[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 | // Returns CRC24
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| 18 | ////////////////////////////////////////////////////////////////////////////
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[4018] | 19 | static unsigned long CRC24(long size, const unsigned char *buf) {
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[3255] | 20 | unsigned long crc = 0;
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[4018] | 21 | int ii;
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| 22 | while (size--) {
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[3255] | 23 | crc ^= (*buf++) << (16);
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[4018] | 24 | for(ii = 0; ii < 8; ii++) {
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[3255] | 25 | crc <<= 1;
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[4018] | 26 | if (crc & 0x1000000) {
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[3255] | 27 | crc ^= 0x01864cfb;
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[4018] | 28 | }
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[3255] | 29 | }
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| 30 | }
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| 31 | return crc;
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[1025] | 32 | }
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| 33 |
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[2222] | 34 | // Set GPS Satellite Position
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| 35 | ////////////////////////////////////////////////////////////////////////////
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[1025] | 36 | void t_ephGPS::set(const gpsephemeris* ee) {
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| 37 |
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[3255] | 38 | _prn = QString("G%1").arg(ee->satellite, 2, 10, QChar('0'));
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[1025] | 39 |
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[4018] | 40 | _TOC.set(ee->GPSweek, ee->TOC);
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[3734] | 41 | _clock_bias = ee->clock_bias;
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| 42 | _clock_drift = ee->clock_drift;
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[1025] | 43 | _clock_driftrate = ee->clock_driftrate;
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| 44 |
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[4018] | 45 | _IODE = ee->IODE;
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[1025] | 46 | _Crs = ee->Crs;
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| 47 | _Delta_n = ee->Delta_n;
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| 48 | _M0 = ee->M0;
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[4018] | 49 |
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[1025] | 50 | _Cuc = ee->Cuc;
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| 51 | _e = ee->e;
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| 52 | _Cus = ee->Cus;
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| 53 | _sqrt_A = ee->sqrt_A;
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[4018] | 54 |
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| 55 | _TOEsec = ee->TOE;
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[1025] | 56 | _Cic = ee->Cic;
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| 57 | _OMEGA0 = ee->OMEGA0;
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| 58 | _Cis = ee->Cis;
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[4018] | 59 |
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[1025] | 60 | _i0 = ee->i0;
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| 61 | _Crc = ee->Crc;
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| 62 | _omega = ee->omega;
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| 63 | _OMEGADOT = ee->OMEGADOT;
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[4018] | 64 |
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[1025] | 65 | _IDOT = ee->IDOT;
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[4018] | 66 | _L2Codes = 0.0;
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[4025] | 67 | _TOEweek = ee->GPSweek;
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[4018] | 68 | _L2PFlag = 0.0;
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[1025] | 69 |
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[4027] | 70 | if (ee->URAindex <= 6) {
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| 71 | _ura = ceil(10.0*pow(2.0, 1.0+((double)ee->URAindex)/2.0))/10.0;
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| 72 | }
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| 73 | else {
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| 74 | _ura = ceil(10.0*pow(2.0, ((double)ee->URAindex)/2.0))/10.0;
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| 75 | }
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[4018] | 76 | _health = ee->SVhealth;
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[1025] | 77 | _TGD = ee->TGD;
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[4018] | 78 | _IODC = ee->IODC;
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[3659] | 79 |
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[4018] | 80 | _TOT = 0.9999e9;
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| 81 | _fitInterval = 0.0;
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| 82 |
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[3659] | 83 | _ok = true;
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[1025] | 84 | }
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| 85 |
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[2222] | 86 | // Compute GPS Satellite Position (virtual)
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[1025] | 87 | ////////////////////////////////////////////////////////////////////////////
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| 88 | void t_ephGPS::position(int GPSweek, double GPSweeks,
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[4018] | 89 | double* xc,
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| 90 | double* vv) const {
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[1025] | 91 |
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[4018] | 92 |
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[1098] | 93 | static const double omegaEarth = 7292115.1467e-11;
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| 94 | static const double gmWGS = 398.6005e12;
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[1025] | 95 |
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| 96 | memset(xc, 0, 4*sizeof(double));
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| 97 | memset(vv, 0, 3*sizeof(double));
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| 98 |
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| 99 | double a0 = _sqrt_A * _sqrt_A;
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| 100 | if (a0 == 0) {
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| 101 | return;
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| 102 | }
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| 103 |
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| 104 | double n0 = sqrt(gmWGS/(a0*a0*a0));
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[4018] | 105 |
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| 106 | bncTime tt(GPSweek, GPSweeks);
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| 107 | double tk = tt - bncTime(_TOEweek, _TOEsec);
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| 108 |
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[1025] | 109 | double n = n0 + _Delta_n;
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| 110 | double M = _M0 + n*tk;
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| 111 | double E = M;
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| 112 | double E_last;
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| 113 | do {
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| 114 | E_last = E;
