Index: trunk/BNC/src/RTCM3/RTCM3Decoder.h =================================================================== --- trunk/BNC/src/RTCM3/RTCM3Decoder.h (revision 5665) +++ trunk/BNC/src/RTCM3/RTCM3Decoder.h (revision 5738) @@ -29,6 +29,5 @@ #include -#include "../RTCM/GPSDecoder.h" -#include "../RTCM/GPSDecoder.h" +#include "GPSDecoder.h" #include "RTCM3coDecoder.h" #include "bncrawfile.h" Index: trunk/BNC/src/RTCM3/RTCM3coDecoder.h =================================================================== --- trunk/BNC/src/RTCM3/RTCM3coDecoder.h (revision 5665) +++ trunk/BNC/src/RTCM3/RTCM3coDecoder.h (revision 5738) @@ -31,5 +31,5 @@ #include -#include "RTCM/GPSDecoder.h" +#include "GPSDecoder.h" extern "C" { Index: trunk/BNC/src/RTCM3/ephemeris.cpp =================================================================== --- trunk/BNC/src/RTCM3/ephemeris.cpp (revision 5665) +++ (revision ) @@ -1,1319 +1,0 @@ -#include -#include -#include -#include -#include - -#include - -#include "ephemeris.h" -#include "bncutils.h" -#include "timeutils.h" -#include "bnctime.h" -#include "bnccore.h" - -using namespace std; - -// Returns CRC24 -//////////////////////////////////////////////////////////////////////////// -static unsigned long CRC24(long size, const unsigned char *buf) { - unsigned long crc = 0; - int ii; - while (size--) { - crc ^= (*buf++) << (16); - for(ii = 0; ii < 8; ii++) { - crc <<= 1; - if (crc & 0x1000000) { - crc ^= 0x01864cfb; - } - } - } - return crc; -} - -// Set GPS Satellite Position -//////////////////////////////////////////////////////////////////////////// -void t_ephGPS::set(const gpsephemeris* ee) { - - _receptDateTime = currentDateAndTimeGPS(); - - _prn = QString("G%1").arg(ee->satellite, 2, 10, QChar('0')); - - _TOC.set(ee->GPSweek, ee->TOC); - _clock_bias = ee->clock_bias; - _clock_drift = ee->clock_drift; - _clock_driftrate = ee->clock_driftrate; - - _IODE = ee->IODE; - _Crs = ee->Crs; - _Delta_n = ee->Delta_n; - _M0 = ee->M0; - - _Cuc = ee->Cuc; - _e = ee->e; - _Cus = ee->Cus; - _sqrt_A = ee->sqrt_A; - - _TOEsec = ee->TOE; - _Cic = ee->Cic; - _OMEGA0 = ee->OMEGA0; - _Cis = ee->Cis; - - _i0 = ee->i0; - _Crc = ee->Crc; - _omega = ee->omega; - _OMEGADOT = ee->OMEGADOT; - - _IDOT = ee->IDOT; - _L2Codes = 0.0; - _TOEweek = ee->GPSweek; - _L2PFlag = 0.0; - - if (ee->URAindex <= 6) { - _ura = ceil(10.0*pow(2.0, 1.0+((double)ee->URAindex)/2.0))/10.0; - } - else { - _ura = ceil(10.0*pow(2.0, ((double)ee->URAindex)/2.0))/10.0; - } - _health = ee->SVhealth; - _TGD = ee->TGD; - _IODC = ee->IODC; - - _TOT = 0.9999e9; - _fitInterval = 0.0; - - _ok = true; -} - -// Compute GPS Satellite Position (virtual) -//////////////////////////////////////////////////////////////////////////// -void 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, 4*sizeof(double)); - memset(vv, 0, 3*sizeof(double)); - - double a0 = _sqrt_A * _sqrt_A; - if (a0 == 0) { - return; - } - - 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 E_last; - do { - E_last = E; - E = M + _e*sin(E); - } 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 tc = tt - _TOC; - 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 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; - - // Relativistic Correction - // ----------------------- - xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c; -} - -// build up RTCM3 for GPS -//////////////////////////////////////////////////////////////////////////// -#define GPSTOINT(type, value) static_cast(round(value)) - -#define GPSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \ - |(GPSTOINT(long long,b)&((1ULL<= 8) { \ - buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}} - -#define GPSADDBITSFLOAT(a,b,c) {long long i = GPSTOINT(long long,(b)/(c)); \ - GPSADDBITS(a,i)}; - -int t_ephGPS::RTCM3(unsigned char *buffer) { - - unsigned char *startbuffer = buffer; - buffer= buffer+3; - int size = 0; - int numbits = 0; - unsigned long long bitbuffer = 0; - if (_ura <= 2.40){ - _ura = 0; - } - else if (_ura <= 3.40){ - _ura = 1; - } - else if (_ura <= 6.85){ - _ura = 2; - } - else if (_ura <= 9.65){ - _ura = 3; - } - else if (_ura <= 13.65){ - _ura = 4; - } - else if (_ura <= 24.00){ - _ura = 5; - } - else if (_ura <= 48.00){ - _ura = 6; - } - else if (_ura <= 96.00){ - _ura = 7; - } - else if (_ura <= 192.00){ - _ura = 8; - } - else if (_ura <= 384.00){ - _ura = 9; - } - else if (_ura <= 768.00){ - _ura = 10; - } - else if (_ura <= 1536.00){ - _ura = 11; - } - else if (_ura <= 1536.00){ - _ura = 12; - } - else if (_ura <= 2072.00){ - _ura = 13; - } - else if (_ura <= 6144.00){ - _ura = 14; - } - else{ - _ura = 15; - } - - GPSADDBITS(12, 