[1025] | 1 | #include <math.h>
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| 2 | #include <sstream>
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[2234] | 3 | #include <iostream>
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[1025] | 4 | #include <iomanip>
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[1239] | 5 | #include <cstring>
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[1025] | 6 |
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[2234] | 7 | #include <newmatio.h>
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| 8 |
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[1025] | 9 | #include "ephemeris.h"
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[2221] | 10 | #include "bncutils.h"
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[2285] | 11 | #include "bnctime.h"
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[5070] | 12 | #include "bnccore.h"
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[5839] | 13 | #include "bncutils.h"
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[6141] | 14 | #include "satObs.h"
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[6044] | 15 | #include "pppInclude.h"
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[6400] | 16 | #include "pppModel.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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| 24 | _orbCorr = 0;
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| 25 | _clkCorr = 0;
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[5749] | 26 | }
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| 27 |
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| 28 | //
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| 29 | ////////////////////////////////////////////////////////////////////////////
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[6141] | 30 | void t_eph::setOrbCorr(const t_orbCorr* orbCorr) {
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[5749] | 31 | delete _orbCorr;
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[6141] | 32 | _orbCorr = new t_orbCorr(*orbCorr);
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[5749] | 33 | }
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| 34 |
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| 35 | //
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| 36 | ////////////////////////////////////////////////////////////////////////////
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[6141] | 37 | void t_eph::setClkCorr(const t_clkCorr* clkCorr) {
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[5749] | 38 | delete _clkCorr;
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[6141] | 39 | _clkCorr = new t_clkCorr(*clkCorr);
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[5749] | 40 | }
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| 41 |
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| 42 | //
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| 43 | ////////////////////////////////////////////////////////////////////////////
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[6109] | 44 | t_irc t_eph::getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const {
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[6518] | 45 |
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| 46 | if (_checkState == bad) {
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| 47 | return failure;
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| 48 | }
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[6556] | 49 | const QVector<int> updateInt = QVector<int>() << 1 << 2 << 5 << 10 << 15 << 30
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| 50 | << 60 << 120 << 240 << 300 << 600
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| 51 | << 900 << 1800 << 3600 << 7200
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| 52 | << 10800;
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[5749] | 53 | xc.ReSize(4);
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| 54 | vv.ReSize(3);
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[6213] | 55 | if (position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data()) != success) {
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| 56 | return failure;
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| 57 | }
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[5789] | 58 | if (useCorr) {
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[5839] | 59 | if (_orbCorr && _clkCorr) {
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[5849] | 60 | double dtO = tt - _orbCorr->_time;
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[6556] | 61 | if (_orbCorr->_updateInt) {
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| 62 | dtO -= (0.5 * updateInt[_orbCorr->_updateInt]);
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| 63 | }
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[5839] | 64 | ColumnVector dx(3);
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[5849] | 65 | dx[0] = _orbCorr->_xr[0] + _orbCorr->_dotXr[0] * dtO;
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| 66 | dx[1] = _orbCorr->_xr[1] + _orbCorr->_dotXr[1] * dtO;
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| 67 | dx[2] = _orbCorr->_xr[2] + _orbCorr->_dotXr[2] * dtO;
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| 68 |
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[5839] | 69 | if (_orbCorr->_system == 'R') {
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[5849] | 70 | RSW_to_XYZ(xc.Rows(1,3), vv.Rows(1,3), dx, dx);
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[5839] | 71 | }
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[5849] | 72 |
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[5839] | 73 | xc[0] -= dx[0];
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| 74 | xc[1] -= dx[1];
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| 75 | xc[2] -= dx[2];
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[5849] | 76 |
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| 77 | double dtC = tt - _clkCorr->_time;
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[6556] | 78 | if (_clkCorr->_updateInt) {
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| 79 | dtC -= (0.5 * updateInt[_clkCorr->_updateInt]);
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| 80 | }
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[5849] | 81 | xc[3] += _clkCorr->_dClk + _clkCorr->_dotDClk * dtC + _clkCorr->_dotDotDClk * dtC * dtC;
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[5839] | 82 | }
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| 83 | else {
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| 84 | return failure;
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| 85 | }
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[5749] | 86 | }
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| 87 | return success;
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| 88 | }
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| 89 |
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[2222] | 90 | // Set GPS Satellite Position
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| 91 | ////////////////////////////////////////////////////////////////////////////
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[1025] | 92 | void t_ephGPS::set(const gpsephemeris* ee) {
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| 93 |
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[4097] | 94 | _receptDateTime = currentDateAndTimeGPS();
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| 95 |
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[6374] | 96 | if (PRN_GPS_START <= ee->satellite && ee->satellite <= PRN_GPS_END) {
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| 97 | _prn.set('G', ee->satellite);
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| 98 | }
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| 99 | else if (PRN_QZSS_START <= ee->satellite && ee->satellite <= PRN_QZSS_END) {
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| 100 | _prn.set('J', ee->satellite - PRN_QZSS_START + 1);
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| 101 | }
