source: ntrip/trunk/BNC/src/RTCM3/ephemeris.cpp@ 4891

Last change on this file since 4891 was 4891, checked in by mervart, 9 years ago
File size: 37.3 KB
Line 
1#include <math.h>
2#include <sstream>
3#include <iostream>
4#include <iomanip>
5#include <cstring>
6
7#include <newmatio.h>
8
9#include "ephemeris.h"
10#include "bncutils.h"
11#include "timeutils.h"
12#include "bnctime.h"
13#include "bncapp.h"
14
15using namespace std;
16
17// Returns CRC24
18////////////////////////////////////////////////////////////////////////////
19static unsigned long CRC24(long size, const unsigned char *buf) {
20 unsigned long crc = 0;
21 int ii;
22 while (size--) {
23 crc ^= (*buf++) << (16);
24 for(ii = 0; ii < 8; ii++) {
25 crc <<= 1;
26 if (crc & 0x1000000) {
27 crc ^= 0x01864cfb;
28 }
29 }
30 }
31 return crc;
32}
33
34// Set GPS Satellite Position
35////////////////////////////////////////////////////////////////////////////
36void t_ephGPS::set(const gpsephemeris* ee) {
37
38 _receptDateTime = currentDateAndTimeGPS();
39
40 _prn = QString("G%1").arg(ee->satellite, 2, 10, QChar('0'));
41
42 _TOC.set(ee->GPSweek, ee->TOC);
43 _clock_bias = ee->clock_bias;
44 _clock_drift = ee->clock_drift;
45 _clock_driftrate = ee->clock_driftrate;
46
47 _IODE = ee->IODE;
48 _Crs = ee->Crs;
49 _Delta_n = ee->Delta_n;
50 _M0 = ee->M0;
51
52 _Cuc = ee->Cuc;
53 _e = ee->e;
54 _Cus = ee->Cus;
55 _sqrt_A = ee->sqrt_A;
56
57 _TOEsec = ee->TOE;
58 _Cic = ee->Cic;
59 _OMEGA0 = ee->OMEGA0;
60 _Cis = ee->Cis;
61
62 _i0 = ee->i0;
63 _Crc = ee->Crc;
64 _omega = ee->omega;
65 _OMEGADOT = ee->OMEGADOT;
66
67 _IDOT = ee->IDOT;
68 _L2Codes = 0.0;
69 _TOEweek = ee->GPSweek;
70 _L2PFlag = 0.0;
71
72 if (ee->URAindex <= 6) {
73 _ura = ceil(10.0*pow(2.0, 1.0+((double)ee->URAindex)/2.0))/10.0;
74 }
75 else {
76 _ura = ceil(10.0*pow(2.0, ((double)ee->URAindex)/2.0))/10.0;
77 }
78 _health = ee->SVhealth;
79 _TGD = ee->TGD;
80 _IODC = ee->IODC;
81
82 _TOT = 0.9999e9;
83 _fitInterval = 0.0;
84
85 _ok = true;
86}
87
88// Compute GPS Satellite Position (virtual)
89////////////////////////////////////////////////////////////////////////////
90void t_ephGPS::position(int GPSweek, double GPSweeks,
91 double* xc,
92 double* vv) const {
93
94
95 static const double omegaEarth = 7292115.1467e-11;
96 static const double gmWGS = 398.6005e12;
97
98 memset(xc, 0, 4*sizeof(double));
99 memset(vv, 0, 3*sizeof(double));
100
101 double a0 = _sqrt_A * _sqrt_A;
102 if (a0 == 0) {
103 return;
104 }
105
106 double n0 = sqrt(gmWGS/(a0*a0*a0));
107
108 bncTime tt(GPSweek, GPSweeks);
109 double tk = tt - bncTime(int(_TOEweek), _TOEsec);
110
111 double n = n0 + _Delta_n;
112 double M = _M0 + n*tk;
113 double E = M;
114 double E_last;
115 do {
116 E_last = E;
117 E = M + _e*sin(E);
118 } while ( fabs(E-E_last)*a0 > 0.001 );
119 double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
120 double u0 = v + _omega;
121 double sin2u0 = sin(2*u0);
122 double cos2u0 = cos(2*u0);
123 double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
124 double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
125 double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
126 double xp = r*cos(u);
127 double yp = r*sin(u);
128 double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
129 omegaEarth*_TOEsec;
130
131 double sinom = sin(OM);
132 double cosom = cos(OM);
133 double sini = sin(i);
134 double cosi = cos(i);
135 xc[0] = xp*cosom - yp*cosi*sinom;
136 xc[1] = xp*sinom + yp*cosi*cosom;
137 xc[2] = yp*sini;
138
139 double tc = tt - _TOC;
140 xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
141
142 // Velocity
143 // --------
144 double tanv2 = tan(v/2);
145 double dEdM = 1 / (1 - _e*cos(E));
146 double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
147 * dEdM * n;
148 double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
149 double dotom = _OMEGADOT - omegaEarth;
150 double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
151 double dotr = a0 * _e*sin(E) * dEdM * n
152 + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
153 double dotx = dotr*cos(u) - r*sin(u)*dotu;
154 double doty = dotr*sin(u) + r*cos(u)*dotu;
155
156 vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
157 - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
158 + yp*sini*sinom*doti; // dX / di
159
160 vv[1] = sinom *dotx + cosi*cosom *doty
161 + xp*cosom*dotom - yp*cosi*sinom*dotom
162 - yp*sini*cosom*doti;
163
164 vv[2] = sini *doty + yp*cosi *doti;
165
166 // Relativistic Correction
167 // -----------------------
168 xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
169}
170
171// build up RTCM3 for GPS
172////////////////////////////////////////////////////////////////////////////
173#define GPSTOINT(type, value) static_cast<type>(round(value))
