source: ntrip/trunk/BNC/src/bncephuser.cpp@ 9380

Last change on this file since 9380 was 9380, checked in by stuerze, 16 months ago

prevent redundant output of unhealthy satellites

File size: 10.8 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 = 0;
157 }
158
159 if ( (ephOld == 0) || newEph->isNewerThan(ephOld)) {
160 checkEphemeris(newEph, realTime);
161 eph->setCheckState(newEph->checkState());
162 }
163 else {
164 delete newEph;
165 return failure;
166 }
167
168 if (newEph->checkState() != t_eph::bad &&
169 newEph->checkState() != t_eph::outdated) {
170 deque<t_eph*>& qq = _eph[prn];
171 qq.push_back(newEph);
172 if (qq.size() > _maxQueueSize) {
173 delete qq.front();
174 qq.pop_front();
175 }
176 ephBufferChanged();
177 return success;
178 }
179 else {
180 delete newEph;
181 return failure;
182 }
183}
184
185//
186////////////////////////////////////////////////////////////////////////////
187void bncEphUser::checkEphemeris(t_eph* eph, bool realTime) {
188
189 if (!eph) {
190 return;
191 }
192
193 // Check health status
194 // -------------------
195 if (eph->isUnhealthy()) {
196 eph->setCheckState(t_eph::unhealthy);
197 return;
198 }
199
200 // Simple Check - check satellite radial distance
201 // ----------------------------------------------
202 ColumnVector xc(6);
203 ColumnVector vv(3);
204 if (eph->getCrd(eph->TOC(), xc, vv, false) != success) {
205 eph->setCheckState(t_eph::bad);
206 return;
207 }
208 double rr = xc.Rows(1,3).NormFrobenius();
209
210 const double MINDIST = 2.e7;
211 const double MAXDIST = 6.e7;
212 if (rr < MINDIST || rr > MAXDIST || std::isnan(rr)) {
213 eph->setCheckState(t_eph::bad);
214 return;
215 }
216
217 // Check whether the epoch is too far away the current time
218 // --------------------------------------------------------
219 if (realTime) {
220 bncTime toc = eph->TOC();
221 QDateTime now = currentDateAndTimeGPS();
222 bncTime currentTime(now.toString(Qt::ISODate).toStdString());
223 double dt = currentTime - toc;
224
225 // update interval: 2h, data sets are valid for 4 hours
226 if (eph->type() == t_eph::GPS && (dt > 14400.0 || dt < -7200.0)) {
227 eph->setCheckState(t_eph::outdated);
228 return;
229 }
230 // update interval: 3h, data sets are valid for 4 hours
231 else if (eph->type() == t_eph::Galileo && (dt > 14400.0 || dt < 0.0)) {
232 eph->setCheckState(t_eph::outdated);
233 return;
234 }
235 // updated every 30 minutes + 5 min
236 else if (eph->type() == t_eph::GLONASS && (dt > 3900.0 || dt < -2100.0)) {
237 eph->setCheckState(t_eph::outdated);
238 return;
239 }
240 // orbit parameters are valid for 7200 seconds (minimum)
241 else if (eph->type() == t_eph::QZSS && (dt > 7200.0 || dt < -3600.0)) {
242 eph->setCheckState(t_eph::outdated);
243 return;
244 }
245 // maximum update interval: 300 sec
246 else if (eph->type() == t_eph::SBAS && (dt > 600.0 || dt < -600.0)) {
247 eph->setCheckState(t_eph::outdated);
248 return;
249 }
250 // updates 1h + 5 min
251 else if (eph->type() == t_eph::BDS && (dt > 3900.0 || dt < 0.0)) {
252 eph->setCheckState(t_eph::outdated);
253 return;
254 }
255 // update interval: up to 24 hours
256 else if (eph->type() == t_eph::IRNSS && fabs(dt > 86400.0)) {
257 eph->setCheckState(t_eph::outdated);
258 return;
259 }
260 }
261
262 // Check consistency with older ephemeris
263 // --------------------------------------