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| 102 | else {
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[6518] | 103 | _checkState = bad;
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[6374] | 104 | return;
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| 105 | }
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[1025] | 106 |
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[4018] | 107 | _TOC.set(ee->GPSweek, ee->TOC);
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[3734] | 108 | _clock_bias = ee->clock_bias;
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| 109 | _clock_drift = ee->clock_drift;
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[1025] | 110 | _clock_driftrate = ee->clock_driftrate;
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| 111 |
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[4018] | 112 | _IODE = ee->IODE;
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[1025] | 113 | _Crs = ee->Crs;
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| 114 | _Delta_n = ee->Delta_n;
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| 115 | _M0 = ee->M0;
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[4018] | 116 |
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[1025] | 117 | _Cuc = ee->Cuc;
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| 118 | _e = ee->e;
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| 119 | _Cus = ee->Cus;
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| 120 | _sqrt_A = ee->sqrt_A;
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[4018] | 121 |
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| 122 | _TOEsec = ee->TOE;
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[1025] | 123 | _Cic = ee->Cic;
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| 124 | _OMEGA0 = ee->OMEGA0;
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| 125 | _Cis = ee->Cis;
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[4018] | 126 |
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[1025] | 127 | _i0 = ee->i0;
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| 128 | _Crc = ee->Crc;
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| 129 | _omega = ee->omega;
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| 130 | _OMEGADOT = ee->OMEGADOT;
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[4018] | 131 |
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[1025] | 132 | _IDOT = ee->IDOT;
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[4018] | 133 | _L2Codes = 0.0;
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[4025] | 134 | _TOEweek = ee->GPSweek;
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[4018] | 135 | _L2PFlag = 0.0;
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[1025] | 136 |
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[4027] | 137 | if (ee->URAindex <= 6) {
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| 138 | _ura = ceil(10.0*pow(2.0, 1.0+((double)ee->URAindex)/2.0))/10.0;
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| 139 | }
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| 140 | else {
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| 141 | _ura = ceil(10.0*pow(2.0, ((double)ee->URAindex)/2.0))/10.0;
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| 142 | }
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[4018] | 143 | _health = ee->SVhealth;
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[1025] | 144 | _TGD = ee->TGD;
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[4018] | 145 | _IODC = ee->IODC;
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[3659] | 146 |
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[4018] | 147 | _TOT = 0.9999e9;
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| 148 | _fitInterval = 0.0;
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[1025] | 149 | }
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| 150 |
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[2222] | 151 | // Compute GPS Satellite Position (virtual)
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[1025] | 152 | ////////////////////////////////////////////////////////////////////////////
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[6213] | 153 | t_irc t_ephGPS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
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[1025] | 154 |
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[6518] | 155 | if (_checkState == bad) {
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| 156 | return failure;
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| 157 | }
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| 158 |
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[1098] | 159 | static const double omegaEarth = 7292115.1467e-11;
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[5277] | 160 | static const double gmGRS = 398.6005e12;
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[1025] | 161 |
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| 162 | memset(xc, 0, 4*sizeof(double));
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| 163 | memset(vv, 0, 3*sizeof(double));
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| 164 |
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| 165 | double a0 = _sqrt_A * _sqrt_A;
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| 166 | if (a0 == 0) {
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[6213] | 167 | return failure;
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[1025] | 168 | }
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| 169 |
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[5277] | 170 | double n0 = sqrt(gmGRS/(a0*a0*a0));
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[4018] | 171 |
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| 172 | bncTime tt(GPSweek, GPSweeks);
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[4543] | 173 | double tk = tt - bncTime(int(_TOEweek), _TOEsec);
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[4018] | 174 |
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[1025] | 175 | double n = n0 + _Delta_n;
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| 176 | double M = _M0 + n*tk;
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| 177 | double E = M;
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| 178 | double E_last;
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| 179 | do {
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| 180 | E_last = E;
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| 181 | E = M + _e*sin(E);
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| 182 | } while ( fabs(E-E_last)*a0 > 0.001 );
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| 183 | double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
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| 184 | double u0 = v + _omega;
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| 185 | double sin2u0 = sin(2*u0);
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| 186 | double cos2u0 = cos(2*u0);
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| 187 | double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
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| 188 | double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
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| 189 | double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
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| 190 | double xp = r*cos(u);
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| 191 | double yp = r*sin(u);
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| 192 | double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
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[4018] | 193 | omegaEarth*_TOEsec;
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[1025] | 194 |
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| 195 | double sinom = sin(OM);
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| 196 | double cosom = cos(OM);
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| 197 | double sini = sin(i);
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| 198 | double cosi = cos(i);
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| 199 | xc[0] = xp*cosom - yp*cosi*sinom;
