[1025] | 1 | #include <math.h>
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| 2 | #include <sstream>
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[2234] | 3 | #include <iostream>
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[1025] | 4 | #include <iomanip>
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[1239] | 5 | #include <cstring>
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[1025] | 6 |
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[2234] | 7 | #include <newmatio.h>
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| 8 |
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[1025] | 9 | #include "ephemeris.h"
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[2221] | 10 | #include "bncutils.h"
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[1025] | 11 | #include "timeutils.h"
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[2285] | 12 | #include "bnctime.h"
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[3280] | 13 | #include "bncapp.h"
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[1025] | 14 |
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| 15 | using namespace std;
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| 16 |
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[3255] | 17 | #define PI 3.1415926535898
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| 18 | // Returns nearest integer value
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| 19 | ////////////////////////////////////////////////////////////////////////////
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| 20 | static double NearestInt(double fl, double * remain)
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| 21 | {
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| 22 | bool isneg = fl < 0.0;
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| 23 | double intval;
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| 24 | if(isneg) fl *= -1.0;
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| 25 | intval = (double)((unsigned long)(fl+0.5));
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| 26 | if(isneg) {fl *= -1.0; intval *= -1.0;}
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| 27 | if(remain)
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| 28 | *remain = fl-intval;
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| 29 | return intval;
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| 30 | } /* NearestInt() */
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| 31 |
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| 32 | // Returns CRC24
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| 33 | ////////////////////////////////////////////////////////////////////////////
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| 34 | static unsigned long CRC24(long size, const unsigned char *buf)
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| 35 | {
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| 36 | unsigned long crc = 0;
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| 37 | int i;
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| 38 |
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| 39 | while(size--)
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| 40 | {
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| 41 | crc ^= (*buf++) << (16);
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| 42 | for(i = 0; i < 8; i++)
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| 43 | {
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| 44 | crc <<= 1;
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| 45 | if(crc & 0x1000000)
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| 46 | crc ^= 0x01864cfb;
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| 47 | }
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| 48 | }
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| 49 | return crc;
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| 50 | } /* CRC24 */
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| 51 |
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[2222] | 52 | //
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| 53 | ////////////////////////////////////////////////////////////////////////////
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[1025] | 54 | bool t_eph::isNewerThan(const t_eph* eph) const {
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| 55 | if (_GPSweek > eph->_GPSweek ||
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| 56 | (_GPSweek == eph->_GPSweek && _GPSweeks > eph->_GPSweeks)) {
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| 57 | return true;
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| 58 | }
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| 59 | else {
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| 60 | return false;
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| 61 | }
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| 62 | }
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| 63 |
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[2222] | 64 | // Set GPS Satellite Position
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| 65 | ////////////////////////////////////////////////////////////////////////////
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[1025] | 66 | void t_ephGPS::set(const gpsephemeris* ee) {
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| 67 |
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[3255] | 68 | _prn = QString("G%1").arg(ee->satellite, 2, 10, QChar('0'));
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[1025] | 69 |
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| 70 | // TODO: check if following two lines are correct
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| 71 | _GPSweek = ee->GPSweek;
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| 72 | _GPSweeks = ee->TOE;
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| 73 |
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| 74 | _TOW = ee->TOW;
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| 75 | _TOC = ee->TOC;
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| 76 | _TOE = ee->TOE;
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[3734] | 77 | _IODE = ee->IODE;
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| 78 | _IODC = ee->IODC;
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[1025] | 79 |
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[3734] | 80 | _clock_bias = ee->clock_bias;
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| 81 | _clock_drift = ee->clock_drift;
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[1025] | 82 | _clock_driftrate = ee->clock_driftrate;
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| 83 |
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| 84 | _Crs = ee->Crs;
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| 85 | _Delta_n = ee->Delta_n;
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| 86 | _M0 = ee->M0;
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| 87 | _Cuc = ee->Cuc;
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| 88 | _e = ee->e;
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| 89 | _Cus = ee->Cus;
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| 90 | _sqrt_A = ee->sqrt_A;
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| 91 | _Cic = ee->Cic;
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| 92 | _OMEGA0 = ee->OMEGA0;
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| 93 | _Cis = ee->Cis;