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| 115 | E = M + _e*sin(E);
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| 116 | } while ( fabs(E-E_last)*a0 > 0.001 );
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| 117 | double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
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| 118 | double u0 = v + _omega;
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| 119 | double sin2u0 = sin(2*u0);
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| 120 | double cos2u0 = cos(2*u0);
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| 121 | double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
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| 122 | double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
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| 123 | double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
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| 124 | double xp = r*cos(u);
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| 125 | double yp = r*sin(u);
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| 126 | double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
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[4018] | 127 | omegaEarth*_TOEsec;
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[1025] | 128 |
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| 129 | double sinom = sin(OM);
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| 130 | double cosom = cos(OM);
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| 131 | double sini = sin(i);
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| 132 | double cosi = cos(i);
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| 133 | xc[0] = xp*cosom - yp*cosi*sinom;
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| 134 | xc[1] = xp*sinom + yp*cosi*cosom;
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| 135 | xc[2] = yp*sini;
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| 136 |
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[4018] | 137 | double tc = tt - _TOC;
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[2429] | 138 | xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
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[1025] | 139 |
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| 140 | // Velocity
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| 141 | // --------
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| 142 | double tanv2 = tan(v/2);
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| 143 | double dEdM = 1 / (1 - _e*cos(E));
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| 144 | double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
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| 145 | * dEdM * n;
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| 146 | double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
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| 147 | double dotom = _OMEGADOT - omegaEarth;
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| 148 | double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
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| 149 | double dotr = a0 * _e*sin(E) * dEdM * n
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| 150 | + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
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| 151 | double dotx = dotr*cos(u) - r*sin(u)*dotu;
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| 152 | double doty = dotr*sin(u) + r*cos(u)*dotu;
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| 153 |
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| 154 | vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
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| 155 | - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
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| 156 | + yp*sini*sinom*doti; // dX / di
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| 157 |
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| 158 | vv[1] = sinom *dotx + cosi*cosom *doty
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| 159 | + xp*cosom*dotom - yp*cosi*sinom*dotom
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| 160 | - yp*sini*cosom*doti;
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| 161 |
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| 162 | vv[2] = sini *doty + yp*cosi *doti;
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[2429] | 163 |
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| 164 | // Relativistic Correction
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| 165 | // -----------------------
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| 166 | 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] | 167 | }
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| 168 |
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[3255] | 169 | // build up RTCM3 for GPS
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| 170 | ////////////////////////////////////////////////////////////////////////////
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[4018] | 171 | #define GPSTOINT(type, value) static_cast<type>(round(value))
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[1025] | 172 |
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[3255] | 173 | #define GPSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
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| 174 | |(GPSTOINT(long long,b)&((1ULL<<a)-1)); \
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| 175 | numbits += (a); \
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| 176 | while(numbits >= 8) { \
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| 177 | buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
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[4018] | 178 |
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[3255] | 179 | #define GPSADDBITSFLOAT(a,b,c) {long long i = GPSTOINT(long long,(b)/(c)); \
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| 180 | GPSADDBITS(a,i)};
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| 181 |
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[4018] | 182 | int t_ephGPS::RTCM3(unsigned char *buffer) {
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[3255] | 183 |
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| 184 | unsigned char *startbuffer = buffer;
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| 185 | buffer= buffer+3;
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| 186 | int size = 0;
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| 187 | int numbits = 0;
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| 188 | unsigned long long bitbuffer = 0;
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| 189 | if (_ura <= 2.40){
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| 190 | _ura = 0;
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| 191 | }
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| 192 | else if (_ura <= 3.40){
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| 193 | _ura = 1;
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| 194 | }
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| 195 | else if (_ura <= 6.85){
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| 196 | _ura = 2;
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| 197 | }
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| 198 | else if (_ura <= 9.65){
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| 199 | _ura = 3;
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| 200 | }
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| 201 | else if (_ura <= 13.65){
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| 202 | _ura = 4;
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| 203 | }
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| 204 | else if (_ura <= 24.00){
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| 205 | _ura = 5;
