source: ntrip/branches/BNC_2.11.0/src/RTCM3/ephemeris.cpp@ 6107

Last change on this file since 6107 was 5542, checked in by mervart, 11 years ago
File size: 37.8 KB
Line 
1#include <math.h>
2#include <sstream>
3#include <iostream>
4#include <iomanip>
5#include <cstring>
6
7#include <newmatio.h>
8
9#include "ephemeris.h"
10#include "bncutils.h"
11#include "timeutils.h"
12#include "bnctime.h"
13#include "bnccore.h"
14
15using namespace std;
16
17// Returns CRC24
18////////////////////////////////////////////////////////////////////////////
19static unsigned long CRC24(long size, const unsigned char *buf) {
20 unsigned long crc = 0;
21 int ii;
22 while (size--) {
23 crc ^= (*buf++) << (16);
24 for(ii = 0; ii < 8; ii++) {
25 crc <<= 1;
26 if (crc & 0x1000000) {
27 crc ^= 0x01864cfb;
28 }
29 }
30 }
31 return crc;
32}
33
34// Set GPS Satellite Position
35////////////////////////////////////////////////////////////////////////////
36void t_ephGPS::set(const gpsephemeris* ee) {
37
38 _receptDateTime = currentDateAndTimeGPS();
39
40 _prn = QString("G%1").arg(ee->satellite, 2, 10, QChar('0'));
41
42 _TOC.set(ee->GPSweek, ee->TOC);
43 _clock_bias = ee->clock_bias;
44 _clock_drift = ee->clock_drift;
45 _clock_driftrate = ee->clock_driftrate;
46
47 _IODE = ee->IODE;
48 _Crs = ee->Crs;
49 _Delta_n = ee->Delta_n;
50 _M0 = ee->M0;
51
52 _Cuc = ee->Cuc;
53 _e = ee->e;
54 _Cus = ee->Cus;
55 _sqrt_A = ee->sqrt_A;
56
57 _TOEsec = ee->TOE;
58 _Cic = ee->Cic;
59 _OMEGA0 = ee->OMEGA0;
60 _Cis = ee->Cis;
61
62 _i0 = ee->i0;
63 _Crc = ee->Crc;
64 _omega = ee->omega;
65 _OMEGADOT = ee->OMEGADOT;
66
67 _IDOT = ee->IDOT;
68 _L2Codes = 0.0;
69 _TOEweek = ee->GPSweek;
70 _L2PFlag = 0.0;
71
72 if (ee->URAindex <= 6) {
73 _ura = ceil(10.0*pow(2.0, 1.0+((double)ee->URAindex)/2.0))/10.0;
74 }
75 else {
76 _ura = ceil(10.0*pow(2.0, ((double)ee->URAindex)/2.0))/10.0;
77 }
78 _health = ee->SVhealth;
79 _TGD = ee->TGD;
80 _IODC = ee->IODC;
81
82 _TOT = 0.9999e9;
83 _fitInterval = 0.0;
84
85 _ok = true;
86}
87
88// Compute GPS Satellite Position (virtual)
89////////////////////////////////////////////////////////////////////////////
90void t_ephGPS::position(int GPSweek, double GPSweeks,
91 double* xc,
92 double* vv) const {
93
94
95 static const double omegaEarth = 7292115.1467e-11;
96 static const double gmGRS = 398.6005e12;
97
98 memset(xc, 0, 4*sizeof(double));
99 memset(vv, 0, 3*sizeof(double));
100
101 double a0 = _sqrt_A * _sqrt_A;
102 if (a0 == 0) {
103 return;
104 }
105
106 double n0 = sqrt(gmGRS/(a0*a0*a0));
107
108 bncTime tt(GPSweek, GPSweeks);
109 double tk = tt - bncTime(int(_TOEweek), _TOEsec);
110
111 double n = n0 + _Delta_n;
112 double M = _M0 + n*tk;
113 double E = M;
114 double E_last;
115 do {
116 E_last = E;
117 E = M + _e*sin(E);
118 } while ( fabs(E-E_last)*a0 > 0.001 );
119 double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
120 double u0 = v + _omega;
121 double sin2u0 = sin(2*u0);
122 double cos2u0 = cos(2*u0);
123 double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
124 double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
125 double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
126 double xp = r*cos(u);
127 double yp = r*sin(u);
128 double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
129 omegaEarth*_TOEsec;
130
131 double sinom = sin(OM);
132 double cosom = cos(OM);
133 double sini = sin(i);
134 double cosi = cos(i);
135 xc[0] = xp*cosom - yp*cosi*sinom;
136 xc[1] = xp*sinom + yp*cosi*cosom;
137 xc[2] = yp*sini;
138
139 double tc = tt - _TOC;
140 xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
141
142 // Velocity
143 // --------
144 double tanv2 = tan(v/2);
145 double dEdM = 1 / (1 - _e*cos(E));
146 double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
147 * dEdM * n;
148 double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
149 double dotom = _OMEGADOT - omegaEarth;
150 double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
151 double dotr = a0 * _e*sin(E) * dEdM * n
152 + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
153 double dotx = dotr*cos(u) - r*sin(u)*dotu;
154 double doty = dotr*sin(u) + r*cos(u)*dotu;
155
156 vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
157 - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
158 + yp*sini*sinom*doti; // dX / di
159
160 vv[1] = sinom *dotx + cosi*cosom *doty
161 + xp*cosom*dotom - yp*cosi*sinom*dotom
162 - yp*sini*cosom*doti;
163
164 vv[2] = sini *doty + yp*cosi *doti;
165
166 // Relativistic Correction
167 // -----------------------
168 xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
169}
170
171// build up RTCM3 for GPS
172////////////////////////////////////////////////////////////////////////////
173#define GPSTOINT(type, value) static_cast<type>(round(value))
174
175#define GPSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
