORBIT - 2 // ===================== - out << QString(fmt) - .arg(_Cuc, 19, 'e', 12) - .arg(_e, 19, 'e', 12) - .arg(_Cus, 19, 'e', 12) - .arg(_sqrt_A, 19, 'e', 12); + out + << QString(fmt).arg(_Cuc, 19, 'e', 12).arg(_e, 19, 'e', 12).arg(_Cus, 19, + 'e', 12).arg(_sqrt_A, 19, 'e', 12); // ===================== // BROADCAST ORBIT - 3 // ===================== - out << QString(fmt) - .arg(_TOEsec, 19, 'e', 12) - .arg(_Cic, 19, 'e', 12) - .arg(_OMEGA0, 19, 'e', 12) - .arg(_Cis, 19, 'e', 12); + out + << QString(fmt).arg(_TOEsec, 19, 'e', 12).arg(_Cic, 19, 'e', 12).arg( + _OMEGA0, 19, 'e', 12).arg(_Cis, 19, 'e', 12); // ===================== // BROADCAST ORBIT - 4 // ===================== - out << QString(fmt) - .arg(_i0, 19, 'e', 12) - .arg(_Crc, 19, 'e', 12) - .arg(_omega, 19, 'e', 12) - .arg(_OMEGADOT, 19, 'e', 12); + out + << QString(fmt).arg(_i0, 19, 'e', 12).arg(_Crc, 19, 'e', 12).arg(_omega, + 19, 'e', 12).arg(_OMEGADOT, 19, 'e', 12); // ===================== // BROADCAST ORBIT - 5 // ===================== - if (navType() == t_eph::CNV1 || - navType() == t_eph::CNV2 || - navType() == t_eph::CNV3 ) { - out << QString(fmt) - .arg(_IDOT, 19, 'e', 12) - .arg(_Delta_n_dot, 19, 'e', 12) - .arg(_satType, 19, 'e', 12) - .arg(_top, 19, 'e', 12); - } - else { // D1, D2, undefined - out << QString(fmt) - .arg(_IDOT, 19, 'e', 12) - .arg("", 19, QChar(' ')) - .arg(_BDTweek, 19, 'e', 12) - .arg("", 19, QChar(' ')); + if (ephType() == t_eph::CNV1 || ephType() == t_eph::CNV2 + || ephType() == t_eph::CNV3) { + out + << QString(fmt).arg(_IDOT, 19, 'e', 12).arg(_Delta_n_dot, 19, 'e', 12).arg( + _satType, 19, 'e', 12).arg(_top, 19, 'e', 12); + } else { // D1, D2, undefined + out + << QString(fmt).arg(_IDOT, 19, 'e', 12).arg("", 19, QChar(' ')).arg( + _BDTweek, 19, 'e', 12).arg("", 19, QChar(' ')); } // ===================== // BROADCAST ORBIT - 6 // ===================== - if (navType() == t_eph::CNV1 || - navType() == t_eph::CNV2 || - navType() == t_eph::CNV3 ) { - out << QString(fmt) - .arg(_SISAI_oe, 19, 'e', 12) - .arg(_SISAI_ocb, 19, 'e', 12) - .arg(_SISAI_oc1, 19, 'e', 12) - .arg(_SISAI_oc2, 19, 'e', 12); - } - else { // D1, D2, undefined - out << QString(fmt) - .arg(_URA, 19, 'e', 12) - .arg(double(_SatH1), 19, 'e', 12) - .arg(_TGD1, 19, 'e', 12) - .arg(_TGD2, 19, 'e', 12); + if (ephType() == t_eph::CNV1 || ephType() == t_eph::CNV2 + || ephType() == t_eph::CNV3) { + out + << QString(fmt).arg(_SISAI_oe, 19, 'e', 12).arg(_SISAI_ocb, 19, 'e', 12).arg( + _SISAI_oc1, 19, 'e', 12).arg(_SISAI_oc2, 19, 'e', 12); + } else { // D1, D2, undefined + out + << QString(fmt).arg(_URA, 19, 'e', 12).arg(double(_SatH1), 19, 'e', 12).arg( + _TGD1, 19, 'e', 12).arg(_TGD2, 19, 'e', 12); } // ===================== // BROADCAST ORBIT - 7 // ===================== - if (navType() == t_eph::CNV1) { - out << QString(fmt) - .arg(_ISC_B1Cd, 19, 'e', 12) - .arg("", 19, QChar(' ')) - .arg(_TGD_B1Cp, 19, 'e', 12) - .arg(_TGD_B2ap, 19, 'e', 12); - } - else if (navType() == t_eph::CNV2) { - out << QString(fmt) - .arg("", 19, QChar(' ')) - .arg(_ISC_B2ad, 19, 'e', 12) - .arg(_TGD_B1Cp, 19, 'e', 12) - .arg(_TGD_B2ap, 19, 'e', 12); - } - else if (navType() == t_eph::CNV3) { - out << QString(fmt) - .arg(_SISMAI, 