[2904] | 1 | // converting GNSS data streams from NTRIP broadcasters.
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| 2 | //
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| 3 | // Copyright (C) 2007
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| 4 | // German Federal Agency for Cartography and Geodesy (BKG)
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| 5 | // http://www.bkg.bund.de
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| 6 | // Czech Technical University Prague, Department of Geodesy
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| 7 | // http://www.fsv.cvut.cz
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| 8 | //
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| 9 | // Email: euref-ip@bkg.bund.de
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| 10 | //
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| 11 | // This program is free software; you can redistribute it and/or
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| 12 | // modify it under the terms of the GNU General Public License
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| 13 | // as published by the Free Software Foundation, version 2.
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| 14 | //
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| 15 | // This program is distributed in the hope that it will be useful,
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| 16 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 17 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 18 | // GNU General Public License for more details.
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| 19 | //
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| 20 | // You should have received a copy of the GNU General Public License
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| 21 | // along with this program; if not, write to the Free Software
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| 22 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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| 23 |
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| 24 | /* -------------------------------------------------------------------------
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| 25 | * BKG NTRIP Client
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| 26 | * -------------------------------------------------------------------------
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| 27 | *
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| 28 | * Class: bncEphUser
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| 29 | *
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| 30 | * Purpose: Base for Classes that use Ephemerides
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| 31 | *
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| 32 | * Author: L. Mervart
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| 33 | *
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| 34 | * Created: 27-Jan-2011
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| 35 | *
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[7716] | 36 | * Changes:
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[2904] | 37 | *
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| 38 | * -----------------------------------------------------------------------*/
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| 39 |
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[8253] | 40 | #include <cmath>
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[2907] | 41 | #include <iostream>
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| 42 |
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[2904] | 43 | #include "bncephuser.h"
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[5070] | 44 | #include "bnccore.h"
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[2904] | 45 |
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| 46 | using namespace std;
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| 47 |
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| 48 | // Constructor
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| 49 | ////////////////////////////////////////////////////////////////////////////
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[3640] | 50 | bncEphUser::bncEphUser(bool connectSlots) {
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| 51 | if (connectSlots) {
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[6434] | 52 | connect(BNC_CORE, SIGNAL(newGPSEph(t_ephGPS)),
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| 53 | this, SLOT(slotNewGPSEph(t_ephGPS)), Qt::DirectConnection);
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[7716] | 54 |
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[6434] | 55 | connect(BNC_CORE, SIGNAL(newGlonassEph(t_ephGlo)),
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| 56 | this, SLOT(slotNewGlonassEph(t_ephGlo)), Qt::DirectConnection);
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[7716] | 57 |
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[6434] | 58 | connect(BNC_CORE, SIGNAL(newGalileoEph(t_ephGal)),
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| 59 | this, SLOT(slotNewGalileoEph(t_ephGal)), Qt::DirectConnection);
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[6393] | 60 |
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[6434] | 61 | connect(BNC_CORE, SIGNAL(newSBASEph(t_ephSBAS)),
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| 62 | this, SLOT(slotNewSBASEph(t_ephSBAS)), Qt::DirectConnection);
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[6595] | 63 |
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[6598] | 64 | connect(BNC_CORE, SIGNAL(newBDSEph(t_ephBDS)),
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| 65 | this, SLOT(slotNewBDSEph(t_ephBDS)), Qt::DirectConnection);
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[3640] | 66 | }
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[2904] | 67 | }
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| 68 |
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| 69 | // Destructor
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| 70 | ////////////////////////////////////////////////////////////////////////////
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| 71 | bncEphUser::~bncEphUser() {
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[6443] | 72 | QMapIterator<QString, deque<t_eph*> > it(_eph);
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[2904] | 73 | while (it.hasNext()) {
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| 74 | it.next();
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[6443] | 75 | const deque<t_eph*>& qq = it.value();
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| 76 | for (unsigned ii = 0; ii < qq.size(); ii++) {
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| 77 | delete qq[ii];
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| 78 | }
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[2904] | 79 | }
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| 80 | }
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| 81 |
