source: ntrip/branches/BNC_2.12/src/ephemeris.cpp@ 8486

Last change on this file since 8486 was 8486, checked in by stuerze, 3 years ago

minor changes

File size: 49.2 KB
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1#include <sstream>
2#include <iostream>
3#include <iomanip>
4#include <cstring>
5
6#include <newmatio.h>
7
8#include "ephemeris.h"
9#include "bncutils.h"
10#include "bnctime.h"
11#include "bnccore.h"
12#include "bncutils.h"
13#include "satObs.h"
14#include "pppInclude.h"
15#include "pppModel.h"
16
17using namespace std;
18
19// Constructor
20////////////////////////////////////////////////////////////////////////////
21t_eph::t_eph() {
22 _checkState = unchecked;
23 _orbCorr = 0;
24 _clkCorr = 0;
25}
26// Destructor
27////////////////////////////////////////////////////////////////////////////
28t_eph::~t_eph() {
29 if (_orbCorr)
30 delete _orbCorr;
31 if (_clkCorr)
32 delete _clkCorr;
33}
34
35//
36////////////////////////////////////////////////////////////////////////////
37void t_eph::setOrbCorr(const t_orbCorr* orbCorr) {
38 if (_orbCorr) {
39 delete _orbCorr;
40 _orbCorr = 0;
41 }
42 _orbCorr = new t_orbCorr(*orbCorr);
43}
44
45//
46////////////////////////////////////////////////////////////////////////////
47void t_eph::setClkCorr(const t_clkCorr* clkCorr) {
48 if (_clkCorr) {
49 delete _clkCorr;
50 _clkCorr = 0;
51 }
52 _clkCorr = new t_clkCorr(*clkCorr);
53}
54
55//
56////////////////////////////////////////////////////////////////////////////
57t_irc t_eph::getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const {
58
59 if (_checkState == bad ||
60 _checkState == unhealthy) {
61 return failure;
62 }
63 const QVector<int> updateInt = QVector<int>() << 1 << 2 << 5 << 10 << 15 << 30
64 << 60 << 120 << 240 << 300 << 600
65 << 900 << 1800 << 3600 << 7200
66 << 10800;
67 xc.ReSize(4);
68 vv.ReSize(3);
69 if (position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data()) != success) {
70 return failure;
71 }
72 if (useCorr) {
73 if (_orbCorr && _clkCorr) {
74 double dtO = tt - _orbCorr->_time;
75 if (_orbCorr->_updateInt) {
76 dtO -= (0.5 * updateInt[_orbCorr->_updateInt]);
77 }
78 ColumnVector dx(3);
79 dx[0] = _orbCorr->_xr[0] + _orbCorr->_dotXr[0] * dtO;
80 dx[1] = _orbCorr->_xr[1] + _orbCorr->_dotXr[1] * dtO;
81 dx[2] = _orbCorr->_xr[2] + _orbCorr->_dotXr[2] * dtO;
82
83 RSW_to_XYZ(xc.Rows(1,3), vv.Rows(1,3), dx, dx);
84
85 xc[0] -= dx[0];
86 xc[1] -= dx[1];
87 xc[2] -= dx[2];
88
89 ColumnVector dv(3);
90 RSW_to_XYZ(xc.Rows(1,3), vv.Rows(1,3), _orbCorr->_dotXr, dv);
91
92 vv[0] -= dv[0];
93 vv[1] -= dv[1];
94 vv[2] -= dv[2];
95
96 double dtC = tt - _clkCorr->_time;
97 if (_clkCorr->_updateInt) {
98 dtC -= (0.5 * updateInt[_clkCorr->_updateInt]);
99 }
100 xc[3] += _clkCorr->_dClk + _clkCorr->_dotDClk * dtC + _clkCorr->_dotDotDClk * dtC * dtC;
101 }
102 else {
103 return failure;
104 }
105 }
106 return success;
107}
108
109//
110//////////////////////////////////////////////////////////////////////////////
111QString t_eph::rinexDateStr(const bncTime& tt, const t_prn& prn, double version) {
112 QString prnStr(prn.toString().c_str());
113 return rinexDateStr(tt, prnStr, version);
114}
115
116//
117//////////////////////////////////////////////////////////////////////////////
118QString t_eph::rinexDateStr(const bncTime& tt, const QString& prnStr, double version) {
119
120 QString datStr;
121
122 unsigned year, month, day, hour, min;
123 double sec;
124 tt.civil_date(year, month, day);
125 tt.civil_time(hour, min, sec);
126
127 QTextStream out(&datStr);
128
129 if (version < 3.0) {
130 QString prnHlp = prnStr.mid(1,2); if (prnHlp[0] == '0') prnHlp[0] = ' ';
131 out << prnHlp << QString(" %1 %2 %3 %4 %5%6")
132 .arg(year % 100, 2, 10, QChar('0'))
133 .arg(month, 2)
134 .arg(day, 2)
135 .arg(hour, 2)
136 .arg(min, 2)
137 .arg(sec, 5, 'f',1);
138 }
139 else {
140 out << prnStr << QString(" %1 %2 %3 %4 %5 %6")
141 .arg(year, 4)
142 .arg(month, 2, 10, QChar('0'))
143 .arg(day, 2, 10, QChar('0'))
144 .arg(hour, 2, 10, QChar('0'))
145 .arg(min, 2, 10, QChar('0'))
146 .arg(int(sec), 2, 10, QChar('0'));
147 }
148
149 return datStr;
150}
151
152// Constructor
153//////////////////////////////////////////////////////////////////////////////
154t_ephGPS::t_ephGPS(float rnxVersion, const QStringList& lines) {
155
156 const int nLines = 8;
157
158 if (lines.size() != nLines) {
159 _checkState = bad;
160 return;
161 }
162
163 // RINEX Format
164 // ------------
165 int fieldLen = 19;
166
167 int pos[4];
168 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
169 pos[1] = pos[0] + fieldLen;
170 pos[2] = pos[1] + fieldLen;
171 pos[3] = pos[2] + fieldLen;
172
173 // Read eight lines
174 // ----------------
175 for (int iLine = 0; iLine < nLines; iLine++) {
176 QString line = lines[iLine];
177
178 if ( iLine == 0 ) {
179 QTextStream in(line.left(pos[1]).toAscii());
180 int year, month, day, hour, min;
181 double sec;
182
183 QString prnStr, n;
184 in >> prnStr;
185
186 if (prnStr.size() == 1 &&
187 (prnStr[0] == 'G' ||
188 prnStr[0] == 'J' ||
189 prnStr[0] == 'I')) {
190 in >> n;
191 prnStr.append(n);
192 }
193
194 in >> year >> month >> day >> hour >> min >> sec;
195 if (prnStr.at(0) == 'G') {
196 _prn.set('G', prnStr.mid(1).toInt());
197 }
198 else if (prnStr.at(0) == 'J') {
199 _prn.set('J', prnStr.mid(1).toInt());
200 }
201 else if (prnStr.at(0) == 'I') {
202 _prn.set('I', prnStr.mid(1).toInt());
203 }
204 else {
205 _prn.set('G', prnStr.toInt());
206 }
207
208 if (year < 80) {
209 year += 2000;
210 }
211 else if (year < 100) {
212 year += 1900;
213 }
214
215 _TOC.set(year, month, day, hour, min, sec);
216
217 if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
218 readDbl(line, pos[2], fieldLen, _clock_drift ) ||
219 readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
220 _checkState = bad;
221 return;
222 }
223 }
224
225 else if ( iLine == 1 ) {
226 if ( readDbl(line, pos[0], fieldLen, _IODE ) ||
227 readDbl(line, pos[1], fieldLen, _Crs ) ||
228 readDbl(line, pos[2], fieldLen, _Delta_n) ||
229 readDbl(line, pos[3], fieldLen, _M0 ) ) {
230 _checkState = bad;
231 return;
232 }
233 }
234
235 else if ( iLine == 2 ) {
236 if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
237 readDbl(line, pos[1], fieldLen, _e ) ||