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| 200 | xc[1] = xp*sinom + yp*cosi*cosom;
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| 201 | xc[2] = yp*sini;
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| 202 |
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[4018] | 203 | double tc = tt - _TOC;
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[2429] | 204 | xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
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[1025] | 205 |
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| 206 | // Velocity
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| 207 | // --------
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| 208 | double tanv2 = tan(v/2);
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| 209 | double dEdM = 1 / (1 - _e*cos(E));
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| 210 | double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
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| 211 | * dEdM * n;
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| 212 | double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
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| 213 | double dotom = _OMEGADOT - omegaEarth;
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| 214 | double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
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| 215 | double dotr = a0 * _e*sin(E) * dEdM * n
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| 216 | + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
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| 217 | double dotx = dotr*cos(u) - r*sin(u)*dotu;
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| 218 | double doty = dotr*sin(u) + r*cos(u)*dotu;
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| 219 |
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| 220 | vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
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| 221 | - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
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| 222 | + yp*sini*sinom*doti; // dX / di
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| 223 |
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| 224 | vv[1] = sinom *dotx + cosi*cosom *doty
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| 225 | + xp*cosom*dotom - yp*cosi*sinom*dotom
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| 226 | - yp*sini*cosom*doti;
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| 227 |
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| 228 | vv[2] = sini *doty + yp*cosi *doti;
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[2429] | 229 |
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| 230 | // Relativistic Correction
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| 231 | // -----------------------
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| 232 | xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
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[6213] | 233 |
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| 234 | return success;
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[1025] | 235 | }
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| 236 |
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[2221] | 237 | // Derivative of the state vector using a simple force model (static)
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| 238 | ////////////////////////////////////////////////////////////////////////////
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[2556] | 239 | ColumnVector t_ephGlo::glo_deriv(double /* tt */, const ColumnVector& xv,
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| 240 | double* acc) {
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[2221] | 241 |
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| 242 | // State vector components
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| 243 | // -----------------------
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| 244 | ColumnVector rr = xv.rows(1,3);
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| 245 | ColumnVector vv = xv.rows(4,6);
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| 246 |
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| 247 | // Acceleration
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| 248 | // ------------
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[5277] | 249 | static const double gmWGS = 398.60044e12;
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[2221] | 250 | static const double AE = 6378136.0;
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| 251 | static const double OMEGA = 7292115.e-11;
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[2561] | 252 | static const double C20 = -1082.6257e-6;
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[2221] | 253 |
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| 254 | double rho = rr.norm_Frobenius();
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[5277] | 255 | double t1 = -gmWGS/(rho*rho*rho);
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| 256 | double t2 = 3.0/2.0 * C20 * (gmWGS*AE*AE) / (rho*rho*rho*rho*rho);
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[2221] | 257 | double t3 = OMEGA * OMEGA;
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| 258 | double t4 = 2.0 * OMEGA;
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| 259 | double z2 = rr(3) * rr(3);
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| 260 |
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| 261 | // Vector of derivatives
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| 262 | // ---------------------
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| 263 | ColumnVector va(6);
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| 264 | va(1) = vv(1);
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| 265 | va(2) = vv(2);
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| 266 | va(3) = vv(3);
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[2556] | 267 | va(4) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(1) + t4*vv(2) + acc[0];
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| 268 | va(5) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(2) - t4*vv(1) + acc[1];
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| 269 | va(6) = (t1 + t2*(3.0-5.0*z2/(rho*rho)) ) * rr(3) + acc[2];
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[2221] | 270 |
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| 271 | return va;
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| 272 | }
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| 273 |
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| 274 | // Compute Glonass Satellite Position (virtual)
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| 275 | ////////////////////////////////////////////////////////////////////////////
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[6213] | 276 | t_irc t_ephGlo::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
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[2221] | 277 |
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[6518] | 278 | if (_checkState == bad) {
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| 279 | return failure;
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| 280 | }
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| 281 |
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[2221] | 282 | static const double nominalStep = 10.0;
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| 283 |
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| 284 | memset(xc, 0, 4*sizeof(double));
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| 285 | memset(vv, 0, 3*sizeof(double));
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| 286 |
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[4018] | 287 | double dtPos = bncTime(GPSweek, GPSweeks) - _tt;
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[2221] | 288 |
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[6213] | 289 | if (fabs(dtPos) > 24*3600.0) {
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| 290 | return failure;