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| 94 | _i0 = ee->i0;
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| 95 | _Crc = ee->Crc;
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| 96 | _omega = ee->omega;
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| 97 | _OMEGADOT = ee->OMEGADOT;
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| 98 | _IDOT = ee->IDOT;
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| 99 |
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| 100 | _TGD = ee->TGD;
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[3659] | 101 |
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| 102 | _ok = true;
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[3734] | 103 |
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| 104 | /* FIXME: convert URAindex and flags! */
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| 105 | _ura = 0;
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| 106 | _L2Codes = 0;
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| 107 | _L2PFlag = 0;
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| 108 | _health = ee->SVhealth;
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[1025] | 109 | }
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| 110 |
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[2222] | 111 | // Compute GPS Satellite Position (virtual)
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[1025] | 112 | ////////////////////////////////////////////////////////////////////////////
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| 113 | void t_ephGPS::position(int GPSweek, double GPSweeks,
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| 114 | double* xc,
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| 115 | double* vv) const {
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| 116 |
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[1098] | 117 | static const double secPerWeek = 7 * 86400.0;
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| 118 | static const double omegaEarth = 7292115.1467e-11;
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| 119 | static const double gmWGS = 398.6005e12;
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[1025] | 120 |
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| 121 | memset(xc, 0, 4*sizeof(double));
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| 122 | memset(vv, 0, 3*sizeof(double));
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| 123 |
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| 124 | double a0 = _sqrt_A * _sqrt_A;
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| 125 | if (a0 == 0) {
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| 126 | return;
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| 127 | }
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| 128 |
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| 129 | double n0 = sqrt(gmWGS/(a0*a0*a0));
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| 130 | double tk = GPSweeks - _TOE;
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| 131 | if (GPSweek != _GPSweek) {
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| 132 | tk += (GPSweek - _GPSweek) * secPerWeek;
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| 133 | }
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| 134 | double n = n0 + _Delta_n;
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| 135 | double M = _M0 + n*tk;
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| 136 | double E = M;
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| 137 | double E_last;
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| 138 | do {
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| 139 | E_last = E;
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| 140 | E = M + _e*sin(E);
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| 141 | } while ( fabs(E-E_last)*a0 > 0.001 );
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| 142 | double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
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| 143 | double u0 = v + _omega;
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| 144 | double sin2u0 = sin(2*u0);
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| 145 | double cos2u0 = cos(2*u0);
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| 146 | double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
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| 147 | double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
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| 148 | double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
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| 149 | double xp = r*cos(u);
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| 150 | double yp = r*sin(u);
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| 151 | double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
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| 152 | omegaEarth*_TOE;
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| 153 |
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| 154 | double sinom = sin(OM);
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| 155 | double cosom = cos(OM);
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| 156 | double sini = sin(i);
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| 157 | double cosi = cos(i);
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| 158 | xc[0] = xp*cosom - yp*cosi*sinom;
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| 159 | xc[1] = xp*sinom + yp*cosi*cosom;
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| 160 | xc[2] = yp*sini;
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| 161 |
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| 162 | double tc = GPSweeks - _TOC;
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| 163 | if (GPSweek != _GPSweek) {
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| 164 | tc += (GPSweek - _GPSweek) * secPerWeek;
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| 165 | }
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[2429] | 166 | xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
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[1025] | 167 |
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| 168 | // Velocity
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| 169 | // --------
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| 170 | double tanv2 = tan(v/2);
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| 171 | double dEdM = 1 / (1 - _e*cos(E));
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| 172 | double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
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| 173 | * dEdM * n;
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| 174 | double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
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| 175 | double dotom = _OMEGADOT - omegaEarth;
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| 176 | double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
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| 177 | double dotr = a0 * _e*sin(E) * dEdM * n
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| 178 | + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
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| 179 | double dotx = dotr*cos(u) - r*sin(u)*dotu;
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| 180 | double doty = dotr*sin(u) + r*cos(u)*dotu;