176 |(GPSTOINT(long long,b)&((1ULL<<a)-1)); \
177 numbits += (a); \
178 while(numbits >= 8) { \
179 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
180
181#define GPSADDBITSFLOAT(a,b,c) {long long i = GPSTOINT(long long,(b)/(c)); \
182 GPSADDBITS(a,i)};
183
184int t_ephGPS::RTCM3(unsigned char *buffer) {
185
186 unsigned char *startbuffer = buffer;
187 buffer= buffer+3;
188 int size = 0;
189 int numbits = 0;
190 unsigned long long bitbuffer = 0;
191 if (_ura <= 2.40){
192 _ura = 0;
193 }
194 else if (_ura <= 3.40){
195 _ura = 1;
196 }
197 else if (_ura <= 6.85){
198 _ura = 2;
199 }
200 else if (_ura <= 9.65){
201 _ura = 3;
202 }
203 else if (_ura <= 13.65){
204 _ura = 4;
205 }
206 else if (_ura <= 24.00){
207 _ura = 5;
208 }
209 else if (_ura <= 48.00){
210 _ura = 6;
211 }
212 else if (_ura <= 96.00){
213 _ura = 7;
214 }
215 else if (_ura <= 192.00){
216 _ura = 8;
217 }
218 else if (_ura <= 384.00){
219 _ura = 9;
220 }
221 else if (_ura <= 768.00){
222 _ura = 10;
223 }
224 else if (_ura <= 1536.00){
225 _ura = 11;
226 }
227 else if (_ura <= 1536.00){
228 _ura = 12;
229 }
230 else if (_ura <= 2072.00){
231 _ura = 13;
232 }
233 else if (_ura <= 6144.00){
234 _ura = 14;
235 }
236 else{
237 _ura = 15;
238 }
239
240 GPSADDBITS(12, 1019)
241 GPSADDBITS(6,_prn.right((_prn.length()-1)).toInt())
242 GPSADDBITS(10, _TOC.gpsw())
243 GPSADDBITS(4, _ura)
244 GPSADDBITS(2,_L2Codes)
245 GPSADDBITSFLOAT(14, _IDOT, M_PI/static_cast<double>(1<<30)
246 /static_cast<double>(1<<13))
247 GPSADDBITS(8, _IODE)
248 GPSADDBITS(16, static_cast<int>(_TOC.gpssec())>>4)
249 GPSADDBITSFLOAT(8, _clock_driftrate, 1.0/static_cast<double>(1<<30)
250 /static_cast<double>(1<<25))
251 GPSADDBITSFLOAT(16, _clock_drift, 1.0/static_cast<double>(1<<30)
252 /static_cast<double>(1<<13))
253 GPSADDBITSFLOAT(22, _clock_bias, 1.0/static_cast<double>(1<<30)
254 /static_cast<double>(1<<1))
255 GPSADDBITS(10, _IODC)
256 GPSADDBITSFLOAT(16, _Crs, 1.0/static_cast<double>(1<<5))
257 GPSADDBITSFLOAT(16, _Delta_n, M_PI/static_cast<double>(1<<30)
258 /static_cast<double>(1<<13))
259 GPSADDBITSFLOAT(32, _M0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
260 GPSADDBITSFLOAT(16, _Cuc, 1.0/static_cast<double>(1<<29))
261 GPSADDBITSFLOAT(32, _e, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
262 GPSADDBITSFLOAT(16, _Cus, 1.0/static_cast<double>(1<<29))
263 GPSADDBITSFLOAT(32, _sqrt_A, 1.0/static_cast<double>(1<<19))
264 GPSADDBITS(16, static_cast<int>(_TOEsec)>>4)
265 GPSADDBITSFLOAT(16, _Cic, 1.0/static_cast<double>(1<<29))
266 GPSADDBITSFLOAT(32, _OMEGA0, M_PI/static_cast<double>(1<<30)
267 /static_cast<double>(1<<1))
268 GPSADDBITSFLOAT(16, _Cis, 1.0/static_cast<double>(1<<29))
269 GPSADDBITSFLOAT(32, _i0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
270 GPSADDBITSFLOAT(16, _Crc, 1.0/static_cast<double>(1<<5))
271 GPSADDBITSFLOAT(32, _omega, M_PI/static_cast<double>(1<<30)
272 /static_cast<double>(1<<1))
273 GPSADDBITSFLOAT(24, _OMEGADOT, M_PI/static_cast<double>(1<<30)
274 /static_cast<double>(1<<13))
275 GPSADDBITSFLOAT(8, _TGD, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
276 GPSADDBITS(6, _health)
277 GPSADDBITS(1, _L2PFlag)
278 GPSADDBITS(1, 0) /* GPS fit interval */
279
280 startbuffer[0]=0xD3;
281 startbuffer[1]=(size >> 8);
282 startbuffer[2]=size;
283 unsigned long i = CRC24(size+3, startbuffer);
284 buffer[size++] = i >> 16;
285 buffer[size++] = i >> 8;
286 buffer[size++] = i;
287 size += 3;
288 return size;
289}
290
291// Derivative of the state vector using a simple force model (static)
292////////////////////////////////////////////////////////////////////////////
293ColumnVector t_ephGlo::glo_deriv(double /* tt */, const ColumnVector& xv,
294 double* acc) {
295
296 // State vector components
297 // -----------------------
298 ColumnVector rr = xv.rows(1,3);
299 ColumnVector vv = xv.rows(4,6);
300
301 // Acceleration
302 // ------------
303 static const double gmWGS = 398.60044e12;
304 static const double AE = 6378136.0;
305 static const double OMEGA = 7292115.e-11;
306 static const double C20 = -1082.6257e-6;
307
308 double rho = rr.norm_Frobenius();
309 double t1 = -gmWGS/(rho*rho*rho);
310 double t2 = 3.0/2.0 * C20 * (gmWGS*AE*AE) / (rho*rho*rho*rho*rho);
311 double t3 = OMEGA * OMEGA;
312 double t4 = 2.0 * OMEGA;
313 double z2 = rr(3) * rr(3);
314
315 // Vector of derivatives
316 // ---------------------
317 ColumnVector va(6);
318 va(1) = vv(1);
319 va(2) = vv(2);
320 va(3) = vv(3);
321 va(4) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(1) + t4*vv(2) + acc[0];
322 va(5) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(2) - t4*vv(1) + acc[1];
323 va(6) = (t1 + t2*(3.0-5.0*z2/(rho*rho)) ) * rr(3) + acc[2];
324
325 return va;
326}
327
328// Compute Glonass Satellite Position (virtual)
