[1025] | 1 | #include <sstream>
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[2234] | 2 | #include <iostream>
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[1025] | 3 | #include <iomanip>
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[1239] | 4 | #include <cstring>
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[1025] | 5 |
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[2234] | 6 | #include <newmatio.h>
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| 7 |
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[1025] | 8 | #include "ephemeris.h"
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[2221] | 9 | #include "bncutils.h"
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[2285] | 10 | #include "bnctime.h"
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[5070] | 11 | #include "bnccore.h"
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[5839] | 12 | #include "bncutils.h"
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[6141] | 13 | #include "satObs.h"
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[6044] | 14 | #include "pppInclude.h"
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[6400] | 15 | #include "pppModel.h"
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[10533] | 16 | #include "RTCM3/bits.h"
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[1025] | 17 |
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| 18 | using namespace std;
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| 19 |
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[5749] | 20 | // Constructor
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| 21 | ////////////////////////////////////////////////////////////////////////////
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| 22 | t_eph::t_eph() {
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[6518] | 23 | _checkState = unchecked;
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[9765] | 24 | _navType = undefined;
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[6518] | 25 | _orbCorr = 0;
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| 26 | _clkCorr = 0;
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[5749] | 27 | }
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[7278] | 28 | // Destructor
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| 29 | ////////////////////////////////////////////////////////////////////////////
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| 30 | t_eph::~t_eph() {
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| 31 | if (_orbCorr)
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| 32 | delete _orbCorr;
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| 33 | if (_clkCorr)
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| 34 | delete _clkCorr;
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| 35 | }
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[5749] | 36 |
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[7481] | 37 | //
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[5749] | 38 | ////////////////////////////////////////////////////////////////////////////
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[6141] | 39 | void t_eph::setOrbCorr(const t_orbCorr* orbCorr) {
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[7888] | 40 | if (_orbCorr) {
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| 41 | delete _orbCorr;
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| 42 | _orbCorr = 0;
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| 43 | }
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[6141] | 44 | _orbCorr = new t_orbCorr(*orbCorr);
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[5749] | 45 | }
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| 46 |
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[7481] | 47 | //
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[5749] | 48 | ////////////////////////////////////////////////////////////////////////////
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[6141] | 49 | void t_eph::setClkCorr(const t_clkCorr* clkCorr) {
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[7888] | 50 | if (_clkCorr) {
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| 51 | delete _clkCorr;
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| 52 | _clkCorr = 0;
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| 53 | }
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[6141] | 54 | _clkCorr = new t_clkCorr(*clkCorr);
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[5749] | 55 | }
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| 56 |
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[7481] | 57 | //
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[5749] | 58 | ////////////////////////////////////////////////////////////////////////////
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[6109] | 59 | t_irc t_eph::getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const {
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[6518] | 60 |
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[8419] | 61 | if (_checkState == bad ||
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[8618] | 62 | _checkState == unhealthy ||
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| 63 | _checkState == outdated) {
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[6518] | 64 | return failure;
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| 65 | }
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[8903] | 66 |
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[8542] | 67 | xc.ReSize(6);
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[5749] | 68 | vv.ReSize(3);
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[6213] | 69 | if (position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data()) != success) {
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| 70 | return failure;
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| 71 | }
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[5789] | 72 | if (useCorr) {
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[5839] | 73 | if (_orbCorr && _clkCorr) {
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[5849] | 74 | double dtO = tt - _orbCorr->_time;
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[6556] | 75 | if (_orbCorr->_updateInt) {
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[8903] | 76 | dtO -= (0.5 * ssrUpdateInt[_orbCorr->_updateInt]);
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[6556] | 77 | }
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[5839] | 78 | ColumnVector dx(3);
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[5849] | 79 | dx[0] = _orbCorr->_xr[0] + _orbCorr->_dotXr[0] * dtO;
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| 80 | dx[1] = _orbCorr->_xr[1] + _orbCorr->_dotXr[1] * dtO;
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| 81 | dx[2] = _orbCorr->_xr[2] + _orbCorr->_dotXr[2] * dtO;
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| 82 |
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[7133] | 83 | RSW_to_XYZ(xc.Rows(1,3), vv.Rows(1,3), dx, dx);
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[5849] | 84 |
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[5839] | 85 | xc[0] -= dx[0];
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| 86 | xc[1] -= dx[1];
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| 87 | xc[2] -= dx[2];
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[5849] | 88 |
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[7133] | 89 | ColumnVector dv(3);
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| 90 | RSW_to_XYZ(xc.Rows(1,3), vv.Rows(1,3), _orbCorr->_dotXr, dv);
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| 91 |
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| 92 | vv[0] -= dv[0];
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| 93 | vv[1] -= dv[1];
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| 94 | vv[2] -= dv[2];
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| 95 |
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[5849] | 96 | double dtC = tt - _clkCorr->_time;
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[6556] | 97 | if (_clkCorr->_updateInt) {
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[8903] | 98 | dtC -= (0.5 * ssrUpdateInt[_clkCorr->_updateInt]);
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[6556] | 99 | }
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[7014] | 100 | xc[3] += _clkCorr->_dClk + _clkCorr->_dotDClk * dtC + _clkCorr->_dotDotDClk * dtC * dtC;
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[5839] | 101 | }
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| 102 | else {
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| 103 | return failure;
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| 104 | }
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[5749] | 105 | }
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| 106 | return success;
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| 107 | }
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| 108 |
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[9765] | 109 |
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[6801] | 110 | //
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| 111 | //////////////////////////////////////////////////////////////////////////////
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[9765] | 112 | t_irc t_eph::setNavType(QString navTypeStr) {
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[10317] | 113 | if (navTypeStr == "LNAV") {
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| 114 | _navType = t_eph::LNAV;
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| 115 | }
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| 116 | else if (navTypeStr == "FDMA") {
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| 117 | _navType = t_eph::FDMA;
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| 118 | }
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| 119 | else if (navTypeStr == "FNAV") {
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| 120 | _navType = t_eph::FNAV;
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| 121 | }
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| 122 | else if (navTypeStr == "INAV") {
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| 123 | _navType = t_eph::INAF;
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| 124 | }
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| 125 | else if (navTypeStr == "D1") {
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| 126 | _navType = t_eph::D1;
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| 127 | }
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| 128 | else if (navTypeStr == "D2") {
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| 129 | _navType = t_eph::D2;
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| 130 | }
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| 131 | else if (navTypeStr == "SBAS") {
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| 132 | _navType = t_eph::SBASL1;
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| 133 | }
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| 134 | else if (navTypeStr == "CNAV") {
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| 135 | _navType = t_eph::CNAV;
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| 136 | }
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| 137 | else if (navTypeStr == "CNV1") {
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| 138 | _navType = t_eph::CNV1;
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| 139 | }
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| 140 | else if (navTypeStr == "CNV2") {
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| 141 | _navType = t_eph::CNV2;
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| 142 | }
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| 143 | else if (navTypeStr == "CNV3") {
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| 144 | _navType = t_eph::CNV3;
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| 145 | }
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| 146 | else {
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| 147 | _navType = t_eph::undefined;
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| 148 | return failure;
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| 149 | }
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[9765] | 150 |
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| 151 | return success;
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| 152 | }
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| 153 |
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| 154 | //
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| 155 | //////////////////////////////////////////////////////////////////////////////
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| 156 | QString t_eph::navTypeString(e_navType navType, const t_prn& prn, double version) {
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| 157 | QString navTypeString = "";
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| 158 | QString epochStart;
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| 159 | QString eolStr;
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| 160 |
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| 161 | if (version < 4.0) {
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| 162 | return navTypeString;
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| 163 | }
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| 164 |
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| 165 | if (version == 99.0) {
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| 166 | epochStart = "";
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| 167 | eolStr = "";
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| 168 | }
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| 169 | else {
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| 170 | epochStart = "> ";
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| 171 | eolStr = "\n";
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| 172 | }
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| 173 |
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| 174 | QString ephStr = QString("EPH %1 ").arg(prn.toString().c_str());
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| 175 | switch (navType) {
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| 176 | case undefined:
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| 177 | navTypeString = epochStart + ephStr + "unknown" + eolStr;
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| 178 | break;
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| 179 | case LNAV:
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| 180 | navTypeString = epochStart + ephStr + "LNAV" + eolStr;
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| 181 | break;
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| 182 | case FDMA:
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| 183 | navTypeString = epochStart + ephStr + "FDMA" + eolStr;
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| 184 | break;
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| 185 | case FNAV:
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| 186 | navTypeString = epochStart + ephStr + "FNAV" + eolStr;
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| 187 | break;
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| 188 | case INAF:
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| 189 | navTypeString = epochStart + ephStr + "INAV" + eolStr;
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| 190 | break;
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| 191 | case D1:
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[9774] | 192 | navTypeString = epochStart + ephStr + "D1 " + eolStr;
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[9765] | 193 | break;
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| 194 | case D2:
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[9774] | 195 | navTypeString = epochStart + ephStr + "D2 " + eolStr;
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[9765] | 196 | break;
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| 197 | case SBASL1:
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| 198 | navTypeString = epochStart + ephStr + "SBAS" + eolStr;
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| 199 | break;
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| 200 | case CNAV:
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| 201 | navTypeString = epochStart + ephStr + "CNAV" + eolStr;
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| 202 | break;
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| 203 | case CNV1:
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| 204 | navTypeString = epochStart + ephStr + "CNV1" + eolStr;
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| 205 | break;
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| 206 | case CNV2:
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| 207 | navTypeString = epochStart + ephStr + "CNV2" + eolStr;
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| 208 | break;
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| 209 | case CNV3:
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| 210 | navTypeString = epochStart + ephStr + "CNV3" + eolStr;
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| 211 | break;
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| 212 | }
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| 213 | return navTypeString;
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| 214 | }
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| 215 |
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| 216 | //
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| 217 | //////////////////////////////////////////////////////////////////////////////
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[6801] | 218 | QString t_eph::rinexDateStr(const bncTime& tt, const t_prn& prn, double version) {
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| 219 | QString prnStr(prn.toString().c_str());
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| 220 | return rinexDateStr(tt, prnStr, version);
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| 221 | }
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| 222 |
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| 223 | //
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| 224 | //////////////////////////////////////////////////////////////////////////////
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| 225 | QString t_eph::rinexDateStr(const bncTime& tt, const QString& prnStr, double version) {
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| 226 |
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| 227 | QString datStr;
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| 228 |
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| 229 | unsigned year, month, day, hour, min;
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| 230 | double sec;
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| 231 | tt.civil_date(year, month, day);
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| 232 | tt.civil_time(hour, min, sec);
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| 233 |
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| 234 | QTextStream out(&datStr);
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| 235 |
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| 236 | if (version < 3.0) {
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| 237 | QString prnHlp = prnStr.mid(1,2); if (prnHlp[0] == '0') prnHlp[0] = ' ';
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| 238 | out << prnHlp << QString(" %1 %2 %3 %4 %5%6")
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| 239 | .arg(year % 100, 2, 10, QChar('0'))
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| 240 | .arg(month, 2)
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| 241 | .arg(day, 2)
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| 242 | .arg(hour, 2)
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| 243 | .arg(min, 2)
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| 244 | .arg(sec, 5, 'f',1);
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| 245 | }
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[9765] | 246 | else if (version == 99) {
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| 247 | out << QString(" %1 %2 %3 %4 %5 %6")
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| 248 | .arg(year, 4)
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| 249 | .arg(month, 2, 10, QChar('0'))
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| 250 | .arg(day, 2, 10, QChar('0'))
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| 251 | .arg(hour, 2, 10, QChar('0'))
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| 252 | .arg(min, 2, 10, QChar('0'))
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| 253 | .arg(int(sec), 2, 10, QChar('0'));
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| 254 | }
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[6801] | 255 | else {
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| 256 | out << prnStr << QString(" %1 %2 %3 %4 %5 %6")
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| 257 | .arg(year, 4)
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| 258 | .arg(month, 2, 10, QChar('0'))
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| 259 | .arg(day, 2, 10, QChar('0'))
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| 260 | .arg(hour, 2, 10, QChar('0'))
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| 261 | .arg(min, 2, 10, QChar('0'))
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| 262 | .arg(int(sec), 2, 10, QChar('0'));
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| 263 | }
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| 264 |
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| 265 | return datStr;
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| 266 | }
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| 267 |
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| 268 | // Constructor
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| 269 | //////////////////////////////////////////////////////////////////////////////
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[9367] | 270 | t_ephGPS::t_ephGPS(double rnxVersion, const QStringList& lines) {
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[6801] | 271 |
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[9786] | 272 | int nLines = 8;
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[6801] | 273 |
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[9786] | 274 | if (navType() == t_eph::CNAV) {
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| 275 | nLines += 1;
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| 276 | }
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[9788] | 277 | if (navType() == t_eph::CNV2) {
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[9786] | 278 | nLines += 2;
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| 279 | }
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| 280 |
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[6801] | 281 | if (lines.size() != nLines) {
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| 282 | _checkState = bad;
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| 283 | return;
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| 284 | }
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| 285 |
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| 286 | // RINEX Format
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| 287 | // ------------
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| 288 | int fieldLen = 19;
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| 289 |
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| 290 | int pos[4];
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| 291 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
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| 292 | pos[1] = pos[0] + fieldLen;
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| 293 | pos[2] = pos[1] + fieldLen;
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| 294 | pos[3] = pos[2] + fieldLen;
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| 295 |
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| 296 | // Read eight lines
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| 297 | // ----------------
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| 298 | for (int iLine = 0; iLine < nLines; iLine++) {
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| 299 | QString line = lines[iLine];
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| 300 |
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| 301 | if ( iLine == 0 ) {
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[8204] | 302 | QTextStream in(line.left(pos[1]).toLatin1());
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[6801] | 303 | int year, month, day, hour, min;
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| 304 | double sec;
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| 305 |
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[7139] | 306 | QString prnStr, n;
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[6880] | 307 | in >> prnStr;
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[7639] | 308 |
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| 309 | if (prnStr.size() == 1 &&
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[8168] | 310 | (prnStr[0] == 'G' ||
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| 311 | prnStr[0] == 'J' ||
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| 312 | prnStr[0] == 'I')) {
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[7139] | 313 | in >> n;
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| 314 | prnStr.append(n);
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[6880] | 315 | }
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[7639] | 316 |
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[6880] | 317 | in >> year >> month >> day >> hour >> min >> sec;
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[6801] | 318 | if (prnStr.at(0) == 'G') {
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| 319 | _prn.set('G', prnStr.mid(1).toInt());
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| 320 | }
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| 321 | else if (prnStr.at(0) == 'J') {
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| 322 | _prn.set('J', prnStr.mid(1).toInt());
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| 323 | }
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[8168] | 324 | else if (prnStr.at(0) == 'I') {
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| 325 | _prn.set('I', prnStr.mid(1).toInt());
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| 326 | }
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[6801] | 327 | else {
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| 328 | _prn.set('G', prnStr.toInt());
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| 329 | }
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| 330 |
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| 331 | if (year < 80) {
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| 332 | year += 2000;
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| 333 | }
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| 334 | else if (year < 100) {
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| 335 | year += 1900;
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| 336 | }
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| 337 |
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| 338 | _TOC.set(year, month, day, hour, min, sec);
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| 339 |
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[9786] | 340 | if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
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[6801] | 341 | readDbl(line, pos[2], fieldLen, _clock_drift ) ||
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| 342 | readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
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| 343 | _checkState = bad;
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| 344 | return;
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| 345 | }
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| 346 | }
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[9786] | 347 | // =====================
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| 348 | // BROADCAST ORBIT - 1
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| 349 | // =====================
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| 350 | else if ( iLine == 1) {
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[6801] | 351 |
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[9786] | 352 | if (navType() == t_eph::CNAV ||
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| 353 | navType() == t_eph::CNV2) {
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| 354 | if ( readDbl(line, pos[0], fieldLen, _ADOT ) ||
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| 355 | readDbl(line, pos[1], fieldLen, _Crs ) ||
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| 356 | readDbl(line, pos[2], fieldLen, _Delta_n) ||
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| 357 | readDbl(line, pos[3], fieldLen, _M0 ) ) {
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| 358 | _checkState = bad;
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| 359 | return;
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| 360 | }
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[6801] | 361 | }
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[9786] | 362 | else { // LNAV, undefined
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| 363 | if ( readDbl(line, pos[0], fieldLen, _IODE ) ||
