source: ntrip/trunk/BNC/src/RTCM3/ephemeris.cpp@ 5137

Last change on this file since 5137 was 5137, checked in by mervart, 9 years ago
File size: 37.4 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 "bnccore.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 bool timeChanged = false;
390 {
391 const double secPerDay = 24 * 3600.0;
392 const double secPerWeek = 7 * secPerDay;
393 int ww_old = ww;
394 int tow_old = tow;
395 int currentWeek;
396 double currentSec;
397 currentGPSWeeks(currentWeek, currentSec);
398 bncTime currentTime(currentWeek, currentSec);
399 bncTime hTime(ww, (double) tow);
400
401 if (hTime - currentTime > secPerDay/2.0) {
402 timeChanged = 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 timeChanged = true;
411 tow += int(secPerDay);
412 if (tow > secPerWeek) {
413 tow -= int(secPerWeek);
414 ww += 1;
415 }
416 }
417
418 if (false && timeChanged && BNC_CORE->mode() == t_bncCore::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 = _TOC.gpssec();
583 //// _TOEsec = ee->TOE; //// TODO:
584 _Cic = ee->Cic;
585 _OMEGA0 = ee->OMEGA0;
586 _Cis = ee->Cis;
587
588 _i0 = ee->i0;
589 _Crc = ee->Crc;
590 _omega = ee->omega;
591 _OMEGADOT = ee->OMEGADOT;
592
593 _IDOT = ee->IDOT;
594 _TOEweek = ee->Week;
595
596 _SISA = ee->SISA;
597 _E5aHS = ee->E5aHS;
598 _BGD_1_5A = ee->BGD_1_5A;
599 _BGD_1_5B = ee->BGD_1_5B;
600
601 _TOT = 0.9999e9;
602
603 _ok = true;
604}
605
606// Compute Galileo Satellite Position (virtual)
607////////////////////////////////////////////////////////////////////////////
608void t_ephGal::position(int GPSweek, double GPSweeks,
609 double* xc,
610 double* vv) const {
611
612 static const double omegaEarth = 7292115.1467e-11;
613 static const double gmWGS = 398.6005e12;
614
615 memset(xc, 0, 4*sizeof(double));
616 memset(vv, 0, 3*sizeof(double));
617
618 double a0 = _sqrt_A * _sqrt_A;
619 if (a0 == 0) {
620 return;
621 }
622
623 double n0 = sqrt(gmWGS/(a0*a0*a0));
624
625 bncTime tt(GPSweek, GPSweeks);
626 double tk = tt - bncTime(_TOC.gpsw(), _TOEsec);
627
628 double n = n0 + _Delta_n;
629 double M = _M0 + n*tk;
630 double E = M;
631 double E_last;
632 do {
633 E_last = E;
634 E = M + _e*sin(E);
635 } while ( fabs(E-E_last)*a0 > 0.001 );
636 double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
637 double u0 = v + _omega;
638 double sin2u0 = sin(2*u0);
639 double cos2u0 = cos(2*u0);
640 double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
641 double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
642 double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
643 double xp = r*cos(u);
644 double yp = r*sin(u);
645 double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
646 omegaEarth*_TOEsec;
647
648 double sinom = sin(OM);
649 double cosom = cos(OM);
650 double sini = sin(i);
651 double cosi = cos(i);
652 xc[0] = xp*cosom - yp*cosi*sinom;
653 xc[1] = xp*sinom + yp*cosi*cosom;
654 xc[2] = yp*sini;
655
656 double tc = tt - _TOC;
657 xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
658
659 // Velocity
660 // --------