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| 206 | }
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| 207 | else if (_ura <= 48.00){
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| 208 | _ura = 6;
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| 209 | }
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| 210 | else if (_ura <= 96.00){
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| 211 | _ura = 7;
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| 212 | }
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| 213 | else if (_ura <= 192.00){
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| 214 | _ura = 8;
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| 215 | }
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| 216 | else if (_ura <= 384.00){
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| 217 | _ura = 9;
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| 218 | }
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| 219 | else if (_ura <= 768.00){
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| 220 | _ura = 10;
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| 221 | }
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| 222 | else if (_ura <= 1536.00){
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| 223 | _ura = 11;
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| 224 | }
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| 225 | else if (_ura <= 1536.00){
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| 226 | _ura = 12;
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| 227 | }
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| 228 | else if (_ura <= 2072.00){
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| 229 | _ura = 13;
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| 230 | }
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| 231 | else if (_ura <= 6144.00){
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| 232 | _ura = 14;
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| 233 | }
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| 234 | else{
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| 235 | _ura = 15;
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| 236 | }
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| 237 |
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| 238 | GPSADDBITS(12, 1019)
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| 239 | GPSADDBITS(6,_prn.right((_prn.length()-1)).toInt())
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[4018] | 240 | GPSADDBITS(10, _TOC.gpsw())
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[3255] | 241 | GPSADDBITS(4, _ura)
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| 242 | GPSADDBITS(2,_L2Codes)
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[4018] | 243 | GPSADDBITSFLOAT(14, _IDOT, M_PI/static_cast<double>(1<<30)
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[3255] | 244 | /static_cast<double>(1<<13))
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| 245 | GPSADDBITS(8, _IODE)
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[4018] | 246 | GPSADDBITS(16, static_cast<int>(_TOC.gpssec())>>4)
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[3255] | 247 | GPSADDBITSFLOAT(8, _clock_driftrate, 1.0/static_cast<double>(1<<30)
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| 248 | /static_cast<double>(1<<25))
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| 249 | GPSADDBITSFLOAT(16, _clock_drift, 1.0/static_cast<double>(1<<30)
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| 250 | /static_cast<double>(1<<13))
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| 251 | GPSADDBITSFLOAT(22, _clock_bias, 1.0/static_cast<double>(1<<30)
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| 252 | /static_cast<double>(1<<1))
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| 253 | GPSADDBITS(10, _IODC)
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| 254 | GPSADDBITSFLOAT(16, _Crs, 1.0/static_cast<double>(1<<5))
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[4018] | 255 | GPSADDBITSFLOAT(16, _Delta_n, M_PI/static_cast<double>(1<<30)
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[3255] | 256 | /static_cast<double>(1<<13))
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[4018] | 257 | GPSADDBITSFLOAT(32, _M0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
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[3255] | 258 | GPSADDBITSFLOAT(16, _Cuc, 1.0/static_cast<double>(1<<29))
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| 259 | GPSADDBITSFLOAT(32, _e, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
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| 260 | GPSADDBITSFLOAT(16, _Cus, 1.0/static_cast<double>(1<<29))
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| 261 | GPSADDBITSFLOAT(32, _sqrt_A, 1.0/static_cast<double>(1<<19))
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[4018] | 262 | GPSADDBITS(16, static_cast<int>(_TOEsec)>>4)
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[3255] | 263 | GPSADDBITSFLOAT(16, _Cic, 1.0/static_cast<double>(1<<29))
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[4018] | 264 | GPSADDBITSFLOAT(32, _OMEGA0, M_PI/static_cast<double>(1<<30)
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[3255] | 265 | /static_cast<double>(1<<1))
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| 266 | GPSADDBITSFLOAT(16, _Cis, 1.0/static_cast<double>(1<<29))
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[4018] | 267 | GPSADDBITSFLOAT(32, _i0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
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[3255] | 268 | GPSADDBITSFLOAT(16, _Crc, 1.0/static_cast<double>(1<<5))
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[4018] | 269 | GPSADDBITSFLOAT(32, _omega, M_PI/static_cast<double>(1<<30)
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[3255] | 270 | /static_cast<double>(1<<1))
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[4018] | 271 | GPSADDBITSFLOAT(24, _OMEGADOT, M_PI/static_cast<double>(1<<30)
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[3255] | 272 | /static_cast<double>(1<<13))
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| 273 | GPSADDBITSFLOAT(8, _TGD, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
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| 274 | GPSADDBITS(6, _health)
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| 275 | GPSADDBITS(1, _L2PFlag)
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| 276 | GPSADDBITS(1, 0) /* GPS fit interval */
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| 277 |
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| 278 | startbuffer[0]=0xD3;
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| 279 | startbuffer[1]=(size >> 8);
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| 280 | startbuffer[2]=size;
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| 281 | unsigned long i = CRC24(size+3, startbuffer);
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| 282 | buffer[size++] = i >> 16;
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| 283 | buffer[size++] = i >> 8;
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| 284 | buffer[size++] = i;
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| 285 | size += 3;
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| 286 | return size;
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| 287 | }
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| 288 |
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[2221] | 289 | // Derivative of the state vector using a simple force model (static)
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| 290 | ////////////////////////////////////////////////////////////////////////////
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[2556] | 291 | ColumnVector t_ephGlo::glo_deriv(double /* tt */, const ColumnVector& xv,
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| 292 | double* acc) {
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[2221] | 293 |