1019) - GPSADDBITS(6,_prn.right((_prn.length()-1)).toInt()) - GPSADDBITS(10, _TOC.gpsw()) - GPSADDBITS(4, _ura) - GPSADDBITS(2,_L2Codes) - GPSADDBITSFLOAT(14, _IDOT, M_PI/static_cast(1<<30) - /static_cast(1<<13)) - GPSADDBITS(8, _IODE) - GPSADDBITS(16, static_cast(_TOC.gpssec())>>4) - GPSADDBITSFLOAT(8, _clock_driftrate, 1.0/static_cast(1<<30) - /static_cast(1<<25)) - GPSADDBITSFLOAT(16, _clock_drift, 1.0/static_cast(1<<30) - /static_cast(1<<13)) - GPSADDBITSFLOAT(22, _clock_bias, 1.0/static_cast(1<<30) - /static_cast(1<<1)) - GPSADDBITS(10, _IODC) - GPSADDBITSFLOAT(16, _Crs, 1.0/static_cast(1<<5)) - GPSADDBITSFLOAT(16, _Delta_n, M_PI/static_cast(1<<30) - /static_cast(1<<13)) - GPSADDBITSFLOAT(32, _M0, M_PI/static_cast(1<<30)/static_cast(1<<1)) - GPSADDBITSFLOAT(16, _Cuc, 1.0/static_cast(1<<29)) - GPSADDBITSFLOAT(32, _e, 1.0/static_cast(1<<30)/static_cast(1<<3)) - GPSADDBITSFLOAT(16, _Cus, 1.0/static_cast(1<<29)) - GPSADDBITSFLOAT(32, _sqrt_A, 1.0/static_cast(1<<19)) - GPSADDBITS(16, static_cast(_TOEsec)>>4) - GPSADDBITSFLOAT(16, _Cic, 1.0/static_cast(1<<29)) - GPSADDBITSFLOAT(32, _OMEGA0, M_PI/static_cast(1<<30) - /static_cast(1<<1)) - GPSADDBITSFLOAT(16, _Cis, 1.0/static_cast(1<<29)) - GPSADDBITSFLOAT(32, _i0, M_PI/static_cast(1<<30)/static_cast(1<<1)) - GPSADDBITSFLOAT(16, _Crc, 1.0/static_cast(1<<5)) - GPSADDBITSFLOAT(32, _omega, M_PI/static_cast(1<<30) - /static_cast(1<<1)) - GPSADDBITSFLOAT(24, _OMEGADOT, M_PI/static_cast(1<<30) - /static_cast(1<<13)) - GPSADDBITSFLOAT(8, _TGD, 1.0/static_cast(1<<30)/static_cast(1<<1)) - GPSADDBITS(6, _health) - GPSADDBITS(1, _L2PFlag) - GPSADDBITS(1, 0) /* GPS fit interval */ - - startbuffer[0]=0xD3; - startbuffer[1]=(size >> 8); - startbuffer[2]=size; - unsigned long i = CRC24(size+3, startbuffer); - buffer[size++] = i >> 16; - buffer[size++] = i >> 8; - buffer[size++] = i; - size += 3; - return size; -} - -// Derivative of the state vector using a simple force model (static) -//////////////////////////////////////////////////////////////////////////// -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); - - // Acceleration - // ------------ - static const double gmWGS = 398.60044e12; - static const double AE = 6378136.0; - static const double OMEGA = 7292115.e-11; - static const double C20 = -1082.6257e-6; - - double rho = rr.norm_Frobenius(); - 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 - // --------------------- - ColumnVector va(6); - va(1) = vv(1); - 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]; - - return va; -} - -// Compute Glonass Satellite Position (virtual) -//////////////////////////////////////////////////////////////////////////// -void t_ephGlo::position(int GPSweek, double GPSweeks, - double* xc, double* vv) const { - - static const double nominalStep = 10.0; - - memset(xc, 0, 4*sizeof(double)); - memset(vv, 0, 3*sizeof(double)); - - double dtPos = bncTime(GPSweek, GPSweeks) - _tt; - - int nSteps = int(fabs(dtPos) / nominalStep) + 1; - double step = dtPos / nSteps; - - double acc[3]; - acc[0] = _x_acceleration * 1.e3; - acc[1] = _y_acceleration * 1.e3; - acc[2] = _z_acceleration * 1.e3; - for (int ii = 1; ii <= nSteps; ii++) { - _xv = rungeKutta4(_tt.gpssec(), _xv, step, acc, glo_deriv); - _tt = _tt + step; - } - - // Position and Velocity - // --------------------- - xc[0] = _xv(1); - xc[1] = _xv(2); - xc[2] = _xv(3); - - vv[0] = _xv(4); - vv[1] = _xv(5); - vv[2] = _xv(6); - - // Clock Correction - // ---------------- - double dtClk = bncTime(GPSweek, GPSweeks) - _TOC; - xc[3] = -_tau + _gamma * dtClk; -} - -// IOD of Glonass Ephemeris (virtual) -//////////////////////////////////////////////////////////////////////////// -int t_ephGlo::IOD() const { - bncTime tMoscow = _TOC - _gps_utc + 3 * 3600.0; - return int(tMoscow.daysec() / 900); -} - -// Set Glonass Ephemeris -//////////////////////////////////////////////////////////////////////////// -void t_ephGlo::set(const glonassephemeris* ee) { - - _receptDateTime = currentDateAndTimeGPS(); - - _prn = QString("R%1").arg(ee->almanac_number, 2, 10, QChar('0')); - - int ww = ee->GPSWeek; - int tow = ee->GPSTOW; - updatetime(&ww, &tow, ee->tb*1000, 0); // Moscow -> GPS - - // Check the day once more - // ----------------------- - bool timeChanged = false; - { - const double secPerDay = 24 * 3600.0; - const double secPerWeek = 7 * secPerDay; - int ww_old = ww; - int tow_old = tow; - int currentWeek; - double currentSec; - currentGPSWeeks(currentWeek, currentSec); - bncTime currentTime(currentWeek, currentSec); - bncTime hTime(ww, (double) tow); - - if (hTime - currentTime > secPerDay/2.0) { - timeChanged = true; - tow -= int(secPerDay); - if (tow < 0) { - tow += int(secPerWeek); - ww -= 1; - } - } - else if (hTime - currentTime < -secPerDay/2.0) { - timeChanged = true; - tow += int(secPerDay); - if (tow > secPerWeek) { - tow -= int(secPerWeek); - ww += 1; - } - } - - if (false && timeChanged && BNC_CORE->mode() == t_bncCore::batchPostProcessing) { - bncTime newHTime(ww, (double) tow); - cout << "GLONASS " << ee->almanac_number << " Time Changed at " - << currentTime.datestr() << " " << currentTime.timestr() - << endl - << "old: " << hTime.datestr() << " " << hTime.timestr() - << endl - << "new: " << newHTime.datestr() << " " << newHTime.timestr() - << endl - << "eph: " << ee->GPSWeek << " " << ee->GPSTOW << " " << ee->tb - << endl - << "ww, tow (old): " << ww_old << " " << tow_old - << endl - << "ww, tow (new): " << ww << " " << tow - << endl << endl; - } - } - - bncTime hlpTime(ww, (double) tow); - unsigned year, month, day; - hlpTime.civil_date(year, month, day); - _gps_utc = gnumleap(year, month, day); - - _TOC.set(ww, tow); - _E = ee->E; - _tau = ee->tau; - _gamma = ee->gamma; - _x_pos = ee->x_pos; - _x_velocity = ee->x_velocity; - _x_acceleration = ee->x_acceleration; - _y_pos = ee->y_pos; - _y_velocity = ee->y_velocity; - _y_acceleration = ee->y_acceleration; - _z_pos = ee->z_pos; - _z_velocity = ee->z_velocity; - _z_acceleration = ee->z_acceleration; - _health = 0; - _frequency_number = ee->frequency_number; - _tki = ee->tk-3*60*60; if (_tki < 0) _tki += 86400; - - // Initialize status vector - // ------------------------ - _tt = _TOC; - - _xv(1) = _x_pos * 1.e3; - _xv(2) = _y_pos * 1.e3; - _xv(3) = _z_pos * 1.e3; - _xv(4) = _x_velocity * 1.e3; - _xv(5) = _y_velocity * 1.e3; - _xv(6) = _z_velocity * 1.e3; - - _ok = true; -} - -// build up RTCM3 for GLONASS -//////////////////////////////////////////////////////////////////////////// -#define GLONASSTOINT(type, value) static_cast(round(value)) - -#define GLONASSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \ - |(GLONASSTOINT(long long,b)&((1ULL<<(a))-1)); \ - numbits += (a); \ - while(numbits >= 8) { \ - buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}} -#define GLONASSADDBITSFLOATM(a,b,c) {int s; long long i; \ - if(b < 0.0) \ - { \ - s = 1; \ - i = GLONASSTOINT(long long,(-b)/(c)); \ - if(!i) s = 0; \ - } \ - else \ - { \ - s = 0; \ - i = GLONASSTOINT(long long,(b)/(c)); \ - } \ - GLONASSADDBITS(1,s) \ - GLONASSADDBITS(a-1,i)} - -int t_ephGlo::RTCM3(unsigned char *buffer) -{ - - int size = 0; - int numbits = 0; - long long bitbuffer = 0; - unsigned char *startbuffer = buffer; - buffer= buffer+3; - - GLONASSADDBITS(12, 1020) - GLONASSADDBITS(6, _prn.right((_prn.length()-1)).toInt()) - GLONASSADDBITS(5, 7+_frequency_number) - GLONASSADDBITS(1, 0) - GLONASSADDBITS(1, 0) - GLONASSADDBITS(2, 0) - _tki=_tki+3*60*60; - GLONASSADDBITS(5, static_cast(_tki)/(60*60)) - GLONASSADDBITS(6, (static_cast(_tki)/60)%60) - GLONASSADDBITS(1, (static_cast(_tki)/30)%30) - GLONASSADDBITS(1, _health) - GLONASSADDBITS(1, 0) - unsigned long long timeofday = (static_cast(_tt.gpssec()+3*60*60-_gps_utc)%86400); - GLONASSADDBITS(7, timeofday/60/15) - GLONASSADDBITSFLOATM(24, _x_velocity*1000, 1000.0/static_cast(1<<20)) - GLONASSADDBITSFLOATM(27, _x_pos*1000, 1000.0/static_cast(1<<11)) - GLONASSADDBITSFLOATM(5, _x_acceleration*1000, 1000.0/static_cast(1<<30)) - GLONASSADDBITSFLOATM(24, _y_velocity*1000, 1000.0/static_cast(1<<20)) - GLONASSADDBITSFLOATM(27, _y_pos*1000, 1000.0/static_cast(1<<11)) - GLONASSADDBITSFLOATM(5, _y_acceleration*1000, 1000.0/static_cast(1<<30)) - GLONASSADDBITSFLOATM(24, _z_velocity*1000, 1000.0/static_cast(1<<20)) - GLONASSADDBITSFLOATM(27,_z_pos*1000, 1000.0/static_cast(1<<11)) - GLONASSADDBITSFLOATM(5, _z_acceleration*1000, 1000.0/static_cast(1<<30)) - GLONASSADDBITS(1, 0) - GLONASSADDBITSFLOATM(11, _gamma, 1.0/static_cast(1<<30) - /static_cast(1<<10)) - GLONASSADDBITS(2, 0) /* GLONASS-M P */ - GLONASSADDBITS(1, 0) /* GLONASS-M ln(3) */ - GLONASSADDBITSFLOATM(22, _tau, 1.0/static_cast(1<<30)) - GLONASSADDBITS(5, 0) /* GLONASS-M delta tau */ - GLONASSADDBITS(5, _E) - GLONASSADDBITS(1, 0) /* GLONASS-M P4 */ - GLONASSADDBITS(4, 0) /* GLONASS-M FT */ - GLONASSADDBITS(11, 0) /* GLONASS-M NT */ - GLONASSADDBITS(2, 0) /* GLONASS-M active? */ - GLONASSADDBITS(1, 0) /* GLONASS additional data */ - GLONASSADDBITS(11, 0) /* GLONASS NA */ - GLONASSADDBITS(32, 0) /* GLONASS tau C */ - GLONASSADDBITS(5, 0) /* GLONASS-M N4 */ - GLONASSADDBITS(22, 0) /* GLONASS-M tau GPS */ - GLONASSADDBITS(1, 0) /* GLONASS-M ln(5) */ - GLONASSADDBITS(7, 0) /* Reserved */ - - startbuffer[0]=0xD3; - startbuffer[1]=(size >> 8); - startbuffer[2]=size; - unsigned long i = CRC24(size+3, startbuffer); - buffer[size++] = i >> 16; - buffer[size++] = i >> 8; - buffer[size++] = i; - size += 3; - return size; -} - -// Set Galileo Satellite Position -//////////////////////////////////////////////////////////////////////////// -void t_ephGal::set(const galileoephemeris* ee) { - - _receptDateTime = currentDateAndTimeGPS(); - - _prn = QString("E%1").arg(ee->satellite, 2, 10, QChar('0')); - - _TOC.set(ee->Week, ee->TOC); - _clock_bias = ee->clock_bias; - _clock_drift = ee->clock_drift; - _clock_driftrate = ee->clock_driftrate; - - _IODnav = ee->IODnav; - _Crs = ee->Crs; - _Delta_n = ee->Delta_n; - _M0 = ee->M0; - - _Cuc = ee->Cuc; - _e = ee->e; - _Cus = ee->Cus; - _sqrt_A = ee->sqrt_A; - - _TOEsec = _TOC.gpssec(); - //// _TOEsec = ee->TOE; //// TODO: - _Cic = ee->Cic; - _OMEGA0 = ee->OMEGA0; - _Cis = ee->Cis; - - _i0 = ee->i0; - _Crc = ee->Crc; - _omega = ee->omega; - _OMEGADOT = ee->OMEGADOT; - - _IDOT = ee->IDOT; - _TOEweek = ee->Week; - - _SISA = ee->SISA; - _E5aHS = ee->E5aHS; - _E5bHS = ee->E5bHS; - _BGD_1_5A = ee->BGD_1_5A; - _BGD_1_5B = ee->BGD_1_5B; - - _TOT = 0.9999e9; - - _flags = ee->flags; - - _ok = true; -} - -// Compute Galileo Satellite Position (virtual) -//////////////////////////////////////////////////////////////////////////// -void t_ephGal::position(int GPSweek, double GPSweeks, - double* xc, - double* vv) const { - - static const double omegaEarth = 7292115.1467e-11; - static const double gmWGS = 398.60044e12; - - memset(xc, 0, 4*sizeof(double)); - memset(vv, 0, 3*sizeof(double)); - - double a0 = _sqrt_A * _sqrt_A; - if (a0 == 0) { - return; - } - - 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 E_last; - do { - E_last = E; - E = M + _e*sin(E); - } 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 tc = tt - _TOC; - 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 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; - - // Relativistic Correction - // ----------------------- - // xc(4) -= 4.442807633e-10 * _e * sqrt(a0) *sin(E); - xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c; -} - -// build up RTCM3 for Galileo -//////////////////////////////////////////////////////////////////////////// -#define GALILEOTOINT(type, value) static_cast(round(value)) - -#define GALILEOADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \ - |(GALILEOTOINT(long long,b)&((1LL<= 8) { \ - buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}} -#define GALILEOADDBITSFLOAT(a,b,c) {long long i = GALILEOTOINT(long long,(b)/(c)); \ - GALILEOADDBITS(a,i)}; - -int t_ephGal::RTCM3(unsigned char *buffer) { - int size = 0; - int numbits = 0; - long long bitbuffer = 0; - unsigned char *startbuffer = buffer; - buffer= buffer+3; - - bool inav = ( (_flags & GALEPHF_INAV) == GALEPHF_INAV ); - - GALILEOADDBITS(12, inav ? 1046 : 1045) - GALILEOADDBITS(6, _prn.right((_prn.length()-1)).toInt()) - GALILEOADDBITS(12, _TOC.gpsw()) - GALILEOADDBITS(10, _IODnav) - GALILEOADDBITS(8, _SISA) - GALILEOADDBITSFLOAT(14, _IDOT, M_PI/static_cast(1<<30) - /static_cast(1<<13)) - GALILEOADDBITS(14, _TOC.gpssec()/60) - GALILEOADDBITSFLOAT(6, _clock_driftrate, 1.0/static_cast(1<<30) - /static_cast(1<<29)) - GALILEOADDBITSFLOAT(21, _clock_drift, 1.0/static_cast(1<<30) - /static_cast(1<<16)) - GALILEOADDBITSFLOAT(31, _clock_bias, 1.0/static_cast(1<<30) - /static_cast(1<<4)) - GALILEOADDBITSFLOAT(16, _Crs, 1.0/static_cast(1<<5)) - GALILEOADDBITSFLOAT(16, _Delta_n, M_PI/static_cast(1<<30) - /static_cast(1<<13)) - GALILEOADDBITSFLOAT(32, _M0, M_PI/static_cast(1<<30)/static_cast(1<<1)) - GALILEOADDBITSFLOAT(16, _Cuc, 1.0/static_cast(1<<29)) - GALILEOADDBITSFLOAT(32, _e, 1.0/static_cast(1<<30)/static_cast(1<<3)) - GALILEOADDBITSFLOAT(16, _Cus, 1.0/static_cast(1<<29)) - GALILEOADDBITSFLOAT(32, _sqrt_A, 1.0/static_cast(1<<19)) - GALILEOADDBITS(14, _TOEsec/60) - GALILEOADDBITSFLOAT(16, _Cic, 1.0/static_cast(1<<29)) - GALILEOADDBITSFLOAT(32, _OMEGA0, M_PI/static_cast(1<<30) - /static_cast(1<<1)) - GALILEOADDBITSFLOAT(16, _Cis, 1.0/static_cast(1<<29)) - GALILEOADDBITSFLOAT(32, _i0, M_PI/static_cast(1<<30)/static_cast(1<<1)) - GALILEOADDBITSFLOAT(16, _Crc, 1.0/static_cast(1<<5)) - GALILEOADDBITSFLOAT(32, _omega, M_PI/static_cast(1<<30) - /static_cast(1<<1)) - GALILEOADDBITSFLOAT(24, _OMEGADOT, M_PI/static_cast(1<<30) - /static_cast(1<<13)) - GALILEOADDBITSFLOAT(10, _BGD_1_5A, 1.0/static_cast(1<<30) - /static_cast(1<<2)) - if(inav) - { - GALILEOADDBITSFLOAT(10, _BGD_1_5B, 1.0/static_cast(1<<30) - /static_cast(1<<2)) - GALILEOADDBITS(2, static_cast(_E5bHS)) - GALILEOADDBITS(1, _flags & GALEPHF_E5BDINVALID) - } - else - { - GALILEOADDBITS(2, static_cast(_E5aHS)) - GALILEOADDBITS(1, _flags & GALEPHF_E5ADINVALID) - } - _TOEsec = 0.9999E9; - GALILEOADDBITS(20, _TOEsec) - - GALILEOADDBITS(inav ? 