174
175#define GPSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
176 |(GPSTOINT(long long,b)&((1ULL<<a)-1)); \
177 numbits += (a); \
178 while(numbits >= 8) { \
179 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
180
181#define GPSADDBITSFLOAT(a,b,c) {long long i = GPSTOINT(long long,(b)/(c)); \
182 GPSADDBITS(a,i)};
183
184int t_ephGPS::RTCM3(unsigned char *buffer) {
185
186 unsigned char *startbuffer = buffer;
187 buffer= buffer+3;
188 int size = 0;
189 int numbits = 0;
190 unsigned long long bitbuffer = 0;
191 if (_ura <= 2.40){
192 _ura = 0;
193 }
194 else if (_ura <= 3.40){
195 _ura = 1;
196 }
197 else if (_ura <= 6.85){
198 _ura = 2;
199 }
200 else if (_ura <= 9.65){
201 _ura = 3;
202 }
203 else if (_ura <= 13.65){
204 _ura = 4;
205 }
206 else if (_ura <= 24.00){
207 _ura = 5;
208 }
209 else if (_ura <= 48.00){
210 _ura = 6;
211 }
212 else if (_ura <= 96.00){
213 _ura = 7;
214 }
215 else if (_ura <= 192.00){
216 _ura = 8;
217 }
218 else if (_ura <= 384.00){
219 _ura = 9;
220 }
221 else if (_ura <= 768.00){
222 _ura = 10;
223 }
224 else if (_ura <= 1536.00){
225 _ura = 11;
226 }
227 else if (_ura <= 1536.00){
228 _ura = 12;
229 }
230 else if (_ura <= 2072.00){
231 _ura = 13;
232 }
233 else if (_ura <= 6144.00){
234 _ura = 14;
235 }
236 else{
237 _ura = 15;
238 }
239
240 GPSADDBITS(12, 1019)
241 GPSADDBITS(6,_prn.right((_prn.length()-1)).toInt())
242 GPSADDBITS(10, _TOC.gpsw())
243 GPSADDBITS(4, _ura)
244 GPSADDBITS(2,_L2Codes)
245 GPSADDBITSFLOAT(14, _IDOT, M_PI/static_cast<double>(1<<30)
246 /static_cast<double>(1<<13))
247 GPSADDBITS(8, _IODE)
248 GPSADDBITS(16, static_cast<int>(_TOC.gpssec())>>4)
249 GPSADDBITSFLOAT(8, _clock_driftrate, 1.0/static_cast<double>(1<<30)
250 /static_cast<double>(1<<25))
251 GPSADDBITSFLOAT(16, _clock_drift, 1.0/static_cast<double>(1<<30)
252 /static_cast<double>(1<<13))
253 GPSADDBITSFLOAT(22, _clock_bias, 1.0/static_cast<double>(1<<30)
254 /static_cast<double>(1<<1))
255 GPSADDBITS(10, _IODC)
256 GPSADDBITSFLOAT(16, _Crs, 1.0/static_cast<double>(1<<5))
257 GPSADDBITSFLOAT(16, _Delta_n, M_PI/static_cast<double>(1<<30)
258 /static_cast<double>(1<<13))
259 GPSADDBITSFLOAT(32, _M0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
260 GPSADDBITSFLOAT(16, _Cuc, 1.0/static_cast<double>(1<<29))
261 GPSADDBITSFLOAT(32, _e, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
262 GPSADDBITSFLOAT(16, _Cus, 1.0/static_cast<double>(1<<29))
263 GPSADDBITSFLOAT(32, _sqrt_A, 1.0/static_cast<double>(1<<19))
264 GPSADDBITS(16, static_cast<int>(_TOEsec)>>4)
265 GPSADDBITSFLOAT(16, _Cic, 1.0/static_cast<double>(1<<29))
266 GPSADDBITSFLOAT(32, _OMEGA0, M_PI/static_cast<double>(1<<30)
267 /static_cast<double>(1<<1))
268 GPSADDBITSFLOAT(16, _Cis, 1.0/static_cast<double>(1<<29))
269 GPSADDBITSFLOAT(32, _i0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
270 GPSADDBITSFLOAT(16, _Crc, 1.0/static_cast<double>(1<<5))
271 GPSADDBITSFLOAT(32, _omega, M_PI/static_cast<double>(1<<30)
272 /static_cast<double>(1<<1))
273 GPSADDBITSFLOAT(24, _OMEGADOT, M_PI/static_cast<double>(1<<30)
274 /static_cast<double>(1<<13))
275 GPSADDBITSFLOAT(8, _TGD, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
276 GPSADDBITS(6, _health)
277 GPSADDBITS(1, _L2PFlag)
278 GPSADDBITS(1, 0) /* GPS fit interval */
279
280 startbuffer[0]=0xD3;
281 startbuffer[1]=(size >> 8);
282 startbuffer[2]=size;
283 unsigned long i = CRC24(size+3, startbuffer);
284 buffer[size++] = i >> 16;
285 buffer[size++] = i >> 8;
286 buffer[size++] = i;
287 size += 3;
288 return size;
289}
290
291// Derivative of the state vector using a simple force model (static)
292////////////////////////////////////////////////////////////////////////////
293ColumnVector t_ephGlo::glo_deriv(double /* tt */, const ColumnVector& xv,
294 double* acc) {
295
296 // State vector components
297 // -----------------------
298 ColumnVector rr = xv.rows(1,3);
299 ColumnVector vv = xv.rows(4,6);
300
301 // Acceleration
302 // ------------
303 static const double GM = 398.60044e12;
304 static const double AE = 6378136.0;
305 static const double OMEGA = 7292115.e-11;
306 static const double C20 = -1082.6257e-6;
307
308 double rho = rr.norm_Frobenius();
309 double t1 = -GM/(rho*rho*rho);
310 double t2 = 3.0/2.0 * C20 * (GM*AE*AE) / (rho*rho*rho*rho*rho);
311 double t3 = OMEGA * OMEGA;
312 double t4 = 2.0 * OMEGA;
313 double z2 = rr(3) * rr(3);
314
315 // Vector of derivatives
316 // ---------------------
317 ColumnVector va(6);
318 va(1) = vv(1);
319 va(2) = vv(2);
320 va(3) = vv(3);
321 va(4) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(1) + t4*vv(2) + acc[0];
322 va(5) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(2) - t4*vv(1) + acc[1];
323 va(6) = (t1 + t2*(3.0-5.0*z2/(rho*rho)) ) * rr(3) + acc[2];