238 readDbl(line, pos[2], fieldLen, _Cus ) ||
239 readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
240 _checkState = bad;
241 return;
242 }
243 }
244
245 else if ( iLine == 3 ) {
246 if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
247 readDbl(line, pos[1], fieldLen, _Cic ) ||
248 readDbl(line, pos[2], fieldLen, _OMEGA0) ||
249 readDbl(line, pos[3], fieldLen, _Cis ) ) {
250 _checkState = bad;
251 return;
252 }
253 }
254
255 else if ( iLine == 4 ) {
256 if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
257 readDbl(line, pos[1], fieldLen, _Crc ) ||
258 readDbl(line, pos[2], fieldLen, _omega ) ||
259 readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
260 _checkState = bad;
261 return;
262 }
263 }
264
265 else if ( iLine == 5 && type() != t_eph::IRNSS) {
266 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
267 readDbl(line, pos[1], fieldLen, _L2Codes) ||
268 readDbl(line, pos[2], fieldLen, _TOEweek ) ||
269 readDbl(line, pos[3], fieldLen, _L2PFlag) ) {
270 _checkState = bad;
271 return;
272 }
273 }
274 else if ( iLine == 5 && type() == t_eph::IRNSS) {
275 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
276 readDbl(line, pos[2], fieldLen, _TOEweek) ) {
277 _checkState = bad;
278 return;
279 }
280 }
281
282 else if ( iLine == 6 && type() != t_eph::IRNSS) {
283 if ( readDbl(line, pos[0], fieldLen, _ura ) ||
284 readDbl(line, pos[1], fieldLen, _health) ||
285 readDbl(line, pos[2], fieldLen, _TGD ) ||
286 readDbl(line, pos[3], fieldLen, _IODC ) ) {
287 _checkState = bad;
288 return;
289 }
290 }
291 else if ( iLine == 6 && type() == t_eph::IRNSS) {
292 if ( readDbl(line, pos[0], fieldLen, _ura ) ||
293 readDbl(line, pos[1], fieldLen, _health) ||
294 readDbl(line, pos[2], fieldLen, _TGD ) ) {
295 _checkState = bad;
296 return;
297 }
298 }
299
300 else if ( iLine == 7 ) {
301 if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
302 _checkState = bad;
303 return;
304 }
305 readDbl(line, pos[1], fieldLen, _fitInterval); // _fitInterval optional
306 }
307 }
308}
309
310// Compute GPS Satellite Position (virtual)
311////////////////////////////////////////////////////////////////////////////
312t_irc t_ephGPS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
313
314 if (_checkState == bad ||
315 _checkState == unhealthy) {
316 return failure;
317 }
318
319 static const double omegaEarth = 7292115.1467e-11;
320 static const double gmGRS = 398.6005e12;
321
322 memset(xc, 0, 7*sizeof(double));
323 memset(vv, 0, 3*sizeof(double));
324
325 double a0 = _sqrt_A * _sqrt_A;
326 if (a0 == 0) {
327 return failure;
328 }
329
330 double n0 = sqrt(gmGRS/(a0*a0*a0));
331
332 bncTime tt(GPSweek, GPSweeks);
333 double tk = tt - bncTime(int(_TOEweek), _TOEsec);
334
335 double n = n0 + _Delta_n;
336 double M = _M0 + n*tk;
337 double E = M;
338 double E_last;
339 int nLoop = 0;
340 do {
341 E_last = E;
342 E = M + _e*sin(E);
343
344 if (++nLoop == 100) {
345 return failure;
346 }
347 } while ( fabs(E-E_last)*a0 > 0.001 );
348 double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
349 double u0 = v + _omega;
350 double sin2u0 = sin(2*u0);
351 double cos2u0 = cos(2*u0);
352 double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
353 double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
354 double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
355 double xp = r*cos(u);
356 double yp = r*sin(u);
357 double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
358 omegaEarth*_TOEsec;
359
360 double sinom = sin(OM);
361 double cosom = cos(OM);
362 double sini = sin(i);
363 double cosi = cos(i);
364 xc[0] = xp*cosom - yp*cosi*sinom;
365 xc[1] = xp*sinom + yp*cosi*cosom;
366 xc[2] = yp*sini;
367
368 double tc = tt - _TOC;
369 xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
370
371 xc[4] = _clock_bias;
372 xc[5] = _clock_drift;
373 xc[6] = _clock_driftrate;
374
375 // Velocity
376 // --------
377 double tanv2 = tan(v/2);
378 double dEdM = 1 / (1 - _e*cos(E));
379 double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
380 * dEdM * n;
381 double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
382 double dotom = _OMEGADOT - omegaEarth;
383 double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
384 double dotr = a0 * _e*sin(E) * dEdM * n
385 + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
386 double dotx = dotr*cos(u) - r*sin(u)*dotu;
387 double doty = dotr*sin(u) + r*cos(u)*dotu;
388
389 vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
390 - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
391 + yp*sini*sinom*doti; // dX / di
392
393 vv[1] = sinom *dotx + cosi*cosom *doty
394 + xp*cosom*dotom - yp*cosi*sinom*dotom
395 - yp*sini*cosom*doti;
396
397 vv[2] = sini *doty + yp*cosi *doti;
398
399 // Relativistic Correction
400 // -----------------------
401 // correspondent to IGS convention and GPS ICD (and SSR standard)
402 xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
403
404 return success;
405}
406
407// RINEX Format String
408//////////////////////////////////////////////////////////////////////////////
409QString t_ephGPS::toString(double version) const {
410
411 QString rnxStr = rinexDateStr(_TOC, _prn, version);
412
413 QTextStream out(&rnxStr);
414
415 out << QString("%1%2%3\n")
416 .arg(_clock_bias, 19, 'e', 12)
417 .arg(_clock_drift, 19, 'e', 12)
418 .arg(_clock_driftrate, 19, 'e', 12);
419
420 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
421
422 out << QString(fmt)
423 .arg(_IODE, 19, 'e', 12)
424 .arg(_Crs, 19, 'e', 12)
425 .arg(_Delta_n, 19, 'e', 12)
426 .arg(_M0, 19, 'e', 12);
427
428 out << QString(fmt)
429 .arg(_Cuc, 19, 'e', 12)
430 .arg(_e, 19, 'e', 12)
431 .arg(_Cus, 19, 'e', 12)
432 .arg(_sqrt_A, 19, 'e', 12);
433
434 out << QString(fmt)
435 .arg(_TOEsec, 19, 'e', 12)
436 .arg(_Cic, 19, 'e', 12)
437 .arg(_OMEGA0, 19, 'e', 12)
438 .arg(_Cis, 19, 'e', 12);
439
440 out << QString(fmt)
441 .arg(_i0, 19, 'e', 12)
442 .arg(_Crc, 19, 'e', 12)
443 .arg(_omega, 19, 'e', 12)
444 .arg(_OMEGADOT, 19, 'e', 12);
445
446 if (type() == t_eph::IRNSS) {
447 out << QString(fmt)
448 .arg(_IDOT, 19, 'e', 12)
449 .arg("", 19, QChar(' '))
450 .arg(_TOEweek, 19, 'e', 12)
451 .arg("", 19, QChar(' '));
452 }
453 else {
454 out << QString(fmt)
455 .arg(_IDOT, 19, 'e', 12)
456 .arg(_L2Codes, 19, 'e', 12)