661 double tanv2 = tan(v/2);
662 double dEdM = 1 / (1 - _e*cos(E));
663 double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
664 * dEdM * n;
665 double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
666 double dotom = _OMEGADOT - omegaEarth;
667 double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
668 double dotr = a0 * _e*sin(E) * dEdM * n
669 + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
670 double dotx = dotr*cos(u) - r*sin(u)*dotu;
671 double doty = dotr*sin(u) + r*cos(u)*dotu;
672
673 vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
674 - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
675 + yp*sini*sinom*doti; // dX / di
676
677 vv[1] = sinom *dotx + cosi*cosom *doty
678 + xp*cosom*dotom - yp*cosi*sinom*dotom
679 - yp*sini*cosom*doti;
680
681 vv[2] = sini *doty + yp*cosi *doti;
682
683 // Relativistic Correction
684 // -----------------------
685 // xc(4) -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
686 xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
687}
688
689// build up RTCM3 for Galileo
690////////////////////////////////////////////////////////////////////////////
691#define GALILEOTOINT(type, value) static_cast<type>(round(value))
692
693#define GALILEOADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
694 |(GALILEOTOINT(long long,b)&((1LL<<a)-1)); \
695 numbits += (a); \
696 while(numbits >= 8) { \
697 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
698#define GALILEOADDBITSFLOAT(a,b,c) {long long i = GALILEOTOINT(long long,(b)/(c)); \
699 GALILEOADDBITS(a,i)};
700
701int t_ephGal::RTCM3(unsigned char *buffer) {
702 int size = 0;
703 int numbits = 0;
704 long long bitbuffer = 0;
705 unsigned char *startbuffer = buffer;
706 buffer= buffer+3;
707
708 GALILEOADDBITS(12, /*inav ? 1046 :*/ 1045)
709 GALILEOADDBITS(6, _prn.right((_prn.length()-1)).toInt())
710 GALILEOADDBITS(12, _TOC.gpsw())
711 GALILEOADDBITS(10, _IODnav)
712 GALILEOADDBITS(8, _SISA)
713 GALILEOADDBITSFLOAT(14, _IDOT, M_PI/static_cast<double>(1<<30)
714 /static_cast<double>(1<<13))
715 GALILEOADDBITS(14, _TOC.gpssec()/60)
716 GALILEOADDBITSFLOAT(6, _clock_driftrate, 1.0/static_cast<double>(1<<30)
717 /static_cast<double>(1<<29))
718 GALILEOADDBITSFLOAT(21, _clock_drift, 1.0/static_cast<double>(1<<30)
719 /static_cast<double>(1<<16))
720 GALILEOADDBITSFLOAT(31, _clock_bias, 1.0/static_cast<double>(1<<30)
721 /static_cast<double>(1<<4))
722 GALILEOADDBITSFLOAT(16, _Crs, 1.0/static_cast<double>(1<<5))
723 GALILEOADDBITSFLOAT(16, _Delta_n, M_PI/static_cast<double>(1<<30)
724 /static_cast<double>(1<<13))
725 GALILEOADDBITSFLOAT(32, _M0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
726 GALILEOADDBITSFLOAT(16, _Cuc, 1.0/static_cast<double>(1<<29))
727 GALILEOADDBITSFLOAT(32, _e, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
728 GALILEOADDBITSFLOAT(16, _Cus, 1.0/static_cast<double>(1<<29))
729 GALILEOADDBITSFLOAT(32, _sqrt_A, 1.0/static_cast<double>(1<<19))
730 GALILEOADDBITS(14, _TOEsec/60)
731 GALILEOADDBITSFLOAT(16, _Cic, 1.0/static_cast<double>(1<<29))