324
325 return va;
326}
327
328// Compute Glonass Satellite Position (virtual)
329////////////////////////////////////////////////////////////////////////////
330void t_ephGlo::position(int GPSweek, double GPSweeks,
331 double* xc, double* vv) const {
332
333 static const double nominalStep = 10.0;
334
335 memset(xc, 0, 4*sizeof(double));
336 memset(vv, 0, 3*sizeof(double));
337
338 double dtPos = bncTime(GPSweek, GPSweeks) - _tt;
339
340 int nSteps = int(fabs(dtPos) / nominalStep) + 1;
341 double step = dtPos / nSteps;
342
343 double acc[3];
344 acc[0] = _x_acceleration * 1.e3;
345 acc[1] = _y_acceleration * 1.e3;
346 acc[2] = _z_acceleration * 1.e3;
347 for (int ii = 1; ii <= nSteps; ii++) {
348 _xv = rungeKutta4(_tt.gpssec(), _xv, step, acc, glo_deriv);
349 _tt = _tt + step;
350 }
351
352 // Position and Velocity
353 // ---------------------
354 xc[0] = _xv(1);
355 xc[1] = _xv(2);
356 xc[2] = _xv(3);
357
358 vv[0] = _xv(4);
359 vv[1] = _xv(5);
360 vv[2] = _xv(6);
361
362 // Clock Correction
363 // ----------------
364 double dtClk = bncTime(GPSweek, GPSweeks) - _TOC;
365 xc[3] = -_tau + _gamma * dtClk;
366}
367
368// IOD of Glonass Ephemeris (virtual)
369////////////////////////////////////////////////////////////////////////////
370int t_ephGlo::IOD() const {
371 bncTime tMoscow = _TOC - _gps_utc + 3 * 3600.0;
372 return int(tMoscow.daysec() / 900);
373}
374
375// Set Glonass Ephemeris
376////////////////////////////////////////////////////////////////////////////
377void t_ephGlo::set(const glonassephemeris* ee) {
378
379 _receptDateTime = currentDateAndTimeGPS();
380
381 _prn = QString("R%1").arg(ee->almanac_number, 2, 10, QChar('0'));
382
383 int ww = ee->GPSWeek;
384 int tow = ee->GPSTOW;
385 updatetime(&ww, &tow, ee->tb*1000, 0); // Moscow -> GPS
386
387 // Check the day once more
388 // -----------------------
389 {
390 const double secPerDay = 24 * 3600.0;
391 const double secPerWeek = 7 * secPerDay;
392 int ww_old = ww;
393 int tow_old = tow;
394 int currentWeek;
395 double currentSec;
396 currentGPSWeeks(currentWeek, currentSec);
397 bncTime currentTime(currentWeek, currentSec);
398 bncTime hTime(ww, (double) tow);
399
400 bool changed = false;
401 if (hTime - currentTime > secPerDay/2.0) {
402 changed = true;
403 tow -= int(secPerDay);
404 if (tow < 0) {
405 tow += int(secPerWeek);
406 ww -= 1;
407 }
408 }
409 else if (hTime - currentTime < -secPerDay/2.0) {
410 changed = true;
411 tow += int(secPerDay);
412 if (tow > secPerWeek) {
413 tow -= int(secPerWeek);
414 ww += 1;
415 }
416 }
417
418 if (changed && ((bncApp*) qApp)->mode() == bncApp::batchPostProcessing) {
419 bncTime newHTime(ww, (double) tow);
420 cout << "GLONASS " << ee->almanac_number << " Time Changed at "
421 << currentTime.datestr() << " " << currentTime.timestr()
422 << endl
423 << "old: " << hTime.datestr() << " " << hTime.timestr()
424 << endl
425 << "new: " << newHTime.datestr() << " " << newHTime.timestr()
426 << endl
427 << "eph: " << ee->GPSWeek << " " << ee->GPSTOW << " " << ee->tb
428 << endl
429 << "ww, tow (old): " << ww_old << " " << tow_old
430 << endl
431 << "ww, tow (new): " << ww << " " << tow
432 << endl << endl;
433 }
434 }
435
436 bncTime hlpTime(ww, (double) tow);
437 unsigned year, month, day;
438 hlpTime.civil_date(year, month, day);
439 _gps_utc = gnumleap(year, month, day);
440
441 _TOC.set(ww, tow);
442 _E = ee->E;
443 _tau = ee->tau;
444 _gamma = ee->gamma;
445 _x_pos = ee->x_pos;
446 _x_velocity = ee->x_velocity;
447 _x_acceleration = ee->x_acceleration;
448 _y_pos = ee->y_pos;
449 _y_velocity = ee->y_velocity;
450 _y_acceleration = ee->y_acceleration;
451 _z_pos = ee->z_pos;
452 _z_velocity = ee->z_velocity;
453 _z_acceleration = ee->z_acceleration;
454 _health = 0;
455 _frequency_number = ee->frequency_number;
456 _tki = ee->tk-3*60*60; if (_tki < 0) _tki += 86400;
457
458 // Initialize status vector
459 // ------------------------
460 _tt = _TOC;
461
462 _xv(1) = _x_pos * 1.e3;
463 _xv(2) = _y_pos * 1.e3;
464 _xv(3) = _z_pos * 1.e3;
465 _xv(4) = _x_velocity * 1.e3;
466 _xv(5) = _y_velocity * 1.e3;
467 _xv(6) = _z_velocity * 1.e3;
468
469 _ok = true;
470}
471
472// build up RTCM3 for GLONASS
473////////////////////////////////////////////////////////////////////////////
474#define GLONASSTOINT(type, value) static_cast<type>(round(value))
475
476#define GLONASSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
477 |(GLONASSTOINT(long long,b)&((1ULL<<(a))-1)); \
478 numbits += (a); \
479 while(numbits >= 8) { \
480 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
481#define GLONASSADDBITSFLOATM(a,b,c) {int s; long long i; \
482 if(b < 0.0) \
483 { \
484 s = 1; \
485 i = GLONASSTOINT(long long,(-b)/(c)); \
486 if(!i) s = 0; \