329////////////////////////////////////////////////////////////////////////////
330void t_ephGlo::position(int GPSweek, double GPSweeks,
331 double* xc, double* vv) const {
332
333 static const double nominalStep = 10.0;
334
335 memset(xc, 0, 4*sizeof(double));
336 memset(vv, 0, 3*sizeof(double));
337
338 double dtPos = bncTime(GPSweek, GPSweeks) - _tt;
339
340 int nSteps = int(fabs(dtPos) / nominalStep) + 1;
341 double step = dtPos / nSteps;
342
343 double acc[3];
344 acc[0] = _x_acceleration * 1.e3;
345 acc[1] = _y_acceleration * 1.e3;
346 acc[2] = _z_acceleration * 1.e3;
347 for (int ii = 1; ii <= nSteps; ii++) {
348 _xv = rungeKutta4(_tt.gpssec(), _xv, step, acc, glo_deriv);
349 _tt = _tt + step;
350 }
351
352 // Position and Velocity
353 // ---------------------
354 xc[0] = _xv(1);
355 xc[1] = _xv(2);
356 xc[2] = _xv(3);
357
358 vv[0] = _xv(4);
359 vv[1] = _xv(5);
360 vv[2] = _xv(6);
361
362 // Clock Correction
363 // ----------------
364 double dtClk = bncTime(GPSweek, GPSweeks) - _TOC;
365 xc[3] = -_tau + _gamma * dtClk;
366}
367
368// IOD of Glonass Ephemeris (virtual)
369////////////////////////////////////////////////////////////////////////////
370int t_ephGlo::IOD() const {
371 bncTime tMoscow = _TOC - _gps_utc + 3 * 3600.0;
372 return int(tMoscow.daysec() / 900);
373}
374
375// Set Glonass Ephemeris
376////////////////////////////////////////////////////////////////////////////
377void t_ephGlo::set(const glonassephemeris* ee) {
378
379 _receptDateTime = currentDateAndTimeGPS();
380
381 _prn = QString("R%1").arg(ee->almanac_number, 2, 10, QChar('0'));
382
383 int ww = ee->GPSWeek;
384 int tow = ee->GPSTOW;
385 updatetime(&ww, &tow, ee->tb*1000, 0); // Moscow -> GPS
386
387 // Check the day once more
388 // -----------------------
389 bool timeChanged = false;
390 {
391 const double secPerDay = 24 * 3600.0;
392 const double secPerWeek = 7 * secPerDay;
393 int ww_old = ww;
394 int tow_old = tow;
395 int currentWeek;
396 double currentSec;
397 currentGPSWeeks(currentWeek, currentSec);
398 bncTime currentTime(currentWeek, currentSec);
399 bncTime hTime(ww, (double) tow);
400
401 if (hTime - currentTime > secPerDay/2.0) {
402 timeChanged = true;
403 tow -= int(secPerDay);
404 if (tow < 0) {
405 tow += int(secPerWeek);
406 ww -= 1;
407 }
408 }
409 else if (hTime - currentTime < -secPerDay/2.0) {
410 timeChanged = true;
411 tow += int(secPerDay);
412 if (tow > secPerWeek) {
413 tow -= int(secPerWeek);
414 ww += 1;
415 }
416 }
417
418 if (false && timeChanged && BNC_CORE->mode() == t_bncCore::batchPostProcessing) {
419 bncTime newHTime(ww, (double) tow);
420 cout << "GLONASS " << ee->almanac_number << " Time Changed at "
421 << currentTime.datestr() << " " << currentTime.timestr()
422 << endl
423 << "old: " << hTime.datestr() << " " << hTime.timestr()
424 << endl
425 << "new: " << newHTime.datestr() << " " << newHTime.timestr()
426 << endl
427 << "eph: " << ee->GPSWeek << " " << ee->GPSTOW << " " << ee->tb
428 << endl
429 << "ww, tow (old): " << ww_old << " " << tow_old
430 << endl
431 << "ww, tow (new): " << ww << " " << tow
432 << endl << endl;
433 }
434 }
435
436 bncTime hlpTime(ww, (double) tow);
437 unsigned year, month, day;
438 hlpTime.civil_date(year, month, day);
439 _gps_utc = gnumleap(year, month, day);
440
441 _TOC.set(ww, tow);
442 _E = ee->E;
443 _tau = ee->tau;
444 _gamma = ee->gamma;
445 _x_pos = ee->x_pos;
446 _x_velocity = ee->x_velocity;
447 _x_acceleration = ee->x_acceleration;
448 _y_pos = ee->y_pos;
449 _y_velocity = ee->y_velocity;
450 _y_acceleration = ee->y_acceleration;
451 _z_pos = ee->z_pos;
452 _z_velocity = ee->z_velocity;
453 _z_acceleration = ee->z_acceleration;
454 _health = 0;
455 _frequency_number = ee->frequency_number;
456 _tki = ee->tk-3*60*60; if (_tki < 0) _tki += 86400;
457
458 // Initialize status vector
459 // ------------------------
460 _tt = _TOC;
461
462 _xv(1) = _x_pos * 1.e3;
463 _xv(2) = _y_pos * 1.e3;
464 _xv(3) = _z_pos * 1.e3;
465 _xv(4) = _x_velocity * 1.e3;
466 _xv(5) = _y_velocity * 1.e3;
467 _xv(6) = _z_velocity * 1.e3;
468
469 _ok = true;
470}
471
472// build up RTCM3 for GLONASS
473////////////////////////////////////////////////////////////////////////////
474#define GLONASSTOINT(type, value) static_cast<type>(round(value))
475
476#define GLONASSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
477 |(GLONASSTOINT(long long,b)&((1ULL<<(a))-1)); \
478 numbits += (a); \
479 while(numbits >= 8) { \
480 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
481#define GLONASSADDBITSFLOATM(a,b,c) {int s; long long i; \
482 if(b < 0.0) \
483 { \
484 s = 1; \
485 i = GLONASSTOINT(long long,(-b)/(c)); \
486 if(!i) s = 0; \
487 } \
488 else \
489 { \
490 s = 0; \
491 i = GLONASSTOINT(long long,(b)/(c)); \
492 } \
493 GLONASSADDBITS(1,s) \
494 GLONASSADDBITS(a-1,i)}
495