457 .arg(_TOEweek, 19, 'e', 12)
458 .arg(_L2PFlag, 19, 'e', 12);
459 }
460
461 if (type() == t_eph::IRNSS) {
462 out << QString(fmt)
463 .arg(_ura, 19, 'e', 12)
464 .arg(_health, 19, 'e', 12)
465 .arg(_TGD, 19, 'e', 12)
466 .arg("", 19, QChar(' '));
467 }
468 else {
469 out << QString(fmt)
470 .arg(_ura, 19, 'e', 12)
471 .arg(_health, 19, 'e', 12)
472 .arg(_TGD, 19, 'e', 12)
473 .arg(_IODC, 19, 'e', 12);
474 }
475
476 double tot = _TOT;
477 if (tot == 0.9999e9 && version < 3.0) {
478 tot = 0.0;
479 }
480 if (type() == t_eph::IRNSS) {
481 out << QString(fmt)
482 .arg(tot, 19, 'e', 12)
483 .arg("", 19, QChar(' '))
484 .arg("", 19, QChar(' '))
485 .arg("", 19, QChar(' '));
486 }
487 else {
488 out << QString(fmt)
489 .arg(tot, 19, 'e', 12)
490 .arg(_fitInterval, 19, 'e', 12)
491 .arg("", 19, QChar(' '))
492 .arg("", 19, QChar(' '));
493 }
494
495 return rnxStr;
496}
497
498// Constructor
499//////////////////////////////////////////////////////////////////////////////
500t_ephGlo::t_ephGlo(float rnxVersion, const QStringList& lines) {
501
502 const int nLines = 4;
503
504 if (lines.size() != nLines) {
505 _checkState = bad;
506 return;
507 }
508
509 // RINEX Format
510 // ------------
511 int fieldLen = 19;
512
513 int pos[4];
514 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
515 pos[1] = pos[0] + fieldLen;
516 pos[2] = pos[1] + fieldLen;
517 pos[3] = pos[2] + fieldLen;
518
519 // Read four lines
520 // ---------------
521 for (int iLine = 0; iLine < nLines; iLine++) {
522 QString line = lines[iLine];
523
524 if ( iLine == 0 ) {
525 QTextStream in(line.left(pos[1]).toAscii());
526
527 int year, month, day, hour, min;
528 double sec;
529
530 QString prnStr, n;
531 in >> prnStr;
532 if (prnStr.size() == 1 && prnStr[0] == 'R') {
533 in >> n;
534 prnStr.append(n);
535 }
536 in >> year >> month >> day >> hour >> min >> sec;
537 if (prnStr.at(0) == 'R') {
538 _prn.set('R', prnStr.mid(1).toInt());
539 }
540 else {
541 _prn.set('R', prnStr.toInt());
542 }
543
544 if (year < 80) {
545 year += 2000;
546 }
547 else if (year < 100) {
548 year += 1900;
549 }
550
551 _gps_utc = gnumleap(year, month, day);
552
553 _TOC.set(year, month, day, hour, min, sec);
554 _TOC = _TOC + _gps_utc;
555
556 if ( readDbl(line, pos[1], fieldLen, _tau ) ||
557 readDbl(line, pos[2], fieldLen, _gamma) ||
558 readDbl(line, pos[3], fieldLen, _tki ) ) {
559 _checkState = bad;
560 return;
561 }
562
563 _tau = -_tau;
564 }
565
566 else if ( iLine == 1 ) {
567 if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
568 readDbl(line, pos[1], fieldLen, _x_velocity ) ||
569 readDbl(line, pos[2], fieldLen, _x_acceleration) ||
570 readDbl(line, pos[3], fieldLen, _health ) ) {
571 _checkState = bad;
572 return;
573 }
574 }
575
576 else if ( iLine == 2 ) {
577 if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
578 readDbl(line, pos[1], fieldLen, _y_velocity ) ||
579 readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
580 readDbl(line, pos[3], fieldLen, _frequency_number) ) {
581 _checkState = bad;
582 return;
583 }
584 }
585
586 else if ( iLine == 3 ) {
587 if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
588 readDbl(line, pos[1], fieldLen, _z_velocity ) ||
589 readDbl(line, pos[2], fieldLen, _z_acceleration) ||
590 readDbl(line, pos[3], fieldLen, _E ) ) {
591 _checkState = bad;
592 return;
593 }
594 }
595 }
596
597 // Initialize status vector
598 // ------------------------
599 _tt = _TOC;
600 _xv.ReSize(6);
601 _xv(1) = _x_pos * 1.e3;
602 _xv(2) = _y_pos * 1.e3;
603 _xv(3) = _z_pos * 1.e3;
604 _xv(4) = _x_velocity * 1.e3;
605 _xv(5) = _y_velocity * 1.e3;
606 _xv(6) = _z_velocity * 1.e3;
607}
608
609// Compute Glonass Satellite Position (virtual)
610////////////////////////////////////////////////////////////////////////////
611t_irc t_ephGlo::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
612
613 if (_checkState == bad ||
614 _checkState == unhealthy) {
615 return failure;
616 }
617
618 static const double nominalStep = 10.0;
619
620 memset(xc, 0, 7*sizeof(double));
621 memset(vv, 0, 3*sizeof(double));
622
623 double dtPos = bncTime(GPSweek, GPSweeks) - _tt;
624
625 if (fabs(dtPos) > 24*3600.0) {
626 return failure;
627 }
628
629
630 int nSteps = int(fabs(dtPos) / nominalStep) + 1;
631 double step = dtPos / nSteps;
632
633 double acc[3];
634 acc[0] = _x_acceleration * 1.e3;
635 acc[1] = _y_acceleration * 1.e3;
636 acc[2] = _z_acceleration * 1.e3;
637 for (int ii = 1; ii <= nSteps; ii++) {
638 _xv = rungeKutta4(_tt.gpssec(), _xv, step, acc, glo_deriv);
639 _tt = _tt + step;
640 }
641
642 // Position and Velocity
643 // ---------------------
644 xc[0] = _xv(1);
645 xc[1] = _xv(2);
646 xc[2] = _xv(3);
647
648 vv[0] = _xv(4);
649 vv[1] = _xv(5);
650 vv[2] = _xv(6);
651
652 // Clock Correction
653 // ----------------
654 double dtClk = bncTime(GPSweek, GPSweeks) - _TOC;
655 xc[3] = -_tau + _gamma * dtClk;
656
657 xc[4] = -_tau;
658 xc[5] = _gamma;
659 xc[6] = 0.0;
660
661 return success;
662}
663
664// RINEX Format String
665//////////////////////////////////////////////////////////////////////////////
666QString t_ephGlo::toString(double version) const {
667
668 QString rnxStr = rinexDateStr(_TOC-_gps_utc, _prn, version);
669
670 QTextStream out(&rnxStr);
671
672 out << QString("%1%2%3\n")
673 .arg(-_tau, 19, 'e', 12)
674 .arg(_gamma, 19, 'e', 12)
675 .arg(_tki, 19, 'e', 12);
676
677 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
678
679 out << QString(fmt)
680 .arg(_x_pos, 19, 'e', 12)
681 .arg(_x_velocity, 19, 'e', 12)
682 .arg(_x_acceleration, 19, 'e', 12)
683 .arg(_health, 19, 'e', 12);
684
685 out << QString(fmt)
686 .arg(_y_pos, 19, 'e', 12)
687 .arg(_y_velocity, 19, 'e', 12)
688 .arg(_y_acceleration, 19, 'e', 12)
689 .arg(_frequency_number, 19, 'e', 12);
690
691 out << QString(fmt)
692 .arg(_z_pos, 19, 'e', 12)
693 .arg(_z_velocity, 19, 'e', 12)
694 .arg(_z_acceleration, 19, 'e', 12)
695 .arg(_E, 19, 'e', 12);
696
697 return rnxStr;
698}
699
700// Derivative of the state vector using a simple force model (static)
701////////////////////////////////////////////////////////////////////////////
702ColumnVector t_ephGlo::glo_deriv(double /* tt */, const ColumnVector& xv,
703 double* acc) {
704
705 // State vector components
706 // -----------------------