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| 294 | // State vector components
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| 295 | // -----------------------
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| 296 | ColumnVector rr = xv.rows(1,3);
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| 297 | ColumnVector vv = xv.rows(4,6);
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| 298 |
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| 299 | // Acceleration
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| 300 | // ------------
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| 301 | static const double GM = 398.60044e12;
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| 302 | static const double AE = 6378136.0;
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| 303 | static const double OMEGA = 7292115.e-11;
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[2561] | 304 | static const double C20 = -1082.6257e-6;
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[2221] | 305 |
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| 306 | double rho = rr.norm_Frobenius();
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| 307 | double t1 = -GM/(rho*rho*rho);
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| 308 | double t2 = 3.0/2.0 * C20 * (GM*AE*AE) / (rho*rho*rho*rho*rho);
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| 309 | double t3 = OMEGA * OMEGA;
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| 310 | double t4 = 2.0 * OMEGA;
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| 311 | double z2 = rr(3) * rr(3);
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| 312 |
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| 313 | // Vector of derivatives
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| 314 | // ---------------------
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| 315 | ColumnVector va(6);
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| 316 | va(1) = vv(1);
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| 317 | va(2) = vv(2);
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| 318 | va(3) = vv(3);
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[2556] | 319 | va(4) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(1) + t4*vv(2) + acc[0];
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| 320 | va(5) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(2) - t4*vv(1) + acc[1];
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| 321 | va(6) = (t1 + t2*(3.0-5.0*z2/(rho*rho)) ) * rr(3) + acc[2];
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[2221] | 322 |
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| 323 | return va;
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| 324 | }
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| 325 |
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| 326 | // Compute Glonass Satellite Position (virtual)
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| 327 | ////////////////////////////////////////////////////////////////////////////
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| 328 | void t_ephGlo::position(int GPSweek, double GPSweeks,
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| 329 | double* xc, double* vv) const {
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| 330 |
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| 331 | static const double nominalStep = 10.0;
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| 332 |
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| 333 | memset(xc, 0, 4*sizeof(double));
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| 334 | memset(vv, 0, 3*sizeof(double));
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| 335 |
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[4018] | 336 | double dtPos = bncTime(GPSweek, GPSweeks) - _tt;
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[2221] | 337 |
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| 338 | int nSteps = int(fabs(dtPos) / nominalStep) + 1;
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| 339 | double step = dtPos / nSteps;
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| 340 |
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[2556] | 341 | double acc[3];
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[2557] | 342 | acc[0] = _x_acceleration * 1.e3;
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[2560] | 343 | acc[1] = _y_acceleration * 1.e3;
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| 344 | acc[2] = _z_acceleration * 1.e3;
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[2221] | 345 | for (int ii = 1; ii <= nSteps; ii++) {
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[4018] | 346 | _xv = rungeKutta4(_tt.gpssec(), _xv, step, acc, glo_deriv);
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| 347 | _tt = _tt + step;
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[2221] | 348 | }
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| 349 |
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| 350 | // Position and Velocity
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| 351 | // ---------------------
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| 352 | xc[0] = _xv(1);
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| 353 | xc[1] = _xv(2);
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| 354 | xc[2] = _xv(3);
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| 355 |
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| 356 | vv[0] = _xv(4);
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| 357 | vv[1] = _xv(5);
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| 358 | vv[2] = _xv(6);
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| 359 |
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| 360 | // Clock Correction
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| 361 | // ----------------
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[4018] | 362 | double dtClk = bncTime(GPSweek, GPSweeks) - _TOC;
|
---|
[2221] | 363 | xc[3] = -_tau + _gamma * dtClk;
|
---|
| 364 | }
|
---|
| 365 |
|
---|
| 366 | // IOD of Glonass Ephemeris (virtual)
|
---|
| 367 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 368 | int t_ephGlo::IOD() const {
|
---|
[4018] | 369 | bncTime tMoscow = _TOC - _gps_utc + 3 * 3600.0;
|
---|
[3538] | 370 | return int(tMoscow.daysec() / 900);
|
---|
[2221] | 371 | }
|
---|
| 372 |
|
---|
| 373 | // Set Glonass Ephemeris
|
---|
| 374 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 375 | void t_ephGlo::set(const glonassephemeris* ee) {
|
---|
| 376 |
|
---|
[3255] | 377 | _prn = QString("R%1").arg(ee->almanac_number, 2, 10, QChar('0'));
|
---|
[2223] | 378 |
|
---|
[2234] | 379 | int ww = ee->GPSWeek;
|
---|
| 380 | int tow = ee->GPSTOW;
|
---|
[2257] | 381 | updatetime(&ww, &tow, ee->tb*1000, 0); // Moscow -> GPS
|
---|
[2223] | 382 |
|
---|
[3264] | 383 | // Check the day once more
|
---|
| 384 | // -----------------------
|
---|
| 385 | {
|
---|
[3268] | 386 | const double secPerDay = 24 * 3600.0;
|
---|
| 387 | const double secPerWeek = 7 * secPerDay;
|
---|
[3266] | 388 | int ww_old = ww;
|
---|
| 389 | int tow_old = tow;
|
---|
[3264] | 390 | int currentWeek;
|
---|
| 391 | double currentSec;
|
---|
| 392 | currentGPSWeeks(currentWeek, currentSec);
|
---|
| 393 | bncTime currentTime(currentWeek, currentSec);
|
---|
| 394 | bncTime hTime(ww, (double) tow);
|
---|
| 395 |
|
---|
| 396 | bool changed = false;
|
---|
[3268] | 397 | if (hTime - currentTime > secPerDay/2.0) {
|
---|
[3264] | 398 | changed = true;
|
---|
[3268] | 399 | tow -= secPerDay;
|
---|
| 400 | if (tow < 0) {
|
---|
| 401 | tow += secPerWeek;
|
---|
| 402 | ww -= 1;
|
---|
| 403 | }
|
---|
[3264] | 404 | }
|
---|
[3268] | 405 | else if (hTime - currentTime < -secPerDay/2.0) {
|
---|
[3264] | 406 | changed = true;
|
---|
[3268] | 407 | tow += secPerDay;
|
---|
| 408 | if (tow > secPerWeek) {
|
---|
| 409 | tow -= secPerWeek;
|
---|
| 410 | ww += 1;
|
---|
| 411 | }
|
---|
[3264] | 412 | }
|
---|
| 413 |
|
---|
