source: ntrip/trunk/BNC/src/bncephuser.cpp@ 7861

Last change on this file since 7861 was 7861, checked in by stuerze, 6 years ago

BRDC ephemeris check: a bug is fixed and another small check is added

File size: 8.4 KB
Line 
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 <iostream>
41
42#include "bncephuser.h"
43#include "bnccore.h"
44
45using namespace std;
46
47// Constructor
48////////////////////////////////////////////////////////////////////////////
49bncEphUser::bncEphUser(bool connectSlots) {
50 if (connectSlots) {
51 connect(BNC_CORE, SIGNAL(newGPSEph(t_ephGPS)),
52 this, SLOT(slotNewGPSEph(t_ephGPS)), Qt::DirectConnection);
53
54 connect(BNC_CORE, SIGNAL(newGlonassEph(t_ephGlo)),
55 this, SLOT(slotNewGlonassEph(t_ephGlo)), Qt::DirectConnection);
56
57 connect(BNC_CORE, SIGNAL(newGalileoEph(t_ephGal)),
58 this, SLOT(slotNewGalileoEph(t_ephGal)), Qt::DirectConnection);
59
60 connect(BNC_CORE, SIGNAL(newSBASEph(t_ephSBAS)),
61 this, SLOT(slotNewSBASEph(t_ephSBAS)), Qt::DirectConnection);
62
63 connect(BNC_CORE, SIGNAL(newBDSEph(t_ephBDS)),
64 this, SLOT(slotNewBDSEph(t_ephBDS)), Qt::DirectConnection);
65 }
66}
67
68// Destructor
69////////////////////////////////////////////////////////////////////////////
70bncEphUser::~bncEphUser() {
71 QMapIterator<QString, deque<t_eph*> > it(_eph);
72 while (it.hasNext()) {
73 it.next();
74 const deque<t_eph*>& qq = it.value();
75 for (unsigned ii = 0; ii < qq.size(); ii++) {
76 delete qq[ii];
77 }
78 }
79}
80
81// New GPS Ephemeris
82////////////////////////////////////////////////////////////////////////////
83void bncEphUser::slotNewGPSEph(t_ephGPS eph) {
84 putNewEph(&eph, false);
85}
86
87// New Glonass Ephemeris
88////////////////////////////////////////////////////////////////////////////
89void bncEphUser::slotNewGlonassEph(t_ephGlo eph) {
90 putNewEph(&eph, false);
91}
92
93// New Galileo Ephemeris
94////////////////////////////////////////////////////////////////////////////
95void bncEphUser::slotNewGalileoEph(t_ephGal eph) {
96 putNewEph(&eph, false);
97}
98
99// New SBAS Ephemeris
100////////////////////////////////////////////////////////////////////////////
101void bncEphUser::slotNewSBASEph(t_ephSBAS eph) {
102 putNewEph(&eph, false);
103}
104
105// New BDS Ephemeris
106////////////////////////////////////////////////////////////////////////////
107void bncEphUser::slotNewBDSEph(t_ephBDS eph) {
108 putNewEph(&eph, false);
109}
110
111//
112////////////////////////////////////////////////////////////////////////////
113t_irc bncEphUser::putNewEph(t_eph* eph, bool check) {
114
115 QMutexLocker locker(&_mutex);
116
117 if (eph == 0) {
118 return failure;
119 }
120
121 if (check) {
122 checkEphemeris(eph);
123 }
124
125 const t_ephGPS* ephGPS = dynamic_cast<const t_ephGPS*>(eph);
126 const t_ephGlo* ephGlo = dynamic_cast<const t_ephGlo*>(eph);
127 const t_ephGal* ephGal = dynamic_cast<const t_ephGal*>(eph);
128 const t_ephSBAS* ephSBAS = dynamic_cast<const t_ephSBAS*>(eph);
129 const t_ephBDS* ephBDS = dynamic_cast<const t_ephBDS*>(eph);
130
131 t_eph* newEph = 0;
132
133 if (ephGPS) {
134 newEph = new t_ephGPS(*ephGPS);
135 }
136 else if (ephGlo) {
137 newEph = new t_ephGlo(*ephGlo);
138 }
139 else if (ephGal) {
140 newEph = new t_ephGal(*ephGal);
141 }
142 else if (ephSBAS) {
143 newEph = new t_ephSBAS(*ephSBAS);
144 }
145 else if (ephBDS) {
146 newEph = new t_ephBDS(*ephBDS);
147 }
148 else {
149 return failure;
150 }
151
152 QString prn(newEph->prn().toInternalString().c_str());
153
154 const t_eph* ephOld = ephLast(prn);
155
156 if (ephOld &&
157 (ephOld->checkState() == t_eph::bad ||
158 ephOld->checkState() == t_eph::outdated)) {
159 ephOld = 0;
160 }
161
162 if ((ephOld == 0 || newEph->isNewerThan(ephOld)) &&
163 (eph->checkState() != t_eph::bad &&
164 eph->checkState() != t_eph::outdated)) {