1 : 3, 0) - - startbuffer[0]=0xD3; - startbuffer[1]=(size >> 8); - startbuffer[2]=size; - unsigned long i = CRC24(size+3, startbuffer); - buffer[size++] = i >> 16; - buffer[size++] = i >> 8; - buffer[size++] = i; - size += 3; - return size; -} - -// Constructor -////////////////////////////////////////////////////////////////////////////// -t_ephGPS::t_ephGPS(float rnxVersion, const QStringList& lines) { - - const int nLines = 8; - - _ok = false; - - if (lines.size() != nLines) { - return; - } - - // RINEX Format - // ------------ - int fieldLen = 19; - - int pos[4]; - pos[0] = (rnxVersion <= 2.12) ? 3 : 4; - pos[1] = pos[0] + fieldLen; - pos[2] = pos[1] + fieldLen; - pos[3] = pos[2] + fieldLen; - - // Read eight lines - // ---------------- - for (int iLine = 0; iLine < nLines; iLine++) { - QString line = lines[iLine]; - - if ( iLine == 0 ) { - QTextStream in(line.left(pos[1]).toAscii()); - - int year, month, day, hour, min; - double sec; - - in >> _prn >> year >> month >> day >> hour >> min >> sec; - - if (_prn.at(0) != 'G') { - _prn = QString("G%1").arg(_prn.toInt(), 2, 10, QLatin1Char('0')); - } - - if (year < 80) { - year += 2000; - } - else if (year < 100) { - year += 1900; - } - - _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) ) { - return; - } - } - - else if ( iLine == 1 ) { - 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 ) ) { - return; - } - } - - 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) ) { - return; - } - } - - 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 ) ) { - return; - } - } - - 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) ) { - return; - } - } - - else if ( iLine == 5 ) { - 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) ) { - return; - } - } - - else if ( iLine == 6 ) { - 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 ) ) { - return; - } - } - - else if ( iLine == 7 ) { - if ( readDbl(line, pos[0], fieldLen, _TOT) ) { - return; - } - readDbl(line, pos[1], fieldLen, _fitInterval); // _fitInterval optional - } - } - - _ok = true; -} - -// Constructor -////////////////////////////////////////////////////////////////////////////// -t_ephGlo::t_ephGlo(float rnxVersion, const QStringList& lines) { - - const int nLines = 4; - - _ok = false; - - if (lines.size() != nLines) { - return; - } - - // RINEX Format - // ------------ - int fieldLen = 19; - - int pos[4]; - pos[0] = (rnxVersion <= 2.12) ? 3 : 4; - pos[1] = pos[0] + fieldLen; - pos[2] = pos[1] + fieldLen; - pos[3] = pos[2] + fieldLen; - - // Read four lines - // --------------- - for (int iLine = 0; iLine < nLines; iLine++) { - QString line = lines[iLine]; - - if ( iLine == 0 ) { - QTextStream in(line.left(pos[1]).toAscii()); - - int year, month, day, hour, min; - double sec; - - in >> _prn >> year >> month >> day >> hour >> min >> sec; - - if (_prn.at(0) != 'R') { - _prn = QString("R%1").arg(_prn.toInt(), 2, 10, QLatin1Char('0')); - } - - if (year < 80) { - year += 2000; - } - else if (year < 100) { - year += 1900; - } - - _gps_utc = gnumleap(year, month, day); - - _TOC.set(year, month, day, hour, min, sec); - _TOC = _TOC + _gps_utc; - - if ( readDbl(line, pos[1], fieldLen, _tau ) || - readDbl(line, pos[2], fieldLen, _gamma) || - readDbl(line, pos[3], fieldLen, _tki ) ) { - return; - } - - _tau = -_tau; - } - - 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 ) ) { - return; - } - } - - 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) ) { - return; - } - } - - 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 ) ) { - return; - } - } - } - - // Initialize status vector - // ------------------------ - _tt = _TOC; - _xv.ReSize(6); - _xv(1) = _x_pos * 1.e3; - _xv(2) = _y_pos * 1.e3; - _xv(3) = _z_pos * 1.e3; - _xv(4) = _x_velocity * 1.e3; - _xv(5) = _y_velocity * 1.e3; - _xv(6) = _z_velocity * 1.e3; - - _ok = true; -} - -// Constructor -////////////////////////////////////////////////////////////////////////////// -t_ephGal::t_ephGal(float rnxVersion, const QStringList& lines) { - - const int nLines = 8; - - _ok = false; - - if (lines.size() != nLines) { - return; - } - - // RINEX Format - // ------------ - int fieldLen = 19; - - int pos[4]; - pos[0] = (rnxVersion <= 2.12) ? 