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| 181 |
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| 182 | vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
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| 183 | - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
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| 184 | + yp*sini*sinom*doti; // dX / di
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| 185 |
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| 186 | vv[1] = sinom *dotx + cosi*cosom *doty
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| 187 | + xp*cosom*dotom - yp*cosi*sinom*dotom
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| 188 | - yp*sini*cosom*doti;
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| 189 |
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| 190 | vv[2] = sini *doty + yp*cosi *doti;
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[2429] | 191 |
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| 192 | // Relativistic Correction
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| 193 | // -----------------------
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| 194 | // xc(4) -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
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| 195 | 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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[1025] | 196 | }
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| 197 |
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[3255] | 198 | // build up RTCM3 for GPS
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| 199 | ////////////////////////////////////////////////////////////////////////////
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| 200 | #define GPSTOINT(type, value) static_cast<type>(NearestInt(value,0))
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[1025] | 201 |
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[3255] | 202 | #define GPSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
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| 203 | |(GPSTOINT(long long,b)&((1ULL<<a)-1)); \
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| 204 | numbits += (a); \
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| 205 | while(numbits >= 8) { \
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| 206 | buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
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| 207 | #define GPSADDBITSFLOAT(a,b,c) {long long i = GPSTOINT(long long,(b)/(c)); \
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| 208 | GPSADDBITS(a,i)};
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| 209 |
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| 210 | int t_ephGPS::RTCM3(unsigned char *buffer)
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| 211 | {
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| 212 |
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| 213 | unsigned char *startbuffer = buffer;
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| 214 | buffer= buffer+3;
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| 215 | int size = 0;
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| 216 | int numbits = 0;
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| 217 | unsigned long long bitbuffer = 0;
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| 218 | if (_ura <= 2.40){
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| 219 | _ura = 0;
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| 220 | }
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| 221 | else if (_ura <= 3.40){
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| 222 | _ura = 1;
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| 223 | }
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| 224 | else if (_ura <= 6.85){
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| 225 | _ura = 2;
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| 226 | }
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| 227 | else if (_ura <= 9.65){
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| 228 | _ura = 3;
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| 229 | }
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| 230 | else if (_ura <= 13.65){
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| 231 | _ura = 4;
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| 232 | }
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| 233 | else if (_ura <= 24.00){
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| 234 | _ura = 5;
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| 235 | }
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| 236 | else if (_ura <= 48.00){
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| 237 | _ura = 6;
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| 238 | }
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| 239 | else if (_ura <= 96.00){
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| 240 | _ura = 7;
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| 241 | }
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| 242 | else if (_ura <= 192.00){
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| 243 | _ura = 8;
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| 244 | }
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| 245 | else if (_ura <= 384.00){
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| 246 | _ura = 9;
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| 247 | }
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| 248 | else if (_ura <= 768.00){
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| 249 | _ura = 10;
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| 250 | }
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| 251 | else if (_ura <= 1536.00){
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| 252 | _ura = 11;
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| 253 | }
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| 254 | else if (_ura <= 1536.00){
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| 255 | _ura = 12;
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| 256 | }
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| 257 | else if (_ura <= 2072.00){
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| 258 | _ura = 13;
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| 259 | }
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| 260 | else if (_ura <= 6144.00){
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| 261 | _ura = 14;
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| 262 | }
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| 263 | else{
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| 264 | _ura = 15;
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| 265 | }
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| 266 |
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| 267 | GPSADDBITS(12, 1019)
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| 268 | GPSADDBITS(6,_prn.right((_prn.length()-1)).toInt())
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| 269 | GPSADDBITS(10, _GPSweek)
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| 270 | GPSADDBITS(4, _ura)
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| 271 | GPSADDBITS(2,_L2Codes)
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| 272 | GPSADDBITSFLOAT(14, _IDOT, PI/static_cast<double>(1<<30)
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| 273 | /static_cast<double>(1<<13))
