Index: /trunk/BNC/src/RTCM3/RTCM3Decoder.cpp =================================================================== --- /trunk/BNC/src/RTCM3/RTCM3Decoder.cpp (revision 9764) +++ /trunk/BNC/src/RTCM3/RTCM3Decoder.cpp (revision 9765) @@ -1091,4 +1091,5 @@ eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.type()); eph._TOT = 0.9999e9; + eph._navType = t_eph::LNAV; emit newGPSEph(eph); @@ -1216,4 +1217,6 @@ _gloFrq = QString("%1 %2").arg(eph._prn.toString().c_str()).arg(eph._frequency_number, 2, 'f', 0); + eph._navType = t_eph::FDMA; + emit newGlonassEph(eph); decoded = true; @@ -1299,4 +1302,5 @@ eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.type()); eph._TOT = 0.9999e9; + eph._navType = t_eph::LNAV; emit newGPSEph(eph); @@ -1390,4 +1394,5 @@ SKIPBITS(2) eph._TOT = 0.9999e9; + eph._navType = t_eph::LNAV; emit newGPSEph(eph); @@ -1445,4 +1450,5 @@ eph._TOT = 0.9999E9; eph._health = 0; + eph._navType = t_eph::SBASL1; emit newSBASEph(eph); @@ -1529,4 +1535,5 @@ return false; } + eph._navType = t_eph::INAF; } else { @@ -1540,4 +1547,5 @@ GETBITS(eph._E5aHS, 2) GETBITS(eph._e5aDataInValid, 1) + eph._navType = t_eph::FNAV; } eph._TOT = 0.9999e9; @@ -1562,4 +1570,5 @@ bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size) { bool decoded = false; + const double iMaxGEO = 10.0 / 180.0 * M_PI; if (size == 70) { @@ -1622,4 +1631,12 @@ eph._TOT = 0.9999E9; + if (eph._i0 > iMaxGEO) { + eph._navType = t_eph::D1; + } + else { + eph._navType = t_eph::D2; + } + + emit newBDSEph(eph); decoded = true; Index: /trunk/BNC/src/bncconst.h =================================================================== --- /trunk/BNC/src/bncconst.h (revision 9764) +++ /trunk/BNC/src/bncconst.h (revision 9765) @@ -41,5 +41,5 @@ R4, // G1a / 1600.995 R2, // G2 / 1246 + k * 7/16 (k = -7 .. +12) - R6, // G1b / 1248.06 + R6, // G2a / 1248.06 R3, // G3 / 1202.025 // Galileo @@ -55,10 +55,10 @@ J6, // L6 / 1278.75 // BDS - C2, // B1-2 / 1561.098 - C1, // B1 / 1575.42 (BDS-3 signals) - C5, // B2a / 1176.45 (BDS-3 signals) - C7, // B2b / 1207.14 (BDS-2 signals) - C8, // B2 (B2a + B2b) / 1191.795 (BDS-3 signals) - C6, // B3 / 1268.52 + C2, // B1 / 1561.098 (BDS 2/3 signals) + C1, // B1C, B1A / 1575.42 (BDS-3 signals) + C5, // B2a / 1176.45 (BDS-3 signals) + C7, // B2, B2b / 1207.14 (BDS-2 signals) + C8, // B2(B2a+B2b) / 1191.795 (BDS-3 signals) + C6, // B3,B3A / 1268.52 // IRNSS I5, // L5 / 1176.45 Index: /trunk/BNC/src/bnccore.cpp =================================================================== --- /trunk/BNC/src/bnccore.cpp (revision 9764) +++ /trunk/BNC/src/bnccore.cpp (revision 9765) @@ -203,19 +203,22 @@ #ifdef BNC_DEBUG_BCEP if (eph->checkState() == t_eph::bad) { - messagePrivate(QString("%1: WRONG EPHEMERIS: %2") + messagePrivate(QString("%1: WRONG %2:%3") .arg(eph->receptStaID()) - .arg(eph->rinexDateStr(eph->TOC(), eph->prn(), 3.0)).toLatin1()); + .arg(eph->navTypeString(eph->navType(), eph->prn(), 99.0)) + .arg(eph->rinexDateStr(eph->TOC(), eph->prn(), 99.0)).toLatin1()); return failure; } else if (eph->checkState() == t_eph::outdated) { - messagePrivate(QString("%1: OUTDATED EPHEMERIS: %2") + messagePrivate(QString("%1: OUTDATED %2:%3") .arg(eph->receptStaID()) - .arg(eph->rinexDateStr(eph->TOC(), eph->prn(), 3.0)).toLatin1()); + .arg(eph->navTypeString(eph->navType(), eph->prn(), 