#include <math.h>
#include <sstream>
#include <iostream>
#include <iomanip>
#include <cstring>
#include <newmatio.h>
#include "ephemeris.h"
#include "bncutils.h"
#include "timeutils.h"
#include "bnctime.h"
#include "bnccore.h"
using namespace std;
// Returns CRC24
////////////////////////////////////////////////////////////////////////////
static unsigned long CRC24(long size, const unsigned char *buf) {
unsigned long crc = 0;
int ii;
while (size--) {
crc ^= (*buf++) << (16);
for(ii = 0; ii < 8; ii++) {
crc <<= 1;
if (crc & 0x1000000) {
crc ^= 0x01864cfb;
}
}
}
return crc;
}
// Set GPS Satellite Position
////////////////////////////////////////////////////////////////////////////
void t_ephGPS::set(const gpsephemeris* ee) {
_receptDateTime = currentDateAndTimeGPS();
_prn = QString("G%1").arg(ee->satellite, 2, 10, QChar('0'));
_TOC.set(ee->GPSweek, ee->TOC);
_clock_bias = ee->clock_bias;
_clock_drift = ee->clock_drift;
_clock_driftrate = ee->clock_driftrate;
_IODE = ee->IODE;
_Crs = ee->Crs;
_Delta_n = ee->Delta_n;
_M0 = ee->M0;
_Cuc = ee->Cuc;
_e = ee->e;
_Cus = ee->Cus;
_sqrt_A = ee->sqrt_A;
_TOEsec = ee->TOE;
_Cic = ee->Cic;
_OMEGA0 = ee->OMEGA0;
_Cis = ee->Cis;
_i0 = ee->i0;
_Crc = ee->Crc;
_omega = ee->omega;
_OMEGADOT = ee->OMEGADOT;
_IDOT = ee->IDOT;
_L2Codes = 0.0;
_TOEweek = ee->GPSweek;
_L2PFlag = 0.0;
if (ee->URAindex <= 6) {
_ura = ceil(10.0*pow(2.0, 1.0+((double)ee->URAindex)/2.0))/10.0;
}
else {
_ura = ceil(10.0*pow(2.0, ((double)ee->URAindex)/2.0))/10.0;
}
_health = ee->SVhealth;
_TGD = ee->TGD;
_IODC = ee->IODC;
_TOT = 0.9999e9;
_fitInterval = 0.0;
_ok = true;
}
// Compute GPS Satellite Position (virtual)
////////////////////////////////////////////////////////////////////////////
void t_ephGPS::position(int GPSweek, double GPSweeks,
double* xc,
double* vv) const {
static const double omegaEarth = 7292115.1467e-11;
static const double gmGRS = 398.6005e12;
memset(xc, 0, 4*sizeof(double));
memset(vv, 0, 3*sizeof(double));
double a0 = _sqrt_A * _sqrt_A;
if (a0 == 0) {
return;
}
double n0 = sqrt(gmGRS/(a0*a0*a0));
bncTime tt(GPSweek, GPSweeks);
double tk = tt - bncTime(int(_TOEweek), _TOEsec);
double n = n0 + _Delta_n;
double M = _M0 + n*tk;
double E = M;
double E_last;
do {
E_last = E;
E = M + _e*sin(E);
} while ( fabs(E-E_last)*a0 > 0.001 );
double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
double u0 = v + _omega;
double sin2u0 = sin(2*u0);
double cos2u0 = cos(2*u0);
double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
double xp = r*cos(u);
double yp = r*sin(u);
double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
omegaEarth*_TOEsec;
double sinom = sin(OM);
double cosom = cos(OM);
double sini = sin(i);
double cosi = cos(i);
xc[0] = xp*cosom - yp*cosi*sinom;
xc[1] = xp*sinom + yp*cosi*cosom;
xc[2] = yp*sini;
double tc = tt - _TOC;
xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
// Velocity
// --------
double tanv2 = tan(v/2);
double dEdM = 1 / (1 - _e*cos(E));
double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
* dEdM * n;
double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
double dotom = _OMEGADOT - omegaEarth;
double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
double dotr = a0 * _e*sin(E) * dEdM * n
+ (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
double dotx = dotr*cos(u) - r*sin(u)*dotu;
double doty = dotr*sin(u) + r*cos(u)*dotu;
vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
- xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
+ yp*sini*sinom*doti; // dX / di
vv[1] = sinom *dotx + cosi*cosom *doty
+ xp*cosom*dotom - yp*cosi*sinom*dotom
- yp*sini*cosom*doti;
vv[2] = sini *doty + yp*cosi *doti;
// Relativistic Correction
// -----------------------
xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
}
// build up RTCM3 for GPS
////////////////////////////////////////////////////////////////////////////
#define GPSTOINT(type, value) static_cast<type>(round(value))
#define GPSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
|(GPSTOINT(long long,b)&((1ULL<<a)-1)); \
numbits += (a); \
while(numbits >= 8) { \
buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
#define GPSADDBITSFLOAT(a,b,c) {long long i = GPSTOINT(long long,(b)/(c)); \
GPSADDBITS(a,i)};
int t_ephGPS::RTCM3(unsigned char *buffer) {
unsigned char *startbuffer = buffer;
buffer= buffer+3;
int size = 0;
int numbits = 0;
unsigned long long bitbuffer = 0;
if (_ura <= 2.40){
_ura = 0;
}
else if (_ura <= 3.40){
_ura = 1;
}
else if (_ura <= 6.85){
_ura = 2;
}
else if (_ura <= 9.65){
_ura = 3;
}
else if (_ura <= 13.65){
_ura = 4;
}
else if (_ura <= 24.00){
_ura = 5;
}
else if (_ura <= 48.00){
_ura = 6;
}
else if (_ura <= 96.00){
_ura = 7;
}
else if (_ura <= 192.00){
_ura = 8;
}
else if (_ura <= 384.00){
_ura = 9;
}
else if (_ura <= 768.00){
_ura = 10;
}
else if (_ura <= 1536.00){
_ura = 11;
}
else if (_ura <= 1536.00){
_ura = 12;
}
else if (_ura <= 2072.00){
_ura = 13;
}
else if (_ura <= 6144.00){
_ura = 14;
}
else{
_ura = 15;
}
GPSADDBITS(12, 1019)
GPSADDBITS(6,_prn.right((_prn.length()-1)).toInt())
GPSADDBITS(10, _TOC.gpsw())
GPSADDBITS(4, _ura)
GPSADDBITS(2,_L2Codes)
GPSADDBITSFLOAT(14, _IDOT, M_PI/static_cast<double>(1<<30)
/static_cast<double>(1<<13))
GPSADDBITS(8, _IODE)
GPSADDBITS(16, static_cast<int>(_TOC.gpssec())>>4)
GPSADDBITSFLOAT(8, _clock_driftrate, 1.0/static_cast<double>(1<<30)
/static_cast<double>(1<<25))
GPSADDBITSFLOAT(16, _clock_drift, 1.0/static_cast<double>(1<<30)
/static_cast<double>(1<<13))
GPSADDBITSFLOAT(22, _clock_bias, 1.0/static_cast<double>(1<<30)
/static_cast<double>(1<<1))
GPSADDBITS(10, _IODC)
GPSADDBITSFLOAT(16, _Crs, 1.0/static_cast<double>(1<<5))
GPSADDBITSFLOAT(16, _Delta_n, M_PI/static_cast<double>(1<<30)
/static_cast<double>(1<<13))
GPSADDBITSFLOAT(32, _M0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
GPSADDBITSFLOAT(16, _Cuc, 1.0/static_cast<double>(1<<29))
GPSADDBITSFLOAT(32, _e, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
GPSADDBITSFLOAT(16, _Cus, 1.0/static_cast<double>(1<<29))
GPSADDBITSFLOAT(32, _sqrt_A, 1.0/static_cast<double>(1<<19))
GPSADDBITS(16, static_cast<int>(_TOEsec)>>4)
GPSADDBITSFLOAT(16, _Cic, 1.0/static_cast<double>(1<<29))
GPSADDBITSFLOAT(32, _OMEGA0, M_PI/static_cast<double>(1<<30)
/static_cast<double>(1<<1))
GPSADDBITSFLOAT(16, _Cis, 1.0/static_cast<double>(1<<29))
GPSADDBITSFLOAT(32, _i0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
GPSADDBITSFLOAT(16, _Crc, 1.0/static_cast<double>(1<<5))
GPSADDBITSFLOAT(32, _omega, M_PI/static_cast<double>(1<<30)
/static_cast<double>(1<<1))
GPSADDBITSFLOAT(24, _OMEGADOT, M_PI/static_cast<double>(1<<30)
/static_cast<double>(1<<13))
GPSADDBITSFLOAT(8, _TGD, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
GPSADDBITS(6, _health)
GPSADDBITS(1, _L2PFlag)
GPSADDBITS(1, 0) /* GPS fit interval */
startbuffer[0]=0xD3;
startbuffer[1]=(size >> 8);
startbuffer[2]=size;
unsigned long i = CRC24(size+3, startbuffer);
buffer[size++] = i >> 16;
buffer[size++] = i >> 8;
buffer[size++] = i;
size += 3;
return size;
}
// Derivative of the state vector using a simple force model (static)
////////////////////////////////////////////////////////////////////////////
ColumnVector t_ephGlo::glo_deriv(double /* tt */, const ColumnVector& xv,
double* acc) {
// State vector components
// -----------------------
ColumnVector rr = xv.rows(1,3);
ColumnVector vv = xv.rows(4,6);
// Acceleration
// ------------
static const double gmWGS = 398.60044e12;
static const double AE = 6378136.0;
static const double OMEGA = 7292115.e-11;
static const double C20 = -1082.6257e-6;
double rho = rr.norm_Frobenius();
double t1 = -gmWGS/(rho*rho*rho);
double t2 = 3.0/2.0 * C20 * (gmWGS*AE*AE) / (rho*rho*rho*rho*rho);
double t3 = OMEGA * OMEGA;
double t4 = 2.0 * OMEGA;
double z2 = rr(3) * rr(3);
// Vector of derivatives
// ---------------------
ColumnVector va(6);
va(1) = vv(1);
va(2) = vv(2);
va(3) = vv(3);
va(4) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(1) + t4*vv(2) + acc[0];
va(5) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(2) - t4*vv(1) + acc[1];
va(6) = (t1 + t2*(3.0-5.0*z2/(rho*rho)) ) * rr(3) + acc[2];
return va;
}
// Compute Glonass Satellite Position (virtual)