[3280] | 414 | if (changed && ((bncApp*) qApp)->mode() == bncApp::batchPostProcessing) {
|
---|
[3265] | 415 | bncTime newHTime(ww, (double) tow);
|
---|
[3269] | 416 | cout << "GLONASS " << ee->almanac_number << " Time Changed at "
|
---|
[3266] | 417 | << currentTime.datestr() << " " << currentTime.timestr()
|
---|
| 418 | << endl
|
---|
[3268] | 419 | << "old: " << hTime.datestr() << " " << hTime.timestr()
|
---|
[3266] | 420 | << endl
|
---|
| 421 | << "new: " << newHTime.datestr() << " " << newHTime.timestr()
|
---|
| 422 | << endl
|
---|
| 423 | << "eph: " << ee->GPSWeek << " " << ee->GPSTOW << " " << ee->tb
|
---|
| 424 | << endl
|
---|
| 425 | << "ww, tow (old): " << ww_old << " " << tow_old
|
---|
| 426 | << endl
|
---|
| 427 | << "ww, tow (new): " << ww << " " << tow
|
---|
[3267] | 428 | << endl << endl;
|
---|
[3264] | 429 | }
|
---|
| 430 | }
|
---|
| 431 |
|
---|
[3263] | 432 | bncTime hlpTime(ww, (double) tow);
|
---|
[3255] | 433 | unsigned year, month, day;
|
---|
| 434 | hlpTime.civil_date(year, month, day);
|
---|
| 435 | _gps_utc = gnumleap(year, month, day);
|
---|
| 436 |
|
---|
[4018] | 437 | _TOC.set(ww, tow);
|
---|
[2223] | 438 | _E = ee->E;
|
---|
| 439 | _tau = ee->tau;
|
---|
| 440 | _gamma = ee->gamma;
|
---|
| 441 | _x_pos = ee->x_pos;
|
---|
| 442 | _x_velocity = ee->x_velocity;
|
---|
| 443 | _x_acceleration = ee->x_acceleration;
|
---|
| 444 | _y_pos = ee->y_pos;
|
---|
| 445 | _y_velocity = ee->y_velocity;
|
---|
| 446 | _y_acceleration = ee->y_acceleration;
|
---|
| 447 | _z_pos = ee->z_pos;
|
---|
| 448 | _z_velocity = ee->z_velocity;
|
---|
| 449 | _z_acceleration = ee->z_acceleration;
|
---|
| 450 | _health = 0;
|
---|
| 451 | _frequency_number = ee->frequency_number;
|
---|
[2257] | 452 | _tki = ee->tk-3*60*60; if (_tki < 0) _tki += 86400;
|
---|
[2223] | 453 |
|
---|
| 454 | // Initialize status vector
|
---|
| 455 | // ------------------------
|
---|
[4018] | 456 | _tt = _TOC;
|
---|
[2223] | 457 |
|
---|
| 458 | _xv(1) = _x_pos * 1.e3;
|
---|
| 459 | _xv(2) = _y_pos * 1.e3;
|
---|
| 460 | _xv(3) = _z_pos * 1.e3;
|
---|
| 461 | _xv(4) = _x_velocity * 1.e3;
|
---|
| 462 | _xv(5) = _y_velocity * 1.e3;
|
---|
| 463 | _xv(6) = _z_velocity * 1.e3;
|
---|
[3659] | 464 |
|
---|
| 465 | _ok = true;
|
---|
[2221] | 466 | }
|
---|
[2771] | 467 |
|
---|
[3255] | 468 | // build up RTCM3 for GLONASS
|
---|
| 469 | ////////////////////////////////////////////////////////////////////////////
|
---|
[4018] | 470 | #define GLONASSTOINT(type, value) static_cast<type>(round(value))
|
---|
[3255] | 471 |
|
---|
| 472 | #define GLONASSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
|
---|
| 473 | |(GLONASSTOINT(long long,b)&((1ULL<<(a))-1)); \
|
---|
| 474 | numbits += (a); \
|
---|
| 475 | while(numbits >= 8) { \
|
---|
| 476 | buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
|
---|
| 477 | #define GLONASSADDBITSFLOATM(a,b,c) {int s; long long i; \
|
---|
| 478 | if(b < 0.0) \
|
---|
| 479 | { \
|
---|
| 480 | s = 1; \
|
---|
| 481 | i = GLONASSTOINT(long long,(-b)/(c)); \
|
---|
| 482 | if(!i) s = 0; \
|
---|
| 483 | } \
|
---|
| 484 | else \
|
---|
| 485 | { \
|
---|
| 486 | s = 0; \
|
---|
| 487 | i = GLONASSTOINT(long long,(b)/(c)); \
|
---|
| 488 | } \
|
---|
| 489 | GLONASSADDBITS(1,s) \
|
---|
| 490 | GLONASSADDBITS(a-1,i)}
|
---|
| 491 |
|
---|
| 492 | int t_ephGlo::RTCM3(unsigned char *buffer)
|
---|
| 493 | {
|
---|
| 494 |
|
---|
| 495 | int size = 0;
|
---|
| 496 | int numbits = 0;
|
---|
| 497 | long long bitbuffer = 0;
|
---|
| 498 | unsigned char *startbuffer = buffer;
|
---|
| 499 | buffer= buffer+3;
|
---|
| 500 |
|
---|
| 501 | GLONASSADDBITS(12, 1020)
|
---|
| 502 | GLONASSADDBITS(6, _prn.right((_prn.length()-1)).toInt())
|
---|
| 503 | GLONASSADDBITS(5, 7+_frequency_number)
|
---|
| 504 | GLONASSADDBITS(1, 0)
|
---|
| 505 | GLONASSADDBITS(1, 0)
|
---|
| 506 | GLONASSADDBITS(2, 0)
|
---|
| 507 | _tki=_tki+3*60*60;
|
---|
| 508 | GLONASSADDBITS(5, static_cast<int>(_tki)/(60*60))
|
---|
| 509 | GLONASSADDBITS(6, (static_cast<int>(_tki)/60)%60)
|
---|
| 510 | GLONASSADDBITS(1, (static_cast<int>(_tki)/30)%30)
|
---|
| 511 | GLONASSADDBITS(1, _health)
|
---|
| 512 | GLONASSADDBITS(1, 0)
|
---|
[4018] | 513 | unsigned long long timeofday = (static_cast<int>(_tt.gpssec()+3*60*60-_gps_utc)%86400);
|
---|
[3255] | 514 | GLONASSADDBITS(7, timeofday/60/15)
|
---|
| 515 | GLONASSADDBITSFLOATM(24, _x_velocity*1000, 1000.0/static_cast<double>(1<<20))
|
---|
| 516 | GLONASSADDBITSFLOATM(27, _x_pos*1000, 1000.0/static_cast<double>(1<<11))
|
---|
| 517 | GLONASSADDBITSFLOATM(5, _x_acceleration*1000, 1000.0/static_cast<double>(1<<30))
|
---|
| 518 | GLONASSADDBITSFLOATM(24, _y_velocity*1000, 1000.0/static_cast<double>(1<<20))
|
---|
| 519 | GLONASSADDBITSFLOATM(27, _y_pos*1000, 1000.0/static_cast<double>(1<<11))
|
---|
| 520 | GLONASSADDBITSFLOATM(5, _y_acceleration*1000, 1000.0/static_cast<double>(1<<30))
|
---|
| 521 | GLONASSADDBITSFLOATM(24, _z_velocity*1000, 1000.0/static_cast<double>(1<<20))
|
---|
| 522 | GLONASSADDBITSFLOATM(27,_z_pos*1000, 1000.0/static_cast<double>(1<<11))
|
---|
| 523 | GLONASSADDBITSFLOATM(5, _z_acceleration*1000, 1000.0/static_cast<double>(1<<30))
|
---|
| 524 | GLONASSADDBITS(1, 0)
|
---|
| 525 | GLONASSADDBITSFLOATM(11, _gamma, 1.0/static_cast<double>(1<<30)
|
---|
| 526 | /static_cast<double>(1<<10))
|
---|
| 527 | GLONASSADDBITS(2, 0) /* GLONASS-M P */
|
---|
| 528 | GLONASSADDBITS(1, 0) /* GLONASS-M ln(3) */
|
---|
| 529 | GLONASSADDBITSFLOATM(22, _tau, 1.0/static_cast<double>(1<<30))
|
---|
| 530 | GLONASSADDBITS(5, 0) /* GLONASS-M delta tau */
|
---|
| 531 | GLONASSADDBITS(5, _E)
|
---|
| 532 | GLONASSADDBITS(1, 0) /* GLONASS-M P4 */
|
---|
| 533 | GLONASSADDBITS(4, 0) /* GLONASS-M FT */
|
---|
| 534 | GLONASSADDBITS(11, 0) /* GLONASS-M NT */
|
---|
| 535 | GLONASSADDBITS(2, 0) /* GLONASS-M active? */
|
---|
| 536 | GLONASSADDBITS(1, 0) /* GLONASS additional data */
|
---|
| 537 | GLONASSADDBITS(11, 0) /* GLONASS NA */
|
---|
| 538 | GLONASSADDBITS(32, 0) /* GLONASS tau C */
|
---|
| 539 | GLONASSADDBITS(5, 0) /* GLONASS-M N4 */
|
---|
| 540 | GLONASSADDBITS(22, 0) /* GLONASS-M tau GPS */
|
---|
| 541 | GLONASSADDBITS(1, 0) /* GLONASS-M ln(5) */
|
---|
| 542 | GLONASSADDBITS(7, 0) /* Reserved */
|
---|
| 543 |
|
---|
| 544 | startbuffer[0]=0xD3;
|
---|
| 545 | startbuffer[1]=(size >> 8);
|
---|
| 546 | startbuffer[2]=size;
|
---|
| 547 | unsigned long i = CRC24(size+3, startbuffer);
|
---|
| 548 | buffer[size++] = i >> 16;
|
---|
| 549 | buffer[size++] = i >> 8;
|
---|
| 550 | buffer[size++] = i;
|
---|
| 551 | size += 3;
|
---|
| 552 | return size;
|
---|
| 553 | }
|
---|
| 554 |
|
---|
[2771] | 555 | // Set Galileo Satellite Position
|
---|
| 556 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 557 | void t_ephGal::set(const galileoephemeris* ee) {
|
---|
| 558 |
|
---|
[3255] | 559 | _prn = QString("E%1").arg(ee->satellite, 2, 10, QChar('0'));
|
---|
[2771] | 560 |
|
---|
[4018] | 561 | _TOC.set(ee->Week, ee->TOC);
|
---|
[3734] | 562 | _clock_bias = ee->clock_bias;
|
---|
| 563 | _clock_drift = ee->clock_drift;
|
---|
[2771] | 564 | _clock_driftrate = ee->clock_driftrate;
|
---|
| 565 |
|
---|
[4018] | 566 | _IODnav = ee->IODnav;
|
---|
[2771] | 567 | _Crs = ee->Crs;
|
---|
| 568 | _Delta_n = ee->Delta_n;
|
---|
| 569 | _M0 = ee->M0;
|
---|
[4018] | 570 |
|
---|
[2771] | 571 | _Cuc = ee->Cuc;
|
---|
| 572 | _e = ee->e;
|
---|
| 573 | _Cus = ee->Cus;
|
---|
| 574 | _sqrt_A = ee->sqrt_A;
|
---|
[4018] | 575 |
|
---|
| 576 | _TOEsec = ee->TOE;
|
---|
[2771] | 577 | _Cic = ee->Cic;
|
---|
| 578 | _OMEGA0 = ee->OMEGA0;
|
---|
| 579 | _Cis = ee->Cis;
|
---|
[4018] | 580 |
|
---|
[2771] | 581 | _i0 = ee->i0;
|
---|
| 582 | _Crc = ee->Crc;
|
---|
| 583 | _omega = ee->omega;
|
---|
| 584 | _OMEGADOT = ee->OMEGADOT;
|
---|
[4018] | 585 |
|
---|
[2771] | 586 | _IDOT = ee->IDOT;
|
---|
[4018] | 587 | _TOEweek = ee->Week;
|
---|
| 588 |
|
---|
[3734] | 589 | _SISA = ee->SISA;
|
---|
[4018] | 590 | _E5aHS = ee->E5aHS;
|
---|
[3734] | 591 | _BGD_1_5A = ee->BGD_1_5A;
|
---|
| 592 | _BGD_1_5B = ee->BGD_1_5B;
|
---|
[3659] | 593 |
|
---|