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| 364 | readDbl(line, pos[1], fieldLen, _Crs ) ||
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| 365 | readDbl(line, pos[2], fieldLen, _Delta_n) ||
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| 366 | readDbl(line, pos[3], fieldLen, _M0 ) ) {
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| 367 | _checkState = bad;
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| 368 | return;
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| 369 | }
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| 370 | }
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[6801] | 371 | }
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[9786] | 372 | // =====================
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| 373 | // BROADCAST ORBIT - 2
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| 374 | // =====================
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[6801] | 375 | else if ( iLine == 2 ) {
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| 376 | if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
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| 377 | readDbl(line, pos[1], fieldLen, _e ) ||
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| 378 | readDbl(line, pos[2], fieldLen, _Cus ) ||
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| 379 | readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
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| 380 | _checkState = bad;
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| 381 | return;
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| 382 | }
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| 383 | }
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[9786] | 384 | // =====================
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| 385 | // BROADCAST ORBIT - 3
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| 386 | // =====================
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| 387 | else if ( iLine == 3 ) {
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[6801] | 388 |
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[9786] | 389 | if (navType() == t_eph::CNAV ||
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| 390 | navType() == t_eph::CNV2) {
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| 391 | if ( readDbl(line, pos[0], fieldLen, _top) ||
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| 392 | readDbl(line, pos[1], fieldLen, _Cic ) ||
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| 393 | readDbl(line, pos[2], fieldLen, _OMEGA0) ||
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| 394 | readDbl(line, pos[3], fieldLen, _Cis ) ) {
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| 395 | _checkState = bad;
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| 396 | return;
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| 397 | }
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[6801] | 398 | }
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[9786] | 399 | else { // LNAV, undefined
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| 400 | if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
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| 401 | readDbl(line, pos[1], fieldLen, _Cic ) ||
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| 402 | readDbl(line, pos[2], fieldLen, _OMEGA0) ||
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| 403 | readDbl(line, pos[3], fieldLen, _Cis ) ) {
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| 404 | _checkState = bad;
|
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| 405 | return;
|
---|
| 406 | }
|
---|
| 407 | }
|
---|
[6801] | 408 | }
|
---|
[9786] | 409 | // =====================
|
---|
| 410 | // BROADCAST ORBIT - 4
|
---|
| 411 | // =====================
|
---|
[6801] | 412 | else if ( iLine == 4 ) {
|
---|
| 413 | if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
|
---|
| 414 | readDbl(line, pos[1], fieldLen, _Crc ) ||
|
---|
| 415 | readDbl(line, pos[2], fieldLen, _omega ) ||
|
---|
| 416 | readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
|
---|
| 417 | _checkState = bad;
|
---|
| 418 | return;
|
---|
| 419 | }
|
---|
| 420 | }
|
---|
[9786] | 421 | // =====================
|
---|
| 422 | // BROADCAST ORBIT - 5
|
---|
| 423 | // =====================
|
---|
| 424 | else if ( iLine == 5 && type() != t_eph::IRNSS) {
|
---|
[6801] | 425 |
|
---|
[9786] | 426 | if (navType() == t_eph::CNAV ||
|
---|
| 427 | navType() == t_eph::CNV2) {
|
---|
[9788] | 428 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
|
---|
| 429 | readDbl(line, pos[1], fieldLen, _Delta_n_dot) ||
|
---|
| 430 | readDbl(line, pos[2], fieldLen, _URAI_NED0 ) ||
|
---|
[9786] | 431 | readDbl(line, pos[3], fieldLen, _URAI_NED1) ) {
|
---|
| 432 | _checkState = bad;
|
---|
| 433 | return;
|
---|
| 434 | }
|
---|
[6801] | 435 | }
|
---|
[9786] | 436 | else { // LNAV, undefined
|
---|
| 437 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
|
---|
| 438 | readDbl(line, pos[1], fieldLen, _L2Codes) ||
|
---|
[9788] | 439 | readDbl(line, pos[2], fieldLen, _TOEweek) ||
|
---|
[9786] | 440 | readDbl(line, pos[3], fieldLen, _L2PFlag) ) {
|
---|
| 441 | _checkState = bad;
|
---|
| 442 | return;
|
---|
| 443 | }
|
---|
| 444 | }
|
---|
[6801] | 445 | }
|
---|
[8168] | 446 | else if ( iLine == 5 && type() == t_eph::IRNSS) {
|
---|
| 447 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
|
---|
| 448 | readDbl(line, pos[2], fieldLen, _TOEweek) ) {
|
---|
| 449 | _checkState = bad;
|
---|
| 450 | return;
|
---|
| 451 | }
|
---|
| 452 | }
|
---|
[9786] | 453 | // =====================
|
---|
| 454 | // BROADCAST ORBIT - 6
|
---|
| 455 | // =====================
|
---|
| 456 | else if ( iLine == 6 && type() != t_eph::IRNSS) {
|
---|
[6801] | 457 |
|
---|
[9786] | 458 | if (navType() == t_eph::CNAV ||
|
---|
| 459 | navType() == t_eph::CNV2 ) {
|
---|
| 460 | if ( readDbl(line, pos[0], fieldLen, _URAI_ED) ||
|
---|
| 461 | readDbl(line, pos[1], fieldLen, _health ) ||
|
---|
| 462 | readDbl(line, pos[2], fieldLen, _TGD ) ||
|
---|
| 463 | readDbl(line, pos[3], fieldLen, _URAI_NED2) ) {
|
---|
| 464 | _checkState = bad;
|
---|
| 465 | return;
|
---|
| 466 | }
|
---|
[6801] | 467 | }
|
---|
[9786] | 468 | else { // LNAV, undefined
|
---|
| 469 | if ( readDbl(line, pos[0], fieldLen, _ura ) ||
|
---|
| 470 | readDbl(line, pos[1], fieldLen, _health) ||
|
---|
| 471 | readDbl(line, pos[2], fieldLen, _TGD ) ||
|
---|
| 472 | readDbl(line, pos[3], fieldLen, _IODC ) ) {
|
---|
| 473 | _checkState = bad;
|
---|
| 474 | return;
|
---|
| 475 | }
|
---|
| 476 | }
|
---|
[6801] | 477 | }
|
---|
[8168] | 478 | else if ( iLine == 6 && type() == t_eph::IRNSS) {
|
---|
| 479 | if ( readDbl(line, pos[0], fieldLen, _ura ) ||
|
---|
| 480 | readDbl(line, pos[1], fieldLen, _health) ||
|
---|
| 481 | readDbl(line, pos[2], fieldLen, _TGD ) ) {
|
---|
| 482 | _checkState = bad;
|
---|
| 483 | return;
|
---|
| 484 | }
|
---|
| 485 | }
|
---|
[9786] | 486 | // =====================
|
---|
| 487 | // BROADCAST ORBIT - 7
|
---|
| 488 | // =====================
|
---|
[6801] | 489 | else if ( iLine == 7 ) {
|
---|
[9786] | 490 | if (navType() == t_eph::LNAV ||
|
---|
| 491 | navType() == t_eph::undefined) {
|
---|
| 492 |
|
---|
| 493 | if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
|
---|
| 494 | _checkState = bad;
|
---|
| 495 | return;
|
---|
| 496 | }
|
---|
| 497 |
|
---|
| 498 | if (type() != t_eph::IRNSS) {
|
---|
| 499 | double fitIntervalRnx;
|
---|
| 500 | if ( readDbl(line, pos[1], fieldLen, fitIntervalRnx) ) {
|
---|
| 501 | _checkState = bad;
|
---|
| 502 | return;
|
---|
[8931] | 503 | }
|
---|
[9786] | 504 | if (type() == t_eph::GPS) { // in RINEX specified always as time period for GPS
|
---|
| 505 | _fitInterval = fitIntervalRnx;
|
---|
| 506 | } else if (type() == t_eph::QZSS) { // specified as flag for QZSS
|
---|
| 507 | if (rnxVersion == 3.02) {
|
---|
| 508 | _fitInterval = fitIntervalRnx; // specified as time period
|
---|
| 509 | }
|
---|
| 510 | else {
|
---|
| 511 | _fitInterval = fitIntervalFromFlag(fitIntervalRnx, _IODC, t_eph::QZSS);
|
---|
| 512 | }
|
---|
[8934] | 513 | }
|
---|
[8927] | 514 | }
|
---|
[8925] | 515 | }
|
---|
[9786] | 516 |
|
---|
| 517 | else if (navType() == t_eph::CNAV ||
|
---|
| 518 | navType() == t_eph::CNV2) {
|
---|
| 519 | if ( readDbl(line, pos[0], fieldLen, _ISC_L1CA) ||
|
---|
| 520 | readDbl(line, pos[1], fieldLen, _ISC_L2C ) ||
|
---|
| 521 | readDbl(line, pos[2], fieldLen, _ISC_L5I5) ||
|
---|
| 522 | readDbl(line, pos[3], fieldLen, _ISC_L5Q5) ) {
|
---|
| 523 | _checkState = bad;
|
---|
| 524 | return;
|
---|
| 525 | }
|
---|
| 526 | }
|
---|
| 527 |
|
---|
[6801] | 528 | }
|
---|
[9786] | 529 | // =====================
|
---|
| 530 | // BROADCAST ORBIT - 8
|
---|
| 531 | // =====================
|
---|
| 532 | else if ( iLine == 8 ) {
|
---|
| 533 | if (navType() == t_eph::CNAV) {
|
---|
| 534 | if ( readDbl(line, pos[0], fieldLen, _TOT) ||
|
---|
| 535 | readDbl(line, pos[1], fieldLen, _wnop) ) {
|
---|
| 536 | _checkState = bad;
|
---|
| 537 | return;
|
---|
| 538 | }
|
---|
| 539 | }
|
---|
| 540 | else if (navType() == t_eph::CNV2) {
|
---|
| 541 | if ( readDbl(line, pos[0], fieldLen, _ISC_L1Cd) ||
|
---|
| 542 | readDbl(line, pos[1], fieldLen, _ISC_L1Cp)) {
|
---|
| 543 | _checkState = bad;
|
---|
| 544 | return;
|
---|
| 545 | }
|
---|
| 546 | }
|
---|
| 547 | }
|
---|
| 548 | // =====================
|
---|
| 549 | // BROADCAST ORBIT - 9
|
---|
| 550 | // =====================
|
---|
| 551 | else if ( iLine == 9 ) {
|
---|
| 552 | if (navType() == t_eph::CNV2) {
|
---|
| 553 | if ( readDbl(line, pos[0], fieldLen, _TOT) ||
|
---|
| 554 | readDbl(line, pos[1], fieldLen, _wnop) ) {
|
---|
| 555 | _checkState = bad;
|
---|
| 556 | return;
|
---|
| 557 | }
|
---|
| 558 | }
|
---|
| 559 | }
|
---|
[6801] | 560 | }
|
---|
| 561 | }
|
---|
| 562 |
|
---|
[2222] | 563 | // Compute GPS Satellite Position (virtual)
|
---|
[1025] | 564 | ////////////////////////////////////////////////////////////////////////////
|
---|
[6213] | 565 | t_irc t_ephGPS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
|
---|
[1025] | 566 |
|
---|
[1098] | 567 | static const double omegaEarth = 7292115.1467e-11;
|
---|
[5277] | 568 | static const double gmGRS = 398.6005e12;
|
---|
[1025] | 569 |
|
---|
[8542] | 570 | memset(xc, 0, 6*sizeof(double));
|
---|
[1025] | 571 | memset(vv, 0, 3*sizeof(double));
|
---|
| 572 |
|
---|
| 573 | double a0 = _sqrt_A * _sqrt_A;
|
---|
| 574 | if (a0 == 0) {
|
---|
[6213] | 575 | return failure;
|
---|
[1025] | 576 | }
|
---|
| 577 |
|
---|
[5277] | 578 | double n0 = sqrt(gmGRS/(a0*a0*a0));
|
---|
[4018] | 579 |
|
---|
| 580 | bncTime tt(GPSweek, GPSweeks);
|
---|
[4543] | 581 | double tk = tt - bncTime(int(_TOEweek), _TOEsec);
|
---|
[4018] | 582 |
|
---|
[1025] | 583 | double n = n0 + _Delta_n;
|
---|
| 584 | double M = _M0 + n*tk;
|
---|
| 585 | double E = M;
|
---|
| 586 | double E_last;
|
---|
[8368] | 587 | int nLoop = 0;
|
---|
[1025] | 588 | do {
|
---|
| 589 | E_last = E;
|
---|
| 590 | E = M + _e*sin(E);
|
---|
[8368] | 591 |
|
---|
| 592 | if (++nLoop == 100) {
|
---|
| 593 | return failure;
|
---|
| 594 | }
|
---|
| 595 | } while ( fabs(E-E_last)*a0 > 0.001);
|
---|
[1025] | 596 | double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
|
---|
| 597 | double u0 = v + _omega;
|
---|
| 598 | double sin2u0 = sin(2*u0);
|
---|
| 599 | double cos2u0 = cos(2*u0);
|
---|
| 600 | double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
|
---|
| 601 | double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
|
---|
| 602 | double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
|
---|
| 603 | double xp = r*cos(u);
|
---|
| 604 | double yp = r*sin(u);
|
---|
[7481] | 605 | double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
|
---|
[4018] | 606 | omegaEarth*_TOEsec;
|
---|
[7278] | 607 |
|
---|
[1025] | 608 | double sinom = sin(OM);
|
---|
| 609 | double cosom = cos(OM);
|
---|
| 610 | double sini = sin(i);
|
---|
| 611 | double cosi = cos(i);
|
---|
| 612 | xc[0] = xp*cosom - yp*cosi*sinom;
|
---|
| 613 | xc[1] = xp*sinom + yp*cosi*cosom;
|
---|
[7481] | 614 | xc[2] = yp*sini;
|
---|
| 615 |
|
---|
[4018] | 616 | double tc = tt - _TOC;
|
---|
[2429] | 617 | xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
|
---|
[1025] | 618 |
|
---|
| 619 | // Velocity
|
---|
| 620 | // --------
|
---|
| 621 | double tanv2 = tan(v/2);
|
---|
| 622 | double dEdM = 1 / (1 - _e*cos(E));
|
---|
[7278] | 623 | double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
|
---|
[1025] | 624 | * dEdM * n;
|
---|
| 625 | double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
|
---|
| 626 | double dotom = _OMEGADOT - omegaEarth;
|
---|
| 627 | double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
|
---|
[7278] | 628 | double dotr = a0 * _e*sin(E) * dEdM * n
|
---|
[1025] | 629 | + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
|
---|
| 630 | double dotx = dotr*cos(u) - r*sin(u)*dotu;
|
---|
| 631 | double doty = dotr*sin(u) + r*cos(u)*dotu;
|
---|
| 632 |
|
---|
| 633 | vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
|
---|
| 634 | - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
|
---|
| 635 | + yp*sini*sinom*doti; // dX / di
|
---|
| 636 |
|
---|
| 637 | vv[1] = sinom *dotx + cosi*cosom *doty
|
---|
| 638 | + xp*cosom*dotom - yp*cosi*sinom*dotom
|
---|
| 639 | - yp*sini*cosom*doti;
|
---|
| 640 |
|
---|
| 641 | vv[2] = sini *doty + yp*cosi *doti;
|
---|
[2429] | 642 |
|
---|
| 643 | // Relativistic Correction
|
---|
| 644 | // -----------------------
|
---|
[9124] | 645 | xc[3] -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
|
---|
[9132] | 646 |
|
---|
[8542] | 647 | xc[4] = _clock_drift + _clock_driftrate*tc;
|
---|
| 648 | xc[5] = _clock_driftrate;
|
---|
[8581] | 649 |
|
---|
[6213] | 650 | return success;
|
---|
[1025] | 651 | }
|
---|
| 652 |
|
---|
[6801] | 653 | // RINEX Format String
|
---|
| 654 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 655 | QString t_ephGPS::toString(double version) const {
|
---|
[2221] | 656 |
|
---|
[9765] | 657 | QString navStr = navTypeString(_navType, _prn, version);
|
---|
| 658 | QString rnxStr = navStr + rinexDateStr(_TOC, _prn, version);
|
---|
[2221] | 659 |
|
---|
[6801] | 660 | QTextStream out(&rnxStr);
|
---|
[2221] | 661 |
|
---|
[6801] | 662 | out << QString("%1%2%3\n")
|
---|
| 663 | .arg(_clock_bias, 19, 'e', 12)
|
---|
| 664 | .arg(_clock_drift, 19, 'e', 12)
|
---|
| 665 | .arg(_clock_driftrate, 19, 'e', 12);
|
---|
[2221] | 666 |
|
---|
[6801] | 667 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
[2221] | 668 |
|
---|
[6801] | 669 |
|
---|
[9786] | 670 | // =====================
|
---|
| 671 | // BROADCAST ORBIT - 1
|
---|
| 672 | // =====================
|
---|
| 673 | if (navType() == t_eph::CNAV ||
|
---|
| 674 | navType() == t_eph::CNV2) {
|
---|
| 675 | out << QString(fmt)
|
---|
| 676 | .arg(_ADOT, 19, 'e', 12)
|
---|
| 677 | .arg(_Crs, 19, 'e', 12)
|
---|
| 678 | .arg(_Delta_n, 19, 'e', 12)
|
---|
| 679 | .arg(_M0, 19, 'e', 12);
|
---|
| 680 | }
|
---|
| 681 | else { // LNAV, undefinded
|
---|