732 GALILEOADDBITSFLOAT(32, _OMEGA0, M_PI/static_cast<double>(1<<30)
733 /static_cast<double>(1<<1))
734 GALILEOADDBITSFLOAT(16, _Cis, 1.0/static_cast<double>(1<<29))
735 GALILEOADDBITSFLOAT(32, _i0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
736 GALILEOADDBITSFLOAT(16, _Crc, 1.0/static_cast<double>(1<<5))
737 GALILEOADDBITSFLOAT(32, _omega, M_PI/static_cast<double>(1<<30)
738 /static_cast<double>(1<<1))
739 GALILEOADDBITSFLOAT(24, _OMEGADOT, M_PI/static_cast<double>(1<<30)
740 /static_cast<double>(1<<13))
741 GALILEOADDBITSFLOAT(10, _BGD_1_5A, 1.0/static_cast<double>(1<<30)
742 /static_cast<double>(1<<2))
743 /*if(inav)
744 {
745 GALILEOADDBITSFLOAT(10, _BGD_1_5B, 1.0/static_cast<double>(1<<30)
746 /static_cast<double>(1<<2))
747 GALILEOADDBITS(2, _E5bHS)
748 GALILEOADDBITS(1, flags & MNFGALEPHF_E5BDINVALID)
749 }
750 else*/
751 {
752 GALILEOADDBITS(2, _E5aHS)
753 GALILEOADDBITS(1, /*flags & MNFGALEPHF_E5ADINVALID*/0)
754 }
755 _TOEsec = 0.9999E9;
756 GALILEOADDBITS(20, _TOEsec)
757
758 GALILEOADDBITS(/*inav ? 1 :*/ 3, 0) /* fill up */
759
760 startbuffer[0]=0xD3;
761 startbuffer[1]=(size >> 8);
762 startbuffer[2]=size;
763 unsigned long i = CRC24(size+3, startbuffer);
764 buffer[size++] = i >> 16;
765 buffer[size++] = i >> 8;
766 buffer[size++] = i;
767 size += 3;
768 return size;
769}
770
771// Constructor
772//////////////////////////////////////////////////////////////////////////////
773t_ephGPS::t_ephGPS(float rnxVersion, const QStringList& lines) {
774
775 const int nLines = 8;
776
777 _ok = false;
778
779 if (lines.size() != nLines) {
780 return;
781 }
782
783 // RINEX Format
784 // ------------
785 int fieldLen = 19;
786
787 int pos[4];
788 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
789 pos[1] = pos[0] + fieldLen;
790 pos[2] = pos[1] + fieldLen;
791 pos[3] = pos[2] + fieldLen;
792
793 // Read eight lines
794 // ----------------
795 for (int iLine = 0; iLine < nLines; iLine++) {
796 QString line = lines[iLine];
797
798 if ( iLine == 0 ) {
799 QTextStream in(line.left(pos[1]).toAscii());
800
801 int year, month, day, hour, min;
802 double sec;
803
804 in >> _prn >> year >> month >> day >> hour >> min >> sec;
805
806 if (_prn.at(0) != 'G') {
807 _prn = QString("G%1").arg(_prn.toInt(), 2, 10, QLatin1Char('0'));
808 }
809
810 if (year < 80) {
811 year += 2000;
812 }
813 else if (year < 100) {
814 year += 1900;
815 }
816
817 _TOC.set(year, month, day, hour, min, sec);
818
819 if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
820 readDbl(line, pos[2], fieldLen, _clock_drift ) ||
821 readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
822 return;
823 }
824 }
825
826 else if ( iLine == 1 ) {
827 if ( readDbl(line, pos[0], fieldLen, _IODE ) ||
828 readDbl(line, pos[1], fieldLen, _Crs ) ||
829 readDbl(line, pos[2], fieldLen, _Delta_n) ||
830 readDbl(line, pos[3], fieldLen, _M0 ) ) {
831 return;
832 }
833 }
834
835 else if ( iLine == 2 ) {
836 if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
837 readDbl(line, pos[1], fieldLen, _e ) ||
