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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36 | * Changes:
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37 | *
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38 | * -----------------------------------------------------------------------*/
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39 |
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40 | #include <cmath>
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41 | #include <iostream>
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42 |
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43 | #include "bncephuser.h"
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44 | #include "bnccore.h"
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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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50 | bncEphUser::bncEphUser(bool connectSlots) {
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51 | if (connectSlots) {
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52 | connect(BNC_CORE, SIGNAL(newGPSEph(t_ephGPS)),
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53 | this, SLOT(slotNewGPSEph(t_ephGPS)), Qt::DirectConnection);
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54 |
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55 | connect(BNC_CORE, SIGNAL(newGlonassEph(t_ephGlo)),
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56 | this, SLOT(slotNewGlonassEph(t_ephGlo)), Qt::DirectConnection);
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57 |
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58 | connect(BNC_CORE, SIGNAL(newGalileoEph(t_ephGal)),
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59 | this, SLOT(slotNewGalileoEph(t_ephGal)), Qt::DirectConnection);
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60 |
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61 | connect(BNC_CORE, SIGNAL(newSBASEph(t_ephSBAS)),
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62 | this, SLOT(slotNewSBASEph(t_ephSBAS)), Qt::DirectConnection);
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63 |
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64 | connect(BNC_CORE, SIGNAL(newBDSEph(t_ephBDS)),
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65 | this, SLOT(slotNewBDSEph(t_ephBDS)), Qt::DirectConnection);
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66 | }
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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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72 | QMapIterator<QString, deque<t_eph*> > it(_eph);
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73 | while (it.hasNext()) {
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74 | it.next();
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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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79 | }
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80 | }
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81 |
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82 | // New GPS Ephemeris
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83 | ////////////////////////////////////////////////////////////////////////////
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84 | void bncEphUser::slotNewGPSEph(t_ephGPS eph) {
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85 | putNewEph(&eph, true);
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86 | }
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87 |
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88 | // New Glonass Ephemeris
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89 | ////////////////////////////////////////////////////////////////////////////
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90 | void bncEphUser::slotNewGlonassEph(t_ephGlo eph) {
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91 | putNewEph(&eph, true);
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92 | }
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93 |
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94 | // New Galileo Ephemeris
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95 | ////////////////////////////////////////////////////////////////////////////
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96 | void bncEphUser::slotNewGalileoEph(t_ephGal eph) {
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97 | putNewEph(&eph, true);
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98 | }
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99 |
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100 | // New SBAS Ephemeris
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101 | ////////////////////////////////////////////////////////////////////////////
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102 | void bncEphUser::slotNewSBASEph(t_ephSBAS eph) {
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103 | putNewEph(&eph, true);
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104 | }
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105 |
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106 | // New BDS Ephemeris
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107 | ////////////////////////////////////////////////////////////////////////////
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108 | void bncEphUser::slotNewBDSEph(t_ephBDS eph) {
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109 | putNewEph(&eph, true);
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110 | }
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111 |
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112 | //
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113 | ////////////////////////////////////////////////////////////////////////////
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114 | t_irc bncEphUser::putNewEph(t_eph* eph, bool realTime) {
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115 |
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116 | QMutexLocker locker(&_mutex);
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117 |
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118 | if (eph == 0) {
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119 | return failure;
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120 | }
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121 |
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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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126 | const t_ephBDS* ephBDS = dynamic_cast<const t_ephBDS*>(eph);
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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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132 | }
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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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142 | else if (ephBDS) {
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143 | newEph = new t_ephBDS(*ephBDS);
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144 | }
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145 | else {
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146 | return failure;
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147 | }
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148 |
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149 | QString prn(newEph->prn().toInternalString().c_str());
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150 |
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151 | const t_eph* ephOld = ephLast(prn);
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152 |
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153 | if (ephOld &&