19, 'e', 12) - .arg(double(_health), 19, 'e', 12) - .arg(_INTEGRITYF_B2b, 19, 'e', 12) - .arg(_TGD_B2bI, 19, 'e', 12); - } - else { // D1, D2, undefined + if (ephType() == t_eph::CNV1) { + out + << QString(fmt).arg(_ISC_B1Cd, 19, 'e', 12).arg("", 19, QChar(' ')).arg( + _TGD_B1Cp, 19, 'e', 12).arg(_TGD_B2ap, 19, 'e', 12); + } else if (ephType() == t_eph::CNV2) { + out + << QString(fmt).arg("", 19, QChar(' ')).arg(_ISC_B2ad, 19, 'e', 12).arg( + _TGD_B1Cp, 19, 'e', 12).arg(_TGD_B2ap, 19, 'e', 12); + } else if (ephType() == t_eph::CNV3) { + out + << QString(fmt).arg(_SISMAI, 19, 'e', 12).arg(double(_health), 19, 'e', + 12).arg(_INTEGRITYF_B2b, 19, 'e', 12).arg(_TGD_B2bI, 19, 'e', 12); + } else { // D1, D2, undefined double tots = 0.0; - if (_receptDateTime.isValid()) {// RTCM stream input + if (_receptDateTime.isValid()) { // RTCM stream input tots = _TOE.bdssec(); - } - else { // RINEX input + } else { // RINEX input tots = _TOT; } - out << QString(fmt) - .arg(tots, 19, 'e', 12) - .arg(double(_AODC), 19, 'e', 12) - .arg("", 19, QChar(' ')) - .arg("", 19, QChar(' ')); + out + << QString(fmt).arg(tots, 19, 'e', 12).arg(double(_AODC), 19, 'e', 12).arg( + "", 19, QChar(' ')).arg("", 19, QChar(' ')); } @@ -2514,24 +2591,16 @@ // BROADCAST ORBIT - 8 // ===================== - if (navType() == t_eph::CNV1) { - out << QString(fmt) - .arg(_SISMAI, 19, 'e', 12) - .arg(double(_health), 19, 'e', 12) - .arg(_INTEGRITYF_B1C, 19, 'e', 12) - .arg(_IODC, 19, 'e', 12); - } - else if (navType() == t_eph::CNV2) { - out << QString(fmt) - .arg(_SISMAI, 19, 'e', 12) - .arg(double(_health), 19, 'e', 12) - .arg(_INTEGRITYF_B2aB1C, 19, 'e', 12) - .arg(_IODC, 19, 'e', 12); - } - else if (navType() == t_eph::CNV3) { - out << QString(fmt) - .arg(_TOT, 19, 'e', 12) - .arg("", 19, QChar(' ')) - .arg("", 19, QChar(' ')) - .arg("", 19, QChar(' ')); + if (ephType() == t_eph::CNV1) { + out + << QString(fmt).arg(_SISMAI, 19, 'e', 12).arg(double(_health), 19, 'e', + 12).arg(_INTEGRITYF_B1C, 19, 'e', 12).arg(_IODC, 19, 'e', 12); + } else if (ephType() == t_eph::CNV2) { + out + << QString(fmt).arg(_SISMAI, 19, 'e', 12).arg(double(_health), 19, 'e', + 12).arg(_INTEGRITYF_B2aB1C, 19, 'e', 12).arg(_IODC, 19, 'e', 12); + } else if (ephType() == t_eph::CNV3) { + out + << QString(fmt).arg(_TOT, 19, 'e', 12).arg("", 19, QChar(' ')).arg("", + 19, QChar(' ')).arg("", 19, QChar(' ')); } @@ -2539,13 +2608,9 @@ // BROADCAST ORBIT - 9 // ===================== - if (navType() == t_eph::CNV1 || - navType() == t_eph::CNV2) { - out << QString(fmt) - .arg(_TOT, 19, 'e', 12) - .arg("", 19, QChar(' ')) - .arg("", 19, QChar(' ')) - .arg(_IODE, 19, 'e', 12); - } - + if (ephType() == t_eph::CNV1 || ephType() == t_eph::CNV2) { + out + << QString(fmt).arg(_TOT, 19, 'e', 12).arg("", 19, QChar(' ')).arg("", + 19, QChar(' ')).arg(_IODE, 19, 'e', 12); + } return rnxStr; Index: /trunk/BNC/src/ephemeris.h =================================================================== --- /trunk/BNC/src/ephemeris.h (revision 10576) +++ /trunk/BNC/src/ephemeris.h (revision 10577) @@ -13,4 +13,5 @@ class t_orbCorr; class t_clkCorr; +// enum e_navType {EPH, STO, EOP, ION}; class t_eph { @@ -18,5 +19,5 @@ enum e_type {unknown, GPS, QZSS, GLONASS, Galileo, SBAS, BDS, IRNSS}; enum e_checkState {unchecked, ok, bad, outdated, unhealthy}; - enum e_navType {undefined, LNAV, FDMA, FNAV, INAF, D1, D2, SBASL1, CNAV, CNV1, CNV2, CNV3}; + enum e_ephType {undefined, LNAV, FDMA, FNAV, INAF, D1, D2, SBASL1, CNAV, CNV1, CNV2, CNV3, L1NV, L1OC, L3OC}; t_eph(); @@ -27,8 +28,8 @@ virtual unsigned int IOD() const = 0; virtual unsigned int isUnhealthy() const = 0; - virtual int slotNum() const {return 0;} + virtual int slotNum() const {return 0;} bncTime TOC() const {return _TOC;} bool isNewerThan(const t_eph* eph) const {return earlierTime(eph, this);} - void setCheckState(e_checkState checkState) {_checkState = checkState;} + void setCheckState(e_checkState checkState) {_checkState = checkState;} e_checkState checkState() const {return _checkState;} QString checkStateToString() { @@ -42,16 +43,16 @@ } } - e_navType navType() const {return _navType;} - t_irc setNavType(QString navTypeStr); - - t_prn prn() const {return _prn;} - t_irc getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const; - void setOrbCorr(const t_orbCorr* orbCorr); - void setClkCorr(const t_clkCorr* clkCorr); + e_ephType ephType() const {return _ephType;} + t_irc setEphType(QString ephTypeStr); + + t_prn prn() const {return _prn;} + t_irc getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const; + void setOrbCorr(const t_orbCorr* orbCorr); + void setClkCorr(const t_clkCorr* clkCorr); const QDateTime& receptDateTime() const {return _receptDateTime;} const QString receptStaID() const {return _receptStaID;} static QString rinexDateStr(const bncTime& tt, const t_prn& prn, double version); static QString rinexDateStr(const bncTime& tt, const QString& prnStr, double version); - static QString navTypeString(e_navType navType, const t_prn& prn, double version); + static QString ephTypeStr(e_ephType ephType, const t_prn& prn, double version); static bool earlierTime(const t_eph* eph1, const t_eph* eph2) {return eph1->_TOC < eph2->_TOC;} static bool prnSort(const t_eph* eph1, const t_eph* eph2) {return eph1->prn() < eph2->prn();} @@ -64,5 +65,5 @@ QString _receptStaID; e_checkState _checkState; - e_navType _navType; // defined in RINEX 4 + e_ephType _ephType; // defined in RINEX 4 t_orbCorr* _orbCorr; t_clkCorr* _clkCorr; @@ -106,15 +107,24 @@ _top = 0.0; _Delta_n_dot = 0.0; - _URAI_NED0 = 0.0; - _URAI_NED1 = 0.0; - _URAI_NED2 = 0.0; - _URAI_ED = 0.0; - _ISC_L1CA = 0.0; - _ISC_L2C = 0.0; - _ISC_L5I5 = 0.0; - _ISC_L5Q5 = 0.0; - _ISC_L1Cd = 0.0; - _ISC_L1Cp = 0.0; - _wnop = 0.0; + _URAI = 0.0; + _URAI_NED0 = 0.0; + _URAI_NED1 = 0.0; + _URAI_NED2 = 0.0; + _URAI_ED = 0.0; + _ISC_L1CA = 0.0; + _ISC_L2C = 0.0; + _ISC_L5I5 = 0.0; + _ISC_L5Q5 = 0.0; + _ISC_L1Cd = 0.0; + _ISC_L1Cp = 0.0; + _RSF = 0.0; + _ISC_S = 0.0; + _ISC_L1D = 0.0; + _ISC_L1P = 0.0; + _wnop = 0.0; + _intSF = -1; + _ephSF = -1; + _L2Cphasing = -1; + _alert = -1; _receptStaID = ""; } @@ -180,4 +190,5 @@ double _Delta_n_dot; // [rad/s^2] + double _URAI; // [] user range accuracy index double _URAI_NED0; // [] double _URAI_NED1; // [] @@ -185,5 +196,5 @@ double _URAI_ED; // [] - double _ISC_L1CA; // [s] + double _ISC_L1CA; // [s] inter signal correction double _ISC_L2C; // [s] double _ISC_L5I5; // [s] @@ -192,5 +203,15 @@ double _ISC_L1Cp; // [s] - double _wnop; // GPS continuous week number with the ambiguity resolved + double _RSF; // [-] Reference Signal Flag for IRNSS + double _ISC_S; // [s] + double _ISC_L1D; // [s] + double _ISC_L1P; // [s] + + bool _intSF; // [-] integrity status flag + bool _ephSF; // [-] ephemeris status flag (QZSS) + bool _L2Cphasing; // [-] L2C phasing flag + bool _alert; // [-] alert flag + + double _wnop; // GPS continuous week number with the ambiguity resolved (same as _TOEweek?) }; @@ -330,4 +351,10 @@ _BGD_1_5B = 0.0; _TOT = 0.0; + bool _inav; + /** Data comes from F/NAV when true */ + bool _fnav; + bool _e1DataInValid; + bool _e5aDataInValid; + bool _e5bDataInValid; _receptStaID = ""; }; Index: /trunk/BNC/src/rinex/reqcanalyze.cpp =================================================================== --- /trunk/BNC/src/rinex/reqcanalyze.cpp (revision 10576) +++ /trunk/BNC/src/rinex/reqcanalyze.cpp (revision 10577) @@ -1019,5 +1019,5 @@ *_log << " " << navFi.fileName() << ' ' << QString(": WRONG %2:%3\n") - .arg(eph->navTypeString(eph->navType(), eph->prn(), 99.0)) + .arg(eph->ephTypeStr(eph->ephType(), eph->prn(), 99.0)) .arg(eph->rinexDateStr(eph->TOC(), eph->prn(), 99.0)).toLatin1(); } Index: /trunk/BNC/src/rinex/reqcedit.cpp =================================================================== --- /trunk/BNC/src/rinex/reqcedit.cpp (revision 10576) +++ /trunk/BNC/src/rinex/reqcedit.cpp (revision 10577) @@ -704,8 +704,8 @@ if (outNavFile.version() < 4.0) { - if (eph->navType() == t_eph::CNAV || - eph->navType() == t_eph::CNV1 || - eph->navType() == t_eph::CNV2 || - eph->navType() == t_eph::CNV3) { + if (eph->ephType() == t_eph::CNAV || + eph->ephType() == t_eph::CNV1 || + eph->ephType() == t_eph::CNV2 || + eph->ephType() == t_eph::CNV3) { continue; } @@ -713,5 +713,5 @@ if (outNavFile.version() >= 4.0 && - eph->navType() == t_eph::undefined) { // input files < version 4.0 + eph->ephType() == t_eph::undefined) { // input files < version 4.0 continue; } Index: /trunk/BNC/src/rinex/rnxnavfile.cpp =================================================================== --- /trunk/BNC/src/rinex/rnxnavfile.cpp (revision 10576) +++ /trunk/BNC/src/rinex/rnxnavfile.cpp (revision 10577) @@ -149,5 +149,5 @@ //////////////////////////////////////////////////////////////////////////// void t_rnxNavFile::read(QTextStream* stream) { - QString navType; + QString ephType; while (stream->status() == QTextStream::Ok && !stream->atEnd()) { @@ -171,5 +171,5 @@ prn = hlp.at(2); sys = prn[0].toLatin1(); - navType = hlp.at(3); + ephType = hlp.at(3); // ALL Non-EPH messages are currently ignored @@ -194,6 +194,6 @@ sys == 'J' || sys == 'I') { lines2skip = 3; - if (sys == 'I' && navType == "L1NV" || // I: KLOB, NEQN - sys == 'J' && navType == "CNVX") { // J: WIDE, JAPN + if ((sys == 'I' && ephType == "L1NV") || // I: KLOB, NEQN + (sys == 'J' && ephType == "CNVX")) { // J: WIDE, JAPN navSubType = hlp.at(4); if (navSubType == "KLOB") { @@ -273,5 +273,5 @@ if (version() >= 4.0 && key == "EPH") { - if (eph->setNavType(navType) != success) { + if (eph->setEphType(ephType) != success) { delete eph; continue;