source: ntrip/trunk/BNC/src/bncephuser.cpp@ 9313

Last change on this file since 9313 was 9301, checked in by stuerze, 4 years ago

minor changes
File size: 9.9 KB
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1// converting GNSS data streams from NTRIP broadcasters.
2//
3// Copyright (C) 2007
4// German Federal Agency for Cartography and Geodesy (BKG)
5// http://www.bkg.bund.de
6// Czech Technical University Prague, Department of Geodesy
7// http://www.fsv.cvut.cz
8//
9// Email: euref-ip@bkg.bund.de
10//
11// This program is free software; you can redistribute it and/or
12// modify it under the terms of the GNU General Public License
13// as published by the Free Software Foundation, version 2.
14//
15// This program is distributed in the hope that it will be useful,
16// but WITHOUT ANY WARRANTY; without even the implied warranty of
17// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18// GNU General Public License for more details.
19//
20// You should have received a copy of the GNU General Public License
21// along with this program; if not, write to the Free Software
22// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
23
24/* -------------------------------------------------------------------------
25 * BKG NTRIP Client
26 * -------------------------------------------------------------------------
27 *
28 * Class: bncEphUser
29 *
30 * Purpose: Base for Classes that use Ephemerides
31 *
32 * Author: L. Mervart
33 *
34 * Created: 27-Jan-2011
35 *
36 * Changes:
37 *
38 * -----------------------------------------------------------------------*/
39
40#include <cmath>
41#include <iostream>
42
43#include "bncephuser.h"
44#include "bnccore.h"
45
46using namespace std;
47
48// Constructor
49////////////////////////////////////////////////////////////////////////////
50bncEphUser::bncEphUser(bool connectSlots) {
51 if (connectSlots) {
52 connect(BNC_CORE, SIGNAL(newGPSEph(t_ephGPS)),
53 this, SLOT(slotNewGPSEph(t_ephGPS)), Qt::DirectConnection);
54
55 connect(BNC_CORE, SIGNAL(newGlonassEph(t_ephGlo)),
56 this, SLOT(slotNewGlonassEph(t_ephGlo)), Qt::DirectConnection);
57
58 connect(BNC_CORE, SIGNAL(newGalileoEph(t_ephGal)),
59 this, SLOT(slotNewGalileoEph(t_ephGal)), Qt::DirectConnection);
60
61 connect(BNC_CORE, SIGNAL(newSBASEph(t_ephSBAS)),
62 this, SLOT(slotNewSBASEph(t_ephSBAS)), Qt::DirectConnection);
63
64 connect(BNC_CORE, SIGNAL(newBDSEph(t_ephBDS)),
65 this, SLOT(slotNewBDSEph(t_ephBDS)), Qt::DirectConnection);
66 }
67}
68
69// Destructor
70////////////////////////////////////////////////////////////////////////////
71bncEphUser::~bncEphUser() {
72 QMapIterator<QString, deque<t_eph*> > it(_eph);
73 while (it.hasNext()) {
74 it.next();
75 const deque<t_eph*>& qq = it.value();
76 for (unsigned ii = 0; ii < qq.size(); ii++) {
77 delete qq[ii];
78 }
79 }
80}
81
82// New GPS Ephemeris
83////////////////////////////////////////////////////////////////////////////
84void bncEphUser::slotNewGPSEph(t_ephGPS eph) {
85 putNewEph(&eph, true);
86}
87
88// New Glonass Ephemeris
89////////////////////////////////////////////////////////////////////////////
90void bncEphUser::slotNewGlonassEph(t_ephGlo eph) {
91 putNewEph(&eph, true);
92}
93
94// New Galileo Ephemeris
95////////////////////////////////////////////////////////////////////////////
96void bncEphUser::slotNewGalileoEph(t_ephGal eph) {
97 putNewEph(&eph, true);
98}
99
100// New SBAS Ephemeris
101////////////////////////////////////////////////////////////////////////////