496int t_ephGlo::RTCM3(unsigned char *buffer)
497{
498
499 int size = 0;
500 int numbits = 0;
501 long long bitbuffer = 0;
502 unsigned char *startbuffer = buffer;
503 buffer= buffer+3;
504
505 GLONASSADDBITS(12, 1020)
506 GLONASSADDBITS(6, _prn.right((_prn.length()-1)).toInt())
507 GLONASSADDBITS(5, 7+_frequency_number)
508 GLONASSADDBITS(1, 0)
509 GLONASSADDBITS(1, 0)
510 GLONASSADDBITS(2, 0)
511 _tki=_tki+3*60*60;
512 GLONASSADDBITS(5, static_cast<int>(_tki)/(60*60))
513 GLONASSADDBITS(6, (static_cast<int>(_tki)/60)%60)
514 GLONASSADDBITS(1, (static_cast<int>(_tki)/30)%30)
515 GLONASSADDBITS(1, _health)
516 GLONASSADDBITS(1, 0)
517 unsigned long long timeofday = (static_cast<int>(_tt.gpssec()+3*60*60-_gps_utc)%86400);
518 GLONASSADDBITS(7, timeofday/60/15)
519 GLONASSADDBITSFLOATM(24, _x_velocity*1000, 1000.0/static_cast<double>(1<<20))
520 GLONASSADDBITSFLOATM(27, _x_pos*1000, 1000.0/static_cast<double>(1<<11))
521 GLONASSADDBITSFLOATM(5, _x_acceleration*1000, 1000.0/static_cast<double>(1<<30))
522 GLONASSADDBITSFLOATM(24, _y_velocity*1000, 1000.0/static_cast<double>(1<<20))
523 GLONASSADDBITSFLOATM(27, _y_pos*1000, 1000.0/static_cast<double>(1<<11))
524 GLONASSADDBITSFLOATM(5, _y_acceleration*1000, 1000.0/static_cast<double>(1<<30))
525 GLONASSADDBITSFLOATM(24, _z_velocity*1000, 1000.0/static_cast<double>(1<<20))
526 GLONASSADDBITSFLOATM(27,_z_pos*1000, 1000.0/static_cast<double>(1<<11))
527 GLONASSADDBITSFLOATM(5, _z_acceleration*1000, 1000.0/static_cast<double>(1<<30))
528 GLONASSADDBITS(1, 0)
529 GLONASSADDBITSFLOATM(11, _gamma, 1.0/static_cast<double>(1<<30)
530 /static_cast<double>(1<<10))
531 GLONASSADDBITS(2, 0) /* GLONASS-M P */
532 GLONASSADDBITS(1, 0) /* GLONASS-M ln(3) */
533 GLONASSADDBITSFLOATM(22, _tau, 1.0/static_cast<double>(1<<30))
534 GLONASSADDBITS(5, 0) /* GLONASS-M delta tau */
535 GLONASSADDBITS(5, _E)
536 GLONASSADDBITS(1, 0) /* GLONASS-M P4 */
537 GLONASSADDBITS(4, 0) /* GLONASS-M FT */
538 GLONASSADDBITS(11, 0) /* GLONASS-M NT */
539 GLONASSADDBITS(2, 0) /* GLONASS-M active? */
540 GLONASSADDBITS(1, 0) /* GLONASS additional data */
541 GLONASSADDBITS(11, 0) /* GLONASS NA */
542 GLONASSADDBITS(32, 0) /* GLONASS tau C */
543 GLONASSADDBITS(5, 0) /* GLONASS-M N4 */
544 GLONASSADDBITS(22, 0) /* GLONASS-M tau GPS */
545 GLONASSADDBITS(1, 0) /* GLONASS-M ln(5) */
546 GLONASSADDBITS(7, 0) /* Reserved */
547
548 startbuffer[0]=0xD3;
549 startbuffer[1]=(size >> 8);
550 startbuffer[2]=size;
551 unsigned long i = CRC24(size+3, startbuffer);
552 buffer[size++] = i >> 16;
553 buffer[size++] = i >> 8;
554 buffer[size++] = i;
555 size += 3;
556 return size;
557}
558
559// Set Galileo Satellite Position
560////////////////////////////////////////////////////////////////////////////
561void t_ephGal::set(const galileoephemeris* ee) {
562
563 _receptDateTime = currentDateAndTimeGPS();
564
565 _prn = QString("E%1").arg(ee->satellite, 2, 10, QChar('0'));
566
567 _TOC.set(ee->Week, ee->TOC);
568 _clock_bias = ee->clock_bias;
569 _clock_drift = ee->clock_drift;
570 _clock_driftrate = ee->clock_driftrate;
571
572 _IODnav = ee->IODnav;
573 _Crs = ee->Crs;
574 _Delta_n = ee->Delta_n;
575 _M0 = ee->M0;
576
577 _Cuc = ee->Cuc;
578 _e = ee->e;
579 _Cus = ee->Cus;
580 _sqrt_A = ee->sqrt_A;
581
582 _TOEsec = _TOC.gpssec();
583 //// _TOEsec = ee->TOE; //// TODO:
584 _Cic = ee->Cic;
585 _OMEGA0 = ee->OMEGA0;
586 _Cis = ee->Cis;
587
588 _i0 = ee->i0;
589 _Crc = ee->Crc;
590 _omega = ee->omega;
591 _OMEGADOT = ee->OMEGADOT;
592
593 _IDOT = ee->IDOT;
594 _TOEweek = ee->Week;
595
596 _SISA = ee->SISA;
597 _E5aHS = ee->E5aHS;
598 _E5bHS = ee->E5bHS;
599 _BGD_1_5A = ee->BGD_1_5A;
600 _BGD_1_5B = ee->BGD_1_5B;
601
602 _TOT = 0.9999e9;
603
604 _flags = ee->flags;
605
606 _ok = true;
607}
608
609// Compute Galileo Satellite Position (virtual)
610////////////////////////////////////////////////////////////////////////////
611void t_ephGal::position(int GPSweek, double GPSweeks,
612 double* xc,
613 double* vv) const {
614
615 static const double omegaEarth = 7292115.1467e-11;
616 static const double gmWGS = 398.60044e12;
617
618 memset(xc, 0, 4*sizeof(double));
619 memset(vv, 0, 3*sizeof(double));
620
621 double a0 = _sqrt_A * _sqrt_A;
622 if (a0 == 0) {
623 return;
624 }
625
626 double n0 = sqrt(gmWGS/(a0*a0*a0));
627
628 bncTime tt(GPSweek, GPSweeks);
629 double tk = tt - bncTime(_TOC.gpsw(), _TOEsec);
630
631 double n = n0 + _Delta_n;
632 double M = _M0 + n*tk;
633 double E = M;
634 double E_last;
635 do {
636 E_last = E;
637 E = M + _e*sin(E);
638 } while ( fabs(E-E_last)*a0 > 0.001 );
639 double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
640 double u0 = v + _omega;
641 double sin2u0 = sin(2*u0);
642 double cos2u0 = cos(2*u0);
643 double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
644 double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
