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