source: ntrip/trunk/BNC/src/bncephuser.cpp@ 9926

Last change on this file since 9926 was 9926, checked in by stuerze, 18 months ago
File size: 8.7 KB
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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 cout << "\n" << eph->prn().toString().c_str() << " ";
193
194 // Check whether the epoch is too far away the current time
195 // --------------------------------------------------------
196 if (realTime) {
197 if (outDatedBcep(eph)) {
198 eph->setCheckState(t_eph::outdated);
199 return;
200 }
201 }
202
203 // Check health status
204 // -------------------
205 if (eph->isUnhealthy()) {
206 eph->setCheckState(t_eph::unhealthy);
207 return;
208 }
209
210 // Simple Check - check satellite radial distance
211 // ----------------------------------------------
212 ColumnVector xc(6);
213 ColumnVector vv(3);
214 if (eph->getCrd(eph->TOC(), xc, vv, false) != success) {
215 eph->setCheckState(t_eph::bad); cout << "eph->getCrd() != success: bad ";
216 return;
217 }
218 double rr = xc.Rows(1,3).NormFrobenius();
219
220 const double MINDIST = 2.e7;
221 const double MAXDIST = 6.e7;
222 if (rr < MINDIST || rr > MAXDIST || std::isnan(rr)) {
223 eph->setCheckState(t_eph::bad); cout << " eph MIN/MAXDIST: bad ";
224 return;
225 }
226
227 // Check consistency with older ephemeris
228 // --------------------------------------
229 const double MAXDIFF_INIT = 10.0;
230 const double MINDIFF = 0.005;
231 QString prn = QString(eph->prn().toInternalString().c_str());
232 t_eph* ephL = ephLast(prn);
233
234 // maxdiff adapted to individual systems
235 char sys = eph->prn().system();
236 double MAXDIFF = MAXDIFF_INIT;
237 if (sys == 'C' ||
238 sys == 'S' ) {
239 MAXDIFF *= 10.0;
240 }
241
242 if (ephL) {
243 ColumnVector xcL(6);
244 ColumnVector vvL(3);
245 if (ephL->getCrd(eph->TOC(), xcL, vvL, false) != success) {
246 eph->setCheckState(t_eph::bad); cout << " ephL->getCrd() != success: bad " ;
247 return;
248 }
249
250 double diff = (xc.Rows(1,3) - xcL.Rows(1,3)).NormFrobenius();
251 double diffC = fabs(xc(4) - xcL(4)) * t_CST::c;
252
253 if (diff < MAXDIFF &&
254 diffC < MAXDIFF) {
255 if (diff < MINDIFF &&
256 diffC < MINDIFF &&
257 ephL->checkState() == t_eph::ok) {
258 // to prevent the same data sets with different TOC values
259 eph->setCheckState(t_eph::bad);
260 }
261 else {
262 eph->setCheckState(t_eph::ok);
263 ephL->setCheckState(t_eph::ok);
264 }
265 }
266 else {
267 if (ephL->checkState() == t_eph::ok) {
268 eph->setCheckState(t_eph::bad);
269 }
270 }
271
272 // some lines to allow update of ephemeris data sets after an outage
273 // -----------------------------------------------------------------
274 double dt = eph->TOC() - ephL->TOC();
275
276 // update interval: 2h
277 if (eph->type() == t_eph::GPS && dt > 7200.0) {
278 ephL->setCheckState(t_eph::outdated);
279 return;
280 }
281 // update interval: 3h
282 else if (eph->type() == t_eph::Galileo && dt > 10800.0) {
283 ephL->setCheckState(t_eph::outdated);
284 return;
285 }
286 // updated every 30 minutes + 5 min
287 else if (eph->type() == t_eph::GLONASS && dt > 2100.0) {
288 ephL->setCheckState(t_eph::outdated);
289 return;
290 }
291 // updated every ?
292 else if (eph->type() == t_eph::QZSS && dt > 3600.0) {
293 ephL->setCheckState(t_eph::outdated);
294 return;
295 }
296 // maximum update interval: 300 sec
297 else if (eph->type() == t_eph::SBAS && dt > 600.0) {
298 ephL->setCheckState(t_eph::outdated);
299 return;
300 }
301 // updates 1h + 5 min
302 else if (eph->type() == t_eph::BDS && dt > 3900.0) {
303 ephL->setCheckState(t_eph::outdated);
304 return;
305 }
306 // update interval: up to 24 hours
307 else if (eph->type() == t_eph::IRNSS && dt > 86400.0) {
308 ephL->setCheckState(t_eph::outdated);
309 return;
310 }
311 }
312}
313
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