1 | // Part of BNC, a utility for retrieving decoding and
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2 | // converting GNSS data streams from NTRIP broadcasters.
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3 | //
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4 | // Copyright (C) 2007
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5 | // German Federal Agency for Cartography and Geodesy (BKG)
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6 | // http://www.bkg.bund.de
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7 | // Czech Technical University Prague, Department of Geodesy
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8 | // http://www.fsv.cvut.cz
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9 | //
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10 | // Email: euref-ip@bkg.bund.de
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11 | //
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12 | // This program is free software; you can redistribute it and/or
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13 | // modify it under the terms of the GNU General Public License
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14 | // as published by the Free Software Foundation, version 2.
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15 | //
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16 | // This program is distributed in the hope that it will be useful,
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17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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19 | // GNU General Public License for more details.
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20 | //
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21 | // You should have received a copy of the GNU General Public License
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22 | // along with this program; if not, write to the Free Software
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23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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24 |
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25 | /* -------------------------------------------------------------------------
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26 | * BKG NTRIP Client
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27 | * -------------------------------------------------------------------------
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28 | *
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29 | * Class: RTCM3coDecoder
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30 | *
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31 | * Purpose: RTCM3 Clock Orbit Decoder
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32 | *
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33 | * Author: L. Mervart
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34 | *
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35 | * Created: 05-May-2008
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36 | *
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37 | * Changes:
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38 | *
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39 | * -----------------------------------------------------------------------*/
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40 |
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41 | #include <stdio.h>
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42 | #include <math.h>
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43 |
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44 | #include "RTCM3coDecoder.h"
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45 | #include "bncutils.h"
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46 | #include "bncrinex.h"
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47 | #include "bnccore.h"
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48 | #include "bncsettings.h"
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49 | #include "bnctime.h"
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50 |
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51 | using namespace std;
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52 |
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53 | // Constructor
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54 | ////////////////////////////////////////////////////////////////////////////
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55 | RTCM3coDecoder::RTCM3coDecoder(const QString& staID) {
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56 |
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57 | _staID = staID;
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58 |
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59 | // File Output
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60 | // -----------
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61 | bncSettings settings;
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62 | QString path = settings.value("corrPath").toString();
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63 | if (!path.isEmpty()) {
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64 | expandEnvVar(path);
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65 | if ( path.length() > 0 && path[path.length()-1] != QDir::separator() ) {
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66 | path += QDir::separator();
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67 | }
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68 | _fileNameSkl = path + staID;
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69 | }
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70 | _out = 0;
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71 |
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72 | connect(this, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
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73 | BNC_CORE, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
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74 |
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75 | connect(this, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
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76 | BNC_CORE, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
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77 |
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78 | connect(this, SIGNAL(newCodeBiases(QList<t_satCodeBias>)),