838 readDbl(line, pos[2], fieldLen, _Cus ) ||
839 readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
840 return;
841 }
842 }
843
844 else if ( iLine == 3 ) {
845 if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
846 readDbl(line, pos[1], fieldLen, _Cic ) ||
847 readDbl(line, pos[2], fieldLen, _OMEGA0) ||
848 readDbl(line, pos[3], fieldLen, _Cis ) ) {
849 return;
850 }
851 }
852
853 else if ( iLine == 4 ) {
854 if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
855 readDbl(line, pos[1], fieldLen, _Crc ) ||
856 readDbl(line, pos[2], fieldLen, _omega ) ||
857 readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
858 return;
859 }
860 }
861
862 else if ( iLine == 5 ) {
863 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
864 readDbl(line, pos[1], fieldLen, _L2Codes) ||
865 readDbl(line, pos[2], fieldLen, _TOEweek ) ||
866 readDbl(line, pos[3], fieldLen, _L2PFlag) ) {
867 return;
868 }
869 }
870
871 else if ( iLine == 6 ) {
872 if ( readDbl(line, pos[0], fieldLen, _ura ) ||
873 readDbl(line, pos[1], fieldLen, _health) ||
874 readDbl(line, pos[2], fieldLen, _TGD ) ||
875 readDbl(line, pos[3], fieldLen, _IODC ) ) {
876 return;
877 }
878 }
879
880 else if ( iLine == 7 ) {
881 if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
882 return;
883 }
884 readDbl(line, pos[1], fieldLen, _fitInterval); // _fitInterval optional
885 }
886 }
887
888 _ok = true;
889}
890
891// Constructor
892//////////////////////////////////////////////////////////////////////////////
893t_ephGlo::t_ephGlo(float rnxVersion, const QStringList& lines) {
894
895 const int nLines = 4;
896
897 _ok = false;
898
899 if (lines.size() != nLines) {
900 return;
901 }
902
903 // RINEX Format
904 // ------------
905 int fieldLen = 19;
906
907 int pos[4];
908 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
909 pos[1] = pos[0] + fieldLen;
910 pos[2] = pos[1] + fieldLen;
911 pos[3] = pos[2] + fieldLen;
912
913 // Read four lines
914 // ---------------
915 for (int iLine = 0; iLine < nLines; iLine++) {
916 QString line = lines[iLine];
917
918 if ( iLine == 0 ) {
919 QTextStream in(line.left(pos[1]).toAscii());
920
921 int year, month, day, hour, min;
922 double sec;
923
924 in >> _prn >> year >> month >> day >> hour >> min >> sec;
925
926 if (_prn.at(0) != 'R') {
927 _prn = QString("R%1").arg(_prn.toInt(), 2, 10, QLatin1Char('0'));
928 }
929
930 if (year < 80) {
931 year += 2000;
932 }
933 else if (year < 100) {
934 year += 1900;
935 }
936
937 _gps_utc = gnumleap(year, month, day);
938
939 _TOC.set(year, month, day, hour, min, sec);
940 _TOC = _TOC + _gps_utc;
941
942 if ( readDbl(line, pos[1], fieldLen, _tau ) ||
943 readDbl(line, pos[2], fieldLen, _gamma) ||
944 readDbl(line, pos[3], fieldLen, _tki ) ) {
945 return;
946 }
947
948 _tau = -_tau;
949 }
950
951 else if ( iLine == 1 ) {
952 if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
953 readDbl(line, pos[1], fieldLen, _x_velocity ) ||
954 readDbl(line, pos[2], fieldLen, _x_acceleration) ||
955 readDbl(line, pos[3], fieldLen, _health ) ) {
956 return;
957 }
958 }
959