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| 274 | GPSADDBITS(8, _IODE)
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| 275 | GPSADDBITS(16, static_cast<int>(_TOC)>>4)
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| 276 | GPSADDBITSFLOAT(8, _clock_driftrate, 1.0/static_cast<double>(1<<30)
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| 277 | /static_cast<double>(1<<25))
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| 278 | GPSADDBITSFLOAT(16, _clock_drift, 1.0/static_cast<double>(1<<30)
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| 279 | /static_cast<double>(1<<13))
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| 280 | GPSADDBITSFLOAT(22, _clock_bias, 1.0/static_cast<double>(1<<30)
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| 281 | /static_cast<double>(1<<1))
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| 282 | GPSADDBITS(10, _IODC)
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| 283 | GPSADDBITSFLOAT(16, _Crs, 1.0/static_cast<double>(1<<5))
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| 284 | GPSADDBITSFLOAT(16, _Delta_n, PI/static_cast<double>(1<<30)
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| 285 | /static_cast<double>(1<<13))
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| 286 | GPSADDBITSFLOAT(32, _M0, PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
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| 287 | GPSADDBITSFLOAT(16, _Cuc, 1.0/static_cast<double>(1<<29))
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| 288 | GPSADDBITSFLOAT(32, _e, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
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| 289 | GPSADDBITSFLOAT(16, _Cus, 1.0/static_cast<double>(1<<29))
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| 290 | GPSADDBITSFLOAT(32, _sqrt_A, 1.0/static_cast<double>(1<<19))
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| 291 | GPSADDBITS(16, static_cast<int>(_TOE)>>4)
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| 292 | GPSADDBITSFLOAT(16, _Cic, 1.0/static_cast<double>(1<<29))
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| 293 | GPSADDBITSFLOAT(32, _OMEGA0, PI/static_cast<double>(1<<30)
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| 294 | /static_cast<double>(1<<1))
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| 295 | GPSADDBITSFLOAT(16, _Cis, 1.0/static_cast<double>(1<<29))
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| 296 | GPSADDBITSFLOAT(32, _i0, PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
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| 297 | GPSADDBITSFLOAT(16, _Crc, 1.0/static_cast<double>(1<<5))
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| 298 | GPSADDBITSFLOAT(32, _omega, PI/static_cast<double>(1<<30)
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| 299 | /static_cast<double>(1<<1))
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| 300 | GPSADDBITSFLOAT(24, _OMEGADOT, PI/static_cast<double>(1<<30)
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| 301 | /static_cast<double>(1<<13))
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| 302 | GPSADDBITSFLOAT(8, _TGD, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
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| 303 | GPSADDBITS(6, _health)
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| 304 | GPSADDBITS(1, _L2PFlag)
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| 305 | GPSADDBITS(1, 0) /* GPS fit interval */
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| 306 |
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| 307 | startbuffer[0]=0xD3;
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| 308 | startbuffer[1]=(size >> 8);
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| 309 | startbuffer[2]=size;
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| 310 | unsigned long i = CRC24(size+3, startbuffer);
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| 311 | buffer[size++] = i >> 16;
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| 312 | buffer[size++] = i >> 8;
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| 313 | buffer[size++] = i;
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| 314 | size += 3;
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| 315 | return size;
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| 316 | }
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| 317 |
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[2221] | 318 | // Derivative of the state vector using a simple force model (static)
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| 319 | ////////////////////////////////////////////////////////////////////////////
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[2556] | 320 | ColumnVector t_ephGlo::glo_deriv(double /* tt */, const ColumnVector& xv,
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| 321 | double* acc) {
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[2221] | 322 |
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| 323 | // State vector components
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| 324 | // -----------------------
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| 325 | ColumnVector rr = xv.rows(1,3);
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| 326 | ColumnVector vv = xv.rows(4,6);
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| 327 |
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| 328 | // Acceleration
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| 329 | // ------------
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| 330 | static const double GM = 398.60044e12;
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| 331 | static const double AE = 6378136.0;
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| 332 | static const double OMEGA = 7292115.e-11;
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[2561] | 333 | static const double C20 = -1082.6257e-6;
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[2221] | 334 |
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| 335 | double rho = rr.norm_Frobenius();
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| 336 | double t1 = -GM/(rho*rho*rho);
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| 337 | double t2 = 3.0/2.0 * C20 * (GM*AE*AE) / (rho*rho*rho*rho*rho);
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| 338 | double t3 = OMEGA * OMEGA;
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| 339 | double t4 = 2.0 * OMEGA;
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| 340 | double z2 = rr(3) * rr(3);
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| 341 |
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| 342 | // Vector of derivatives
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| 343 | // ---------------------
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| 344 | ColumnVector va(6);
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| 345 | va(1) = vv(1);
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| 346 | va(2) = vv(2);
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| 347 | va(3) = vv(3);
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[2556] | 348 | va(4) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(1) + t4*vv(2) + acc[0];
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| 349 | va(5) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(2) - t4*vv(1) + acc[1];
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| 350 | va(6) = (t1 + t2*(3.0-5.0*z2/(rho*rho)) ) * rr(3) + acc[2];