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154 | (ephOld->checkState() == t_eph::bad ||
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155 | ephOld->checkState() == t_eph::outdated ||
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156 | ephOld->checkState() == t_eph::unhealthy)) {
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157 | ephOld = 0;
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158 | }
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159 |
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160 | if (ephOld == 0 || newEph->isNewerThan(ephOld)) {
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161 | checkEphemeris(newEph, realTime);
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162 | eph->setCheckState(newEph->checkState());
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163 | }
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164 | else {
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165 | delete newEph;
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166 | return failure;
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167 | }
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168 |
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169 | if (newEph->checkState() != t_eph::bad &&
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170 | newEph->checkState() != t_eph::outdated) {
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171 | deque<t_eph*>& qq = _eph[prn];
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172 | if (qq.empty() ||
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173 | newEph->isNewerThan(qq.back())){
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174 | qq.push_back(newEph);
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175 | }
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176 | else {
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177 | delete newEph;
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178 | }
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179 | if (qq.size() > _maxQueueSize) {
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180 | delete qq.front();
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181 | qq.pop_front();
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182 | }
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183 | ephBufferChanged();
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184 | return success;
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185 | }
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186 | else {
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187 | delete newEph;
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188 | return failure;
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189 | }
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190 | }
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191 |
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192 | //
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193 | ////////////////////////////////////////////////////////////////////////////
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194 | void bncEphUser::checkEphemeris(t_eph* eph, bool realTime) {
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195 |
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196 | if (!eph) {
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197 | return;
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198 | }
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199 |
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200 | // Check health status
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201 | // -------------------
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202 | if (eph->isUnhealthy()) {
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203 | eph->setCheckState(t_eph::unhealthy);
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204 | return;
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205 | }
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206 |
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207 | // Simple Check - check satellite radial distance
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208 | // ----------------------------------------------
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209 | ColumnVector xc(6);
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210 | ColumnVector vv(3);
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211 | if (eph->getCrd(eph->TOC(), xc, vv, false) != success) {
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212 | eph->setCheckState(t_eph::bad);
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213 | return;
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214 | }
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215 | double rr = xc.Rows(1,3).NormFrobenius();
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216 |
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217 | const double MINDIST = 2.e7;
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218 | const double MAXDIST = 6.e7;
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219 | if (rr < MINDIST || rr > MAXDIST || std::isnan(rr)) {
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220 | eph->setCheckState(t_eph::bad);
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221 | return;
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222 | }
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223 |
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224 | // Check whether the epoch is too far away the current time
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225 | // --------------------------------------------------------
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226 | if (realTime) {
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227 | bncTime toc = eph->TOC();
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228 | QDateTime now = currentDateAndTimeGPS();
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229 | bncTime currentTime(now.toString(Qt::ISODate).toStdString());
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230 | double dt = currentTime - toc;
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231 |
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232 | // update interval: 2h, data sets are valid for 4 hours
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233 | if (eph->type() == t_eph::GPS && (dt > 4*3600.0 || dt < -2*3600.0)) {
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234 | eph->setCheckState(t_eph::outdated);
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235 | return;
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236 | }
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237 | // update interval: 3h, data sets are valid for 4 hours
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238 | else if (eph->type() == t_eph::Galileo && (dt > 4*3600.0 || dt < 0.0)) {
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239 | eph->setCheckState(t_eph::outdated);
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240 | return;
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241 | }
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242 | // updated every 30 minutes
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243 | else if (eph->type() == t_eph::GLONASS && (dt > 1*3600.0 || dt < -1800.0)) {
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244 | eph->setCheckState(t_eph::outdated);
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245 | return;
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246 | }
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247 | // orbit parameters are valid for 7200 seconds (minimum)
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248 | else if (eph->type() == t_eph::QZSS && (dt > 2*3600.0 || dt < -1*3600.0)) {
