Index: /trunk/BNC/CHANGELOG.md =================================================================== --- /trunk/BNC/CHANGELOG.md (revision 11136) +++ /trunk/BNC/CHANGELOG.md (revision 11137) @@ -23,4 +23,8 @@ - ADDED: Option 'File per stream' (key ephFilePerStation) in the RINEX Ephemeris panel: one RINEX navigation file per stream, named after the stream like the observation files, each with all ephemerides of its stream; by default still one file with each ephemeris once - ADDED: PPP option 'Ephemeris stream' (key PPP/ephMount): real-time PPP uses the Broadcast Ephemeris of the given stream(s) only, e.g. BCEP00BKG0, not those of the observation streams; empty: all streams as before +- FIXED: GPS and QZSS uploads within the curve fit interval (cutover; TOC some 16 s earlier than that of the data set replaced, e.g. 01:59:44 instead of 02:00:00) were ignored as not newer until the next regular data set, in RINEX navigation files, ephemeris upload (BCEP), PPP and combination; corrections of ACs referring to such an upload were not used for up to 2 hours. Data sets received before (e.g. from a slower stream) are ignored now explicitly +- ADDED: GPS/QZSS ephemeris check: data sets with IODE different from the 8 LSBs of IODC (assembled from subframes of two uploads) are rejected +- FIXED: Ephemeris upload: the periods of validity of the uploaded data sets were not applied (logical or instead of and), so a data set was uploaded as long as no newer one came, e.g. a Galileo data set 32 hours after its TOC +- CHANGED: SSR QC: the IOD of the corrections is looked up among the last 30 data sets of a satellite instead of the last two (false 'IOD of no received broadcast ephemeris' for Galileo and GLONASS); new report lines for IODs received from the ephemeris stream(s) only later (with the largest delay) and for corrections referring to a broadcast ephemeris outside its validity - ADDED: Regression test suite ('tests'): example configurations and short raw captures replayed through BNC and compared with reference outputs - ADDED: macOS packaging script Index: /trunk/BNC/src/PPP/pppEphPool.cpp =================================================================== --- /trunk/BNC/src/PPP/pppEphPool.cpp (revision 11136) +++ /trunk/BNC/src/PPP/pppEphPool.cpp (revision 11137) @@ -97,4 +97,11 @@ ///////////////////////////////////////////////////////////////////////////// void t_pppEphPool::t_satEphPool::putEphemeris(unsigned maxQueueSize, t_eph* eph) { + // data set received before (e.g. from another stream after a newer one) + for (unsigned ii = 0; ii < _ephs.size(); ii++) { + if (_ephs[ii]->sameDataSet(eph)) { + delete eph; + return; + } + } if (_ephs.empty() || eph->isNewerThan(_ephs.front())) { _ephs.push_front(eph); Index: /trunk/BNC/src/bncephuser.cpp =================================================================== --- /trunk/BNC/src/bncephuser.cpp (revision 11136) +++ /trunk/BNC/src/bncephuser.cpp (revision 11137) @@ -48,5 +48,5 @@ // Constructor //////////////////////////////////////////////////////////////////////////// -bncEphUser::bncEphUser(bool connectSlots) { +bncEphUser::bncEphUser(bool connectSlots, unsigned maxQueueSize) : _maxQueueSize(maxQueueSize) { if (connectSlots) { connect(BNC_CORE, SIGNAL(newGPSEph(t_ephGPS)), @@ -148,4 +148,15 @@ QString prn(newEph->prn().toInternalString().c_str()); + + // data set received before, e.g. from a slower stream after a newer one + if (_eph.contains(prn)) { + const deque& qq = _eph[prn]; + for (unsigned ii = 0; ii < qq.size(); ii++) { + if (qq[ii]->sameDataSet(eph)) { + delete newEph; + return failure; + } + } + } const t_eph* ephOld = ephLast(prn); @@ -224,4 +235,12 @@ if (eph->isUnhealthy()) { eph->setCheckState(t_eph::unhealthy); + return; + } + + // GPS/QZSS: IODE and IODC of the same upload + // ------------------------------------------- + const t_ephGPS* ephGPS = dynamic_cast(eph); + if (ephGPS && !ephGPS->iodeIodcConsistent()) { + eph->setCheckState(t_eph::bad); return; } Index: /trunk/BNC/src/bncephuser.h =================================================================== --- /trunk/BNC/src/bncephuser.h (revision 11136) +++ /trunk/BNC/src/bncephuser.h (revision 11137) @@ -46,5 +46,5 @@ public: - bncEphUser(bool connectSlots); + bncEphUser(bool connectSlots, unsigned maxQueueSize = 6); virtual ~bncEphUser(); @@ -72,4 +72,17 @@ } + // latest data set of the satellite with this IOD + t_eph* ephWithIOD(const QString& prn, unsigned iod) { + if (_eph.contains(prn)) { + const std::deque& qq = _eph[prn]; + for (int ii = int(qq.size()) - 1; ii >= 0; ii--) { + if (qq[ii]->IOD() == iod) { + return qq[ii]; + } + } + } + return 0; + } + const QList prnList() {return _eph.keys();} @@ -80,5 +93,5 @@ void checkEphemeris(t_eph* eph, bool realTime); QMutex _mutex; - static const unsigned _maxQueueSize = 6; + unsigned _maxQueueSize; // data sets kept per satellite QMap > _eph; }; Index: /trunk/BNC/src/bnchelp.html =================================================================== --- /trunk/BNC/src/bnchelp.html (revision 11136) +++ /trunk/BNC/src/bnchelp.html (revision 11137) @@ -3453,4 +3453,13 @@ or 'OUTDATED EPHEMERIS' in the logfile.

+

+ A data set is taken as new if its Time of Clock (TOC) is later than that of the latest data set of the + satellite. An upload of a GPS or QZSS satellite within the curve fit interval (cutover) gets a TOC slightly + earlier than that of the data set it replaces, off the regular grid (e.g. 01:59:44 instead of 02:00:00); such a + data set with a different IOD and a TOC up to 10 minutes earlier is taken as new as well, as the satellite + broadcasts it from then on and the corrections of the Analysis Centers refer to it. A data set received before, + e.g. from a slower stream after a newer one, is ignored. A GPS or QZSS data set whose IODE differs from the 8 least + significant bits of its IODC, i.e. assembled from subframes of two uploads, is ignored as wrong. +

@@ -5156,7 +5165,12 @@

  • satellites with a healthy, current broadcast ephemeris without orbit corrections, clock corrections, code biases or phase biases (the latter two only if the stream provides them for the system),
    • -
  • orbit and clock corrections referring to an IOD of no received broadcast ephemeris, to an unhealthy - broadcast ephemeris, or to a satellite without broadcast ephemeris (number of corrections in brackets; not - checked during the first 2 minutes, while the broadcast ephemerides are received),
    • +
  • orbit and clock corrections referring to an IOD of no received broadcast ephemeris, to an IOD received from + the ephemeris stream(s) only later (up to 5 minutes, with the largest delay; the Analysis Center switched to a + new data set before the ephemeris stream delivered it), to a broadcast ephemeris outside its validity (see section + 2.16 'Upload Ephemeris' for the periods of validity), to an unhealthy broadcast ephemeris, or to a satellite + without broadcast ephemeris (number of corrections in brackets; not checked during the first 2 minutes, while + the broadcast ephemerides are received). The IOD is looked up among the last 30 data sets of the satellite, + as Galileo e.g. broadcasts a new data set every 10 minutes and Analysis Centers keep one for up to an + hour,
  • the code bias signals provided, satellites without code biases of the reference signals (default GPS C1W/C2W, GLONASS C1P/C2P, Galileo C1C/C5Q, BDS C2I/C6I, QZSS C1C/C2L, SBAS C1C/C5Q; as in the combination, see option @@ -9784,5 +9798,5 @@
  • SBAS ephemeris will be interpreted as outdated and ignored when dt > 600.0 or dt < -600.0.
  • QZSS ephemeris will be interpreted as outdated and ignored when dt > 7200.0 or dt < -3600.0.
    • -
  • NavIC ephemeris will be interpreted as outdated and ignored when fabs(dt > 86400.0).
    • +
  • NavIC ephemeris will be interpreted as outdated and ignored when fabs(dt) > 86400.0.