707 ColumnVector rr = xv.rows(1,3);
708 ColumnVector vv = xv.rows(4,6);
709
710 // Acceleration
711 // ------------
712 static const double gmWGS = 398.60044e12;
713 static const double AE = 6378136.0;
714 static const double OMEGA = 7292115.e-11;
715 static const double C20 = -1082.6257e-6;
716
717 double rho = rr.norm_Frobenius();
718 double t1 = -gmWGS/(rho*rho*rho);
719 double t2 = 3.0/2.0 * C20 * (gmWGS*AE*AE) / (rho*rho*rho*rho*rho);
720 double t3 = OMEGA * OMEGA;
721 double t4 = 2.0 * OMEGA;
722 double z2 = rr(3) * rr(3);
723
724 // Vector of derivatives
725 // ---------------------
726 ColumnVector va(6);
727 va(1) = vv(1);
728 va(2) = vv(2);
729 va(3) = vv(3);
730 va(4) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(1) + t4*vv(2) + acc[0];
731 va(5) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(2) - t4*vv(1) + acc[1];
732 va(6) = (t1 + t2*(3.0-5.0*z2/(rho*rho)) ) * rr(3) + acc[2];
733
734 return va;
735}
736
737// IOD of Glonass Ephemeris (virtual)
738////////////////////////////////////////////////////////////////////////////
739unsigned int t_ephGlo::IOD() const {
740 bncTime tMoscow = _TOC - _gps_utc + 3 * 3600.0;
741 return (unsigned long)tMoscow.daysec() / 900;
742}
743
744// Health status of Glonass Ephemeris (virtual)
745////////////////////////////////////////////////////////////////////////////
746unsigned int t_ephGlo::isUnhealthy() const {
747
748 if (_almanac_health_availablility_indicator) {
749 if ((_health == 0 && _almanac_health == 0) ||
750 (_health == 1 && _almanac_health == 0) ||
751 (_health == 1 && _almanac_health == 1)) {
752 return 1;
753 }
754 }
755 else if (!_almanac_health_availablility_indicator) {
756 if (_health) {
757 return 1;
758 }
759 }
760 return 0; /* (_health == 0 && _almanac_health == 1) or (_health == 0) */
761}
762
763// Constructor
764//////////////////////////////////////////////////////////////////////////////
765t_ephGal::t_ephGal(float rnxVersion, const QStringList& lines) {
766 int year, month, day, hour, min;
767 double sec;
768 QString prnStr;
769 const int nLines = 8;
770 if (lines.size() != nLines) {
771 _checkState = bad;
772 return;
773 }
774
775 // RINEX Format
776 // ------------
777 int fieldLen = 19;
778 double SVhealth = 0.0;
779 double datasource = 0.0;
780
781 int pos[4];
782 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
783 pos[1] = pos[0] + fieldLen;
784 pos[2] = pos[1] + fieldLen;
785 pos[3] = pos[2] + fieldLen;
786
787 // Read eight lines
788 // ----------------
789 for (int iLine = 0; iLine < nLines; iLine++) {
790 QString line = lines[iLine];
791
792 if ( iLine == 0 ) {
793 QTextStream in(line.left(pos[1]).toAscii());
794 QString n;
795 in >> prnStr;
796 if (prnStr.size() == 1 && prnStr[0] == 'E') {
797 in >> n;
798 prnStr.append(n);
799 }
800 in >> year >> month >> day >> hour >> min >> sec;
801 if (year < 80) {
802 year += 2000;
803 }
804 else if (year < 100) {
805 year += 1900;
806 }
807
808 _TOC.set(year, month, day, hour, min, sec);
809
810 if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
811 readDbl(line, pos[2], fieldLen, _clock_drift ) ||
812 readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
813 _checkState = bad;
814 return;
815 }
816 }
817
818 else if ( iLine == 1 ) {
819 if ( readDbl(line, pos[0], fieldLen, _IODnav ) ||
820 readDbl(line, pos[1], fieldLen, _Crs ) ||
821 readDbl(line, pos[2], fieldLen, _Delta_n) ||
822 readDbl(line, pos[3], fieldLen, _M0 ) ) {
823 _checkState = bad;
824 return;
825 }
826 }
827
828 else if ( iLine == 2 ) {
829 if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
830 readDbl(line, pos[1], fieldLen, _e ) ||
831 readDbl(line, pos[2], fieldLen, _Cus ) ||
832 readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
833 _checkState = bad;
834 return;
835 }
836 }
837
838 else if ( iLine == 3 ) {
839 if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
840 readDbl(line, pos[1], fieldLen, _Cic ) ||
841 readDbl(line, pos[2], fieldLen, _OMEGA0) ||
842 readDbl(line, pos[3], fieldLen, _Cis ) ) {
843 _checkState = bad;
844 return;
845 }
846 }
847
848 else if ( iLine == 4 ) {
849 if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
850 readDbl(line, pos[1], fieldLen, _Crc ) ||
851 readDbl(line, pos[2], fieldLen, _omega ) ||
852 readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
853 _checkState = bad;
854 return;
855 }
856 }
857
858 else if ( iLine == 5 ) {
859 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
860 readDbl(line, pos[1], fieldLen, datasource) ||
861 readDbl(line, pos[2], fieldLen, _TOEweek ) ) {
862 _checkState = bad;
863 return;
864 } else {
865 if (int(datasource) & (1<<8)) {
866 _fnav = true;
867 _inav = false;
868 } else if (int(datasource) & (1<<9)) {
869 _fnav = false;
870 _inav = true;
871 }
872 _TOEweek -= 1024.0;
873 }
874 }
875
876 else if ( iLine == 6 ) {
877 if ( readDbl(line, pos[0], fieldLen, _SISA ) ||
878 readDbl(line, pos[1], fieldLen, SVhealth) ||
879 readDbl(line, pos[2], fieldLen, _BGD_1_5A) ||
880 readDbl(line, pos[3], fieldLen, _BGD_1_5B) ) {
881 _checkState = bad;
882 return;
883 } else {
884 // Bit 0
885 _e1DataInValid = (int(SVhealth) & (1<<0));
886 // Bit 1-2
887 _E1_bHS = double((int(SVhealth) >> 1) & 0x3);
888 // Bit 3
889 _e5aDataInValid = (int(SVhealth) & (1<<3));
890 // Bit 4-5
891 _E5aHS = double((int(SVhealth) >> 4) & 0x3);
892 // Bit 6
893 _e5bDataInValid = (int(SVhealth) & (1<<6));
894 // Bit 7-8
895 _E5bHS = double((int(SVhealth) >> 7) & 0x3);
896
897 if (prnStr.at(0) == 'E') {
898 _prn.set('E', prnStr.mid(1).toInt(), _inav ? 1 : 0);
899 }
900 }
901 }
902
903 else if ( iLine == 7 ) {
904 if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
905 _checkState = bad;
906 return;
907 }
908 }
909 }
910}
911
912// Compute Galileo Satellite Position (virtual)
913////////////////////////////////////////////////////////////////////////////
914t_irc t_ephGal::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
915
916 if (_checkState == bad ||
917 _checkState == unhealthy) {
918 return failure;
919 }
920
921 static const double omegaEarth = 7292115.1467e-11;
922 static const double gmWGS = 398.6004418e12;
923
924 memset(xc, 0, 7*sizeof(double));
925 memset(vv, 0, 3*sizeof(double));
926
927 double a0 = _sqrt_A * _sqrt_A;
928 if (a0 == 0) {
929 return failure;