99.0)) + .arg(eph->rinexDateStr(eph->TOC(), eph->prn(), 99.0)).toLatin1()); return failure; } else if (eph->checkState() == t_eph::unhealthy) { - messagePrivate(QString("%1: UNHEALTHY EPHEMERIS: %2") + messagePrivate(QString("%1: UNHEALTHY %2:%3") .arg(eph->receptStaID()) - .arg(eph->rinexDateStr(eph->TOC(), eph->prn(), 3.0)).toLatin1()); + .arg(eph->navTypeString(eph->navType(), eph->prn(), 99.0)) + .arg(eph->rinexDateStr(eph->TOC(), eph->prn(), 99.0)).toLatin1()); } #endif @@ -383,6 +386,10 @@ if (_rinexVers > 2) { if ( ! (appendFlagGPS & QIODevice::Append)) { + double rinexVersion = defaultRnxNavVersion4; + if (_rinexVers < 4.0) { + rinexVersion = defaultRnxNavVersion3; + } QString line = QString().asprintf("%9.2f%11sN: GNSS NAV DATA M: Mixed%12sRINEX VERSION / TYPE\n", - defaultRnxNavVersion3, "", ""); + rinexVersion, "", ""); *_ephStreamGPS << line; line.clear(); @@ -397,4 +404,10 @@ while (it.hasNext()) { *_ephStreamGPS << it.next().trimmed().left(60).leftJustified(60) << "COMMENT\n"; + } + + if (_rinexVers == 4) { + int leapSecs = gnumleap(datTim.date().year(), datTim.date().month(), datTim.date().day()); + *_ephStreamGPS << QString("%1").arg(leapSecs, 6, 10, QLatin1Char(' ')).left(60).leftJustified(60) + << "LEAP SECONDS\n"; } @@ -471,5 +484,5 @@ printOutputEph(printFile, _ephStreamGPS, strV2, strV3, strV4); } - else if (_rinexVers == 3) { + else if (_rinexVers >= 3) { printOutputEph(printFile, _ephStreamGPS, strV2, strV3, strV4); } Index: /trunk/BNC/src/ephemeris.cpp =================================================================== --- /trunk/BNC/src/ephemeris.cpp (revision 9764) +++ /trunk/BNC/src/ephemeris.cpp (revision 9765) @@ -21,4 +21,5 @@ t_eph::t_eph() { _checkState = unchecked; + _navType = undefined; _orbCorr = 0; _clkCorr = 0; @@ -104,4 +105,86 @@ 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 == "INAF") {_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; return failure;} + + return success; +} + +// +////////////////////////////////////////////////////////////////////////////// +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; + } // @@ -134,4 +217,13 @@ .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 { @@ -413,5 +505,6 @@ QString t_ephGPS::toString(double version) const { - QString rnxStr = rinexDateStr(_TOC, _prn, version); + QString navStr = navTypeString(_navType, _prn, version); + QString rnxStr = navStr + rinexDateStr(_TOC, _prn, version); QTextStream out(&rnxStr); @@ -720,5 +813,6 @@ QString t_ephGlo::toString(double version) const { - QString rnxStr = rinexDateStr(_TOC -_gps_utc, _prn, version); + 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); QTextStream out(&rnxStr); @@ -1139,5 +1233,6 @@ QString t_ephGal::toString(double version) const { - QString rnxStr = rinexDateStr(_TOC, _prn, version); + QString navStr = navTypeString(_navType, _prn, version); + QString rnxStr = navStr + rinexDateStr(_TOC, _prn, version); QTextStream out(&rnxStr); @@ -1439,5 +1534,6 @@ QString t_ephSBAS::toString(double version) const { - QString rnxStr = rinexDateStr(_TOC, _prn, version); + QString navStr = navTypeString(_navType, _prn, version); + QString rnxStr = navStr + rinexDateStr(_TOC, _prn, version); QTextStream out(&rnxStr); @@ -1794,5 +1890,6 @@ QString t_ephBDS::toString(double