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249 | eph->setCheckState(t_eph::outdated);
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250 | return;
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251 | }
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252 | // maximum update interval: 300 sec
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253 | else if (eph->type() == t_eph::SBAS && (dt > 600 || dt < -300.0)) {
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254 | eph->setCheckState(t_eph::outdated);
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255 | return;
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256 | }
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257 | // updates 1h (GEO) up to 6 hours non-GEO
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258 | else if (eph->type() == t_eph::BDS && (dt > 6*3600 || dt < 0.0)) {
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259 | eph->setCheckState(t_eph::outdated);
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260 | return;
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261 | }
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262 | // update interval: up to 24 hours
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263 | else if (eph->type() == t_eph::IRNSS && fabs(dt > 24*3600.0)) {
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264 | eph->setCheckState(t_eph::outdated);
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265 | return;
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266 | }
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267 | }
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268 |
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269 | // Check consistency with older ephemeris
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270 | // --------------------------------------
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271 | const double MAXDIFF = 10.0;
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272 | const double MINDIFF = 0.005;
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273 | QString prn = QString(eph->prn().toInternalString().c_str());
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274 | t_eph* ephL = ephLast(prn);
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275 |
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276 | if (ephL) {
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277 | ColumnVector xcL(6);
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278 | ColumnVector vvL(3);
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279 | ephL->getCrd(eph->TOC(), xcL, vvL, false);
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280 | double dt = eph->TOC() - ephL->TOC();
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281 | if (dt < 0.0) {
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282 | dt += 604800.0;
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283 | }
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284 | double diff = (xc.Rows(1,3) - xcL.Rows(1,3)).NormFrobenius();
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285 | double diffC = fabs(xc(4) - xcL(4)) * t_CST::c;
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286 |
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287 | if (diff < MAXDIFF && diffC < MAXDIFF) {
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288 | if (diff < MINDIFF && diffC < MINDIFF && ephL->checkState() == t_eph::ok) {
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289 | // to prevent the same data sets with different TOC values
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290 | eph->setCheckState(t_eph::bad);
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291 | }
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292 | else {
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293 | eph->setCheckState(t_eph::ok);
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294 | ephL->setCheckState(t_eph::ok);
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295 | }
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296 | }
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297 | else {
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298 | if (ephL->checkState() == t_eph::ok) {
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299 | eph->setCheckState(t_eph::bad);
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300 | }
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301 | }
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302 | // some lines to allow update of ephemeris data sets after an outage
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303 | // update interval: 2h,
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304 | if (eph->type() == t_eph::GPS && dt > (2*3600.0 + 60.0)) {
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305 | ephL->setCheckState(t_eph::outdated);
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306 | return;
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307 | }
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308 | // update interval: 3h,
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309 | else if (eph->type() == t_eph::Galileo && dt > (3*3600.0 + 60.0)) {
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310 | ephL->setCheckState(t_eph::outdated);
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311 | return;
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312 | }
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313 | // updated every 30 minutes
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314 | else if (eph->type() == t_eph::GLONASS && dt > (1800.0 + 60.0)) {
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315 | ephL->setCheckState(t_eph::outdated);
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316 | return;
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317 | }
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318 | // updated every ?
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319 | else if (eph->type() == t_eph::QZSS && dt > (2*3600.0 + 60.0)) {
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320 | ephL->setCheckState(t_eph::outdated);
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321 | return;
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322 | }
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323 | // maximum update interval: 300 sec
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324 | else if (eph->type() == t_eph::SBAS && dt > ( 300.0)) {
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325 | ephL->setCheckState(t_eph::outdated);
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326 | return;
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327 | }
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328 | // updates 1h (GEO) up to 6 hours non-GEO
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329 | else if (eph->type() == t_eph::BDS && dt > 6*3600.0) {
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330 | ephL->setCheckState(t_eph::outdated);
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331 | return;
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332 | }
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333 | // update interval: up to 24 hours
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334 | else if (eph->type() == t_eph::IRNSS && dt > 24*3600.0) {
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335 | ephL->setCheckState(t_eph::outdated);
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336 | return;
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337 | }
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338 | }
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339 | }
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