165 deque<t_eph*>& qq = _eph[prn];
166 qq.push_back(newEph);
167 if (qq.size() > _maxQueueSize) {
168 delete qq.front();
169 qq.pop_front();
170 }
171 ephBufferChanged();
172 return success;
173 }
174 else {
175 delete newEph;
176 return failure;
177 }
178}
179
180//
181////////////////////////////////////////////////////////////////////////////
182void bncEphUser::checkEphemeris(t_eph* eph) {
183
184 if (!eph || eph->checkState() == t_eph::ok || eph->checkState() == t_eph::bad) {
185 return;
186 }
187
188 // Simple Check - check satellite radial distance
189 // ----------------------------------------------
190 ColumnVector xc(4);
191 ColumnVector vv(3);
192 if (eph->getCrd(eph->TOC(), xc, vv, false) != success) {
193 eph->setCheckState(t_eph::bad);
194 return;
195 }
196
197 double rr = xc.Rows(1,3).norm_Frobenius();
198
199 const double MINDIST = 2.e7;
200 const double MAXDIST = 6.e7;
201 if (rr < MINDIST || rr > MAXDIST) {
202 eph->setCheckState(t_eph::bad);
203 return;
204 }
205
206 // Check whether the epoch is too far away the current time
207 // --------------------------------------------------------
208 bncTime toc = eph->TOC();
209 QDateTime now = currentDateAndTimeGPS();
210 bncTime currentTime(now.toString(Qt::ISODate).toStdString());
211 double timeDiff = fabs(toc - currentTime);
212
213 if (eph->type() == t_eph::GPS || t_eph::Galileo) {
214 if (timeDiff > 4*3600) { // update interval: 2h, data sets are valid for 4 hours
215 eph->setCheckState(t_eph::outdated);
216 return;
217 }
218 }
219 else if (eph->type() == t_eph::GLONASS) {
220 if (timeDiff > 1*3600) { // updated every 30 minutes
221 eph->setCheckState(t_eph::outdated);
222 return;
223 }
224 }
225 else if (eph->type() == t_eph::QZSS) {
226 if (timeDiff > 4*3600) { // orbit parameters are valid for 7200 seconds (at minimum)
227 eph->setCheckState(t_eph::outdated);
228 return;
229 }
230 }
231 else if (eph->type() == t_eph::SBAS) {
232 if (timeDiff > 600) { // maximum update interval: 300 sec
233 eph->setCheckState(t_eph::outdated);
234 return;
235 }
236 }
237 else if (eph->type() == t_eph::BDS) {
238 if (timeDiff > 6*3600) { // updates 1 (GEO) up to 6 hours
239 eph->setCheckState(t_eph::outdated);
240 return;
241 }
242 }
243
244
245 // Check consistency with older ephemerides
246 // ----------------------------------------
247 const double MAXDIFF = 1000.0;
248 QString prn = QString(eph->prn().toInternalString().c_str());
249 t_eph* ephL = ephLast(prn);
250
251 if (ephL) {
252 ColumnVector xcL(4);
253 ColumnVector vvL(3);
254 ephL->getCrd(eph->TOC(), xcL, vvL, false);
255
256 double dt = eph->TOC() - ephL->TOC();
257 double diff = (xc.Rows(1,3) - xcL.Rows(1,3)).norm_Frobenius();
258 double diffC = fabs(xc(4) - xcL(4)) * t_CST::c;
259
260 // some lines to allow update of ephemeris data sets after outage
261 if (eph->type() == t_eph::GPS && dt > 4*3600) {
262 ephL->setCheckState(t_eph::outdated);
263 return;
264 }
265 else if (eph->type() == t_eph::Galileo && dt > 4*3600) {
266 ephL->setCheckState(t_eph::outdated);
267 return;
268 }
269 else if (eph->type() == t_eph::GLONASS && dt > 1*3600) {
270 ephL->setCheckState(t_eph::outdated);
271 return;
272 }
273 else if (eph->type() == t_eph::QZSS && dt > 4*3600) {
274 ephL->setCheckState(t_eph::outdated);
275 return;
276 }
277 else if (eph->type() == t_eph::SBAS && dt > 600) {
278 ephL->setCheckState(t_eph::outdated);
279 return;
280 }
281 else if (eph->type() == t_eph::BDS && dt > 6*3600) {
282 ephL->setCheckState(t_eph::outdated);
283 return;
284 }
285
286 if (diff < MAXDIFF && diffC < MAXDIFF) {
287 if (dt != 0.0) {
288 eph->setCheckState(t_eph::ok);
289 ephL->setCheckState(t_eph::ok);
290 }
291 }
292 else {
293 if (ephL->checkState() == t_eph::ok) {
294 eph->setCheckState(t_eph::bad);
295 }
296 }
297 }
298}
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