    • A note 'OUTDATED EPHEMERIS' will be given in the logfile and the data will be disregarded when necessary. Index: /trunk/BNC/src/ephemeris.cpp =================================================================== --- /trunk/BNC/src/ephemeris.cpp (revision 11136) +++ /trunk/BNC/src/ephemeris.cpp (revision 11137) @@ -26,4 +26,24 @@ _clkCorr = 0; } + +// Is this data set newer than eph (the latest one received)? +// Usually its TOC is later. An upload of a GPS or QZSS satellite within the +// curve fit interval (cutover) gets a TOC slightly earlier than that of the +// data set it replaces (e.g. 01:59:44 instead of 02:00:00, i.e. off the regular +// grid), and a different IOD; the new upload is broadcast from then on and +// the corrections of the ACs refer to it. +//////////////////////////////////////////////////////////////////////////// +bool t_eph::isNewerThan(const t_eph* eph) const { + if (eph->_TOC < _TOC) { + return true; + } + const double MAX_CUTOVER_SHIFT = 600.0; // observed: 16 s, 32 s + if ((system() == GPS || system() == QZSS) && system() == eph->system() && + IOD() != eph->IOD() && eph->_TOC - _TOC <= MAX_CUTOVER_SHIFT) { + return true; + } + return false; +} + // Destructor //////////////////////////////////////////////////////////////////////////// Index: /trunk/BNC/src/ephemeris.h =================================================================== --- /trunk/BNC/src/ephemeris.h (revision 11136) +++ /trunk/BNC/src/ephemeris.h (revision 11137) @@ -29,5 +29,6 @@ virtual int slotNum() const {return 0;} bncTime TOC() const {return _TOC;} - bool isNewerThan(const t_eph* eph) const {return earlierTime(eph, this);} + bool isNewerThan(const t_eph* eph) const; + bool sameDataSet(const t_eph* eph) const {return _TOC == eph->_TOC && IOD() == eph->IOD();} void setCheckState(e_checkState checkState) {_checkState = checkState;} e_checkState checkState() const {return _checkState;} @@ -146,4 +147,10 @@ virtual QString toString(double version) const; virtual unsigned int IOD() const { return static_cast(_IODE); } + // GPS/QZSS: IODE equals the 8 LSBs of IODC, except for data sets assembled + // from subframes of two uploads (cutover) + bool iodeIodcConsistent() const { + return (system() != t_eph::GPS && system() != t_eph::QZSS) || + (static_cast(_IODE) == (static_cast(_IODC) & 0xFF)); + } //virtual unsigned int isUnhealthy() const { return static_cast(_health);} virtual unsigned int isUnhealthy() const; Index: /trunk/BNC/src/src.pro =================================================================== --- /trunk/BNC/src/src.pro (revision 11136) +++ /trunk/BNC/src/src.pro (revision 11137) @@ -2,6 +2,6 @@ TARGET = ../bnc -CONFIG -= debug -CONFIG += release +CONFIG += debug +CONFIG -= release macx { Index: /trunk/BNC/src/ssrQc.cpp =================================================================== --- /trunk/BNC/src/ssrQc.cpp (revision 11136) +++ /trunk/BNC/src/ssrQc.cpp (revision 11137) @@ -56,4 +56,7 @@ const double MAX_CLK_JUMP = 0.5; // [m] clock change beyond its rate between consecutive epochs const double EPH_WARMUP = 120.0; // [s] no ephemeris checks at the start + const double EPH_EARLY_MAX = 300.0; // [s] IOD received this much later still counted as early + const double EPH_IOD_REUSE = 21600.0; // [s] an outdated data set this far from the epoch: IOD reused + const unsigned EPH_KEPT = 30; // data sets kept per satellite const double CMP_SAMPL = 30.0; // [s] sampling of the stream comparison const double CMP_DELAY = 60.0; // [s] epochs compared when data this much newer arrived @@ -119,5 +122,5 @@ //////////////////////////////////////////////////////////////////////////// t_ssrQc::t_ssrQc(const