| 682 | out << QString(fmt)
|
---|
| 683 | .arg(_IODE, 19, 'e', 12)
|
---|
| 684 | .arg(_Crs, 19, 'e', 12)
|
---|
| 685 | .arg(_Delta_n, 19, 'e', 12)
|
---|
| 686 | .arg(_M0, 19, 'e', 12);
|
---|
| 687 | }
|
---|
| 688 | // =====================
|
---|
| 689 | // BROADCAST ORBIT - 2
|
---|
| 690 | // =====================
|
---|
[6801] | 691 | out << QString(fmt)
|
---|
| 692 | .arg(_Cuc, 19, 'e', 12)
|
---|
| 693 | .arg(_e, 19, 'e', 12)
|
---|
| 694 | .arg(_Cus, 19, 'e', 12)
|
---|
| 695 | .arg(_sqrt_A, 19, 'e', 12);
|
---|
[9786] | 696 | // =====================
|
---|
| 697 | // BROADCAST ORBIT - 3
|
---|
| 698 | // =====================
|
---|
| 699 | if (navType() == t_eph::CNAV ||
|
---|
| 700 | navType() == t_eph::CNV2) {
|
---|
| 701 | out << QString(fmt)
|
---|
| 702 | .arg(_top, 19, 'e', 12)
|
---|
| 703 | .arg(_Cic, 19, 'e', 12)
|
---|
| 704 | .arg(_OMEGA0, 19, 'e', 12)
|
---|
| 705 | .arg(_Cis, 19, 'e', 12);
|
---|
| 706 | }
|
---|
| 707 | else {
|
---|
| 708 | out << QString(fmt)
|
---|
| 709 | .arg(_TOEsec, 19, 'e', 12)
|
---|
| 710 | .arg(_Cic, 19, 'e', 12)
|
---|
| 711 | .arg(_OMEGA0, 19, 'e', 12)
|
---|
| 712 | .arg(_Cis, 19, 'e', 12);
|
---|
| 713 | }
|
---|
| 714 | // =====================
|
---|
| 715 | // BROADCAST ORBIT - 4
|
---|
| 716 | // =====================
|
---|
[6801] | 717 | out << QString(fmt)
|
---|
| 718 | .arg(_i0, 19, 'e', 12)
|
---|
| 719 | .arg(_Crc, 19, 'e', 12)
|
---|
| 720 | .arg(_omega, 19, 'e', 12)
|
---|
| 721 | .arg(_OMEGADOT, 19, 'e', 12);
|
---|
[9786] | 722 | // =====================
|
---|
| 723 | // BROADCAST ORBIT - 5
|
---|
| 724 | // =====================
|
---|
[8800] | 725 | if (type() == t_eph::IRNSS) {
|
---|
[8168] | 726 | out << QString(fmt)
|
---|
| 727 | .arg(_IDOT, 19, 'e', 12)
|
---|
[8800] | 728 | .arg(0.0, 19, 'e', 12)
|
---|
| 729 | .arg(_TOEweek, 19, 'e', 12)
|
---|
| 730 | .arg(0.0, 19, 'e', 12);
|
---|
| 731 | }
|
---|
| 732 | else {
|
---|
[9786] | 733 | if (navType() == t_eph::CNAV ||
|
---|
| 734 | navType() == t_eph::CNV2) {
|
---|
| 735 | out << QString(fmt)
|
---|
[9788] | 736 | .arg(_IDOT, 19, 'e', 12)
|
---|
| 737 | .arg(_Delta_n_dot, 19, 'e', 12)
|
---|
| 738 | .arg(_URAI_NED0, 19, 'e', 12)
|
---|
| 739 | .arg(_URAI_NED1, 19, 'e', 12);
|
---|
[9786] | 740 |
|
---|
| 741 | }
|
---|
| 742 | else { // LNAV, undefined
|
---|
| 743 | out << QString(fmt)
|
---|
| 744 | .arg(_IDOT, 19, 'e', 12)
|
---|
| 745 | .arg(_L2Codes, 19, 'e', 12)
|
---|
| 746 | .arg(_TOEweek, 19, 'e', 12)
|
---|
| 747 | .arg(_L2PFlag, 19, 'e', 12);
|
---|
| 748 |
|
---|
| 749 | }
|
---|
[8800] | 750 | }
|
---|
[9786] | 751 | // =====================
|
---|
| 752 | // BROADCAST ORBIT - 6
|
---|
| 753 | // =====================
|
---|
[8168] | 754 | if (type() == t_eph::IRNSS) {
|
---|
| 755 | out << QString(fmt)
|
---|
| 756 | .arg(_ura, 19, 'e', 12)
|
---|
| 757 | .arg(_health, 19, 'e', 12)
|
---|
| 758 | .arg(_TGD, 19, 'e', 12)
|
---|
[8790] | 759 | .arg(0.0, 19, 'e', 12);
|
---|
[8168] | 760 | }
|
---|
| 761 | else {
|
---|
[9786] | 762 | if (navType() == t_eph::CNAV ||
|
---|
| 763 | navType() == t_eph::CNV2) {
|
---|
| 764 | out << QString(fmt)
|
---|
| 765 | .arg(_URAI_ED, 19, 'e', 12)
|
---|
| 766 | .arg(_health, 19, 'e', 12)
|
---|
| 767 | .arg(_TGD, 19, 'e', 12)
|
---|
| 768 | .arg(_URAI_NED2,19, 'e', 12);
|
---|
| 769 |
|
---|
| 770 | }
|
---|
| 771 | else { // LNAV, undefined
|
---|
| 772 | out << QString(fmt)
|
---|
| 773 | .arg(_ura, 19, 'e', 12)
|
---|
| 774 | .arg(_health, 19, 'e', 12)
|
---|
| 775 | .arg(_TGD, 19, 'e', 12)
|
---|
| 776 | .arg(_IODC, 19, 'e', 12);
|
---|
| 777 | }
|
---|
[8168] | 778 | }
|
---|
[9786] | 779 | // =====================
|
---|
| 780 | // BROADCAST ORBIT - 7
|
---|
| 781 | // =====================
|
---|
| 782 | if (navType() == t_eph::LNAV ||
|
---|
| 783 | navType() == t_eph::undefined) {
|
---|
[6801] | 784 |
|
---|
[9786] | 785 | double tot = _TOT;
|
---|
| 786 | if (tot == 0.9999e9 && version < 3.0) {
|
---|
| 787 | tot = 0.0;
|
---|
| 788 | }
|
---|
| 789 | // fitInterval
|
---|
| 790 | if (type() == t_eph::IRNSS) {// not valid for IRNSS
|
---|
| 791 | out << QString(fmt)
|
---|
| 792 | .arg(tot, 19, 'e', 12)
|
---|
| 793 | .arg(0.0, 19, 'e', 12)
|
---|
| 794 | .arg("", 19, QChar(' '))
|
---|
| 795 | .arg("", 19, QChar(' '));
|
---|
| 796 | }
|
---|
| 797 | else {
|
---|
| 798 | // for GPS and QZSS in version 3.02 specified in hours
|
---|
| 799 | double fitIntervalRnx = _fitInterval;
|
---|
| 800 | // otherwise specified as flag
|
---|
| 801 | if (type() == t_eph::QZSS && version != 3.02) {
|
---|
| 802 | (_fitInterval == 2.0) ? fitIntervalRnx = 0.0 : fitIntervalRnx = 1.0;
|
---|
| 803 | }
|
---|
| 804 | out << QString(fmt)
|
---|
| 805 | .arg(tot, 19, 'e', 12)
|
---|
| 806 | .arg(fitIntervalRnx, 19, 'e', 12)
|
---|
| 807 | .arg("", 19, QChar(' '))
|
---|
| 808 | .arg("", 19, QChar(' '));
|
---|
| 809 | }
|
---|
[7922] | 810 | }
|
---|
[9786] | 811 | else if (navType() == t_eph::CNAV ||
|
---|
| 812 | navType() == t_eph::CNV2) {
|
---|
[8800] | 813 | out << QString(fmt)
|
---|
[9786] | 814 | .arg(_ISC_L1CA, 19, 'e', 12)
|
---|
| 815 | .arg(_ISC_L2C, 19, 'e', 12)
|
---|
| 816 | .arg(_ISC_L5I5, 19, 'e', 12)
|
---|
| 817 | .arg(_ISC_L5Q5, 19, 'e', 12);
|
---|
[8800] | 818 | }
|
---|
[9786] | 819 | // =====================
|
---|
| 820 | // BROADCAST ORBIT - 8
|
---|
| 821 | // =====================
|
---|
| 822 | if (navType() == t_eph::CNAV) {
|
---|
[8800] | 823 | out << QString(fmt)
|
---|
[9786] | 824 | .arg(_TOT, 19, 'e', 12)
|
---|
| 825 | .arg(_wnop, 19, 'e', 12)
|
---|
| 826 | .arg("", 19, QChar(' '))
|
---|
| 827 | .arg("", 19, QChar(' '));
|
---|
[8800] | 828 | }
|
---|
[9786] | 829 | else if (navType() == t_eph::CNV2) {
|
---|
| 830 | out << QString(fmt)
|
---|
| 831 | .arg(_ISC_L1Cd, 19, 'e', 12)
|
---|
| 832 | .arg(_ISC_L1Cp, 19, 'e', 12)
|
---|
| 833 | .arg("", 19, QChar(' '))
|
---|
| 834 | .arg("", 19, QChar(' '));
|
---|
| 835 | }
|
---|
| 836 |
|
---|
| 837 | // =====================
|
---|
| 838 | // BROADCAST ORBIT - 9
|
---|
| 839 | // =====================
|
---|
| 840 | if (navType() == t_eph::CNV2) {
|
---|
| 841 | out << QString(fmt)
|
---|
| 842 | .arg(_TOT, 19, 'e', 12)
|
---|
| 843 | .arg(_wnop, 19, 'e', 12)
|
---|
| 844 | .arg("", 19, QChar(' '))
|
---|
| 845 | .arg("", 19, QChar(' '));
|
---|
| 846 | }
|
---|
| 847 |
|
---|
[6801] | 848 | return rnxStr;
|
---|
[2221] | 849 | }
|
---|
| 850 |
|
---|
[6801] | 851 | // Constructor
|
---|
| 852 | //////////////////////////////////////////////////////////////////////////////
|
---|
[9367] | 853 | t_ephGlo::t_ephGlo(double rnxVersion, const QStringList& lines) {
|
---|
[2221] | 854 |
|
---|
[9367] | 855 | int nLines = 4;
|
---|
| 856 | if (rnxVersion >= 3.05) {
|
---|
| 857 | nLines += 1;
|
---|
| 858 | }
|
---|
| 859 | else {
|
---|
| 860 | _M_delta_tau = 0.9999e9; // unknown
|
---|
| 861 | _M_FT = 1.5e1; // unknown
|
---|
| 862 | }
|
---|
[6801] | 863 |
|
---|
| 864 | if (lines.size() != nLines) {
|
---|
| 865 | _checkState = bad;
|
---|
| 866 | return;
|
---|
[6518] | 867 | }
|
---|
| 868 |
|
---|
[6801] | 869 | // RINEX Format
|
---|
| 870 | // ------------
|
---|
| 871 | int fieldLen = 19;
|
---|
[9367] | 872 | double statusflags = 0.0;
|
---|
| 873 | double healthflags = 0.0;
|
---|
[2221] | 874 |
|
---|
[6801] | 875 | int pos[4];
|
---|
| 876 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
| 877 | pos[1] = pos[0] + fieldLen;
|
---|
| 878 | pos[2] = pos[1] + fieldLen;
|
---|
| 879 | pos[3] = pos[2] + fieldLen;
|
---|
[2221] | 880 |
|
---|
[6801] | 881 | // Read four lines
|
---|
| 882 | // ---------------
|
---|
| 883 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
| 884 | QString line = lines[iLine];
|
---|
[2221] | 885 |
|
---|
[6801] | 886 | if ( iLine == 0 ) {
|
---|
[8204] | 887 | QTextStream in(line.left(pos[1]).toLatin1());
|
---|
[6213] | 888 |
|
---|
[6801] | 889 | int year, month, day, hour, min;
|
---|
| 890 | double sec;
|
---|
[2221] | 891 |
|
---|
[7139] | 892 | QString prnStr, n;
|
---|
[6880] | 893 | in >> prnStr;
|
---|
[7639] | 894 | if (prnStr.size() == 1 && prnStr[0] == 'R') {
|
---|
[7139] | 895 | in >> n;
|
---|
| 896 | prnStr.append(n);
|
---|
[6880] | 897 | }
|
---|
| 898 | in >> year >> month >> day >> hour >> min >> sec;
|
---|
[6801] | 899 | if (prnStr.at(0) == 'R') {
|
---|
| 900 | _prn.set('R', prnStr.mid(1).toInt());
|
---|
| 901 | }
|
---|
| 902 | else {
|
---|
| 903 | _prn.set('R', prnStr.toInt());
|
---|
| 904 | }
|
---|
[2221] | 905 |
|
---|
[6801] | 906 | if (year < 80) {
|
---|
| 907 | year += 2000;
|
---|
| 908 | }
|
---|
| 909 | else if (year < 100) {
|
---|
| 910 | year += 1900;
|
---|
| 911 | }
|
---|
[2221] | 912 |
|
---|
[6801] | 913 | _gps_utc = gnumleap(year, month, day);
|
---|
[2221] | 914 |
|
---|
[6801] | 915 | _TOC.set(year, month, day, hour, min, sec);
|
---|
| 916 | _TOC = _TOC + _gps_utc;
|
---|
[8800] | 917 | int nd = int((_TOC.gpssec())) / (24.0*60.0*60.0);
|
---|
[6801] | 918 | if ( readDbl(line, pos[1], fieldLen, _tau ) ||
|
---|
| 919 | readDbl(line, pos[2], fieldLen, _gamma) ||
|
---|
| 920 | readDbl(line, pos[3], fieldLen, _tki ) ) {
|
---|
| 921 | _checkState = bad;
|
---|
| 922 | return;
|
---|
| 923 | }
|
---|
[8800] | 924 | _tki -= nd * 86400.0;
|
---|
| 925 | _tau = -_tau;
|
---|
[6801] | 926 | }
|
---|
[9788] | 927 | // =====================
|
---|
| 928 | // BROADCAST ORBIT - 1
|
---|
| 929 | // =====================
|
---|
[6801] | 930 | else if ( iLine == 1 ) {
|
---|
| 931 | if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
|
---|
| 932 | readDbl(line, pos[1], fieldLen, _x_velocity ) ||
|
---|
| 933 | readDbl(line, pos[2], fieldLen, _x_acceleration) ||
|
---|
| 934 | readDbl(line, pos[3], fieldLen, _health ) ) {
|
---|
| 935 | _checkState = bad;
|
---|
| 936 | return;
|
---|
| 937 | }
|
---|
| 938 | }
|
---|
[9788] | 939 | // =====================
|
---|
| 940 | // BROADCAST ORBIT - 2
|
---|
| 941 | // =====================
|
---|
[6801] | 942 | else if ( iLine == 2 ) {
|
---|
| 943 | if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
|
---|
| 944 | readDbl(line, pos[1], fieldLen, _y_velocity ) ||
|
---|
| 945 | readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
|
---|
| 946 | readDbl(line, pos[3], fieldLen, _frequency_number) ) {
|
---|
| 947 | _checkState = bad;
|
---|
| 948 | return;
|
---|
| 949 | }
|
---|
| 950 | }
|
---|
[9788] | 951 | // =====================
|
---|
| 952 | // BROADCAST ORBIT - 3
|
---|
| 953 | // =====================
|
---|
[6801] | 954 | else if ( iLine == 3 ) {
|
---|
| 955 | if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
|
---|
| 956 | readDbl(line, pos[1], fieldLen, _z_velocity ) ||
|
---|
| 957 | readDbl(line, pos[2], fieldLen, _z_acceleration) ||
|
---|
| 958 | readDbl(line, pos[3], fieldLen, _E ) ) {
|
---|
| 959 | _checkState = bad;
|
---|
| 960 | return;
|
---|
| 961 | }
|
---|
| 962 | }
|
---|
[9788] | 963 | // =====================
|
---|
| 964 | // BROADCAST ORBIT - 4
|
---|
| 965 | // =====================
|
---|
[9367] | 966 | else if ( iLine == 4 ) {
|
---|
[9892] | 967 | if (readDbl(line, pos[0], fieldLen, statusflags ) ) {
|
---|
| 968 | //statusflags BLK, do nothing
|
---|
| 969 | _flags_unknown = true;
|
---|
[9367] | 970 | }
|
---|
| 971 | else {
|
---|
[9892] | 972 | _flags_unknown = false;
|
---|
[9367] | 973 | // status flags
|
---|
| 974 | // ============
|
---|
| 975 | // bit 0-1
|
---|
| 976 | _M_P = double(bitExtracted(statusflags, 2, 0));
|
---|
| 977 | // bit 2-3
|
---|
| 978 | _P1 = double(bitExtracted(statusflags, 2, 2));
|
---|
| 979 | // bit 4
|
---|
| 980 | _P2 = double(bitExtracted(statusflags, 1, 4));
|
---|
| 981 | // bit 5
|
---|
| 982 | _P3 = double(bitExtracted(statusflags, 1, 5));
|
---|
| 983 | // bit 6
|
---|
| 984 | _M_P4 = double(bitExtracted(statusflags, 1, 6));
|
---|
| 985 | // bit 7-8
|
---|
| 986 | _M_M = double(bitExtracted(statusflags, 2, 7));
|
---|
| 987 | /// GLO M/K exclusive flags/values only valid if flag M is set to '01'
|
---|
| 988 | if (!_M_M) {
|
---|
| 989 | _M_P4 = 0.0;
|
---|
| 990 | _M_P = 0.0;
|
---|
| 991 | }
|
---|
[9892] | 992 | }
|
---|
| 993 | if ( readDbl(line, pos[1], fieldLen, _M_delta_tau ) ||
|
---|
| 994 | readDbl(line, pos[2], fieldLen, _M_FT ) ) {
|
---|
| 995 | _checkState = bad;
|
---|
| 996 | return;
|
---|
| 997 | }
|
---|
| 998 | if (readDbl(line, pos[3], fieldLen, healthflags ) ) {
|
---|
| 999 | // healthflags BLK
|
---|
| 1000 | _flags_unknown = true;
|
---|
| 1001 | }
|
---|
| 1002 | else {
|
---|
| 1003 | _flags_unknown = false;
|
---|
[9367] | 1004 | // health flags
|
---|
| 1005 | // ============
|
---|
| 1006 | // bit 0 (is to be ignored, if bit 1 is zero)
|
---|
| 1007 | _almanac_health = double(bitExtracted(healthflags, 1, 0));
|
---|
| 1008 | // bit 1
|
---|
| 1009 | _almanac_health_availablility_indicator = double(bitExtracted(healthflags, 1, 1));
|
---|
| 1010 | // bit 2
|
---|
| 1011 | _M_l3 = double(bitExtracted(healthflags, 1, 2));
|
---|
| 1012 | }
|
---|
| 1013 | }
|
---|
[6801] | 1014 | }
|
---|
| 1015 |
|
---|
| 1016 | // Initialize status vector
|
---|
| 1017 | // ------------------------
|
---|
| 1018 | _tt = _TOC;
|
---|
[8698] | 1019 | _xv.ReSize(6); _xv = 0.0;
|
---|
[6801] | 1020 | _xv(1) = _x_pos * 1.e3;
|
---|
| 1021 | _xv(2) = _y_pos * 1.e3;
|
---|
| 1022 | _xv(3) = _z_pos * 1.e3;
|
---|
| 1023 | _xv(4) = _x_velocity * 1.e3;
|
---|
| 1024 | _xv(5) = _y_velocity * 1.e3;
|
---|
| 1025 | _xv(6) = _z_velocity * 1.e3;
|
---|
[2221] | 1026 | }
|
---|
| 1027 |
|
---|
[6801] | 1028 | // Compute Glonass Satellite Position (virtual)
|
---|
[2771] | 1029 | ////////////////////////////////////////////////////////////////////////////
|
---|
[6801] | 1030 | t_irc t_ephGlo::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
|
---|
[2771] | 1031 |
|
---|
[6801] | 1032 | static const double nominalStep = 10.0;
|
---|
[2771] | 1033 |
|
---|
[8542] | 1034 | memset(xc, 0, 6*sizeof(double));
|
---|
[2771] | 1035 | memset(vv, 0, 3*sizeof(double));
|
---|
| 1036 |
|
---|
[6801] | 1037 | double dtPos = bncTime(GPSweek, GPSweeks) - _tt;
|
---|
| 1038 |
|
---|
[8698] | 1039 | if (fabs(dtPos) > 24 * 3600.0) {
|
---|
[6213] | 1040 | return failure;
|
---|
[2771] | 1041 | }
|
---|
| 1042 |
|
---|
[6801] | 1043 | int nSteps = int(fabs(dtPos) / nominalStep) + 1;
|
---|
| 1044 | double step = dtPos / nSteps;
|
---|
[4018] | 1045 |
|
---|
[6801] | 1046 | double acc[3];
|
---|
| 1047 | acc[0] = _x_acceleration * 1.e3;
|
---|
| 1048 | acc[1] = _y_acceleration * 1.e3;
|
---|
| 1049 | acc[2] = _z_acceleration * 1.e3;
|
---|
[9132] | 1050 |
|
---|
[6801] | 1051 | for (int ii = 1; ii <= nSteps; ii++) {
|
---|
| 1052 | _xv = rungeKutta4(_tt.gpssec(), _xv, step, acc, glo_deriv);
|
---|
| 1053 | _tt = _tt + step;
|
---|
| 1054 | }
|
---|
[4018] | 1055 |
|
---|
[6801] | 1056 | // Position and Velocity
|
---|
| 1057 | // ---------------------
|
---|
| 1058 | xc[0] = _xv(1);
|
---|
| 1059 | xc[1] = _xv(2);
|
---|
| 1060 | xc[2] = _xv(3);
|
---|
[2771] | 1061 |
|
---|
[6801] | 1062 | vv[0] = _xv(4);
|
---|
| 1063 | vv[1] = _xv(5);
|
---|
| 1064 | vv[2] = _xv(6);
|
---|
[2771] | 1065 |
|
---|
[6801] | 1066 | // Clock Correction
|
---|
| 1067 | // ----------------
|
---|
| 1068 | double dtClk = bncTime(GPSweek, GPSweeks) - _TOC;
