[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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[9380] | 155 | ephOld->checkState() == t_eph::outdated )) {
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[8659] | 156 | ephOld = 0;
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| 157 | }
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| 158 |
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[9488] | 159 | if ( (ephOld == 0) || eph->isNewerThan(ephOld)) {
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| 160 | checkEphemeris(eph, realTime);
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[8709] | 161 | }
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| 162 | else {
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| 163 | delete newEph;
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| 164 | return failure;
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| 165 | }
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| 166 |
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[9488] | 167 | if (eph->checkState() != t_eph::bad &&
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| 168 | eph->checkState() != t_eph::outdated) {
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[6443] | 169 | deque<t_eph*>& qq = _eph[prn];
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[9488] | 170 | newEph->setCheckState(eph->checkState());
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[9317] | 171 | qq.push_back(newEph);
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| 172 | if (qq.size() > _maxQueueSize) {
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| 173 | delete qq.front();
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| 174 | qq.pop_front();
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[9272] | 175 | }
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[9317] | 176 | ephBufferChanged();
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| 177 | return success;
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[3670] | 178 | }
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[6443] | 179 | else {
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[6566] | 180 | delete newEph;
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[6443] | 181 | return failure;
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| 182 | }
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[6395] | 183 | }
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[3671] | 184 |
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[7716] | 185 | //
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[6518] | 186 | ////////////////////////////////////////////////////////////////////////////
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[8368] | 187 | void bncEphUser::checkEphemeris(t_eph* eph, bool realTime) {
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[6518] | 188 |
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[9273] | 189 | if (!eph) {
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[6519] | 190 | return;
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| 191 | }
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| 192 |
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[9773] | 193 | // Check whether the epoch is too far away the current time
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| 194 | // --------------------------------------------------------
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| 195 | if (realTime) {
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| 196 | if (outDatedBcep(eph)) {
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| 197 | eph->setCheckState(t_eph::outdated);
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| 198 | return;
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| 199 | }
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| 200 | }
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| 201 |
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[8187] | 202 | // Check health status
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| 203 | // -------------------
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| 204 | if (eph->isUnhealthy()) {
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[8215] | 205 | eph->setCheckState(t_eph::unhealthy);
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[9773] | 206 | return;
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[8187] | 207 | }
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| 208 |
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[6519] | 209 | // Simple Check - check satellite radial distance
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| 210 | // ----------------------------------------------
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[8542] | 211 | ColumnVector xc(6);
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[6519] | 212 | ColumnVector vv(3);
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| 213 | if (eph->getCrd(eph->TOC(), xc, vv, false) != success) {
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| 214 | eph->setCheckState(t_eph::bad);
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| 215 | return;
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| 216 | }
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[8902] | 217 | double rr = xc.Rows(1,3).NormFrobenius();
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[9202] | 218 |
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[6521] | 219 | const double MINDIST = 2.e7;
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[6526] | 220 | const double MAXDIST = 6.e7;
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[8253] | 221 | if (rr < MINDIST || rr > MAXDIST || std::isnan(rr)) {
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[6519] | 222 | eph->setCheckState(t_eph::bad);
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| 223 | return;
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| 224 | }
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[6520] | 225 |
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[9240] | 226 | // Check consistency with older ephemeris
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| 227 | // --------------------------------------
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[9361] | 228 | const double MAXDIFF_INIT = 10.0;
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| 229 | const double MINDIFF = 0.005;
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| 230 | QString prn = QString(eph->prn().toInternalString().c_str());
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| 231 | t_eph* ephL = ephLast(prn);
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[7861] | 232 |
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[9361] | 233 | // maxdiff adapted to individual systems
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| 234 | char sys = eph->prn().system();
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| 235 | double MAXDIFF = MAXDIFF_INIT;
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| 236 | if (sys == 'C' ||
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| 237 | sys == 'S' ) {
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| 238 | MAXDIFF *= 10.0;
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| 239 | }
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| 240 |
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[6521] | 241 | if (ephL) {
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[8614] | 242 | ColumnVector xcL(6);
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[6521] | 243 | ColumnVector vvL(3);
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[9852] | 244 | if (ephL->getCrd(eph->TOC(), xcL, vvL, false) != success) {
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| 245 | eph->setCheckState(t_eph::bad);
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| 246 | return;
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| 247 | }
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[9317] | 248 |
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[8902] | 249 | double diff = (xc.Rows(1,3) - xcL.Rows(1,3)).NormFrobenius();
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[7861] | 250 | double diffC = fabs(xc(4) - xcL(4)) * t_CST::c;
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[6521] | 251 |
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[9852] | 252 | if (diff < MAXDIFF &&
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| 253 | diffC < MAXDIFF) {
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| 254 | if (diff < MINDIFF &&
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| 255 | diffC < MINDIFF &&
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[9317] | 256 | ephL->checkState() == t_eph::ok) {
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[9272] | 257 | // to prevent the same data sets with different TOC values
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| 258 | eph->setCheckState(t_eph::bad);
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| 259 | }
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| 260 | else {
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| 261 | eph->setCheckState(t_eph::ok);
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| 262 | ephL->setCheckState(t_eph::ok);
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| 263 | }
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| 264 | }
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| 265 | else {
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| 266 | if (ephL->checkState() == t_eph::ok) {
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| 267 | eph->setCheckState(t_eph::bad);
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| 268 | }
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| 269 | }
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[9317] | 270 |
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[9240] | 271 | // some lines to allow update of ephemeris data sets after an outage
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[9317] | 272 | // -----------------------------------------------------------------
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[9361] | 273 | double dt = eph->TOC() - ephL->TOC();
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| 274 |
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[9376] | 275 | // update interval: 2h
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[9430] | 276 | if (eph->type() == t_eph::GPS && dt > 7200.0) {
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[7208] | 277 | ephL->setCheckState(t_eph::outdated);
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[6981] | 278 | return;
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| 279 | }
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[9376] | 280 | // update interval: 3h
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| 281 | else if (eph->type() == t_eph::Galileo && dt > 10800.0) {
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[7208] | 282 | ephL->setCheckState(t_eph::outdated);
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[6981] | 283 | return;
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| 284 | }
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[9376] | 285 | // updated every 30 minutes + 5 min
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| 286 | else if (eph->type() == t_eph::GLONASS && dt > 2100.0) {
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[7208] | 287 | ephL->setCheckState(t_eph::outdated);
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[6981] | 288 | return;
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| 289 | }
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[9202] | 290 | // updated every ?
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[9376] | 291 | else if (eph->type() == t_eph::QZSS && dt > 3600.0) {
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[7208] | 292 | ephL->setCheckState(t_eph::outdated);
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[6981] | 293 | return;
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| 294 | }
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[9376] | 295 | // maximum update interval: 300 sec
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| 296 | else if (eph->type() == t_eph::SBAS && dt > 600.0) {
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[7716] | 297 | ephL->setCheckState(t_eph::outdated);
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| 298 | return;
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| 299 | }
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[9361] | 300 | // updates 1h + 5 min
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[9376] | 301 | else if (eph->type() == t_eph::BDS && dt > 3900.0) {
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[7716] | 302 | ephL->setCheckState(t_eph::outdated);
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| 303 | return;
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| 304 | }
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[9376] | 305 | // update interval: up to 24 hours
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| 306 | else if (eph->type() == t_eph::IRNSS && dt > 86400.0) {
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[8168] | 307 | ephL->setCheckState(t_eph::outdated);
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| 308 | return;
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| 309 | }
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[6521] | 310 | }
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[6518] | 311 | }
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[9317] | 312 |
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