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[2221] | 351 |
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| 352 | return va;
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| 353 | }
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| 354 |
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| 355 | // Compute Glonass Satellite Position (virtual)
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| 356 | ////////////////////////////////////////////////////////////////////////////
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| 357 | void t_ephGlo::position(int GPSweek, double GPSweeks,
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| 358 | double* xc, double* vv) const {
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| 359 |
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| 360 | static const double secPerWeek = 7 * 86400.0;
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| 361 | static const double nominalStep = 10.0;
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| 362 |
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| 363 | memset(xc, 0, 4*sizeof(double));
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| 364 | memset(vv, 0, 3*sizeof(double));
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| 365 |
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| 366 | double dtPos = GPSweeks - _tt;
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| 367 | if (GPSweek != _GPSweek) {
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| 368 | dtPos += (GPSweek - _GPSweek) * secPerWeek;
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| 369 | }
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| 370 |
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| 371 | int nSteps = int(fabs(dtPos) / nominalStep) + 1;
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| 372 | double step = dtPos / nSteps;
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| 373 |
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[2556] | 374 | double acc[3];
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[2557] | 375 | acc[0] = _x_acceleration * 1.e3;
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[2560] | 376 | acc[1] = _y_acceleration * 1.e3;
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| 377 | acc[2] = _z_acceleration * 1.e3;
|
---|
[2221] | 378 | for (int ii = 1; ii <= nSteps; ii++) {
|
---|
[2556] | 379 | _xv = rungeKutta4(_tt, _xv, step, acc, glo_deriv);
|
---|
[2221] | 380 | _tt += step;
|
---|
| 381 | }
|
---|
| 382 |
|
---|
| 383 | // Position and Velocity
|
---|
| 384 | // ---------------------
|
---|
| 385 | xc[0] = _xv(1);
|
---|
| 386 | xc[1] = _xv(2);
|
---|
| 387 | xc[2] = _xv(3);
|
---|
| 388 |
|
---|
| 389 | vv[0] = _xv(4);
|
---|
| 390 | vv[1] = _xv(5);
|
---|
| 391 | vv[2] = _xv(6);
|
---|
| 392 |
|
---|
| 393 | // Clock Correction
|
---|
| 394 | // ----------------
|
---|
| 395 | double dtClk = GPSweeks - _GPSweeks;
|
---|
| 396 | if (GPSweek != _GPSweek) {
|
---|
| 397 | dtClk += (GPSweek - _GPSweek) * secPerWeek;
|
---|
| 398 | }
|
---|
| 399 | xc[3] = -_tau + _gamma * dtClk;
|
---|
| 400 | }
|
---|
| 401 |
|
---|
| 402 | // IOD of Glonass Ephemeris (virtual)
|
---|
| 403 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 404 | int t_ephGlo::IOD() const {
|
---|
[3538] | 405 | bncTime tGPS(_GPSweek, _GPSweeks);
|
---|
| 406 | bncTime tMoscow = tGPS - _gps_utc + 3 * 3600.0;
|
---|
| 407 | return int(tMoscow.daysec() / 900);
|
---|
[2221] | 408 | }
|
---|
| 409 |
|
---|
| 410 | // Set Glonass Ephemeris
|
---|
| 411 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 412 | void t_ephGlo::set(const glonassephemeris* ee) {
|
---|
| 413 |
|
---|
[3255] | 414 | _prn = QString("R%1").arg(ee->almanac_number, 2, 10, QChar('0'));
|
---|
[2223] | 415 |
|
---|
[2234] | 416 | int ww = ee->GPSWeek;
|
---|
| 417 | int tow = ee->GPSTOW;
|
---|
[2257] | 418 | updatetime(&ww, &tow, ee->tb*1000, 0); // Moscow -> GPS
|
---|
[2223] | 419 |
|
---|
[3264] | 420 | // Check the day once more
|
---|
| 421 | // -----------------------
|
---|
| 422 | {
|
---|
[3268] | 423 | const double secPerDay = 24 * 3600.0;
|
---|
| 424 | const double secPerWeek = 7 * secPerDay;
|
---|
[3266] | 425 | int ww_old = ww;
|
---|
| 426 | int tow_old = tow;
|
---|
[3264] | 427 | int currentWeek;
|
---|
| 428 | double currentSec;
|
---|
| 429 | currentGPSWeeks(currentWeek, currentSec);
|
---|
| 430 | bncTime currentTime(currentWeek, currentSec);
|
---|
| 431 | bncTime hTime(ww, (double) tow);
|
---|
| 432 |
|
---|
| 433 | bool changed = false;
|
---|
[3268] | 434 | if (hTime - currentTime > secPerDay/2.0) {
|
---|
[3264] | 435 | changed = true;
|
---|
[3268] | 436 | tow -= secPerDay;
|
---|
| 437 | if (tow < 0) {
|
---|
| 438 | tow += secPerWeek;
|
---|
| 439 | ww -= 1;
|
---|
| 440 | }
|
---|
[3264] | 441 | }
|
---|
[3268] | 442 | else if (hTime - currentTime < -secPerDay/2.0) {
|
---|
[3264] | 443 | changed = true;
|
---|
[3268] | 444 | tow += secPerDay;
|
---|
| 445 | if (tow > secPerWeek) {
|
---|
| 446 | tow -= secPerWeek;
|
---|
| 447 | ww += 1;
|
---|
| 448 | }
|
---|
[3264] | 449 | }
|
---|
| 450 |
|
---|
[3280] | 451 | if (changed && ((bncApp*) qApp)->mode() == bncApp::batchPostProcessing) {
|
---|
[3265] | 452 | bncTime newHTime(ww, (double) tow);
|
---|
[3269] | 453 | cout << "GLONASS " << ee->almanac_number << " Time Changed at "
|
---|
[3266] | 454 | << currentTime.datestr() << " " << currentTime.timestr()
|
---|
| 455 | << endl
|
---|
[3268] | 456 | << "old: " << hTime.datestr() << " " << hTime.timestr()
|
---|
[3266] | 457 | << endl
|
---|
| 458 | << "new: " << newHTime.datestr() << " " << newHTime.timestr()
|
---|
| 459 | << endl
|
---|
| 460 | << "eph: " << ee->GPSWeek << " " << ee->GPSTOW << " " << ee->tb
|
---|
| 461 | << endl
|
---|
| 462 | << "ww, tow (old): " << ww_old << " " << tow_old
|
---|
| 463 | << endl
|
---|
| 464 | << "ww, tow (new): " << ww << " " << tow
|
---|
[3267] | 465 | << endl << endl;
|
---|
[3264] | 466 | }
|
---|
| 467 | }
|
---|
| 468 |
|
---|
[3263] | 469 | bncTime hlpTime(ww, (double) tow);
|
---|
[3255] | 470 | unsigned year, month, day;
|
---|
| 471 | hlpTime.civil_date(year, month, day);
|
---|
| 472 | _gps_utc = gnumleap(year, month, day);
|
---|
| 473 |
|
---|
[2234] | 474 | _GPSweek = ww;
|
---|
| 475 | _GPSweeks = tow;
|
---|
[2223] | 476 | _E = ee->E;
|
---|
| 477 | _tau = ee->tau;
|
---|
| 478 | _gamma = ee->gamma;
|
---|
| 479 | _x_pos = ee->x_pos;
|
---|
| 480 | _x_velocity = ee->x_velocity;
|
---|
| 481 | _x_acceleration = ee->x_acceleration;
|
---|
| 482 | _y_pos = ee->y_pos;
|
---|
| 483 | _y_velocity = ee->y_velocity;
|
---|
| 484 | _y_acceleration = ee->y_acceleration;
|
---|
| 485 | _z_pos = ee->z_pos;
|
---|
| 486 | _z_velocity = ee->z_velocity;
|
---|
| 487 | _z_acceleration = ee->z_acceleration;
|
---|
| 488 | _health = 0;
|
---|
| 489 | _frequency_number = ee->frequency_number;
|
---|
[2257] | 490 | _tki = ee->tk-3*60*60; if (_tki < 0) _tki += 86400;
|
---|
[2223] | 491 |
|
---|
| 492 | // Initialize status vector
|
---|
| 493 | // ------------------------
|
---|
| 494 | _tt = _GPSweeks;
|
---|
| 495 |
|
---|
| 496 | _xv(1) = _x_pos * 1.e3;
|
---|
| 497 | _xv(2) = _y_pos * 1.e3;
|
---|
| 498 | _xv(3) = _z_pos * 1.e3;
|
---|
| 499 | _xv(4) = _x_velocity * 1.e3;
|
---|
| 500 | _xv(5) = _y_velocity * 1.e3;
|
---|
| 501 | _xv(6) = _z_velocity * 1.e3;
|
---|
[3659] | 502 |
|
---|
| 503 | _ok = true;
|
---|
[2221] | 504 | }
|
---|
[2771] | 505 |
|
---|
[3255] | 506 | // build up RTCM3 for GLONASS