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79 | BNC_CORE, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)));
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80 |
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81 | connect(this, SIGNAL(newPhaseBiases(QList<t_satPhaseBias>)),
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82 | BNC_CORE, SLOT(slotNewPhaseBiases(QList<t_satPhaseBias>)));
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83 |
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84 | connect(this, SIGNAL(newTec(t_vTec)),
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85 | BNC_CORE, SLOT(slotNewTec(t_vTec)));
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86 |
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87 | connect(this, SIGNAL(providerIDChanged(QString)),
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88 | BNC_CORE, SIGNAL(providerIDChanged(QString)));
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89 |
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90 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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91 | BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
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92 |
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93 | reset();
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94 |
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95 | _providerID[0] = -1;
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96 | _providerID[1] = -1;
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97 | _providerID[2] = -1;
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98 | }
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99 |
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100 | // Destructor
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101 | ////////////////////////////////////////////////////////////////////////////
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102 | RTCM3coDecoder::~RTCM3coDecoder() {
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103 | delete _out;
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104 | _IODs.clear();
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105 | _orbCorrections.clear();
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106 | _clkCorrections.clear();
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107 | _lastClkCorrections.clear();
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108 | _codeBiases.clear();
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109 | _phaseBiases.clear();
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110 | _vTecMap.clear();
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111 | }
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112 |
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113 | //
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114 | ////////////////////////////////////////////////////////////////////////////
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115 | void RTCM3coDecoder::reset() {
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116 | memset(&_clkOrb, 0, sizeof(_clkOrb));
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117 | memset(&_codeBias, 0, sizeof(_codeBias));
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118 | memset(&_phaseBias, 0, sizeof(_phaseBias));
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119 | memset(&_vTEC, 0, sizeof(_vTEC));
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120 | }
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121 |
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122 | // Reopen Output File
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123 | ////////////////////////////////////////////////////////////////////////
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124 | void RTCM3coDecoder::reopen() {
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125 |
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126 | if (!_fileNameSkl.isEmpty()) {
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127 |
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128 | bncSettings settings;
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129 |
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130 | QDateTime datTim = currentDateAndTimeGPS();
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131 |
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132 | QString hlpStr = bncRinex::nextEpochStr(datTim,
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133 | settings.value("corrIntr").toString(), false);
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134 |
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135 | QString fileNameHlp = _fileNameSkl
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136 | + QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0'))
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137 | + hlpStr + datTim.toString(".yyC");
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138 |
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139 | if (_fileName == fileNameHlp) {
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140 | return;
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141 | }
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142 | else {
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143 | _fileName = fileNameHlp;
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144 | }
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145 |
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146 | delete _out;
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147 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
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148 | _out = new ofstream( _fileName.toAscii().data(), ios_base::out | ios_base::app );
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149 | }
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150 | else {
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151 | _out = new ofstream( _fileName.toAscii().data() );
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152 | }
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153 | }
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154 | }
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155 |
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156 | //
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157 | ////////////////////////////////////////////////////////////////////////////
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158 | t_irc RTCM3coDecoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