version) const { - QString rnxStr = rinexDateStr(_TOC-14.0, _prn, version); + QString navStr = navTypeString(_navType, _prn, version); + QString rnxStr = navStr + rinexDateStr(_TOC-14.0, _prn, version); QTextStream out(&rnxStr); Index: /trunk/BNC/src/ephemeris.h =================================================================== --- /trunk/BNC/src/ephemeris.h (revision 9764) +++ /trunk/BNC/src/ephemeris.h (revision 9765) @@ -19,4 +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}; t_eph(); @@ -30,22 +31,19 @@ bncTime TOC() const {return _TOC;} bool isNewerThan(const t_eph* eph) const {return earlierTime(eph, this);} + void setCheckState(e_checkState checkState) {_checkState = checkState;} e_checkState checkState() const {return _checkState;} QString checkStateToString() { switch (_checkState) { - case unchecked: - return "unchecked"; - case ok: - return "ok"; - case bad: - return "bad"; - case outdated: - return "outdated"; - case unhealthy: - return "unhealthy"; - default: - return "unknown"; + case unchecked: return "unchecked"; + case ok: return "ok"; + case bad: return "bad"; + case outdated: return "outdated"; + case unhealthy: return "unhealthy"; + default: return "unknown"; } } - void setCheckState(e_checkState checkState) {_checkState = checkState;} + 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; @@ -56,4 +54,5 @@ 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 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();} @@ -61,13 +60,13 @@ protected: virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const = 0; - t_prn _prn; - bncTime _TOC; - QDateTime _receptDateTime; - QString _receptStaID; - e_checkState _checkState; - t_orbCorr* _orbCorr; - t_clkCorr* _clkCorr; -}; - + t_prn _prn; + bncTime _TOC; + QDateTime _receptDateTime; + QString _receptStaID; + e_checkState _checkState; + e_navType _navType; // defined in RINEX 4 + t_orbCorr* _orbCorr; + t_clkCorr* _clkCorr; +}; class t_ephGPS : public t_eph { Index: /trunk/BNC/src/rinex/reqcedit.cpp =================================================================== --- /trunk/BNC/src/rinex/reqcedit.cpp (revision 9764) +++ /trunk/BNC/src/rinex/reqcedit.cpp (revision 9765) @@ -63,9 +63,12 @@ _outNavFileName = settings.value("reqcOutNavFile").toString(); int version = settings.value("reqcRnxVersion").toInt(); - if (version < 3) { + if (version == 2) { _rnxVersion = defaultRnxObsVersion2; } - else { + if (version == 3) { _rnxVersion = defaultRnxObsVersion3; + } + if (version == 4) { + _rnxVersion = defaultRnxObsVersion4; } _samplingRate = settings.value("reqcSampling").toString().split("sec").first().toDouble(); @@ -601,9 +604,19 @@ outNavFile.setGlonass(haveGlonass); - if ( (haveGPS && haveGlonass) || _rnxVersion >= 3.0) { + if (_rnxVersion < 3.0) { + if (haveGPS && haveGlonass) { + outNavFile.setVersion(defaultRnxNavVersion3); + } + if (haveGPS && !haveGlonass) { + outNavFile.setVersion(defaultRnxNavVersion2); + } + } + + if (_rnxVersion >= 3.0 && _rnxVersion < 4.0) { outNavFile.setVersion(defaultRnxNavVersion3); } - else { - outNavFile.setVersion(defaultRnxNavVersion2); + + if (_rnxVersion >= 4.0) { + outNavFile.setVersion(defaultRnxNavVersion4); } @@ -626,5 +639,12 @@ } - outNavFile.writeHeader(&txtMap); + int mergedNavFiles = _navFileNames.size(); + unsigned year, month, day; + int