|
---|
| 1069 | xc[3] = -_tau + _gamma * dtClk;
|
---|
[2771] | 1070 |
|
---|
[8542] | 1071 | xc[4] = _gamma;
|
---|
| 1072 | xc[5] = 0.0;
|
---|
[8483] | 1073 |
|
---|
[6213] | 1074 | return success;
|
---|
[2771] | 1075 | }
|
---|
| 1076 |
|
---|
[6801] | 1077 | // RINEX Format String
|
---|
[3659] | 1078 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6801] | 1079 | QString t_ephGlo::toString(double version) const {
|
---|
[3664] | 1080 |
|
---|
[9765] | 1081 | QString navStr = navTypeString(_navType, _prn, version);
|
---|
| 1082 | QString rnxStr = navStr + rinexDateStr(_TOC -_gps_utc, _prn, version);
|
---|
[8800] | 1083 | int nd = int((_TOC - _gps_utc).gpssec()) / (24.0*60.0*60.0);
|
---|
[6801] | 1084 | QTextStream out(&rnxStr);
|
---|
[3664] | 1085 |
|
---|
[6801] | 1086 | out << QString("%1%2%3\n")
|
---|
[8800] | 1087 | .arg(-_tau, 19, 'e', 12)
|
---|
| 1088 | .arg(_gamma, 19, 'e', 12)
|
---|
| 1089 | .arg(_tki+nd*86400.0, 19, 'e', 12);
|
---|
[3668] | 1090 |
|
---|
[6801] | 1091 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
[9788] | 1092 | // =====================
|
---|
| 1093 | // BROADCAST ORBIT - 1
|
---|
| 1094 | // =====================
|
---|
[6801] | 1095 | out << QString(fmt)
|
---|
| 1096 | .arg(_x_pos, 19, 'e', 12)
|
---|
| 1097 | .arg(_x_velocity, 19, 'e', 12)
|
---|
| 1098 | .arg(_x_acceleration, 19, 'e', 12)
|
---|
| 1099 | .arg(_health, 19, 'e', 12);
|
---|
[9788] | 1100 | // =====================
|
---|
| 1101 | // BROADCAST ORBIT - 2
|
---|
| 1102 | // =====================
|
---|
[6801] | 1103 | out << QString(fmt)
|
---|
| 1104 | .arg(_y_pos, 19, 'e', 12)
|
---|
| 1105 | .arg(_y_velocity, 19, 'e', 12)
|
---|
| 1106 | .arg(_y_acceleration, 19, 'e', 12)
|
---|
| 1107 | .arg(_frequency_number, 19, 'e', 12);
|
---|
[9788] | 1108 | // =====================
|
---|
| 1109 | // BROADCAST ORBIT - 3
|
---|
| 1110 | // =====================
|
---|
[6801] | 1111 | out << QString(fmt)
|
---|
| 1112 | .arg(_z_pos, 19, 'e', 12)
|
---|
| 1113 | .arg(_z_velocity, 19, 'e', 12)
|
---|
| 1114 | .arg(_z_acceleration, 19, 'e', 12)
|
---|
| 1115 | .arg(_E, 19, 'e', 12);
|
---|
[9788] | 1116 | // =====================
|
---|
| 1117 | // BROADCAST ORBIT - 4
|
---|
| 1118 | // =====================
|
---|
[9367] | 1119 | if (version >= 3.05) {
|
---|
| 1120 | // unknown (RINEX version < 3.05)
|
---|
| 1121 | if (_flags_unknown) {
|
---|
| 1122 | out << QString(fmt)
|
---|
| 1123 | .arg("", 19, QChar(' ')) // statusflags blank if unknown
|
---|
| 1124 | .arg(_M_delta_tau, 19, 'e', 12)
|
---|
| 1125 | .arg(_M_FT, 19, 'e', 12)
|
---|
| 1126 | .arg("", 19, QChar(' ')); // healthflags blank if unknown
|
---|
| 1127 | }
|
---|
| 1128 | else {
|
---|
| 1129 | int statusflags = 0;
|
---|
| 1130 | // bit 7-8
|
---|
| 1131 | if (_M_M == 2.0) {
|
---|
| 1132 | statusflags |= (1<<7);
|
---|
| 1133 | }
|
---|
| 1134 | // bit 6
|
---|
| 1135 | if (_M_P4) {
|
---|
| 1136 | statusflags |= (1<<6);
|
---|
| 1137 | }
|
---|
| 1138 | // bit 5
|
---|
| 1139 | if (_P3) {
|
---|
| 1140 | statusflags |= (1<<5);
|
---|
| 1141 | }
|
---|
| 1142 | // bit 4
|
---|
| 1143 | if (_P2) {
|
---|
| 1144 | statusflags |= (1<<4);
|
---|
| 1145 | }
|
---|
| 1146 | // bit 2-3
|
---|
| 1147 | if (_P1 == 2.0) {
|
---|
| 1148 | statusflags |= (1<<2);
|
---|
| 1149 | }
|
---|
| 1150 | else if (_P1 == 1.0) {
|
---|
| 1151 | statusflags |= (1<<3);
|
---|
| 1152 | }
|
---|
| 1153 | else if (_P1 == 3.0) {
|
---|
| 1154 | statusflags |= (1<<2);
|
---|
| 1155 | statusflags |= (1<<3);
|
---|
| 1156 | }
|
---|
| 1157 | // bit 0-1
|
---|
| 1158 | if (_M_P == 2.0) {
|
---|
| 1159 | statusflags |= (1<<0);
|
---|
| 1160 | }
|
---|
| 1161 | else if (_M_P == 1.0) {
|
---|
| 1162 | statusflags |= (1<<1);
|
---|
| 1163 | }
|
---|
| 1164 | else if (_M_P == 3.0) {
|
---|
| 1165 | statusflags |= (1<<0);
|
---|
| 1166 | statusflags |= (1<<1);
|
---|
| 1167 | }
|
---|
| 1168 | // health flags
|
---|
| 1169 | // ============
|
---|
| 1170 | int healthflags = 0;
|
---|
| 1171 | // bit 0 (is to be ignored, if bit 1 is zero)
|
---|
| 1172 | if (_almanac_health) {
|
---|
| 1173 | healthflags |= (1<<0);
|
---|
| 1174 | }
|
---|
| 1175 | // bit 1
|
---|
| 1176 | if (_almanac_health_availablility_indicator) {
|
---|
| 1177 | healthflags |= (1<<1);
|
---|
| 1178 | }
|
---|
| 1179 | // bit 2
|
---|
| 1180 | if (_M_l3) {
|
---|
| 1181 | healthflags |= (1<<2);
|
---|
| 1182 | }
|
---|
| 1183 | out << QString(fmt)
|
---|
| 1184 | .arg(double(statusflags), 19, 'e', 12)
|
---|
| 1185 | .arg(_M_delta_tau, 19, 'e', 12)
|
---|
| 1186 | .arg(_M_FT, 19, 'e', 12)
|
---|
| 1187 | .arg(double(healthflags), 19, 'e', 12);
|
---|
| 1188 | }
|
---|
| 1189 | }
|
---|
| 1190 |
|
---|
[6801] | 1191 | return rnxStr;
|
---|
[3659] | 1192 | }
|
---|
| 1193 |
|
---|
[6801] | 1194 | // Derivative of the state vector using a simple force model (static)
|
---|
| 1195 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1196 | ColumnVector t_ephGlo::glo_deriv(double /* tt */, const ColumnVector& xv,
|
---|
| 1197 | double* acc) {
|
---|
[3659] | 1198 |
|
---|
[6801] | 1199 | // State vector components
|
---|
| 1200 | // -----------------------
|
---|
| 1201 | ColumnVector rr = xv.rows(1,3);
|
---|
| 1202 | ColumnVector vv = xv.rows(4,6);
|
---|
[3699] | 1203 |
|
---|
[6801] | 1204 | // Acceleration
|
---|
[3699] | 1205 | // ------------
|
---|
[6801] | 1206 | static const double gmWGS = 398.60044e12;
|
---|
| 1207 | static const double AE = 6378136.0;
|
---|
| 1208 | static const double OMEGA = 7292115.e-11;
|
---|
| 1209 | static const double C20 = -1082.6257e-6;
|
---|
[3699] | 1210 |
|
---|
[8903] | 1211 | double rho = rr.NormFrobenius();
|
---|
[6801] | 1212 | double t1 = -gmWGS/(rho*rho*rho);
|
---|
| 1213 | double t2 = 3.0/2.0 * C20 * (gmWGS*AE*AE) / (rho*rho*rho*rho*rho);
|
---|
| 1214 | double t3 = OMEGA * OMEGA;
|
---|
| 1215 | double t4 = 2.0 * OMEGA;
|
---|
| 1216 | double z2 = rr(3) * rr(3);
|
---|
[3699] | 1217 |
|
---|
[6801] | 1218 | // Vector of derivatives
|
---|
| 1219 | // ---------------------
|
---|
| 1220 | ColumnVector va(6);
|
---|
| 1221 | va(1) = vv(1);
|
---|
| 1222 | va(2) = vv(2);
|
---|
| 1223 | va(3) = vv(3);
|
---|
| 1224 | va(4) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(1) + t4*vv(2) + acc[0];
|
---|
| 1225 | va(5) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(2) - t4*vv(1) + acc[1];
|
---|
| 1226 | va(6) = (t1 + t2*(3.0-5.0*z2/(rho*rho)) ) * rr(3) + acc[2];
|
---|
[3699] | 1227 |
|
---|
[6801] | 1228 | return va;
|
---|
| 1229 | }
|
---|
[3699] | 1230 |
|
---|
[6801] | 1231 | // IOD of Glonass Ephemeris (virtual)
|
---|
| 1232 | ////////////////////////////////////////////////////////////////////////////
|
---|
[7169] | 1233 | unsigned int t_ephGlo::IOD() const {
|
---|
[6801] | 1234 | bncTime tMoscow = _TOC - _gps_utc + 3 * 3600.0;
|
---|
[7054] | 1235 | return (unsigned long)tMoscow.daysec() / 900;
|
---|
[3659] | 1236 | }
|
---|
| 1237 |
|
---|
[8187] | 1238 | // Health status of Glonass Ephemeris (virtual)
|
---|
| 1239 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1240 | unsigned int t_ephGlo::isUnhealthy() const {
|
---|
[8215] | 1241 |
|
---|
[8217] | 1242 | if (_almanac_health_availablility_indicator) {
|
---|
[8215] | 1243 | if ((_health == 0 && _almanac_health == 0) ||
|
---|
| 1244 | (_health == 1 && _almanac_health == 0) ||
|
---|
| 1245 | (_health == 1 && _almanac_health == 1)) {
|
---|
| 1246 | return 1;
|
---|
| 1247 | }
|
---|
[8187] | 1248 | }
|
---|
[8217] | 1249 | else if (!_almanac_health_availablility_indicator) {
|
---|
| 1250 | if (_health) {
|
---|
| 1251 | return 1;
|
---|
| 1252 | }
|
---|
| 1253 | }
|
---|
[8215] | 1254 | return 0; /* (_health == 0 && _almanac_health == 1) or (_health == 0) */
|
---|
[8187] | 1255 | }
|
---|
| 1256 |
|
---|
[3659] | 1257 | // Constructor
|
---|
| 1258 | //////////////////////////////////////////////////////////////////////////////
|
---|
[9367] | 1259 | t_ephGal::t_ephGal(double rnxVersion, const QStringList& lines) {
|
---|
[6809] | 1260 | int year, month, day, hour, min;
|
---|
| 1261 | double sec;
|
---|
| 1262 | QString prnStr;
|
---|
[4891] | 1263 | const int nLines = 8;
|
---|
| 1264 | if (lines.size() != nLines) {
|
---|
[6518] | 1265 | _checkState = bad;
|
---|
[4891] | 1266 | return;
|
---|
| 1267 | }
|
---|
| 1268 |
|
---|
| 1269 | // RINEX Format
|
---|
| 1270 | // ------------
|
---|
| 1271 | int fieldLen = 19;
|
---|
[6792] | 1272 | double SVhealth = 0.0;
|
---|
| 1273 | double datasource = 0.0;
|
---|
[6798] | 1274 |
|
---|
[4891] | 1275 | int pos[4];
|
---|
| 1276 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
| 1277 | pos[1] = pos[0] + fieldLen;
|
---|
| 1278 | pos[2] = pos[1] + fieldLen;
|
---|
| 1279 | pos[3] = pos[2] + fieldLen;
|
---|
| 1280 |
|
---|
| 1281 | // Read eight lines
|
---|
| 1282 | // ----------------
|
---|
| 1283 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
| 1284 | QString line = lines[iLine];
|
---|
| 1285 |
|
---|
| 1286 | if ( iLine == 0 ) {
|
---|
[8204] | 1287 | QTextStream in(line.left(pos[1]).toLatin1());
|
---|
[7140] | 1288 | QString n;
|
---|
[6880] | 1289 | in >> prnStr;
|
---|
[7639] | 1290 | if (prnStr.size() == 1 && prnStr[0] == 'E') {
|
---|
[7139] | 1291 | in >> n;
|
---|
| 1292 | prnStr.append(n);
|
---|
[6880] | 1293 | }
|
---|
| 1294 | in >> year >> month >> day >> hour >> min >> sec;
|
---|
[4891] | 1295 | if (year < 80) {
|
---|
| 1296 | year += 2000;
|
---|
| 1297 | }
|
---|
| 1298 | else if (year < 100) {
|
---|
| 1299 | year += 1900;
|
---|
| 1300 | }
|
---|
| 1301 |
|
---|
| 1302 | _TOC.set(year, month, day, hour, min, sec);
|
---|
| 1303 |
|
---|
| 1304 | if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
|
---|
| 1305 | readDbl(line, pos[2], fieldLen, _clock_drift ) ||
|
---|
| 1306 | readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
|
---|
[6518] | 1307 | _checkState = bad;
|
---|
[4891] | 1308 | return;
|
---|
| 1309 | }
|
---|
| 1310 | }
|
---|
[9788] | 1311 | // =====================
|
---|
| 1312 | // BROADCAST ORBIT - 1
|
---|
| 1313 | // =====================
|
---|
[4891] | 1314 | else if ( iLine == 1 ) {
|
---|
| 1315 | if ( readDbl(line, pos[0], fieldLen, _IODnav ) ||
|
---|
| 1316 | readDbl(line, pos[1], fieldLen, _Crs ) ||
|
---|
| 1317 | readDbl(line, pos[2], fieldLen, _Delta_n) ||
|
---|
| 1318 | readDbl(line, pos[3], fieldLen, _M0 ) ) {
|
---|
[6518] | 1319 | _checkState = bad;
|
---|
[4891] | 1320 | return;
|
---|
| 1321 | }
|
---|
| 1322 | }
|
---|
[9788] | 1323 | // =====================
|
---|
| 1324 | // BROADCAST ORBIT - 2
|
---|
| 1325 | // =====================
|
---|
[4891] | 1326 | else if ( iLine == 2 ) {
|
---|
| 1327 | if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
|
---|
| 1328 | readDbl(line, pos[1], fieldLen, _e ) ||
|
---|
| 1329 | readDbl(line, pos[2], fieldLen, _Cus ) ||
|
---|
| 1330 | readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
|
---|
[6518] | 1331 | _checkState = bad;
|
---|
[4891] | 1332 | return;
|
---|
| 1333 | }
|
---|
| 1334 | }
|
---|
[9788] | 1335 | // =====================
|
---|
| 1336 | // BROADCAST ORBIT - 3
|
---|
| 1337 | // =====================
|
---|
[4891] | 1338 | else if ( iLine == 3 ) {
|
---|
| 1339 | if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
|
---|
| 1340 | readDbl(line, pos[1], fieldLen, _Cic ) ||
|
---|
| 1341 | readDbl(line, pos[2], fieldLen, _OMEGA0) ||
|
---|
| 1342 | readDbl(line, pos[3], fieldLen, _Cis ) ) {
|
---|
[6518] | 1343 | _checkState = bad;
|
---|
[4891] | 1344 | return;
|
---|
| 1345 | }
|
---|
| 1346 | }
|
---|
[9788] | 1347 | // =====================
|
---|
| 1348 | // BROADCAST ORBIT - 4
|
---|
| 1349 | // =====================
|
---|
[4891] | 1350 | else if ( iLine == 4 ) {
|
---|
| 1351 | if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
|
---|
| 1352 | readDbl(line, pos[1], fieldLen, _Crc ) ||
|
---|
| 1353 | readDbl(line, pos[2], fieldLen, _omega ) ||
|
---|
| 1354 | readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
|
---|
[6518] | 1355 | _checkState = bad;
|
---|
[4891] | 1356 | return;
|
---|
| 1357 | }
|
---|
| 1358 | }
|
---|
[9788] | 1359 | // =====================
|
---|
| 1360 | // BROADCAST ORBIT - 5
|
---|
| 1361 | // =====================
|
---|
[4891] | 1362 | else if ( iLine == 5 ) {
|
---|
[6792] | 1363 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
|
---|
| 1364 | readDbl(line, pos[1], fieldLen, datasource) ||
|
---|
| 1365 | readDbl(line, pos[2], fieldLen, _TOEweek ) ) {
|
---|
[6518] | 1366 | _checkState = bad;
|
---|
[4891] | 1367 | return;
|
---|
[6792] | 1368 | } else {
|
---|
| 1369 | if (int(datasource) & (1<<8)) {
|
---|
[6812] | 1370 | _fnav = true;
|
---|
| 1371 | _inav = false;
|
---|
[6792] | 1372 | } else if (int(datasource) & (1<<9)) {
|
---|
[6812] | 1373 | _fnav = false;
|
---|
| 1374 | _inav = true;
|
---|
[6792] | 1375 | }
|
---|
[6892] | 1376 | _TOEweek -= 1024.0;
|
---|
[4891] | 1377 | }
|
---|
| 1378 | }
|
---|
[9788] | 1379 | // =====================
|
---|
| 1380 | // BROADCAST ORBIT - 6
|
---|
| 1381 | // =====================
|
---|
[4891] | 1382 | else if ( iLine == 6 ) {
|
---|
| 1383 | if ( readDbl(line, pos[0], fieldLen, _SISA ) ||
|
---|
[6792] | 1384 | readDbl(line, pos[1], fieldLen, SVhealth) ||
|
---|
[4891] | 1385 | readDbl(line, pos[2], fieldLen, _BGD_1_5A) ||
|
---|
| 1386 | readDbl(line, pos[3], fieldLen, _BGD_1_5B) ) {
|
---|
[6518] | 1387 | _checkState = bad;
|
---|
[4891] | 1388 | return;
|
---|
[6792] | 1389 | } else {
|
---|
| 1390 | // Bit 0
|
---|
[9367] | 1391 | _e1DataInValid = (int(SVhealth) & (1<<0));
|
---|
[6792] | 1392 | // Bit 1-2
|
---|
[9367] | 1393 | _E1_bHS = double((int(SVhealth) >> 1) & 0x3);
|
---|
[6792] | 1394 | // Bit 3
|
---|
[6812] | 1395 | _e5aDataInValid = (int(SVhealth) & (1<<3));
|
---|
[6792] | 1396 | // Bit 4-5
|
---|
[9367] | 1397 | _E5aHS = double((int(SVhealth) >> 4) & 0x3);
|
---|
[6792] | 1398 | // Bit 6
|
---|
[6812] | 1399 | _e5bDataInValid = (int(SVhealth) & (1<<6));
|
---|
[6792] | 1400 | // Bit 7-8
|
---|
[9367] | 1401 | _E5bHS = double((int(SVhealth) >> 7) & 0x3);
|
---|
[6809] | 1402 |
|
---|
| 1403 | if (prnStr.at(0) == 'E') {
|
---|
[7140] | 1404 | _prn.set('E', prnStr.mid(1).toInt(), _inav ? 1 : 0);
|
---|
[6809] | 1405 | }
|
---|
[4891] | 1406 | }
|
---|
| 1407 | }
|
---|
[9788] | 1408 | // =====================
|
---|
| 1409 | // BROADCAST ORBIT - 7
|
---|
| 1410 | // =====================
|
---|
[4891] | 1411 | else if ( iLine == 7 ) {
|
---|
| 1412 | if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
|
---|
[6518] | 1413 | _checkState = bad;
|
---|
[4891] | 1414 | return;
|
---|
| 1415 | }
|
---|
| 1416 | }
|
---|
| 1417 | }
|
---|
[3659] | 1418 | }
|
---|
[4013] | 1419 |
|
---|
[6801] | 1420 | // Compute Galileo Satellite Position (virtual)
|
---|
| 1421 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1422 | t_irc t_ephGal::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
|
---|
[4013] | 1423 |
|
---|
[6801] | 1424 | static const double omegaEarth = 7292115.1467e-11;
|
---|
[8212] | 1425 | static const double gmWGS = 398.6004418e12;
|
---|
[4023] | 1426 |
|
---|
[8542] | 1427 | memset(xc, 0, 6*sizeof(double));
|
---|
[6801] | 1428 | memset(vv, 0, 3*sizeof(double));
|
---|
[4023] | 1429 |