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159 |
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160 | errmsg.clear();
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161 |
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162 | _buffer.append(QByteArray(buffer,bufLen));
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163 |
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164 | t_irc retCode = failure;
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165 |
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166 | while(_buffer.size()) {
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167 |
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168 | struct ClockOrbit clkOrbSav;
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169 | struct CodeBias codeBiasSav;
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170 | struct PhaseBias phaseBiasSav;
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171 | struct VTEC vTECSav;
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172 | memcpy(&clkOrbSav, &_clkOrb, sizeof(clkOrbSav)); // save state
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173 | memcpy(&codeBiasSav, &_codeBias, sizeof(codeBiasSav));
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174 | memcpy(&phaseBiasSav, &_phaseBias, sizeof(phaseBiasSav));
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175 | memcpy(&vTECSav, &_vTEC, sizeof(vTECSav));
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176 |
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177 | int bytesused = 0;
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178 | GCOB_RETURN irc = GetSSR(&_clkOrb, &_codeBias, &_vTEC, &_phaseBias,
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179 | _buffer.data(), _buffer.size(), &bytesused);
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180 |
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181 | if (irc <= -30) { // not enough data - restore state and exit loop
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182 | memcpy(&_clkOrb, &clkOrbSav, sizeof(clkOrbSav));
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183 | memcpy(&_codeBias, &codeBiasSav, sizeof(codeBiasSav));
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184 | memcpy(&_phaseBias, &phaseBiasSav, sizeof(phaseBiasSav));
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185 | memcpy(&_vTEC, &vTECSav, sizeof(vTECSav));
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186 | break;
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187 | }
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188 |
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189 | else if (irc < 0) { // error - skip 1 byte and retry
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190 | reset();
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191 | _buffer = _buffer.mid(bytesused ? bytesused : 1);
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192 | }
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193 |
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194 | else { // OK or MESSAGEFOLLOWS
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195 | _buffer = _buffer.mid(bytesused);
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196 |
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197 | if (irc == GCOBR_OK || irc == GCOBR_MESSAGEFOLLOWS ) {
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198 |
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199 | setEpochTime(); // sets _lastTime
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200 |
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201 | if (_lastTime.valid()) {
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202 | reopen();
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203 | checkProviderID();
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204 | sendResults();
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205 | retCode = success;
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206 | }
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207 | else {
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208 | retCode = failure;
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209 | }
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210 |
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211 | reset();
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212 | }
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213 | }
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214 | }
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215 |
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216 | return retCode;
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217 | }
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218 |
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219 | //
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220 | ////////////////////////////////////////////////////////////////////////////
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221 | void RTCM3coDecoder::sendResults() {
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222 |
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223 | // Orbit and clock corrections of all satellites
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224 | // ---------------------------------------------
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225 | for (unsigned ii = 0; ii < CLOCKORBIT_NUMGPS
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226 | + CLOCKORBIT_NUMGLONASS
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227 | + CLOCKORBIT_NUMGALILEO
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228 | + CLOCKORBIT_NUMQZSS
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229 | + CLOCKORBIT_NUMSBAS
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230 | + _clkOrb.NumberOfSat[CLOCKORBIT_SATBDS];
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231 | ii++) {
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232 | char sysCh = ' ';
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233 | int flag = 0;
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234 | if (ii < _clkOrb.NumberOfSat[CLOCKORBIT_SATGPS]) {
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235 | sysCh = 'G';
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236 | }
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237 | else if (ii >= CLOCKORBIT_OFFSETGLONASS &&
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238 | ii < CLOCKORBIT_OFFSETGLONASS + _clkOrb.NumberOfSat[CLOCKORBIT_SATGLONASS]) {