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| 291 | }
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| 292 |
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[2221] | 293 | int nSteps = int(fabs(dtPos) / nominalStep) + 1;
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| 294 | double step = dtPos / nSteps;
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| 295 |
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[2556] | 296 | double acc[3];
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[2557] | 297 | acc[0] = _x_acceleration * 1.e3;
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[2560] | 298 | acc[1] = _y_acceleration * 1.e3;
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| 299 | acc[2] = _z_acceleration * 1.e3;
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[2221] | 300 | for (int ii = 1; ii <= nSteps; ii++) {
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[4018] | 301 | _xv = rungeKutta4(_tt.gpssec(), _xv, step, acc, glo_deriv);
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| 302 | _tt = _tt + step;
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[2221] | 303 | }
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| 304 |
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| 305 | // Position and Velocity
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| 306 | // ---------------------
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| 307 | xc[0] = _xv(1);
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| 308 | xc[1] = _xv(2);
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| 309 | xc[2] = _xv(3);
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| 310 |
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| 311 | vv[0] = _xv(4);
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| 312 | vv[1] = _xv(5);
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| 313 | vv[2] = _xv(6);
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| 314 |
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| 315 | // Clock Correction
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| 316 | // ----------------
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[4018] | 317 | double dtClk = bncTime(GPSweek, GPSweeks) - _TOC;
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[2221] | 318 | xc[3] = -_tau + _gamma * dtClk;
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[6213] | 319 |
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| 320 | return success;
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[2221] | 321 | }
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| 322 |
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| 323 | // IOD of Glonass Ephemeris (virtual)
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| 324 | ////////////////////////////////////////////////////////////////////////////
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| 325 | int t_ephGlo::IOD() const {
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[4018] | 326 | bncTime tMoscow = _TOC - _gps_utc + 3 * 3600.0;
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[3538] | 327 | return int(tMoscow.daysec() / 900);
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[2221] | 328 | }
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| 329 |
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| 330 | // Set Glonass Ephemeris
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| 331 | ////////////////////////////////////////////////////////////////////////////
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[5133] | 332 | void t_ephGlo::set(const glonassephemeris* ee) {
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[2221] | 333 |
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[4097] | 334 | _receptDateTime = currentDateAndTimeGPS();
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| 335 |
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[5776] | 336 | _prn.set('R', ee->almanac_number);
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[2223] | 337 |
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[2234] | 338 | int ww = ee->GPSWeek;
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| 339 | int tow = ee->GPSTOW;
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[2257] | 340 | updatetime(&ww, &tow, ee->tb*1000, 0); // Moscow -> GPS
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[2223] | 341 |
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[3264] | 342 | // Check the day once more
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| 343 | // -----------------------
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[5133] | 344 | bool timeChanged = false;
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[3264] | 345 | {
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[3268] | 346 | const double secPerDay = 24 * 3600.0;
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| 347 | const double secPerWeek = 7 * secPerDay;
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[3266] | 348 | int ww_old = ww;
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| 349 | int tow_old = tow;
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[3264] | 350 | int currentWeek;
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| 351 | double currentSec;
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| 352 | currentGPSWeeks(currentWeek, currentSec);
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| 353 | bncTime currentTime(currentWeek, currentSec);
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| 354 | bncTime hTime(ww, (double) tow);
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| 355 |
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[3268] | 356 | if (hTime - currentTime > secPerDay/2.0) {
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[4904] | 357 | timeChanged = true;
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[4543] | 358 | tow -= int(secPerDay);
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[3268] | 359 | if (tow < 0) {
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[4543] | 360 | tow += int(secPerWeek);
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[3268] | 361 | ww -= 1;
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| 362 | }
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[3264] | 363 | }
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[3268] | 364 | else if (hTime - currentTime < -secPerDay/2.0) {
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[4904] | 365 | timeChanged = true;
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[4543] | 366 | tow += int(secPerDay);
|
---|
[3268] | 367 | if (tow > secPerWeek) {
|
---|
[4543] | 368 | tow -= int(secPerWeek);
|
---|
[3268] | 369 | ww += 1;
|
---|
| 370 | }
|
---|
[3264] | 371 | }
|
---|
| 372 |
|
---|
[5119] | 373 | if (false && timeChanged && BNC_CORE->mode() == t_bncCore::batchPostProcessing) {
|
---|
[3265] | 374 | bncTime newHTime(ww, (double) tow);
|
---|
[3269] | 375 | cout << "GLONASS " << ee->almanac_number << " Time Changed at "
|
---|
[3266] | 376 | << currentTime.datestr() << " " << currentTime.timestr()
|
---|
| 377 | << endl
|
---|
[3268] | 378 | << "old: " << hTime.datestr() << " " << hTime.timestr()
|
---|
[3266] | 379 | << endl
|
---|
| 380 | << "new: " << newHTime.datestr() << " " << newHTime.timestr()
|
---|
| 381 | << endl
|
---|
| 382 | << "eph: " << ee->GPSWeek << " " << ee->GPSTOW << " " << ee->tb
|
---|
| 383 | << endl
|
---|
| 384 | << "ww, tow (old): " << ww_old << " " << tow_old
|
---|
| 385 | << endl
|
---|
| 386 | << "ww, tow (new): " << ww << " " << tow
|
---|
[3267] | 387 | << endl << endl;
|
---|
[3264] | 388 | }
|
---|
| 389 | }
|
---|
| 390 |
|
---|
[3263] | 391 | bncTime hlpTime(ww, (double) tow);
|
---|
[3255] | 392 | unsigned year, month, day;
|
---|
| 393 | hlpTime.civil_date(year, month, day);
|
---|
| 394 | _gps_utc = gnumleap(year, month, day);
|
---|
| 395 |
|
---|
[4018] | 396 | _TOC.set(ww, tow);
|
---|
[2223] | 397 | _E = ee->E;
|
---|
| 398 | _tau = ee->tau;
|
---|
| 399 | _gamma = ee->gamma;
|
---|
| 400 | _x_pos = ee->x_pos;
|
---|
| 401 | _x_velocity = ee->x_velocity;
|
---|
| 402 | _x_acceleration = ee->x_acceleration;
|
---|
| 403 | _y_pos = ee->y_pos;
|
---|
| 404 | _y_velocity = ee->y_velocity;
|
---|