3 : 4; - pos[1] = pos[0] + fieldLen; - pos[2] = pos[1] + fieldLen; - pos[3] = pos[2] + fieldLen; - - // Read eight lines - // ---------------- - for (int iLine = 0; iLine < nLines; iLine++) { - QString line = lines[iLine]; - - if ( iLine == 0 ) { - QTextStream in(line.left(pos[1]).toAscii()); - - int year, month, day, hour, min; - double sec; - - in >> _prn >> year >> month >> day >> hour >> min >> sec; - - if (_prn.at(0) != 'E') { - _prn = QString("E%1").arg(_prn.toInt(), 2, 10, QLatin1Char('0')); - } - - if (year < 80) { - year += 2000; - } - else if (year < 100) { - year += 1900; - } - - _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) ) { - return; - } - } - - 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 ) ) { - return; - } - } - - 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) ) { - return; - } - } - - 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 ) ) { - return; - } - } - - 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) ) { - return; - } - } - - else if ( iLine == 5 ) { - if ( readDbl(line, pos[0], fieldLen, _IDOT ) || - readDbl(line, pos[2], fieldLen, _TOEweek) ) { - return; - } - } - - else if ( iLine == 6 ) { - if ( readDbl(line, pos[0], fieldLen, _SISA ) || - readDbl(line, pos[1], fieldLen, _E5aHS ) || - readDbl(line, pos[2], fieldLen, _BGD_1_5A) || - readDbl(line, pos[3], fieldLen, _BGD_1_5B) ) { - return; - } - } - - else if ( iLine == 7 ) { - if ( readDbl(line, pos[0], fieldLen, _TOT) ) { - return; - } - } - } - - _ok = true; -} - -// -////////////////////////////////////////////////////////////////////////////// -QString t_eph::rinexDateStr(const bncTime& tt, const QString& prn, - double version) { - - QString datStr; - - unsigned year, month, day, hour, min; - double sec; - tt.civil_date(year, month, day); - tt.civil_time(hour, min, sec); - - QTextStream out(&datStr); - - if (version < 3.0) { - QString prnHlp = prn.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 { - out << prn << 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')); - } - - return datStr; -} - -// RINEX Format String -////////////////////////////////////////////////////////////////////////////// -QString t_ephGPS::toString(double version) const { - - QString rnxStr = 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); - - QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n"; - - out << QString(fmt) - .arg(_IODE, 19, 'e', 12) - .arg(_Crs, 19, 'e', 12) - .arg(_Delta_n, 19, 'e', 12) - .arg(_M0, 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); - - 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(_i0, 19, 'e', 12) - .arg(_Crc, 19, 'e', 12) - .arg(_omega, 19, 'e', 12) - .arg(_OMEGADOT, 19, 'e', 12); - - out << QString(fmt) - .arg(_IDOT, 19, 'e', 12) - .arg(_L2Codes, 19, 'e', 12) - .arg(_TOEweek, 19, 'e', 12) - .arg(_L2PFlag, 19, 'e', 12); - - out << QString(fmt) - .arg(_ura, 19, 'e', 12) - .arg(_health, 19, 'e', 12) - .arg(_TGD, 19, 'e', 12) - .arg(_IODC, 19, 'e', 12); - - out << QString(fmt) - .arg(_TOT, 19, 'e', 12) - .arg(_fitInterval, 19, 'e', 12) - .arg("", 19, QChar(' ')) - .arg("", 19, QChar(' ')); - - return rnxStr; -} - -// RINEX Format String -////////////////////////////////////////////////////////////////////////////// -QString t_ephGlo::toString(double version) const { - - QString rnxStr = rinexDateStr(_TOC-_gps_utc, _prn, version); - - QTextStream out(&rnxStr); - - out << QString("%1%2%3\n") - .arg(-_tau, 19, 'e', 12) - .arg(_gamma, 19, 'e', 12) - .arg(_tki, 19, 'e', 12); - - QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n"; - - 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(_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(_z_pos, 19, 'e', 12) - .arg(_z_velocity, 19, 'e', 12) - .arg(_z_acceleration, 19, 'e', 12) - .arg(_E, 19, 'e', 12); - - return rnxStr; -} - -// RINEX Format String -////////////////////////////////////////////////////////////////////////////// -QString t_ephGal::toString(double version) const { - - QString rnxStr = 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); - - QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n"; - - 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(_Cuc, 19, 'e', 12) - .arg(_e, 19, 'e', 12) - .arg(_Cus, 19, 'e', 12) - .arg(_sqrt_A, 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); - - out << QString(fmt) - .arg(_i0, 19, 'e', 12) - .arg(_Crc, 19, 'e', 12) - .arg(_omega, 19, 'e', 12) - .arg(_OMEGADOT, 19, 'e', 12); - - int dataSource = 0; - double HS = 0.0; - if ( (_flags & GALEPHF_INAV) == GALEPHF_INAV ) { - dataSource |= (1<<0); - dataSource |= (1<<9); - HS = _E5bHS; - } - else if ( (_flags & GALEPHF_FNAV) == GALEPHF_FNAV ) { - dataSource |= (1<<1); - dataSource |= (1<<8); - HS = _E5aHS; - } - out << QString(fmt) - .arg(_IDOT, 19, 'e', 12) - .arg(double(dataSource), 19, 'e', 12) - .arg(_TOEweek, 19, 'e', 12) - .arg(0.0, 19, 'e', 12); - - out << QString(fmt) - .arg(_SISA, 19, 'e', 12) - .arg(HS, 19, 'e', 12) - .arg(_BGD_1_5A, 19, 'e', 12) - .arg(_BGD_1_5B, 19, 'e', 12); - - out << QString(fmt) - .arg(_TOT, 19, 