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[7716] | 82 | // New GPS Ephemeris
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[2904] | 83 | ////////////////////////////////////////////////////////////////////////////
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[6432] | 84 | void bncEphUser::slotNewGPSEph(t_ephGPS eph) {
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[8368] | 85 | putNewEph(&eph, true);
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[6394] | 86 | }
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[7716] | 87 |
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[6432] | 88 | // New Glonass Ephemeris
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[6394] | 89 | ////////////////////////////////////////////////////////////////////////////
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[6432] | 90 | void bncEphUser::slotNewGlonassEph(t_ephGlo eph) {
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[8368] | 91 | putNewEph(&eph, true);
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[6394] | 92 | }
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[5133] | 93 |
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[6432] | 94 | // New Galileo Ephemeris
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[6394] | 95 | ////////////////////////////////////////////////////////////////////////////
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[6432] | 96 | void bncEphUser::slotNewGalileoEph(t_ephGal eph) {
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[8368] | 97 | putNewEph(&eph, true);
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[2904] | 98 | }
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| 99 |
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[6432] | 100 | // New SBAS Ephemeris
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[2904] | 101 | ////////////////////////////////////////////////////////////////////////////
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[6432] | 102 | void bncEphUser::slotNewSBASEph(t_ephSBAS eph) {
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[8368] | 103 | putNewEph(&eph, true);
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[2904] | 104 | }
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| 105 |
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[6598] | 106 | // New BDS Ephemeris
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[6595] | 107 | ////////////////////////////////////////////////////////////////////////////
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[6598] | 108 | void bncEphUser::slotNewBDSEph(t_ephBDS eph) {
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[8368] | 109 | putNewEph(&eph, true);
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[6595] | 110 | }
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| 111 |
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[7716] | 112 | //
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[2904] | 113 | ////////////////////////////////////////////////////////////////////////////
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[8368] | 114 | t_irc bncEphUser::putNewEph(t_eph* eph, bool realTime) {
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[6435] | 115 |
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[3670] | 116 | QMutexLocker locker(&_mutex);
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| 117 |
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[6435] | 118 | if (eph == 0) {
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| 119 | return failure;
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| 120 | }
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[6395] | 121 |
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[6435] | 122 | const t_ephGPS* ephGPS = dynamic_cast<const t_ephGPS*>(eph);
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| 123 | const t_ephGlo* ephGlo = dynamic_cast<const t_ephGlo*>(eph);
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| 124 | const t_ephGal* ephGal = dynamic_cast<const t_ephGal*>(eph);
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| 125 | const t_ephSBAS* ephSBAS = dynamic_cast<const t_ephSBAS*>(eph);
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[6598] | 126 | const t_ephBDS* ephBDS = dynamic_cast<const t_ephBDS*>(eph);
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[6435] | 127 |
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| 128 | t_eph* newEph = 0;
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| 129 |
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| 130 | if (ephGPS) {
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| 131 | newEph = new t_ephGPS(*ephGPS);
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[3670] | 132 | }
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[6435] | 133 | else if (ephGlo) {
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| 134 | newEph = new t_ephGlo(*ephGlo);
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| 135 | }
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| 136 | else if (ephGal) {
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| 137 | newEph = new t_ephGal(*ephGal);
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| 138 | }
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| 139 | else if (ephSBAS) {
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| 140 | newEph = new t_ephSBAS(*ephSBAS);
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| 141 | }
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[6598] | 142 | else if (ephBDS) {
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| 143 | newEph = new t_ephBDS(*ephBDS);
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[6435] | 144 | }
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| 145 | else {
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| 146 | return failure;
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| 147 | }
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[3670] | 148 |
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[6809] | 149 | QString prn(newEph->prn().toInternalString().c_str());
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[6435] | 150 |
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[6443] | 151 | const t_eph* ephOld = ephLast(prn);
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| 152 |
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[8659] | 153 | if (ephOld &&
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| 154 | (ephOld->checkState() == t_eph::bad ||
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[9272] | 155 | ephOld->checkState() == t_eph::outdated ||
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| 156 | ephOld->checkState() == t_eph::unhealthy)) {
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[8659] | 157 | ephOld = 0;
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| 158 | }
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| 159 |
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[9332] | 160 | if ( (ephOld == 0) || newEph->isNewerThan(ephOld)) {
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[9272] | 161 | checkEphemeris(newEph, realTime);