645 double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
646 double xp = r*cos(u);
647 double yp = r*sin(u);
648 double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
649 omegaEarth*_TOEsec;
650
651 double sinom = sin(OM);
652 double cosom = cos(OM);
653 double sini = sin(i);
654 double cosi = cos(i);
655 xc[0] = xp*cosom - yp*cosi*sinom;
656 xc[1] = xp*sinom + yp*cosi*cosom;
657 xc[2] = yp*sini;
658
659 double tc = tt - _TOC;
660 xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
661
662 // Velocity
663 // --------
664 double tanv2 = tan(v/2);
665 double dEdM = 1 / (1 - _e*cos(E));
666 double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
667 * dEdM * n;
668 double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
669 double dotom = _OMEGADOT - omegaEarth;
670 double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
671 double dotr = a0 * _e*sin(E) * dEdM * n
672 + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
673 double dotx = dotr*cos(u) - r*sin(u)*dotu;
674 double doty = dotr*sin(u) + r*cos(u)*dotu;
675
676 vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
677 - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
678 + yp*sini*sinom*doti; // dX / di
679
680 vv[1] = sinom *dotx + cosi*cosom *doty
681 + xp*cosom*dotom - yp*cosi*sinom*dotom
682 - yp*sini*cosom*doti;
683
684 vv[2] = sini *doty + yp*cosi *doti;
685
686 // Relativistic Correction
687 // -----------------------
688 // xc(4) -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
689 xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
690}
691
692// build up RTCM3 for Galileo
693////////////////////////////////////////////////////////////////////////////
694#define GALILEOTOINT(type, value) static_cast<type>(round(value))
695
696#define GALILEOADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
697 |(GALILEOTOINT(long long,b)&((1LL<<a)-1)); \
698 numbits += (a); \
699 while(numbits >= 8) { \
700 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
701#define GALILEOADDBITSFLOAT(a,b,c) {long long i = GALILEOTOINT(long long,(b)/(c)); \
702 GALILEOADDBITS(a,i)};
703
704int t_ephGal::RTCM3(unsigned char *buffer) {
705 int size = 0;
706 int numbits = 0;
707 long long bitbuffer = 0;
708 unsigned char *startbuffer = buffer;
709 buffer= buffer+3;
710
711 bool inav = ( (_flags & GALEPHF_INAV) == GALEPHF_INAV );
712
713 GALILEOADDBITS(12, inav ? 1046 : 1045)
714 GALILEOADDBITS(6, _prn.right((_prn.length()-1)).toInt())
715 GALILEOADDBITS(12, _TOC.gpsw())
716 GALILEOADDBITS(10, _IODnav)
717 GALILEOADDBITS(8, _SISA)
718 GALILEOADDBITSFLOAT(14, _IDOT, M_PI/static_cast<double>(1<<30)
719 /static_cast<double>(1<<13))
720 GALILEOADDBITS(14, _TOC.gpssec()/60)
721 GALILEOADDBITSFLOAT(6, _clock_driftrate, 1.0/static_cast<double>(1<<30)
722 /static_cast<double>(1<<29))
723 GALILEOADDBITSFLOAT(21, _clock_drift, 1.0/static_cast<double>(1<<30)
724 /static_cast<double>(1<<16))
725 GALILEOADDBITSFLOAT(31, _clock_bias, 1.0/static_cast<double>(1<<30)
726 /static_cast<double>(1<<4))
727 GALILEOADDBITSFLOAT(16, _Crs, 1.0/static_cast<double>(1<<5))
728 GALILEOADDBITSFLOAT(16, _Delta_n, M_PI/static_cast<double>(1<<30)
729 /static_cast<double>(1<<13))
730 GALILEOADDBITSFLOAT(32, _M0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
731 GALILEOADDBITSFLOAT(16, _Cuc, 1.0/static_cast<double>(1<<29))
732 GALILEOADDBITSFLOAT(32, _e, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
733 GALILEOADDBITSFLOAT(16, _Cus, 1.0/static_cast<double>(1<<29))
734 GALILEOADDBITSFLOAT(32, _sqrt_A, 1.0/static_cast<double>(1<<19))
735 GALILEOADDBITS(14, _TOEsec/60)
736 GALILEOADDBITSFLOAT(16, _Cic, 1.0/static_cast<double>(1<<29))
737 GALILEOADDBITSFLOAT(32, _OMEGA0, M_PI/static_cast<double>(1<<30)
738 /static_cast<double>(1<<1))
739 GALILEOADDBITSFLOAT(16, _Cis, 1.0/static_cast<double>(1<<29))
740 GALILEOADDBITSFLOAT(32, _i0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
741 GALILEOADDBITSFLOAT(16, _Crc, 1.0/static_cast<double>(1<<5))
742 GALILEOADDBITSFLOAT(32, _omega, M_PI/static_cast<double>(1<<30)
743 /static_cast<double>(1<<1))
744 GALILEOADDBITSFLOAT(24, _OMEGADOT, M_PI/static_cast<double>(1<<30)
745 /static_cast<double>(1<<13))
746 GALILEOADDBITSFLOAT(10, _BGD_1_5A, 1.0/static_cast<double>(1<<30)
747 /static_cast<double>(1<<2))
748 if(inav)
749 {
750 GALILEOADDBITSFLOAT(10, _BGD_1_5B, 1.0/static_cast<double>(1<<30)
751 /static_cast<double>(1<<2))
752 GALILEOADDBITS(2, static_cast<int>(_E5bHS))
753 GALILEOADDBITS(1, _flags & GALEPHF_E5BDINVALID)
754 }
755 else
756 {
757 GALILEOADDBITS(2, static_cast<int>(_E5aHS))
758 GALILEOADDBITS(1, _flags & GALEPHF_E5ADINVALID)
759 }
760 _TOEsec = 0.9999E9;
761 GALILEOADDBITS(20, _TOEsec)
762
763 GALILEOADDBITS(inav ? 1 : 3, 0)
764
765 startbuffer[0]=0xD3;
766 startbuffer[1]=(size >> 8);
767 startbuffer[2]=size;