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239 | sysCh = 'R';
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240 | }
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241 | else if (ii >= CLOCKORBIT_OFFSETGALILEO &&
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242 | ii < CLOCKORBIT_OFFSETGALILEO + _clkOrb.NumberOfSat[CLOCKORBIT_SATGALILEO]) {
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243 | sysCh = 'E';
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244 | flag = 1; // I/NAV clock has been chosen as reference clock for Galileo SSR corrections
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245 | }
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246 | else if (ii >= CLOCKORBIT_OFFSETQZSS &&
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247 | ii < CLOCKORBIT_OFFSETQZSS + _clkOrb.NumberOfSat[CLOCKORBIT_SATQZSS]) {
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248 | sysCh = 'J';
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249 | }
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250 | else if (ii >= CLOCKORBIT_OFFSETSBAS &&
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251 | ii < CLOCKORBIT_OFFSETSBAS + _clkOrb.NumberOfSat[CLOCKORBIT_SATSBAS]) {
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252 | sysCh = 'S';
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253 | }
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254 | else if (ii >= CLOCKORBIT_OFFSETBDS &&
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255 | ii < CLOCKORBIT_OFFSETBDS + _clkOrb.NumberOfSat[CLOCKORBIT_SATBDS]) {
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256 | sysCh = 'C';
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257 | }
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258 | else {
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259 | continue;
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260 | }
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261 | // Orbit correction
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262 | // ----------------
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263 | if ( _clkOrb.messageType == COTYPE_GPSCOMBINED ||
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264 | _clkOrb.messageType == COTYPE_GLONASSCOMBINED ||
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265 | _clkOrb.messageType == COTYPE_GALILEOCOMBINED ||
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266 | _clkOrb.messageType == COTYPE_QZSSCOMBINED ||
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267 | _clkOrb.messageType == COTYPE_SBASCOMBINED ||
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268 | _clkOrb.messageType == COTYPE_BDSCOMBINED ||
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269 | _clkOrb.messageType == COTYPE_GPSORBIT ||
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270 | _clkOrb.messageType == COTYPE_GLONASSORBIT ||
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271 | _clkOrb.messageType == COTYPE_GALILEOORBIT ||
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272 | _clkOrb.messageType == COTYPE_QZSSORBIT ||
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273 | _clkOrb.messageType == COTYPE_SBASORBIT ||
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274 | _clkOrb.messageType == COTYPE_BDSORBIT ) {
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275 |
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276 | t_orbCorr orbCorr;
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277 | orbCorr._prn.set(sysCh, _clkOrb.Sat[ii].ID, flag);
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278 | orbCorr._staID = _staID.toStdString();
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279 | orbCorr._iod = _clkOrb.Sat[ii].IOD;
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280 | orbCorr._time = _lastTime;
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281 | orbCorr._updateInt = _clkOrb.UpdateInterval;
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282 | orbCorr._system = sysCh;
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283 | orbCorr._xr[0] = _clkOrb.Sat[ii].Orbit.DeltaRadial;
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284 | orbCorr._xr[1] = _clkOrb.Sat[ii].Orbit.DeltaAlongTrack;
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285 | orbCorr._xr[2] = _clkOrb.Sat[ii].Orbit.DeltaCrossTrack;
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286 | orbCorr._dotXr[0] = _clkOrb.Sat[ii].Orbit.DotDeltaRadial;
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287 | orbCorr._dotXr[1] = _clkOrb.Sat[ii].Orbit.DotDeltaAlongTrack;
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288 | orbCorr._dotXr[2] = _clkOrb.Sat[ii].Orbit.DotDeltaCrossTrack;
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289 |
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290 | _orbCorrections[_lastTime].append(orbCorr);
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291 |
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292 | _IODs[orbCorr._prn] = _clkOrb.Sat[ii].IOD;
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293 | }
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294 |
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295 | // Clock Corrections
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296 | // -----------------
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297 | if ( _clkOrb.messageType == COTYPE_GPSCOMBINED ||
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298 | _clkOrb.messageType == COTYPE_GLONASSCOMBINED ||
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299 | _clkOrb.messageType == COTYPE_GALILEOCOMBINED ||
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300 | _clkOrb.messageType == COTYPE_QZSSCOMBINED ||
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301 | _clkOrb.messageType == COTYPE_SBASCOMBINED ||
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302 | _clkOrb.messageType == COTYPE_BDSCOMBINED ||
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303 | _clkOrb.messageType == COTYPE_GPSCLOCK ||
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304 | _clkOrb.messageType == COTYPE_GLONASSCLOCK ||
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305 | _clkOrb.messageType == COTYPE_GALILEOCLOCK ||
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306 | _clkOrb.messageType == COTYPE_QZSSCLOCK ||
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307 | _clkOrb.messageType == COTYPE_SBASCLOCK ||
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308 | _clkOrb.messageType == COTYPE_BDSCLOCK) {
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309 |