[4018] | 594 | _TOT = 0.9999e9;
|
---|
| 595 |
|
---|
[3659] | 596 | _ok = true;
|
---|
[2771] | 597 | }
|
---|
| 598 |
|
---|
| 599 | // Compute Galileo Satellite Position (virtual)
|
---|
| 600 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 601 | void t_ephGal::position(int GPSweek, double GPSweeks,
|
---|
[4018] | 602 | double* xc,
|
---|
| 603 | double* vv) const {
|
---|
[2771] | 604 |
|
---|
| 605 | static const double omegaEarth = 7292115.1467e-11;
|
---|
| 606 | static const double gmWGS = 398.6005e12;
|
---|
| 607 |
|
---|
| 608 | memset(xc, 0, 4*sizeof(double));
|
---|
| 609 | memset(vv, 0, 3*sizeof(double));
|
---|
| 610 |
|
---|
| 611 | double a0 = _sqrt_A * _sqrt_A;
|
---|
| 612 | if (a0 == 0) {
|
---|
| 613 | return;
|
---|
| 614 | }
|
---|
| 615 |
|
---|
| 616 | double n0 = sqrt(gmWGS/(a0*a0*a0));
|
---|
[4018] | 617 |
|
---|
| 618 | bncTime tt(GPSweek, GPSweeks);
|
---|
| 619 | double tk = tt - bncTime(_TOC.gpsw(), _TOEsec);
|
---|
| 620 |
|
---|
[2771] | 621 | double n = n0 + _Delta_n;
|
---|
| 622 | double M = _M0 + n*tk;
|
---|
| 623 | double E = M;
|
---|
| 624 | double E_last;
|
---|
| 625 | do {
|
---|
| 626 | E_last = E;
|
---|
| 627 | E = M + _e*sin(E);
|
---|
| 628 | } while ( fabs(E-E_last)*a0 > 0.001 );
|
---|
| 629 | double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
|
---|
| 630 | double u0 = v + _omega;
|
---|
| 631 | double sin2u0 = sin(2*u0);
|
---|
| 632 | double cos2u0 = cos(2*u0);
|
---|
| 633 | double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
|
---|
| 634 | double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
|
---|
| 635 | double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
|
---|
| 636 | double xp = r*cos(u);
|
---|
| 637 | double yp = r*sin(u);
|
---|
| 638 | double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
|
---|
[4018] | 639 | omegaEarth*_TOEsec;
|
---|
[2771] | 640 |
|
---|
| 641 | double sinom = sin(OM);
|
---|
| 642 | double cosom = cos(OM);
|
---|
| 643 | double sini = sin(i);
|
---|
| 644 | double cosi = cos(i);
|
---|
| 645 | xc[0] = xp*cosom - yp*cosi*sinom;
|
---|
| 646 | xc[1] = xp*sinom + yp*cosi*cosom;
|
---|
| 647 | xc[2] = yp*sini;
|
---|
| 648 |
|
---|
[4018] | 649 | double tc = tt - _TOC;
|
---|
[2771] | 650 | xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
|
---|
| 651 |
|
---|
| 652 | // Velocity
|
---|
| 653 | // --------
|
---|
| 654 | double tanv2 = tan(v/2);
|
---|
| 655 | double dEdM = 1 / (1 - _e*cos(E));
|
---|
| 656 | double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
|
---|
| 657 | * dEdM * n;
|
---|
| 658 | double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
|
---|
| 659 | double dotom = _OMEGADOT - omegaEarth;
|
---|
| 660 | double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
|
---|
| 661 | double dotr = a0 * _e*sin(E) * dEdM * n
|
---|
| 662 | + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
|
---|
| 663 | double dotx = dotr*cos(u) - r*sin(u)*dotu;
|
---|
| 664 | double doty = dotr*sin(u) + r*cos(u)*dotu;
|
---|
| 665 |
|
---|
| 666 | vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
|
---|
| 667 | - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
|
---|
| 668 | + yp*sini*sinom*doti; // dX / di
|
---|
| 669 |
|
---|
| 670 | vv[1] = sinom *dotx + cosi*cosom *doty
|
---|
| 671 | + xp*cosom*dotom - yp*cosi*sinom*dotom
|
---|
| 672 | - yp*sini*cosom*doti;
|
---|
| 673 |
|
---|
| 674 | vv[2] = sini *doty + yp*cosi *doti;
|
---|
| 675 |
|
---|
| 676 | // Relativistic Correction
|
---|
| 677 | // -----------------------
|
---|
| 678 | // xc(4) -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
|
---|
| 679 | xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
|
---|
| 680 | }
|
---|
| 681 |
|
---|
[3255] | 682 | // build up RTCM3 for Galileo
|
---|
| 683 | ////////////////////////////////////////////////////////////////////////////
|
---|
[4018] | 684 | #define GALILEOTOINT(type, value) static_cast<type>(round(value))
|
---|
[3279] | 685 |
|
---|
| 686 | #define GALILEOADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
|
---|
| 687 | |(GALILEOTOINT(long long,b)&((1LL<<a)-1)); \
|
---|
| 688 | numbits += (a); \
|
---|
| 689 | while(numbits >= 8) { \
|
---|
| 690 | buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
|
---|
| 691 | #define GALILEOADDBITSFLOAT(a,b,c) {long long i = GALILEOTOINT(long long,(b)/(c)); \
|
---|
| 692 | GALILEOADDBITS(a,i)};
|
---|
| 693 |
|
---|
[3255] | 694 | int t_ephGal::RTCM3(unsigned char *buffer) {
|
---|
[3279] | 695 | int size = 0;
|
---|
| 696 | int numbits = 0;
|
---|
| 697 | long long bitbuffer = 0;
|
---|
| 698 | unsigned char *startbuffer = buffer;
|
---|
| 699 | buffer= buffer+3;
|
---|
[3255] | 700 |
|
---|
[3279] | 701 | GALILEOADDBITS(12, /*inav ? 1046 :*/ 1045)
|
---|
| 702 | GALILEOADDBITS(6, _prn.right((_prn.length()-1)).toInt())
|
---|
[4018] | 703 | GALILEOADDBITS(12, _TOC.gpsw())
|
---|
[3279] | 704 | GALILEOADDBITS(10, _IODnav)
|
---|
| 705 | GALILEOADDBITS(8, _SISA)
|
---|
[4018] | 706 | GALILEOADDBITSFLOAT(14, _IDOT, M_PI/static_cast<double>(1<<30)
|
---|
[3279] | 707 | /static_cast<double>(1<<13))
|
---|
[4018] | 708 | GALILEOADDBITS(14, _TOC.gpssec()/60)
|
---|
[3279] | 709 | GALILEOADDBITSFLOAT(6, _clock_driftrate, 1.0/static_cast<double>(1<<30)
|
---|
| 710 | /static_cast<double>(1<<29))
|
---|
| 711 | GALILEOADDBITSFLOAT(21, _clock_drift, 1.0/static_cast<double>(1<<30)
|
---|
| 712 | /static_cast<double>(1<<16))
|
---|
| 713 | GALILEOADDBITSFLOAT(31, _clock_bias, 1.0/static_cast<double>(1<<30)
|
---|
| 714 | /static_cast<double>(1<<4))
|
---|
| 715 | GALILEOADDBITSFLOAT(16, _Crs, 1.0/static_cast<double>(1<<5))
|
---|
[4018] | 716 | GALILEOADDBITSFLOAT(16, _Delta_n, M_PI/static_cast<double>(1<<30)
|
---|
[3279] | 717 | /static_cast<double>(1<<13))
|
---|
[4018] | 718 | GALILEOADDBITSFLOAT(32, _M0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
|
---|
[3279] | 719 | GALILEOADDBITSFLOAT(16, _Cuc, 1.0/static_cast<double>(1<<29))
|
---|
| 720 | GALILEOADDBITSFLOAT(32, _e, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
|
---|
| 721 | GALILEOADDBITSFLOAT(16, _Cus, 1.0/static_cast<double>(1<<29))
|
---|
| 722 | GALILEOADDBITSFLOAT(32, _sqrt_A, 1.0/static_cast<double>(1<<19))
|
---|
[4018] | 723 | GALILEOADDBITS(14, _TOEsec/60)
|
---|
[3279] | 724 | GALILEOADDBITSFLOAT(16, _Cic, 1.0/static_cast<double>(1<<29))
|
---|
[4018] | 725 | GALILEOADDBITSFLOAT(32, _OMEGA0, M_PI/static_cast<double>(1<<30)
|
---|
[3279] | 726 | /static_cast<double>(1<<1))
|
---|
| 727 | GALILEOADDBITSFLOAT(16, _Cis, 1.0/static_cast<double>(1<<29))
|
---|
[4018] | 728 | GALILEOADDBITSFLOAT(32, _i0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
|
---|
[3279] | 729 | GALILEOADDBITSFLOAT(16, _Crc, 1.0/static_cast<double>(1<<5))
|
---|
[4018] | 730 | GALILEOADDBITSFLOAT(32, _omega, M_PI/static_cast<double>(1<<30)
|
---|
[3279] | 731 | /static_cast<double>(1<<1))
|
---|
[4018] | 732 | GALILEOADDBITSFLOAT(24, _OMEGADOT, M_PI/static_cast<double>(1<<30)
|
---|
[3279] | 733 | /static_cast<double>(1<<13))
|
---|
| 734 | GALILEOADDBITSFLOAT(10, _BGD_1_5A, 1.0/static_cast<double>(1<<30)
|
---|
| 735 | /static_cast<double>(1<<2))
|
---|
| 736 | /*if(inav)
|
---|
| 737 | {
|
---|
| 738 | GALILEOADDBITSFLOAT(10, _BGD_1_5B, 1.0/static_cast<double>(1<<30)
|
---|
| 739 | /static_cast<double>(1<<2))
|
---|
| 740 | GALILEOADDBITS(2, _E5bHS)
|
---|
| 741 | GALILEOADDBITS(1, flags & MNFGALEPHF_E5BDINVALID)
|
---|
| 742 | }
|
---|
| 743 | else*/
|
---|
| 744 | {
|
---|
| 745 | GALILEOADDBITS(2, _E5aHS)
|
---|
| 746 | GALILEOADDBITS(1, /*flags & MNFGALEPHF_E5ADINVALID*/0)
|
---|
| 747 | }
|
---|
[4018] | 748 | _TOEsec = 0.9999E9;
|
---|
| 749 | GALILEOADDBITS(20, _TOEsec)
|
---|
[3279] | 750 |
|
---|
| 751 | GALILEOADDBITS(/*inav ? 1 :*/ 3, 0) /* fill up */
|
---|
| 752 |
|
---|
| 753 | startbuffer[0]=0xD3;
|
---|
| 754 | startbuffer[1]=(size >> 8);
|
---|
| 755 | startbuffer[2]=size;
|
---|
| 756 | unsigned long i = CRC24(size+3, startbuffer);
|
---|
| 757 | buffer[size++] = i >> 16;
|
---|
| 758 | buffer[size++] = i >> 8;
|
---|
| 759 | buffer[size++] = i;
|
---|
| 760 | size += 3;
|
---|