////////////////////////////////////////////////////////////////////////////
void t_ephGlo::position(int GPSweek, double GPSweeks,
double* xc, double* vv) const {
static const double nominalStep = 10.0;
memset(xc, 0, 4*sizeof(double));
memset(vv, 0, 3*sizeof(double));
double dtPos = bncTime(GPSweek, GPSweeks) - _tt;
int nSteps = int(fabs(dtPos) / nominalStep) + 1;
double step = dtPos / nSteps;
double acc[3];
acc[0] = _x_acceleration * 1.e3;
acc[1] = _y_acceleration * 1.e3;
acc[2] = _z_acceleration * 1.e3;
for (int ii = 1; ii <= nSteps; ii++) {
_xv = rungeKutta4(_tt.gpssec(), _xv, step, acc, glo_deriv);
_tt = _tt + step;
}
// Position and Velocity
// ---------------------
xc[0] = _xv(1);
xc[1] = _xv(2);
xc[2] = _xv(3);
vv[0] = _xv(4);
vv[1] = _xv(5);
vv[2] = _xv(6);
// Clock Correction
// ----------------
double dtClk = bncTime(GPSweek, GPSweeks) - _TOC;
xc[3] = -_tau + _gamma * dtClk;
}
// IOD of Glonass Ephemeris (virtual)
////////////////////////////////////////////////////////////////////////////
int t_ephGlo::IOD() const {
bncTime tMoscow = _TOC - _gps_utc + 3 * 3600.0;
return int(tMoscow.daysec() / 900);
}
// Set Glonass Ephemeris
////////////////////////////////////////////////////////////////////////////
void t_ephGlo::set(const glonassephemeris* ee) {
_receptDateTime = currentDateAndTimeGPS();
_prn = QString("R%1").arg(ee->almanac_number, 2, 10, QChar('0'));
int ww = ee->GPSWeek;
int tow = ee->GPSTOW;
updatetime(&ww, &tow, ee->tb*1000, 0); // Moscow -> GPS
// Check the day once more
// -----------------------
bool timeChanged = false;
{
const double secPerDay = 24 * 3600.0;
const double secPerWeek = 7 * secPerDay;
int ww_old = ww;
int tow_old = tow;
int currentWeek;
double currentSec;
currentGPSWeeks(currentWeek, currentSec);
bncTime currentTime(currentWeek, currentSec);
bncTime hTime(ww, (double) tow);
if (hTime - currentTime > secPerDay/2.0) {
timeChanged = true;
tow -= int(secPerDay);
if (tow < 0) {
tow += int(secPerWeek);
ww -= 1;
}
}
else if (hTime - currentTime < -secPerDay/2.0) {
timeChanged = true;
tow += int(secPerDay);
if (tow > secPerWeek) {
tow -= int(secPerWeek);
ww += 1;
}
}
if (false && timeChanged && BNC_CORE->mode() == t_bncCore::batchPostProcessing) {
bncTime newHTime(ww, (double) tow);
cout << "GLONASS " << ee->almanac_number << " Time Changed at "
<< currentTime.datestr() << " " << currentTime.timestr()
<< endl
<< "old: " << hTime.datestr() << " " << hTime.timestr()
<< endl
<< "new: " << newHTime.datestr() << " " << newHTime.timestr()
<< endl
<< "eph: " << ee->GPSWeek << " " << ee->GPSTOW << " " << ee->tb
<< endl
<< "ww, tow (old): " << ww_old << " " << tow_old
<< endl
<< "ww, tow (new): " << ww << " " << tow
<< endl << endl;
}
}
bncTime hlpTime(ww, (double) tow);
unsigned year, month, day;
hlpTime.civil_date(year, month, day);
_gps_utc = gnumleap(year, month, day);
_TOC.set(ww, tow);
_E = ee->E;
_tau = ee->tau;
_gamma = ee->gamma;
_x_pos = ee->x_pos;
_x_velocity = ee->x_velocity;
_x_acceleration = ee->x_acceleration;
_y_pos = ee->y_pos;
_y_velocity = ee->y_velocity;
_y_acceleration = ee->y_acceleration;
_z_pos = ee->z_pos;
_z_velocity = ee->z_velocity;
_z_acceleration = ee->z_acceleration;
_health = 0;
_frequency_number = ee->frequency_number;
_tki = ee->tk-3*60*60; if (_tki < 0) _tki += 86400;
// Initialize status vector
// ------------------------
_tt = _TOC;
_xv(1) = _x_pos * 1.e3;
_xv(2) = _y_pos * 1.e3;
_xv(3) = _z_pos * 1.e3;
_xv(4) = _x_velocity * 1.e3;
_xv(5) = _y_velocity * 1.e3;
_xv(6) = _z_velocity * 1.e3;
_ok = true;
}
// build up RTCM3 for GLONASS
////////////////////////////////////////////////////////////////////////////
#define GLONASSTOINT(type, value) static_cast<type>(round(value))
#define GLONASSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
|(GLONASSTOINT(long long,b)&((1ULL<<(a))-1)); \
numbits += (a); \
while(numbits >= 8) { \
buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
#define GLONASSADDBITSFLOATM(a,b,c) {int s; long long i; \
if(b < 0.0) \
{ \
s = 1; \
i = GLONASSTOINT(long long,(-b)/(c)); \
if(!i) s = 0; \
} \
else \
{ \
s = 0; \