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310 | t_clkCorr clkCorr;
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311 | clkCorr._prn.set(sysCh, _clkOrb.Sat[ii].ID, flag);
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312 | clkCorr._staID = _staID.toStdString();
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313 | clkCorr._time = _lastTime;
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314 | clkCorr._updateInt = _clkOrb.UpdateInterval;
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315 | clkCorr._dClk = _clkOrb.Sat[ii].Clock.DeltaA0 / t_CST::c;
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316 | clkCorr._dotDClk = _clkOrb.Sat[ii].Clock.DeltaA1 / t_CST::c;
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317 | clkCorr._dotDotDClk = _clkOrb.Sat[ii].Clock.DeltaA2 / t_CST::c;
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318 |
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319 | _lastClkCorrections[clkCorr._prn] = clkCorr;
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320 |
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321 | if (_IODs.contains(clkCorr._prn)) {
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322 | clkCorr._iod = _IODs[clkCorr._prn];
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323 | _clkCorrections[_lastTime].append(clkCorr);
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324 | }
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325 | }
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326 |
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327 | // High-Resolution Clocks
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328 | // ----------------------
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329 | if ( _clkOrb.messageType == COTYPE_GPSHR ||
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330 | _clkOrb.messageType == COTYPE_GLONASSHR ||
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331 | _clkOrb.messageType == COTYPE_GALILEOHR ||
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332 | _clkOrb.messageType == COTYPE_QZSSHR ||
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333 | _clkOrb.messageType == COTYPE_SBASHR ||
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334 | _clkOrb.messageType == COTYPE_BDSHR) {
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335 | t_prn prn(sysCh, _clkOrb.Sat[ii].ID, flag);
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336 | if (_lastClkCorrections.contains(prn)) {
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337 | t_clkCorr clkCorr;
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338 | clkCorr = _lastClkCorrections[prn];
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339 | clkCorr._time = _lastTime;
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340 | clkCorr._updateInt = _clkOrb.UpdateInterval;
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341 | clkCorr._dClk += _clkOrb.Sat[ii].hrclock / t_CST::c;
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342 | if (_IODs.contains(clkCorr._prn)) {
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343 | clkCorr._iod = _IODs[clkCorr._prn];
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344 | _clkCorrections[_lastTime].push_back(clkCorr);
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345 | }
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346 | }
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347 | }
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348 | }
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349 |
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350 | // Code Biases
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351 | // -----------
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352 | for (unsigned ii = 0; ii < CLOCKORBIT_NUMGPS
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353 | + CLOCKORBIT_NUMGLONASS
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354 | + CLOCKORBIT_NUMGALILEO
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355 | + CLOCKORBIT_NUMQZSS
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356 | + CLOCKORBIT_NUMSBAS
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357 | + _codeBias.NumberOfSat[CLOCKORBIT_SATBDS];
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358 | ii++) {
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359 | char sysCh = ' ';
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360 | if (ii < _codeBias.NumberOfSat[CLOCKORBIT_SATGPS]) {
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361 | sysCh = 'G';
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362 | }
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363 | else if (ii >= CLOCKORBIT_OFFSETGLONASS &&
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364 | ii < CLOCKORBIT_OFFSETGLONASS + _codeBias.NumberOfSat[CLOCKORBIT_SATGLONASS]) {
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365 | sysCh = 'R';
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366 | }
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367 | else if (ii >= CLOCKORBIT_OFFSETGALILEO &&
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368 | ii < CLOCKORBIT_OFFSETGALILEO + _codeBias.NumberOfSat[CLOCKORBIT_SATGALILEO]) {
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369 | sysCh = 'E';
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370 | }
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371 | else if (ii >= CLOCKORBIT_OFFSETQZSS &&
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372 | ii < CLOCKORBIT_OFFSETQZSS + _codeBias.NumberOfSat[CLOCKORBIT_SATQZSS]) {
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373 | sysCh = 'J';
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374 | }
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375 | else if (ii >= CLOCKORBIT_OFFSETSBAS &&
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376 | ii < CLOCKORBIT_OFFSETSBAS + _codeBias.NumberOfSat[CLOCKORBIT_SATSBAS]) {
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377 | sysCh = 'S';
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378 | }
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379 | else if (ii >= CLOCKORBIT_OFFSETBDS &&
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380 | ii < CLOCKORBIT_OFFSETBDS + _codeBias.NumberOfSat[CLOCKORBIT_SATBDS]) {
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381 | sysCh = 'C';
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382 | }
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383 | else {
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384 | continue;