487 } \
488 else \
489 { \
490 s = 0; \
491 i = GLONASSTOINT(long long,(b)/(c)); \
492 } \
493 GLONASSADDBITS(1,s) \
494 GLONASSADDBITS(a-1,i)}
495
496int t_ephGlo::RTCM3(unsigned char *buffer)
497{
498
499 int size = 0;
500 int numbits = 0;
501 long long bitbuffer = 0;
502 unsigned char *startbuffer = buffer;
503 buffer= buffer+3;
504
505 GLONASSADDBITS(12, 1020)
506 GLONASSADDBITS(6, _prn.right((_prn.length()-1)).toInt())
507 GLONASSADDBITS(5, 7+_frequency_number)
508 GLONASSADDBITS(1, 0)
509 GLONASSADDBITS(1, 0)
510 GLONASSADDBITS(2, 0)
511 _tki=_tki+3*60*60;
512 GLONASSADDBITS(5, static_cast<int>(_tki)/(60*60))
513 GLONASSADDBITS(6, (static_cast<int>(_tki)/60)%60)
514 GLONASSADDBITS(1, (static_cast<int>(_tki)/30)%30)
515 GLONASSADDBITS(1, _health)
516 GLONASSADDBITS(1, 0)
517 unsigned long long timeofday = (static_cast<int>(_tt.gpssec()+3*60*60-_gps_utc)%86400);
518 GLONASSADDBITS(7, timeofday/60/15)
519 GLONASSADDBITSFLOATM(24, _x_velocity*1000, 1000.0/static_cast<double>(1<<20))
520 GLONASSADDBITSFLOATM(27, _x_pos*1000, 1000.0/static_cast<double>(1<<11))
521 GLONASSADDBITSFLOATM(5, _x_acceleration*1000, 1000.0/static_cast<double>(1<<30))
522 GLONASSADDBITSFLOATM(24, _y_velocity*1000, 1000.0/static_cast<double>(1<<20))
523 GLONASSADDBITSFLOATM(27, _y_pos*1000, 1000.0/static_cast<double>(1<<11))
524 GLONASSADDBITSFLOATM(5, _y_acceleration*1000, 1000.0/static_cast<double>(1<<30))
525 GLONASSADDBITSFLOATM(24, _z_velocity*1000, 1000.0/static_cast<double>(1<<20))
526 GLONASSADDBITSFLOATM(27,_z_pos*1000, 1000.0/static_cast<double>(1<<11))
527 GLONASSADDBITSFLOATM(5, _z_acceleration*1000, 1000.0/static_cast<double>(1<<30))
528 GLONASSADDBITS(1, 0)
529 GLONASSADDBITSFLOATM(11, _gamma, 1.0/static_cast<double>(1<<30)
530 /static_cast<double>(1<<10))
531 GLONASSADDBITS(2, 0) /* GLONASS-M P */
532 GLONASSADDBITS(1, 0) /* GLONASS-M ln(3) */
533 GLONASSADDBITSFLOATM(22, _tau, 1.0/static_cast<double>(1<<30))
534 GLONASSADDBITS(5, 0) /* GLONASS-M delta tau */
535 GLONASSADDBITS(5, _E)
536 GLONASSADDBITS(1, 0) /* GLONASS-M P4 */
537 GLONASSADDBITS(4, 0) /* GLONASS-M FT */
538 GLONASSADDBITS(11, 0) /* GLONASS-M NT */
539 GLONASSADDBITS(2, 0) /* GLONASS-M active? */
540 GLONASSADDBITS(1, 0) /* GLONASS additional data */
541 GLONASSADDBITS(11, 0) /* GLONASS NA */
542 GLONASSADDBITS(32, 0) /* GLONASS tau C */
543 GLONASSADDBITS(5, 0) /* GLONASS-M N4 */
544 GLONASSADDBITS(22, 0) /* GLONASS-M tau GPS */
545 GLONASSADDBITS(1, 0) /* GLONASS-M ln(5) */
546 GLONASSADDBITS(7, 0) /* Reserved */
547
548 startbuffer[0]=0xD3;
549 startbuffer[1]=(size >> 8);
550 startbuffer[2]=size;
551 unsigned long i = CRC24(size+3, startbuffer);
552 buffer[size++] = i >> 16;
553 buffer[size++] = i >> 8;
554 buffer[size++] = i;
555 size += 3;
556 return size;
557}
558
559// Set Galileo Satellite Position
560////////////////////////////////////////////////////////////////////////////
561void t_ephGal::set(const galileoephemeris* ee) {
562
563 _receptDateTime = currentDateAndTimeGPS();
564
565 _prn = QString("E%1").arg(ee->satellite, 2, 10, QChar('0'));
566
567 _TOC.set(ee->Week, ee->TOC);
568 _clock_bias = ee->clock_bias;
569 _clock_drift = ee->clock_drift;
570 _clock_driftrate = ee->clock_driftrate;
571
572 _IODnav = ee->IODnav;
573 _Crs = ee->Crs;
574 _Delta_n = ee->Delta_n;
575 _M0 = ee->M0;
576
577 _Cuc = ee->Cuc;
578 _e = ee->e;
579 _Cus = ee->Cus;
580 _sqrt_A = ee->sqrt_A;
581
582 _TOEsec = ee->TOE;
583 _Cic = ee->Cic;
584 _OMEGA0 = ee->OMEGA0;
585 _Cis = ee->Cis;
586
587 _i0 = ee->i0;
588 _Crc = ee->Crc;
589 _omega = ee->omega;
590 _OMEGADOT = ee->OMEGADOT;
591
592 _IDOT = ee->IDOT;
593 _TOEweek = ee->Week;
594
595 _SISA = ee->SISA;
596 _E5aHS = ee->E5aHS;
597 _BGD_1_5A = ee->BGD_1_5A;
598 _BGD_1_5B = ee->BGD_1_5B;
599
600 _TOT = 0.9999e9;
601
602 _ok = true;
603}
604
605// Compute Galileo Satellite Position (virtual)
606////////////////////////////////////////////////////////////////////////////
607void t_ephGal::position(int GPSweek, double GPSweeks,
608 double* xc,
609 double* vv) const {
610
611 static const double omegaEarth = 7292115.1467e-11;
612 static const double gmWGS = 398.6005e12;
613
614 memset(xc, 0, 4*sizeof(double));
615 memset(vv, 0, 3*sizeof(double));
616
617 double a0 = _sqrt_A * _sqrt_A;
618 if (a0 == 0) {
619 return;
620 }
621
622 double n0 = sqrt(gmWGS/(a0*a0*a0));
623
624 bncTime tt(GPSweek, GPSweeks);
625 double tk = tt - bncTime(_TOC.gpsw(), _TOEsec);
626
627 double n = n0 + _Delta_n;
628 double M = _M0 + n*tk;
629 double E = M;
630 double E_last;
631 do {
632 E_last = E;
633 E = M + _e*sin(E);
634 } while ( fabs(E-E_last)*a0 > 0.001 );
635 double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
636 double u0 = v + _omega;
637 double sin2u0 = sin(2*u0);