|
---|
[6801] | 1430 | double a0 = _sqrt_A * _sqrt_A;
|
---|
| 1431 | if (a0 == 0) {
|
---|
| 1432 | return failure;
|
---|
| 1433 | }
|
---|
[4023] | 1434 |
|
---|
[6801] | 1435 | double n0 = sqrt(gmWGS/(a0*a0*a0));
|
---|
[4023] | 1436 |
|
---|
[6801] | 1437 | bncTime tt(GPSweek, GPSweeks);
|
---|
| 1438 | double tk = tt - bncTime(_TOC.gpsw(), _TOEsec);
|
---|
[4023] | 1439 |
|
---|
[6801] | 1440 | double n = n0 + _Delta_n;
|
---|
| 1441 | double M = _M0 + n*tk;
|
---|
| 1442 | double E = M;
|
---|
| 1443 | double E_last;
|
---|
[8368] | 1444 | int nLoop = 0;
|
---|
[6801] | 1445 | do {
|
---|
| 1446 | E_last = E;
|
---|
| 1447 | E = M + _e*sin(E);
|
---|
[8368] | 1448 |
|
---|
| 1449 | if (++nLoop == 100) {
|
---|
| 1450 | return failure;
|
---|
| 1451 | }
|
---|
[6801] | 1452 | } while ( fabs(E-E_last)*a0 > 0.001 );
|
---|
| 1453 | double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
|
---|
| 1454 | double u0 = v + _omega;
|
---|
| 1455 | double sin2u0 = sin(2*u0);
|
---|
| 1456 | double cos2u0 = cos(2*u0);
|
---|
| 1457 | double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
|
---|
| 1458 | double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
|
---|
| 1459 | double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
|
---|
| 1460 | double xp = r*cos(u);
|
---|
| 1461 | double yp = r*sin(u);
|
---|
| 1462 | double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
|
---|
| 1463 | omegaEarth*_TOEsec;
|
---|
[4023] | 1464 |
|
---|
[6801] | 1465 | double sinom = sin(OM);
|
---|
| 1466 | double cosom = cos(OM);
|
---|
| 1467 | double sini = sin(i);
|
---|
| 1468 | double cosi = cos(i);
|
---|
| 1469 | xc[0] = xp*cosom - yp*cosi*sinom;
|
---|
| 1470 | xc[1] = xp*sinom + yp*cosi*cosom;
|
---|
| 1471 | xc[2] = yp*sini;
|
---|
[4023] | 1472 |
|
---|
[6801] | 1473 | double tc = tt - _TOC;
|
---|
| 1474 | xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
|
---|
[4023] | 1475 |
|
---|
[6801] | 1476 | // Velocity
|
---|
| 1477 | // --------
|
---|
| 1478 | double tanv2 = tan(v/2);
|
---|
| 1479 | double dEdM = 1 / (1 - _e*cos(E));
|
---|
| 1480 | double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
|
---|
| 1481 | * dEdM * n;
|
---|
| 1482 | double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
|
---|
| 1483 | double dotom = _OMEGADOT - omegaEarth;
|
---|
| 1484 | double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
|
---|
| 1485 | double dotr = a0 * _e*sin(E) * dEdM * n
|
---|
| 1486 | + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
|
---|
| 1487 | double dotx = dotr*cos(u) - r*sin(u)*dotu;
|
---|
| 1488 | double doty = dotr*sin(u) + r*cos(u)*dotu;
|
---|
[4023] | 1489 |
|
---|
[6801] | 1490 | vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
|
---|
| 1491 | - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
|
---|
| 1492 | + yp*sini*sinom*doti; // dX / di
|
---|
| 1493 |
|
---|
| 1494 | vv[1] = sinom *dotx + cosi*cosom *doty
|
---|
| 1495 | + xp*cosom*dotom - yp*cosi*sinom*dotom
|
---|
| 1496 | - yp*sini*cosom*doti;
|
---|
| 1497 |
|
---|
| 1498 | vv[2] = sini *doty + yp*cosi *doti;
|
---|
| 1499 |
|
---|
| 1500 | // Relativistic Correction
|
---|
| 1501 | // -----------------------
|
---|
[9290] | 1502 | xc[3] -= 4.442807309e-10 * _e * sqrt(a0) *sin(E);
|
---|
[6801] | 1503 |
|
---|
[8542] | 1504 | xc[4] = _clock_drift + _clock_driftrate*tc;
|
---|
| 1505 | xc[5] = _clock_driftrate;
|
---|
[8581] | 1506 |
|
---|
[6801] | 1507 | return success;
|
---|
[4023] | 1508 | }
|
---|
| 1509 |
|
---|
[8187] | 1510 | // Health status of Galileo Ephemeris (virtual)
|
---|
| 1511 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1512 | unsigned int t_ephGal::isUnhealthy() const {
|
---|
[10315] | 1513 | if (_E5aHS || _E5bHS || _E1_bHS) {
|
---|
[8187] | 1514 | return 1;
|
---|
| 1515 | }
|
---|
[10315] | 1516 | if (_SISA == 255.0) {
|
---|
| 1517 | return 1;
|
---|
| 1518 | }
|
---|
| 1519 | if (_e5aDataInValid || _e5bDataInValid || _e1DataInValid) {
|
---|
| 1520 | return 1;
|
---|
| 1521 | }
|
---|
[8187] | 1522 | return 0;
|
---|
| 1523 | }
|
---|
| 1524 |
|
---|
[4023] | 1525 | // RINEX Format String
|
---|
| 1526 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 1527 | QString t_ephGal::toString(double version) const {
|
---|
| 1528 |
|
---|
[9765] | 1529 | QString navStr = navTypeString(_navType, _prn, version);
|
---|
| 1530 | QString rnxStr = navStr + rinexDateStr(_TOC, _prn, version);
|
---|
[4023] | 1531 |
|
---|
| 1532 | QTextStream out(&rnxStr);
|
---|
| 1533 |
|
---|
| 1534 | out << QString("%1%2%3\n")
|
---|
| 1535 | .arg(_clock_bias, 19, 'e', 12)
|
---|
| 1536 | .arg(_clock_drift, 19, 'e', 12)
|
---|
| 1537 | .arg(_clock_driftrate, 19, 'e', 12);
|
---|
| 1538 |
|
---|
| 1539 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
[9788] | 1540 | // =====================
|
---|
| 1541 | // BROADCAST ORBIT - 1
|
---|
| 1542 | // =====================
|
---|
[4023] | 1543 | out << QString(fmt)
|
---|
| 1544 | .arg(_IODnav, 19, 'e', 12)
|
---|
| 1545 | .arg(_Crs, 19, 'e', 12)
|
---|
| 1546 | .arg(_Delta_n, 19, 'e', 12)
|
---|
| 1547 | .arg(_M0, 19, 'e', 12);
|
---|
[9788] | 1548 | // =====================
|
---|
| 1549 | // BROADCAST ORBIT - 2
|
---|
| 1550 | // =====================
|
---|
[4023] | 1551 | out << QString(fmt)
|
---|
| 1552 | .arg(_Cuc, 19, 'e', 12)
|
---|
| 1553 | .arg(_e, 19, 'e', 12)
|
---|
| 1554 | .arg(_Cus, 19, 'e', 12)
|
---|
| 1555 | .arg(_sqrt_A, 19, 'e', 12);
|
---|
[9788] | 1556 | // =====================
|
---|
| 1557 | // BROADCAST ORBIT - 3
|
---|
| 1558 | // =====================
|
---|
[4023] | 1559 | out << QString(fmt)
|
---|
| 1560 | .arg(_TOEsec, 19, 'e', 12)
|
---|
| 1561 | .arg(_Cic, 19, 'e', 12)
|
---|
| 1562 | .arg(_OMEGA0, 19, 'e', 12)
|
---|
| 1563 | .arg(_Cis, 19, 'e', 12);
|
---|
[9788] | 1564 | // =====================
|
---|
| 1565 | // BROADCAST ORBIT - 4
|
---|
| 1566 | // =====================
|
---|
[4023] | 1567 | out << QString(fmt)
|
---|
| 1568 | .arg(_i0, 19, 'e', 12)
|
---|
| 1569 | .arg(_Crc, 19, 'e', 12)
|
---|
| 1570 | .arg(_omega, 19, 'e', 12)
|
---|
| 1571 | .arg(_OMEGADOT, 19, 'e', 12);
|
---|
[9788] | 1572 | // =====================
|
---|
| 1573 | // BROADCAST ORBIT - 5
|
---|
| 1574 | // =====================
|
---|
[6792] | 1575 | int dataSource = 0;
|
---|
| 1576 | int SVhealth = 0;
|
---|
| 1577 | double BGD_1_5A = _BGD_1_5A;
|
---|
| 1578 | double BGD_1_5B = _BGD_1_5B;
|
---|
[6812] | 1579 | if (_fnav) {
|
---|
[6792] | 1580 | dataSource |= (1<<1);
|
---|
| 1581 | dataSource |= (1<<8);
|
---|
| 1582 | BGD_1_5B = 0.0;
|
---|
| 1583 | // SVhealth
|
---|
| 1584 | // Bit 3 : E5a DVS
|
---|
[6812] | 1585 | if (_e5aDataInValid) {
|
---|
[6792] | 1586 | SVhealth |= (1<<3);
|
---|
| 1587 | }
|
---|
| 1588 | // Bit 4-5: E5a HS
|
---|
| 1589 | if (_E5aHS == 1.0) {
|
---|
| 1590 | SVhealth |= (1<<4);
|
---|
| 1591 | }
|
---|
| 1592 | else if (_E5aHS == 2.0) {
|
---|
| 1593 | SVhealth |= (1<<5);
|
---|
| 1594 | }
|
---|
| 1595 | else if (_E5aHS == 3.0) {
|
---|
| 1596 | SVhealth |= (1<<4);
|
---|
| 1597 | SVhealth |= (1<<5);
|
---|
| 1598 | }
|
---|
| 1599 | }
|
---|
[6812] | 1600 | else if(_inav) {
|
---|
[6803] | 1601 | // Bit 2 and 0 are set because from MT1046 the data source cannot be determined
|
---|
| 1602 | // and RNXv3.03 says both can be set if the navigation messages were merged
|
---|
[5539] | 1603 | dataSource |= (1<<0);
|
---|
[6792] | 1604 | dataSource |= (1<<2);
|
---|
[5540] | 1605 | dataSource |= (1<<9);
|
---|
[6792] | 1606 | // SVhealth
|
---|
| 1607 | // Bit 0 : E1-B DVS
|
---|
[6812] | 1608 | if (_e1DataInValid) {
|
---|
[6792] | 1609 | SVhealth |= (1<<0);
|
---|
| 1610 | }
|
---|
| 1611 | // Bit 1-2: E1-B HS
|
---|
| 1612 | if (_E1_bHS == 1.0) {
|
---|
| 1613 | SVhealth |= (1<<1);
|
---|
| 1614 | }
|
---|
| 1615 | else if (_E1_bHS == 2.0) {
|
---|
| 1616 | SVhealth |= (1<<2);
|
---|
| 1617 | }
|
---|
[6803] | 1618 | else if (_E1_bHS == 3.0) {
|
---|
[6792] | 1619 | SVhealth |= (1<<1);
|
---|
| 1620 | SVhealth |= (1<<2);
|
---|
| 1621 | }
|
---|
[6802] | 1622 | // Bit 3 : E5a DVS
|
---|
[6812] | 1623 | if (_e5aDataInValid) {
|
---|
[6802] | 1624 | SVhealth |= (1<<3);
|
---|
| 1625 | }
|
---|
| 1626 | // Bit 4-5: E5a HS
|
---|
| 1627 | if (_E5aHS == 1.0) {
|
---|
| 1628 | SVhealth |= (1<<4);
|
---|
| 1629 | }
|
---|
| 1630 | else if (_E5aHS == 2.0) {
|
---|
| 1631 | SVhealth |= (1<<5);
|
---|
| 1632 | }
|
---|
[6803] | 1633 | else if (_E5aHS == 3.0) {
|
---|
[6802] | 1634 | SVhealth |= (1<<4);
|
---|
| 1635 | SVhealth |= (1<<5);
|
---|
| 1636 | }
|
---|
[6792] | 1637 | // Bit 6 : E5b DVS
|
---|
[6812] | 1638 | if (_e5bDataInValid) {
|
---|
[6792] | 1639 | SVhealth |= (1<<6);
|
---|
| 1640 | }
|
---|
| 1641 | // Bit 7-8: E5b HS
|
---|
| 1642 | if (_E5bHS == 1.0) {
|
---|
| 1643 | SVhealth |= (1<<7);
|
---|
| 1644 | }
|
---|
| 1645 | else if (_E5bHS == 2.0) {
|
---|
| 1646 | SVhealth |= (1<<8);
|
---|
| 1647 | }
|
---|
[6803] | 1648 | else if (_E5bHS == 3.0) {
|
---|
[6792] | 1649 | SVhealth |= (1<<7);
|
---|
| 1650 | SVhealth |= (1<<8);
|
---|
| 1651 | }
|
---|
[5539] | 1652 | }
|
---|
[6792] | 1653 |
|
---|
[4023] | 1654 | out << QString(fmt)
|
---|
[5532] | 1655 | .arg(_IDOT, 19, 'e', 12)
|
---|
| 1656 | .arg(double(dataSource), 19, 'e', 12)
|
---|
[6892] | 1657 | .arg(_TOEweek + 1024.0, 19, 'e', 12)
|
---|
[5532] | 1658 | .arg(0.0, 19, 'e', 12);
|
---|
[9788] | 1659 | // =====================
|
---|
| 1660 | // BROADCAST ORBIT - 6
|
---|
| 1661 | // =====================
|
---|
[4023] | 1662 | out << QString(fmt)
|
---|
[6798] | 1663 | .arg(_SISA, 19, 'e', 12)
|
---|
[6792] | 1664 | .arg(double(SVhealth), 19, 'e', 12)
|
---|
| 1665 | .arg(BGD_1_5A, 19, 'e', 12)
|
---|
| 1666 | .arg(BGD_1_5B, 19, 'e', 12);
|
---|
[9788] | 1667 | // =====================
|
---|
| 1668 | // BROADCAST ORBIT - 7
|
---|
| 1669 | // =====================
|
---|
[7922] | 1670 | double tot = _TOT;
|
---|
| 1671 | if (tot == 0.9999e9 && version < 3.0) {
|
---|
| 1672 | tot = 0.0;
|
---|
| 1673 | }
|
---|
[4023] | 1674 | out << QString(fmt)
|
---|
[7922] | 1675 | .arg(tot, 19, 'e', 12)
|
---|
[4024] | 1676 | .arg("", 19, QChar(' '))
|
---|
| 1677 | .arg("", 19, QChar(' '))
|
---|
| 1678 | .arg("", 19, QChar(' '));
|
---|
[4023] | 1679 |
|
---|
| 1680 | return rnxStr;
|
---|
| 1681 | }
|
---|
| 1682 |
|
---|
[6385] | 1683 | // Constructor
|
---|
| 1684 | //////////////////////////////////////////////////////////////////////////////
|
---|
[9367] | 1685 | t_ephSBAS::t_ephSBAS(double rnxVersion, const QStringList& lines) {
|
---|
[6390] | 1686 |
|
---|
| 1687 | const int nLines = 4;
|
---|
| 1688 |
|
---|
| 1689 | if (lines.size() != nLines) {
|
---|
[6518] | 1690 | _checkState = bad;
|
---|
[6390] | 1691 | return;
|
---|
| 1692 | }
|
---|
| 1693 |
|
---|
| 1694 | // RINEX Format
|
---|
| 1695 | // ------------
|
---|
| 1696 | int fieldLen = 19;
|
---|
| 1697 |
|
---|
| 1698 | int pos[4];
|
---|
| 1699 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
| 1700 | pos[1] = pos[0] + fieldLen;
|
---|
| 1701 | pos[2] = pos[1] + fieldLen;
|
---|
| 1702 | pos[3] = pos[2] + fieldLen;
|
---|
| 1703 |
|
---|
| 1704 | // Read four lines
|
---|
| 1705 | // ---------------
|
---|
| 1706 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
| 1707 | QString line = lines[iLine];
|
---|
| 1708 |
|
---|
| 1709 | if ( iLine == 0 ) {
|
---|
[8204] | 1710 | QTextStream in(line.left(pos[1]).toLatin1());
|
---|
[6390] | 1711 |
|
---|
| 1712 | int year, month, day, hour, min;
|
---|
| 1713 | double sec;
|
---|
[6880] | 1714 |
|
---|
[7139] | 1715 | QString prnStr, n;
|
---|
[6880] | 1716 | in >> prnStr;
|
---|
[7639] | 1717 | if (prnStr.size() == 1 && prnStr[0] == 'S') {
|
---|
[7139] | 1718 | in >> n;
|
---|
| 1719 | prnStr.append(n);
|
---|
[6880] | 1720 | }
|
---|
| 1721 | in >> year >> month >> day >> hour >> min >> sec;
|
---|
[6390] | 1722 | if (prnStr.at(0) == 'S') {
|
---|
| 1723 | _prn.set('S', prnStr.mid(1).toInt());
|
---|
| 1724 | }
|
---|
| 1725 | else {
|
---|
| 1726 | _prn.set('S', prnStr.toInt());
|
---|
| 1727 | }
|
---|
| 1728 |
|
---|
| 1729 | if (year < 80) {
|
---|
| 1730 | year += 2000;
|
---|
| 1731 | }
|
---|
| 1732 | else if (year < 100) {
|
---|
| 1733 | year += 1900;
|
---|
| 1734 | }
|
---|
| 1735 |
|
---|
| 1736 | _TOC.set(year, month, day, hour, min, sec);
|
---|
| 1737 |
|
---|
| 1738 | if ( readDbl(line, pos[1], fieldLen, _agf0 ) ||
|
---|
| 1739 | readDbl(line, pos[2], fieldLen, _agf1 ) ||
|
---|
[8456] | 1740 | readDbl(line, pos[3], fieldLen, _TOT ) ) {
|
---|
[6518] | 1741 | _checkState = bad;
|
---|
[6390] | 1742 | return;
|
---|
| 1743 | }
|
---|
| 1744 | }
|
---|
[9788] | 1745 | // =====================
|
---|
| 1746 | // BROADCAST ORBIT - 1
|
---|
| 1747 | // =====================
|
---|
[6390] | 1748 | else if ( iLine == 1 ) {
|
---|
| 1749 | if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
|
---|
| 1750 | readDbl(line, pos[1], fieldLen, _x_velocity ) ||
|
---|
| 1751 | readDbl(line, pos[2], fieldLen, _x_acceleration) ||
|
---|
| 1752 | readDbl(line, pos[3], fieldLen, _health ) ) {
|
---|
[6518] | 1753 | _checkState = bad;
|
---|
[6390] | 1754 | return;
|
---|
| 1755 | }
|
---|
| 1756 | }
|
---|
[9788] | 1757 | // =====================
|
---|
| 1758 | // BROADCAST ORBIT - 2
|
---|
| 1759 | // =====================
|
---|
[6390] | 1760 | else if ( iLine == 2 ) {
|
---|
| 1761 | if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
|
---|
| 1762 | readDbl(line, pos[1], fieldLen, _y_velocity ) ||
|
---|
| 1763 | readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
|
---|
| 1764 | readDbl(line, pos[3], fieldLen, _ura ) ) {
|
---|
[6518] | 1765 | _checkState = bad;
|
---|
[6390] | 1766 | return;
|
---|
| 1767 | }
|
---|
| 1768 | }
|
---|
[9788] | 1769 | // =====================
|
---|
| 1770 | // BROADCAST ORBIT - 3
|
---|
| 1771 | // =====================
|
---|
[6390] | 1772 | else if ( iLine == 3 ) {
|
---|
[6536] | 1773 | double iodn;
|
---|
[6390] | 1774 | if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
|
---|
| 1775 | readDbl(line, pos[1], fieldLen, _z_velocity ) ||
|
---|
| 1776 | readDbl(line, pos[2], fieldLen, _z_acceleration) ||
|
---|
[6536] | 1777 | readDbl(line, pos[3], fieldLen, iodn ) ) {
|
---|
[6518] | 1778 | _checkState = bad;
|
---|
[6390] | 1779 | return;
|
---|
[6891] | 1780 | } else {
|
---|
[6536] | 1781 | _IODN = int(iodn);
|
---|
[6390] | 1782 | }
|
---|
| 1783 | }
|
---|
| 1784 | }
|
---|
| 1785 |
|
---|
[7278] | 1786 | _x_pos *= 1.e3;
|
---|
| 1787 | _y_pos *= 1.e3;
|
---|
| 1788 | _z_pos *= 1.e3;
|
---|
| 1789 | _x_velocity *= 1.e3;
|
---|
| 1790 | _y_velocity *= 1.e3;
|
---|
| 1791 | _z_velocity *= 1.e3;
|
---|
| 1792 | _x_acceleration *= 1.e3;
|
---|
| 1793 | _y_acceleration *= 1.e3;
|
---|
| 1794 | _z_acceleration *= 1.e3;
|
---|
[6385] | 1795 | }
|
---|
| 1796 |
|
---|
[7054] | 1797 | // IOD of SBAS Ephemeris (virtual)
|
---|
| 1798 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1799 |
|
---|
[7169] | 1800 | unsigned int t_ephSBAS::IOD() const {
|
---|
[7054] | 1801 | unsigned char buffer[80];
|
---|
| 1802 | int size = 0;
|
---|
| 1803 | int numbits = 0;
|
---|
| 1804 | long long bitbuffer = 0;
|
---|
| 1805 | unsigned char *startbuffer = buffer;
|
---|
| 1806 |
|
---|