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385 | }
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386 | t_satCodeBias satCodeBias;
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387 | satCodeBias._prn.set(sysCh, _codeBias.Sat[ii].ID);
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388 | satCodeBias._staID = _staID.toStdString();
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389 | satCodeBias._time = _lastTime;
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390 | satCodeBias._updateInt = _codeBias.UpdateInterval;
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391 | for (unsigned jj = 0; jj < _codeBias.Sat[ii].NumberOfCodeBiases; jj++) {
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392 | const CodeBias::BiasSat::CodeBiasEntry& biasEntry = _codeBias.Sat[ii].Biases[jj];
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393 | t_frqCodeBias frqCodeBias;
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394 | frqCodeBias._rnxType2ch.assign(codeTypeToRnxType(sysCh, biasEntry.Type));
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395 | frqCodeBias._value = biasEntry.Bias;
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396 | if (!frqCodeBias._rnxType2ch.empty()) {
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397 | satCodeBias._bias.push_back(frqCodeBias);
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398 | }
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399 | }
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400 | _codeBiases[_lastTime].append(satCodeBias);
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401 | }
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402 |
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403 | // Phase Biases
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404 | // -----------
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405 | for (unsigned ii = 0; ii < CLOCKORBIT_NUMGPS
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406 | + CLOCKORBIT_NUMGLONASS
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407 | + CLOCKORBIT_NUMGALILEO
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408 | + CLOCKORBIT_NUMQZSS
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409 | + CLOCKORBIT_NUMSBAS
|
---|
410 | + _phaseBias.NumberOfSat[CLOCKORBIT_SATBDS];
|
---|
411 | ii++) {
|
---|
412 | char sysCh = ' ';
|
---|
413 | if (ii < _phaseBias.NumberOfSat[CLOCKORBIT_SATGPS]) {
|
---|
414 | sysCh = 'G';
|
---|
415 | }
|
---|
416 | else if (ii >= CLOCKORBIT_OFFSETGLONASS &&
|
---|
417 | ii < CLOCKORBIT_OFFSETGLONASS + _phaseBias.NumberOfSat[CLOCKORBIT_SATGLONASS]) {
|
---|
418 | sysCh = 'R';
|
---|
419 | }
|
---|
420 | else if (ii >= CLOCKORBIT_OFFSETGALILEO &&
|
---|
421 | ii < CLOCKORBIT_OFFSETGALILEO + _phaseBias.NumberOfSat[CLOCKORBIT_SATGALILEO]) {
|
---|
422 | sysCh = 'E';
|
---|
423 | }
|
---|
424 | else if (ii >= CLOCKORBIT_OFFSETQZSS &&
|
---|
425 | ii < CLOCKORBIT_OFFSETQZSS + _phaseBias.NumberOfSat[CLOCKORBIT_SATQZSS]) {
|
---|
426 | sysCh = 'J';
|
---|
427 | }
|
---|
428 | else if (ii >= CLOCKORBIT_OFFSETSBAS &&
|
---|
429 | ii < CLOCKORBIT_OFFSETSBAS + _phaseBias.NumberOfSat[CLOCKORBIT_SATSBAS]) {
|
---|
430 | sysCh = 'S';
|
---|
431 | }
|
---|
432 | else if (ii >= CLOCKORBIT_OFFSETBDS &&
|
---|
433 | ii < CLOCKORBIT_OFFSETBDS + _phaseBias.NumberOfSat[CLOCKORBIT_SATBDS]) {
|
---|
434 | sysCh = 'C';
|
---|
435 | }
|
---|
436 | else {
|
---|
437 | continue;
|
---|
438 | }
|
---|
439 | t_satPhaseBias satPhaseBias;
|
---|
440 | satPhaseBias._prn.set(sysCh, _phaseBias.Sat[ii].ID);
|
---|
441 | satPhaseBias._staID = _staID.toStdString();
|
---|
442 | satPhaseBias._time = _lastTime;
|
---|
443 | satPhaseBias._updateInt = _phaseBias.UpdateInterval;
|
---|
444 | satPhaseBias._dispBiasConstistInd = _phaseBias.DispersiveBiasConsistencyIndicator;
|
---|
445 | satPhaseBias._MWConsistInd = _phaseBias.MWConsistencyIndicator;
|
---|
446 | satPhaseBias._yawDeg = _phaseBias.Sat[ii].YawAngle * 180.0 / M_PI;
|
---|
447 | satPhaseBias._yawDegRate = _phaseBias.Sat[ii].YawRate * 180.0 / M_PI;
|
---|
448 | for (unsigned jj = 0; jj < _phaseBias.Sat[ii].NumberOfPhaseBiases; jj++) {
|
---|
449 | const PhaseBias::PhaseBiasSat::PhaseBiasEntry& biasEntry = _phaseBias.Sat[ii].Biases[jj];
|
---|
450 | t_frqPhaseBias frqPhaseBias;
|
---|
451 | frqPhaseBias._rnxType2ch.assign(codeTypeToRnxType(sysCh, biasEntry.Type));
|
---|
452 | frqPhaseBias._value = biasEntry.Bias;
|
---|
453 | frqPhaseBias._fixIndicator = biasEntry.SignalIntegerIndicator;
|
---|
454 | frqPhaseBias._fixWideLaneIndicator = biasEntry.SignalsWideLaneIntegerIndicator;
|
---|
455 | frqPhaseBias._jumpCounter = biasEntry.SignalDiscontinuityCounter;
|
---|
456 | if (!frqPhaseBias._rnxType2ch.empty()) {
|
---|
457 | satPhaseBias._bias.push_back(frqPhaseBias);
|
---|
458 | }
|
---|
459 | }
|
---|
460 | _phaseBiases[_lastTime].append(satPhaseBias);
|
---|
461 | }
|
---|
462 |
|
---|
463 | // Ionospheric Model
|
---|
464 | // -----------------
|
---|
465 | if (_vTEC.NumLayers > 0) {
|
---|
466 | _vTecMap[_lastTime]._time = _lastTime;
|
---|
467 | _vTecMap[_lastTime]._updateInt = _vTEC.UpdateInterval;
|
---|
468 | _vTecMap[_lastTime]._staID = _staID.toStdString();
|
---|
469 | for (unsigned ii = 0; ii < _vTEC.NumLayers; ii++) {
|
---|
470 | const VTEC::IonoLayers& ionoLayer = _vTEC.Layers[ii];
|
---|
471 | t_vTecLayer layer;
|
---|
472 | layer._height = ionoLayer.Height;
|
---|
473 | layer._C.ReSize(ionoLayer.Degree+1, ionoLayer.Order+1);
|
---|
474 | layer._S.ReSize(ionoLayer.Degree+1, ionoLayer.Order+1);
|
---|
475 | for (unsigned iDeg = 0; iDeg <= ionoLayer.Degree; iDeg++) {
|
---|
476 | for (unsigned iOrd = 0; iOrd <= ionoLayer.Order; iOrd++) {
|
---|
477 | layer._C[iDeg][iOrd] = ionoLayer.Cosinus[iDeg][iOrd];
|
---|
478 | layer._S[iDeg][iOrd] = ionoLayer.Sinus[iDeg][iOrd];
|
---|
479 | }
|
---|
480 | }
|
---|
481 | _vTecMap[_lastTime]._layers.push_back(layer);
|
---|
482 | }
|
---|
483 | }
|
---|
484 |
|
---|
485 | // Dump all older epochs
|
---|
486 | // ---------------------
|
---|
487 | QMutableMapIterator<bncTime, QList<t_orbCorr> > itOrb(_orbCorrections);
|
---|
488 | while (itOrb.hasNext()) {
|
---|
489 | itOrb.next();
|
---|
490 | if (itOrb.key() < _lastTime) {
|
---|
491 | emit newOrbCorrections(itOrb.value());
|
---|
492 | t_orbCorr::writeEpoch(_out, itOrb.value());
|
---|
493 | itOrb.remove();
|
---|
494 | }
|
---|
495 | }
|
---|
496 | QMutableMapIterator<bncTime, QList<t_clkCorr> > itClk(_clkCorrections);
|
---|
497 | while (itClk.hasNext()) {
|
---|
498 | itClk.next();
|
---|
499 | if (itClk.key() < _lastTime) {
|
---|
500 | emit newClkCorrections(itClk.value());
|
