source: ntrip/branches/BNC_2.12/src/bncutils.h@ 9372

Last change on this file since 9372 was 9372, checked in by stuerze, 7 months ago

some additions regarding rinexV305: navigation data

File size: 9.0 KB
Line 
1// Part of BNC, a utility for retrieving decoding and
2// converting GNSS data streams from NTRIP broadcasters.
3//
4// Copyright (C) 2007
5// German Federal Agency for Cartography and Geodesy (BKG)
6// http://www.bkg.bund.de
7// Czech Technical University Prague, Department of Geodesy
8// http://www.fsv.cvut.cz
9//
10// Email: euref-ip@bkg.bund.de
11//
12// This program is free software; you can redistribute it and/or
13// modify it under the terms of the GNU General Public License
14// as published by the Free Software Foundation, version 2.
15//
16// This program is distributed in the hope that it will be useful,
17// but WITHOUT ANY WARRANTY; without even the implied warranty of
18// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19// GNU General Public License for more details.
20//
21// You should have received a copy of the GNU General Public License
22// along with this program; if not, write to the Free Software
23// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25#ifndef BNCUTILS_H
26#define BNCUTILS_H
27
28#include <vector>
29
30#include <QString>
31#include <QDateTime>
32
33#include <newmat.h>
34#include <bncconst.h>
35#include <ephemeris.h>
36
37void expandEnvVar(QString& str);
38
39/**
40 * Return GPS leap seconds for a given UTC time
41 * @param year 4 digit year
42 * @param month month in year (1-12)
43 * @param day day in month (1-31)
44 * @return number of leap seconds since 6.1.1980
45 */
46int gnumleap(int year, int month, int day);
47
48/**
49 * Convert Moscow time into GPS or UTC. Note that parts of a second are not preserved
50 * and must be handled separately.
51 * @param week GPS week number (must be prefilled, contains fixed value afterwards)
52 * @param secOfWeek seconds in GPS week (must be prefilled, contains fixed value afterwards)
53 * @param mSecOfWeek milli seconds in GLONASS time
54 * @param fixnumleap when <code>true</code> then result is UTC time, otherwise it is GPS
55 * @return does not return a value, but updates first two arguments
56 */
57void updatetime(int *week, int *secOfWeek, int mSecOfWeek, bool fixnumleap);
58
59QDateTime dateAndTimeFromGPSweek(int GPSWeek, double GPSWeeks);
60
61void currentGPSWeeks(int& week, double& sec);
62
63QDateTime currentDateAndTimeGPS();
64
65bool checkForWrongObsEpoch(bncTime obsEpoch);
66
67bool outDatedBcep(const t_eph *eph);
68
69QByteArray ggaString(const QByteArray& latitude, const QByteArray& longitude,
70 const QByteArray& height, const QString& ggaType);
71
72void RSW_to_XYZ(const ColumnVector& rr, const ColumnVector& vv,
73 const ColumnVector& rsw, ColumnVector& xyz);
74
75void XYZ_to_RSW(const ColumnVector& rr, const ColumnVector& vv,
76 const ColumnVector& xyz, ColumnVector& rsw);
77
78t_irc xyz2ell(const double* XYZ, double* Ell);
79
80t_irc xyz2geoc(const double* XYZ, double* Geoc);
81
82void xyz2neu(const double* Ell, const double* xyz, double* neu);
83
84void neu2xyz(const double* Ell, const double* neu, double* xyz);
85
86void jacobiXYZ_NEU(const double* Ell, Matrix& jacobi);
87
88void jacobiEll_XYZ(const double* Ell, Matrix& jacobi);
89
90void covariXYZ_NEU(const SymmetricMatrix& Qxyz, const double* Ell,
91 SymmetricMatrix& Qneu);
92
93void covariNEU_XYZ(const SymmetricMatrix& Qneu, const double* Ell,
94 SymmetricMatrix& Qxyz);
95
96double Frac(double x);
97
98double Modulo(double x, double y);
99
100double nint(double val);
101
102ColumnVector rungeKutta4(double xi, const ColumnVector& yi, double dx, double* acc,
103 ColumnVector (*der)(double x, const ColumnVector& y, double* acc));
104
105void GPSweekFromDateAndTime(const QDateTime& dateTime, int& GPSWeek, double& GPSWeeks);
106
107void GPSweekFromYMDhms(int year, int month, int day, int hour, int min, double sec,
108 int& GPSWeek, double& GPSWeeks);
109
110void mjdFromDateAndTime(const QDateTime& dateTime, int& mjd, double& dayfrac);
111
112bool findInVector(const std::vector<QString>& vv, const QString& str);
113
114int readInt(const QString& str, int pos, int len, int& value);
115
116int readDbl(const QString& str, int pos, int len, double& value);
117