638 double cos2u0 = cos(2*u0);
639 double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
640 double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
641 double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
642 double xp = r*cos(u);
643 double yp = r*sin(u);
644 double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
645 omegaEarth*_TOEsec;
646
647 double sinom = sin(OM);
648 double cosom = cos(OM);
649 double sini = sin(i);
650 double cosi = cos(i);
651 xc[0] = xp*cosom - yp*cosi*sinom;
652 xc[1] = xp*sinom + yp*cosi*cosom;
653 xc[2] = yp*sini;
654
655 double tc = tt - _TOC;
656 xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
657
658 // Velocity
659 // --------
660 double tanv2 = tan(v/2);
661 double dEdM = 1 / (1 - _e*cos(E));
662 double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
663 * dEdM * n;
664 double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
665 double dotom = _OMEGADOT - omegaEarth;
666 double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
667 double dotr = a0 * _e*sin(E) * dEdM * n
668 + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
669 double dotx = dotr*cos(u) - r*sin(u)*dotu;
670 double doty = dotr*sin(u) + r*cos(u)*dotu;
671
672 vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
673 - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
674 + yp*sini*sinom*doti; // dX / di
675
676 vv[1] = sinom *dotx + cosi*cosom *doty
677 + xp*cosom*dotom - yp*cosi*sinom*dotom
678 - yp*sini*cosom*doti;
679
680 vv[2] = sini *doty + yp*cosi *doti;
681
682 // Relativistic Correction
683 // -----------------------
684 // xc(4) -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
685 xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
686}
687
688// build up RTCM3 for Galileo
689////////////////////////////////////////////////////////////////////////////
690#define GALILEOTOINT(type, value) static_cast<type>(round(value))
691
692#define GALILEOADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
693 |(GALILEOTOINT(long long,b)&((1LL<<a)-1)); \
694 numbits += (a); \
695 while(numbits >= 8) { \
696 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
697#define GALILEOADDBITSFLOAT(a,b,c) {long long i = GALILEOTOINT(long long,(b)/(c)); \
698 GALILEOADDBITS(a,i)};
699
700int t_ephGal::RTCM3(unsigned char *buffer) {
701 int size = 0;
702 int numbits = 0;
703 long long bitbuffer = 0;
704 unsigned char *startbuffer = buffer;
705 buffer= buffer+3;
706
707 GALILEOADDBITS(12, /*inav ? 1046 :*/ 1045)
708 GALILEOADDBITS(6, _prn.right((_prn.length()-1)).toInt())
709 GALILEOADDBITS(12, _TOC.gpsw())
710 GALILEOADDBITS(10, _IODnav)
711 GALILEOADDBITS(8, _SISA)
712 GALILEOADDBITSFLOAT(14, _IDOT, M_PI/static_cast<double>(1<<30)
713 /static_cast<double>(1<<13))
714 GALILEOADDBITS(14, _TOC.gpssec()/60)
715 GALILEOADDBITSFLOAT(6, _clock_driftrate, 1.0/static_cast<double>(1<<30)
716 /static_cast<double>(1<<29))
717 GALILEOADDBITSFLOAT(21, _clock_drift, 1.0/static_cast<double>(1<<30)
718 /static_cast<double>(1<<16))
719 GALILEOADDBITSFLOAT(31, _clock_bias, 1.0/static_cast<double>(1<<30)
720 /static_cast<double>(1<<4))
721 GALILEOADDBITSFLOAT(16, _Crs, 1.0/static_cast<double>(1<<5))
722 GALILEOADDBITSFLOAT(16, _Delta_n, M_PI/static_cast<double>(1<<30)
723 /static_cast<double>(1<<13))
724 GALILEOADDBITSFLOAT(32, _M0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
725 GALILEOADDBITSFLOAT(16, _Cuc, 1.0/static_cast<double>(1<<29))
726 GALILEOADDBITSFLOAT(32, _e, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
727 GALILEOADDBITSFLOAT(16, _Cus, 1.0/static_cast<double>(1<<29))
728 GALILEOADDBITSFLOAT(32, _sqrt_A, 1.0/static_cast<double>(1<<19))
729 GALILEOADDBITS(14, _TOEsec/60)
730 GALILEOADDBITSFLOAT(16, _Cic, 1.0/static_cast<double>(1<<29))
731 GALILEOADDBITSFLOAT(32, _OMEGA0, M_PI/static_cast<double>(1<<30)
732 /static_cast<double>(1<<1))
733 GALILEOADDBITSFLOAT(16, _Cis, 1.0/static_cast<double>(1<<29))
734 GALILEOADDBITSFLOAT(32, _i0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
735 GALILEOADDBITSFLOAT(16, _Crc, 1.0/static_cast<double>(1<<5))
736 GALILEOADDBITSFLOAT(32, _omega, M_PI/static_cast<double>(1<<30)
737 /static_cast<double>(1<<1))
738 GALILEOADDBITSFLOAT(24, _OMEGADOT, M_PI/static_cast<double>(1<<30)
739 /static_cast<double>(1<<13))
740 GALILEOADDBITSFLOAT(10, _BGD_1_5A, 1.0/static_cast<double>(1<<30)
741 /static_cast<double>(1<<2))
742 /*if(inav)
743 {
744 GALILEOADDBITSFLOAT(10, _BGD_1_5B, 1.0/static_cast<double>(1<<30)
745 /static_cast<double>(1<<2))
746 GALILEOADDBITS(2, _E5bHS)
747 GALILEOADDBITS(1, flags & MNFGALEPHF_E5BDINVALID)
748 }
749 else*/
750 {
751 GALILEOADDBITS(2, _E5aHS)
752 GALILEOADDBITS(1, /*flags & MNFGALEPHF_E5ADINVALID*/0)
753 }
754 _TOEsec = 0.9999E9;
755 GALILEOADDBITS(20, _TOEsec)