| 405 | _y_acceleration = ee->y_acceleration;
|
---|
| 406 | _z_pos = ee->z_pos;
|
---|
| 407 | _z_velocity = ee->z_velocity;
|
---|
| 408 | _z_acceleration = ee->z_acceleration;
|
---|
| 409 | _health = 0;
|
---|
| 410 | _frequency_number = ee->frequency_number;
|
---|
[2257] | 411 | _tki = ee->tk-3*60*60; if (_tki < 0) _tki += 86400;
|
---|
[2223] | 412 |
|
---|
| 413 | // Initialize status vector
|
---|
| 414 | // ------------------------
|
---|
[4018] | 415 | _tt = _TOC;
|
---|
[2223] | 416 |
|
---|
| 417 | _xv(1) = _x_pos * 1.e3;
|
---|
| 418 | _xv(2) = _y_pos * 1.e3;
|
---|
| 419 | _xv(3) = _z_pos * 1.e3;
|
---|
| 420 | _xv(4) = _x_velocity * 1.e3;
|
---|
| 421 | _xv(5) = _y_velocity * 1.e3;
|
---|
| 422 | _xv(6) = _z_velocity * 1.e3;
|
---|
[2221] | 423 | }
|
---|
[2771] | 424 |
|
---|
| 425 | // Set Galileo Satellite Position
|
---|
| 426 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 427 | void t_ephGal::set(const galileoephemeris* ee) {
|
---|
| 428 |
|
---|
[4097] | 429 | _receptDateTime = currentDateAndTimeGPS();
|
---|
| 430 |
|
---|
[5776] | 431 | _prn.set('E', ee->satellite);
|
---|
[2771] | 432 |
|
---|
[4018] | 433 | _TOC.set(ee->Week, ee->TOC);
|
---|
[3734] | 434 | _clock_bias = ee->clock_bias;
|
---|
| 435 | _clock_drift = ee->clock_drift;
|
---|
[2771] | 436 | _clock_driftrate = ee->clock_driftrate;
|
---|
| 437 |
|
---|
[4018] | 438 | _IODnav = ee->IODnav;
|
---|
[2771] | 439 | _Crs = ee->Crs;
|
---|
| 440 | _Delta_n = ee->Delta_n;
|
---|
| 441 | _M0 = ee->M0;
|
---|
[4018] | 442 |
|
---|
[2771] | 443 | _Cuc = ee->Cuc;
|
---|
| 444 | _e = ee->e;
|
---|
| 445 | _Cus = ee->Cus;
|
---|
| 446 | _sqrt_A = ee->sqrt_A;
|
---|
[4018] | 447 |
|
---|
[5137] | 448 | _TOEsec = _TOC.gpssec();
|
---|
| 449 | //// _TOEsec = ee->TOE; //// TODO:
|
---|
[2771] | 450 | _Cic = ee->Cic;
|
---|
| 451 | _OMEGA0 = ee->OMEGA0;
|
---|
| 452 | _Cis = ee->Cis;
|
---|
[4018] | 453 |
|
---|
[2771] | 454 | _i0 = ee->i0;
|
---|
| 455 | _Crc = ee->Crc;
|
---|
| 456 | _omega = ee->omega;
|
---|
| 457 | _OMEGADOT = ee->OMEGADOT;
|
---|
[4018] | 458 |
|
---|
[2771] | 459 | _IDOT = ee->IDOT;
|
---|
[4018] | 460 | _TOEweek = ee->Week;
|
---|
| 461 |
|
---|
[3734] | 462 | _SISA = ee->SISA;
|
---|
[4018] | 463 | _E5aHS = ee->E5aHS;
|
---|
[5541] | 464 | _E5bHS = ee->E5bHS;
|
---|
[3734] | 465 | _BGD_1_5A = ee->BGD_1_5A;
|
---|
| 466 | _BGD_1_5B = ee->BGD_1_5B;
|
---|
[3659] | 467 |
|
---|
[4018] | 468 | _TOT = 0.9999e9;
|
---|
| 469 |
|
---|
[5539] | 470 | _flags = ee->flags;
|
---|
[2771] | 471 | }
|
---|
| 472 |
|
---|
| 473 | // Compute Galileo Satellite Position (virtual)
|
---|
| 474 | ////////////////////////////////////////////////////////////////////////////
|
---|
[6213] | 475 | t_irc t_ephGal::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
|
---|
[2771] | 476 |
|
---|
[6518] | 477 | if (_checkState == bad) {
|
---|
| 478 | return failure;
|
---|
| 479 | }
|
---|
| 480 |
|
---|
[2771] | 481 | static const double omegaEarth = 7292115.1467e-11;
|
---|
[5277] | 482 | static const double gmWGS = 398.60044e12;
|
---|
[2771] | 483 |
|
---|
| 484 | memset(xc, 0, 4*sizeof(double));
|
---|
| 485 | memset(vv, 0, 3*sizeof(double));
|
---|
| 486 |
|
---|
| 487 | double a0 = _sqrt_A * _sqrt_A;
|
---|
| 488 | if (a0 == 0) {
|
---|
[6213] | 489 | return failure;
|
---|
[2771] | 490 | }
|
---|
| 491 |
|
---|
| 492 | double n0 = sqrt(gmWGS/(a0*a0*a0));
|
---|
[4018] | 493 |
|
---|
| 494 | bncTime tt(GPSweek, GPSweeks);
|
---|
| 495 | double tk = tt - bncTime(_TOC.gpsw(), _TOEsec);
|
---|
| 496 |
|
---|
[2771] | 497 | double n = n0 + _Delta_n;
|
---|
| 498 | double M = _M0 + n*tk;
|
---|
| 499 | double E = M;
|
---|
| 500 | double E_last;
|
---|
| 501 | do {
|
---|
| 502 | E_last = E;
|
---|
| 503 | E = M + _e*sin(E);
|
---|
| 504 | } while ( fabs(E-E_last)*a0 > 0.001 );
|
---|
| 505 | double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
|
---|
| 506 | double u0 = v + _omega;
|
---|
| 507 | double sin2u0 = sin(2*u0);
|
---|
| 508 | double cos2u0 = cos(2*u0);
|
---|
| 509 | double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
|
---|
| 510 | double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
|
---|
| 511 | double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
|
---|
| 512 | double xp = r*cos(u);
|
---|
| 513 | double yp = r*sin(u);
|
---|
| 514 | double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
|
---|
[4018] | 515 | omegaEarth*_TOEsec;
|
---|
[2771] | 516 |
|
---|
| 517 | double sinom = sin(OM);
|
---|
| 518 | double cosom = cos(OM);
|
---|
| 519 | double sini = sin(i);
|
---|
| 520 | double cosi = cos(i);
|
---|
| 521 | xc[0] = xp*cosom - yp*cosi*sinom;
|
---|
| 522 | xc[1] = xp*sinom + yp*cosi*cosom;
|
---|
| 523 | xc[2] = yp*sini;
|
---|
| 524 |
|
---|
[4018] | 525 | double tc = tt - _TOC;
|
---|
[2771] | 526 | xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
|
---|
| 527 |
|
---|
| 528 | // Velocity
|
---|
| 529 | // --------
|
---|
| 530 | double tanv2 = tan(v/2);
|
---|
| 531 | double dEdM = 1 / (1 - _e*cos(E));
|
---|
| 532 | double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
|
---|
| 533 | * dEdM * n;
|
---|
| 534 | double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
|
---|
| 535 | double dotom = _OMEGADOT - omegaEarth;
|
---|
| 536 | double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
|
---|
| 537 | double dotr = a0 * _e*sin(E) * dEdM * n
|
---|
| 538 | + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
|
---|
| 539 | double dotx = dotr*cos(u) - r*sin(u)*dotu;
|
---|
| 540 | double doty = dotr*sin(u) + r*cos(u)*dotu;
|
---|
| 541 |
|
---|
| 542 | vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
|
---|
| 543 | - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
|
---|
| 544 | + yp*sini*sinom*doti; // dX / di
|
---|
| 545 |
|
---|
| 546 | vv[1] = sinom *dotx + cosi*cosom *doty
|
---|
| 547 | + xp*cosom*dotom - yp*cosi*sinom*dotom
|
---|
| 548 | - yp*sini*cosom*doti;
|
---|
| 549 |
|
---|
| 550 | vv[2] = sini *doty + yp*cosi *doti;
|
---|
| 551 |
|
---|
| 552 | // Relativistic Correction
|
---|
| 553 | // -----------------------
|
---|
| 554 | // xc(4) -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
|
---|
| 555 | xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
|
---|
[6213] | 556 |
|
---|
| 557 | return success;
|
---|
[2771] | 558 | }
|
---|
| 559 |
|
---|
[3659] | 560 | // Constructor
|
---|
| 561 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 562 | t_ephGPS::t_ephGPS(float rnxVersion, const QStringList& lines) {
|
---|
[3664] | 563 |
|
---|
[3699] | 564 | const int nLines = 8;
|
---|
| 565 |
|
---|
| 566 | if (lines.size() != nLines) {
|
---|
[6518] | 567 | _checkState = bad;
|
---|
[3660] | 568 | return;
|
---|
| 569 | }
|
---|
[3664] | 570 |
|
---|
[3668] | 571 | // RINEX Format
|
---|
| 572 | // ------------
|
---|
| 573 | int fieldLen = 19;
|
---|
| 574 |
|
---|
[3666] | 575 | int pos[4];
|
---|
| 576 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
[3668] | 577 | pos[1] = pos[0] + fieldLen;
|
---|
| 578 | pos[2] = pos[1] + fieldLen;
|
---|
| 579 | pos[3] = pos[2] + fieldLen;
|
---|
[3664] | 580 |
|
---|
| 581 | // Read eight lines
|
---|
| 582 | // ----------------
|
---|
[3699] | 583 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
[3664] | 584 | QString line = lines[iLine];
|
---|
| 585 |
|
---|
| 586 | if ( iLine == 0 ) {
|
---|
[3666] | 587 | QTextStream in(line.left(pos[1]).toAscii());
|
---|
| 588 |
|
---|
| 589 | int year, month, day, hour, min;
|
---|
| 590 | double sec;
|
---|
| 591 |
|
---|
[5776] | 592 | QString prnStr;
|
---|
| 593 | in >> prnStr >> year >> month >> day >> hour >> min >> sec;
|
---|
[6377] | 594 | if (prnStr.at(0) == 'G') {
|
---|
[5776] | 595 | _prn.set('G', prnStr.mid(1).toInt());
|
---|
| 596 | }
|
---|
[6377] | 597 | else if (prnStr.at(0) == 'J') {
|
---|
| 598 | _prn.set('J', prnStr.mid(1).toInt());
|
---|
| 599 | }
|
---|
[5776] | 600 | else {
|
---|
| 601 | _prn.set('G', prnStr.toInt());
|
---|
| 602 | }
|
---|
[3666] | 603 |
|
---|
| 604 | if (year < 80) {
|
---|
| 605 | year += 2000;
|
---|
[3664] | 606 | }
|
---|
[3666] | 607 | else if (year < 100) {
|
---|
| 608 | year += 1900;
|
---|
| 609 | }
|
---|
| 610 |
|
---|
[4018] | 611 | _TOC.set(year, month, day, hour, min, sec);
|
---|
[3666] | 612 |
|
---|