930 }
931
932 double n0 = sqrt(gmWGS/(a0*a0*a0));
933
934 bncTime tt(GPSweek, GPSweeks);
935 double tk = tt - bncTime(_TOC.gpsw(), _TOEsec);
936
937 double n = n0 + _Delta_n;
938 double M = _M0 + n*tk;
939 double E = M;
940 double E_last;
941 int nLoop = 0;
942 do {
943 E_last = E;
944 E = M + _e*sin(E);
945
946 if (++nLoop == 100) {
947 return failure;
948 }
949 } while ( fabs(E-E_last)*a0 > 0.001 );
950 double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
951 double u0 = v + _omega;
952 double sin2u0 = sin(2*u0);
953 double cos2u0 = cos(2*u0);
954 double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
955 double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
956 double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
957 double xp = r*cos(u);
958 double yp = r*sin(u);
959 double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
960 omegaEarth*_TOEsec;
961
962 double sinom = sin(OM);
963 double cosom = cos(OM);
964 double sini = sin(i);
965 double cosi = cos(i);
966 xc[0] = xp*cosom - yp*cosi*sinom;
967 xc[1] = xp*sinom + yp*cosi*cosom;
968 xc[2] = yp*sini;
969
970 double tc = tt - _TOC;
971 xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
972
973 xc[4] = _clock_bias;
974 xc[5] = _clock_drift;
975 xc[6] = _clock_driftrate;
976
977 // Velocity
978 // --------
979 double tanv2 = tan(v/2);
980 double dEdM = 1 / (1 - _e*cos(E));
981 double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
982 * dEdM * n;
983 double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
984 double dotom = _OMEGADOT - omegaEarth;
985 double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
986 double dotr = a0 * _e*sin(E) * dEdM * n
987 + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
988 double dotx = dotr*cos(u) - r*sin(u)*dotu;
989 double doty = dotr*sin(u) + r*cos(u)*dotu;
990
991 vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
992 - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
993 + yp*sini*sinom*doti; // dX / di
994
995 vv[1] = sinom *dotx + cosi*cosom *doty
996 + xp*cosom*dotom - yp*cosi*sinom*dotom
997 - yp*sini*cosom*doti;
998
999 vv[2] = sini *doty + yp*cosi *doti;
1000
1001 // Relativistic Correction
1002 // -----------------------
1003 // correspondent to Galileo ICD and to SSR standard
1004 xc[3] -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
1005 // correspondent to IGS convention
1006 //xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
1007
1008 return success;
1009}
1010
1011// Health status of Galileo Ephemeris (virtual)
1012////////////////////////////////////////////////////////////////////////////
1013unsigned int t_ephGal::isUnhealthy() const {
1014 if (_E5aHS && _E5bHS && _E1_bHS) {
1015 return 1;
1016 }
1017 return 0;
1018}
1019
1020// RINEX Format String
1021//////////////////////////////////////////////////////////////////////////////
1022QString t_ephGal::toString(double version) const {
1023
1024 QString rnxStr = rinexDateStr(_TOC, _prn, version);
1025
1026 QTextStream out(&rnxStr);
1027
1028 out << QString("%1%2%3\n")
1029 .arg(_clock_bias, 19, 'e', 12)
1030 .arg(_clock_drift, 19, 'e', 12)
1031 .arg(_clock_driftrate, 19, 'e', 12);
1032
1033 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1034
1035 out << QString(fmt)
1036 .arg(_IODnav, 19, 'e', 12)
1037 .arg(_Crs, 19, 'e', 12)
1038 .arg(_Delta_n, 19, 'e', 12)
1039 .arg(_M0, 19, 'e', 12);
1040
1041 out << QString(fmt)
1042 .arg(_Cuc, 19, 'e', 12)
1043 .arg(_e, 19, 'e', 12)
1044 .arg(_Cus, 19, 'e', 12)
1045 .arg(_sqrt_A, 19, 'e', 12);
1046
1047 out << QString(fmt)
1048 .arg(_TOEsec, 19, 'e', 12)
1049 .arg(_Cic, 19, 'e', 12)
1050 .arg(_OMEGA0, 19, 'e', 12)
1051 .arg(_Cis, 19, 'e', 12);
1052
1053 out << QString(fmt)
1054 .arg(_i0, 19, 'e', 12)
1055 .arg(_Crc, 19, 'e', 12)
1056 .arg(_omega, 19, 'e', 12)
1057 .arg(_OMEGADOT, 19, 'e', 12);
1058
1059 int dataSource = 0;
1060 int SVhealth = 0;
1061 double BGD_1_5A = _BGD_1_5A;
1062 double BGD_1_5B = _BGD_1_5B;
1063 if (_fnav) {
1064 dataSource |= (1<<1);
1065 dataSource |= (1<<8);
1066 BGD_1_5B = 0.0;
1067 // SVhealth
1068 // Bit 3 : E5a DVS
1069 if (_e5aDataInValid) {
1070 SVhealth |= (1<<3);
1071 }
1072 // Bit 4-5: E5a HS
1073 if (_E5aHS == 1.0) {
1074 SVhealth |= (1<<4);
1075 }
1076 else if (_E5aHS == 2.0) {
1077 SVhealth |= (1<<5);
1078 }
1079 else if (_E5aHS == 3.0) {
1080 SVhealth |= (1<<4);
1081 SVhealth |= (1<<5);
1082 }
1083 }
1084 else if(_inav) {
1085 // Bit 2 and 0 are set because from MT1046 the data source cannot be determined
1086 // and RNXv3.03 says both can be set if the navigation messages were merged
1087 dataSource |= (1<<0);
1088 dataSource |= (1<<2);
1089 dataSource |= (1<<9);
1090 // SVhealth
1091 // Bit 0 : E1-B DVS
1092 if (_e1DataInValid) {
1093 SVhealth |= (1<<0);
1094 }
1095 // Bit 1-2: E1-B HS
1096 if (_E1_bHS == 1.0) {
1097 SVhealth |= (1<<1);
1098 }
1099 else if (_E1_bHS == 2.0) {
1100 SVhealth |= (1<<2);
1101 }
1102 else if (_E1_bHS == 3.0) {
1103 SVhealth |= (1<<1);
1104 SVhealth |= (1<<2);
1105 }
1106 // Bit 3 : E5a DVS
1107 if (_e5aDataInValid) {
1108 SVhealth |= (1<<3);
1109 }
1110 // Bit 4-5: E5a HS
1111 if (_E5aHS == 1.0) {
1112 SVhealth |= (1<<4);
1113 }
1114 else if (_E5aHS == 2.0) {
1115 SVhealth |= (1<<5);
1116 }
1117 else if (_E5aHS == 3.0) {
1118 SVhealth |= (1<<4);
1119 SVhealth |= (1<<5);
1120 }
1121 // Bit 6 : E5b DVS
1122 if (_e5bDataInValid) {
1123 SVhealth |= (1<<6);
1124 }
1125 // Bit 7-8: E5b HS
1126 if (_E5bHS == 1.0) {
1127 SVhealth |= (1<<7);
1128 }
1129 else if (_E5bHS == 2.0) {
1130 SVhealth |= (1<<8);
1131 }
1132 else if (_E5bHS == 3.0) {
1133 SVhealth |= (1<<7);
1134 SVhealth |= (1<<8);
1135 }
1136 }
1137
1138 out << QString(fmt)
1139 .arg(_IDOT, 19, 'e', 12)
1140 .arg(double(dataSource), 19, 'e', 12)
1141 .arg(_TOEweek + 1024.0, 19, 'e', 12)
1142 .arg(0.0, 19, 'e', 12);
1143
1144 out << QString(fmt)
1145 .arg(_SISA, 19, 'e', 12)
1146 .arg(double(SVhealth), 19, 'e', 12)
1147 .arg(BGD_1_5A, 19, 'e', 12)
1148 .arg(BGD_1_5B, 19, 'e', 12);
1149
1150 double tot = _TOT;
1151 if (tot == 0.9999e9 && version < 3.0) {
1152 tot = 0.0;
1153 }
1154 out << QString(fmt)
1155 .arg(tot, 19, 'e', 12)
1156 .arg("", 19, QChar(' '))
1157 .arg("", 19, QChar(' '))
1158 .arg("", 19, QChar(' '));
1159
1160 return rnxStr;
1161}
1162
1163// Constructor