| 761 | return size;
|
---|
[3255] | 762 | }
|
---|
[3659] | 763 |
|
---|
| 764 | // Constructor
|
---|
| 765 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 766 | t_ephGPS::t_ephGPS(float rnxVersion, const QStringList& lines) {
|
---|
[3664] | 767 |
|
---|
[3699] | 768 | const int nLines = 8;
|
---|
| 769 |
|
---|
[3665] | 770 | _ok = false;
|
---|
| 771 |
|
---|
[3699] | 772 | if (lines.size() != nLines) {
|
---|
[3660] | 773 | return;
|
---|
| 774 | }
|
---|
[3664] | 775 |
|
---|
[3668] | 776 | // RINEX Format
|
---|
| 777 | // ------------
|
---|
| 778 | int fieldLen = 19;
|
---|
| 779 |
|
---|
[3666] | 780 | int pos[4];
|
---|
| 781 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
[3668] | 782 | pos[1] = pos[0] + fieldLen;
|
---|
| 783 | pos[2] = pos[1] + fieldLen;
|
---|
| 784 | pos[3] = pos[2] + fieldLen;
|
---|
[3664] | 785 |
|
---|
| 786 | // Read eight lines
|
---|
| 787 | // ----------------
|
---|
[3699] | 788 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
[3664] | 789 | QString line = lines[iLine];
|
---|
| 790 |
|
---|
| 791 | if ( iLine == 0 ) {
|
---|
[3666] | 792 | QTextStream in(line.left(pos[1]).toAscii());
|
---|
| 793 |
|
---|
| 794 | int year, month, day, hour, min;
|
---|
| 795 | double sec;
|
---|
| 796 |
|
---|
| 797 | in >> _prn >> year >> month >> day >> hour >> min >> sec;
|
---|
| 798 |
|
---|
| 799 | if (_prn.at(0) != 'G') {
|
---|
[3667] | 800 | _prn = QString("G%1").arg(_prn.toInt(), 2, 10, QLatin1Char('0'));
|
---|
[3664] | 801 | }
|
---|
[3667] | 802 |
|
---|
[3666] | 803 | if (year < 80) {
|
---|
| 804 | year += 2000;
|
---|
[3664] | 805 | }
|
---|
[3666] | 806 | else if (year < 100) {
|
---|
| 807 | year += 1900;
|
---|
| 808 | }
|
---|
| 809 |
|
---|
[4018] | 810 | _TOC.set(year, month, day, hour, min, sec);
|
---|
[3666] | 811 |
|
---|
| 812 | if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
|
---|
| 813 | readDbl(line, pos[2], fieldLen, _clock_drift ) ||
|
---|
| 814 | readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
|
---|
| 815 | return;
|
---|
| 816 | }
|
---|
[3660] | 817 | }
|
---|
[3664] | 818 |
|
---|
| 819 | else if ( iLine == 1 ) {
|
---|
[3666] | 820 | if ( readDbl(line, pos[0], fieldLen, _IODE ) ||
|
---|
| 821 | readDbl(line, pos[1], fieldLen, _Crs ) ||
|
---|
| 822 | readDbl(line, pos[2], fieldLen, _Delta_n) ||
|
---|
| 823 | readDbl(line, pos[3], fieldLen, _M0 ) ) {
|
---|
[3664] | 824 | return;
|
---|
| 825 | }
|
---|
| 826 | }
|
---|
| 827 |
|
---|
| 828 | else if ( iLine == 2 ) {
|
---|
[3666] | 829 | if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
|
---|
| 830 | readDbl(line, pos[1], fieldLen, _e ) ||
|
---|
| 831 | readDbl(line, pos[2], fieldLen, _Cus ) ||
|
---|
| 832 | readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
|
---|
[3664] | 833 | return;
|
---|
| 834 | }
|
---|
| 835 | }
|
---|
| 836 |
|
---|
| 837 | else if ( iLine == 3 ) {
|
---|
[4018] | 838 | if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
|
---|
[3666] | 839 | readDbl(line, pos[1], fieldLen, _Cic ) ||
|
---|
| 840 | readDbl(line, pos[2], fieldLen, _OMEGA0) ||
|
---|
| 841 | readDbl(line, pos[3], fieldLen, _Cis ) ) {
|
---|
[3664] | 842 | return;
|
---|
| 843 | }
|
---|
| 844 | }
|
---|
| 845 |
|
---|
| 846 | else if ( iLine == 4 ) {
|
---|
[3666] | 847 | if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
|
---|
| 848 | readDbl(line, pos[1], fieldLen, _Crc ) ||
|
---|
| 849 | readDbl(line, pos[2], fieldLen, _omega ) ||
|
---|
| 850 | readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
|
---|
[3664] | 851 | return;
|
---|
| 852 | }
|
---|
| 853 | }
|
---|
| 854 |
|
---|
| 855 | else if ( iLine == 5 ) {
|
---|
[4018] | 856 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
|
---|
| 857 | readDbl(line, pos[1], fieldLen, _L2Codes) ||
|
---|
| 858 | readDbl(line, pos[2], fieldLen, _TOEweek ) ||
|
---|
| 859 | readDbl(line, pos[3], fieldLen, _L2PFlag) ) {
|
---|
[3664] | 860 | return;
|
---|
| 861 | }
|
---|
| 862 | }
|
---|
| 863 |
|
---|
| 864 | else if ( iLine == 6 ) {
|
---|
[4018] | 865 | if ( readDbl(line, pos[0], fieldLen, _ura ) ||
|
---|
[3666] | 866 | readDbl(line, pos[1], fieldLen, _health) ||
|
---|
| 867 | readDbl(line, pos[2], fieldLen, _TGD ) ||
|
---|
| 868 | readDbl(line, pos[3], fieldLen, _IODC ) ) {
|
---|
[3664] | 869 | return;
|
---|
| 870 | }
|
---|
| 871 | }
|
---|
| 872 |
|
---|
| 873 | else if ( iLine == 7 ) {
|
---|
[4018] | 874 | if ( readDbl(line, pos[0], fieldLen, _TOT) ||
|
---|
| 875 | readDbl(line, pos[1], fieldLen, _fitInterval) ) {
|
---|
[3664] | 876 | return;
|
---|
| 877 | }
|
---|
| 878 | }
|
---|
[3660] | 879 | }
|
---|
[3661] | 880 |
|
---|
| 881 | _ok = true;
|
---|
[3659] | 882 | }
|
---|
| 883 |
|
---|
| 884 | // Constructor
|
---|
| 885 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 886 | t_ephGlo::t_ephGlo(float rnxVersion, const QStringList& lines) {
|
---|
| 887 |
|
---|
[3699] | 888 | const int nLines = 4;
|
---|
| 889 |
|
---|
[3659] | 890 | _ok = false;
|
---|
[3699] | 891 |
|
---|
| 892 | if (lines.size() != nLines) {
|
---|
| 893 | return;
|
---|
| 894 | }
|
---|
| 895 |
|
---|
| 896 | // RINEX Format
|
---|
| 897 | // ------------
|
---|
| 898 | int fieldLen = 19;
|
---|
| 899 |
|
---|
| 900 | int pos[4];
|
---|
| 901 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
| 902 | pos[1] = pos[0] + fieldLen;
|
---|
| 903 | pos[2] = pos[1] + fieldLen;
|
---|
| 904 | pos[3] = pos[2] + fieldLen;
|
---|
| 905 |
|
---|
| 906 | // Read four lines
|
---|
| 907 | // ---------------
|
---|
| 908 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
| 909 | QString line = lines[iLine];
|
---|
| 910 |
|
---|
| 911 | if ( iLine == 0 ) {
|
---|
| 912 | QTextStream in(line.left(pos[1]).toAscii());
|
---|
| 913 |
|
---|
| 914 | int year, month, day, hour, min;
|
---|
| 915 | double sec;
|
---|
| 916 |
|
---|
| 917 | in >> _prn >> year >> month >> day >> hour >> min >> sec;
|
---|
| 918 |
|
---|
| 919 | if (_prn.at(0) != 'R') {
|
---|
| 920 | _prn = QString("R%1").arg(_prn.toInt(), 2, 10, QLatin1Char('0'));
|
---|
| 921 | }
|
---|
| 922 |
|
---|
| 923 | if (year < 80) {
|
---|
| 924 | year += 2000;
|
---|
| 925 | }
|
---|
| 926 | else if (year < 100) {
|
---|
| 927 | year += 1900;
|
---|
| 928 | }
|
---|
| 929 |
|
---|
[3760] | 930 | _gps_utc = gnumleap(year, month, day);
|
---|
| 931 |
|
---|
[4018] | 932 | _TOC.set(year, month, day, hour, min, sec);
|
---|
| 933 | _TOC = _TOC + _gps_utc;
|
---|
[3699] | 934 |
|
---|
[4018] | 935 | if ( readDbl(line, pos[1], fieldLen, _tau ) ||
|
---|
| 936 | readDbl(line, pos[2], fieldLen, _gamma) ||
|
---|
| 937 | readDbl(line, pos[3], fieldLen, _tki ) ) {
|
---|
[3699] | 938 | return;
|
---|
| 939 | }
|
---|
[3765] | 940 |
|
---|
| 941 | _tau = -_tau;
|
---|
[3699] | 942 | }
|
---|
| 943 |
|
---|
| 944 | else if ( iLine == 1 ) {
|
---|
| 945 | if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
|
---|
| 946 | readDbl(line, pos[1], fieldLen, _x_velocity ) ||
|
---|
| 947 | readDbl(line, pos[2], fieldLen, _x_acceleration) ||
|
---|
| 948 | readDbl(line, pos[3], fieldLen, _health ) ) {
|
---|
| 949 | return;
|
---|
| 950 | }
|
---|
| 951 | }
|
---|
| 952 |
|
---|
| 953 | else if ( iLine == 2 ) {
|
---|
| 954 | if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
|
---|
| 955 | readDbl(line, pos[1], fieldLen, _y_velocity ) ||
|
---|
| 956 | readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
|
---|
| 957 | readDbl(line, pos[3], fieldLen, _frequency_number) ) {
|
---|
| 958 | return;
|
---|
| 959 | }
|
---|
| 960 | }
|
---|
| 961 |
|
---|
| 962 | else if ( iLine == 3 ) {
|
---|
| 963 | if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
|
---|
| 964 | readDbl(line, pos[1], fieldLen, _z_velocity ) ||
|
---|
| 965 | readDbl(line, pos[2], fieldLen, _z_acceleration) ||
|
---|
| 966 | readDbl(line, pos[3], fieldLen, _E ) ) {
|
---|
| 967 | return;
|
---|
| 968 | }
|
---|
| 969 | }
|
---|
| 970 | }
|
---|
| 971 |
|
---|
| 972 | // Initialize status vector
|
---|
| 973 | // ------------------------
|
---|
[4018] | 974 | _tt = _TOC;
|
---|
| 975 | _xv.ReSize(6);
|
---|
[3699] | 976 | _xv(1) = _x_pos * 1.e3;
|
---|