118void topos(double xRec, double yRec, double zRec, double xSat, double ySat, double zSat,
119 double& rho, double& eleSat, double& azSat);
120
121void deg2DMS(double decDeg, int& deg, int& min, double& sec);
122
123QString fortranFormat(double value, int width, int prec);
124
125void kalman(const Matrix& AA, const ColumnVector& ll, const DiagonalMatrix& PP,
126 SymmetricMatrix& QQ, ColumnVector& xx);
127
128double djul(long j1, long m1, double tt);
129
130double gpjd(double second, int nweek) ;
131
132void jdgp(double tjul, double & second, long & nweek);
133
134void jmt (double djul, long& jj, long& mm, double& dd);
135
136void stripWhiteSpace(std::string& str);
137
138double accuracyFromIndex(int index, t_eph::e_type type);
139
140int indexFromAccuracy(double accuracy, t_eph::e_type type);
141
142double fitIntervalFromFlag(int flag, double iodc, t_eph::e_type type);
143
144double associatedLegendreFunction(int n, int m, double t);
145
146double factorial(int n);
147
148/** Convert RTCM3 lock-time indicator to lock time in seconds
149* depending on input message format. Returns -1 if format is
150* unknown or indicator is invalid
151*/
152double lti2sec(int type, int lti);
153
154// CRC24Q checksum calculation function (only full bytes supported).
155///////////////////////////////////////////////////////////////////
156unsigned long CRC24(long size, const unsigned char *buf);
157
158// Extracts k bits from position p and returns the extracted value as integer
159///////////////////////////////////////////////////////////////////
160int bitExtracted(int number, int k, int p);
161
162// RTCM3 GPS EPH encoding
163//////////////////////////////////////////////////////////
164#define GPSTOINT(type, value) static_cast<type>(round(value))
165
166#define GPSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
167 |(GPSTOINT(long long,b)&((1ULL<<a)-1)); \
168 numbits += (a); \
169 while(numbits >= 8) { \
170 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
171
172#define GPSADDBITSFLOAT(a,b,c) {long long i = GPSTOINT(long long,(b)/(c)); \
173 GPSADDBITS(a,i)};
174
175// RTCM3 GLONASS EPH encoding
176//////////////////////////////////////////////////////////
177#define GLONASSTOINT(type, value) static_cast<type>(round(value))
178#define GLONASSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
179 |(GLONASSTOINT(long long,b)&((1ULL<<(a))-1)); \
180 numbits += (a); \
181 while(numbits >= 8) { \
182 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
183#define GLONASSADDBITSFLOATM(a,b,c) {int s; long long i; \
184 if(b < 0.0) \
185 { \
186 s = 1; \
187 i = GLONASSTOINT(long long,(-b)/(c)); \
188 if(!i) s = 0; \
189 } \
190 else \
191 { \
192 s = 0; \
193 i = GLONASSTOINT(long long,(b)/(c)); \
194 } \
195 GLONASSADDBITS(1,s) \
196 GLONASSADDBITS(a-1,i)}
197
198// RTCM3 Galileo EPH encoding
199//////////////////////////////////////////////////////////
200#define GALILEOTOINT(type, value) static_cast<type>(round(value))
201#define GALILEOADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
202 |(GALILEOTOINT(long long,b)&((1LL<<a)-1)); \
203 numbits += (a); \
204 while(numbits >= 8) { \
205 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
206#define GALILEOADDBITSFLOAT(a,b,c) {long long i = GALILEOTOINT(long long,(b)/(c)); \
207 GALILEOADDBITS(a,i)};
208
209// RTCM3 SBAS EPH encoding
210//////////////////////////////////////////////////////////
211#define SBASTOINT(type, value) static_cast<type>(round(value))
212#define SBASADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
213 |(SBASTOINT(long long,b)&((1ULL<<a)-1)); \
214 numbits += (a); \
215 while(numbits >= 8) { \
216 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
217#define SBASADDBITSFLOAT(a,b,c) {long long i = SBASTOINT(long long,(b)/(c)); \
218 SBASADDBITS(a,i)};
219
220// RTCM3 BDS EPH encoding
221//////////////////////////////////////////////////////////
222#define BDSTOINT(type, value) static_cast<type>(round(value))
223#define BDSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
224 |(BDSTOINT(long long,b)&((1ULL<<a)-1)); \
225 numbits += (a); \
226 while(numbits >= 8) { \
227 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
228#define BDSADDBITSFLOAT(a,b,c) {long long i = BDSTOINT(long long,(b)/(c)); \
229 BDSADDBITS(a,i)};
230
231#endif
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