source: ntrip/trunk/BNC/src/bncephuser.cpp@ 8456

Last change on this file since 8456 was 8368, checked in by stuerze, 6 years ago

small bug fixes in 'reqc' ephemeris check

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 <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 checkEphemeris(eph, realTime);
123
124 const t_ephGPS* ephGPS = dynamic_cast<const t_ephGPS*>(eph);
125 const t_ephGlo* ephGlo = dynamic_cast<const t_ephGlo*>(eph);
126 const t_ephGal* ephGal = dynamic_cast<const t_ephGal*>(eph);
127 const t_ephSBAS* ephSBAS = dynamic_cast<const t_ephSBAS*>(eph);
128 const t_ephBDS* ephBDS = dynamic_cast<const t_ephBDS*>(eph);
129
130 t_eph* newEph = 0;
131
132 if (ephGPS) {
133 newEph = new t_ephGPS(*ephGPS);
134 }
135 else if (ephGlo) {
136 newEph = new t_ephGlo(*ephGlo);
137 }
138 else if (ephGal) {
139 newEph = new t_ephGal(*ephGal);
140 }
141 else if (ephSBAS) {
142 newEph = new t_ephSBAS(*ephSBAS);
143 }
144 else if (ephBDS) {
145 newEph = new t_ephBDS(*ephBDS);
146 }
147 else {
148 return failure;
149 }
150
151 QString prn(newEph->prn().toInternalString().c_str());
152
153 const t_eph* ephOld = ephLast(prn);
154
155 if ((ephOld == 0 || newEph->isNewerThan(ephOld)) &&
156 (eph->checkState() != t_eph::bad &&
157 eph->checkState() != t_eph::outdated)) {
158 deque<t_eph*>& qq = _eph[prn];
159 qq.push_back(newEph);
160 if (qq.size() > _maxQueueSize) {
161 delete qq.front();
162 qq.pop_front();
163 }
164 ephBufferChanged();
165 return success;
166 }
167 else {
168 delete newEph;
169 return failure;
170 }
171}
172
173//
174////////////////////////////////////////////////////////////////////////////
175void bncEphUser::checkEphemeris(t_eph* eph, bool realTime) {
176
177 if (!eph || eph->checkState() == t_eph::ok || eph->checkState() == t_eph::bad) {
178 return;
179 }
180
181 // Check health status
182 // -------------------
183 if (eph->isUnhealthy()) {
184 eph->setCheckState(t_eph::unhealthy);
185 }
186
187 // Simple Check - check satellite radial distance
188 // ----------------------------------------------
189 ColumnVector xc(4);
190 ColumnVector vv(3);
191 if (eph->getCrd(eph->TOC(), xc, vv, false) != success) {
192 eph->setCheckState(t_eph::bad);
193 return;
194 }
195
196 double rr = xc.Rows(1,3).norm_Frobenius();
197
198 const double MINDIST = 2.e7;
199 const double MAXDIST = 6.e7;
200 if (rr < MINDIST || rr > MAXDIST || std::isnan(rr)) {
201 eph->setCheckState(t_eph::bad);
202 return;
203 }
204
205 // Check whether the epoch is too far away the current time
206 // --------------------------------------------------------
207 if (realTime) {
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 && timeDiff > 4 * 3600) { // update interval: 2h, data sets are valid for 4 hours
214 eph->setCheckState(t_eph::outdated);
215 return;
216 }
217 else if (eph->type() == t_eph::Galileo && timeDiff > 4 * 3600) { // update interval: 2h, data sets are valid for 4 hours
218 eph->setCheckState(t_eph::outdated);
219 return;
220 }
221 else if (eph->type() == t_eph::GLONASS && timeDiff > 1 * 3600) { // updated every 30 minutes
222 eph->setCheckState(t_eph::outdated);
223 return;
224 }
225 else if (eph->type() == t_eph::QZSS && timeDiff > 4 * 3600) { // orbit parameters are valid for 7200 seconds (at minimum)
226 eph->setCheckState(t_eph::outdated);
227 return;
228 }
229 else if (eph->type() == t_eph::SBAS && timeDiff > 600) { // maximum update interval: 300 sec
230 eph->setCheckState(t_eph::outdated);
231 return;
232 }
233 else if (eph->type() == t_eph::BDS && timeDiff > 6 * 3600) { // updates (GEO) up to 6 hours
234 eph->setCheckState(t_eph::outdated);
235 return;
236 }
237 else if (eph->type() == t_eph::IRNSS && timeDiff > 24 * 3600) { // update interval: up to 24 hours
238 eph->setCheckState(t_eph::outdated);
239 return;
240 }
241 }
242
243 // Check consistency with older ephemerides
244 // ----------------------------------------
245 const double MAXDIFF = 1000.0;
246 QString prn = QString(eph->prn().toInternalString().c_str());
247 t_eph* ephL = ephLast(prn);
248
249 if (ephL) {
250 ColumnVector xcL(4);
251 ColumnVector vvL(3);
252 ephL->getCrd(eph->TOC(), xcL, vvL, false);
253
254 double dt = fabs(eph->TOC() - ephL->TOC());
255 double diff = (xc.Rows(1,3) - xcL.Rows(1,3)).norm_Frobenius();
256 double diffC = fabs(xc(4) - xcL(4)) * t_CST::c;
257
258 // some lines to allow update of ephemeris data sets after outage
259 if (eph->type() == t_eph::GPS && dt > 4*3600) {
260 ephL->setCheckState(t_eph::outdated);
261 return;
262 }
263 else if (eph->type() == t_eph::Galileo && dt > 4*3600) {
264 ephL->setCheckState(t_eph::outdated);
265 return;
266 }
267 else if (eph->type() == t_eph::GLONASS && dt > 1*3600) {
268 ephL->setCheckState(t_eph::outdated);
269 return;
270 }
271 else if (eph->type() == t_eph::QZSS && dt > 4*3600) {
272 ephL->setCheckState(t_eph::outdated);
273 return;
274 }
275 else if (eph->type() == t_eph::SBAS && dt > 600) {
276 ephL->setCheckState(t_eph::outdated);
277 return;
278 }
279 else if (eph->type() == t_eph::BDS && dt > 6*3600) {
280 ephL->setCheckState(t_eph::outdated);
281 return;
282 }
283 else if (eph->type() == t_eph::IRNSS && dt > 24*3600) {
284 ephL->setCheckState(t_eph::outdated);
285 return;
286 }
287
288 if (diff < MAXDIFF && diffC < MAXDIFF) {
289 if (dt != 0.0) {
290 eph->setCheckState(t_eph::ok);
291 ephL->setCheckState(t_eph::ok);
292 }
293 }
294 else {
295 if (ephL->checkState() == t_eph::ok) {
296 eph->setCheckState(t_eph::bad);
297 }
298 }
299 }
300}
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