| 613 | if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
|
---|
| 614 | readDbl(line, pos[2], fieldLen, _clock_drift ) ||
|
---|
| 615 | readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
|
---|
[6518] | 616 | _checkState = bad;
|
---|
[3666] | 617 | return;
|
---|
| 618 | }
|
---|
[3660] | 619 | }
|
---|
[3664] | 620 |
|
---|
| 621 | else if ( iLine == 1 ) {
|
---|
[3666] | 622 | if ( readDbl(line, pos[0], fieldLen, _IODE ) ||
|
---|
| 623 | readDbl(line, pos[1], fieldLen, _Crs ) ||
|
---|
| 624 | readDbl(line, pos[2], fieldLen, _Delta_n) ||
|
---|
| 625 | readDbl(line, pos[3], fieldLen, _M0 ) ) {
|
---|
[6518] | 626 | _checkState = bad;
|
---|
[3664] | 627 | return;
|
---|
| 628 | }
|
---|
| 629 | }
|
---|
| 630 |
|
---|
| 631 | else if ( iLine == 2 ) {
|
---|
[3666] | 632 | if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
|
---|
| 633 | readDbl(line, pos[1], fieldLen, _e ) ||
|
---|
| 634 | readDbl(line, pos[2], fieldLen, _Cus ) ||
|
---|
| 635 | readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
|
---|
[6518] | 636 | _checkState = bad;
|
---|
[3664] | 637 | return;
|
---|
| 638 | }
|
---|
| 639 | }
|
---|
| 640 |
|
---|
| 641 | else if ( iLine == 3 ) {
|
---|
[4018] | 642 | if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
|
---|
[3666] | 643 | readDbl(line, pos[1], fieldLen, _Cic ) ||
|
---|
| 644 | readDbl(line, pos[2], fieldLen, _OMEGA0) ||
|
---|
| 645 | readDbl(line, pos[3], fieldLen, _Cis ) ) {
|
---|
[6518] | 646 | _checkState = bad;
|
---|
[3664] | 647 | return;
|
---|
| 648 | }
|
---|
| 649 | }
|
---|
| 650 |
|
---|
| 651 | else if ( iLine == 4 ) {
|
---|
[3666] | 652 | if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
|
---|
| 653 | readDbl(line, pos[1], fieldLen, _Crc ) ||
|
---|
| 654 | readDbl(line, pos[2], fieldLen, _omega ) ||
|
---|
| 655 | readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
|
---|
[6518] | 656 | _checkState = bad;
|
---|
[3664] | 657 | return;
|
---|
| 658 | }
|
---|
| 659 | }
|
---|
| 660 |
|
---|
| 661 | else if ( iLine == 5 ) {
|
---|
[4018] | 662 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
|
---|
| 663 | readDbl(line, pos[1], fieldLen, _L2Codes) ||
|
---|
| 664 | readDbl(line, pos[2], fieldLen, _TOEweek ) ||
|
---|
| 665 | readDbl(line, pos[3], fieldLen, _L2PFlag) ) {
|
---|
[6518] | 666 | _checkState = bad;
|
---|
[3664] | 667 | return;
|
---|
| 668 | }
|
---|
| 669 | }
|
---|
| 670 |
|
---|
| 671 | else if ( iLine == 6 ) {
|
---|
[4018] | 672 | if ( readDbl(line, pos[0], fieldLen, _ura ) ||
|
---|
[3666] | 673 | readDbl(line, pos[1], fieldLen, _health) ||
|
---|
| 674 | readDbl(line, pos[2], fieldLen, _TGD ) ||
|
---|
| 675 | readDbl(line, pos[3], fieldLen, _IODC ) ) {
|
---|
[6518] | 676 | _checkState = bad;
|
---|
[3664] | 677 | return;
|
---|
| 678 | }
|
---|
| 679 | }
|
---|
| 680 |
|
---|
| 681 | else if ( iLine == 7 ) {
|
---|
[4224] | 682 | if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
|
---|
[6518] | 683 | _checkState = bad;
|
---|
[3664] | 684 | return;
|
---|
| 685 | }
|
---|
[4224] | 686 | readDbl(line, pos[1], fieldLen, _fitInterval); // _fitInterval optional
|
---|
[3664] | 687 | }
|
---|
[3660] | 688 | }
|
---|
[3659] | 689 | }
|
---|
| 690 |
|
---|
| 691 | // Constructor
|
---|
| 692 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 693 | t_ephGlo::t_ephGlo(float rnxVersion, const QStringList& lines) {
|
---|
| 694 |
|
---|
[3699] | 695 | const int nLines = 4;
|
---|
| 696 |
|
---|
| 697 | if (lines.size() != nLines) {
|
---|
[6518] | 698 | _checkState = bad;
|
---|
[3699] | 699 | return;
|
---|
| 700 | }
|
---|
| 701 |
|
---|
| 702 | // RINEX Format
|
---|
| 703 | // ------------
|
---|
| 704 | int fieldLen = 19;
|
---|
| 705 |
|
---|
| 706 | int pos[4];
|
---|
| 707 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
| 708 | pos[1] = pos[0] + fieldLen;
|
---|
| 709 | pos[2] = pos[1] + fieldLen;
|
---|
| 710 | pos[3] = pos[2] + fieldLen;
|
---|
| 711 |
|
---|
| 712 | // Read four lines
|
---|
| 713 | // ---------------
|
---|
| 714 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
| 715 | QString line = lines[iLine];
|
---|
| 716 |
|
---|
| 717 | if ( iLine == 0 ) {
|
---|
| 718 | QTextStream in(line.left(pos[1]).toAscii());
|
---|
| 719 |
|
---|
| 720 | int year, month, day, hour, min;
|
---|
| 721 | double sec;
|
---|
| 722 |
|
---|
[5776] | 723 | QString prnStr;
|
---|
| 724 | in >> prnStr >> year >> month >> day >> hour >> min >> sec;
|
---|
| 725 | if (prnStr.at(0) == 'R') {
|
---|
| 726 | _prn.set('R', prnStr.mid(1).toInt());
|
---|
| 727 | }
|
---|
| 728 | else {
|
---|
| 729 | _prn.set('R', prnStr.toInt());
|
---|
| 730 | }
|
---|
[3699] | 731 |
|
---|
| 732 | if (year < 80) {
|
---|
| 733 | year += 2000;
|
---|
| 734 | }
|
---|
| 735 | else if (year < 100) {
|
---|
| 736 | year += 1900;
|
---|
| 737 | }
|
---|
| 738 |
|
---|
[3760] | 739 | _gps_utc = gnumleap(year, month, day);
|
---|
| 740 |
|
---|
[4018] | 741 | _TOC.set(year, month, day, hour, min, sec);
|
---|
| 742 | _TOC = _TOC + _gps_utc;
|
---|
[3699] | 743 |
|
---|
[4018] | 744 | if ( readDbl(line, pos[1], fieldLen, _tau ) ||
|
---|
| 745 | readDbl(line, pos[2], fieldLen, _gamma) ||
|
---|
| 746 | readDbl(line, pos[3], fieldLen, _tki ) ) {
|
---|
[6518] | 747 | _checkState = bad;
|
---|
[3699] | 748 | return;
|
---|
| 749 | }
|
---|
[3765] | 750 |
|
---|
| 751 | _tau = -_tau;
|
---|
[3699] | 752 | }
|
---|
| 753 |
|
---|
| 754 | else if ( iLine == 1 ) {
|
---|
| 755 | if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
|
---|
| 756 | readDbl(line, pos[1], fieldLen, _x_velocity ) ||
|
---|
| 757 | readDbl(line, pos[2], fieldLen, _x_acceleration) ||
|
---|
| 758 | readDbl(line, pos[3], fieldLen, _health ) ) {
|
---|
[6518] | 759 | _checkState = bad;
|
---|
[3699] | 760 | return;
|
---|
| 761 | }
|
---|
| 762 | }
|
---|
| 763 |
|
---|
| 764 | else if ( iLine == 2 ) {
|
---|
| 765 | if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
|
---|
| 766 | readDbl(line, pos[1], fieldLen, _y_velocity ) ||
|
---|
| 767 | readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
|
---|
| 768 | readDbl(line, pos[3], fieldLen, _frequency_number) ) {
|
---|
[6518] | 769 | _checkState = bad;
|
---|
[3699] | 770 | return;
|
---|
| 771 | }
|
---|
| 772 | }
|
---|
| 773 |
|
---|
| 774 | else if ( iLine == 3 ) {
|
---|
| 775 | if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
|
---|
| 776 | readDbl(line, pos[1], fieldLen, _z_velocity ) ||
|
---|
| 777 | readDbl(line, pos[2], fieldLen, _z_acceleration) ||
|
---|
| 778 | readDbl(line, pos[3], fieldLen, _E ) ) {
|
---|
[6518] | 779 | _checkState = bad;
|
---|
[3699] | 780 | return;
|
---|
| 781 | }
|
---|
| 782 | }
|
---|
| 783 | }
|
---|
| 784 |
|
---|
| 785 | // Initialize status vector
|
---|
| 786 | // ------------------------
|
---|
[4018] | 787 | _tt = _TOC;
|
---|
| 788 | _xv.ReSize(6);
|
---|
[3699] | 789 | _xv(1) = _x_pos * 1.e3;
|
---|
| 790 | _xv(2) = _y_pos * 1.e3;
|
---|
| 791 | _xv(3) = _z_pos * 1.e3;
|
---|
| 792 | _xv(4) = _x_velocity * 1.e3;
|
---|
| 793 | _xv(5) = _y_velocity * 1.e3;
|
---|
| 794 | _xv(6) = _z_velocity * 1.e3;
|
---|
[3659] | 795 | }
|
---|
| 796 |
|
---|
| 797 | // Constructor
|
---|
| 798 | //////////////////////////////////////////////////////////////////////////////
|
---|
[4891] | 799 | t_ephGal::t_ephGal(float rnxVersion, const QStringList& lines) {
|
---|
[3659] | 800 |
|
---|
[4891] | 801 | const int nLines = 8;
|
---|
| 802 |
|
---|
| 803 | if (lines.size() != nLines) {
|
---|
[6518] | 804 | _checkState = bad;
|
---|
[4891] | 805 | return;
|
---|
| 806 | }
|
---|
| 807 |
|
---|
| 808 | // RINEX Format
|
---|
| 809 | // ------------
|
---|
| 810 | int fieldLen = 19;
|
---|
| 811 |
|
---|
| 812 | int pos[4];
|
---|
| 813 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
| 814 | pos[1] = pos[0] + fieldLen;
|
---|
| 815 | pos[2] = pos[1] + fieldLen;
|
---|
| 816 | pos[3] = pos[2] + fieldLen;
|
---|
| 817 |
|
---|
| 818 | // Read eight lines
|
---|
| 819 | // ----------------
|
---|
| 820 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
| 821 | QString line = lines[iLine];
|
---|
| 822 |
|
---|
| 823 | if ( iLine == 0 ) {
|
---|
| 824 | QTextStream in(line.left(pos[1]).toAscii());
|
---|
| 825 |
|
---|
| 826 | int year, month, day, hour, min;
|
---|
| 827 | double sec;
|
---|
| 828 |
|