---|
501 | t_clkCorr::writeEpoch(_out, itClk.value());
|
---|
502 | itClk.remove();
|
---|
503 | }
|
---|
504 | }
|
---|
505 | QMutableMapIterator<bncTime, QList<t_satCodeBias> > itCB(_codeBiases);
|
---|
506 | while (itCB.hasNext()) {
|
---|
507 | itCB.next();
|
---|
508 | if (itCB.key() < _lastTime) {
|
---|
509 | emit newCodeBiases(itCB.value());
|
---|
510 | t_satCodeBias::writeEpoch(_out, itCB.value());
|
---|
511 | itCB.remove();
|
---|
512 | }
|
---|
513 | }
|
---|
514 | QMutableMapIterator<bncTime, QList<t_satPhaseBias> > itPB(_phaseBiases);
|
---|
515 | while (itPB.hasNext()) {
|
---|
516 | itPB.next();
|
---|
517 | if (itPB.key() < _lastTime) {
|
---|
518 | emit newPhaseBiases(itPB.value());
|
---|
519 | t_satPhaseBias::writeEpoch(_out, itPB.value());
|
---|
520 | itPB.remove();
|
---|
521 | }
|
---|
522 | }
|
---|
523 | QMutableMapIterator<bncTime, t_vTec> itTec(_vTecMap);
|
---|
524 | while (itTec.hasNext()) {
|
---|
525 | itTec.next();
|
---|
526 | if (itTec.key() < _lastTime) {
|
---|
527 | emit newTec(itTec.value());
|
---|
528 | t_vTec::write(_out, itTec.value());
|
---|
529 | itTec.remove();
|
---|
530 | }
|
---|
531 | }
|
---|
532 | }
|
---|
533 |
|
---|
534 | //
|
---|
535 | ////////////////////////////////////////////////////////////////////////////
|
---|
536 | void RTCM3coDecoder::checkProviderID() {
|
---|
537 |
|
---|
538 | if (_clkOrb.SSRProviderID == 0 && _clkOrb.SSRSolutionID == 0 && _clkOrb.SSRIOD == 0) {
|
---|
539 | return;
|
---|
540 | }
|
---|
541 |
|
---|
542 | int newProviderID[3];
|
---|
543 | newProviderID[0] = _clkOrb.SSRProviderID;
|
---|
544 | newProviderID[1] = _clkOrb.SSRSolutionID;
|
---|
545 | newProviderID[2] = _clkOrb.SSRIOD;
|
---|
546 |
|
---|
547 | bool alreadySet = false;
|
---|
548 | bool different = false;
|
---|
549 |
|
---|
550 | for (unsigned ii = 0; ii < 3; ii++) {
|
---|
551 | if (_providerID[ii] != -1) {
|
---|
552 | alreadySet = true;
|
---|
553 | }
|
---|
554 | if (_providerID[ii] != newProviderID[ii]) {
|
---|
555 | different = true;
|
---|
556 | }
|
---|
557 | _providerID[ii] = newProviderID[ii];
|
---|
558 | }
|
---|
559 |
|
---|
560 | if (alreadySet && different) {
|
---|
561 | emit newMessage("RTCM3coDecoder: Provider Changed: " + _staID.toAscii(), true);
|
---|
562 | emit providerIDChanged(_staID);
|
---|
563 | }
|
---|
564 | }
|
---|
565 |
|
---|
566 | //
|
---|
567 | ////////////////////////////////////////////////////////////////////////////
|
---|
568 | void RTCM3coDecoder::setEpochTime() {
|
---|
569 |
|
---|
570 | _lastTime.reset();
|
---|
571 |
|
---|
572 | double epoSecGPS = -1.0;
|
---|
573 | double epoSecGlo = -1.0;
|
---|
574 | double epoSecGal = -1.0;
|
---|
575 | double epoSecQzss = -1.0;
|
---|
576 | double epoSecSbas = -1.0;
|
---|
577 | double epoSecBds = -1.0;
|
---|
578 | if (_clkOrb.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
|
---|
579 | epoSecGPS = _clkOrb.EpochTime[CLOCKORBIT_SATGPS]; // 0 .. 604799 s
|
---|
580 | }
|
---|
581 | else if (_codeBias.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
|
---|
582 | epoSecGPS = _codeBias.EpochTime[CLOCKORBIT_SATGPS]; // 0 .. 604799 s
|
---|
583 | }
|
---|
584 | else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
|
---|
585 | epoSecGPS = _phaseBias.EpochTime[CLOCKORBIT_SATGPS]; // 0 .. 604799 s
|
---|
586 | }
|
---|
587 | else if (_vTEC.NumLayers > 0) {
|
---|
588 | epoSecGPS = _vTEC.EpochTime; // 0 .. 604799 s
|
---|
589 | }
|
---|
590 | else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
|
---|
591 | epoSecGlo = _clkOrb.EpochTime[CLOCKORBIT_SATGLONASS]; // 0 .. 86399 s
|
---|
592 | }
|
---|
593 | else if (_codeBias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
|
---|
594 | epoSecGlo = _codeBias.EpochTime[CLOCKORBIT_SATGLONASS]; // 0 .. 86399 s
|
---|
595 | }
|
---|
596 | else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
|
---|
597 | epoSecGlo = _phaseBias.EpochTime[CLOCKORBIT_SATGLONASS]; // 0 .. 86399 s
|
---|
598 | }
|
---|
599 | else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
|
---|
600 | epoSecGal = _clkOrb.EpochTime[CLOCKORBIT_SATGALILEO];
|
---|
601 | }
|
---|
602 | else if (_codeBias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
|
---|
603 | epoSecGal = _codeBias.EpochTime[CLOCKORBIT_SATGALILEO];
|
---|
604 | }
|
---|
605 | else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
|
---|
606 | epoSecGal = _phaseBias.EpochTime[CLOCKORBIT_SATGALILEO];
|
---|
607 | }
|
---|
608 | else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
|
---|
609 | epoSecQzss = _clkOrb.EpochTime[CLOCKORBIT_SATQZSS];
|
---|
610 | }
|
---|
611 | else if (_codeBias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
|
---|
612 | epoSecQzss = _codeBias.EpochTime[CLOCKORBIT_SATQZSS];
|
---|
613 | }
|
---|
614 | else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
|
---|
615 | epoSecQzss = _phaseBias.EpochTime[CLOCKORBIT_SATQZSS];
|
---|
616 | }
|
---|
617 | else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
|
---|
618 | epoSecSbas = _clkOrb.EpochTime[CLOCKORBIT_SATSBAS];
|
---|
619 | }
|
---|
620 | else if (_codeBias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
|
---|
621 | epoSecSbas = _codeBias.EpochTime[CLOCKORBIT_SATSBAS];
|
---|
622 | }
|
---|
623 | else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
|
---|
624 | epoSecSbas = _phaseBias.EpochTime[CLOCKORBIT_SATSBAS];
|
---|
625 | }
|
---|
626 | else if (_clkOrb.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
|
---|
627 | epoSecBds = _clkOrb.EpochTime[CLOCKORBIT_SATBDS];
|
---|
628 | }
|
---|
629 | else if (_codeBias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
|
---|
630 | epoSecBds = _codeBias.EpochTime[CLOCKORBIT_SATBDS];
|
---|
631 | }
|
---|
632 | else if (_phaseBias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
|
---|
633 | epoSecBds = _phaseBias.EpochTime[CLOCKORBIT_SATBDS];
|
---|
634 | }
|
---|
635 |
|
---|
636 | // Retrieve current time
|
---|
637 | // ---------------------
|
---|
638 | int currentWeek = 0;
|
---|
639 | double currentSec = 0.0;
|
---|
640 | currentGPSWeeks(currentWeek, currentSec);
|
---|
641 | bncTime currentTime(currentWeek, currentSec);
|
---|
642 |
|
---|
643 | // Set _lastTime close to currentTime
|
---|
644 | // ----------------------------------
|
---|
645 | if (epoSecGPS != -1) {
|
---|
646 | _lastTime.set(currentWeek, epoSecGPS);
|
---|
647 | }
|
---|
648 | else if (epoSecGlo != -1) {
|
---|
649 | QDate date = dateAndTimeFromGPSweek(currentTime.gpsw(), currentTime.gpssec()).date();
|
---|
650 | epoSecGlo = epoSecGlo - 3 * 3600 + gnumleap(date.year(), date.month(), date.day());
|
---|
651 | _lastTime.set(currentWeek, epoSecGlo);