'e', 12) - .arg("", 19, QChar(' ')) - .arg("", 19, QChar(' ')) - .arg("", 19, QChar(' ')); - - return rnxStr; -} - Index: trunk/BNC/src/RTCM3/ephemeris.h =================================================================== --- trunk/BNC/src/RTCM3/ephemeris.h (revision 5665) +++ (revision ) @@ -1,236 +1,0 @@ -#ifndef EPHEMERIS_H -#define EPHEMERIS_H - -#include -#include -#include -#include -#include "bnctime.h" -extern "C" { -#include "rtcm3torinex.h" -} - -class t_eph { - public: - - enum e_type {unknown, GPS, GLONASS, Galileo}; - - t_eph() {_ok = false;} - virtual ~t_eph() {}; - - static bool earlierTime(const t_eph* eph1, const t_eph* eph2) { - return eph1->_TOC < eph2->_TOC; - } - - virtual e_type type() const = 0; - virtual QString toString(double version) const = 0; - virtual void position(int GPSweek, double GPSweeks, - double* xc, double* vv) const = 0; - virtual int IOD() const = 0; - virtual int RTCM3(unsigned char *) = 0; - - bool ok() const {return _ok;} - bncTime TOC() const {return _TOC;} - bool isNewerThan(const t_eph* eph) const { - return earlierTime(eph, this); - } - QString prn() const {return _prn;} - const QDateTime& receptDateTime() const {return _receptDateTime;} - - void position(int GPSweek, double GPSweeks, - double& xx, double& yy, double& zz, double& cc) const { - double tmp_xx[4]; - double tmp_vv[4]; - position(GPSweek, GPSweeks, tmp_xx, tmp_vv); - - xx = tmp_xx[0]; - yy = tmp_xx[1]; - zz = tmp_xx[2]; - cc = tmp_xx[3]; - } - - static QString rinexDateStr(const bncTime& tt, const QString& prn, - double version); - - protected: - QString _prn; - bncTime _TOC; - QDateTime _receptDateTime; - bool _ok; -}; - - -class t_ephGPS : public t_eph { - public: - t_ephGPS() { } - t_ephGPS(float rnxVersion, const QStringList& lines); - virtual ~t_ephGPS() {} - - virtual e_type type() const {return t_eph::GPS;} - - virtual QString toString(double version) const; - - void set(const gpsephemeris* ee); - - virtual void position(int GPSweek, double GPSweeks, - double* xc, - double* vv) const; - - virtual int IOD() const { return static_cast(_IODC); } - - virtual int RTCM3(unsigned char *); - - double TGD() const {return _TGD;} // Timing Group Delay (P1-P2 DCB) - - private: - double _clock_bias; // [s] - double _clock_drift; // [s/s] - double _clock_driftrate; // [s/s^2] - - double _IODE; - double _Crs; // [m] - double _Delta_n; // [rad/s] - double _M0; // [rad] - - double _Cuc; // [rad] - double _e; // - double _Cus; // [rad] - double _sqrt_A; // [m^0.5] - - double _TOEsec; // [s] - double _Cic; // [rad] - double _OMEGA0; // [rad] - double _Cis; // [rad] - - double _i0; // [rad] - double _Crc; // [m] - double _omega; // [rad] - double _OMEGADOT; // [rad/s] - - double _IDOT; // [rad/s] - double _L2Codes; // Codes on L2 channel - double _TOEweek; - double _L2PFlag; // L2 P data flag - - double _ura; // SV accuracy - double _health; // SV health - double _TGD; // [s] - double _IODC; - - double _TOT; // Transmisstion time - double _fitInterval; // Fit interval -}; - -class t_ephGlo : public t_eph { - public: - t_ephGlo() { _xv.ReSize(6); } - t_ephGlo(float rnxVersion, const QStringList& lines); - - virtual ~t_ephGlo() {} - - virtual e_type type() const {return t_eph::GLONASS;} - - virtual QString toString(double version) const; - - virtual void position(int GPSweek, double GPSweeks, - double* xc, - double* vv) const; - - virtual int IOD() const; - - virtual int RTCM3(unsigned char *); - - void set(const glonassephemeris* ee); - - int slotNum() const {return int(_frequency_number);} - - private: - static ColumnVector glo_deriv(double /* tt */, const ColumnVector& xv, - double* acc); - - mutable bncTime _tt; // time - mutable ColumnVector _xv; // status vector (position, velocity) at time _tt - - double _gps_utc; - double _tau; // [s] - double _gamma; // - double _tki; // message frame time - - double _x_pos; // [km] - double _x_velocity; // [km/s] - double _x_acceleration; // [km/s^2] - double _health; // 0 = O.K. - - double _y_pos; // [km] - double _y_velocity; // [km/s] - double _y_acceleration; // [km/s^2] - double _frequency_number; // ICD-GLONASS data position - - double _z_pos; // [km] - double _z_velocity; // [km/s] - double _z_acceleration; // [km/s^2] - double _E; // Age of Information [days] -}; - -class t_ephGal : public t_eph { - public: - t_ephGal() { } - t_ephGal(float rnxVersion, const QStringList& lines); - virtual ~t_ephGal() {} - - virtual QString toString(double version) const; - - virtual e_type type() const {return t_eph::Galileo;} - - void set(const galileoephemeris* ee); - - virtual void position(int GPSweek, double GPSweeks, - double* xc, - double* vv) const; - - virtual