i = GLONASSTOINT(long long,(b)/(c)); \
} \
GLONASSADDBITS(1,s) \
GLONASSADDBITS(a-1,i)}
int t_ephGlo::RTCM3(unsigned char *buffer)
{
int size = 0;
int numbits = 0;
long long bitbuffer = 0;
unsigned char *startbuffer = buffer;
buffer= buffer+3;
GLONASSADDBITS(12, 1020)
GLONASSADDBITS(6, _prn.right((_prn.length()-1)).toInt())
GLONASSADDBITS(5, 7+_frequency_number)
GLONASSADDBITS(1, 0)
GLONASSADDBITS(1, 0)
GLONASSADDBITS(2, 0)
_tki=_tki+3*60*60;
GLONASSADDBITS(5, static_cast<int>(_tki)/(60*60))
GLONASSADDBITS(6, (static_cast<int>(_tki)/60)%60)
GLONASSADDBITS(1, (static_cast<int>(_tki)/30)%30)
GLONASSADDBITS(1, _health)
GLONASSADDBITS(1, 0)
unsigned long long timeofday = (static_cast<int>(_tt.gpssec()+3*60*60-_gps_utc)%86400);
GLONASSADDBITS(7, timeofday/60/15)
GLONASSADDBITSFLOATM(24, _x_velocity*1000, 1000.0/static_cast<double>(1<<20))
GLONASSADDBITSFLOATM(27, _x_pos*1000, 1000.0/static_cast<double>(1<<11))
GLONASSADDBITSFLOATM(5, _x_acceleration*1000, 1000.0/static_cast<double>(1<<30))
GLONASSADDBITSFLOATM(24, _y_velocity*1000, 1000.0/static_cast<double>(1<<20))
GLONASSADDBITSFLOATM(27, _y_pos*1000, 1000.0/static_cast<double>(1<<11))
GLONASSADDBITSFLOATM(5, _y_acceleration*1000, 1000.0/static_cast<double>(1<<30))
GLONASSADDBITSFLOATM(24, _z_velocity*1000, 1000.0/static_cast<double>(1<<20))
GLONASSADDBITSFLOATM(27,_z_pos*1000, 1000.0/static_cast<double>(1<<11))
GLONASSADDBITSFLOATM(5, _z_acceleration*1000, 1000.0/static_cast<double>(1<<30))
GLONASSADDBITS(1, 0)
GLONASSADDBITSFLOATM(11, _gamma, 1.0/static_cast<double>(1<<30)
/static_cast<double>(1<<10))
GLONASSADDBITS(2, 0) /* GLONASS-M P */
GLONASSADDBITS(1, 0) /* GLONASS-M ln(3) */
GLONASSADDBITSFLOATM(22, _tau, 1.0/static_cast<double>(1<<30))
GLONASSADDBITS(5, 0) /* GLONASS-M delta tau */
GLONASSADDBITS(5, _E)
GLONASSADDBITS(1, 0) /* GLONASS-M P4 */
GLONASSADDBITS(4, 0) /* GLONASS-M FT */
GLONASSADDBITS(11, 0) /* GLONASS-M NT */
GLONASSADDBITS(2, 0) /* GLONASS-M active? */
GLONASSADDBITS(1, 0) /* GLONASS additional data */
GLONASSADDBITS(11, 0) /* GLONASS NA */
GLONASSADDBITS(32, 0) /* GLONASS tau C */
GLONASSADDBITS(5, 0) /* GLONASS-M N4 */
GLONASSADDBITS(22, 0) /* GLONASS-M tau GPS */
GLONASSADDBITS(1, 0) /* GLONASS-M ln(5) */
GLONASSADDBITS(7, 0) /* Reserved */
startbuffer[0]=0xD3;
startbuffer[1]=(size >> 8);
startbuffer[2]=size;
unsigned long i = CRC24(size+3, startbuffer);
buffer[size++] = i >> 16;
buffer[size++] = i >> 8;
buffer[size++] = i;
size += 3;
return size;
}
// Set Galileo Satellite Position
////////////////////////////////////////////////////////////////////////////
void t_ephGal::set(const galileoephemeris* ee) {
_receptDateTime = currentDateAndTimeGPS();
_prn = QString("E%1").arg(ee->satellite, 2, 10, QChar('0'));
_TOC.set(ee->Week, ee->TOC);
_clock_bias = ee->clock_bias;
_clock_drift = ee->clock_drift;
_clock_driftrate = ee->clock_driftrate;
_IODnav = ee->IODnav;
_Crs = ee->Crs;
_Delta_n = ee->Delta_n;
_M0 = ee->M0;
_Cuc = ee->Cuc;
_e = ee->e;
_Cus = ee->Cus;
_sqrt_A = ee->sqrt_A;
_TOEsec = _TOC.gpssec();
//// _TOEsec = ee->TOE; //// TODO:
_Cic = ee->Cic;
_OMEGA0 = ee->OMEGA0;
_Cis = ee->Cis;
_i0 = ee->i0;
_Crc = ee->Crc;
_omega = ee->omega;
_OMEGADOT = ee->OMEGADOT;
_IDOT = ee->IDOT;
_TOEweek = ee->Week;
_SISA = ee->SISA;
_E5aHS = ee->E5aHS;
_E5bHS = ee->E5bHS;
_BGD_1_5A = ee->BGD_1_5A;
_BGD_1_5B = ee->BGD_1_5B;
_TOT = 0.9999e9;
_flags = ee->flags;
_ok = true;
}
// Compute Galileo Satellite Position (virtual)
////////////////////////////////////////////////////////////////////////////
void t_ephGal::position(int GPSweek, double GPSweeks,
double* xc,
double* vv) const {
static const double omegaEarth = 7292115.1467e-11;
static const double gmWGS = 398.60044e12;
memset(xc, 0, 4*sizeof(double));
memset(vv, 0, 3*sizeof(double));
double a0 = _sqrt_A * _sqrt_A;
if (a0 == 0) {
return;
}
double n0 = sqrt(gmWGS/(a0*a0*a0));
bncTime tt(GPSweek, GPSweeks);
double tk = tt - bncTime(_TOC.gpsw(), _TOEsec);
double n = n0 + _Delta_n;
double M = _M0 + n*tk;
double E = M;
double E_last;
do {
E_last = E;
E = M + _e*sin(E);
} while ( fabs(E-E_last)*a0 > 0.001 );