| 1807 | SBASADDBITSFLOAT(30, this->_x_pos, 0.08)
|
---|
| 1808 | SBASADDBITSFLOAT(30, this->_y_pos, 0.08)
|
---|
| 1809 | SBASADDBITSFLOAT(25, this->_z_pos, 0.4)
|
---|
| 1810 | SBASADDBITSFLOAT(17, this->_x_velocity, 0.000625)
|
---|
| 1811 | SBASADDBITSFLOAT(17, this->_y_velocity, 0.000625)
|
---|
| 1812 | SBASADDBITSFLOAT(18, this->_z_velocity, 0.004)
|
---|
| 1813 | SBASADDBITSFLOAT(10, this->_x_acceleration, 0.0000125)
|
---|
| 1814 | SBASADDBITSFLOAT(10, this->_y_acceleration, 0.0000125)
|
---|
| 1815 | SBASADDBITSFLOAT(10, this->_z_acceleration, 0.0000625)
|
---|
| 1816 | SBASADDBITSFLOAT(12, this->_agf0, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
|
---|
| 1817 | SBASADDBITSFLOAT(8, this->_agf1, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<10))
|
---|
| 1818 | SBASADDBITS(5,0); // the last byte is filled by 0-bits to obtain a length of an integer multiple of 8
|
---|
| 1819 |
|
---|
| 1820 | return CRC24(size, startbuffer);
|
---|
| 1821 | }
|
---|
| 1822 |
|
---|
[6385] | 1823 | // Compute SBAS Satellite Position (virtual)
|
---|
| 1824 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1825 | t_irc t_ephSBAS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
|
---|
[6386] | 1826 |
|
---|
| 1827 | bncTime tt(GPSweek, GPSweeks);
|
---|
| 1828 | double dt = tt - _TOC;
|
---|
| 1829 |
|
---|
[7278] | 1830 | xc[0] = _x_pos + _x_velocity * dt + _x_acceleration * dt * dt / 2.0;
|
---|
| 1831 | xc[1] = _y_pos + _y_velocity * dt + _y_acceleration * dt * dt / 2.0;
|
---|
| 1832 | xc[2] = _z_pos + _z_velocity * dt + _z_acceleration * dt * dt / 2.0;
|
---|
[6386] | 1833 |
|
---|
| 1834 | vv[0] = _x_velocity + _x_acceleration * dt;
|
---|
| 1835 | vv[1] = _y_velocity + _y_acceleration * dt;
|
---|
| 1836 | vv[2] = _z_velocity + _z_acceleration * dt;
|
---|
| 1837 |
|
---|
| 1838 | xc[3] = _agf0 + _agf1 * dt;
|
---|
| 1839 |
|
---|
[8542] | 1840 | xc[4] = _agf1;
|
---|
| 1841 | xc[5] = 0.0;
|
---|
[8483] | 1842 |
|
---|
[6386] | 1843 | return success;
|
---|
[6385] | 1844 | }
|
---|
| 1845 |
|
---|
[9774] | 1846 | // Health status of SBAS Ephemeris (virtual)
|
---|
| 1847 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1848 | unsigned int t_ephSBAS::isUnhealthy() const {
|
---|
| 1849 |
|
---|
| 1850 | // Bit 5
|
---|
| 1851 | bool URAindexIs15 = (int(_health) & (1<<5));
|
---|
| 1852 | if (URAindexIs15) {
|
---|
| 1853 | // in this case it is recommended
|
---|
| 1854 | // to set the bits 0,1,2,3 to 1 (MT17health = 15)
|
---|
| 1855 | return 1;
|
---|
| 1856 | }
|
---|
| 1857 |
|
---|
| 1858 | // Bit 0-3
|
---|
| 1859 | int MT17health = (int(_health)) & (0x0f);
|
---|
| 1860 | if (MT17health) {
|
---|
| 1861 | return 1;
|
---|
| 1862 | }
|
---|
| 1863 |
|
---|
| 1864 | // Bit 4
|
---|
| 1865 | // bool MT17HealthIsUnavailable = (int(_health) & (1<<4));
|
---|
| 1866 | // is not used because the MT17health bits can be independently set if URA index is 15
|
---|
| 1867 |
|
---|
| 1868 | return 0;
|
---|
| 1869 | }
|
---|
| 1870 |
|
---|
| 1871 |
|
---|
[6385] | 1872 | // RINEX Format String
|
---|
| 1873 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6388] | 1874 | QString t_ephSBAS::toString(double version) const {
|
---|
| 1875 |
|
---|
[9765] | 1876 | QString navStr = navTypeString(_navType, _prn, version);
|
---|
| 1877 | QString rnxStr = navStr + rinexDateStr(_TOC, _prn, version);
|
---|
[6388] | 1878 |
|
---|
| 1879 | QTextStream out(&rnxStr);
|
---|
| 1880 |
|
---|
| 1881 | out << QString("%1%2%3\n")
|
---|
[6390] | 1882 | .arg(_agf0, 19, 'e', 12)
|
---|
| 1883 | .arg(_agf1, 19, 'e', 12)
|
---|
[8456] | 1884 | .arg(_TOT, 19, 'e', 12);
|
---|
[6388] | 1885 |
|
---|
| 1886 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
[9788] | 1887 | // =====================
|
---|
| 1888 | // BROADCAST ORBIT - 1
|
---|
| 1889 | // =====================
|
---|
[6388] | 1890 | out << QString(fmt)
|
---|
| 1891 | .arg(1.e-3*_x_pos, 19, 'e', 12)
|
---|
| 1892 | .arg(1.e-3*_x_velocity, 19, 'e', 12)
|
---|
| 1893 | .arg(1.e-3*_x_acceleration, 19, 'e', 12)
|
---|
[6390] | 1894 | .arg(_health, 19, 'e', 12);
|
---|
[9788] | 1895 | // =====================
|
---|
| 1896 | // BROADCAST ORBIT - 2
|
---|
| 1897 | // =====================
|
---|
[6388] | 1898 | out << QString(fmt)
|
---|
| 1899 | .arg(1.e-3*_y_pos, 19, 'e', 12)
|
---|
| 1900 | .arg(1.e-3*_y_velocity, 19, 'e', 12)
|
---|
| 1901 | .arg(1.e-3*_y_acceleration, 19, 'e', 12)
|
---|
[6390] | 1902 | .arg(_ura, 19, 'e', 12);
|
---|
[9788] | 1903 | // =====================
|
---|
| 1904 | // BROADCAST ORBIT - 3
|
---|
| 1905 | // =====================
|
---|
[6388] | 1906 | out << QString(fmt)
|
---|
| 1907 | .arg(1.e-3*_z_pos, 19, 'e', 12)
|
---|
| 1908 | .arg(1.e-3*_z_velocity, 19, 'e', 12)
|
---|
| 1909 | .arg(1.e-3*_z_acceleration, 19, 'e', 12)
|
---|
[6536] | 1910 | .arg(double(_IODN), 19, 'e', 12);
|
---|
[6388] | 1911 |
|
---|
| 1912 | return rnxStr;
|
---|
[6385] | 1913 | }
|
---|
[6400] | 1914 |
|
---|
| 1915 | // Constructor
|
---|
| 1916 | //////////////////////////////////////////////////////////////////////////////
|
---|
[9367] | 1917 | t_ephBDS::t_ephBDS(double rnxVersion, const QStringList& lines) {
|
---|
[6400] | 1918 |
|
---|
[9788] | 1919 | int nLines = 8;
|
---|
[6400] | 1920 |
|
---|
[9788] | 1921 | if (navType() == t_eph::CNV1 ||
|
---|
| 1922 | navType() == t_eph::CNV2) {
|
---|
| 1923 | nLines += 2;
|
---|
| 1924 | }
|
---|
| 1925 | if (navType() == t_eph::CNV3) {
|
---|
| 1926 | nLines += 1;
|
---|
| 1927 | }
|
---|
| 1928 |
|
---|
[6400] | 1929 | if (lines.size() != nLines) {
|
---|
[6518] | 1930 | _checkState = bad;
|
---|
[6400] | 1931 | return;
|
---|
| 1932 | }
|
---|
| 1933 |
|
---|
| 1934 | // RINEX Format
|
---|
| 1935 | // ------------
|
---|
| 1936 | int fieldLen = 19;
|
---|
| 1937 |
|
---|
| 1938 | int pos[4];
|
---|
| 1939 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
| 1940 | pos[1] = pos[0] + fieldLen;
|
---|
| 1941 | pos[2] = pos[1] + fieldLen;
|
---|
| 1942 | pos[3] = pos[2] + fieldLen;
|
---|
| 1943 |
|
---|
| 1944 | // Read eight lines
|
---|
| 1945 | // ----------------
|
---|
| 1946 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
| 1947 | QString line = lines[iLine];
|
---|
| 1948 |
|
---|
| 1949 | if ( iLine == 0 ) {
|
---|
[8204] | 1950 | QTextStream in(line.left(pos[1]).toLatin1());
|
---|
[6400] | 1951 |
|
---|
| 1952 | int year, month, day, hour, min;
|
---|
| 1953 | double sec;
|
---|
[6880] | 1954 |
|
---|
[7139] | 1955 | QString prnStr, n;
|
---|
[6880] | 1956 | in >> prnStr;
|
---|
[7639] | 1957 | if (prnStr.size() == 1 && prnStr[0] == 'C') {
|
---|
[7139] | 1958 | in >> n;
|
---|
| 1959 | prnStr.append(n);
|
---|
[6880] | 1960 | }
|
---|
| 1961 | in >> year >> month >> day >> hour >> min >> sec;
|
---|
[6400] | 1962 | if (prnStr.at(0) == 'C') {
|
---|
| 1963 | _prn.set('C', prnStr.mid(1).toInt());
|
---|
| 1964 | }
|
---|
| 1965 | else {
|
---|
| 1966 | _prn.set('C', prnStr.toInt());
|
---|
| 1967 | }
|
---|
| 1968 |
|
---|
| 1969 | if (year < 80) {
|
---|
| 1970 | year += 2000;
|
---|
| 1971 | }
|
---|
| 1972 | else if (year < 100) {
|
---|
| 1973 | year += 1900;
|
---|
| 1974 | }
|
---|
| 1975 |
|
---|
[6812] | 1976 | _TOC.setBDS(year, month, day, hour, min, sec);
|
---|
[6400] | 1977 |
|
---|
| 1978 | if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
|
---|
| 1979 | readDbl(line, pos[2], fieldLen, _clock_drift ) ||
|
---|
| 1980 | readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
|
---|
[6518] | 1981 | _checkState = bad;
|
---|
[6400] | 1982 | return;
|
---|
| 1983 | }
|
---|
| 1984 | }
|
---|
[9788] | 1985 | // =====================
|
---|
| 1986 | // BROADCAST ORBIT - 1
|
---|
| 1987 | // =====================
|
---|
[6400] | 1988 | else if ( iLine == 1 ) {
|
---|
| 1989 | double aode;
|
---|
| 1990 | if ( readDbl(line, pos[0], fieldLen, aode ) ||
|
---|
| 1991 | readDbl(line, pos[1], fieldLen, _Crs ) ||
|
---|
| 1992 | readDbl(line, pos[2], fieldLen, _Delta_n) ||
|
---|
| 1993 | readDbl(line, pos[3], fieldLen, _M0 ) ) {
|
---|
[6518] | 1994 | _checkState = bad;
|
---|
[6400] | 1995 | return;
|
---|
| 1996 | }
|
---|
| 1997 | _AODE = int(aode);
|
---|
| 1998 | }
|
---|
[9788] | 1999 | // =====================
|
---|
| 2000 | // BROADCAST ORBIT - 2
|
---|
| 2001 | // =====================
|
---|
[6400] | 2002 | else if ( iLine == 2 ) {
|
---|
| 2003 | if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
|
---|
| 2004 | readDbl(line, pos[1], fieldLen, _e ) ||
|
---|
| 2005 | readDbl(line, pos[2], fieldLen, _Cus ) ||
|
---|
| 2006 | readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
|
---|
[6518] | 2007 | _checkState = bad;
|
---|
[6400] | 2008 | return;
|
---|
| 2009 | }
|
---|
| 2010 | }
|
---|
[9788] | 2011 | // =====================
|
---|
| 2012 | // BROADCAST ORBIT - 3
|
---|
| 2013 | // =====================
|
---|
[6400] | 2014 | else if ( iLine == 3 ) {
|
---|
[6812] | 2015 | if ( readDbl(line, pos[0], fieldLen, _TOEsec ) ||
|
---|
[6400] | 2016 | readDbl(line, pos[1], fieldLen, _Cic ) ||
|
---|
| 2017 | readDbl(line, pos[2], fieldLen, _OMEGA0) ||
|
---|
| 2018 | readDbl(line, pos[3], fieldLen, _Cis ) ) {
|
---|
[6518] | 2019 | _checkState = bad;
|
---|
[6400] | 2020 | return;
|
---|
| 2021 | }
|
---|
| 2022 | }
|
---|
[9788] | 2023 | // =====================
|
---|
| 2024 | // BROADCAST ORBIT - 4
|
---|
| 2025 | // =====================
|
---|
[6400] | 2026 | else if ( iLine == 4 ) {
|
---|
| 2027 | if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
|
---|
| 2028 | readDbl(line, pos[1], fieldLen, _Crc ) ||
|
---|
| 2029 | readDbl(line, pos[2], fieldLen, _omega ) ||
|
---|
| 2030 | readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
|
---|
[6518] | 2031 | _checkState = bad;
|
---|
[6400] | 2032 | return;
|
---|
| 2033 | }
|
---|
| 2034 | }
|
---|
[9788] | 2035 | // =====================
|
---|
| 2036 | // BROADCAST ORBIT - 5
|
---|
| 2037 | // =====================
|
---|
| 2038 | else if ( iLine == 5 ) {
|
---|
[6400] | 2039 |
|
---|
[9788] | 2040 | if (navType() == t_eph::CNV1 ||
|
---|
| 2041 | navType() == t_eph::CNV2 ||
|
---|
| 2042 | navType() == t_eph::CNV3 ) {
|
---|
| 2043 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
|
---|
| 2044 | readDbl(line, pos[1], fieldLen, _Delta_n_dot) ||
|
---|
| 2045 | readDbl(line, pos[2], fieldLen, _satType ) ||
|
---|
| 2046 | readDbl(line, pos[3], fieldLen, _top ) ) {
|
---|
| 2047 | _checkState = bad;
|
---|
| 2048 | return;
|
---|
| 2049 | }
|
---|
[6400] | 2050 | }
|
---|
[9788] | 2051 | else { // D1, D2, undefined
|
---|
| 2052 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
|
---|
| 2053 | readDbl(line, pos[2], fieldLen, _BDTweek)) {
|
---|
| 2054 | _checkState = bad;
|
---|
| 2055 | return;
|
---|
| 2056 | }
|
---|
| 2057 | }
|
---|
[6400] | 2058 | }
|
---|
[9788] | 2059 | // =====================
|
---|
| 2060 | // BROADCAST ORBIT - 6
|
---|
| 2061 | // =====================
|
---|
[6400] | 2062 | else if ( iLine == 6 ) {
|
---|
[9788] | 2063 | if (navType() == t_eph::CNV1 ||
|
---|
| 2064 | navType() == t_eph::CNV2 ||
|
---|
| 2065 | navType() == t_eph::CNV3 ) {
|
---|
| 2066 | if ( readDbl(line, pos[0], fieldLen, _SISAI_oe ) ||
|
---|
| 2067 | readDbl(line, pos[1], fieldLen, _SISAI_ocb ) ||
|
---|
| 2068 | readDbl(line, pos[2], fieldLen, _SISAI_oc1 ) ||
|
---|
| 2069 | readDbl(line, pos[3], fieldLen, _SISAI_oc2 ) ) {
|
---|
| 2070 | _checkState = bad;
|
---|
| 2071 | return;
|
---|
| 2072 | }
|
---|
[6400] | 2073 | }
|
---|
[9788] | 2074 | else { // D1, D2, undefined
|
---|
| 2075 | double SatH1;
|
---|
| 2076 | if ( readDbl(line, pos[0], fieldLen, _URA ) ||
|
---|
| 2077 | readDbl(line, pos[1], fieldLen, SatH1) ||
|
---|
| 2078 | readDbl(line, pos[2], fieldLen, _TGD1) ||
|
---|
| 2079 | readDbl(line, pos[3], fieldLen, _TGD2) ) {
|
---|
| 2080 | _checkState = bad;
|
---|
| 2081 | return;
|
---|
| 2082 | }
|
---|
| 2083 | _SatH1 = int(SatH1);
|
---|
| 2084 | }
|
---|
[6400] | 2085 | }
|
---|
[9788] | 2086 | // =====================
|
---|
| 2087 | // BROADCAST ORBIT - 7
|
---|
| 2088 | // =====================
|
---|
[6400] | 2089 | else if ( iLine == 7 ) {
|
---|
[9788] | 2090 | if (navType() == t_eph::CNV1) {
|
---|
| 2091 | if ( readDbl(line, pos[0], fieldLen, _ISC_B1Cd) ||
|
---|
| 2092 | readDbl(line, pos[2], fieldLen, _TGD_B1Cp) ||
|
---|
| 2093 | readDbl(line, pos[3], fieldLen, _TGD_B2ap) ) {
|
---|
| 2094 | _checkState = bad;
|
---|
| 2095 | return;
|
---|
| 2096 | }
|
---|
[6400] | 2097 | }
|
---|
[9788] | 2098 | else if (navType() == t_eph::CNV2) {
|
---|
| 2099 | if ( readDbl(line, pos[1], fieldLen, _ISC_B2ad) ||
|
---|
| 2100 | readDbl(line, pos[2], fieldLen, _TGD_B1Cp) ||
|
---|
| 2101 | readDbl(line, pos[3], fieldLen, _TGD_B2ap) ) {
|
---|
| 2102 | _checkState = bad;
|
---|
| 2103 | return;
|
---|
| 2104 | }
|
---|
[6400] | 2105 | }
|
---|
[9788] | 2106 | else if (navType() == t_eph::CNV3) {
|
---|
[9789] | 2107 | double health;
|
---|
[9788] | 2108 | if ( readDbl(line, pos[0], fieldLen, _SISMAI ) ||
|
---|
[9789] | 2109 | readDbl(line, pos[1], fieldLen, health ) ||
|
---|
[9788] | 2110 | readDbl(line, pos[2], fieldLen, _INTEGRITYF_B2b) ||
|
---|
| 2111 | readDbl(line, pos[3], fieldLen, _TGD_B2bI) ) {
|
---|
| 2112 | _checkState = bad;
|
---|
| 2113 | return;
|
---|
| 2114 | }
|
---|
[9789] | 2115 | _health = int(health);
|
---|
[9788] | 2116 | }
|
---|
| 2117 | else { // D1, D2 or undefined
|
---|
| 2118 | double aodc;
|
---|
| 2119 | if ( readDbl(line, pos[0], fieldLen, _TOT) ||
|
---|
| 2120 | readDbl(line, pos[1], fieldLen, aodc) ) {
|
---|
| 2121 | _checkState = bad;
|
---|
| 2122 | return;
|
---|
| 2123 | }
|
---|
| 2124 | if (_TOT == 0.9999e9) { // 0.9999e9 means not known (RINEX standard)
|
---|
| 2125 | _TOT = _TOEsec;
|
---|
| 2126 | }
|
---|
| 2127 | _AODC = int(aodc);
|
---|
| 2128 | }
|
---|
[6400] | 2129 | }
|
---|
[9788] | 2130 | // =====================
|
---|
| 2131 | // BROADCAST ORBIT - 8
|
---|
| 2132 | // =====================
|
---|
| 2133 | else if ( iLine == 8 ) {
|
---|
[9789] | 2134 | double health;
|
---|
[9788] | 2135 | if (navType() == t_eph::CNV1) {
|
---|
| 2136 | if ( readDbl(line, pos[0], fieldLen, _SISMAI ) ||
|
---|
[9789] | 2137 | readDbl(line, pos[1], fieldLen, health ) ||
|
---|
[9788] | 2138 | readDbl(line, pos[2], fieldLen, _INTEGRITYF_B1C) ||
|
---|
| 2139 | readDbl(line, pos[3], fieldLen, _IODC) ) {
|
---|
| 2140 | _checkState = bad;
|
---|
| 2141 | return;
|
---|
| 2142 | }
|
---|
[9789] | 2143 | _health = int(health);
|
---|
[9788] | 2144 | }
|
---|
| 2145 | else if (navType() == t_eph::CNV2) {
|
---|
| 2146 | if ( readDbl(line, pos[0], fieldLen, _SISMAI ) ||
|
---|
[9789] | 2147 | readDbl(line, pos[1], fieldLen, health ) ||
|
---|
[9788] | 2148 | readDbl(line, pos[2], fieldLen, _INTEGRITYF_B2aB1C) ||
|
---|
| 2149 | readDbl(line, pos[3], fieldLen, _IODC) ) {
|
---|
| 2150 | _checkState = bad;
|
---|
| 2151 | return;
|
---|
| 2152 | }
|
---|
[9789] | 2153 | _health = int(health);
|
---|
[9788] | 2154 | }
|
---|
| 2155 | else if (navType() == t_eph::CNV3) {
|
---|
| 2156 | if ( readDbl(line, pos[0], fieldLen, _TOT)) {
|
---|
| 2157 | _checkState = bad;
|
---|
| 2158 | return;
|
---|
| 2159 | }
|
---|
| 2160 | }
|
---|
| 2161 |
|
---|
| 2162 | }
|
---|
| 2163 | // =====================
|
---|