102void bncEphUser::slotNewSBASEph(t_ephSBAS eph) {
103 putNewEph(&eph, true);
104}
105
106// New BDS Ephemeris
107////////////////////////////////////////////////////////////////////////////
108void bncEphUser::slotNewBDSEph(t_ephBDS eph) {
109 putNewEph(&eph, true);
110}
111
112//
113////////////////////////////////////////////////////////////////////////////
114t_irc bncEphUser::putNewEph(t_eph* eph, bool realTime) {
115
116 QMutexLocker locker(&_mutex);
117
118 if (eph == 0) {
119 return failure;
120 }
121
122 const t_ephGPS* ephGPS = dynamic_cast<const t_ephGPS*>(eph);
123 const t_ephGlo* ephGlo = dynamic_cast<const t_ephGlo*>(eph);
124 const t_ephGal* ephGal = dynamic_cast<const t_ephGal*>(eph);
125 const t_ephSBAS* ephSBAS = dynamic_cast<const t_ephSBAS*>(eph);
126 const t_ephBDS* ephBDS = dynamic_cast<const t_ephBDS*>(eph);
127
128 t_eph* newEph = 0;
129
130 if (ephGPS) {
131 newEph = new t_ephGPS(*ephGPS);
132 }
133 else if (ephGlo) {
134 newEph = new t_ephGlo(*ephGlo);
135 }
136 else if (ephGal) {
137 newEph = new t_ephGal(*ephGal);
138 }
139 else if (ephSBAS) {
140 newEph = new t_ephSBAS(*ephSBAS);
141 }
142 else if (ephBDS) {
143 newEph = new t_ephBDS(*ephBDS);
144 }
145 else {
146 return failure;
147 }
148
149 QString prn(newEph->prn().toInternalString().c_str());
150
151 const t_eph* ephOld = ephLast(prn);
152
153 if (ephOld &&
154 (ephOld->checkState() == t_eph::bad ||
155 ephOld->checkState() == t_eph::outdated ||
156 ephOld->checkState() == t_eph::unhealthy)) {
157 ephOld = 0;
158 }
159
160 if (ephOld == 0 || newEph->isNewerThan(ephOld)) {
161 checkEphemeris(newEph, realTime);
162 eph->setCheckState(newEph->checkState());
163 }
164 else {
165 delete newEph;
166 return failure;
167 }
168
169 if (newEph->checkState() != t_eph::bad &&
170 newEph->checkState() != t_eph::outdated) {
171 deque<t_eph*>& qq = _eph[prn];
172 if (qq.empty() ||
173 newEph->isNewerThan(qq.back())){
174 qq.push_back(newEph);
175 if (qq.size() > _maxQueueSize) {
176 delete qq.front();
177 qq.pop_front();
178 }
179 ephBufferChanged();
180 return success;
181 }
182 else {
183 delete newEph;
184 return failure;
185 }
186 }
187 else {
188 delete newEph;
189 return failure;
190 }
191}
192
193//
194////////////////////////////////////////////////////////////////////////////
195void bncEphUser::checkEphemeris(t_eph* eph, bool realTime) {
196
197 if (!eph) {
198 return;
199 }
200
201 // Check health status
202 // -------------------
203 if (eph->isUnhealthy()) {
204 eph->setCheckState(t_eph::unhealthy);
205 return;
206 }
207
208 // Simple Check - check satellite radial distance
209 // ----------------------------------------------
210 ColumnVector xc(6);
211 ColumnVector vv(3);
212 if (eph->getCrd(eph->TOC(), xc, vv, false) != success) {
213 eph->setCheckState(t_eph::bad);
214 return;
215 }
216 double rr = xc.Rows(1,3).NormFrobenius();
217
218 const double MINDIST = 2.e7;
219 const double MAXDIST = 6.e7;
220 if (rr < MINDIST || rr > MAXDIST || std::isnan(rr)) {
221 eph->setCheckState(t_eph::bad);
222 return;
223 }
224
225 // Check whether the epoch is too far away the current time
226 // --------------------------------------------------------
227 if (realTime) {
228 bncTime toc = eph->TOC();
229 QDateTime now = currentDateAndTimeGPS();
230 bncTime currentTime(now.toString(Qt::ISODate).toStdString());
231 double dt = currentTime - toc;
232
233 // update interval: 2h, data sets are valid for 4 hours