double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
double u0 = v + _omega;
double sin2u0 = sin(2*u0);
double cos2u0 = cos(2*u0);
double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
double xp = r*cos(u);
double yp = r*sin(u);
double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
omegaEarth*_TOEsec;
double sinom = sin(OM);
double cosom = cos(OM);
double sini = sin(i);
double cosi = cos(i);
xc[0] = xp*cosom - yp*cosi*sinom;
xc[1] = xp*sinom + yp*cosi*cosom;
xc[2] = yp*sini;
double tc = tt - _TOC;
xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
// Velocity
// --------
double tanv2 = tan(v/2);
double dEdM = 1 / (1 - _e*cos(E));
double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
* dEdM * n;
double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
double dotom = _OMEGADOT - omegaEarth;
double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
double dotr = a0 * _e*sin(E) * dEdM * n
+ (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
double dotx = dotr*cos(u) - r*sin(u)*dotu;
double doty = dotr*sin(u) + r*cos(u)*dotu;
vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
- xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
+ yp*sini*sinom*doti; // dX / di
vv[1] = sinom *dotx + cosi*cosom *doty
+ xp*cosom*dotom - yp*cosi*sinom*dotom
- yp*sini*cosom*doti;
vv[2] = sini *doty + yp*cosi *doti;
// Relativistic Correction
// -----------------------
// xc(4) -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
}
// build up RTCM3 for Galileo
////////////////////////////////////////////////////////////////////////////
#define GALILEOTOINT(type, value) static_cast<type>(round(value))
#define GALILEOADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
|(GALILEOTOINT(long long,b)&((1LL<<a)-1)); \
numbits += (a); \
while(numbits >= 8) { \
buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
#define GALILEOADDBITSFLOAT(a,b,c) {long long i = GALILEOTOINT(long long,(b)/(c)); \
GALILEOADDBITS(a,i)};
int t_ephGal::RTCM3(unsigned char *buffer) {
int size = 0;
int numbits = 0;
long long bitbuffer = 0;
unsigned char *startbuffer = buffer;
buffer= buffer+3;
bool inav = ( (_flags & GALEPHF_INAV) == GALEPHF_INAV );
GALILEOADDBITS(12, inav ? 1046 : 1045)
GALILEOADDBITS(6, _prn.right((_prn.length()-1)).toInt())
GALILEOADDBITS(12, _TOC.gpsw())
GALILEOADDBITS(10, _IODnav)
GALILEOADDBITS(8, _SISA)
GALILEOADDBITSFLOAT(14, _IDOT, M_PI/static_cast<double>(1<<30)
/static_cast<double>(1<<13))
GALILEOADDBITS(14, _TOC.gpssec()/60)
GALILEOADDBITSFLOAT(6, _clock_driftrate, 1.0/static_cast<double>(1<<30)
/static_cast<double>(1<<29))
GALILEOADDBITSFLOAT(21, _clock_drift, 1.0/static_cast<double>(1<<30)
/static_cast<double>(1<<16))
GALILEOADDBITSFLOAT(31, _clock_bias, 1.0/static_cast<double>(1<<30)
/static_cast<double>(1<<4))
GALILEOADDBITSFLOAT(16, _Crs, 1.0/static_cast<double>(1<<5))
GALILEOADDBITSFLOAT(16, _Delta_n, M_PI/static_cast<double>(1<<30)
/static_cast<double>(1<<13))
GALILEOADDBITSFLOAT(32, _M0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
GALILEOADDBITSFLOAT(16, _Cuc, 1.0/static_cast<double>(1<<29))
GALILEOADDBITSFLOAT(32, _e, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
GALILEOADDBITSFLOAT(16, _Cus, 1.0/static_cast<double>(1<<29))
GALILEOADDBITSFLOAT(32, _sqrt_A, 1.0/static_cast<double>(1<<19))
GALILEOADDBITS(14, _TOEsec/60)
GALILEOADDBITSFLOAT(16, _Cic, 1.0/static_cast<double>(1<<29))
GALILEOADDBITSFLOAT(32, _OMEGA0, M_PI/static_cast<double>(1<<30)
/static_cast<double>(1<<1))
GALILEOADDBITSFLOAT(16, _Cis, 1.0/static_cast<double>(1<<29))
GALILEOADDBITSFLOAT(32, _i0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
GALILEOADDBITSFLOAT(16, _Crc, 1.0/static_cast<double>(1<<5))
GALILEOADDBITSFLOAT(32, _omega, M_PI/static_cast<double>(1<<30)
/static_cast<double>(1<<1))
GALILEOADDBITSFLOAT(24, _OMEGADOT, M_PI/static_cast<double>(1<<30)
/static_cast<double>(1<<13))
GALILEOADDBITSFLOAT(10, _BGD_1_5A, 1.0/static_cast<double>(1<<30)
/static_cast<double>(1<<2))
if(inav)
{
GALILEOADDBITSFLOAT(10, _BGD_1_5B, 1.0/static_cast<double>(1<<30)
/static_cast<double>(1<<2))