| 2164 | // BROADCAST ORBIT - 9
|
---|
| 2165 | // =====================
|
---|
| 2166 | else if ( iLine == 9 ) {
|
---|
| 2167 |
|
---|
| 2168 | if (navType() == t_eph::CNV1 ||
|
---|
| 2169 | navType() == t_eph::CNV2) {
|
---|
| 2170 | if ( readDbl(line, pos[0], fieldLen, _TOT) ||
|
---|
| 2171 | readDbl(line, pos[3], fieldLen, _IODE) ) {
|
---|
| 2172 | _checkState = bad;
|
---|
| 2173 | return;
|
---|
| 2174 | }
|
---|
| 2175 | }
|
---|
| 2176 |
|
---|
| 2177 | }
|
---|
[6400] | 2178 | }
|
---|
| 2179 |
|
---|
[9788] | 2180 | _TOE.setBDS(int(_BDTweek), _TOEsec);
|
---|
[6400] | 2181 | // remark: actually should be computed from second_tot
|
---|
| 2182 | // but it seems to be unreliable in RINEX files
|
---|
[6843] | 2183 | //_TOT = _TOC.bdssec();
|
---|
[6400] | 2184 | }
|
---|
| 2185 |
|
---|
[7054] | 2186 | // IOD of BDS Ephemeris (virtual)
|
---|
| 2187 | ////////////////////////////////////////////////////////////////////////////
|
---|
[7169] | 2188 | unsigned int t_ephBDS::IOD() const {
|
---|
[9939] | 2189 | return (int(_TOC.gpssec())/720) % 240; //return (int(_TOEsec)/720) % 240;
|
---|
[7054] | 2190 | }
|
---|
| 2191 |
|
---|
[6601] | 2192 | // Compute BDS Satellite Position (virtual)
|
---|
[6400] | 2193 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6600] | 2194 | t_irc t_ephBDS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
|
---|
[6400] | 2195 |
|
---|
[6602] | 2196 | static const double gmBDS = 398.6004418e12;
|
---|
| 2197 | static const double omegaBDS = 7292115.0000e-11;
|
---|
[6400] | 2198 |
|
---|
| 2199 | xc[0] = xc[1] = xc[2] = xc[3] = 0.0;
|
---|
| 2200 | vv[0] = vv[1] = vv[2] = 0.0;
|
---|
| 2201 |
|
---|
| 2202 | bncTime tt(GPSweek, GPSweeks);
|
---|
| 2203 |
|
---|
| 2204 | if (_sqrt_A == 0) {
|
---|
| 2205 | return failure;
|
---|
| 2206 | }
|
---|
| 2207 | double a0 = _sqrt_A * _sqrt_A;
|
---|
| 2208 |
|
---|
[6602] | 2209 | double n0 = sqrt(gmBDS/(a0*a0*a0));
|
---|
[6400] | 2210 | double tk = tt - _TOE;
|
---|
| 2211 | double n = n0 + _Delta_n;
|
---|
| 2212 | double M = _M0 + n*tk;
|
---|
| 2213 | double E = M;
|
---|
| 2214 | double E_last;
|
---|
| 2215 | int nLoop = 0;
|
---|
| 2216 | do {
|
---|
| 2217 | E_last = E;
|
---|
| 2218 | E = M + _e*sin(E);
|
---|
| 2219 |
|
---|
| 2220 | if (++nLoop == 100) {
|
---|
| 2221 | return failure;
|
---|
| 2222 | }
|
---|
| 2223 | } while ( fabs(E-E_last)*a0 > 0.001 );
|
---|
| 2224 |
|
---|
| 2225 | double v = atan2(sqrt(1-_e*_e) * sin(E), cos(E) - _e);
|
---|
| 2226 | double u0 = v + _omega;
|
---|
| 2227 | double sin2u0 = sin(2*u0);
|
---|
| 2228 | double cos2u0 = cos(2*u0);
|
---|
| 2229 | double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
|
---|
| 2230 | double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
|
---|
| 2231 | double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
|
---|
| 2232 | double xp = r*cos(u);
|
---|
| 2233 | double yp = r*sin(u);
|
---|
| 2234 | double toesec = (_TOE.gpssec() - 14.0);
|
---|
| 2235 | double sinom = 0;
|
---|
| 2236 | double cosom = 0;
|
---|
| 2237 | double sini = 0;
|
---|
| 2238 | double cosi = 0;
|
---|
[7278] | 2239 |
|
---|
[7481] | 2240 | // Velocity
|
---|
| 2241 | // --------
|
---|
| 2242 | double tanv2 = tan(v/2);
|
---|
| 2243 | double dEdM = 1 / (1 - _e*cos(E));
|
---|
| 2244 | double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2)
|
---|
| 2245 | / (1 + tanv2*tanv2) * dEdM * n;
|
---|
| 2246 | double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
|
---|
| 2247 | double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
|
---|
| 2248 | double dotr = a0 * _e*sin(E) * dEdM * n
|
---|
| 2249 | + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
|
---|
| 2250 |
|
---|
| 2251 | double dotx = dotr*cos(u) - r*sin(u)*dotu;
|
---|
| 2252 | double doty = dotr*sin(u) + r*cos(u)*dotu;
|
---|
| 2253 |
|
---|
[6400] | 2254 | const double iMaxGEO = 10.0 / 180.0 * M_PI;
|
---|
| 2255 |
|
---|
| 2256 | // MEO/IGSO satellite
|
---|
| 2257 | // ------------------
|
---|
| 2258 | if (_i0 > iMaxGEO) {
|
---|
[6602] | 2259 | double OM = _OMEGA0 + (_OMEGADOT - omegaBDS)*tk - omegaBDS*toesec;
|
---|
[6400] | 2260 |
|
---|
| 2261 | sinom = sin(OM);
|
---|
| 2262 | cosom = cos(OM);
|
---|
| 2263 | sini = sin(i);
|
---|
| 2264 | cosi = cos(i);
|
---|
| 2265 |
|
---|
| 2266 | xc[0] = xp*cosom - yp*cosi*sinom;
|
---|
| 2267 | xc[1] = xp*sinom + yp*cosi*cosom;
|
---|
[7278] | 2268 | xc[2] = yp*sini;
|
---|
[7481] | 2269 |
|
---|
| 2270 | // Velocity
|
---|
| 2271 | // --------
|
---|
| 2272 |
|
---|
| 2273 | double dotom = _OMEGADOT - t_CST::omega;
|
---|
| 2274 |
|
---|
| 2275 | vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
|
---|
| 2276 | - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
|
---|
| 2277 | + yp*sini*sinom*doti; // dX / di
|
---|
| 2278 |
|
---|
| 2279 | vv[1] = sinom *dotx + cosi*cosom *doty
|
---|
| 2280 | + xp*cosom*dotom - yp*cosi*sinom*dotom
|
---|
| 2281 | - yp*sini*cosom*doti;
|
---|
| 2282 |
|
---|
| 2283 | vv[2] = sini *doty + yp*cosi *doti;
|
---|
| 2284 |
|
---|
[6400] | 2285 | }
|
---|
| 2286 |
|
---|
| 2287 | // GEO satellite
|
---|
| 2288 | // -------------
|
---|
| 2289 | else {
|
---|
[6602] | 2290 | double OM = _OMEGA0 + _OMEGADOT*tk - omegaBDS*toesec;
|
---|
| 2291 | double ll = omegaBDS*tk;
|
---|
[6400] | 2292 |
|
---|
| 2293 | sinom = sin(OM);
|
---|
| 2294 | cosom = cos(OM);
|
---|
| 2295 | sini = sin(i);
|
---|
| 2296 | cosi = cos(i);
|
---|
| 2297 |
|
---|
| 2298 | double xx = xp*cosom - yp*cosi*sinom;
|
---|
| 2299 | double yy = xp*sinom + yp*cosi*cosom;
|
---|
[7278] | 2300 | double zz = yp*sini;
|
---|
[6400] | 2301 |
|
---|
[7487] | 2302 | Matrix RX = BNC_PPP::t_astro::rotX(-5.0 / 180.0 * M_PI);
|
---|
| 2303 | Matrix RZ = BNC_PPP::t_astro::rotZ(ll);
|
---|
[6400] | 2304 |
|
---|
| 2305 | ColumnVector X1(3); X1 << xx << yy << zz;
|
---|
[7487] | 2306 | ColumnVector X2 = RZ*RX*X1;
|
---|
[6400] | 2307 |
|
---|
| 2308 | xc[0] = X2(1);
|
---|
| 2309 | xc[1] = X2(2);
|
---|
| 2310 | xc[2] = X2(3);
|
---|
[7278] | 2311 |
|
---|
[7481] | 2312 | double dotom = _OMEGADOT;
|
---|
[6400] | 2313 |
|
---|
[7481] | 2314 | double vx = cosom *dotx - cosi*sinom *doty
|
---|
| 2315 | - xp*sinom*dotom - yp*cosi*cosom*dotom
|
---|
| 2316 | + yp*sini*sinom*doti;
|
---|
[6400] | 2317 |
|
---|
[7481] | 2318 | double vy = sinom *dotx + cosi*cosom *doty
|
---|
| 2319 | + xp*cosom*dotom - yp*cosi*sinom*dotom
|
---|
| 2320 | - yp*sini*cosom*doti;
|
---|
[7278] | 2321 |
|
---|
[7501] | 2322 | double vz = sini *doty + yp*cosi *doti;
|
---|
[6400] | 2323 |
|
---|
[7501] | 2324 | ColumnVector V(3); V << vx << vy << vz;
|
---|
[7481] | 2325 |
|
---|
[7487] | 2326 | Matrix RdotZ(3,3);
|
---|
[7481] | 2327 | double C = cos(ll);
|
---|
| 2328 | double S = sin(ll);
|
---|
| 2329 | Matrix UU(3,3);
|
---|
| 2330 | UU[0][0] = -S; UU[0][1] = +C; UU[0][2] = 0.0;
|
---|
| 2331 | UU[1][0] = -C; UU[1][1] = -S; UU[1][2] = 0.0;
|
---|
| 2332 | UU[2][0] = 0.0; UU[2][1] = 0.0; UU[2][2] = 0.0;
|
---|
[7487] | 2333 | RdotZ = omegaBDS * UU;
|
---|
[7481] | 2334 |
|
---|
| 2335 | ColumnVector VV(3);
|
---|
[7487] | 2336 | VV = RZ*RX*V + RdotZ*RX*X1;
|
---|
[7481] | 2337 |
|
---|
| 2338 | vv[0] = VV(1);
|
---|
| 2339 | vv[1] = VV(2);
|
---|
| 2340 | vv[2] = VV(3);
|
---|
| 2341 | }
|
---|
| 2342 |
|
---|
| 2343 | double tc = tt - _TOC;
|
---|
| 2344 | xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
|
---|
| 2345 |
|
---|
[9132] | 2346 | // dotC = _clock_drift + _clock_driftrate*tc
|
---|
[9290] | 2347 | // - 4.442807309e-10*_e * sqrt(a0) * cos(E) * dEdM * n;
|
---|
[6400] | 2348 |
|
---|
[7481] | 2349 | // Relativistic Correction
|
---|
| 2350 | // -----------------------
|
---|
[9290] | 2351 | xc[3] -= 4.442807309e-10 * _e * sqrt(a0) *sin(E);
|
---|
[7481] | 2352 |
|
---|
[8542] | 2353 | xc[4] = _clock_drift + _clock_driftrate*tc;
|
---|
| 2354 | xc[5] = _clock_driftrate;
|
---|
[9126] | 2355 |
|
---|
[6400] | 2356 | return success;
|
---|
| 2357 | }
|
---|
| 2358 |
|
---|
[9789] | 2359 |
|
---|
| 2360 | // Health status of SBAS Ephemeris (virtual)
|
---|
| 2361 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 2362 | unsigned int t_ephBDS::isUnhealthy() const {
|
---|
| 2363 |
|
---|
| 2364 | if (navType() == t_eph::CNV1 ||
|
---|
| 2365 | navType() == t_eph::CNV2 ||
|
---|
| 2366 | navType() == t_eph::CNV3) {
|
---|
| 2367 | return static_cast<unsigned int>(_health);
|
---|
| 2368 | }
|
---|
| 2369 |
|
---|
| 2370 | return static_cast<unsigned int>(_SatH1);
|
---|
| 2371 |
|
---|
| 2372 | }
|
---|
| 2373 |
|
---|
| 2374 |
|
---|
[6400] | 2375 | // RINEX Format String
|
---|
| 2376 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6600] | 2377 | QString t_ephBDS::toString(double version) const {
|
---|
[8419] | 2378 |
|
---|
[9765] | 2379 | QString navStr = navTypeString(_navType, _prn, version);
|
---|
| 2380 | QString rnxStr = navStr + rinexDateStr(_TOC-14.0, _prn, version);
|
---|
[6400] | 2381 |
|
---|
| 2382 | QTextStream out(&rnxStr);
|
---|
| 2383 |
|
---|
| 2384 | out << QString("%1%2%3\n")
|
---|
| 2385 | .arg(_clock_bias, 19, 'e', 12)
|
---|
| 2386 | .arg(_clock_drift, 19, 'e', 12)
|
---|
| 2387 | .arg(_clock_driftrate, 19, 'e', 12);
|
---|
| 2388 |
|
---|
| 2389 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
[9788] | 2390 | // =====================
|
---|
| 2391 | // BROADCAST ORBIT - 1
|
---|
| 2392 | // =====================
|
---|
[6400] | 2393 | out << QString(fmt)
|
---|
| 2394 | .arg(double(_AODE), 19, 'e', 12)
|
---|
| 2395 | .arg(_Crs, 19, 'e', 12)
|
---|
| 2396 | .arg(_Delta_n, 19, 'e', 12)
|
---|
| 2397 | .arg(_M0, 19, 'e', 12);
|
---|
[9788] | 2398 | // =====================
|
---|
| 2399 | // BROADCAST ORBIT - 2
|
---|
| 2400 | // =====================
|
---|
[6400] | 2401 | out << QString(fmt)
|
---|
| 2402 | .arg(_Cuc, 19, 'e', 12)
|
---|
| 2403 | .arg(_e, 19, 'e', 12)
|
---|
| 2404 | .arg(_Cus, 19, 'e', 12)
|
---|
| 2405 | .arg(_sqrt_A, 19, 'e', 12);
|
---|
[9788] | 2406 | // =====================
|
---|
| 2407 | // BROADCAST ORBIT - 3
|
---|
| 2408 | // =====================
|
---|
[6400] | 2409 | out << QString(fmt)
|
---|
[9785] | 2410 | .arg(_TOEsec, 19, 'e', 12)
|
---|
[6755] | 2411 | .arg(_Cic, 19, 'e', 12)
|
---|
| 2412 | .arg(_OMEGA0, 19, 'e', 12)
|
---|
| 2413 | .arg(_Cis, 19, 'e', 12);
|
---|
[9788] | 2414 | // =====================
|
---|
| 2415 | // BROADCAST ORBIT - 4
|
---|
| 2416 | // =====================
|
---|
[6400] | 2417 | out << QString(fmt)
|
---|
| 2418 | .arg(_i0, 19, 'e', 12)
|
---|
| 2419 | .arg(_Crc, 19, 'e', 12)
|
---|
| 2420 | .arg(_omega, 19, 'e', 12)
|
---|
| 2421 | .arg(_OMEGADOT, 19, 'e', 12);
|
---|
[9788] | 2422 | // =====================
|
---|
| 2423 | // BROADCAST ORBIT - 5
|
---|
| 2424 | // =====================
|
---|
| 2425 | if (navType() == t_eph::CNV1 ||
|
---|
| 2426 | navType() == t_eph::CNV2 ||
|
---|
| 2427 | navType() == t_eph::CNV3 ) {
|
---|
| 2428 | out << QString(fmt)
|
---|
| 2429 | .arg(_IDOT, 19, 'e', 12)
|
---|
| 2430 | .arg(_Delta_n_dot, 19, 'e', 12)
|
---|
| 2431 | .arg(_satType, 19, 'e', 12)
|
---|
| 2432 | .arg(_top, 19, 'e', 12);
|
---|
| 2433 | }
|
---|
| 2434 | else { // D1, D2, undefined
|
---|
| 2435 | out << QString(fmt)
|
---|
| 2436 | .arg(_IDOT, 19, 'e', 12)
|
---|
| 2437 | .arg("", 19, QChar(' '))
|
---|
| 2438 | .arg(_BDTweek, 19, 'e', 12)
|
---|
| 2439 | .arg("", 19, QChar(' '));
|
---|
| 2440 | }
|
---|
| 2441 | // =====================
|
---|
| 2442 | // BROADCAST ORBIT - 6
|
---|
| 2443 | // =====================
|
---|
| 2444 | if (navType() == t_eph::CNV1 ||
|
---|
| 2445 | navType() == t_eph::CNV2 ||
|
---|
| 2446 | navType() == t_eph::CNV3 ) {
|
---|
| 2447 | out << QString(fmt)
|
---|
| 2448 | .arg(_SISAI_oe, 19, 'e', 12)
|
---|
| 2449 | .arg(_SISAI_ocb, 19, 'e', 12)
|
---|
| 2450 | .arg(_SISAI_oc1, 19, 'e', 12)
|
---|
| 2451 | .arg(_SISAI_oc2, 19, 'e', 12);
|
---|
| 2452 | }
|
---|
| 2453 | else { // D1, D2, undefined
|
---|
| 2454 | out << QString(fmt)
|
---|
| 2455 | .arg(_URA, 19, 'e', 12)
|
---|
| 2456 | .arg(double(_SatH1), 19, 'e', 12)
|
---|
| 2457 | .arg(_TGD1, 19, 'e', 12)
|
---|
| 2458 | .arg(_TGD2, 19, 'e', 12);
|
---|
| 2459 | }
|
---|
| 2460 | // =====================
|
---|
| 2461 | // BROADCAST ORBIT - 7
|
---|
| 2462 | // =====================
|
---|
| 2463 | if (navType() == t_eph::CNV1) {
|
---|
| 2464 | out << QString(fmt)
|
---|
| 2465 | .arg(_ISC_B1Cd, 19, 'e', 12)
|
---|
| 2466 | .arg("", 19, QChar(' '))
|
---|
| 2467 | .arg(_TGD_B1Cp, 19, 'e', 12)
|
---|
| 2468 | .arg(_TGD_B2ap, 19, 'e', 12);
|
---|
| 2469 | }
|
---|
| 2470 | else if (navType() == t_eph::CNV2) {
|
---|
| 2471 | out << QString(fmt)
|
---|
| 2472 | .arg("", 19, QChar(' '))
|
---|
| 2473 | .arg(_ISC_B2ad, 19, 'e', 12)
|
---|
| 2474 | .arg(_TGD_B1Cp, 19, 'e', 12)
|
---|
| 2475 | .arg(_TGD_B2ap, 19, 'e', 12);
|
---|
| 2476 | }
|
---|
| 2477 | else if (navType() == t_eph::CNV3) {
|
---|
| 2478 | out << QString(fmt)
|
---|
| 2479 | .arg(_SISMAI, 19, 'e', 12)
|
---|
[9789] | 2480 | .arg(double(_health), 19, 'e', 12)
|
---|
[9788] | 2481 | .arg(_INTEGRITYF_B2b, 19, 'e', 12)
|
---|
| 2482 | .arg(_TGD_B2bI, 19, 'e', 12);
|
---|
| 2483 | }
|
---|
| 2484 | else { // D1, D2, undefined
|
---|
| 2485 | double tots = 0.0;
|
---|
| 2486 | if (_receptDateTime.isValid()) {// RTCM stream input
|
---|
| 2487 | tots = _TOE.bdssec();
|
---|
| 2488 | }
|
---|
| 2489 | else { // RINEX input
|
---|
| 2490 | tots = _TOT;
|
---|
| 2491 | }
|
---|
| 2492 | out << QString(fmt)
|
---|
| 2493 | .arg(tots, 19, 'e', 12)
|
---|
| 2494 | .arg(double(_AODC), 19, 'e', 12)
|
---|
| 2495 | .arg("", 19, QChar(' '))
|
---|
| 2496 | .arg("", 19, QChar(' '));
|
---|
| 2497 | }
|
---|
[6400] | 2498 |
|
---|
[9788] | 2499 | // =====================
|
---|
| 2500 | // BROADCAST ORBIT - 8
|
---|
| 2501 | // =====================
|
---|
| 2502 | if (navType() == t_eph::CNV1) {
|
---|
| 2503 | out << QString(fmt)
|
---|
| 2504 | .arg(_SISMAI, 19, 'e', 12)
|
---|
[9789] | 2505 | .arg(double(_health), 19, 'e', 12)
|
---|
[9788] | 2506 | .arg(_INTEGRITYF_B1C, 19, 'e', 12)
|
---|
| 2507 | .arg(_IODC, 19, 'e', 12);
|
---|
| 2508 | }
|
---|
| 2509 | else if (navType() == t_eph::CNV2) {
|
---|
| 2510 | out << QString(fmt)
|
---|
| 2511 | .arg(_SISMAI, 19, 'e', 12)
|
---|
[9789] | 2512 | .arg(double(_health), 19, 'e', 12)
|
---|
[9788] | 2513 | .arg(_INTEGRITYF_B2aB1C, 19, 'e', 12)
|
---|
| 2514 | .arg(_IODC, 19, 'e', 12);
|
---|
| 2515 | }
|
---|
| 2516 | else if (navType() == t_eph::CNV3) {
|
---|
| 2517 | out << QString(fmt)
|
---|
| 2518 | .arg(_TOT, 19, 'e', 12)
|
---|
| 2519 | .arg("", 19, QChar(' '))
|
---|
| 2520 | .arg("", 19, QChar(' '))
|
---|
| 2521 | .arg("", 19, QChar(' '));
|
---|
| 2522 | }
|
---|
[6400] | 2523 |
|
---|
[9788] | 2524 | // =====================
|
---|
| 2525 | // BROADCAST ORBIT - 9
|
---|
| 2526 | // =====================
|
---|
| 2527 | if (navType() == t_eph::CNV1 ||
|
---|
| 2528 | navType() == t_eph::CNV2) {
|
---|
| 2529 | out << QString(fmt)
|
---|
| 2530 | .arg(_TOT, 19, 'e', 12)
|
---|
| 2531 | .arg("", 19, QChar(' '))
|
---|
| 2532 | .arg("", 19, QChar(' '))
|
---|
| 2533 | .arg(_IODE, 19, 'e', 12);
|
---|
| 2534 | }
|
---|
[6400] | 2535 |
|
---|
[9788] | 2536 |
|
---|
[6400] | 2537 | return rnxStr;
|
---|
| 2538 | }
|
---|