1164//////////////////////////////////////////////////////////////////////////////
1165t_ephSBAS::t_ephSBAS(float rnxVersion, const QStringList& lines) {
1166
1167 const int nLines = 4;
1168
1169 if (lines.size() != nLines) {
1170 _checkState = bad;
1171 return;
1172 }
1173
1174 // RINEX Format
1175 // ------------
1176 int fieldLen = 19;
1177
1178 int pos[4];
1179 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
1180 pos[1] = pos[0] + fieldLen;
1181 pos[2] = pos[1] + fieldLen;
1182 pos[3] = pos[2] + fieldLen;
1183
1184 // Read four lines
1185 // ---------------
1186 for (int iLine = 0; iLine < nLines; iLine++) {
1187 QString line = lines[iLine];
1188
1189 if ( iLine == 0 ) {
1190 QTextStream in(line.left(pos[1]).toAscii());
1191
1192 int year, month, day, hour, min;
1193 double sec;
1194
1195 QString prnStr, n;
1196 in >> prnStr;
1197 if (prnStr.size() == 1 && prnStr[0] == 'S') {
1198 in >> n;
1199 prnStr.append(n);
1200 }
1201 in >> year >> month >> day >> hour >> min >> sec;
1202 if (prnStr.at(0) == 'S') {
1203 _prn.set('S', prnStr.mid(1).toInt());
1204 }
1205 else {
1206 _prn.set('S', prnStr.toInt());
1207 }
1208
1209 if (year < 80) {
1210 year += 2000;
1211 }
1212 else if (year < 100) {
1213 year += 1900;
1214 }
1215
1216 _TOC.set(year, month, day, hour, min, sec);
1217
1218 if ( readDbl(line, pos[1], fieldLen, _agf0 ) ||
1219 readDbl(line, pos[2], fieldLen, _agf1 ) ||
1220 readDbl(line, pos[3], fieldLen, _TOT ) ) {
1221 _checkState = bad;
1222 return;
1223 }
1224 }
1225
1226 else if ( iLine == 1 ) {
1227 if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
1228 readDbl(line, pos[1], fieldLen, _x_velocity ) ||
1229 readDbl(line, pos[2], fieldLen, _x_acceleration) ||
1230 readDbl(line, pos[3], fieldLen, _health ) ) {
1231 _checkState = bad;
1232 return;
1233 }
1234 }
1235
1236 else if ( iLine == 2 ) {
1237 if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
1238 readDbl(line, pos[1], fieldLen, _y_velocity ) ||
1239 readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
1240 readDbl(line, pos[3], fieldLen, _ura ) ) {
1241 _checkState = bad;
1242 return;
1243 }
1244 }
1245
1246 else if ( iLine == 3 ) {
1247 double iodn;
1248 if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
1249 readDbl(line, pos[1], fieldLen, _z_velocity ) ||
1250 readDbl(line, pos[2], fieldLen, _z_acceleration) ||
1251 readDbl(line, pos[3], fieldLen, iodn ) ) {
1252 _checkState = bad;
1253 return;
1254 } else {
1255 _IODN = int(iodn);
1256 }
1257 }
1258 }
1259
1260 _x_pos *= 1.e3;
1261 _y_pos *= 1.e3;
1262 _z_pos *= 1.e3;
1263 _x_velocity *= 1.e3;
1264 _y_velocity *= 1.e3;
1265 _z_velocity *= 1.e3;
1266 _x_acceleration *= 1.e3;
1267 _y_acceleration *= 1.e3;
1268 _z_acceleration *= 1.e3;
1269}
1270
1271// IOD of SBAS Ephemeris (virtual)
1272////////////////////////////////////////////////////////////////////////////
1273
1274unsigned int t_ephSBAS::IOD() const {
1275 unsigned char buffer[80];
1276 int size = 0;
1277 int numbits = 0;
1278 long long bitbuffer = 0;
1279 unsigned char *startbuffer = buffer;
1280
1281 SBASADDBITSFLOAT(30, this->_x_pos, 0.08)
1282 SBASADDBITSFLOAT(30, this->_y_pos, 0.08)
1283 SBASADDBITSFLOAT(25, this->_z_pos, 0.4)
1284 SBASADDBITSFLOAT(17, this->_x_velocity, 0.000625)
1285 SBASADDBITSFLOAT(17, this->_y_velocity, 0.000625)
1286 SBASADDBITSFLOAT(18, this->_z_velocity, 0.004)
1287 SBASADDBITSFLOAT(10, this->_x_acceleration, 0.0000125)
1288 SBASADDBITSFLOAT(10, this->_y_acceleration, 0.0000125)
1289 SBASADDBITSFLOAT(10, this->_z_acceleration, 0.0000625)
1290 SBASADDBITSFLOAT(12, this->_agf0, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1291 SBASADDBITSFLOAT(8, this->_agf1, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<10))
1292 SBASADDBITS(5,0); // the last byte is filled by 0-bits to obtain a length of an integer multiple of 8
1293
1294 return CRC24(size, startbuffer);
1295}
1296
1297// Compute SBAS Satellite Position (virtual)
1298////////////////////////////////////////////////////////////////////////////
1299t_irc t_ephSBAS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
1300
1301 if (_checkState == bad ||
1302 _checkState == unhealthy) {
1303 return failure;
1304 }
1305
1306 bncTime tt(GPSweek, GPSweeks);
1307 double dt = tt - _TOC;
1308
1309 xc[0] = _x_pos + _x_velocity * dt + _x_acceleration * dt * dt / 2.0;
1310 xc[1] = _y_pos + _y_velocity * dt + _y_acceleration * dt * dt / 2.0;
1311 xc[2] = _z_pos + _z_velocity * dt + _z_acceleration * dt * dt / 2.0;
1312
1313 vv[0] = _x_velocity + _x_acceleration * dt;
1314 vv[1] = _y_velocity + _y_acceleration * dt;
1315 vv[2] = _z_velocity + _z_acceleration * dt;
1316
1317 xc[3] = _agf0 + _agf1 * dt;
1318
1319 xc[4] = _agf0;
1320 xc[5] = _agf1;
1321 xc[6] = 0.0;
1322
1323 return success;
1324}
1325
1326// RINEX Format String
1327//////////////////////////////////////////////////////////////////////////////
1328QString t_ephSBAS::toString(double version) const {
1329
1330 QString rnxStr = rinexDateStr(_TOC, _prn, version);
1331
1332 QTextStream out(&rnxStr);
1333
1334 out << QString("%1%2%3\n")
1335 .arg(_agf0, 19, 'e', 12)
1336 .arg(_agf1, 19, 'e', 12)
1337 .arg(_TOT, 19, 'e', 12);
1338
1339 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1340
1341 out << QString(fmt)
1342 .arg(1.e-3*_x_pos, 19, 'e', 12)
1343 .arg(1.e-3*_x_velocity, 19, 'e', 12)
1344 .arg(1.e-3*_x_acceleration, 19, 'e', 12)
1345 .arg(_health, 19, 'e', 12);
1346
1347 out << QString(fmt)
1348 .arg(1.e-3*_y_pos, 19, 'e', 12)
1349 .arg(1.e-3*_y_velocity, 19, 'e', 12)
1350 .arg(1.e-3*_y_acceleration, 19, 'e', 12)
1351 .arg(_ura, 19, 'e', 12);
1352
1353 out << QString(fmt)
1354 .arg(1.e-3*_z_pos, 19, 'e', 12)
1355 .arg(1.e-3*_z_velocity, 19, 'e', 12)
1356 .arg(1.e-3*_z_acceleration, 19, 'e', 12)
1357 .arg(double(_IODN), 19, 'e', 12);
1358
1359 return rnxStr;
1360}
1361
1362// Constructor
1363//////////////////////////////////////////////////////////////////////////////
1364t_ephBDS::t_ephBDS(float rnxVersion, const QStringList& lines) {
1365
1366 const int nLines = 8;
1367
1368 if (lines.size() != nLines) {
1369 _checkState = bad;
1370 return;
1371 }
1372
1373 // RINEX Format
1374 // ------------
1375 int fieldLen = 19;
1376
1377 int pos[4];
1378 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