768 unsigned long i = CRC24(size+3, startbuffer);
769 buffer[size++] = i >> 16;
770 buffer[size++] = i >> 8;
771 buffer[size++] = i;
772 size += 3;
773 return size;
774}
775
776// Constructor
777//////////////////////////////////////////////////////////////////////////////
778t_ephGPS::t_ephGPS(float rnxVersion, const QStringList& lines) {
779
780 const int nLines = 8;
781
782 _ok = false;
783
784 if (lines.size() != nLines) {
785 return;
786 }
787
788 // RINEX Format
789 // ------------
790 int fieldLen = 19;
791
792 int pos[4];
793 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
794 pos[1] = pos[0] + fieldLen;
795 pos[2] = pos[1] + fieldLen;
796 pos[3] = pos[2] + fieldLen;
797
798 // Read eight lines
799 // ----------------
800 for (int iLine = 0; iLine < nLines; iLine++) {
801 QString line = lines[iLine];
802
803 if ( iLine == 0 ) {
804 QTextStream in(line.left(pos[1]).toAscii());
805
806 int year, month, day, hour, min;
807 double sec;
808
809 in >> _prn >> year >> month >> day >> hour >> min >> sec;
810
811 if (_prn.at(0) != 'G') {
812 _prn = QString("G%1").arg(_prn.toInt(), 2, 10, QLatin1Char('0'));
813 }
814
815 if (year < 80) {
816 year += 2000;
817 }
818 else if (year < 100) {
819 year += 1900;
820 }
821
822 _TOC.set(year, month, day, hour, min, sec);
823
824 if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
825 readDbl(line, pos[2], fieldLen, _clock_drift ) ||
826 readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
827 return;
828 }
829 }
830
831 else if ( iLine == 1 ) {
832 if ( readDbl(line, pos[0], fieldLen, _IODE ) ||
833 readDbl(line, pos[1], fieldLen, _Crs ) ||
834 readDbl(line, pos[2], fieldLen, _Delta_n) ||
835 readDbl(line, pos[3], fieldLen, _M0 ) ) {
836 return;
837 }
838 }
839
840 else if ( iLine == 2 ) {
841 if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
842 readDbl(line, pos[1], fieldLen, _e ) ||
843 readDbl(line, pos[2], fieldLen, _Cus ) ||
844 readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
845 return;
846 }
847 }
848
849 else if ( iLine == 3 ) {
850 if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
851 readDbl(line, pos[1], fieldLen, _Cic ) ||
852 readDbl(line, pos[2], fieldLen, _OMEGA0) ||
853 readDbl(line, pos[3], fieldLen, _Cis ) ) {
854 return;
855 }
856 }
857
858 else if ( iLine == 4 ) {
859 if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
860 readDbl(line, pos[1], fieldLen, _Crc ) ||
861 readDbl(line, pos[2], fieldLen, _omega ) ||
862 readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
863 return;
864 }
865 }
866
867 else if ( iLine == 5 ) {
868 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
869 readDbl(line, pos[1], fieldLen, _L2Codes) ||
870 readDbl(line, pos[2], fieldLen, _TOEweek ) ||
871 readDbl(line, pos[3], fieldLen, _L2PFlag) ) {
872 return;
873 }
874 }
875
876 else if ( iLine == 6 ) {
877 if ( readDbl(line, pos[0], fieldLen, _ura ) ||
878 readDbl(line, pos[1], fieldLen, _health) ||
879 readDbl(line, pos[2], fieldLen, _TGD ) ||
880 readDbl(line, pos[3], fieldLen, _IODC ) ) {
881 return;
882 }
883 }
884
885 else if ( iLine == 7 ) {
886 if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
887 return;
888 }
889 readDbl(line, pos[1], fieldLen, _fitInterval); // _fitInterval optional
890 }
891 }
892
893 _ok = true;
894}
895
896// Constructor
897//////////////////////////////////////////////////////////////////////////////
898t_ephGlo::t_ephGlo(float rnxVersion, const QStringList& lines) {
899
900 const int nLines = 4;
901
902 _ok = false;
903
904 if (lines.size() != nLines) {
905 return;
906 }
907
908 // RINEX Format
909 // ------------
910 int fieldLen = 19;
911
912 int pos[4];
913 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
914 pos[1] = pos[0] + fieldLen;
915 pos[2] = pos[1] + fieldLen;
916 pos[3] = pos[2] + fieldLen;
917
918 // Read four lines
919 // ---------------
920 for (int iLine = 0; iLine < nLines; iLine++) {
921 QString line = lines[iLine];
922
923 if ( iLine == 0 ) {
924 QTextStream in(line.left(pos[1]).toAscii());
925
926 int year, month, day, hour, min;
927 double sec;
928
929 in >> _prn >> year >> month >> day >> hour >> min >> sec;
930
931 if (_prn.at(0) != 'R') {
932 _prn = QString("R%1").arg(_prn.toInt(), 2, 10, QLatin1Char('0'));
933 }
934
935 if (year < 80) {
936 year += 2000;
937 }
938 else if (year < 100) {
939 year += 1900;
940 }
941
942 _gps_utc = gnumleap(year, month, day);
943
944 _TOC.set(year, month, day, hour, min, sec);
945 _TOC = _TOC + _gps_utc;
946
947 if ( readDbl(line, pos[1], fieldLen, _tau ) ||
948 readDbl(line, pos[2], fieldLen, _gamma) ||
949 readDbl(line, pos[3], fieldLen, _tki ) ) {
950 return;
951 }
952
953 _tau = -_tau;
954 }
955
956 else if ( iLine == 1 ) {
957 if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
958 readDbl(line, pos[1], fieldLen, _x_velocity ) ||