---|
[5776] | 829 | QString prnStr;
|
---|
| 830 | in >> prnStr >> year >> month >> day >> hour >> min >> sec;
|
---|
| 831 | if (prnStr.at(0) == 'E') {
|
---|
| 832 | _prn.set('E', prnStr.mid(1).toInt());
|
---|
| 833 | }
|
---|
| 834 | else {
|
---|
| 835 | _prn.set('E', prnStr.toInt());
|
---|
| 836 | }
|
---|
[4891] | 837 |
|
---|
| 838 | if (year < 80) {
|
---|
| 839 | year += 2000;
|
---|
| 840 | }
|
---|
| 841 | else if (year < 100) {
|
---|
| 842 | year += 1900;
|
---|
| 843 | }
|
---|
| 844 |
|
---|
| 845 | _TOC.set(year, month, day, hour, min, sec);
|
---|
| 846 |
|
---|
| 847 | if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
|
---|
| 848 | readDbl(line, pos[2], fieldLen, _clock_drift ) ||
|
---|
| 849 | readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
|
---|
[6518] | 850 | _checkState = bad;
|
---|
[4891] | 851 | return;
|
---|
| 852 | }
|
---|
| 853 | }
|
---|
| 854 |
|
---|
| 855 | else if ( iLine == 1 ) {
|
---|
| 856 | if ( readDbl(line, pos[0], fieldLen, _IODnav ) ||
|
---|
| 857 | readDbl(line, pos[1], fieldLen, _Crs ) ||
|
---|
| 858 | readDbl(line, pos[2], fieldLen, _Delta_n) ||
|
---|
| 859 | readDbl(line, pos[3], fieldLen, _M0 ) ) {
|
---|
[6518] | 860 | _checkState = bad;
|
---|
[4891] | 861 | return;
|
---|
| 862 | }
|
---|
| 863 | }
|
---|
| 864 |
|
---|
| 865 | else if ( iLine == 2 ) {
|
---|
| 866 | if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
|
---|
| 867 | readDbl(line, pos[1], fieldLen, _e ) ||
|
---|
| 868 | readDbl(line, pos[2], fieldLen, _Cus ) ||
|
---|
| 869 | readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
|
---|
[6518] | 870 | _checkState = bad;
|
---|
[4891] | 871 | return;
|
---|
| 872 | }
|
---|
| 873 | }
|
---|
| 874 |
|
---|
| 875 | else if ( iLine == 3 ) {
|
---|
| 876 | if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
|
---|
| 877 | readDbl(line, pos[1], fieldLen, _Cic ) ||
|
---|
| 878 | readDbl(line, pos[2], fieldLen, _OMEGA0) ||
|
---|
| 879 | readDbl(line, pos[3], fieldLen, _Cis ) ) {
|
---|
[6518] | 880 | _checkState = bad;
|
---|
[4891] | 881 | return;
|
---|
| 882 | }
|
---|
| 883 | }
|
---|
| 884 |
|
---|
| 885 | else if ( iLine == 4 ) {
|
---|
| 886 | if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
|
---|
| 887 | readDbl(line, pos[1], fieldLen, _Crc ) ||
|
---|
| 888 | readDbl(line, pos[2], fieldLen, _omega ) ||
|
---|
| 889 | readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
|
---|
[6518] | 890 | _checkState = bad;
|
---|
[4891] | 891 | return;
|
---|
| 892 | }
|
---|
| 893 | }
|
---|
| 894 |
|
---|
| 895 | else if ( iLine == 5 ) {
|
---|
| 896 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
|
---|
| 897 | readDbl(line, pos[2], fieldLen, _TOEweek) ) {
|
---|
[6518] | 898 | _checkState = bad;
|
---|
[4891] | 899 | return;
|
---|
| 900 | }
|
---|
| 901 | }
|
---|
| 902 |
|
---|
| 903 | else if ( iLine == 6 ) {
|
---|
| 904 | if ( readDbl(line, pos[0], fieldLen, _SISA ) ||
|
---|
| 905 | readDbl(line, pos[1], fieldLen, _E5aHS ) ||
|
---|
| 906 | readDbl(line, pos[2], fieldLen, _BGD_1_5A) ||
|
---|
| 907 | readDbl(line, pos[3], fieldLen, _BGD_1_5B) ) {
|
---|
[6518] | 908 | _checkState = bad;
|
---|
[4891] | 909 | return;
|
---|
| 910 | }
|
---|
| 911 | }
|
---|
| 912 |
|
---|
| 913 | else if ( iLine == 7 ) {
|
---|
| 914 | if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
|
---|
[6518] | 915 | _checkState = bad;
|
---|
[4891] | 916 | return;
|
---|
| 917 | }
|
---|
| 918 | }
|
---|
| 919 | }
|
---|
[3659] | 920 | }
|
---|
[4013] | 921 |
|
---|
[4021] | 922 | //
|
---|
[4013] | 923 | //////////////////////////////////////////////////////////////////////////////
|
---|
[5776] | 924 | QString t_eph::rinexDateStr(const bncTime& tt, const t_prn& prn, double version) {
|
---|
| 925 | QString prnStr(prn.toString().c_str());
|
---|
| 926 | return rinexDateStr(tt, prnStr, version);
|
---|
| 927 | }
|
---|
[4013] | 928 |
|
---|
[5776] | 929 | //
|
---|
| 930 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 931 | QString t_eph::rinexDateStr(const bncTime& tt, const QString& prnStr, double version) {
|
---|
| 932 |
|
---|
[4021] | 933 | QString datStr;
|
---|
[4013] | 934 |
|
---|
| 935 | unsigned year, month, day, hour, min;
|
---|
[4018] | 936 | double sec;
|
---|
[4029] | 937 | tt.civil_date(year, month, day);
|
---|
| 938 | tt.civil_time(hour, min, sec);
|
---|
[4013] | 939 |
|
---|
[4021] | 940 | QTextStream out(&datStr);
|
---|
[4013] | 941 |
|
---|
| 942 | if (version < 3.0) {
|
---|
[5776] | 943 | QString prnHlp = prnStr.mid(1,2); if (prnHlp[0] == '0') prnHlp[0] = ' ';
|
---|
[4017] | 944 | out << prnHlp << QString(" %1 %2 %3 %4 %5%6")
|
---|
[4013] | 945 | .arg(year % 100, 2, 10, QChar('0'))
|
---|
| 946 | .arg(month, 2)
|
---|
| 947 | .arg(day, 2)
|
---|
| 948 | .arg(hour, 2)
|
---|
| 949 | .arg(min, 2)
|
---|
[4016] | 950 | .arg(sec, 5, 'f',1);
|
---|
[4013] | 951 | }
|
---|
| 952 | else {
|
---|
[5776] | 953 | out << prnStr << QString(" %1 %2 %3 %4 %5 %6")
|
---|
[4013] | 954 | .arg(year, 4)
|
---|
| 955 | .arg(month, 2, 10, QChar('0'))
|
---|
| 956 | .arg(day, 2, 10, QChar('0'))
|
---|
| 957 | .arg(hour, 2, 10, QChar('0'))
|
---|
| 958 | .arg(min, 2, 10, QChar('0'))
|
---|
| 959 | .arg(int(sec), 2, 10, QChar('0'));
|
---|
| 960 | }
|
---|
[4021] | 961 |
|
---|
| 962 | return datStr;
|
---|
| 963 | }
|
---|
| 964 |
|
---|
| 965 | // RINEX Format String
|
---|
| 966 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 967 | QString t_ephGPS::toString(double version) const {
|
---|
| 968 |
|
---|
[4029] | 969 | QString rnxStr = rinexDateStr(_TOC, _prn, version);
|
---|
[4013] | 970 |
|
---|
[4021] | 971 | QTextStream out(&rnxStr);
|
---|
| 972 |
|
---|
[4013] | 973 | out << QString("%1%2%3\n")
|
---|
| 974 | .arg(_clock_bias, 19, 'e', 12)
|
---|
| 975 | .arg(_clock_drift, 19, 'e', 12)
|
---|
| 976 | .arg(_clock_driftrate, 19, 'e', 12);
|
---|
| 977 |
|
---|
[4015] | 978 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
| 979 |
|
---|
| 980 | out << QString(fmt)
|
---|
[4013] | 981 | .arg(_IODE, 19, 'e', 12)
|
---|
| 982 | .arg(_Crs, 19, 'e', 12)
|
---|
| 983 | .arg(_Delta_n, 19, 'e', 12)
|
---|
| 984 | .arg(_M0, 19, 'e', 12);
|
---|
| 985 |
|
---|
[4015] | 986 | out << QString(fmt)
|
---|
[4013] | 987 | .arg(_Cuc, 19, 'e', 12)
|
---|
| 988 | .arg(_e, 19, 'e', 12)
|
---|
| 989 | .arg(_Cus, 19, 'e', 12)
|
---|
| 990 | .arg(_sqrt_A, 19, 'e', 12);
|
---|
| 991 |
|
---|
[4015] | 992 | out << QString(fmt)
|
---|
[4018] | 993 | .arg(_TOEsec, 19, 'e', 12)
|
---|
[4013] | 994 | .arg(_Cic, 19, 'e', 12)
|
---|
| 995 | .arg(_OMEGA0, 19, 'e', 12)
|
---|
| 996 | .arg(_Cis, 19, 'e', 12);
|
---|
| 997 |
|
---|
[4015] | 998 | out << QString(fmt)
|
---|
[4013] | 999 | .arg(_i0, 19, 'e', 12)
|
---|
| 1000 | .arg(_Crc, 19, 'e', 12)
|
---|
| 1001 | .arg(_omega, 19, 'e', 12)
|
---|
| 1002 | .arg(_OMEGADOT, 19, 'e', 12);
|
---|
| 1003 |
|
---|
[4015] | 1004 | out << QString(fmt)
|
---|
[4018] | 1005 | .arg(_IDOT, 19, 'e', 12)
|
---|
| 1006 | .arg(_L2Codes, 19, 'e', 12)
|
---|
| 1007 | .arg(_TOEweek, 19, 'e', 12)
|
---|
| 1008 | .arg(_L2PFlag, 19, 'e', 12);
|
---|
[4013] | 1009 |
|
---|
[4015] | 1010 | out << QString(fmt)
|
---|
[4018] | 1011 | .arg(_ura, 19, 'e', 12)
|
---|
[4013] | 1012 | .arg(_health, 19, 'e', 12)
|
---|
| 1013 | .arg(_TGD, 19, 'e', 12)
|
---|
| 1014 | .arg(_IODC, 19, 'e', 12);
|
---|
| 1015 |
|
---|
[4015] | 1016 | out << QString(fmt)
|
---|
[4018] | 1017 | .arg(_TOT, 19, 'e', 12)
|
---|
| 1018 | .arg(_fitInterval, 19, 'e', 12)
|
---|
[4024] | 1019 | .arg("", 19, QChar(' '))
|
---|
| 1020 | .arg("", 19, QChar(' '));
|
---|
[4013] | 1021 |
|
---|
| 1022 | return rnxStr;
|
---|
| 1023 | }
|
---|
[4023] | 1024 |
|
---|
| 1025 | // RINEX Format String
|
---|
| 1026 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 1027 | QString t_ephGlo::toString(double version) const {
|
---|
| 1028 |
|
---|
[4029] | 1029 | QString rnxStr = rinexDateStr(_TOC-_gps_utc, _prn, version);
|
---|
[4023] | 1030 |
|
---|
| 1031 | QTextStream out(&rnxStr);
|
---|
| 1032 |
|
---|
| 1033 | out << QString("%1%2%3\n")
|
---|
| 1034 | .arg(-_tau, 19, 'e', 12)
|
---|
| 1035 | .arg(_gamma, 19, 'e', 12)
|
---|
| 1036 | .arg(_tki, 19, 'e', 12);
|
---|
| 1037 |
|
---|
| 1038 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
| 1039 |
|
---|
| 1040 | out << QString(fmt)