|
---|
| 507 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 508 | #define GLONASSTOINT(type, value) static_cast<type>(NearestInt(value,0))
|
---|
| 509 |
|
---|
| 510 | #define GLONASSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
|
---|
| 511 | |(GLONASSTOINT(long long,b)&((1ULL<<(a))-1)); \
|
---|
| 512 | numbits += (a); \
|
---|
| 513 | while(numbits >= 8) { \
|
---|
| 514 | buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
|
---|
| 515 | #define GLONASSADDBITSFLOATM(a,b,c) {int s; long long i; \
|
---|
| 516 | if(b < 0.0) \
|
---|
| 517 | { \
|
---|
| 518 | s = 1; \
|
---|
| 519 | i = GLONASSTOINT(long long,(-b)/(c)); \
|
---|
| 520 | if(!i) s = 0; \
|
---|
| 521 | } \
|
---|
| 522 | else \
|
---|
| 523 | { \
|
---|
| 524 | s = 0; \
|
---|
| 525 | i = GLONASSTOINT(long long,(b)/(c)); \
|
---|
| 526 | } \
|
---|
| 527 | GLONASSADDBITS(1,s) \
|
---|
| 528 | GLONASSADDBITS(a-1,i)}
|
---|
| 529 |
|
---|
| 530 | int t_ephGlo::RTCM3(unsigned char *buffer)
|
---|
| 531 | {
|
---|
| 532 |
|
---|
| 533 | int size = 0;
|
---|
| 534 | int numbits = 0;
|
---|
| 535 | long long bitbuffer = 0;
|
---|
| 536 | unsigned char *startbuffer = buffer;
|
---|
| 537 | buffer= buffer+3;
|
---|
| 538 |
|
---|
| 539 | GLONASSADDBITS(12, 1020)
|
---|
| 540 | GLONASSADDBITS(6, _prn.right((_prn.length()-1)).toInt())
|
---|
| 541 | GLONASSADDBITS(5, 7+_frequency_number)
|
---|
| 542 | GLONASSADDBITS(1, 0)
|
---|
| 543 | GLONASSADDBITS(1, 0)
|
---|
| 544 | GLONASSADDBITS(2, 0)
|
---|
| 545 | _tki=_tki+3*60*60;
|
---|
| 546 | GLONASSADDBITS(5, static_cast<int>(_tki)/(60*60))
|
---|
| 547 | GLONASSADDBITS(6, (static_cast<int>(_tki)/60)%60)
|
---|
| 548 | GLONASSADDBITS(1, (static_cast<int>(_tki)/30)%30)
|
---|
| 549 | GLONASSADDBITS(1, _health)
|
---|
| 550 | GLONASSADDBITS(1, 0)
|
---|
| 551 | unsigned long long timeofday = (static_cast<int>(_tt+3*60*60-_gps_utc)%86400);
|
---|
| 552 | GLONASSADDBITS(7, timeofday/60/15)
|
---|
| 553 | GLONASSADDBITSFLOATM(24, _x_velocity*1000, 1000.0/static_cast<double>(1<<20))
|
---|
| 554 | GLONASSADDBITSFLOATM(27, _x_pos*1000, 1000.0/static_cast<double>(1<<11))
|
---|
| 555 | GLONASSADDBITSFLOATM(5, _x_acceleration*1000, 1000.0/static_cast<double>(1<<30))
|
---|
| 556 | GLONASSADDBITSFLOATM(24, _y_velocity*1000, 1000.0/static_cast<double>(1<<20))
|
---|
| 557 | GLONASSADDBITSFLOATM(27, _y_pos*1000, 1000.0/static_cast<double>(1<<11))
|
---|
| 558 | GLONASSADDBITSFLOATM(5, _y_acceleration*1000, 1000.0/static_cast<double>(1<<30))
|
---|
| 559 | GLONASSADDBITSFLOATM(24, _z_velocity*1000, 1000.0/static_cast<double>(1<<20))
|
---|
| 560 | GLONASSADDBITSFLOATM(27,_z_pos*1000, 1000.0/static_cast<double>(1<<11))
|
---|
| 561 | GLONASSADDBITSFLOATM(5, _z_acceleration*1000, 1000.0/static_cast<double>(1<<30))
|
---|
| 562 | GLONASSADDBITS(1, 0)
|
---|
| 563 | GLONASSADDBITSFLOATM(11, _gamma, 1.0/static_cast<double>(1<<30)
|
---|
| 564 | /static_cast<double>(1<<10))
|
---|
| 565 | GLONASSADDBITS(2, 0) /* GLONASS-M P */
|
---|
| 566 | GLONASSADDBITS(1, 0) /* GLONASS-M ln(3) */
|
---|
| 567 | GLONASSADDBITSFLOATM(22, _tau, 1.0/static_cast<double>(1<<30))
|
---|
| 568 | GLONASSADDBITS(5, 0) /* GLONASS-M delta tau */
|
---|
| 569 | GLONASSADDBITS(5, _E)
|
---|
| 570 | GLONASSADDBITS(1, 0) /* GLONASS-M P4 */
|
---|
| 571 | GLONASSADDBITS(4, 0) /* GLONASS-M FT */
|
---|
| 572 | GLONASSADDBITS(11, 0) /* GLONASS-M NT */
|
---|
| 573 | GLONASSADDBITS(2, 0) /* GLONASS-M active? */
|
---|
| 574 | GLONASSADDBITS(1, 0) /* GLONASS additional data */
|
---|
| 575 | GLONASSADDBITS(11, 0) /* GLONASS NA */
|
---|
| 576 | GLONASSADDBITS(32, 0) /* GLONASS tau C */
|
---|
| 577 | GLONASSADDBITS(5, 0) /* GLONASS-M N4 */
|
---|
| 578 | GLONASSADDBITS(22, 0) /* GLONASS-M tau GPS */
|
---|
| 579 | GLONASSADDBITS(1, 0) /* GLONASS-M ln(5) */
|
---|
| 580 | GLONASSADDBITS(7, 0) /* Reserved */
|
---|
| 581 |
|
---|
| 582 | startbuffer[0]=0xD3;
|
---|
| 583 | startbuffer[1]=(size >> 8);
|
---|
| 584 | startbuffer[2]=size;
|
---|
| 585 | unsigned long i = CRC24(size+3, startbuffer);
|
---|
| 586 | buffer[size++] = i >> 16;
|
---|
| 587 | buffer[size++] = i >> 8;
|
---|
| 588 | buffer[size++] = i;
|
---|
| 589 | size += 3;
|
---|
| 590 | return size;
|
---|
| 591 | }
|
---|
| 592 |
|
---|
[2771] | 593 | // Set Galileo Satellite Position
|
---|
| 594 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 595 | void t_ephGal::set(const galileoephemeris* ee) {
|
---|
| 596 |
|
---|
[3255] | 597 | _prn = QString("E%1").arg(ee->satellite, 2, 10, QChar('0'));
|
---|
[2771] | 598 |
|
---|
| 599 | _GPSweek = ee->Week;
|
---|
| 600 | _GPSweeks = ee->TOE;
|
---|
| 601 |
|
---|
| 602 | _TOC = ee->TOC;
|
---|
| 603 | _TOE = ee->TOE;
|
---|
[3734] | 604 | _IODnav = ee->IODnav;
|
---|
[2771] | 605 |
|
---|
[3734] | 606 | _clock_bias = ee->clock_bias;
|
---|
| 607 | _clock_drift = ee->clock_drift;
|
---|
[2771] | 608 | _clock_driftrate = ee->clock_driftrate;
|
---|
| 609 |
|
---|
| 610 | _Crs = ee->Crs;
|
---|
| 611 | _Delta_n = ee->Delta_n;
|
---|
| 612 | _M0 = ee->M0;
|
---|
| 613 | _Cuc = ee->Cuc;
|
---|
| 614 | _e = ee->e;
|
---|
| 615 | _Cus = ee->Cus;
|
---|
| 616 | _sqrt_A = ee->sqrt_A;
|
---|
| 617 | _Cic = ee->Cic;
|
---|
| 618 | _OMEGA0 = ee->OMEGA0;
|
---|
| 619 | _Cis = ee->Cis;
|
---|
| 620 | _i0 = ee->i0;
|
---|
| 621 | _Crc = ee->Crc;
|
---|
| 622 | _omega = ee->omega;
|
---|
| 623 | _OMEGADOT = ee->OMEGADOT;
|
---|
| 624 | _IDOT = ee->IDOT;
|
---|
[3734] | 625 | _SISA = ee->SISA;
|
---|
| 626 | _BGD_1_5A = ee->BGD_1_5A;
|
---|
| 627 | _BGD_1_5B = ee->BGD_1_5B;
|
---|
| 628 | _E5aHS = ee->E5aHS;
|
---|
[3659] | 629 |
|
---|
| 630 | _ok = true;
|
---|
[2771] | 631 | }
|
---|
| 632 |
|
---|
| 633 | // Compute Galileo Satellite Position (virtual)
|
---|
| 634 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 635 | void t_ephGal::position(int GPSweek, double GPSweeks,
|
---|
| 636 | double* xc,
|
---|
| 637 | double* vv) const {
|
---|
| 638 |
|
---|
| 639 | static const double secPerWeek = 7 * 86400.0;
|
---|
| 640 | static const double omegaEarth = 7292115.1467e-11;
|
---|
| 641 | static const double gmWGS = 398.6005e12;
|
---|
| 642 |
|
---|
| 643 | memset(xc, 0, 4*sizeof(double));
|
---|
| 644 | memset(vv, 0, 3*sizeof(double));
|
---|
| 645 |
|
---|
| 646 | double a0 = _sqrt_A * _sqrt_A;
|
---|
| 647 | if (a0 == 0) {
|
---|
| 648 | return;
|
---|
| 649 | }
|
---|
| 650 |
|
---|
| 651 | double n0 = sqrt(gmWGS/(a0*a0*a0));
|
---|
| 652 | double tk = GPSweeks - _TOE;
|
---|
| 653 | if (GPSweek != _GPSweek) {
|
---|
| 654 | tk += (GPSweek - _GPSweek) * secPerWeek;
|
---|
| 655 | }
|
---|
| 656 | double n = n0 + _Delta_n;
|
---|
| 657 | double M = _M0 + n*tk;
|
---|
| 658 | double E = M;
|
---|
| 659 | double E_last;
|
---|
| 660 | do {
|
---|
| 661 | E_last = E;
|
---|
| 662 | E = M + _e*sin(E);
|
---|
| 663 | } while ( fabs(E-E_last)*a0 > 0.001 );
|
---|
| 664 | double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
|
---|
| 665 | double u0 = v + _omega;
|
---|
| 666 | double sin2u0 = sin(2*u0);
|
---|
| 667 | double cos2u0 = cos(2*u0);
|
---|
| 668 | double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
|
---|
| 669 | double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
|
---|
| 670 | double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
|
---|
| 671 | double xp = r*cos(u);
|
---|
| 672 | double yp = r*sin(u);
|
---|
| 673 | double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
|
---|
| 674 | omegaEarth*_TOE;
|
---|
| 675 |
|
---|
| 676 | double sinom = sin(OM);
|
---|
| 677 | double cosom = cos(OM);
|
---|
| 678 | double sini = sin(i);