GALILEOADDBITS(2, static_cast<int>(_E5bHS))
GALILEOADDBITS(1, _flags & GALEPHF_E5BDINVALID)
}
else
{
GALILEOADDBITS(2, static_cast<int>(_E5aHS))
GALILEOADDBITS(1, _flags & GALEPHF_E5ADINVALID)
}
_TOEsec = 0.9999E9;
GALILEOADDBITS(20, _TOEsec)
GALILEOADDBITS(inav ? 1 : 3, 0)
startbuffer[0]=0xD3;
startbuffer[1]=(size >> 8);
startbuffer[2]=size;
unsigned long i = CRC24(size+3, startbuffer);
buffer[size++] = i >> 16;
buffer[size++] = i >> 8;
buffer[size++] = i;
size += 3;
return size;
}
// Constructor
//////////////////////////////////////////////////////////////////////////////
t_ephGPS::t_ephGPS(float rnxVersion, const QStringList& lines) {
const int nLines = 8;
_ok = false;
if (lines.size() != nLines) {
return;
}
// RINEX Format
// ------------
int fieldLen = 19;
int pos[4];
pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
pos[1] = pos[0] + fieldLen;
pos[2] = pos[1] + fieldLen;
pos[3] = pos[2] + fieldLen;
// Read eight lines
// ----------------
for (int iLine = 0; iLine < nLines; iLine++) {
QString line = lines[iLine];
if ( iLine == 0 ) {
QTextStream in(line.left(pos[1]).toAscii());
int year, month, day, hour, min;
double sec;
in >> _prn >> year >> month >> day >> hour >> min >> sec;
if (_prn.at(0) != 'G') {
_prn = QString("G%1").arg(_prn.toInt(), 2, 10, QLatin1Char('0'));
}
if (year < 80) {
year += 2000;
}
else if (year < 100) {
year += 1900;
}
_TOC.set(year, month, day, hour, min, sec);
if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
readDbl(line, pos[2], fieldLen, _clock_drift ) ||
readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
return;
}
}
else if ( iLine == 1 ) {
if ( readDbl(line, pos[0], fieldLen, _IODE ) ||
readDbl(line, pos[1], fieldLen, _Crs ) ||
readDbl(line, pos[2], fieldLen, _Delta_n) ||
readDbl(line, pos[3], fieldLen, _M0 ) ) {
return;
}
}
else if ( iLine == 2 ) {
if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
readDbl(line, pos[1], fieldLen, _e ) ||
readDbl(line, pos[2], fieldLen, _Cus ) ||
readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
return;
}
}
else if ( iLine == 3 ) {
if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
readDbl(line, pos[1], fieldLen, _Cic ) ||
readDbl(line, pos[2], fieldLen, _OMEGA0) ||
readDbl(line, pos[3], fieldLen, _Cis ) ) {
return;
}
}
else if ( iLine == 4 ) {
if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
readDbl(line, pos[1], fieldLen, _Crc ) ||
readDbl(line, pos[2], fieldLen, _omega ) ||
readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
return;
}
}
else if ( iLine == 5 ) {
if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
readDbl(line, pos[1], fieldLen, _L2Codes) ||
readDbl(line, pos[2], fieldLen, _TOEweek ) ||
readDbl(line, pos[3], fieldLen, _L2PFlag) ) {
return;
}
}
else if ( iLine == 6 ) {
if ( readDbl(line, pos[0], fieldLen, _ura ) ||
readDbl(line, pos[1], fieldLen, _health) ||
readDbl(line, pos[2], fieldLen, _TGD ) ||
readDbl(line, pos[3], fieldLen, _IODC ) ) {
return;
}
}
else if ( iLine == 7 ) {
if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
return;
}
readDbl(line, pos[1], fieldLen, _fitInterval); // _fitInterval optional
}
}
_ok = true;
}
// Constructor
//////////////////////////////////////////////////////////////////////////////
t_ephGlo::t_ephGlo(float rnxVersion, const QStringList& lines) {
const int nLines = 4;
_ok = false;
if (lines.size() != nLines) {
return;
}
// RINEX Format
// ------------
int fieldLen = 19;
int pos[4];
pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
pos[1] = pos[0] + fieldLen;
pos[2] = pos[1] + fieldLen;
pos[3] = pos[2] + fieldLen;
// Read four lines
// ---------------
for (int iLine = 0; iLine < nLines; iLine++) {
QString line = lines[iLine];
if ( iLine == 0 ) {
QTextStream in(line.left(pos[1]).toAscii());
int year, month, day, hour, min;
double sec;
in >> _prn >> year >> month >> day >> hour >> min >> sec;
if (_prn.at(0) != 'R') {
_prn = QString("R%1").arg(_prn.toInt(), 2, 10, QLatin1Char('0'));
}
if (year < 80) {
year += 2000;
}
else if (year < 100) {
year += 1900;
}
_gps_utc = gnumleap(year, month, day);
_TOC.set(year, month, day, hour, min, sec);