959 readDbl(line, pos[2], fieldLen, _x_acceleration) ||
960 readDbl(line, pos[3], fieldLen, _health ) ) {
961 return;
962 }
963 }
964
965 else if ( iLine == 2 ) {
966 if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
967 readDbl(line, pos[1], fieldLen, _y_velocity ) ||
968 readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
969 readDbl(line, pos[3], fieldLen, _frequency_number) ) {
970 return;
971 }
972 }
973
974 else if ( iLine == 3 ) {
975 if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
976 readDbl(line, pos[1], fieldLen, _z_velocity ) ||
977 readDbl(line, pos[2], fieldLen, _z_acceleration) ||
978 readDbl(line, pos[3], fieldLen, _E ) ) {
979 return;
980 }
981 }
982 }
983
984 // Initialize status vector
985 // ------------------------
986 _tt = _TOC;
987 _xv.ReSize(6);
988 _xv(1) = _x_pos * 1.e3;
989 _xv(2) = _y_pos * 1.e3;
990 _xv(3) = _z_pos * 1.e3;
991 _xv(4) = _x_velocity * 1.e3;
992 _xv(5) = _y_velocity * 1.e3;
993 _xv(6) = _z_velocity * 1.e3;
994
995 _ok = true;
996}
997
998// Constructor
999//////////////////////////////////////////////////////////////////////////////
1000t_ephGal::t_ephGal(float rnxVersion, const QStringList& lines) {
1001
1002 const int nLines = 8;
1003
1004 _ok = false;
1005
1006 if (lines.size() != nLines) {
1007 return;
1008 }
1009
1010 // RINEX Format
1011 // ------------
1012 int fieldLen = 19;
1013
1014 int pos[4];
1015 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
1016 pos[1] = pos[0] + fieldLen;
1017 pos[2] = pos[1] + fieldLen;
1018 pos[3] = pos[2] + fieldLen;
1019
1020 // Read eight lines
1021 // ----------------
1022 for (int iLine = 0; iLine < nLines; iLine++) {
1023 QString line = lines[iLine];
1024
1025 if ( iLine == 0 ) {
1026 QTextStream in(line.left(pos[1]).toAscii());
1027
1028 int year, month, day, hour, min;
1029 double sec;
1030
1031 in >> _prn >> year >> month >> day >> hour >> min >> sec;
1032
1033 if (_prn.at(0) != 'E') {
1034 _prn = QString("E%1").arg(_prn.toInt(), 2, 10, QLatin1Char('0'));
1035 }
1036
1037 if (year < 80) {
1038 year += 2000;
1039 }
1040 else if (year < 100) {
1041 year += 1900;
1042 }
1043
1044 _TOC.set(year, month, day, hour, min, sec);
1045
1046 if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
1047 readDbl(line, pos[2], fieldLen, _clock_drift ) ||
1048 readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
1049 return;
1050 }
1051 }
1052
1053 else if ( iLine == 1 ) {
1054 if ( readDbl(line, pos[0], fieldLen, _IODnav ) ||
1055 readDbl(line, pos[1], fieldLen, _Crs ) ||
1056 readDbl(line, pos[2], fieldLen, _Delta_n) ||
1057 readDbl(line, pos[3], fieldLen, _M0 ) ) {
1058 return;
1059 }
1060 }
1061
1062 else if ( iLine == 2 ) {
1063 if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
1064 readDbl(line, pos[1], fieldLen, _e ) ||
1065 readDbl(line, pos[2], fieldLen, _Cus ) ||
1066 readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
1067 return;
1068 }
1069 }
1070
1071 else if ( iLine == 3 ) {
1072 if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
1073 readDbl(line, pos[1], fieldLen, _Cic ) ||
1074 readDbl(line, pos[2], fieldLen, _OMEGA0) ||
1075 readDbl(line, pos[3], fieldLen, _Cis ) ) {
1076 return;
1077 }
1078 }
1079
1080 else if ( iLine == 4 ) {
1081 if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
1082 readDbl(line, pos[1], fieldLen, _Crc ) ||
1083 readDbl(line, pos[2], fieldLen, _omega ) ||
1084 readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
1085 return;
1086 }
1087 }
1088
1089 else if ( iLine == 5 ) {
1090 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
1091 readDbl(line, pos[2], fieldLen, _TOEweek) ) {
1092 return;
1093 }
1094 }
1095
1096 else if ( iLine == 6 ) {
1097 if ( readDbl(line, pos[0], fieldLen, _SISA ) ||
1098 readDbl(line, pos[1], fieldLen, _E5aHS ) ||
1099 readDbl(line, pos[2], fieldLen, _BGD_1_5A) ||
1100 readDbl(line, pos[3], fieldLen, _BGD_1_5B) ) {
1101 return;
1102 }
1103 }
1104
1105 else if ( iLine == 7 ) {
1106 if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
1107 return;
1108 }
1109 }
1110 }
1111
1112 _ok = true;
1113}
1114
1115//
1116//////////////////////////////////////////////////////////////////////////////
1117QString t_eph::rinexDateStr(const bncTime& tt, const QString& prn,
1118 double version) {
1119
1120 QString datStr;
1121
1122 unsigned year, month, day, hour, min;
1123 double sec;
1124 tt.civil_date(year, month, day);
1125 tt.civil_time(hour, min, sec);
1126
1127 QTextStream out(&datStr);
1128
1129 if (version < 3.0) {
1130 QString prnHlp = prn.mid(1,2); if (prnHlp[0] == '0') prnHlp[0] = ' ';
1131 out << prnHlp << QString(" %1 %2 %3 %4 %5%6")
1132 .arg(year % 100, 2, 10, QChar('0'))
1133 .arg(month, 2)
1134 .arg(day, 2)
1135 .arg(hour, 2)
1136 .arg(min, 2)
1137 .arg(sec, 5, 'f',1);
1138 }
1139 else {
1140 out << prn << QString(" %1 %2 %3 %4 %5 %6")
