source: ntrip/trunk/BNC/src/bncephuser.cpp@ 9297

Last change on this file since 9297 was 9297, checked in by stuerze, 3 years ago

small bug fixed
File size: 9.9 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 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 }
176 else {
177 delete newEph;
178 }
179 if (qq.size() > _maxQueueSize) {
180 delete qq.front();
181 qq.pop_front();
182 }
183 ephBufferChanged();
184 return success;
185 }
186 else {
187 delete newEph;
188 return failure;
189 }
190}
191
192//
193////////////////////////////////////////////////////////////////////////////
194void bncEphUser::checkEphemeris(t_eph* eph, bool realTime) {
195
196 if (!eph) {
197 return;
198 }
199
200 // Check health status
201 // -------------------
202 if (eph->isUnhealthy()) {
203 eph->setCheckState(t_eph::unhealthy);
204 return;
205 }
206
207 // Simple Check - check satellite radial distance
208 // ----------------------------------------------
209 ColumnVector xc(6);
210 ColumnVector vv(3);
211 if (eph->getCrd(eph->TOC(), xc, vv, false) != success) {
212 eph->setCheckState(t_eph::bad);
213 return;
214 }
215 double rr = xc.Rows(1,3).NormFrobenius();
216
217 const double MINDIST = 2.e7;
218 const double MAXDIST = 6.e7;
219 if (rr < MINDIST || rr > MAXDIST || std::isnan(rr)) {
220 eph->setCheckState(t_eph::bad);
221 return;
222 }
223
224 // Check whether the epoch is too far away the current time
225 // --------------------------------------------------------
226 if (realTime) {
227 bncTime toc = eph->TOC();
228 QDateTime now = currentDateAndTimeGPS();
229 bncTime currentTime(now.toString(Qt::ISODate).toStdString());
230 double dt = currentTime - toc;
231
232 // update interval: 2h, data sets are valid for 4 hours
233 if (eph->type() == t_eph::GPS && (dt > 4*3600.0 || dt < -2*3600.0)) {
234 eph->setCheckState(t_eph::outdated);
235 return;
236 }
237 // update interval: 3h, data sets are valid for 4 hours
238 else if (eph->type() == t_eph::Galileo && (dt > 4*3600.0 || dt < 0.0)) {
239 eph->setCheckState(t_eph::outdated);
240 return;
241 }
242 // updated every 30 minutes
243 else if (eph->type() == t_eph::GLONASS && (dt > 1*3600.0 || dt < -1800.0)) {
244 eph->setCheckState(t_eph::outdated);
245 return;
246 }
247 // orbit parameters are valid for 7200 seconds (minimum)
248 else if (eph->type() == t_eph::QZSS && (dt > 2*3600.0 || dt < -1*3600.0)) {
249 eph->setCheckState(t_eph::outdated);
250 return;
251 }
252 // maximum update interval: 300 sec
253 else if (eph->type() == t_eph::SBAS && (dt > 600 || dt < -300.0)) {
254 eph->setCheckState(t_eph::outdated);
255 return;
256 }
257 // updates 1h (GEO) up to 6 hours non-GEO
258 else if (eph->type() == t_eph::BDS && (dt > 6*3600 || dt < 0.0)) {
259 eph->setCheckState(t_eph::outdated);
260 return;
261 }
262 // update interval: up to 24 hours
263 else if (eph->type() == t_eph::IRNSS && fabs(dt > 24*3600.0)) {
264 eph->setCheckState(t_eph::outdated);
265 return;
266 }
267 }
268
269 // Check consistency with older ephemeris
270 // --------------------------------------
271 const double MAXDIFF = 10.0;
272 const double MINDIFF = 0.005;
273 QString prn = QString(eph->prn().toInternalString().c_str());
274 t_eph* ephL = ephLast(prn);
275
276 if (ephL) {
277 ColumnVector xcL(6);
278 ColumnVector vvL(3);
279 ephL->getCrd(eph->TOC(), xcL, vvL, false);
280 double dt = eph->TOC() - ephL->TOC();
281 if (dt < 0.0) {
282 dt += 604800.0;
283 }
284 double diff = (xc.Rows(1,3) - xcL.Rows(1,3)).NormFrobenius();
285 double diffC = fabs(xc(4) - xcL(4)) * t_CST::c;
286
287 if (diff < MAXDIFF && diffC < MAXDIFF) {
288 if (diff < MINDIFF && diffC < MINDIFF && ephL->checkState() == t_eph::ok) {
289 // to prevent the same data sets with different TOC values
290 eph->setCheckState(t_eph::bad);
291 }
292 else {
293 eph->setCheckState(t_eph::ok);
294 ephL->setCheckState(t_eph::ok);
295 }
296 }
297 else {
298 if (ephL->checkState() == t_eph::ok) {
299 eph->setCheckState(t_eph::bad);
300 }
301 }
302 // some lines to allow update of ephemeris data sets after an outage
303 // update interval: 2h,
304 if (eph->type() == t_eph::GPS && dt > (2*3600.0 + 60.0)) {
305 ephL->setCheckState(t_eph::outdated);
306 return;
307 }
308 // update interval: 3h,
309 else if (eph->type() == t_eph::Galileo && dt > (3*3600.0 + 60.0)) {
310 ephL->setCheckState(t_eph::outdated);
311 return;
312 }
313 // updated every 30 minutes
314 else if (eph->type() == t_eph::GLONASS && dt > (1800.0 + 60.0)) {
315 ephL->setCheckState(t_eph::outdated);
316 return;
317 }
318 // updated every ?
319 else if (eph->type() == t_eph::QZSS && dt > (2*3600.0 + 60.0)) {
320 ephL->setCheckState(t_eph::outdated);
321 return;
322 }
323 // maximum update interval: 300 sec
324 else if (eph->type() == t_eph::SBAS && dt > ( 300.0)) {
325 ephL->setCheckState(t_eph::outdated);
326 return;
327 }
328 // updates 1h (GEO) up to 6 hours non-GEO
329 else if (eph->type() == t_eph::BDS && dt > 6*3600.0) {
330 ephL->setCheckState(t_eph::outdated);
331 return;
332 }
333 // update interval: up to 24 hours
334 else if (eph->type() == t_eph::IRNSS && dt > 24*3600.0) {
335 ephL->setCheckState(t_eph::outdated);
336 return;
337 }
338 }
339}
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