756
757 GALILEOADDBITS(/*inav ? 1 :*/ 3, 0) /* fill up */
758
759 startbuffer[0]=0xD3;
760 startbuffer[1]=(size >> 8);
761 startbuffer[2]=size;
762 unsigned long i = CRC24(size+3, startbuffer);
763 buffer[size++] = i >> 16;
764 buffer[size++] = i >> 8;
765 buffer[size++] = i;
766 size += 3;
767 return size;
768}
769
770// Constructor
771//////////////////////////////////////////////////////////////////////////////
772t_ephGPS::t_ephGPS(float rnxVersion, const QStringList& lines) {
773
774 const int nLines = 8;
775
776 _ok = false;
777
778 if (lines.size() != nLines) {
779 return;
780 }
781
782 // RINEX Format
783 // ------------
784 int fieldLen = 19;
785
786 int pos[4];
787 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
788 pos[1] = pos[0] + fieldLen;
789 pos[2] = pos[1] + fieldLen;
790 pos[3] = pos[2] + fieldLen;
791
792 // Read eight lines
793 // ----------------
794 for (int iLine = 0; iLine < nLines; iLine++) {
795 QString line = lines[iLine];
796
797 if ( iLine == 0 ) {
798 QTextStream in(line.left(pos[1]).toAscii());
799
800 int year, month, day, hour, min;
801 double sec;
802
803 in >> _prn >> year >> month >> day >> hour >> min >> sec;
804
805 if (_prn.at(0) != 'G') {
806 _prn = QString("G%1").arg(_prn.toInt(), 2, 10, QLatin1Char('0'));
807 }
808
809 if (year < 80) {
810 year += 2000;
811 }
812 else if (year < 100) {
813 year += 1900;
814 }
815
816 _TOC.set(year, month, day, hour, min, sec);
817
818 if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
819 readDbl(line, pos[2], fieldLen, _clock_drift ) ||
820 readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
821 return;
822 }
823 }
824
825 else if ( iLine == 1 ) {
826 if ( readDbl(line, pos[0], fieldLen, _IODE ) ||
827 readDbl(line, pos[1], fieldLen, _Crs ) ||
828 readDbl(line, pos[2], fieldLen, _Delta_n) ||
829 readDbl(line, pos[3], fieldLen, _M0 ) ) {
830 return;
831 }
832 }
833
834 else if ( iLine == 2 ) {
835 if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
836 readDbl(line, pos[1], fieldLen, _e ) ||
837 readDbl(line, pos[2], fieldLen, _Cus ) ||
838 readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
839 return;
840 }
841 }
842
843 else if ( iLine == 3 ) {
844 if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
845 readDbl(line, pos[1], fieldLen, _Cic ) ||
846 readDbl(line, pos[2], fieldLen, _OMEGA0) ||
847 readDbl(line, pos[3], fieldLen, _Cis ) ) {
848 return;
849 }
850 }
851
852 else if ( iLine == 4 ) {
853 if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
854 readDbl(line, pos[1], fieldLen, _Crc ) ||
855 readDbl(line, pos[2], fieldLen, _omega ) ||
856 readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
857 return;
858 }
859 }
860
861 else if ( iLine == 5 ) {
862 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
863 readDbl(line, pos[1], fieldLen, _L2Codes) ||
864 readDbl(line, pos[2], fieldLen, _TOEweek ) ||
865 readDbl(line, pos[3], fieldLen, _L2PFlag) ) {
866 return;
867 }
868 }
869
870 else if ( iLine == 6 ) {
871 if ( readDbl(line, pos[0], fieldLen, _ura ) ||
872 readDbl(line, pos[1], fieldLen, _health) ||
873 readDbl(line, pos[2], fieldLen, _TGD ) ||
874 readDbl(line, pos[3], fieldLen, _IODC ) ) {
875 return;
876 }
877 }
878
879 else if ( iLine == 7 ) {
880 if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
881 return;
882 }
883 readDbl(line, pos[1], fieldLen, _fitInterval); // _fitInterval optional
884 }
885 }
886
887 _ok = true;
888}
889
890// Constructor
891//////////////////////////////////////////////////////////////////////////////
892t_ephGlo::t_ephGlo(float rnxVersion, const QStringList& lines) {
893
894 const int nLines = 4;
895
896 _ok = false;
897
898 if (lines.size() != nLines) {
899 return;
900 }
901
902 // RINEX Format
903 // ------------
904 int fieldLen = 19;
905
906 int pos[4];
907 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
908 pos[1] = pos[0] + fieldLen;
909 pos[2] = pos[1] + fieldLen;
910 pos[3] = pos[2] + fieldLen;
911
912 // Read four lines
913 // ---------------
914 for (int iLine = 0; iLine < nLines; iLine++) {
915 QString line = lines[iLine];
916
917 if ( iLine == 0 ) {
918 QTextStream in(line.left(pos[1]).toAscii());
919
920 int year, month, day, hour, min;
921 double sec;
922
923 in >> _prn >> year >> month >> day >> hour >> min >> sec;
924
925 if (_prn.at(0) != 'R') {
926 _prn = QString("R%1").arg(_prn.toInt(), 2, 10, QLatin1Char('0'));
927 }
928
929 if (year < 80) {
930 year += 2000;
931 }
932 else if (year < 100) {
933 year += 1900;
934 }
935
936 _gps_utc = gnumleap(year, month, day);
937
938 _TOC.set(year, month, day, hour, min, sec);
939 _TOC = _TOC + _gps_utc;
940
941 if ( readDbl(line, pos[1], fieldLen, _tau ) ||
942 readDbl(line, pos[2], fieldLen, _gamma) ||
943 readDbl(line, pos[3], fieldLen, _tki ) ) {