_TOC = _TOC + _gps_utc;
if ( readDbl(line, pos[1], fieldLen, _tau ) ||
readDbl(line, pos[2], fieldLen, _gamma) ||
readDbl(line, pos[3], fieldLen, _tki ) ) {
return;
}
_tau = -_tau;
}
else if ( iLine == 1 ) {
if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
readDbl(line, pos[1], fieldLen, _x_velocity ) ||
readDbl(line, pos[2], fieldLen, _x_acceleration) ||
readDbl(line, pos[3], fieldLen, _health ) ) {
return;
}
}
else if ( iLine == 2 ) {
if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
readDbl(line, pos[1], fieldLen, _y_velocity ) ||
readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
readDbl(line, pos[3], fieldLen, _frequency_number) ) {
return;
}
}
else if ( iLine == 3 ) {
if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
readDbl(line, pos[1], fieldLen, _z_velocity ) ||
readDbl(line, pos[2], fieldLen, _z_acceleration) ||
readDbl(line, pos[3], fieldLen, _E ) ) {
return;
}
}
}
// Initialize status vector
// ------------------------
_tt = _TOC;
_xv.ReSize(6);
_xv(1) = _x_pos * 1.e3;
_xv(2) = _y_pos * 1.e3;
_xv(3) = _z_pos * 1.e3;
_xv(4) = _x_velocity * 1.e3;
_xv(5) = _y_velocity * 1.e3;
_xv(6) = _z_velocity * 1.e3;
_ok = true;
}
// Constructor
//////////////////////////////////////////////////////////////////////////////
t_ephGal::t_ephGal(float rnxVersion, const QStringList& lines) {
const int nLines = 8;
_ok = false;
if (lines.size() != nLines) {
return;
}
// RINEX Format
// ------------
int fieldLen = 19;
int pos[4];
pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
pos[1] = pos[0] + fieldLen;
pos[2] = pos[1] + fieldLen;
pos[3] = pos[2] + fieldLen;
// Read eight lines
// ----------------
for (int iLine = 0; iLine < nLines; iLine++) {
QString line = lines[iLine];
if ( iLine == 0 ) {
QTextStream in(line.left(pos[1]).toAscii());
int year, month, day, hour, min;
double sec;
in >> _prn >> year >> month >> day >> hour >> min >> sec;
if (_prn.at(0) != 'E') {
_prn = QString("E%1").arg(_prn.toInt(), 2, 10, QLatin1Char('0'));
}
if (year < 80) {
year += 2000;
}
else if (year < 100) {
year += 1900;
}
_TOC.set(year, month, day, hour, min, sec);
if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
readDbl(line, pos[2], fieldLen, _clock_drift ) ||
readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
return;
}
}
else if ( iLine == 1 ) {
if ( readDbl(line, pos[0], fieldLen, _IODnav ) ||
readDbl(line, pos[1], fieldLen, _Crs ) ||
readDbl(line, pos[2], fieldLen, _Delta_n) ||
readDbl(line, pos[3], fieldLen, _M0 ) ) {
return;
}
}
else if ( iLine == 2 ) {
if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
readDbl(line, pos[1], fieldLen, _e ) ||
readDbl(line, pos[2], fieldLen, _Cus ) ||
readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
return;
}
}
else if ( iLine == 3 ) {
if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
readDbl(line, pos[1], fieldLen, _Cic ) ||
readDbl(line, pos[2], fieldLen, _OMEGA0) ||
readDbl(line, pos[3], fieldLen, _Cis ) ) {
return;
}
}
else if ( iLine == 4 ) {
if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
readDbl(line, pos[1], fieldLen, _Crc ) ||
readDbl(line, pos[2], fieldLen, _omega ) ||
readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
return;
}
}
else if ( iLine == 5 ) {
if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
readDbl(line, pos[2], fieldLen, _TOEweek) ) {
return;
}
}
else if ( iLine == 6 ) {
if ( readDbl(line, pos[0], fieldLen, _SISA ) ||
readDbl(line, pos[1], fieldLen, _E5aHS ) ||
readDbl(line, pos[2], fieldLen, _BGD_1_5A) ||
readDbl(line, pos[3], fieldLen, _BGD_1_5B) ) {
return;
}
}
else if ( iLine == 7 ) {
if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
return;
}
}
}
_ok = true;
}
//
//////////////////////////////////////////////////////////////////////////////
QString t_eph::rinexDateStr(const bncTime& tt, const QString& prn,
double version) {
QString datStr;
unsigned year, month, day, hour, min;
double sec;
tt.civil_date(year, month, day);
tt.civil_time(hour, min, sec);
QTextStream out(&datStr);
if (version < 3.0) {
QString prnHlp = prn.mid(1,2); if (prnHlp[0] == '0') prnHlp[0] = ' ';