960 else if ( iLine == 2 ) {
961 if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
962 readDbl(line, pos[1], fieldLen, _y_velocity ) ||
963 readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
964 readDbl(line, pos[3], fieldLen, _frequency_number) ) {
965 return;
966 }
967 }
968
969 else if ( iLine == 3 ) {
970 if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
971 readDbl(line, pos[1], fieldLen, _z_velocity ) ||
972 readDbl(line, pos[2], fieldLen, _z_acceleration) ||
973 readDbl(line, pos[3], fieldLen, _E ) ) {
974 return;
975 }
976 }
977 }
978
979 // Initialize status vector
980 // ------------------------
981 _tt = _TOC;
982 _xv.ReSize(6);
983 _xv(1) = _x_pos * 1.e3;
984 _xv(2) = _y_pos * 1.e3;
985 _xv(3) = _z_pos * 1.e3;
986 _xv(4) = _x_velocity * 1.e3;
987 _xv(5) = _y_velocity * 1.e3;
988 _xv(6) = _z_velocity * 1.e3;
989
990 _ok = true;
991}
992
993// Constructor
994//////////////////////////////////////////////////////////////////////////////
995t_ephGal::t_ephGal(float rnxVersion, const QStringList& lines) {
996
997 const int nLines = 8;
998
999 _ok = false;
1000
1001 if (lines.size() != nLines) {
1002 return;
1003 }
1004
1005 // RINEX Format
1006 // ------------
1007 int fieldLen = 19;
1008
1009 int pos[4];
1010 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
1011 pos[1] = pos[0] + fieldLen;
1012 pos[2] = pos[1] + fieldLen;
1013 pos[3] = pos[2] + fieldLen;
1014
1015 // Read eight lines
1016 // ----------------
1017 for (int iLine = 0; iLine < nLines; iLine++) {
1018 QString line = lines[iLine];
1019
1020 if ( iLine == 0 ) {
1021 QTextStream in(line.left(pos[1]).toAscii());
1022
1023 int year, month, day, hour, min;
1024 double sec;
1025
1026 in >> _prn >> year >> month >> day >> hour >> min >> sec;
1027
1028 if (_prn.at(0) != 'E') {
1029 _prn = QString("E%1").arg(_prn.toInt(), 2, 10, QLatin1Char('0'));
1030 }
1031
1032 if (year < 80) {
1033 year += 2000;
1034 }
1035 else if (year < 100) {
1036 year += 1900;
1037 }
1038
1039 _TOC.set(year, month, day, hour, min, sec);
1040
1041 if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
1042 readDbl(line, pos[2], fieldLen, _clock_drift ) ||
1043 readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
1044 return;
1045 }
1046 }
1047
1048 else if ( iLine == 1 ) {
1049 if ( readDbl(line, pos[0], fieldLen, _IODnav ) ||
1050 readDbl(line, pos[1], fieldLen, _Crs ) ||
1051 readDbl(line, pos[2], fieldLen, _Delta_n) ||
1052 readDbl(line, pos[3], fieldLen, _M0 ) ) {
1053 return;
1054 }
1055 }
1056
1057 else if ( iLine == 2 ) {
1058 if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
1059 readDbl(line, pos[1], fieldLen, _e ) ||
1060 readDbl(line, pos[2], fieldLen, _Cus ) ||
1061 readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
1062 return;
1063 }
1064 }
1065
1066 else if ( iLine == 3 ) {
1067 if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
1068 readDbl(line, pos[1], fieldLen, _Cic ) ||
1069 readDbl(line, pos[2], fieldLen, _OMEGA0) ||
1070 readDbl(line, pos[3], fieldLen, _Cis ) ) {
1071 return;
1072 }
1073 }
1074