944 return;
945 }
946
947 _tau = -_tau;
948 }
949
950 else if ( iLine == 1 ) {
951 if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
952 readDbl(line, pos[1], fieldLen, _x_velocity ) ||
953 readDbl(line, pos[2], fieldLen, _x_acceleration) ||
954 readDbl(line, pos[3], fieldLen, _health ) ) {
955 return;
956 }
957 }
958
959 else if ( iLine == 2 ) {
960 if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
961 readDbl(line, pos[1], fieldLen, _y_velocity ) ||
962 readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
963 readDbl(line, pos[3], fieldLen, _frequency_number) ) {
964 return;
965 }
966 }
967
968 else if ( iLine == 3 ) {
969 if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
970 readDbl(line, pos[1], fieldLen, _z_velocity ) ||
971 readDbl(line, pos[2], fieldLen, _z_acceleration) ||
972 readDbl(line, pos[3], fieldLen, _E ) ) {
973 return;
974 }
975 }
976 }
977
978 // Initialize status vector
979 // ------------------------
980 _tt = _TOC;
981 _xv.ReSize(6);
982 _xv(1) = _x_pos * 1.e3;
983 _xv(2) = _y_pos * 1.e3;
984 _xv(3) = _z_pos * 1.e3;
985 _xv(4) = _x_velocity * 1.e3;
986 _xv(5) = _y_velocity * 1.e3;
987 _xv(6) = _z_velocity * 1.e3;
988
989 _ok = true;
990}
991
992// Constructor
993//////////////////////////////////////////////////////////////////////////////
994t_ephGal::t_ephGal(float rnxVersion, const QStringList& lines) {
995
996 const int nLines = 8;
997
998 _ok = false;
999
1000 if (lines.size() != nLines) {
1001 return;
1002 }
1003
1004 // RINEX Format
1005 // ------------
1006 int fieldLen = 19;
1007
1008 int pos[4];
1009 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
1010 pos[1] = pos[0] + fieldLen;
1011 pos[2] = pos[1] + fieldLen;
1012 pos[3] = pos[2] + fieldLen;
1013
1014 // Read eight lines
1015 // ----------------
1016 for (int iLine = 0; iLine < nLines; iLine++) {
1017 QString line = lines[iLine];
1018
1019 if ( iLine == 0 ) {
1020 QTextStream in(line.left(pos[1]).toAscii());
1021
1022 int year, month, day, hour, min;
1023 double sec;
1024
1025 in >> _prn >> year >> month >> day >> hour >> min >> sec;
1026
1027 if (_prn.at(0) != 'E') {
1028 _prn = QString("E%1").arg(_prn.toInt(), 2, 10, QLatin1Char('0'));
1029 }
1030
1031 if (year < 80) {
1032 year += 2000;
1033 }
1034 else if (year < 100) {
1035 year += 1900;
1036 }
1037
1038 _TOC.set(year, month, day, hour, min, sec);
1039
1040 if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
1041 readDbl(line, pos[2], fieldLen, _clock_drift ) ||
1042 readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
1043 return;
1044 }
1045 }
1046
1047 else if ( iLine == 1 ) {
1048 if ( readDbl(line, pos[0], fieldLen, _IODnav ) ||
1049 readDbl(line, pos[1], fieldLen, _Crs ) ||
1050 readDbl(line, pos[2], fieldLen, _Delta_n) ||
1051 readDbl(line, pos[3], fieldLen, _M0 ) ) {
1052 return;
1053 }
1054 }
1055
1056 else if ( iLine == 2 ) {
1057 if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
1058 readDbl(line, pos[1], fieldLen, _e ) ||
1059 readDbl(line, pos[2], fieldLen, _Cus ) ||
1060 readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
1061 return;
1062 }
1063 }
1064
1065 else if ( iLine == 3 ) {
1066 if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
1067 readDbl(line, pos[1], fieldLen, _Cic ) ||
1068 readDbl(line, pos[2], fieldLen, _OMEGA0) ||
1069 readDbl(line, pos[3], fieldLen, _Cis ) ) {
1070 return;
1071 }
1072 }
1073
1074 else if ( iLine == 4 ) {
1075 if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
1076 readDbl(line, pos[1], fieldLen, _Crc ) ||
1077 readDbl(line, pos[2], fieldLen, _omega ) ||
1078 readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
1079 return;
1080 }
1081 }
1082
1083 else if ( iLine == 5 ) {
1084 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
1085 readDbl(line, pos[2], fieldLen, _TOEweek) ) {
1086 return;
1087 }
1088 }
1089
1090 else if ( iLine == 6 ) {
1091 if ( readDbl(line, pos[0], fieldLen, _SISA ) ||
1092 readDbl(line, pos[1], fieldLen, _E5aHS ) ||
1093 readDbl(line, pos[2], fieldLen, _BGD_1_5A) ||
1094 readDbl(line, pos[3], fieldLen, _BGD_1_5B) ) {
1095 return;
1096 }
1097 }
1098
1099 else if ( iLine == 7 ) {
1100 if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
1101 return;
1102 }
1103 }
1104 }
1105
1106 _ok = true;
1107}
1108
1109//
1110//////////////////////////////////////////////////////////////////////////////
1111QString t_eph::rinexDateStr(const bncTime& tt, const QString& prn,
1112 double version) {
1113
1114 QString datStr;
1115
1116 unsigned year, month, day, hour, min;
1117 double sec;
1118 tt.civil_date(year, month, day);
1119 tt.civil_time(hour, min, sec);
1120
1121 QTextStream out(&datStr);
1122
1123 if (version < 3.0) {
1124 QString prnHlp = prn.mid(1,2); if (prnHlp[0] == '0') prnHlp[0] = ' ';