1141 .arg(year, 4)
1142 .arg(month, 2, 10, QChar('0'))
1143 .arg(day, 2, 10, QChar('0'))
1144 .arg(hour, 2, 10, QChar('0'))
1145 .arg(min, 2, 10, QChar('0'))
1146 .arg(int(sec), 2, 10, QChar('0'));
1147 }
1148
1149 return datStr;
1150}
1151
1152// RINEX Format String
1153//////////////////////////////////////////////////////////////////////////////
1154QString t_ephGPS::toString(double version) const {
1155
1156 QString rnxStr = rinexDateStr(_TOC, _prn, version);
1157
1158 QTextStream out(&rnxStr);
1159
1160 out << QString("%1%2%3\n")
1161 .arg(_clock_bias, 19, 'e', 12)
1162 .arg(_clock_drift, 19, 'e', 12)
1163 .arg(_clock_driftrate, 19, 'e', 12);
1164
1165 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1166
1167 out << QString(fmt)
1168 .arg(_IODE, 19, 'e', 12)
1169 .arg(_Crs, 19, 'e', 12)
1170 .arg(_Delta_n, 19, 'e', 12)
1171 .arg(_M0, 19, 'e', 12);
1172
1173 out << QString(fmt)
1174 .arg(_Cuc, 19, 'e', 12)
1175 .arg(_e, 19, 'e', 12)
1176 .arg(_Cus, 19, 'e', 12)
1177 .arg(_sqrt_A, 19, 'e', 12);
1178
1179 out << QString(fmt)
1180 .arg(_TOEsec, 19, 'e', 12)
1181 .arg(_Cic, 19, 'e', 12)
1182 .arg(_OMEGA0, 19, 'e', 12)
1183 .arg(_Cis, 19, 'e', 12);
1184
1185 out << QString(fmt)
1186 .arg(_i0, 19, 'e', 12)
1187 .arg(_Crc, 19, 'e', 12)
1188 .arg(_omega, 19, 'e', 12)
1189 .arg(_OMEGADOT, 19, 'e', 12);
1190
1191 out << QString(fmt)
1192 .arg(_IDOT, 19, 'e', 12)
1193 .arg(_L2Codes, 19, 'e', 12)
1194 .arg(_TOEweek, 19, 'e', 12)
1195 .arg(_L2PFlag, 19, 'e', 12);
1196
1197 out << QString(fmt)
1198 .arg(_ura, 19, 'e', 12)
1199 .arg(_health, 19, 'e', 12)
1200 .arg(_TGD, 19, 'e', 12)
1201 .arg(_IODC, 19, 'e', 12);
1202
1203 out << QString(fmt)
1204 .arg(_TOT, 19, 'e', 12)
1205 .arg(_fitInterval, 19, 'e', 12)
1206 .arg("", 19, QChar(' '))
1207 .arg("", 19, QChar(' '));
1208
1209 return rnxStr;
1210}
1211
1212// RINEX Format String
1213//////////////////////////////////////////////////////////////////////////////
1214QString t_ephGlo::toString(double version) const {
1215
1216 QString rnxStr = rinexDateStr(_TOC-_gps_utc, _prn, version);
1217
1218 QTextStream out(&rnxStr);
1219
1220 out << QString("%1%2%3\n")
1221 .arg(-_tau, 19, 'e', 12)
1222 .arg(_gamma, 19, 'e', 12)
1223 .arg(_tki, 19, 'e', 12);
1224
1225 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1226
1227 out << QString(fmt)
1228 .arg(_x_pos, 19, 'e', 12)
1229 .arg(_x_velocity, 19, 'e', 12)
1230 .arg(_x_acceleration, 19, 'e', 12)
1231 .arg(_health, 19, 'e', 12);
1232
1233 out << QString(fmt)
1234 .arg(_y_pos, 19, 'e', 12)
1235 .arg(_y_velocity, 19, 'e', 12)
1236 .arg(_y_acceleration, 19, 'e', 12)
1237 .arg(_frequency_number, 19, 'e', 12);
1238
1239 out << QString(fmt)
1240 .arg(_z_pos, 19, 'e', 12)
1241 .arg(_z_velocity, 19, 'e', 12)
1242 .arg(_z_acceleration, 19, 'e', 12)
1243 .arg(_E, 19, 'e', 12);
1244
1245 return rnxStr;
1246}
1247
1248// RINEX Format String
1249//////////////////////////////////////////////////////////////////////////////
1250QString t_ephGal::toString(double version) const {
1251
1252 QString rnxStr = rinexDateStr(_TOC, _prn, version);
1253
1254 QTextStream out(&rnxStr);
1255
1256 out << QString("%1%2%3\n")
1257 .arg(_clock_bias, 19, 'e', 12)
1258 .arg(_clock_drift, 19, 'e', 12)
1259 .arg(_clock_driftrate, 19, 'e', 12);
1260
1261 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1262
1263 out << QString(fmt)
1264 .arg(_IODnav, 19, 'e', 12)
1265 .arg(_Crs, 19, 'e', 12)
1266 .arg(_Delta_n, 19, 'e', 12)
1267 .arg(_M0, 19, 'e', 12);
1268
1269 out << QString(fmt)
1270 .arg(_Cuc, 19, 'e', 12)
1271 .arg(_e, 19, 'e', 12)
1272 .arg(_Cus, 19, 'e', 12)
1273 .arg(_sqrt_A, 19, 'e', 12);
1274
1275 out << QString(fmt)
1276 .arg(_TOEsec, 19, 'e', 12)
1277 .arg(_Cic, 19, 'e', 12)
1278 .arg(_OMEGA0, 19, 'e', 12)
1279 .arg(_Cis, 19, 'e', 12);
1280
1281 out << QString(fmt)
1282 .arg(_i0, 19, 'e', 12)
1283 .arg(_Crc, 19, 'e', 12)
1284 .arg(_omega, 19, 'e', 12)
1285 .arg(_OMEGADOT, 19, 'e', 12);
1286
1287 int dataSource = 0;
1288 double HS = 0.0;
1289 if ( (_flags & GALEPHF_INAV) == GALEPHF_INAV ) {
1290 dataSource |= (1<<0);
1291 dataSource |= (1<<9);
1292 HS = _E5bHS;
1293 }
1294 else if ( (_flags & GALEPHF_FNAV) == GALEPHF_FNAV ) {
1295 dataSource |= (1<<1);
1296 dataSource |= (1<<8);
1297 HS = _E5aHS;
1298 }
1299 out << QString(fmt)
1300 .arg(_IDOT, 19, 'e', 12)
1301 .arg(double(dataSource), 19, 'e', 12)
1302 .arg(_TOEweek, 19, 'e', 12)
1303 .arg(0.0, 19, 'e', 12);
1304
1305 out << QString(fmt)
1306 .arg(_SISA, 19, 'e', 12)
1307 .arg(HS, 19, 'e', 12)
1308 .arg(_BGD_1_5A, 19, 'e', 12)
1309 .arg(_BGD_1_5B, 19, 'e', 12);
1310
1311 out << QString(fmt)
1312 .arg(_TOT, 19, 'e', 12)
1313 .arg("", 19, QChar(' '))
1314 .arg("", 19, QChar(' '))
1315 .arg("", 19, QChar(' '));
1316
1317 return rnxStr;
1318}
1319
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