1379 pos[1] = pos[0] + fieldLen;
1380 pos[2] = pos[1] + fieldLen;
1381 pos[3] = pos[2] + fieldLen;
1382
1383 // Read eight lines
1384 // ----------------
1385 for (int iLine = 0; iLine < nLines; iLine++) {
1386 QString line = lines[iLine];
1387
1388 if ( iLine == 0 ) {
1389 QTextStream in(line.left(pos[1]).toAscii());
1390
1391 int year, month, day, hour, min;
1392 double sec;
1393
1394 QString prnStr, n;
1395 in >> prnStr;
1396 if (prnStr.size() == 1 && prnStr[0] == 'C') {
1397 in >> n;
1398 prnStr.append(n);
1399 }
1400 in >> year >> month >> day >> hour >> min >> sec;
1401 if (prnStr.at(0) == 'C') {
1402 _prn.set('C', prnStr.mid(1).toInt());
1403 }
1404 else {
1405 _prn.set('C', prnStr.toInt());
1406 }
1407
1408 if (year < 80) {
1409 year += 2000;
1410 }
1411 else if (year < 100) {
1412 year += 1900;
1413 }
1414
1415 _TOC.setBDS(year, month, day, hour, min, sec);
1416
1417 if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
1418 readDbl(line, pos[2], fieldLen, _clock_drift ) ||
1419 readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
1420 _checkState = bad;
1421 return;
1422 }
1423 }
1424
1425 else if ( iLine == 1 ) {
1426 double aode;
1427 if ( readDbl(line, pos[0], fieldLen, aode ) ||
1428 readDbl(line, pos[1], fieldLen, _Crs ) ||
1429 readDbl(line, pos[2], fieldLen, _Delta_n) ||
1430 readDbl(line, pos[3], fieldLen, _M0 ) ) {
1431 _checkState = bad;
1432 return;
1433 }
1434 _AODE = int(aode);
1435 }
1436
1437 else if ( iLine == 2 ) {
1438 if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
1439 readDbl(line, pos[1], fieldLen, _e ) ||
1440 readDbl(line, pos[2], fieldLen, _Cus ) ||
1441 readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
1442 _checkState = bad;
1443 return;
1444 }
1445 }
1446
1447 else if ( iLine == 3 ) {
1448 if ( readDbl(line, pos[0], fieldLen, _TOEsec ) ||
1449 readDbl(line, pos[1], fieldLen, _Cic ) ||
1450 readDbl(line, pos[2], fieldLen, _OMEGA0) ||
1451 readDbl(line, pos[3], fieldLen, _Cis ) ) {
1452 _checkState = bad;
1453 return;
1454 }
1455 }
1456
1457 else if ( iLine == 4 ) {
1458 if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
1459 readDbl(line, pos[1], fieldLen, _Crc ) ||
1460 readDbl(line, pos[2], fieldLen, _omega ) ||
1461 readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
1462 _checkState = bad;
1463 return;
1464 }
1465 }
1466
1467 else if ( iLine == 5 ) {
1468 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
1469 readDbl(line, pos[2], fieldLen, _TOEweek)) {
1470 _checkState = bad;
1471 return;
1472 }
1473 }
1474
1475 else if ( iLine == 6 ) {
1476 double SatH1;
1477 if ( readDbl(line, pos[0], fieldLen, _URA ) ||
1478 readDbl(line, pos[1], fieldLen, SatH1) ||
1479 readDbl(line, pos[2], fieldLen, _TGD1) ||
1480 readDbl(line, pos[3], fieldLen, _TGD2) ) {
1481 _checkState = bad;
1482 return;
1483 }
1484 _SatH1 = int(SatH1);
1485 }
1486
1487 else if ( iLine == 7 ) {
1488 double aodc;
1489 if ( readDbl(line, pos[0], fieldLen, _TOT) ||
1490 readDbl(line, pos[1], fieldLen, aodc) ) {
1491 _checkState = bad;
1492 return;
1493 }
1494 if (_TOT == 0.9999e9) { // 0.9999e9 means not known (RINEX standard)
1495 _TOT = _TOEsec;
1496 }
1497 _AODC = int(aodc);
1498 }
1499 }
1500
1501 _TOE.setBDS(int(_TOEweek), _TOEsec);
1502
1503 // remark: actually should be computed from second_tot
1504 // but it seems to be unreliable in RINEX files
1505 //_TOT = _TOC.bdssec();
1506}
1507
1508// IOD of BDS Ephemeris (virtual)
1509////////////////////////////////////////////////////////////////////////////
1510unsigned int t_ephBDS::IOD() const {
1511 unsigned char buffer[80];
1512 int size = 0;
1513 int numbits = 0;
1514 long long bitbuffer = 0;
1515 unsigned char *startbuffer = buffer;
1516
1517 BDSADDBITSFLOAT(14, this->_IDOT, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<13))
1518 BDSADDBITSFLOAT(11, this->_clock_driftrate, 1.0/static_cast<double>(1<<30)
1519 /static_cast<double>(1<<30)/static_cast<double>(1<<6))
1520 BDSADDBITSFLOAT(22, this->_clock_drift, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<20))
1521 BDSADDBITSFLOAT(24, this->_clock_bias, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
1522 BDSADDBITSFLOAT(18, this->_Crs, 1.0/static_cast<double>(1<<6))
1523 BDSADDBITSFLOAT(16, this->_Delta_n, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<13))
1524 BDSADDBITSFLOAT(32, this->_M0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1525 BDSADDBITSFLOAT(18, this->_Cuc, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1526 BDSADDBITSFLOAT(32, this->_e, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
1527 BDSADDBITSFLOAT(18, this->_Cus, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1528 BDSADDBITSFLOAT(32, this->_sqrt_A, 1.0/static_cast<double>(1<<19))
1529 BDSADDBITSFLOAT(18, this->_Cic, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1530 BDSADDBITSFLOAT(32, this->_OMEGA0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1531 BDSADDBITSFLOAT(18, this->_Cis, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1532 BDSADDBITSFLOAT(32, this->_i0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1533 BDSADDBITSFLOAT(18, this->_Crc, 1.0/static_cast<double>(1<<6))
1534 BDSADDBITSFLOAT(32, this->_omega, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1535 BDSADDBITSFLOAT(24, this->_OMEGADOT, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<13))
1536 BDSADDBITS(5, 0) // the last byte is filled by 0-bits to obtain a length of an integer multiple of 8
1537
1538 return CRC24(size, startbuffer);
1539}
1540
1541// Compute BDS Satellite Position (virtual)
1542//////////////////////////////////////////////////////////////////////////////
1543t_irc t_ephBDS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
1544
1545 if (_checkState == bad ||
1546 _checkState == unhealthy) {
1547 return failure;
1548 }
1549
1550 static const double gmBDS = 398.6004418e12;
1551 static const double omegaBDS = 7292115.0000e-11;
1552
1553 xc[0] = xc[1] = xc[2] = xc[3] = 0.0;
1554 vv[0] = vv[1] = vv[2] = 0.0;
1555
1556 bncTime tt(GPSweek, GPSweeks);
1557
1558 if (_sqrt_A == 0) {
1559 return failure;
1560 }
1561 double a0 = _sqrt_A * _sqrt_A;
1562
1563 double n0 = sqrt(gmBDS/(a0*a0*a0));
1564 double tk = tt - _TOE;
1565 double n = n0 + _Delta_n;
1566 double M = _M0 + n*tk;
1567 double E = M;
