source: ntrip/trunk/BNC/src/bncephuser.cpp@ 8187

Last change on this file since 8187 was 8187, checked in by stuerze, 4 years ago

health status check is added

File size: 8.9 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 // Check health status
189 // -------------------
190 if (eph->isUnhealthy()) {
191 eph->setCheckState(t_eph::bad);
192 return;
193 }
194
195 // Simple Check - check satellite radial distance
196 // ----------------------------------------------
197 ColumnVector xc(4);
198 ColumnVector vv(3);
199 if (eph->getCrd(eph->TOC(), xc, vv, false) != success) {
200 eph->setCheckState(t_eph::bad);
201 return;
202 }
203
204 double rr = xc.Rows(1,3).norm_Frobenius();
205
206 const double MINDIST = 2.e7;
207 const double MAXDIST = 6.e7;
208 if (rr < MINDIST || rr > MAXDIST || isnan(rr)) {
209 eph->setCheckState(t_eph::bad);
210 return;
211 }
212
213 // Check whether the epoch is too far away the current time
214 // --------------------------------------------------------
215 bncTime toc = eph->TOC();
216 QDateTime now = currentDateAndTimeGPS();
217 bncTime currentTime(now.toString(Qt::ISODate).toStdString());
218 double timeDiff = fabs(toc - currentTime);
219
220 if (eph->type() == t_eph::GPS && timeDiff > 4*3600) { // update interval: 2h, data sets are valid for 4 hours
221 eph->setCheckState(t_eph::outdated);
222 return;
223 }
224 else if (eph->type() == t_eph::Galileo && timeDiff > 4*3600) { // update interval: 2h, data sets are valid for 4 hours
225 eph->setCheckState(t_eph::outdated);
226 return;
227 }
228 else if (eph->type() == t_eph::GLONASS && timeDiff > 1*3600) { // updated every 30 minutes
229 eph->setCheckState(t_eph::outdated);
230 return;
231 }
232 else if (eph->type() == t_eph::QZSS && timeDiff > 4*3600) { // orbit parameters are valid for 7200 seconds (at minimum)
233 eph->setCheckState(t_eph::outdated);
234 return;
235 }
236 else if (eph->type() == t_eph::SBAS && timeDiff > 600) { // maximum update interval: 300 sec
237 eph->setCheckState(t_eph::outdated);
238 return;
239 }
240 else if (eph->type() == t_eph::BDS && timeDiff > 6*3600) { // updates (GEO) up to 6 hours
241 eph->setCheckState(t_eph::outdated);
242 return;
243 }
244 else if (eph->type() == t_eph::IRNSS && timeDiff > 24*3600) { // update interval: up to 24 hours
245 eph->setCheckState(t_eph::outdated);
246 return;
247 }
248
249
250
251 // Check consistency with older ephemerides
252 // ----------------------------------------
253 const double MAXDIFF = 1000.0;
254 QString prn = QString(eph->prn().toInternalString().c_str());
255 t_eph* ephL = ephLast(prn);
256
257 if (ephL) {
258 ColumnVector xcL(4);
259 ColumnVector vvL(3);
260 ephL->getCrd(eph->TOC(), xcL, vvL, false);
261
262 double dt = fabs(eph->TOC() - ephL->TOC());
263 double diff = (xc.Rows(1,3) - xcL.Rows(1,3)).norm_Frobenius();
264 double diffC = fabs(xc(4) - xcL(4)) * t_CST::c;
265
266 // some lines to allow update of ephemeris data sets after outage
267 if (eph->type() == t_eph::GPS && dt > 4*3600) {
268 ephL->setCheckState(t_eph::outdated);
269 return;
270 }
271 else if (eph->type() == t_eph::Galileo && dt > 4*3600) {
272 ephL->setCheckState(t_eph::outdated);
273 return;
274 }
275 else if (eph->type() == t_eph::GLONASS && dt > 1*3600) {
276 ephL->setCheckState(t_eph::outdated);
277 return;
278 }
279 else if (eph->type() == t_eph::QZSS && dt > 4*3600) {
280 ephL->setCheckState(t_eph::outdated);
281 return;
282 }
283 else if (eph->type() == t_eph::SBAS && dt > 600) {
284 ephL->setCheckState(t_eph::outdated);
285 return;
286 }
287 else if (eph->type() == t_eph::BDS && dt > 6*3600) {
288 ephL->setCheckState(t_eph::outdated);
289 return;
290 }
291 else if (eph->type() == t_eph::IRNSS && dt > 24*3600) {
292 ephL->setCheckState(t_eph::outdated);
293 return;
294 }
295
296 if (diff < MAXDIFF && diffC < MAXDIFF) {
297 if (dt != 0.0) {
298 eph->setCheckState(t_eph::ok);
299 ephL->setCheckState(t_eph::ok);
300 }
301 }
302 else {
303 if (ephL->checkState() == t_eph::ok) {
304 eph->setCheckState(t_eph::bad);
305 }
306 }
307 }
308}
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