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| 162 | eph->setCheckState(newEph->checkState());
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[8709] | 163 | }
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| 164 | else {
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| 165 | delete newEph;
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| 166 | return failure;
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| 167 | }
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| 168 |
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[9272] | 169 | if (newEph->checkState() != t_eph::bad &&
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| 170 | newEph->checkState() != t_eph::outdated) {
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[6443] | 171 | deque<t_eph*>& qq = _eph[prn];
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[9317] | 172 | qq.push_back(newEph);
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| 173 | if (qq.size() > _maxQueueSize) {
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| 174 | delete qq.front();
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| 175 | qq.pop_front();
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[9272] | 176 | }
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[9317] | 177 | ephBufferChanged();
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| 178 | return success;
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[3670] | 179 | }
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[6443] | 180 | else {
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[6566] | 181 | delete newEph;
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[6443] | 182 | return failure;
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| 183 | }
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[6395] | 184 | }
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[3671] | 185 |
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[7716] | 186 | //
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[6518] | 187 | ////////////////////////////////////////////////////////////////////////////
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[8368] | 188 | void bncEphUser::checkEphemeris(t_eph* eph, bool realTime) {
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[6518] | 189 |
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[9273] | 190 | if (!eph) {
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[6519] | 191 | return;
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| 192 | }
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| 193 |
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[8187] | 194 | // Check health status
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| 195 | // -------------------
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| 196 | if (eph->isUnhealthy()) {
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[8215] | 197 | eph->setCheckState(t_eph::unhealthy);
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[8505] | 198 | return;
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[8187] | 199 | }
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| 200 |
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[6519] | 201 | // Simple Check - check satellite radial distance
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| 202 | // ----------------------------------------------
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[8542] | 203 | ColumnVector xc(6);
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[6519] | 204 | ColumnVector vv(3);
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| 205 | if (eph->getCrd(eph->TOC(), xc, vv, false) != success) {
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| 206 | eph->setCheckState(t_eph::bad);
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| 207 | return;
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| 208 | }
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[8902] | 209 | double rr = xc.Rows(1,3).NormFrobenius();
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[9202] | 210 |
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[6521] | 211 | const double MINDIST = 2.e7;
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[6526] | 212 | const double MAXDIST = 6.e7;
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[8253] | 213 | if (rr < MINDIST || rr > MAXDIST || std::isnan(rr)) {
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[6519] | 214 | eph->setCheckState(t_eph::bad);
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| 215 | return;
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| 216 | }
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[6520] | 217 |
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[6981] | 218 | // Check whether the epoch is too far away the current time
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| 219 | // --------------------------------------------------------
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[8368] | 220 | if (realTime) {
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[8847] | 221 | bncTime toc = eph->TOC();
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[8368] | 222 | QDateTime now = currentDateAndTimeGPS();
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| 223 | bncTime currentTime(now.toString(Qt::ISODate).toStdString());
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[9202] | 224 | double dt = currentTime - toc;
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[6981] | 225 |
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[9361] | 226 | // update interval: 2h, data sets are valid for 4 hours + 5 min
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| 227 | if (eph->type() == t_eph::GPS && (dt > 14700.0 || dt < -7500.0)) {
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[8368] | 228 | eph->setCheckState(t_eph::outdated);
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| 229 | return;
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| 230 | }
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[9361] | 231 | // update interval: 3h, data sets are valid for 4 hours + 5 min
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| 232 | else if (eph->type() == t_eph::Galileo && (dt > 14700.0 || dt < 0.0)) {
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[8368] | 233 | eph->setCheckState(t_eph::outdated);
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| 234 | return;
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| 235 | }
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[9361] | 236 | // updated every 30 minutes + 5 min
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| 237 | else if (eph->type() == t_eph::GLONASS && (dt > 3900.0 || dt < -2100.0)) {
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[8368] | 238 | eph->setCheckState(t_eph::outdated);
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| 239 | return;
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| 240 | }
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[9361] | 241 | // orbit parameters are valid for 7200 seconds (minimum) + 5 min
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| 242 | else if (eph->type() == t_eph::QZSS && (dt > 7500.0 || dt < 3900.0)) {