1568 double E_last;
1569 int nLoop = 0;
1570 do {
1571 E_last = E;
1572 E = M + _e*sin(E);
1573
1574 if (++nLoop == 100) {
1575 return failure;
1576 }
1577 } while ( fabs(E-E_last)*a0 > 0.001 );
1578
1579 double v = atan2(sqrt(1-_e*_e) * sin(E), cos(E) - _e);
1580 double u0 = v + _omega;
1581 double sin2u0 = sin(2*u0);
1582 double cos2u0 = cos(2*u0);
1583 double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
1584 double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
1585 double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
1586 double xp = r*cos(u);
1587 double yp = r*sin(u);
1588 double toesec = (_TOE.gpssec() - 14.0);
1589 double sinom = 0;
1590 double cosom = 0;
1591 double sini = 0;
1592 double cosi = 0;
1593
1594 // Velocity
1595 // --------
1596 double tanv2 = tan(v/2);
1597 double dEdM = 1 / (1 - _e*cos(E));
1598 double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2)
1599 / (1 + tanv2*tanv2) * dEdM * n;
1600 double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
1601 double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
1602 double dotr = a0 * _e*sin(E) * dEdM * n
1603 + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
1604
1605 double dotx = dotr*cos(u) - r*sin(u)*dotu;
1606 double doty = dotr*sin(u) + r*cos(u)*dotu;
1607
1608 const double iMaxGEO = 10.0 / 180.0 * M_PI;
1609
1610 // MEO/IGSO satellite
1611 // ------------------
1612 if (_i0 > iMaxGEO) {
1613 double OM = _OMEGA0 + (_OMEGADOT - omegaBDS)*tk - omegaBDS*toesec;
1614
1615 sinom = sin(OM);
1616 cosom = cos(OM);
1617 sini = sin(i);
1618 cosi = cos(i);
1619
1620 xc[0] = xp*cosom - yp*cosi*sinom;
1621 xc[1] = xp*sinom + yp*cosi*cosom;
1622 xc[2] = yp*sini;
1623
1624 // Velocity
1625 // --------
1626
1627 double dotom = _OMEGADOT - t_CST::omega;
1628
1629 vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
1630 - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
1631 + yp*sini*sinom*doti; // dX / di
1632
1633 vv[1] = sinom *dotx + cosi*cosom *doty
1634 + xp*cosom*dotom - yp*cosi*sinom*dotom
1635 - yp*sini*cosom*doti;
1636
1637 vv[2] = sini *doty + yp*cosi *doti;
1638
1639 }
1640
1641 // GEO satellite
1642 // -------------
1643 else {
1644 double OM = _OMEGA0 + _OMEGADOT*tk - omegaBDS*toesec;
1645 double ll = omegaBDS*tk;
1646
1647 sinom = sin(OM);
1648 cosom = cos(OM);
1649 sini = sin(i);
1650 cosi = cos(i);
1651
1652 double xx = xp*cosom - yp*cosi*sinom;
1653 double yy = xp*sinom + yp*cosi*cosom;
1654 double zz = yp*sini;
1655
1656 Matrix RX = BNC_PPP::t_astro::rotX(-5.0 / 180.0 * M_PI);
1657 Matrix RZ = BNC_PPP::t_astro::rotZ(ll);
1658
1659 ColumnVector X1(3); X1 << xx << yy << zz;
1660 ColumnVector X2 = RZ*RX*X1;
1661
1662 xc[0] = X2(1);
1663 xc[1] = X2(2);
1664 xc[2] = X2(3);
1665
1666 double dotom = _OMEGADOT;
1667
1668 double vx = cosom *dotx - cosi*sinom *doty
1669 - xp*sinom*dotom - yp*cosi*cosom*dotom
1670 + yp*sini*sinom*doti;
1671
1672 double vy = sinom *dotx + cosi*cosom *doty
1673 + xp*cosom*dotom - yp*cosi*sinom*dotom
1674 - yp*sini*cosom*doti;
1675
1676 double vz = sini *doty + yp*cosi *doti;
1677
1678 ColumnVector V(3); V << vx << vy << vz;
1679
1680 Matrix RdotZ(3,3);
1681 double C = cos(ll);
1682 double S = sin(ll);
1683 Matrix UU(3,3);
1684 UU[0][0] = -S; UU[0][1] = +C; UU[0][2] = 0.0;
1685 UU[1][0] = -C; UU[1][1] = -S; UU[1][2] = 0.0;
1686 UU[2][0] = 0.0; UU[2][1] = 0.0; UU[2][2] = 0.0;
1687 RdotZ = omegaBDS * UU;
1688
1689 ColumnVector VV(3);
1690 VV = RZ*RX*V + RdotZ*RX*X1;
1691
1692 vv[0] = VV(1);
1693 vv[1] = VV(2);
1694 vv[2] = VV(3);
1695 }
1696
1697 double tc = tt - _TOC;
1698 xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
1699
1700 xc[4] = _clock_bias;
1701 xc[5] = _clock_drift;
1702 xc[6] = _clock_driftrate;
1703
1704 // dotC = _clock_drift + _clock_driftrate*tc
1705 // - 4.442807633e-10*_e*sqrt(a0)*cos(E) * dEdM * n;
1706
1707 // Relativistic Correction
1708 // -----------------------
1709 // correspondent to BDS ICD and to SSR standard
1710 xc[3] -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
1711 // correspondent to IGS convention
1712 // xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
1713
1714 return success;
1715}
1716
1717// RINEX Format String
1718//////////////////////////////////////////////////////////////////////////////
1719QString t_ephBDS::toString(double version) const {
1720
1721 QString rnxStr = rinexDateStr(_TOC-14.0, _prn, version);
1722
1723 QTextStream out(&rnxStr);
1724
1725 out << QString("%1%2%3\n")
1726 .arg(_clock_bias, 19, 'e', 12)
1727 .arg(_clock_drift, 19, 'e', 12)
1728 .arg(_clock_driftrate, 19, 'e', 12);
1729
1730 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1731
1732 out << QString(fmt)
1733 .arg(double(_AODE), 19, 'e', 12)
1734 .arg(_Crs, 19, 'e', 12)
1735 .arg(_Delta_n, 19, 'e', 12)
1736 .arg(_M0, 19, 'e', 12);
1737
1738 out << QString(fmt)
1739 .arg(_Cuc, 19, 'e', 12)
1740 .arg(_e, 19, 'e', 12)
1741 .arg(_Cus, 19, 'e', 12)
1742 .arg(_sqrt_A, 19, 'e', 12);
1743
1744 double toes = 0.0;
1745 if (_TOEweek > -1.0) {// RINEX input
1746 toes = _TOEsec;
1747 }
1748 else {// RTCM stream input
1749 toes = _TOE.bdssec();
1750 }
1751 out << QString(fmt)
1752 .arg(toes, 19, 'e', 12)
1753 .arg(_Cic, 19, 'e', 12)
1754 .arg(_OMEGA0, 19, 'e', 12)
1755 .arg(_Cis, 19, 'e', 12);
1756
1757 out << QString(fmt)
1758 .arg(_i0, 19, 'e', 12)
1759 .arg(_Crc, 19, 'e', 12)
1760 .arg(_omega, 19, 'e', 12)
1761 .arg(_OMEGADOT, 19, 'e', 12);
1762
1763 double toew = 0.0;
1764 if (_TOEweek > -1.0) {// RINEX input
1765 toew = _TOEweek;
1766 }
1767 else {// RTCM stream input
1768 toew = double(_TOE.bdsw());
1769 }
1770 out << QString(fmt)
1771 .arg(_IDOT, 19, 'e', 12)
1772 .arg(0.0, 19, 'e', 12)
1773 .arg(toew, 19, 'e', 12)
1774 .arg(0.0, 19, 'e', 12);
1775
1776 out << QString(fmt)
1777 .arg(_URA, 19, 'e', 12)
1778 .arg(double(_SatH1), 19, 'e', 12)
1779 .arg(_TGD1, 19, 'e', 12)
1780 .arg(_TGD2, 19, 'e', 12);
1781
1782 double tots = 0.0;
1783 if (_TOEweek > -1.0) {// RINEX input
1784 tots = _TOT;
1785 }
1786 else {// RTCM stream input
1787 tots = _TOE.bdssec();
1788 }
1789 out << QString(fmt)
1790 .arg(tots, 19, 'e', 12)
1791 .arg(double(_AODC), 19, 'e', 12)
1792 .arg("", 19, QChar(' '))
1793 .arg("", 19, QChar(' '));
1794 return rnxStr;
1795}
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