|
---|
| 679 | double cosi = cos(i);
|
---|
| 680 | xc[0] = xp*cosom - yp*cosi*sinom;
|
---|
| 681 | xc[1] = xp*sinom + yp*cosi*cosom;
|
---|
| 682 | xc[2] = yp*sini;
|
---|
| 683 |
|
---|
| 684 | double tc = GPSweeks - _TOC;
|
---|
| 685 | if (GPSweek != _GPSweek) {
|
---|
| 686 | tc += (GPSweek - _GPSweek) * secPerWeek;
|
---|
| 687 | }
|
---|
| 688 | xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
|
---|
| 689 |
|
---|
| 690 | // Velocity
|
---|
| 691 | // --------
|
---|
| 692 | double tanv2 = tan(v/2);
|
---|
| 693 | double dEdM = 1 / (1 - _e*cos(E));
|
---|
| 694 | double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
|
---|
| 695 | * dEdM * n;
|
---|
| 696 | double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
|
---|
| 697 | double dotom = _OMEGADOT - omegaEarth;
|
---|
| 698 | double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
|
---|
| 699 | double dotr = a0 * _e*sin(E) * dEdM * n
|
---|
| 700 | + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
|
---|
| 701 | double dotx = dotr*cos(u) - r*sin(u)*dotu;
|
---|
| 702 | double doty = dotr*sin(u) + r*cos(u)*dotu;
|
---|
| 703 |
|
---|
| 704 | vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
|
---|
| 705 | - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
|
---|
| 706 | + yp*sini*sinom*doti; // dX / di
|
---|
| 707 |
|
---|
| 708 | vv[1] = sinom *dotx + cosi*cosom *doty
|
---|
| 709 | + xp*cosom*dotom - yp*cosi*sinom*dotom
|
---|
| 710 | - yp*sini*cosom*doti;
|
---|
| 711 |
|
---|
| 712 | vv[2] = sini *doty + yp*cosi *doti;
|
---|
| 713 |
|
---|
| 714 | // Relativistic Correction
|
---|
| 715 | // -----------------------
|
---|
| 716 | // xc(4) -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
|
---|
| 717 | xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
|
---|
| 718 | }
|
---|
| 719 |
|
---|
[3255] | 720 | // build up RTCM3 for Galileo
|
---|
| 721 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3279] | 722 | #define GALILEOTOINT(type, value) static_cast<type>(NearestInt(value, 0))
|
---|
| 723 |
|
---|
| 724 | #define GALILEOADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
|
---|
| 725 | |(GALILEOTOINT(long long,b)&((1LL<<a)-1)); \
|
---|
| 726 | numbits += (a); \
|
---|
| 727 | while(numbits >= 8) { \
|
---|
| 728 | buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
|
---|
| 729 | #define GALILEOADDBITSFLOAT(a,b,c) {long long i = GALILEOTOINT(long long,(b)/(c)); \
|
---|
| 730 | GALILEOADDBITS(a,i)};
|
---|
| 731 |
|
---|
[3255] | 732 | int t_ephGal::RTCM3(unsigned char *buffer) {
|
---|
[3279] | 733 | int size = 0;
|
---|
| 734 | int numbits = 0;
|
---|
| 735 | long long bitbuffer = 0;
|
---|
| 736 | unsigned char *startbuffer = buffer;
|
---|
| 737 | buffer= buffer+3;
|
---|
[3255] | 738 |
|
---|
[3279] | 739 | GALILEOADDBITS(12, /*inav ? 1046 :*/ 1045)
|
---|
| 740 | GALILEOADDBITS(6, _prn.right((_prn.length()-1)).toInt())
|
---|
| 741 | GALILEOADDBITS(12, _GPSweek)
|
---|
| 742 | GALILEOADDBITS(10, _IODnav)
|
---|
| 743 | GALILEOADDBITS(8, _SISA)
|
---|
| 744 | GALILEOADDBITSFLOAT(14, _IDOT, PI/static_cast<double>(1<<30)
|
---|
| 745 | /static_cast<double>(1<<13))
|
---|
| 746 | GALILEOADDBITS(14, _TOC/60)
|
---|
| 747 | GALILEOADDBITSFLOAT(6, _clock_driftrate, 1.0/static_cast<double>(1<<30)
|
---|
| 748 | /static_cast<double>(1<<29))
|
---|
| 749 | GALILEOADDBITSFLOAT(21, _clock_drift, 1.0/static_cast<double>(1<<30)
|
---|
| 750 | /static_cast<double>(1<<16))
|
---|
| 751 | GALILEOADDBITSFLOAT(31, _clock_bias, 1.0/static_cast<double>(1<<30)
|
---|
| 752 | /static_cast<double>(1<<4))
|
---|
| 753 | GALILEOADDBITSFLOAT(16, _Crs, 1.0/static_cast<double>(1<<5))
|
---|
| 754 | GALILEOADDBITSFLOAT(16, _Delta_n, PI/static_cast<double>(1<<30)
|
---|
| 755 | /static_cast<double>(1<<13))
|
---|
| 756 | GALILEOADDBITSFLOAT(32, _M0, PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
|
---|
| 757 | GALILEOADDBITSFLOAT(16, _Cuc, 1.0/static_cast<double>(1<<29))
|
---|
| 758 | GALILEOADDBITSFLOAT(32, _e, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
|
---|
| 759 | GALILEOADDBITSFLOAT(16, _Cus, 1.0/static_cast<double>(1<<29))
|
---|
| 760 | GALILEOADDBITSFLOAT(32, _sqrt_A, 1.0/static_cast<double>(1<<19))
|
---|
| 761 | GALILEOADDBITS(14, _TOE/60)
|
---|
| 762 | GALILEOADDBITSFLOAT(16, _Cic, 1.0/static_cast<double>(1<<29))
|
---|
| 763 | GALILEOADDBITSFLOAT(32, _OMEGA0, PI/static_cast<double>(1<<30)
|
---|
| 764 | /static_cast<double>(1<<1))
|
---|
| 765 | GALILEOADDBITSFLOAT(16, _Cis, 1.0/static_cast<double>(1<<29))
|
---|
| 766 | GALILEOADDBITSFLOAT(32, _i0, PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
|
---|
| 767 | GALILEOADDBITSFLOAT(16, _Crc, 1.0/static_cast<double>(1<<5))
|
---|
| 768 | GALILEOADDBITSFLOAT(32, _omega, PI/static_cast<double>(1<<30)
|
---|
| 769 | /static_cast<double>(1<<1))
|
---|
| 770 | GALILEOADDBITSFLOAT(24, _OMEGADOT, PI/static_cast<double>(1<<30)
|
---|
| 771 | /static_cast<double>(1<<13))
|
---|
| 772 | GALILEOADDBITSFLOAT(10, _BGD_1_5A, 1.0/static_cast<double>(1<<30)
|
---|
| 773 | /static_cast<double>(1<<2))
|
---|
| 774 | /*if(inav)
|
---|
| 775 | {
|
---|
| 776 | GALILEOADDBITSFLOAT(10, _BGD_1_5B, 1.0/static_cast<double>(1<<30)
|
---|
| 777 | /static_cast<double>(1<<2))
|
---|
| 778 | GALILEOADDBITS(2, _E5bHS)
|
---|
| 779 | GALILEOADDBITS(1, flags & MNFGALEPHF_E5BDINVALID)
|
---|
| 780 | }
|
---|
| 781 | else*/
|
---|
| 782 | {
|
---|
| 783 | GALILEOADDBITS(2, _E5aHS)
|
---|
| 784 | GALILEOADDBITS(1, /*flags & MNFGALEPHF_E5ADINVALID*/0)
|
---|
| 785 | }
|
---|
| 786 | _TOE = 0.9999E9;
|
---|
| 787 | GALILEOADDBITS(20, _TOE)
|
---|
| 788 |
|
---|
| 789 | GALILEOADDBITS(/*inav ? 1 :*/ 3, 0) /* fill up */
|
---|
| 790 |
|
---|
| 791 | startbuffer[0]=0xD3;
|
---|
| 792 | startbuffer[1]=(size >> 8);
|
---|
| 793 | startbuffer[2]=size;
|
---|
| 794 | unsigned long i = CRC24(size+3, startbuffer);
|
---|
| 795 | buffer[size++] = i >> 16;
|
---|
| 796 | buffer[size++] = i >> 8;
|
---|
| 797 | buffer[size++] = i;
|
---|
| 798 | size += 3;
|
---|
| 799 | return size;
|
---|
[3255] | 800 | }
|
---|
[3659] | 801 |
|
---|
| 802 | // Constructor
|
---|
| 803 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 804 | t_ephGPS::t_ephGPS(float rnxVersion, const QStringList& lines) {
|
---|
[3664] | 805 |
|
---|
[3699] | 806 | const int nLines = 8;
|
---|
| 807 |
|
---|
[3665] | 808 | _ok = false;
|
---|
| 809 |
|
---|
[3699] | 810 | if (lines.size() != nLines) {
|
---|
[3660] | 811 | return;
|
---|
| 812 | }
|
---|
[3664] | 813 |
|
---|
[3668] | 814 | // RINEX Format
|
---|
| 815 | // ------------
|
---|
| 816 | int fieldLen = 19;
|
---|
| 817 |
|
---|
[3666] | 818 | int pos[4];
|
---|
| 819 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
[3668] | 820 | pos[1] = pos[0] + fieldLen;
|
---|
| 821 | pos[2] = pos[1] + fieldLen;
|
---|
| 822 | pos[3] = pos[2] + fieldLen;
|
---|
[3664] | 823 |
|
---|
| 824 | // Read eight lines
|
---|
| 825 | // ----------------
|
---|
[3699] | 826 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
[3664] | 827 | QString line = lines[iLine];
|
---|
| 828 |
|
---|
| 829 | if ( iLine == 0 ) {
|
---|
[3666] | 830 | QTextStream in(line.left(pos[1]).toAscii());
|
---|
| 831 |
|
---|
| 832 | int year, month, day, hour, min;
|
---|
| 833 | double sec;
|
---|
| 834 |
|
---|
| 835 | in >> _prn >> year >> month >> day >> hour >> min >> sec;
|
---|
| 836 |
|
---|
| 837 | if (_prn.at(0) != 'G') {
|
---|
[3667] | 838 | _prn = QString("G%1").arg(_prn.toInt(), 2, 10, QLatin1Char('0'));
|
---|
[3664] | 839 | }
|
---|
[3667] | 840 |
|
---|
[3666] | 841 | if (year < 80) {
