source: ntrip/trunk/BNC/src/bncephuser.cpp@ 9488

Last change on this file since 9488 was 9488, checked in by stuerze, 3 months ago

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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) || eph->isNewerThan(ephOld)) {
160 checkEphemeris(eph, realTime);
161 }
162 else {
163 delete newEph;
164 return failure;
165 }
166
167 if (eph->checkState() != t_eph::bad &&
168 eph->checkState() != t_eph::outdated) {
169 deque<t_eph*>& qq = _eph[prn];
170 newEph->setCheckState(eph->checkState());
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 if (outDatedBcep(eph)) {
221 eph->setCheckState(t_eph::outdated);
222 return;
223 }
224 }
225
226 // Check consistency with older ephemeris
227 // --------------------------------------
228 const double MAXDIFF_INIT = 10.0;
229 const double MINDIFF = 0.005;
230 QString prn = QString(eph->prn().toInternalString().c_str());
231 t_eph* ephL = ephLast(prn);
232
233 // maxdiff adapted to individual systems
234 char sys = eph->prn().system();
235 double MAXDIFF = MAXDIFF_INIT;
236 if (sys == 'C' ||
237 sys == 'S' ) {
238 MAXDIFF *= 10.0;
239 }
240
241 if (ephL) {
242 ColumnVector xcL(6);
243 ColumnVector vvL(3);
244 ephL->getCrd(eph->TOC(), xcL, vvL, false);
245
246 double diff = (xc.Rows(1,3) - xcL.Rows(1,3)).NormFrobenius();
247 double diffC = fabs(xc(4) - xcL(4)) * t_CST::c;
248
249 if (diff < MAXDIFF && diffC < MAXDIFF) {
250 if (diff < MINDIFF && diffC < MINDIFF &&
251 ephL->checkState() == t_eph::ok) {
252 // to prevent the same data sets with different TOC values
253 eph->setCheckState(t_eph::bad);
254 }
255 else {
256 eph->setCheckState(t_eph::ok);
257 ephL->setCheckState(t_eph::ok);
258 }
259 }
260 else {
261 if (ephL->checkState() == t_eph::ok) {
262 eph->setCheckState(t_eph::bad);
263 }
264 }
265
266 // some lines to allow update of ephemeris data sets after an outage
267 // -----------------------------------------------------------------
268 double dt = eph->TOC() - ephL->TOC();
269
270 // update interval: 2h
271 if (eph->type() == t_eph::GPS && dt > 7200.0) {
272 ephL->setCheckState(t_eph::outdated);
273 return;
274 }
275 // update interval: 3h
276 else if (eph->type() == t_eph::Galileo && dt > 10800.0) {
277 ephL->setCheckState(t_eph::outdated);
278 return;
279 }
280 // updated every 30 minutes + 5 min
281 else if (eph->type() == t_eph::GLONASS && dt > 2100.0) {
282 ephL->setCheckState(t_eph::outdated);
283 return;
284 }
285 // updated every ?
286 else if (eph->type() == t_eph::QZSS && dt > 3600.0) {
287 ephL->setCheckState(t_eph::outdated);
288 return;
289 }
290 // maximum update interval: 300 sec
291 else if (eph->type() == t_eph::SBAS && dt > 600.0) {
292 ephL->setCheckState(t_eph::outdated);
293 return;
294 }
295 // updates 1h + 5 min
296 else if (eph->type() == t_eph::BDS && dt > 3900.0) {
297 ephL->setCheckState(t_eph::outdated);
298 return;
299 }
300 // update interval: up to 24 hours
301 else if (eph->type() == t_eph::IRNSS && dt > 86400.0) {
302 ephL->setCheckState(t_eph::outdated);
303 return;
304 }
305 }
306}
307
308/*
309////////////////////////////////////////////////////////////////////////////
310bool bncEphUser::newCorrectedGpsEphSet(const t_eph* eph) {
311
312 if (eph->prn().system() != 'G') {
313 return false;
314 }
315
316 bool correctedGpsEphSet = false;
317 if ((fmod(eph->TOC().daysec()+16.0, 7200) == 0.0)) {
318 // sometimes corrected BRDC sets are sent with TOC values 16 seconds
319 // before the nominal TOC (integer time)
320 correctedGpsEphSet = true;
321 } else {
322 return false;
323 }
324
325 QString prn = QString(eph->prn().toInternalString().c_str());
326 t_eph* ephL = ephLast(prn);
327 if (!ephL) {
328 // first set is a corrected set for GPS
329 if (correctedGpsEphSet) {
330 return true;
331 }
332 else {
333 return false;
334 }
335 }
336 else {
337 double dt = eph->TOC() - ephL->TOC();
338 if (correctedGpsEphSet) {
339 // set already available
340 if (dt == 0.0) {
341 return false;
342 }
343 else {
344 return true;
345 }
346 }
347 }
348
349 return false;
350}*/
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