264 const double MAXDIFF_INIT = 10.0;
265 const double MINDIFF = 0.005;
266 QString prn = QString(eph->prn().toInternalString().c_str());
267 t_eph* ephL = ephLast(prn);
268
269 // maxdiff adapted to individual systems
270 char sys = eph->prn().system();
271 double MAXDIFF = MAXDIFF_INIT;
272 if (sys == 'C' ||
273 sys == 'S' ) {
274 MAXDIFF *= 10.0;
275 }
276
277 if (ephL) {
278 ColumnVector xcL(6);
279 ColumnVector vvL(3);
280 ephL->getCrd(eph->TOC(), xcL, vvL, false);
281
282 double diff = (xc.Rows(1,3) - xcL.Rows(1,3)).NormFrobenius();
283 double diffC = fabs(xc(4) - xcL(4)) * t_CST::c;
284
285 if (diff < MAXDIFF && diffC < MAXDIFF) {
286 if (diff < MINDIFF && diffC < MINDIFF &&
287 ephL->checkState() == t_eph::ok) {
288 // to prevent the same data sets with different TOC values
289 eph->setCheckState(t_eph::bad);
290 }
291 else {
292 eph->setCheckState(t_eph::ok);
293 ephL->setCheckState(t_eph::ok);
294 }
295 }
296 else {
297 if (ephL->checkState() == t_eph::ok) {
298 eph->setCheckState(t_eph::bad);
299 }
300 }
301
302 // some lines to allow update of ephemeris data sets after an outage
303 // -----------------------------------------------------------------
304 double dt = eph->TOC() - ephL->TOC();
305
306 // update interval: 2h
307 if (eph->type() == t_eph::GPS && dt > 3600.0) {
308 ephL->setCheckState(t_eph::outdated);
309 return;
310 }
311 // update interval: 3h
312 else if (eph->type() == t_eph::Galileo && dt > 10800.0) {
313 ephL->setCheckState(t_eph::outdated);
314 return;
315 }
316 // updated every 30 minutes + 5 min
317 else if (eph->type() == t_eph::GLONASS && dt > 2100.0) {
318 ephL->setCheckState(t_eph::outdated);
319 return;
320 }
321 // updated every ?
322 else if (eph->type() == t_eph::QZSS && dt > 3600.0) {
323 ephL->setCheckState(t_eph::outdated);
324 return;
325 }
326 // maximum update interval: 300 sec
327 else if (eph->type() == t_eph::SBAS && dt > 600.0) {
328 ephL->setCheckState(t_eph::outdated);
329 return;
330 }
331 // updates 1h + 5 min
332 else if (eph->type() == t_eph::BDS && dt > 3900.0) {
333 ephL->setCheckState(t_eph::outdated);
334 return;
335 }
336 // update interval: up to 24 hours
337 else if (eph->type() == t_eph::IRNSS && dt > 86400.0) {
338 ephL->setCheckState(t_eph::outdated);
339 return;
340 }
341 }
342}
343
344/*
345////////////////////////////////////////////////////////////////////////////
346bool bncEphUser::newCorrectedGpsEphSet(const t_eph* eph) {
347
348 if (eph->prn().system() != 'G') {
349 return false;
350 }
351
352 bool correctedGpsEphSet = false;
353 if ((fmod(eph->TOC().daysec()+16.0, 7200) == 0.0)) {
354 // sometimes corrected BRDC sets are sent with TOC values 16 seconds
355 // before the nominal TOC (integer time)
356 correctedGpsEphSet = true;
357 } else {
358 return false;
359 }
360
361 QString prn = QString(eph->prn().toInternalString().c_str());
362 t_eph* ephL = ephLast(prn);
363 if (!ephL) {
364 // first set is a corrected set for GPS
365 if (correctedGpsEphSet) {
366 return true;
367 }
368 else {
369 return false;
370 }
371 }
372 else {
373 double dt = eph->TOC() - ephL->TOC();
374 if (correctedGpsEphSet) {
375 // set already available
376 if (dt == 0.0) {
377 return false;
378 }
379 else {
380 return true;
381 }
382 }
383 }
384
385 return false;
386}*/
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