1125 out << prnHlp << QString(" %1 %2 %3 %4 %5%6")
1126 .arg(year % 100, 2, 10, QChar('0'))
1127 .arg(month, 2)
1128 .arg(day, 2)
1129 .arg(hour, 2)
1130 .arg(min, 2)
1131 .arg(sec, 5, 'f',1);
1132 }
1133 else {
1134 out << prn << QString(" %1 %2 %3 %4 %5 %6")
1135 .arg(year, 4)
1136 .arg(month, 2, 10, QChar('0'))
1137 .arg(day, 2, 10, QChar('0'))
1138 .arg(hour, 2, 10, QChar('0'))
1139 .arg(min, 2, 10, QChar('0'))
1140 .arg(int(sec), 2, 10, QChar('0'));
1141 }
1142
1143 return datStr;
1144}
1145
1146// RINEX Format String
1147//////////////////////////////////////////////////////////////////////////////
1148QString t_ephGPS::toString(double version) const {
1149
1150 QString rnxStr = rinexDateStr(_TOC, _prn, version);
1151
1152 QTextStream out(&rnxStr);
1153
1154 out << QString("%1%2%3\n")
1155 .arg(_clock_bias, 19, 'e', 12)
1156 .arg(_clock_drift, 19, 'e', 12)
1157 .arg(_clock_driftrate, 19, 'e', 12);
1158
1159 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1160
1161 out << QString(fmt)
1162 .arg(_IODE, 19, 'e', 12)
1163 .arg(_Crs, 19, 'e', 12)
1164 .arg(_Delta_n, 19, 'e', 12)
1165 .arg(_M0, 19, 'e', 12);
1166
1167 out << QString(fmt)
1168 .arg(_Cuc, 19, 'e', 12)
1169 .arg(_e, 19, 'e', 12)
1170 .arg(_Cus, 19, 'e', 12)
1171 .arg(_sqrt_A, 19, 'e', 12);
1172
1173 out << QString(fmt)
1174 .arg(_TOEsec, 19, 'e', 12)
1175 .arg(_Cic, 19, 'e', 12)
1176 .arg(_OMEGA0, 19, 'e', 12)
1177 .arg(_Cis, 19, 'e', 12);
1178
1179 out << QString(fmt)
1180 .arg(_i0, 19, 'e', 12)
1181 .arg(_Crc, 19, 'e', 12)
1182 .arg(_omega, 19, 'e', 12)
1183 .arg(_OMEGADOT, 19, 'e', 12);
1184
1185 out << QString(fmt)
1186 .arg(_IDOT, 19, 'e', 12)
1187 .arg(_L2Codes, 19, 'e', 12)
1188 .arg(_TOEweek, 19, 'e', 12)
1189 .arg(_L2PFlag, 19, 'e', 12);
1190
1191 out << QString(fmt)
1192 .arg(_ura, 19, 'e', 12)
1193 .arg(_health, 19, 'e', 12)
1194 .arg(_TGD, 19, 'e', 12)
1195 .arg(_IODC, 19, 'e', 12);
1196
1197 out << QString(fmt)
1198 .arg(_TOT, 19, 'e', 12)
1199 .arg(_fitInterval, 19, 'e', 12)
1200 .arg("", 19, QChar(' '))
1201 .arg("", 19, QChar(' '));
1202
1203 return rnxStr;
1204}
1205
1206// RINEX Format String
1207//////////////////////////////////////////////////////////////////////////////
1208QString t_ephGlo::toString(double version) const {
1209
1210 QString rnxStr = rinexDateStr(_TOC-_gps_utc, _prn, version);
1211
1212 QTextStream out(&rnxStr);
1213
1214 out << QString("%1%2%3\n")
1215 .arg(-_tau, 19, 'e', 12)
1216 .arg(_gamma, 19, 'e', 12)
1217 .arg(_tki, 19, 'e', 12);
1218
1219 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1220
1221 out << QString(fmt)
1222 .arg(_x_pos, 19, 'e', 12)
1223 .arg(_x_velocity, 19, 'e', 12)
1224 .arg(_x_acceleration, 19, 'e', 12)
1225 .arg(_health, 19, 'e', 12);
1226
1227 out << QString(fmt)
1228 .arg(_y_pos, 19, 'e', 12)
1229 .arg(_y_velocity, 19, 'e', 12)
1230 .arg(_y_acceleration, 19, 'e', 12)
1231 .arg(_frequency_number, 19, 'e', 12);
1232
1233 out << QString(fmt)
1234 .arg(_z_pos, 19, 'e', 12)
1235 .arg(_z_velocity, 19, 'e', 12)
1236 .arg(_z_acceleration, 19, 'e', 12)
1237 .arg(_E, 19, 'e', 12);
1238
1239 return rnxStr;
1240}
1241
1242// RINEX Format String
1243//////////////////////////////////////////////////////////////////////////////
1244QString t_ephGal::toString(double version) const {
1245
1246 QString rnxStr = rinexDateStr(_TOC, _prn, version);
1247
1248 QTextStream out(&rnxStr);
1249
1250 out << QString("%1%2%3\n")
1251 .arg(_clock_bias, 19, 'e', 12)
1252 .arg(_clock_drift, 19, 'e', 12)
1253 .arg(_clock_driftrate, 19, 'e', 12);
1254
1255 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1256
1257 out << QString(fmt)
1258 .arg(_IODnav, 19, 'e', 12)
1259 .arg(_Crs, 19, 'e', 12)
1260 .arg(_Delta_n, 19, 'e', 12)
1261 .arg(_M0, 19, 'e', 12);
1262
1263 out << QString(fmt)
1264 .arg(_Cuc, 19, 'e', 12)
1265 .arg(_e, 19, 'e', 12)
1266 .arg(_Cus, 19, 'e', 12)
1267 .arg(_sqrt_A, 19, 'e', 12);
1268
1269 out << QString(fmt)
1270 .arg(_TOEsec, 19, 'e', 12)
1271 .arg(_Cic, 19, 'e', 12)
1272 .arg(_OMEGA0, 19, 'e', 12)
1273 .arg(_Cis, 19, 'e', 12);
1274
1275 out << QString(fmt)
1276 .arg(_i0, 19, 'e', 12)
1277 .arg(_Crc, 19, 'e', 12)
1278 .arg(_omega, 19, 'e', 12)
1279 .arg(_OMEGADOT, 19, 'e', 12);
1280
1281 out << QString(fmt)
1282 .arg(_IDOT, 19, 'e', 12)
1283 .arg(0.0, 19, 'e', 12)
1284 .arg(_TOEweek, 19, 'e', 12)
1285 .arg(0.0, 19, 'e', 12);
1286
1287 out << QString(fmt)
1288 .arg(_SISA, 19, 'e', 12)
1289 .arg(_E5aHS, 19, 'e', 12)
1290 .arg(_BGD_1_5A, 19, 'e', 12)
1291 .arg(_BGD_1_5B, 19, 'e', 12);
1292
1293 out << QString(fmt)
1294 .arg(_TOT, 19, 'e', 12)
1295 .arg("", 19, QChar(' '))
1296 .arg("", 19, QChar(' '))
1297 .arg("", 19, QChar(' '));
1298
1299 return rnxStr;
1300}
1301
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