234 if (eph->type() == t_eph::GPS && (dt > 4*3600.0 || dt < -2*3600.0)) {
235 eph->setCheckState(t_eph::outdated);
236 return;
237 }
238 // update interval: 3h, data sets are valid for 4 hours
239 else if (eph->type() == t_eph::Galileo && (dt > 4*3600.0 || dt < 0.0)) {
240 eph->setCheckState(t_eph::outdated);
241 return;
242 }
243 // updated every 30 minutes
244 else if (eph->type() == t_eph::GLONASS && (dt > 1*3600.0 || dt < -1800.0)) {
245 eph->setCheckState(t_eph::outdated);
246 return;
247 }
248 // orbit parameters are valid for 7200 seconds (minimum)
249 else if (eph->type() == t_eph::QZSS && (dt > 2*3600.0 || dt < -1*3600.0)) {
250 eph->setCheckState(t_eph::outdated);
251 return;
252 }
253 // maximum update interval: 300 sec
254 else if (eph->type() == t_eph::SBAS && (dt > 600 || dt < -300.0)) {
255 eph->setCheckState(t_eph::outdated);
256 return;
257 }
258 // updates 1h (GEO) up to 6 hours non-GEO
259 else if (eph->type() == t_eph::BDS && (dt > 6*3600 || dt < 0.0)) {
260 eph->setCheckState(t_eph::outdated);
261 return;
262 }
263 // update interval: up to 24 hours
264 else if (eph->type() == t_eph::IRNSS && fabs(dt > 24*3600.0)) {
265 eph->setCheckState(t_eph::outdated);
266 return;
267 }
268 }
269
270 // Check consistency with older ephemeris
271 // --------------------------------------
272 const double MAXDIFF = 10.0;
273 const double MINDIFF = 0.005;
274 QString prn = QString(eph->prn().toInternalString().c_str());
275 t_eph* ephL = ephLast(prn);
276
277 if (ephL) {
278 ColumnVector xcL(6);
279 ColumnVector vvL(3);
280 ephL->getCrd(eph->TOC(), xcL, vvL, false);
281 double dt = eph->TOC() - ephL->TOC();
282 if (dt < 0.0) {
283 dt += 604800.0;
284 }
285 double diff = (xc.Rows(1,3) - xcL.Rows(1,3)).NormFrobenius();
286 double diffC = fabs(xc(4) - xcL(4)) * t_CST::c;
287
288 if (diff < MAXDIFF && diffC < MAXDIFF) {
289 if (diff < MINDIFF && diffC < MINDIFF && ephL->checkState() == t_eph::ok) {
290 // to prevent the same data sets with different TOC values
291 eph->setCheckState(t_eph::bad);
292 }
293 else {
294 eph->setCheckState(t_eph::ok);
295 ephL->setCheckState(t_eph::ok);
296 }
297 }
298 else {
299 if (ephL->checkState() == t_eph::ok) {
300 eph->setCheckState(t_eph::bad);
301 }
302 }
303 // some lines to allow update of ephemeris data sets after an outage
304 // update interval: 2h,
305 if (eph->type() == t_eph::GPS && dt > (2*3600.0 + 60.0)) {
306 ephL->setCheckState(t_eph::outdated);
307 return;
308 }
309 // update interval: 3h,
310 else if (eph->type() == t_eph::Galileo && dt > (3*3600.0 + 60.0)) {
311 ephL->setCheckState(t_eph::outdated);
312 return;
313 }
314 // updated every 30 minutes
315 else if (eph->type() == t_eph::GLONASS && dt > (1800.0 + 60.0)) {
316 ephL->setCheckState(t_eph::outdated);
317 return;
318 }
319 // updated every ?
320 else if (eph->type() == t_eph::QZSS && dt > (2*3600.0 + 60.0)) {
321 ephL->setCheckState(t_eph::outdated);
322 return;
323 }
324 // maximum update interval: 300 sec
325 else if (eph->type() == t_eph::SBAS && dt > ( 300.0)) {
326 ephL->setCheckState(t_eph::outdated);
327 return;
328 }
329 // updates 1h (GEO) up to 6 hours non-GEO
330 else if (eph->type() == t_eph::BDS && dt > 6*3600.0) {
331 ephL->setCheckState(t_eph::outdated);
332 return;
333 }
334 // update interval: up to 24 hours
335 else if (eph->type() == t_eph::IRNSS && dt > 24*3600.0) {
336 ephL->setCheckState(t_eph::outdated);
337 return;
338 }
339 }
340}
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