|
---|
| 842 | year += 2000;
|
---|
[3664] | 843 | }
|
---|
[3666] | 844 | else if (year < 100) {
|
---|
| 845 | year += 1900;
|
---|
| 846 | }
|
---|
| 847 |
|
---|
[3664] | 848 | bncTime hlpTime;
|
---|
| 849 | hlpTime.set(year, month, day, hour, min, sec);
|
---|
| 850 | _GPSweek = hlpTime.gpsw();
|
---|
| 851 | _GPSweeks = hlpTime.gpssec();
|
---|
| 852 | _TOC = _GPSweeks;
|
---|
[3666] | 853 |
|
---|
| 854 | if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
|
---|
| 855 | readDbl(line, pos[2], fieldLen, _clock_drift ) ||
|
---|
| 856 | readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
|
---|
| 857 | return;
|
---|
| 858 | }
|
---|
[3660] | 859 | }
|
---|
[3664] | 860 |
|
---|
| 861 | else if ( iLine == 1 ) {
|
---|
[3666] | 862 | if ( readDbl(line, pos[0], fieldLen, _IODE ) ||
|
---|
| 863 | readDbl(line, pos[1], fieldLen, _Crs ) ||
|
---|
| 864 | readDbl(line, pos[2], fieldLen, _Delta_n) ||
|
---|
| 865 | readDbl(line, pos[3], fieldLen, _M0 ) ) {
|
---|
[3664] | 866 | return;
|
---|
| 867 | }
|
---|
| 868 | }
|
---|
| 869 |
|
---|
| 870 | else if ( iLine == 2 ) {
|
---|
[3666] | 871 | if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
|
---|
| 872 | readDbl(line, pos[1], fieldLen, _e ) ||
|
---|
| 873 | readDbl(line, pos[2], fieldLen, _Cus ) ||
|
---|
| 874 | readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
|
---|
[3664] | 875 | return;
|
---|
| 876 | }
|
---|
| 877 | }
|
---|
| 878 |
|
---|
| 879 | else if ( iLine == 3 ) {
|
---|
[3666] | 880 | if ( readDbl(line, pos[0], fieldLen, _TOE ) ||
|
---|
| 881 | readDbl(line, pos[1], fieldLen, _Cic ) ||
|
---|
| 882 | readDbl(line, pos[2], fieldLen, _OMEGA0) ||
|
---|
| 883 | readDbl(line, pos[3], fieldLen, _Cis ) ) {
|
---|
[3664] | 884 | return;
|
---|
| 885 | }
|
---|
| 886 | }
|
---|
| 887 |
|
---|
| 888 | else if ( iLine == 4 ) {
|
---|
[3666] | 889 | if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
|
---|
| 890 | readDbl(line, pos[1], fieldLen, _Crc ) ||
|
---|
| 891 | readDbl(line, pos[2], fieldLen, _omega ) ||
|
---|
| 892 | readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
|
---|
[3664] | 893 | return;
|
---|
| 894 | }
|
---|
| 895 | }
|
---|
| 896 |
|
---|
| 897 | else if ( iLine == 5 ) {
|
---|
| 898 | double dummy, TOEw;
|
---|
[3666] | 899 | if ( readDbl(line, pos[0], fieldLen, _IDOT) ||
|
---|
| 900 | readDbl(line, pos[1], fieldLen, dummy) ||
|
---|
| 901 | readDbl(line, pos[2], fieldLen, TOEw ) ||
|
---|
| 902 | readDbl(line, pos[3], fieldLen, dummy) ) {
|
---|
[3664] | 903 | return;
|
---|
| 904 | }
|
---|
| 905 | }
|
---|
| 906 |
|
---|
| 907 | else if ( iLine == 6 ) {
|
---|
| 908 | double dummy;
|
---|
[3666] | 909 | if ( readDbl(line, pos[0], fieldLen, dummy ) ||
|
---|
| 910 | readDbl(line, pos[1], fieldLen, _health) ||
|
---|
| 911 | readDbl(line, pos[2], fieldLen, _TGD ) ||
|
---|
| 912 | readDbl(line, pos[3], fieldLen, _IODC ) ) {
|
---|
[3664] | 913 | return;
|
---|
| 914 | }
|
---|
| 915 | }
|
---|
| 916 |
|
---|
| 917 | else if ( iLine == 7 ) {
|
---|
| 918 | double TOT;
|
---|
[3666] | 919 | if ( readDbl(line, pos[0], fieldLen, TOT) ) {
|
---|
[3664] | 920 | return;
|
---|
| 921 | }
|
---|
| 922 | }
|
---|
[3660] | 923 | }
|
---|
[3661] | 924 |
|
---|
| 925 | _ok = true;
|
---|
[3659] | 926 | }
|
---|
| 927 |
|
---|
| 928 | // Constructor
|
---|
| 929 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 930 | t_ephGlo::t_ephGlo(float rnxVersion, const QStringList& lines) {
|
---|
| 931 |
|
---|
[3699] | 932 | const int nLines = 4;
|
---|
| 933 |
|
---|
[3659] | 934 | _ok = false;
|
---|
[3699] | 935 |
|
---|
| 936 | if (lines.size() != nLines) {
|
---|
| 937 | return;
|
---|
| 938 | }
|
---|
| 939 |
|
---|
| 940 | // RINEX Format
|
---|
| 941 | // ------------
|
---|
| 942 | int fieldLen = 19;
|
---|
| 943 |
|
---|
| 944 | int pos[4];
|
---|
| 945 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
| 946 | pos[1] = pos[0] + fieldLen;
|
---|
| 947 | pos[2] = pos[1] + fieldLen;
|
---|
| 948 | pos[3] = pos[2] + fieldLen;
|
---|
| 949 |
|
---|
| 950 | // Read four lines
|
---|
| 951 | // ---------------
|
---|
| 952 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
| 953 | QString line = lines[iLine];
|
---|
| 954 |
|
---|
| 955 | if ( iLine == 0 ) {
|
---|
| 956 | QTextStream in(line.left(pos[1]).toAscii());
|
---|
| 957 |
|
---|
| 958 | int year, month, day, hour, min;
|
---|
| 959 | double sec;
|
---|
| 960 |
|
---|
| 961 | in >> _prn >> year >> month >> day >> hour >> min >> sec;
|
---|
| 962 |
|
---|
| 963 | if (_prn.at(0) != 'R') {
|
---|
| 964 | _prn = QString("R%1").arg(_prn.toInt(), 2, 10, QLatin1Char('0'));
|
---|
| 965 | }
|
---|
| 966 |
|
---|
| 967 | if (year < 80) {
|
---|
| 968 | year += 2000;
|
---|
| 969 | }
|
---|
| 970 | else if (year < 100) {
|
---|
| 971 | year += 1900;
|
---|
| 972 | }
|
---|
| 973 |
|
---|
| 974 | bncTime hlpTime;
|
---|
| 975 | hlpTime.set(year, month, day, hour, min, sec);
|
---|
[3760] | 976 |
|
---|
| 977 | _gps_utc = gnumleap(year, month, day);
|
---|
| 978 | hlpTime = hlpTime + _gps_utc;
|
---|
| 979 |
|
---|
[3699] | 980 | _GPSweek = hlpTime.gpsw();
|
---|
| 981 | _GPSweeks = hlpTime.gpssec();
|
---|
| 982 |
|
---|
[3700] | 983 | _tki = 0.0; // TODO ?
|
---|
[3699] | 984 |
|
---|
| 985 | double second_tot;
|
---|
| 986 | if ( readDbl(line, pos[1], fieldLen, _tau ) ||
|
---|
| 987 | readDbl(line, pos[2], fieldLen, _gamma ) ||
|
---|
| 988 | readDbl(line, pos[3], fieldLen, second_tot) ) {
|
---|
| 989 | return;
|
---|
| 990 | }
|
---|
[3765] | 991 |
|
---|
| 992 | _tau = -_tau;
|
---|
[3699] | 993 | }
|
---|
| 994 |
|
---|
| 995 | else if ( iLine == 1 ) {
|
---|
| 996 | if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
|
---|
| 997 | readDbl(line, pos[1], fieldLen, _x_velocity ) ||
|
---|
| 998 | readDbl(line, pos[2], fieldLen, _x_acceleration) ||
|
---|
| 999 | readDbl(line, pos[3], fieldLen, _health ) ) {
|
---|
| 1000 | return;
|
---|
| 1001 | }
|
---|
| 1002 | }
|
---|
| 1003 |
|
---|
| 1004 | else if ( iLine == 2 ) {
|
---|
| 1005 | if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
|
---|
| 1006 | readDbl(line, pos[1], fieldLen, _y_velocity ) ||
|
---|
| 1007 | readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
|
---|
| 1008 | readDbl(line, pos[3], fieldLen, _frequency_number) ) {
|
---|
| 1009 | return;
|
---|
| 1010 | }
|
---|
| 1011 | }
|
---|
| 1012 |
|
---|
| 1013 | else if ( iLine == 3 ) {
|
---|
| 1014 | if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
|
---|
| 1015 | readDbl(line, pos[1], fieldLen, _z_velocity ) ||
|
---|
| 1016 | readDbl(line, pos[2], fieldLen, _z_acceleration) ||
|
---|
| 1017 | readDbl(line, pos[3], fieldLen, _E ) ) {
|
---|
| 1018 | return;
|
---|
| 1019 | }
|
---|
| 1020 | }
|
---|
| 1021 | }
|
---|
| 1022 |
|
---|
| 1023 | // Initialize status vector
|
---|
| 1024 | // ------------------------
|
---|
| 1025 | _tt = _GPSweeks;
|
---|
| 1026 |
|
---|
| 1027 | _xv.ReSize(6);
|
---|
| 1028 |
|
---|
| 1029 | _xv(1) = _x_pos * 1.e3;
|
---|
| 1030 | _xv(2) = _y_pos * 1.e3;
|
---|
| 1031 | _xv(3) = _z_pos * 1.e3;
|
---|
| 1032 | _xv(4) = _x_velocity * 1.e3;
|
---|
| 1033 | _xv(5) = _y_velocity * 1.e3;
|
---|
| 1034 | _xv(6) = _z_velocity * 1.e3;
|
---|
| 1035 |
|
---|
| 1036 | _ok = true;
|
---|
[3659] | 1037 | }
|
---|
| 1038 |
|
---|
| 1039 | // Constructor
|
---|
| 1040 | //////////////////////////////////////////////////////////////////////////////
|
---|
[3699] | 1041 | t_ephGal::t_ephGal(float /* rnxVersion */, const QStringList& /* lines */) {
|
---|
[3659] | 1042 |
|
---|
| 1043 | _ok = false;
|
---|
| 1044 | }
|
---|