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[8368] | 243 | eph->setCheckState(t_eph::outdated);
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| 244 | return;
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| 245 | }
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[9361] | 246 | // maximum update interval: 300 sec + 5 min
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| 247 | else if (eph->type() == t_eph::SBAS && (dt > 600.0 || dt < -600.0)) {
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[8368] | 248 | eph->setCheckState(t_eph::outdated);
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| 249 | return;
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| 250 | }
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[9361] | 251 | // updates 1h + 5 min
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| 252 | else if (eph->type() == t_eph::BDS && (dt > 3900.0 || dt < 0.0)) {
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[8368] | 253 | eph->setCheckState(t_eph::outdated);
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| 254 | return;
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| 255 | }
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[9361] | 256 | // update interval: up to 24 hours + 5 min
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| 257 | else if (eph->type() == t_eph::IRNSS && fabs(dt > 86700.0)) {
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[8368] | 258 | eph->setCheckState(t_eph::outdated);
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| 259 | return;
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| 260 | }
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[6981] | 261 | }
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| 262 |
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[9240] | 263 | // Check consistency with older ephemeris
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| 264 | // --------------------------------------
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[9361] | 265 | const double MAXDIFF_INIT = 10.0;
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| 266 | const double MINDIFF = 0.005;
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| 267 | QString prn = QString(eph->prn().toInternalString().c_str());
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| 268 | t_eph* ephL = ephLast(prn);
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[7861] | 269 |
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[9361] | 270 | // maxdiff adapted to individual systems
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| 271 | char sys = eph->prn().system();
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| 272 | double MAXDIFF = MAXDIFF_INIT;
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| 273 | if (sys == 'C' ||
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| 274 | sys == 'S' ) {
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| 275 | MAXDIFF *= 10.0;
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| 276 | }
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| 277 |
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[6521] | 278 | if (ephL) {
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[8614] | 279 | ColumnVector xcL(6);
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[6521] | 280 | ColumnVector vvL(3);
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| 281 | ephL->getCrd(eph->TOC(), xcL, vvL, false);
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[9317] | 282 |
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[8902] | 283 | double diff = (xc.Rows(1,3) - xcL.Rows(1,3)).NormFrobenius();
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[7861] | 284 | double diffC = fabs(xc(4) - xcL(4)) * t_CST::c;
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[6521] | 285 |
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[9272] | 286 | if (diff < MAXDIFF && diffC < MAXDIFF) {
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[9317] | 287 | if (diff < MINDIFF && diffC < MINDIFF &&
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| 288 | ephL->checkState() == t_eph::ok) {
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[9272] | 289 | // to prevent the same data sets with different TOC values
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| 290 | eph->setCheckState(t_eph::bad);
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| 291 | }
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| 292 | else {
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| 293 | eph->setCheckState(t_eph::ok);
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| 294 | ephL->setCheckState(t_eph::ok);
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| 295 | }
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| 296 | }
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| 297 | else {
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| 298 | if (ephL->checkState() == t_eph::ok) {
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| 299 | eph->setCheckState(t_eph::bad);
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| 300 | }
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| 301 | }
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[9317] | 302 |
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[9240] | 303 | // some lines to allow update of ephemeris data sets after an outage
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[9317] | 304 | // -----------------------------------------------------------------
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[9361] | 305 | double dt = eph->TOC() - ephL->TOC();
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| 306 |
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| 307 | // update interval: 2h, + 5 min
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| 308 | if (eph->type() == t_eph::GPS && dt > 3900.0) {
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[7208] | 309 | ephL->setCheckState(t_eph::outdated);
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[6981] | 310 | return;
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| 311 | }
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[9361] | 312 | // update interval: 3h, + 5 min
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| 313 | else if (eph->type() == t_eph::Galileo && dt > 11100.0) {
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[7208] | 314 | ephL->setCheckState(t_eph::outdated);
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[6981] | 315 | return;
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| 316 | }
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[9202] | 317 | // updated every 30 minutes
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[9361] | 318 | else if (eph->type() == t_eph::GLONASS && dt > 2100.0) {
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[7208] | 319 | ephL->setCheckState(t_eph::outdated);
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[6981] | 320 | return;
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| 321 | }
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[9202] | 322 | // updated every ?