1075 else if ( iLine == 4 ) {
1076 if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
1077 readDbl(line, pos[1], fieldLen, _Crc ) ||
1078 readDbl(line, pos[2], fieldLen, _omega ) ||
1079 readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
1080 return;
1081 }
1082 }
1083
1084 else if ( iLine == 5 ) {
1085 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
1086 readDbl(line, pos[2], fieldLen, _TOEweek) ) {
1087 return;
1088 }
1089 }
1090
1091 else if ( iLine == 6 ) {
1092 if ( readDbl(line, pos[0], fieldLen, _SISA ) ||
1093 readDbl(line, pos[1], fieldLen, _E5aHS ) ||
1094 readDbl(line, pos[2], fieldLen, _BGD_1_5A) ||
1095 readDbl(line, pos[3], fieldLen, _BGD_1_5B) ) {
1096 return;
1097 }
1098 }
1099
1100 else if ( iLine == 7 ) {
1101 if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
1102 return;
1103 }
1104 }
1105 }
1106
1107 _ok = true;
1108}
1109
1110//
1111//////////////////////////////////////////////////////////////////////////////
1112QString t_eph::rinexDateStr(const bncTime& tt, const QString& prn,
1113 double version) {
1114
1115 QString datStr;
1116
1117 unsigned year, month, day, hour, min;
1118 double sec;
1119 tt.civil_date(year, month, day);
1120 tt.civil_time(hour, min, sec);
1121
1122 QTextStream out(&datStr);
1123
1124 if (version < 3.0) {
1125 QString prnHlp = prn.mid(1,2); if (prnHlp[0] == '0') prnHlp[0] = ' ';
1126 out << prnHlp << QString(" %1 %2 %3 %4 %5%6")
1127 .arg(year % 100, 2, 10, QChar('0'))
1128 .arg(month, 2)
1129 .arg(day, 2)
1130 .arg(hour, 2)
1131 .arg(min, 2)
1132 .arg(sec, 5, 'f',1);
1133 }
1134 else {
1135 out << prn << QString(" %1 %2 %3 %4 %5 %6")
1136 .arg(year, 4)
1137 .arg(month, 2, 10, QChar('0'))
1138 .arg(day, 2, 10, QChar('0'))
1139 .arg(hour, 2, 10, QChar('0'))
1140 .arg(min, 2, 10, QChar('0'))
1141 .arg(int(sec), 2, 10, QChar('0'));
1142 }
1143
1144 return datStr;
1145}
1146
1147// RINEX Format String
1148//////////////////////////////////////////////////////////////////////////////
1149QString t_ephGPS::toString(double version) const {
1150
1151 QString rnxStr = rinexDateStr(_TOC, _prn, version);
1152
1153 QTextStream out(&rnxStr);
1154
1155 out << QString("%1%2%3\n")
1156 .arg(_clock_bias, 19, 'e', 12)
1157 .arg(_clock_drift, 19, 'e', 12)
1158 .arg(_clock_driftrate, 19, 'e', 12);
1159
1160 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1161
1162 out << QString(fmt)
1163 .arg(_IODE, 19, 'e', 12)
1164 .arg(_Crs, 19, 'e', 12)
1165 .arg(_Delta_n, 19, 'e', 12)
1166 .arg(_M0, 19, 'e', 12);
1167
1168 out << QString(fmt)
1169 .arg(_Cuc, 19, 'e', 12)
1170 .arg(_e, 19, 'e', 12)
1171 .arg(_Cus, 19, 'e', 12)
1172 .arg(_sqrt_A, 19, 'e', 12);
1173
1174 out << QString(fmt)
1175 .arg(_TOEsec, 19, 'e', 12)
1176 .arg(_Cic, 19, 'e', 12)
1177 .arg(_OMEGA0, 19, 'e', 12)
1178 .arg(_Cis, 19, 'e', 12);
1179
1180 out << QString(fmt)
1181 .arg(_i0, 19, 'e', 12)
1182 .arg(_Crc, 19, 'e', 12)
1183 .arg(_omega, 19, 'e', 12)
1184 .arg(_OMEGADOT, 19, 'e', 12);
1185
1186 out << QString(fmt)
1187 .arg(_IDOT, 19, 'e', 12)
1188 .arg(_L2Codes, 19, 'e', 12)