| 977 | _xv(2) = _y_pos * 1.e3;
|
---|
| 978 | _xv(3) = _z_pos * 1.e3;
|
---|
| 979 | _xv(4) = _x_velocity * 1.e3;
|
---|
| 980 | _xv(5) = _y_velocity * 1.e3;
|
---|
| 981 | _xv(6) = _z_velocity * 1.e3;
|
---|
| 982 |
|
---|
| 983 | _ok = true;
|
---|
[3659] | 984 | }
|
---|
| 985 |
|
---|
| 986 | // Constructor
|
---|
| 987 | //////////////////////////////////////////////////////////////////////////////
|
---|
[3699] | 988 | t_ephGal::t_ephGal(float /* rnxVersion */, const QStringList& /* lines */) {
|
---|
[3659] | 989 |
|
---|
| 990 | _ok = false;
|
---|
| 991 | }
|
---|
[4013] | 992 |
|
---|
[4021] | 993 | //
|
---|
[4013] | 994 | //////////////////////////////////////////////////////////////////////////////
|
---|
[4029] | 995 | QString t_eph::rinexDateStr(const bncTime& tt, const QString& prn,
|
---|
| 996 | double version) {
|
---|
[4013] | 997 |
|
---|
[4021] | 998 | QString datStr;
|
---|
[4013] | 999 |
|
---|
| 1000 | unsigned year, month, day, hour, min;
|
---|
[4018] | 1001 | double sec;
|
---|
[4029] | 1002 | tt.civil_date(year, month, day);
|
---|
| 1003 | tt.civil_time(hour, min, sec);
|
---|
[4013] | 1004 |
|
---|
[4021] | 1005 | QTextStream out(&datStr);
|
---|
[4013] | 1006 |
|
---|
| 1007 | if (version < 3.0) {
|
---|
[4029] | 1008 | QString prnHlp = prn.mid(1,2); if (prnHlp[0] == '0') prnHlp[0] = ' ';
|
---|
[4017] | 1009 | out << prnHlp << QString(" %1 %2 %3 %4 %5%6")
|
---|
[4013] | 1010 | .arg(year % 100, 2, 10, QChar('0'))
|
---|
| 1011 | .arg(month, 2)
|
---|
| 1012 | .arg(day, 2)
|
---|
| 1013 | .arg(hour, 2)
|
---|
| 1014 | .arg(min, 2)
|
---|
[4016] | 1015 | .arg(sec, 5, 'f',1);
|
---|
[4013] | 1016 | }
|
---|
| 1017 | else {
|
---|
[4029] | 1018 | out << prn << QString(" %1 %2 %3 %4 %5 %6")
|
---|
[4013] | 1019 | .arg(year, 4)
|
---|
| 1020 | .arg(month, 2, 10, QChar('0'))
|
---|
| 1021 | .arg(day, 2, 10, QChar('0'))
|
---|
| 1022 | .arg(hour, 2, 10, QChar('0'))
|
---|
| 1023 | .arg(min, 2, 10, QChar('0'))
|
---|
| 1024 | .arg(int(sec), 2, 10, QChar('0'));
|
---|
| 1025 | }
|
---|
[4021] | 1026 |
|
---|
| 1027 | return datStr;
|
---|
| 1028 | }
|
---|
| 1029 |
|
---|
| 1030 | // RINEX Format String
|
---|
| 1031 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 1032 | QString t_ephGPS::toString(double version) const {
|
---|
| 1033 |
|
---|
[4029] | 1034 | QString rnxStr = rinexDateStr(_TOC, _prn, version);
|
---|
[4013] | 1035 |
|
---|
[4021] | 1036 | QTextStream out(&rnxStr);
|
---|
| 1037 |
|
---|
[4013] | 1038 | out << QString("%1%2%3\n")
|
---|
| 1039 | .arg(_clock_bias, 19, 'e', 12)
|
---|
| 1040 | .arg(_clock_drift, 19, 'e', 12)
|
---|
| 1041 | .arg(_clock_driftrate, 19, 'e', 12);
|
---|
| 1042 |
|
---|
[4015] | 1043 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
| 1044 |
|
---|
| 1045 | out << QString(fmt)
|
---|
[4013] | 1046 | .arg(_IODE, 19, 'e', 12)
|
---|
| 1047 | .arg(_Crs, 19, 'e', 12)
|
---|
| 1048 | .arg(_Delta_n, 19, 'e', 12)
|
---|
| 1049 | .arg(_M0, 19, 'e', 12);
|
---|
| 1050 |
|
---|
[4015] | 1051 | out << QString(fmt)
|
---|
[4013] | 1052 | .arg(_Cuc, 19, 'e', 12)
|
---|
| 1053 | .arg(_e, 19, 'e', 12)
|
---|
| 1054 | .arg(_Cus, 19, 'e', 12)
|
---|
| 1055 | .arg(_sqrt_A, 19, 'e', 12);
|
---|
| 1056 |
|
---|
[4015] | 1057 | out << QString(fmt)
|
---|
[4018] | 1058 | .arg(_TOEsec, 19, 'e', 12)
|
---|
[4013] | 1059 | .arg(_Cic, 19, 'e', 12)
|
---|
| 1060 | .arg(_OMEGA0, 19, 'e', 12)
|
---|
| 1061 | .arg(_Cis, 19, 'e', 12);
|
---|
| 1062 |
|
---|
[4015] | 1063 | out << QString(fmt)
|
---|
[4013] | 1064 | .arg(_i0, 19, 'e', 12)
|
---|
| 1065 | .arg(_Crc, 19, 'e', 12)
|
---|
| 1066 | .arg(_omega, 19, 'e', 12)
|
---|
| 1067 | .arg(_OMEGADOT, 19, 'e', 12);
|
---|
| 1068 |
|
---|
[4015] | 1069 | out << QString(fmt)
|
---|
[4018] | 1070 | .arg(_IDOT, 19, 'e', 12)
|
---|
| 1071 | .arg(_L2Codes, 19, 'e', 12)
|
---|
| 1072 | .arg(_TOEweek, 19, 'e', 12)
|
---|
| 1073 | .arg(_L2PFlag, 19, 'e', 12);
|
---|
[4013] | 1074 |
|
---|
[4015] | 1075 | out << QString(fmt)
|
---|
[4018] | 1076 | .arg(_ura, 19, 'e', 12)
|
---|
[4013] | 1077 | .arg(_health, 19, 'e', 12)
|
---|
| 1078 | .arg(_TGD, 19, 'e', 12)
|
---|
| 1079 | .arg(_IODC, 19, 'e', 12);
|
---|
| 1080 |
|
---|
[4015] | 1081 | out << QString(fmt)
|
---|
[4018] | 1082 | .arg(_TOT, 19, 'e', 12)
|
---|
| 1083 | .arg(_fitInterval, 19, 'e', 12)
|
---|
[4024] | 1084 | .arg("", 19, QChar(' '))
|
---|
| 1085 | .arg("", 19, QChar(' '));
|
---|
[4013] | 1086 |
|
---|
| 1087 | return rnxStr;
|
---|
| 1088 | }
|
---|
[4023] | 1089 |
|
---|
| 1090 | // RINEX Format String
|
---|
| 1091 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 1092 | QString t_ephGlo::toString(double version) const {
|
---|
| 1093 |
|
---|
[4029] | 1094 | QString rnxStr = rinexDateStr(_TOC-_gps_utc, _prn, version);
|
---|
[4023] | 1095 |
|
---|
| 1096 | QTextStream out(&rnxStr);
|
---|
| 1097 |
|
---|
| 1098 | out << QString("%1%2%3\n")
|
---|
| 1099 | .arg(-_tau, 19, 'e', 12)
|
---|
| 1100 | .arg(_gamma, 19, 'e', 12)
|
---|
| 1101 | .arg(_tki, 19, 'e', 12);
|
---|
| 1102 |
|
---|
| 1103 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
| 1104 |
|
---|
| 1105 | out << QString(fmt)
|
---|
| 1106 | .arg(_x_pos, 19, 'e', 12)
|
---|
| 1107 | .arg(_x_velocity, 19, 'e', 12)
|
---|
| 1108 | .arg(_x_acceleration, 19, 'e', 12)
|
---|
| 1109 | .arg(_health, 19, 'e', 12);
|
---|
| 1110 |
|
---|
| 1111 | out << QString(fmt)
|
---|
| 1112 | .arg(_y_pos, 19, 'e', 12)
|
---|
| 1113 | .arg(_y_velocity, 19, 'e', 12)
|
---|
| 1114 | .arg(_y_acceleration, 19, 'e', 12)
|
---|
| 1115 | .arg(_frequency_number, 19, 'e', 12);
|
---|
| 1116 |
|
---|
| 1117 | out << QString(fmt)
|
---|
| 1118 | .arg(_z_pos, 19, 'e', 12)
|
---|
| 1119 | .arg(_z_velocity, 19, 'e', 12)
|
---|
| 1120 | .arg(_z_acceleration, 19, 'e', 12)
|
---|
| 1121 | .arg(_E, 19, 'e', 12);
|
---|
| 1122 |
|
---|
| 1123 | return rnxStr;
|
---|
| 1124 | }
|
---|
| 1125 |
|
---|
| 1126 | // RINEX Format String
|
---|
| 1127 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 1128 | QString t_ephGal::toString(double version) const {
|
---|
| 1129 |
|
---|
[4029] | 1130 | QString rnxStr = rinexDateStr(_TOC, _prn, version);
|
---|
[4023] | 1131 |
|
---|
| 1132 | QTextStream out(&rnxStr);
|
---|
| 1133 |
|
---|
| 1134 | out << QString("%1%2%3\n")
|
---|
| 1135 | .arg(_clock_bias, 19, 'e', 12)
|
---|
| 1136 | .arg(_clock_drift, 19, 'e', 12)
|
---|
| 1137 | .arg(_clock_driftrate, 19, 'e', 12);
|
---|
| 1138 |
|
---|
| 1139 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
| 1140 |
|
---|
| 1141 | out << QString(fmt)
|
---|
| 1142 | .arg(_IODnav, 19, 'e', 12)
|
---|
| 1143 | .arg(_Crs, 19, 'e', 12)
|
---|
| 1144 | .arg(_Delta_n, 19, 'e', 12)
|
---|
| 1145 | .arg(_M0, 19, 'e', 12);
|
---|
| 1146 |
|
---|
| 1147 | out << QString(fmt)
|
---|
| 1148 | .arg(_Cuc, 19, 'e', 12)
|
---|
| 1149 | .arg(_e, 19, 'e', 12)
|
---|
| 1150 | .arg(_Cus, 19, 'e', 12)
|
---|
| 1151 | .arg(_sqrt_A, 19, 'e', 12);
|
---|
| 1152 |
|
---|
| 1153 | out << QString(fmt)
|
---|
| 1154 | .arg(_TOEsec, 19, 'e', 12)
|
---|
| 1155 | .arg(_Cic, 19, 'e', 12)
|
---|
| 1156 | .arg(_OMEGA0, 19, 'e', 12)
|
---|
| 1157 | .arg(_Cis, 19, 'e', 12);
|
---|
| 1158 |
|
---|
| 1159 | out << QString(fmt)
|
---|
| 1160 | .arg(_i0, 19, 'e', 12)
|
---|
| 1161 | .arg(_Crc, 19, 'e', 12)
|
---|
| 1162 | .arg(_omega, 19, 'e', 12)
|
---|
| 1163 | .arg(_OMEGADOT, 19, 'e', 12);
|
---|
| 1164 |
|
---|
| 1165 | out << QString(fmt)
|
---|
| 1166 | .arg(_IDOT, 19, 'e', 12)
|
---|
[4024] | 1167 | .arg("", 19, QChar(' '))
|
---|
[4023] | 1168 | .arg(_TOEweek, 19, 'e', 12)
|
---|
[4024] | 1169 | .arg("", 19, QChar(' '));
|
---|
[4023] | 1170 |
|
---|
| 1171 | out << QString(fmt)
|
---|
| 1172 | .arg(_SISA, 19, 'e', 12)
|
---|
| 1173 | .arg(_E5aHS, 19, 'e', 12)
|
---|
| 1174 | .arg(_BGD_1_5A, 19, 'e', 12)
|
---|
| 1175 | .arg(_BGD_1_5B, 19, 'e', 12);
|
---|
| 1176 |
|
---|
| 1177 | out << QString(fmt)
|
---|
| 1178 | .arg(_TOT, 19, 'e', 12)
|
---|
[4024] | 1179 | .arg("", 19, QChar(' '))
|
---|
| 1180 | .arg("", 19, QChar(' '))
|
---|
| 1181 | .arg("", 19, QChar(' '));
|
---|
[4023] | 1182 |
|
---|
| 1183 | return rnxStr;
|
---|
| 1184 | }
|
---|
| 1185 |
|
---|