out << prnHlp << QString(" %1 %2 %3 %4 %5%6")
.arg(year % 100, 2, 10, QChar('0'))
.arg(month, 2)
.arg(day, 2)
.arg(hour, 2)
.arg(min, 2)
.arg(sec, 5, 'f',1);
}
else {
out << prn << QString(" %1 %2 %3 %4 %5 %6")
.arg(year, 4)
.arg(month, 2, 10, QChar('0'))
.arg(day, 2, 10, QChar('0'))
.arg(hour, 2, 10, QChar('0'))
.arg(min, 2, 10, QChar('0'))
.arg(int(sec), 2, 10, QChar('0'));
}
return datStr;
}
// RINEX Format String
//////////////////////////////////////////////////////////////////////////////
QString t_ephGPS::toString(double version) const {
QString rnxStr = rinexDateStr(_TOC, _prn, version);
QTextStream out(&rnxStr);
out << QString("%1%2%3\n")
.arg(_clock_bias, 19, 'e', 12)
.arg(_clock_drift, 19, 'e', 12)
.arg(_clock_driftrate, 19, 'e', 12);
QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
out << QString(fmt)
.arg(_IODE, 19, 'e', 12)
.arg(_Crs, 19, 'e', 12)
.arg(_Delta_n, 19, 'e', 12)
.arg(_M0, 19, 'e', 12);
out << QString(fmt)
.arg(_Cuc, 19, 'e', 12)
.arg(_e, 19, 'e', 12)
.arg(_Cus, 19, 'e', 12)
.arg(_sqrt_A, 19, 'e', 12);
out << QString(fmt)
.arg(_TOEsec, 19, 'e', 12)
.arg(_Cic, 19, 'e', 12)
.arg(_OMEGA0, 19, 'e', 12)
.arg(_Cis, 19, 'e', 12);
out << QString(fmt)
.arg(_i0, 19, 'e', 12)
.arg(_Crc, 19, 'e', 12)
.arg(_omega, 19, 'e', 12)
.arg(_OMEGADOT, 19, 'e', 12);
out << QString(fmt)
.arg(_IDOT, 19, 'e', 12)
.arg(_L2Codes, 19, 'e', 12)
.arg(_TOEweek, 19, 'e', 12)
.arg(_L2PFlag, 19, 'e', 12);
out << QString(fmt)
.arg(_ura, 19, 'e', 12)
.arg(_health, 19, 'e', 12)
.arg(_TGD, 19, 'e', 12)
.arg(_IODC, 19, 'e', 12);
out << QString(fmt)
.arg(_TOT, 19, 'e', 12)
.arg(_fitInterval, 19, 'e', 12)
.arg("", 19, QChar(' '))
.arg("", 19, QChar(' '));
return rnxStr;
}
// RINEX Format String
//////////////////////////////////////////////////////////////////////////////
QString t_ephGlo::toString(double version) const {
QString rnxStr = rinexDateStr(_TOC-_gps_utc, _prn, version);
QTextStream out(&rnxStr);
out << QString("%1%2%3\n")
.arg(-_tau, 19, 'e', 12)
.arg(_gamma, 19, 'e', 12)
.arg(_tki, 19, 'e', 12);
QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
out << QString(fmt)
.arg(_x_pos, 19, 'e', 12)
.arg(_x_velocity, 19, 'e', 12)
.arg(_x_acceleration, 19, 'e', 12)
.arg(_health, 19, 'e', 12);
out << QString(fmt)
.arg(_y_pos, 19, 'e', 12)
.arg(_y_velocity, 19, 'e', 12)
.arg(_y_acceleration, 19, 'e', 12)
.arg(_frequency_number, 19, 'e', 12);
out << QString(fmt)
.arg(_z_pos, 19, 'e', 12)
.arg(_z_velocity, 19, 'e', 12)
.arg(_z_acceleration, 19, 'e', 12)
.arg(_E, 19, 'e', 12);
return rnxStr;
}
// RINEX Format String
//////////////////////////////////////////////////////////////////////////////
QString t_ephGal::toString(double version) const {
QString rnxStr = rinexDateStr(_TOC, _prn, version);
QTextStream out(&rnxStr);
out << QString("%1%2%3\n")
.arg(_clock_bias, 19, 'e', 12)
.arg(_clock_drift, 19, 'e', 12)
.arg(_clock_driftrate, 19, 'e', 12);
QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
out << QString(fmt)
.arg(_IODnav, 19, 'e', 12)
.arg(_Crs, 19, 'e', 12)
.arg(_Delta_n, 19, 'e', 12)
.arg(_M0, 19, 'e', 12);
out << QString(fmt)
.arg(_Cuc, 19, 'e', 12)
.arg(_e, 19, 'e', 12)
.arg(_Cus, 19, 'e', 12)
.arg(_sqrt_A, 19, 'e', 12);
out << QString(fmt)
.arg(_TOEsec, 19, 'e', 12)
.arg(_Cic, 19, 'e', 12)
.arg(_OMEGA0, 19, 'e', 12)
.arg(_Cis, 19, 'e', 12);
out << QString(fmt)
.arg(_i0, 19, 'e', 12)
.arg(_Crc, 19, 'e', 12)
.arg(_omega, 19, 'e', 12)
.arg(_OMEGADOT, 19, 'e', 12);
int dataSource = 0;
double HS = 0.0;
if ( (_flags & GALEPHF_INAV) == GALEPHF_INAV ) {
dataSource |= (1<<0);
dataSource |= (1<<9);
HS = _E5bHS;
}
else if ( (_flags & GALEPHF_FNAV) == GALEPHF_FNAV ) {
dataSource |= (1<<1);
dataSource |= (1<<8);
HS = _E5aHS;
}
out << QString(fmt)
.arg(_IDOT, 19, 'e', 12)
.arg(double(dataSource), 19, 'e', 12)
.arg(_TOEweek, 19, 'e', 12)
.arg(0.0, 19, 'e', 12);
out << QString(fmt)
.arg(_SISA, 19, 'e', 12)
.arg(HS, 19, 'e', 12)
.arg(_BGD_1_5A, 19, 'e', 12)
.arg(_BGD_1_5B, 19, 'e', 12);
out << QString(fmt)
.arg(_TOT, 19, 'e', 12)
.arg("", 19, QChar(' '))
.arg("", 19, QChar(' '))
.arg("", 19, QChar(' '));
return rnxStr;
}