gps_utc = 0; + if (_ephs.size()) { + _ephs.at(0)->TOC().civil_date(year, month, day); + gps_utc = gnumleap(year, month, day); + } + outNavFile.writeHeader(&txtMap, mergedNavFiles, gps_utc); // Loop over all ephemerides @@ -645,4 +665,8 @@ } if (eph->checkState() == t_eph::bad) { + continue; + } + if (outNavFile.version() >= 4.0 && + eph->navType() == t_eph::undefined) { // input files < version 4.0 continue; } Index: /trunk/BNC/src/rinex/rnxnavfile.cpp =================================================================== --- /trunk/BNC/src/rinex/rnxnavfile.cpp (revision 9764) +++ /trunk/BNC/src/rinex/rnxnavfile.cpp (revision 9765) @@ -146,14 +146,40 @@ //////////////////////////////////////////////////////////////////////////// void t_rnxNavFile::read(QTextStream* stream) { + QString navTypeStr; while (stream->status() == QTextStream::Ok && !stream->atEnd()) { + QString line = stream->readLine(); if (line.isEmpty()) { continue; } + QStringList hlp = line.split(QRegExp("\\s+"), QString::SkipEmptyParts); + QString firstStr = hlp.at(0); QString prn; - if (version() >= 3.0) { - prn = hlp.at(0); + + if (version() >= 3.0 && firstStr != ">") { + prn = firstStr; + } + else if (version() >= 4.0 && firstStr == ">") { + int lines2skip = 0; + QString key = hlp.at(1); + // EPH is used + if (key == "EPH") { + navTypeStr = hlp.at(3); + } + // all others are currently ignored + else if (key == "STO") { + lines2skip = 2; + } + else if (key == "EOP" || key == "ION") { + lines2skip = 3; + } + if (lines2skip) { + for (int ii = 1; ii < lines2skip; ii++) { + stream->readLine(); + } + } + continue; } else { @@ -213,4 +239,13 @@ } eph = new t_ephGPS(version(), lines); + } + else { + continue; + } + if (version() >= 4.0) { + if (eph->setNavType(navTypeStr) != success) { + delete eph; + continue; + } } _ephs.push_back(eph); @@ -264,5 +299,5 @@ // //////////////////////////////////////////////////////////////////////////// -void t_rnxNavFile::writeHeader(const QMap* txtMap) { +void t_rnxNavFile::writeHeader(const QMap* txtMap, int numMergedFiles, int leapSecs) { QString runBy = BNC_CORE->userName(); @@ -334,4 +369,12 @@ << "PGM / RUN BY / DATE\n"; + if (version() >= 4.0) { + *_stream << QString("%1").arg(leapSecs, 6, 10, QLatin1Char(' ')).left(60).leftJustified(60) + << "LEAP SECONDS\n"; + + *_stream << QString("%1").arg(numMergedFiles, 19, 10, QLatin1Char(' ')).leftJustified(60) + << "MERGED FILE\n"; + } + QStringListIterator itCmnt(comments); while (itCmnt.hasNext()) { @@ -339,4 +382,5 @@ } + *_stream << QString() .leftJustified(60) Index: /trunk/BNC/src/rinex/rnxnavfile.h =================================================================== --- /trunk/BNC/src/rinex/rnxnavfile.h (revision 9764) +++ /trunk/BNC/src/rinex/rnxnavfile.h (revision 9765) @@ -25,5 +25,5 @@ #ifndef RNXNAVFILE_H #define RNXNAVFILE_H - +#include #include #include @@ -35,5 +35,5 @@ class bncPPPclient; class t_eph; - +using namespace std; #define defaultRnxNavVersion2 2.11 #define defaultRnxNavVersion3 3.05 @@ -68,5 +68,5 @@ void setGlonass(bool glo) {_header._glonass = glo;} void setGnssTypeV3(t_eph::e_type sys) {_header._satSys = sys;} - void writeHeader(const QMap* txtMap = 0); + void writeHeader(const QMap* txtMap = 0, int numMergedFiles = 0, int leapSecs = 0); void writeEph(const t_eph* eph);