1189 .arg(_TOEweek, 19, 'e', 12)
1190 .arg(_L2PFlag, 19, 'e', 12);
1191
1192 out << QString(fmt)
1193 .arg(_ura, 19, 'e', 12)
1194 .arg(_health, 19, 'e', 12)
1195 .arg(_TGD, 19, 'e', 12)
1196 .arg(_IODC, 19, 'e', 12);
1197
1198 out << QString(fmt)
1199 .arg(_TOT, 19, 'e', 12)
1200 .arg(_fitInterval, 19, 'e', 12)
1201 .arg("", 19, QChar(' '))
1202 .arg("", 19, QChar(' '));
1203
1204 return rnxStr;
1205}
1206
1207// RINEX Format String
1208//////////////////////////////////////////////////////////////////////////////
1209QString t_ephGlo::toString(double version) const {
1210
1211 QString rnxStr = rinexDateStr(_TOC-_gps_utc, _prn, version);
1212
1213 QTextStream out(&rnxStr);
1214
1215 out << QString("%1%2%3\n")
1216 .arg(-_tau, 19, 'e', 12)
1217 .arg(_gamma, 19, 'e', 12)
1218 .arg(_tki, 19, 'e', 12);
1219
1220 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1221
1222 out << QString(fmt)
1223 .arg(_x_pos, 19, 'e', 12)
1224 .arg(_x_velocity, 19, 'e', 12)
1225 .arg(_x_acceleration, 19, 'e', 12)
1226 .arg(_health, 19, 'e', 12);
1227
1228 out << QString(fmt)
1229 .arg(_y_pos, 19, 'e', 12)
1230 .arg(_y_velocity, 19, 'e', 12)
1231 .arg(_y_acceleration, 19, 'e', 12)
1232 .arg(_frequency_number, 19, 'e', 12);
1233
1234 out << QString(fmt)
1235 .arg(_z_pos, 19, 'e', 12)
1236 .arg(_z_velocity, 19, 'e', 12)
1237 .arg(_z_acceleration, 19, 'e', 12)
1238 .arg(_E, 19, 'e', 12);
1239
1240 return rnxStr;
1241}
1242
1243// RINEX Format String
1244//////////////////////////////////////////////////////////////////////////////
1245QString t_ephGal::toString(double version) const {
1246
1247 QString rnxStr = rinexDateStr(_TOC, _prn, version);
1248
1249 QTextStream out(&rnxStr);
1250
1251 out << QString("%1%2%3\n")
1252 .arg(_clock_bias, 19, 'e', 12)
1253 .arg(_clock_drift, 19, 'e', 12)
1254 .arg(_clock_driftrate, 19, 'e', 12);
1255
1256 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1257
1258 out << QString(fmt)
1259 .arg(_IODnav, 19, 'e', 12)
1260 .arg(_Crs, 19, 'e', 12)
1261 .arg(_Delta_n, 19, 'e', 12)
1262 .arg(_M0, 19, 'e', 12);
1263
1264 out << QString(fmt)
1265 .arg(_Cuc, 19, 'e', 12)
1266 .arg(_e, 19, 'e', 12)
1267 .arg(_Cus, 19, 'e', 12)
1268 .arg(_sqrt_A, 19, 'e', 12);
1269
1270 out << QString(fmt)
1271 .arg(_TOEsec, 19, 'e', 12)
1272 .arg(_Cic, 19, 'e', 12)
1273 .arg(_OMEGA0, 19, 'e', 12)
1274 .arg(_Cis, 19, 'e', 12);
1275
1276 out << QString(fmt)
1277 .arg(_i0, 19, 'e', 12)
1278 .arg(_Crc, 19, 'e', 12)
1279 .arg(_omega, 19, 'e', 12)
1280 .arg(_OMEGADOT, 19, 'e', 12);
1281
1282 out << QString(fmt)
1283 .arg(_IDOT, 19, 'e', 12)
1284 .arg(0.0, 19, 'e', 12)
1285 .arg(_TOEweek, 19, 'e', 12)
1286 .arg(0.0, 19, 'e', 12);
1287
1288 out << QString(fmt)
1289 .arg(_SISA, 19, 'e', 12)
1290 .arg(_E5aHS, 19, 'e', 12)
1291 .arg(_BGD_1_5A, 19, 'e', 12)
1292 .arg(_BGD_1_5B, 19, 'e', 12);
1293
1294 out << QString(fmt)
1295 .arg(_TOT, 19, 'e', 12)
1296 .arg("", 19, QChar(' '))
1297 .arg("", 19, QChar(' '))
1298 .arg("", 19, QChar(' '));
1299
1300 return rnxStr;
1301}
1302
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