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[9361] | 323 | else if (eph->type() == t_eph::QZSS && dt > 3900.0) {
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[7208] | 324 | ephL->setCheckState(t_eph::outdated);
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[6981] | 325 | return;
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| 326 | }
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[9361] | 327 | // maximum update interval: 300 sec + 5 min
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| 328 | else if (eph->type() == t_eph::SBAS && dt > 600.0) {
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[7716] | 329 | ephL->setCheckState(t_eph::outdated);
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| 330 | return;
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| 331 | }
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[9361] | 332 | // updates 1h + 5 min
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| 333 | else if (eph->type() == t_eph::BDS && dt > 3900.0) {
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[7716] | 334 | ephL->setCheckState(t_eph::outdated);
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| 335 | return;
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| 336 | }
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[9361] | 337 | // update interval: up to 24 hours + 5 min
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| 338 | else if (eph->type() == t_eph::IRNSS && dt > 86700.0) {
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[8168] | 339 | ephL->setCheckState(t_eph::outdated);
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| 340 | return;
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| 341 | }
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[6521] | 342 | }
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[6518] | 343 | }
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[9317] | 344 |
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[9332] | 345 | /*
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[9317] | 346 | ////////////////////////////////////////////////////////////////////////////
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[9320] | 347 | bool bncEphUser::newCorrectedGpsEphSet(const t_eph* eph) {
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[9317] | 348 |
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| 349 | if (eph->prn().system() != 'G') {
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[9324] | 350 | return false;
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[9317] | 351 | }
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| 352 |
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[9324] | 353 | bool correctedGpsEphSet = false;
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[9317] | 354 | if ((fmod(eph->TOC().daysec()+16.0, 7200) == 0.0)) {
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| 355 | // sometimes corrected BRDC sets are sent with TOC values 16 seconds
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| 356 | // before the nominal TOC (integer time)
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| 357 | correctedGpsEphSet = true;
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[9326] | 358 | } else {
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| 359 | return false;
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[9317] | 360 | }
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| 361 |
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[9324] | 362 | QString prn = QString(eph->prn().toInternalString().c_str());
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| 363 | t_eph* ephL = ephLast(prn);
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| 364 | if (!ephL) {
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[9326] | 365 | // first set is a corrected set for GPS
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| 366 | if (correctedGpsEphSet) {
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[9324] | 367 | return true;
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[9317] | 368 | }
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| 369 | else {
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[9324] | 370 | return false;
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[9317] | 371 | }
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| 372 | }
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[9324] | 373 | else {
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| 374 | double dt = eph->TOC() - ephL->TOC();
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| 375 | if (correctedGpsEphSet) {
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[9326] | 376 | // set already available
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[9324] | 377 | if (dt == 0.0) {
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| 378 | return false;
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| 379 | }
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| 380 | else {
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| 381 | return true;
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| 382 | }
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| 383 | }
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| 384 | }
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[9326] | 385 |
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[9324] | 386 | return false;
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[9332] | 387 | }*/
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