int IOD() const { return static_cast(_IODnav); } - - virtual int RTCM3(unsigned char *); - - private: - double _clock_bias; // [s] - double _clock_drift; // [s/s] - double _clock_driftrate; // [s/s^2] - - double _IODnav; - double _Crs; // [m] - double _Delta_n; // [rad/s] - double _M0; // [rad] - - double _Cuc; // [rad] - double _e; // - double _Cus; // [rad] - double _sqrt_A; // [m^0.5] - - double _TOEsec; // [s] - double _Cic; // [rad] - double _OMEGA0; // [rad] - double _Cis; // [rad] - - double _i0; // [rad] - double _Crc; // [m] - double _omega; // [rad] - double _OMEGADOT; // [rad/s] - - double _IDOT; // [rad/s] - // - double _TOEweek; - // spare - - double _SISA; // Signal In Space Accuracy - double _E5aHS; // E5a Health Status - double _E5bHS; // E5a Health Status - double _BGD_1_5A; // group delay [s] - double _BGD_1_5B; // group delay [s] - - double _TOT; // [s] - - int _flags; -}; - -#endif Index: trunk/BNC/src/RTCM3/timeutils.cpp =================================================================== --- trunk/BNC/src/RTCM3/timeutils.cpp (revision 5665) +++ (revision ) @@ -1,133 +1,0 @@ -/* ----------------------------------------------------------------------------- - * - * Function : djul - * - * Purpose : computes the modified julian date (mjd) from - * year, month and day - * - * Author : Z. Lukes - * - * Created : 13-OCT-2001 - * - * Changes : - * - * ---------------------------------------------------------------------------*/ - -#include - -#ifndef NO_CVS_HEADER -static const char *const cvsid = "$Header: /home/cvs/cvsroot/gpss_src/cpp/src/common/rtgnss/timeutils.cpp,v 1.1 2007/04/02 16:30:26 cvs Exp $"; -#endif - -double djul(long jj, long mm, double tt) { - long ii, kk; - double djul ; - - if( mm <= 2 ) { - jj = jj - 1; - mm = mm + 12; - } - - ii = jj/100; - kk = 2 - ii + ii/4; - djul = (365.25*jj - fmod( 365.25*jj, 1.0 )) - 679006.0; - djul = djul + floor( 30.6001*(mm + 1) ) + tt + kk; - return djul; -} - -/* ----------------------------------------------------------------------------- - * - * Function : gpjd - * - * Purpose : computes the modified julian date (mjd) from - * gpsweek number and number of seconds past last - * saturday/sunday midnight - * - * Author : Z. Lukes - * - * Created : 13-OCT-2001 - * - * Changes : - * - * ---------------------------------------------------------------------------*/ - -double gpjd(double second, int nweek) { - double deltat; - - // days since starting epoch of gps weeks (sunday 06-jan-80) - - deltat = nweek*7.0 + second/86400.0 ; - - // mod. julian date - - return( 44244.0 + deltat) ; -} - -/* ----------------------------------------------------------------------------- - * - * Function : jdgp - * - * Purpose : compute number of seconds past midnight of last - * saturday/sunday and gps week number of current - * date given in modified julian date - * - * Author : Z. Lukes - * - * Created : 13-OCT-2001 - * - * Changes : - * - * ---------------------------------------------------------------------------*/ - -void jdgp(double tjul, double & second, long & nweek) { - double deltat; - - deltat = tjul - 44244.0 ; - - // current gps week - - nweek = (long) floor(deltat/7.0); - - // seconds past midnight of last weekend - - second = (deltat - (nweek)*7.0)*86400.0; - -} - -/* ----------------------------------------------------------------------------- - * - * Function : djul - * - * Purpose : compute year,month,day of month from - * modified julian date (mjd=jul. date-2400000.5) - * - * Author : Z. Lukes - * - * Created : 13-OCT-2001 - * - * Changes : - * - * ---------------------------------------------------------------------------*/ - -void jmt(double djul, long& jj, long& mm, double& dd) { - long ih, ih1, ih2 ; - double t1, t2, t3, t4; - - t1 = 1.0 + djul - fmod( djul, 1.0 ) + 2400000.0; - t4 = fmod( djul, 1.0 ); - ih = long( (t1 - 1867216.25)/36524.25 ); - t2 = t1 + 1 + ih - ih/4; - t3 = t2 - 1720995.0; - ih1 = long( (t3 - 122.1)/365.25 ); - t1 = 365.25*ih1 - fmod( 365.25*ih1, 1.0 ); - ih2 = long( (t3 - t1)/30.6001 ); - dd = t3 - t1 - (int)( 30.6001*ih2 ) + t4; - mm = ih2 - 1; - - if ( ih2 > 13 ) mm = ih2 - 13; - - jj = ih1; - - if ( mm <= 2 ) jj = jj + 1; - -} Index: trunk/BNC/src/RTCM3/timeutils.h =================================================================== --- trunk/BNC/src/RTCM3/timeutils.h (revision 5665) +++ (revision ) @@ -1,9 +1,0 @@ -#ifndef TIMEUTILS_H -#define TIMEUTILS_H - -double djul(long j1, long m1, double tt); -double gpjd(double second, int nweek) ; -void jdgp(double tjul, double & second, long & nweek); -void jmt (double djul, long& jj, long& mm, double& dd); - -#endif