QString& dirName, double interval, const QStringList& streams, - const QString& reference) : _ephUser(true) { + const QString& reference) : _ephUser(true, EPH_KEPT) { _dirName = dirName; _reference = reference.isEmpty() ? QString("CONSENSUS") : reference; @@ -359,23 +362,69 @@ // Broadcast ephemeris the correction refers to //////////////////////////////////////////////////////////////////////////// -void t_ssrQc::checkEph(t_satStat& stat, const QString& prnInt, unsigned iod, const bncTime& time, - const string& staID) { +void t_ssrQc::checkEph(t_satStat& stat, const QString& satKey, const QString& prnInt, + unsigned iod, const bncTime& time, const string& staID) { // not before all broadcast ephemerides may have been received if (time - _staStart[QString::fromStdString(staID)] < EPH_WARMUP) { return; } - t_eph* ephLast = _ephUser.ephLast(prnInt); - t_eph* ephPrev = _ephUser.ephPrev(prnInt); - t_eph* eph = 0; - if (ephLast && ephLast->IOD() == iod) eph = ephLast; - else if (ephPrev && ephPrev->IOD() == iod) eph = ephPrev; - if (!ephLast) { + if (!_ephUser.ephLast(prnInt)) { stat.noEph += 1; - } - else if (!eph) { - stat.iodUnknown += 1; + return; + } + // any data set kept, not only the last two: Galileo has a new IODnav every + // 10 minutes, and ACs keep one for up to an hour + t_eph* eph = _ephUser.ephWithIOD(prnInt, iod); + // an IOD used again later (GLONASS tb every day, GPS IODE) is another data set + if (eph && outDatedBcep(eph, time) && fabs(time - eph->TOC()) > EPH_IOD_REUSE) { + eph = 0; + } + if (!eph) { + // received later from the ephemeris stream(s)? decided in resolvePendingIod + t_pendingIod& pending = _pendingIod[satKey][iod]; + if (pending.num == 0) { + pending.prnInt = prnInt; + pending.first = currentTime(); + } + pending.num += 1; } else if (eph->checkState() == t_eph::unhealthy || eph->checkState() == t_eph::bad) { stat.ephUnhealthy += 1; + } + else if (outDatedBcep(eph, time)) { + stat.ephOutdated += 1; + } + if (_pendingIod.contains(satKey)) { + resolvePendingIod(satKey, false); + } +} + +// Corrections referring to an IOD not received before: counted as early if +// the ephemeris stream(s) delivered the data set later, as unknown if not +// within EPH_EARLY_MAX (or at the end of the report interval, final) +//////////////////////////////////////////////////////////////////////////// +void t_ssrQc::resolvePendingIod(const QString& satKey, bool final) { + t_satStat& stat = _satStat[satKey]; + QMap& pend = _pendingIod[satKey]; + QMutableMapIterator it(pend); + while (it.hasNext()) { + it.next(); + const t_pendingIod& pending = it.value(); + t_eph* eph = _ephUser.ephWithIOD(pending.prnInt, it.key()); + if (eph && eph->receptDateTime().isValid()) { + bncTime recept(eph->receptDateTime().toString(Qt::ISODate).toStdString()); + if (recept >= pending.first) { + stat.iodEarly += pending.num; + stat.maxEarly = max(stat.maxEarly, recept - pending.first); + it.remove(); + continue; + } + } + if (final || currentTime() - pending.first > EPH_EARLY_MAX) { + stat.iodUnknown += pending.num; + it.remove(); + } + } + if (pend.isEmpty()) { + _pendingIod.remove(satKey); } } @@ -395,5 +444,6 @@ t_satStat& stat = _satStat[QString::fromStdString(corr._staID) + ' ' + prn]; stat.numOrb += 1; - checkEph(stat, QString::fromStdString(corr._prn.toInternalString()), corr._iod, corr._time, corr._staID); + checkEph(stat, QString::fromStdString(corr._staID) + ' ' + prn, + QString::fromStdString(corr._prn.toInternalString()), corr._iod, corr._time, corr._staID); double radial = fabs(corr._xr[0]); double alongCross = max(fabs(corr._xr[1]), fabs(corr._xr[2])); @@ -417,5 +467,6 @@ t_satStat& stat = _satStat[QString::fromStdString(corr._staID) + ' ' + prn]; stat.numClk += 1; - checkEph(stat, QString::fromStdString(corr._prn.toInternalString()), corr._iod, corr._time, corr._staID); + checkEph(stat, QString::fromStdString(corr._staID) + ' ' + prn, + QString::fromStdString(corr._prn.toInternalString()), corr._iod, corr._time, corr._staID); // jump: change between consecutive epochs (same IOD) beyond the clock rate @@ -837,9 +888,8 @@ } const t_orbCorr& orb = (--itO).value(); - t_eph* eph = 0; - t_eph* ephLast = _ephUser.ephLast(prnInt); - t_eph* ephPrev = _ephUser.ephPrev(prnInt); - if (ephLast && ephLast->IOD() == orb._iod) eph = ephLast; - else if (ephPrev && ephPrev->IOD() == orb._iod) eph = ephPrev; + t_eph* eph = _ephUser.ephWithIOD(prnInt, orb._iod); + if (eph && outDatedBcep(eph, tt) && fabs(tt - eph->TOC()) > EPH_IOD_REUSE) { + eph = 0; + } if (!eph || clk._iod != orb._iod) { continue; @@ -1363,4 +1413,10 @@ bncTime endTime = final ? _lastTime : _intervalStart + _interval; + // IODs not received: early or unknown (pending ones younger than + // EPH_EARLY_MAX are decided in the next interval) + for (const QString& satKey : _pendingIod.keys()) { + resolvePendingIod(satKey, final); + } + // Healthy and current broadcast ephemerides per system QMap > ephSats; @@ -1475,4 +1531,6 @@ continue; } + QMap iodEarly, outdated; + double maxEarly = 0.0; QMap missOrb, missClk, missCB, missPB, iodUnknown, unhealthy, noEph, jumps, missRef, noYaw, yawPartly; @@ -1507,4 +1565,9 @@ const t_satStat& stat = itSat.value(); if (stat.iodUnknown) iodUnknown[prn] = stat.iodUnknown; + if (stat.iodEarly) { + iodEarly[prn] = stat.iodEarly; + maxEarly = max(maxEarly, stat.maxEarly); + } + if (stat.ephOutdated) outdated[prn] = stat.ephOutdated; if (stat.ephUnhealthy) unhealthy[prn] = stat.ephUnhealthy; if (stat.noEph) noEph[prn] = stat.noEph; @@ -1568,4 +1631,9 @@ addSats("phase biases missing (healthy broadcast ephemeris available)", missPB); addSats("corrections referring to an IOD of no received broadcast ephemeris", iodUnknown); + if (!iodEarly.isEmpty()) { + addSats(QString("corrections referring to an IOD received from the ephemeris stream(s) " + "only later (up to %1 s)").arg(maxEarly, 0, 'f', 0), iodEarly); + } + addSats("corrections referring to a broadcast ephemeris outside its validity", outdated); addSats("corrections for unhealthy broadcast ephemeris", unhealthy); addSats("corrections for satellites without broadcast ephemeris", noEph); Index: /trunk/BNC/src/ssrQc.h =================================================================== --- /trunk/BNC/src/ssrQc.h (revision 11136) +++ /trunk/BNC/src/ssrQc.h (revision 11137) @@ -59,4 +59,7 @@ unsigned numClk; unsigned iodUnknown; // IOD of no received broadcast ephemeris + unsigned iodEarly = 0; // IOD received from the ephemeris stream(s) only later + double maxEarly = 0.0; // [s] largest delay of these + unsigned ephOutdated = 0; // broadcast ephemeris outside its validity unsigned ephUnhealthy; // broadcast ephemeris unhealthy/bad unsigned noEph; // no broadcast ephemeris at all @@ -77,6 +80,6 @@ void newEpoch(const std::string& staID, char sys, e_type type, const bncTime& time, unsigned updateInt, const QString& prn); - void checkEph(t_satStat& stat, const QString& prnInt, unsigned iod, const bncTime& time, - const std::string& staID); + void checkEph(t_satStat& stat, const QString& satKey, const QString& prnInt, unsigned iod, + const bncTime& time, const std::string& staID); void checkInterval(const bncTime& time); void writeReport(bool final); @@ -138,4 +141,12 @@ QMap _epoStat; // key "STA SYS TYPE" QMap _satStat; // key "STA PRN" + class t_pendingIod { // IOD not (yet) received, key "STA PRN" and IOD + public: + QString prnInt; // internal PRN (with the Galileo F/NAV, I/NAV flag) + bncTime first; // reception time of the first correction + unsigned num = 0; // corrections referring to it + }; + QMap > _pendingIod; + void resolvePendingIod(const QString& satKey, bool final); QMap > _codeSignals; // key "STA SYS": signals with code biases QMap > _phaseSignals; // key "STA SYS": signals with phase biases Index: /trunk/BNC/src/upload/bncephuploadcaster.cpp =================================================================== --- /trunk/BNC/src/upload/bncephuploadcaster.cpp (revision 11136) +++ /trunk/BNC/src/upload/bncephuploadcaster.cpp (revision 11137) @@ -92,35 +92,35 @@ if (ephGPS && ephGPS->system() == t_eph::GPS && (system == "ALL" || system.contains('G'))) { - if (dt < 14400.0 || dt > -7200.0) { + if (dt < 14400.0 && dt > -7200.0) { size = t_ephEncoder::RTCM3(*ephGPS, Array); } } else if (ephGPS && ephGPS->system() == t_eph::QZSS && (system == "ALL" || system.contains('J'))) { - if (dt < 7200.0 || dt > -3600.0) { + if (dt < 7200.0 && dt > -3600.0) { size = t_ephEncoder::RTCM3(*ephGPS, Array); } } else if (ephGlo && (system == "ALL" || system.contains('R'))) { - if (dt < 3900.0 || dt > -2100.0) { + if (dt < 3900.0 && dt > -2100.0) { size = t_ephEncoder::RTCM3(*ephGlo, Array); } } else if (ephGal && (system == "ALL" || system.contains('E'))) { - if (dt < 14400.0 || dt > 0.0) { + if (dt < 14400.0 && dt > 0.0) { size = t_ephEncoder::RTCM3(*ephGal, Array); } } else if (ephSBAS && (system == "ALL" || system.contains('S'))) { - if (dt < 600.0 || dt > -600.0) { + if (dt < 600.0 && dt > -600.0) { size = t_ephEncoder::RTCM3(*ephSBAS, Array); } } else if (ephBDS && (system == "ALL" || system.contains('C'))) { - if (dt < 3900.0 || dt > 0.0) { + if (dt < 3900.0 && dt > 0.0) { size = t_ephEncoder::RTCM3(*ephBDS, Array); } } else if (ephGPS && ephGPS->system() == t_eph::NavIC && (system == "ALL" || system.contains('I'))) { - if (fabs(dt < 86400.0)) { + if (fabs(dt) < 86400.0) { size = t_ephEncoder::RTCM3(*ephGPS, Array); } Index: /trunk/BNC/tests/README.md =================================================================== --- /trunk/BNC/tests/README.md (revision 11136) +++ /trunk/BNC/tests/README.md (revision 11137) @@ -55,4 +55,8 @@ (ephemeris messages of BCEP00BKG0, SSRA00EUH0, FFMJ00DEU0, WTZR00DEU0 cut from the merged capture): one RINEX 4 navigation file per stream. +* `replay_eph_cutover`: 02 on `data/eph_cutover_261023_20min.raw` (GPS ephemerides of + BCEP00BKG0, BCEP01JPL0, BCEP00CAS0, 23 Oct 2026 01:05-01:25): the G17 upload within the + fit interval (IOD 4, TOC 01:59:44, 16 s before IOD 148) is accepted, the data set mixed + from both uploads (IODE 4, IODC 148) rejected. * `replay_save_sp3_has`: 14 with Galileo HAS (SSRA00EUH0) only; its epochs are off the SP3/CLK sampling grid and are written at the preceding grid epoch. @@ -97,4 +101,9 @@ `data/combi_multi_261002_5min.raw`. `ssr_qc_bias` adds the CAS DCB file as 'QC Bias File' (code bias check against the other ACs and the file). +* `ssr_qc_iod`: IOD check of the SSR QC on `data/qc_iod_261015.raw` (made with + `tools/mk_qc_iod.py` from the QC capture of 15 Oct 2026: BCEP00BKG0 with each message only + at its first reception from 00:00, SSRA00WHU1/GMV1/CNE1 01:55-02:10): IODs received only + later (WHU1), never received (GMV1 G16, upload not in BCEP00BKG0), ephemeris outside its + validity (CNE1 GLONASS). * `decoder_limits`: crafted, CRC-valid frames from `tools/mkcrafted.py`