|
---|
652 | }
|
---|
653 | else if (epoSecGal != -1) {
|
---|
654 | _lastTime.set(currentWeek, epoSecGal);
|
---|
655 | }
|
---|
656 | else if (epoSecQzss != -1) {
|
---|
657 | _lastTime.set(currentWeek, epoSecQzss);
|
---|
658 | }
|
---|
659 | else if (epoSecSbas != -1) {
|
---|
660 | _lastTime.set(currentWeek, epoSecSbas);
|
---|
661 | }
|
---|
662 | else if (epoSecBds != -1) {
|
---|
663 | epoSecBds += 14.0;
|
---|
664 | if (epoSecBds > 604800.0) {
|
---|
665 | epoSecBds -= 7.0*24.0*60.0*60.0;
|
---|
666 | }
|
---|
667 | _lastTime.set(currentWeek, epoSecBds);
|
---|
668 | }
|
---|
669 |
|
---|
670 | if (_lastTime.valid()) {
|
---|
671 | double maxDiff = 12 * 3600.0;
|
---|
672 | while (_lastTime < currentTime - maxDiff) {
|
---|
673 | _lastTime = _lastTime + maxDiff;
|
---|
674 | }
|
---|
675 | while (_lastTime > currentTime + maxDiff) {
|
---|
676 | _lastTime = _lastTime - maxDiff;
|
---|
677 | }
|
---|
678 | }
|
---|
679 | }
|
---|
680 |
|
---|
681 | //
|
---|
682 | ////////////////////////////////////////////////////////////////////////////
|
---|
683 | string RTCM3coDecoder::codeTypeToRnxType(char system, CodeType type) const {
|
---|
684 | if (system == 'G') {
|
---|
685 | switch (type) {
|
---|
686 | case CODETYPEGPS_L1_CA: return "1C";
|
---|
687 | case CODETYPEGPS_L1_P: return "1P";
|
---|
688 | case CODETYPEGPS_L1_Z: return "1W";
|
---|
689 | case CODETYPEGPS_L1_Y: return "1Y";
|
---|
690 | case CODETYPEGPS_L1_M: return "1M";
|
---|
691 | case CODETYPEGPS_L2_CA: return "2C";
|
---|
692 | case CODETYPEGPS_SEMI_CODELESS: return "2D";
|
---|
693 | case CODETYPEGPS_L2C_M: return "2S";
|
---|
694 | case CODETYPEGPS_L2C_L: return "2L";
|
---|
695 | case CODETYPEGPS_L2C_ML: return "2X";
|
---|
696 | case CODETYPEGPS_L2_P: return "2P";
|
---|
697 | case CODETYPEGPS_L2_Z: return "2W";
|
---|
698 | case CODETYPEGPS_L2_Y: return "2Y";
|
---|
699 | case CODETYPEGPS_L2_M: return "2M";
|
---|
700 | case CODETYPEGPS_L5_I: return "5I";
|
---|
701 | case CODETYPEGPS_L5_Q: return "5Q";
|
---|
702 | case CODETYPEGPS_L5_IQ: return "5X";
|
---|
703 | case CODETYPEGPS_L1C_D: return "1S";
|
---|
704 | case CODETYPEGPS_L1C_P: return "1L";
|
---|
705 | case CODETYPEGPS_L1C_DP: return "1X";
|
---|
706 | default: return "";
|
---|
707 | }
|
---|
708 | }
|
---|
709 | else if (system == 'R') {
|
---|
710 | switch (type) {
|
---|
711 | case CODETYPEGLONASS_L1_CA: return "1C";
|
---|
712 | case CODETYPEGLONASS_L1_P: return "1P";
|
---|
713 | case CODETYPEGLONASS_L2_CA: return "2C";
|
---|
714 | case CODETYPEGLONASS_L2_P: return "2P";
|
---|
715 | case CODETYPEGLONASS_L1a_OCd: return "4A";
|
---|
716 | case CODETYPEGLONASS_L1a_OCp: return "4B";
|
---|
717 | case CODETYPEGLONASS_L1a_OCdp: return "4X";
|
---|
718 | case CODETYPEGLONASS_L2a_CSI: return "6A";
|
---|
719 | case CODETYPEGLONASS_L2a_OCp: return "6B";
|
---|
720 | case CODETYPEGLONASS_L2a_CSIOCp:return "6X";
|
---|
721 | case CODETYPEGLONASS_L3_I: return "3I";
|
---|
722 | case CODETYPEGLONASS_L3_Q: return "3Q";
|
---|
723 | case CODETYPEGLONASS_L3_IQ: return "3X";
|
---|
724 | default: return "";
|
---|
725 | }
|
---|
726 | }
|
---|
727 | else if (system == 'E') {
|
---|
728 | switch (type) {
|
---|
729 | case CODETYPEGALILEO_E1_A: return "1A";
|
---|
730 | case CODETYPEGALILEO_E1_B: return "1B";
|
---|
731 | case CODETYPEGALILEO_E1_C: return "1C";
|
---|
732 | case CODETYPEGALILEO_E1_BC: return "1X";
|
---|
733 | case CODETYPEGALILEO_E1_ABC: return "1Z";
|
---|
734 | case CODETYPEGALILEO_E5A_I: return "5I";
|
---|
735 | case CODETYPEGALILEO_E5A_Q: return "5Q";
|
---|
736 | case CODETYPEGALILEO_E5A_IQ: return "5X";
|
---|
737 | case CODETYPEGALILEO_E5B_I: return "7I";
|
---|
738 | case CODETYPEGALILEO_E5B_Q: return "7Q";
|
---|
739 | case CODETYPEGALILEO_E5B_IQ: return "7X";
|
---|
740 | case CODETYPEGALILEO_E5_I: return "8I";
|
---|
741 | case CODETYPEGALILEO_E5_Q: return "8Q";
|
---|
742 | case CODETYPEGALILEO_E5_IQ: return "8X";
|
---|
743 | case CODETYPEGALILEO_E6_A: return "6A";
|
---|
744 | case CODETYPEGALILEO_E6_B: return "6B";
|
---|
745 | case CODETYPEGALILEO_E6_C: return "6C";
|
---|
746 | case CODETYPEGALILEO_E6_BC: return "6X";
|
---|
747 | case CODETYPEGALILEO_E6_ABC: return "6Z";
|
---|
748 | default: return "";
|
---|
749 | }
|
---|
750 | }
|
---|
751 | else if (system == 'J') {
|
---|
752 | switch (type) {
|
---|
753 | case CODETYPEQZSS_L1_CA: return "1C";
|
---|
754 | case CODETYPEQZSS_L1C_D: return "1S";
|
---|
755 | case CODETYPEQZSS_L1C_P: return "1L";
|
---|
756 | case CODETYPEQZSS_L2C_M: return "2S";
|
---|
757 | case CODETYPEQZSS_L2C_L: return "2L";
|
---|
758 | case CODETYPEQZSS_L2C_ML: return "2X";
|
---|
759 | case CODETYPEQZSS_L5_I: return "5I";
|
---|
760 | case CODETYPEQZSS_L5_Q: return "5Q";
|
---|
761 | case CODETYPEQZSS_L5_IQ: return "5X";
|
---|
762 | case CODETYPEQZSS_L6_D: return "6S";
|
---|
763 | case CODETYPEQZSS_L6_P: return "6L";
|
---|
764 | case CODETYPEQZSS_L6_DP: return "6X";
|
---|
765 | case CODETYPEQZSS_L1C_DP: return "1X";
|
---|
766 | case CODETYPEQZSS_L1_S: return "1Z";
|
---|
767 | case CODETYPEQZSS_L5_D: return "5D";
|
---|
768 | case CODETYPEQZSS_L5_P: return "5P";
|
---|
769 | case CODETYPEQZSS_L5_DP: return "5Z";
|
---|
770 | case CODETYPEQZSS_L6_E: return "6E";
|
---|
771 | case CODETYPEQZSS_L6_DE: return "6Z";
|
---|
772 | default: return "";
|
---|
773 | }
|
---|
774 | }
|
---|
775 | else if (system == 'S') {
|
---|
776 | switch (type) {
|
---|
777 | case CODETYPE_SBAS_L1_CA: return "1C";
|
---|
778 | case CODETYPE_SBAS_L5_I: return "5I";
|
---|
779 | case CODETYPE_SBAS_L5_Q: return "5Q";
|
---|
780 | case CODETYPE_SBAS_L5_IQ: return "5X";
|
---|
781 | default: return "";
|
---|
782 | }
|
---|
783 | }
|
---|
784 | else if (system == 'C') {
|
---|
785 | switch (type) {
|
---|
786 | case CODETYPE_BDS_B1_I: return "2I";
|
---|
787 | case CODETYPE_BDS_B1_Q: return "2Q";
|
---|
788 | case CODETYPE_BDS_B1_IQ: return "2X";
|
---|
789 | case CODETYPE_BDS_B3_I: return "6I";
|
---|
790 | case CODETYPE_BDS_B3_Q: return "6Q";
|
---|
791 | case CODETYPE_BDS_B3_IQ: return "6X";
|
---|
792 | case CODETYPE_BDS_B2_I: return "7I";
|
---|
793 | case CODETYPE_BDS_B2_Q: return "7Q";
|
---|
794 | case CODETYPE_BDS_B2_IQ: return "7X";
|
---|
795 | case CODETYPE_BDS_B2a_D: return "5D";
|
---|
796 | case CODETYPE_BDS_B2a_P: return "5P";
|
---|
797 | case CODETYPE_BDS_B2a_DP: return "5X";
|
---|
798 | case CODETYPE_BDS_B1C_D: return "1D";
|
---|
799 | case CODETYPE_BDS_B1C_P: return "1P";
|
---|
800 | case CODETYPE_BDS_B1C_DP: return "1X";
|
---|
801 | default: return "";
|
---|
802 | }
|
---|
803 | }
|
---|
804 | return "";
|
---|
805 | };
|
---|