|
---|
| 1041 | .arg(_x_pos, 19, 'e', 12)
|
---|
| 1042 | .arg(_x_velocity, 19, 'e', 12)
|
---|
| 1043 | .arg(_x_acceleration, 19, 'e', 12)
|
---|
| 1044 | .arg(_health, 19, 'e', 12);
|
---|
| 1045 |
|
---|
| 1046 | out << QString(fmt)
|
---|
| 1047 | .arg(_y_pos, 19, 'e', 12)
|
---|
| 1048 | .arg(_y_velocity, 19, 'e', 12)
|
---|
| 1049 | .arg(_y_acceleration, 19, 'e', 12)
|
---|
| 1050 | .arg(_frequency_number, 19, 'e', 12);
|
---|
| 1051 |
|
---|
| 1052 | out << QString(fmt)
|
---|
| 1053 | .arg(_z_pos, 19, 'e', 12)
|
---|
| 1054 | .arg(_z_velocity, 19, 'e', 12)
|
---|
| 1055 | .arg(_z_acceleration, 19, 'e', 12)
|
---|
| 1056 | .arg(_E, 19, 'e', 12);
|
---|
| 1057 |
|
---|
| 1058 | return rnxStr;
|
---|
| 1059 | }
|
---|
| 1060 |
|
---|
| 1061 | // RINEX Format String
|
---|
| 1062 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 1063 | QString t_ephGal::toString(double version) const {
|
---|
| 1064 |
|
---|
[4029] | 1065 | QString rnxStr = rinexDateStr(_TOC, _prn, version);
|
---|
[4023] | 1066 |
|
---|
| 1067 | QTextStream out(&rnxStr);
|
---|
| 1068 |
|
---|
| 1069 | out << QString("%1%2%3\n")
|
---|
| 1070 | .arg(_clock_bias, 19, 'e', 12)
|
---|
| 1071 | .arg(_clock_drift, 19, 'e', 12)
|
---|
| 1072 | .arg(_clock_driftrate, 19, 'e', 12);
|
---|
| 1073 |
|
---|
| 1074 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
| 1075 |
|
---|
| 1076 | out << QString(fmt)
|
---|
| 1077 | .arg(_IODnav, 19, 'e', 12)
|
---|
| 1078 | .arg(_Crs, 19, 'e', 12)
|
---|
| 1079 | .arg(_Delta_n, 19, 'e', 12)
|
---|
| 1080 | .arg(_M0, 19, 'e', 12);
|
---|
| 1081 |
|
---|
| 1082 | out << QString(fmt)
|
---|
| 1083 | .arg(_Cuc, 19, 'e', 12)
|
---|
| 1084 | .arg(_e, 19, 'e', 12)
|
---|
| 1085 | .arg(_Cus, 19, 'e', 12)
|
---|
| 1086 | .arg(_sqrt_A, 19, 'e', 12);
|
---|
| 1087 |
|
---|
| 1088 | out << QString(fmt)
|
---|
| 1089 | .arg(_TOEsec, 19, 'e', 12)
|
---|
| 1090 | .arg(_Cic, 19, 'e', 12)
|
---|
| 1091 | .arg(_OMEGA0, 19, 'e', 12)
|
---|
| 1092 | .arg(_Cis, 19, 'e', 12);
|
---|
| 1093 |
|
---|
| 1094 | out << QString(fmt)
|
---|
| 1095 | .arg(_i0, 19, 'e', 12)
|
---|
| 1096 | .arg(_Crc, 19, 'e', 12)
|
---|
| 1097 | .arg(_omega, 19, 'e', 12)
|
---|
| 1098 | .arg(_OMEGADOT, 19, 'e', 12);
|
---|
| 1099 |
|
---|
[5532] | 1100 | int dataSource = 0;
|
---|
[5542] | 1101 | double HS = 0.0;
|
---|
[5539] | 1102 | if ( (_flags & GALEPHF_INAV) == GALEPHF_INAV ) {
|
---|
| 1103 | dataSource |= (1<<0);
|
---|
[5540] | 1104 | dataSource |= (1<<9);
|
---|
[5542] | 1105 | HS = _E5bHS;
|
---|
[5539] | 1106 | }
|
---|
| 1107 | else if ( (_flags & GALEPHF_FNAV) == GALEPHF_FNAV ) {
|
---|
| 1108 | dataSource |= (1<<1);
|
---|
[5540] | 1109 | dataSource |= (1<<8);
|
---|
[5542] | 1110 | HS = _E5aHS;
|
---|
[5539] | 1111 | }
|
---|
[4023] | 1112 | out << QString(fmt)
|
---|
[5532] | 1113 | .arg(_IDOT, 19, 'e', 12)
|
---|
| 1114 | .arg(double(dataSource), 19, 'e', 12)
|
---|
| 1115 | .arg(_TOEweek, 19, 'e', 12)
|
---|
| 1116 | .arg(0.0, 19, 'e', 12);
|
---|
[4023] | 1117 |
|
---|
| 1118 | out << QString(fmt)
|
---|
| 1119 | .arg(_SISA, 19, 'e', 12)
|
---|
[5542] | 1120 | .arg(HS, 19, 'e', 12)
|
---|
[4023] | 1121 | .arg(_BGD_1_5A, 19, 'e', 12)
|
---|
| 1122 | .arg(_BGD_1_5B, 19, 'e', 12);
|
---|
| 1123 |
|
---|
| 1124 | out << QString(fmt)
|
---|
| 1125 | .arg(_TOT, 19, 'e', 12)
|
---|
[4024] | 1126 | .arg("", 19, QChar(' '))
|
---|
| 1127 | .arg("", 19, QChar(' '))
|
---|
| 1128 | .arg("", 19, QChar(' '));
|
---|
[4023] | 1129 |
|
---|
| 1130 | return rnxStr;
|
---|
| 1131 | }
|
---|
| 1132 |
|
---|
[6385] | 1133 | // Constructor
|
---|
| 1134 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6390] | 1135 | t_ephSBAS::t_ephSBAS(float rnxVersion, const QStringList& lines) {
|
---|
| 1136 |
|
---|
| 1137 | const int nLines = 4;
|
---|
| 1138 |
|
---|
| 1139 | if (lines.size() != nLines) {
|
---|
[6518] | 1140 | _checkState = bad;
|
---|
[6390] | 1141 | return;
|
---|
| 1142 | }
|
---|
| 1143 |
|
---|
| 1144 | // RINEX Format
|
---|
| 1145 | // ------------
|
---|
| 1146 | int fieldLen = 19;
|
---|
| 1147 |
|
---|
| 1148 | int pos[4];
|
---|
| 1149 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
| 1150 | pos[1] = pos[0] + fieldLen;
|
---|
| 1151 | pos[2] = pos[1] + fieldLen;
|
---|
| 1152 | pos[3] = pos[2] + fieldLen;
|
---|
| 1153 |
|
---|
| 1154 | // Read four lines
|
---|
| 1155 | // ---------------
|
---|
| 1156 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
| 1157 | QString line = lines[iLine];
|
---|
| 1158 |
|
---|
| 1159 | if ( iLine == 0 ) {
|
---|
| 1160 | QTextStream in(line.left(pos[1]).toAscii());
|
---|
| 1161 |
|
---|
| 1162 | int year, month, day, hour, min;
|
---|
| 1163 | double sec;
|
---|
| 1164 |
|
---|
| 1165 | QString prnStr;
|
---|
| 1166 | in >> prnStr >> year >> month >> day >> hour >> min >> sec;
|
---|
| 1167 | if (prnStr.at(0) == 'S') {
|
---|
| 1168 | _prn.set('S', prnStr.mid(1).toInt());
|
---|
| 1169 | }
|
---|
| 1170 | else {
|
---|
| 1171 | _prn.set('S', prnStr.toInt());
|
---|
| 1172 | }
|
---|
| 1173 |
|
---|
| 1174 | if (year < 80) {
|
---|
| 1175 | year += 2000;
|
---|
| 1176 | }
|
---|
| 1177 | else if (year < 100) {
|
---|
| 1178 | year += 1900;
|
---|
| 1179 | }
|
---|
| 1180 |
|
---|
| 1181 | _TOC.set(year, month, day, hour, min, sec);
|
---|
| 1182 |
|
---|
| 1183 | if ( readDbl(line, pos[1], fieldLen, _agf0 ) ||
|
---|
| 1184 | readDbl(line, pos[2], fieldLen, _agf1 ) ||
|
---|
| 1185 | readDbl(line, pos[3], fieldLen, _TOW ) ) {
|
---|
[6518] | 1186 | _checkState = bad;
|
---|
[6390] | 1187 | return;
|
---|
| 1188 | }
|
---|
| 1189 | }
|
---|
| 1190 |
|
---|
| 1191 | else if ( iLine == 1 ) {
|
---|
| 1192 | if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
|
---|
| 1193 | readDbl(line, pos[1], fieldLen, _x_velocity ) ||
|
---|
| 1194 | readDbl(line, pos[2], fieldLen, _x_acceleration) ||
|
---|
| 1195 | readDbl(line, pos[3], fieldLen, _health ) ) {
|
---|
[6518] | 1196 | _checkState = bad;
|
---|
[6390] | 1197 | return;
|
---|
| 1198 | }
|
---|
| 1199 | }
|
---|
| 1200 |
|
---|
| 1201 | else if ( iLine == 2 ) {
|
---|
| 1202 | if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
|
---|
| 1203 | readDbl(line, pos[1], fieldLen, _y_velocity ) ||
|
---|
| 1204 | readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
|
---|
| 1205 | readDbl(line, pos[3], fieldLen, _ura ) ) {
|
---|
[6518] | 1206 | _checkState = bad;
|
---|
[6390] | 1207 | return;
|
---|
| 1208 | }
|
---|
| 1209 | }
|
---|
| 1210 |
|
---|
| 1211 | else if ( iLine == 3 ) {
|
---|
[6536] | 1212 | double iodn;
|
---|
[6390] | 1213 | if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
|
---|
| 1214 | readDbl(line, pos[1], fieldLen, _z_velocity ) ||
|
---|
| 1215 | readDbl(line, pos[2], fieldLen, _z_acceleration) ||
|
---|
[6536] | 1216 | readDbl(line, pos[3], fieldLen, iodn ) ) {
|
---|
[6518] | 1217 | _checkState = bad;
|
---|
[6390] | 1218 | return;
|
---|
[6536] | 1219 | _IODN = int(iodn);
|
---|
[6390] | 1220 | }
|
---|
| 1221 | }
|
---|
| 1222 | }
|
---|
| 1223 |
|
---|
| 1224 | _x_pos *= 1.e3;
|
---|
| 1225 | _y_pos *= 1.e3;
|
---|
| 1226 | _z_pos *= 1.e3;
|
---|
| 1227 | _x_velocity *= 1.e3;
|
---|
| 1228 | _y_velocity *= 1.e3;
|
---|
| 1229 | _z_velocity *= 1.e3;
|
---|
| 1230 | _x_acceleration *= 1.e3;
|
---|
| 1231 | _y_acceleration *= 1.e3;
|
---|
| 1232 | _z_acceleration *= 1.e3;
|
---|
[6385] | 1233 | }
|
---|
| 1234 |
|
---|
| 1235 | // Set SBAS Satellite Position
|
---|
| 1236 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1237 | void t_ephSBAS::set(const sbasephemeris* ee) {
|
---|
[6386] | 1238 |
|
---|
[6389] | 1239 | _prn.set('S', ee->satellite - PRN_SBAS_START + 20);
|
---|
[6386] | 1240 | _TOC.set(ee->GPSweek_TOE, double(ee->TOE));
|
---|
| 1241 |
|
---|
| 1242 | _IODN = ee->IODN;
|
---|
| 1243 | _TOW = ee->TOW;
|
---|
| 1244 |
|
---|
| 1245 | _agf0 = ee->agf0;
|
---|
| 1246 | _agf1 = ee->agf1;
|
---|
| 1247 |
|
---|
[6389] | 1248 | _x_pos = ee->x_pos;
|
---|
| 1249 | _x_velocity = ee->x_velocity;
|
---|
| 1250 | _x_acceleration = ee->x_acceleration;
|
---|
[6386] | 1251 |
|
---|
[6389] | 1252 | _y_pos = ee->y_pos;
|
---|
| 1253 | _y_velocity = ee->y_velocity;
|
---|
| 1254 | _y_acceleration = ee->y_acceleration;
|
---|
[6386] | 1255 |
|
---|
[6389] | 1256 | _z_pos = ee->z_pos;
|
---|
| 1257 | _z_velocity = ee->z_velocity;
|
---|
| 1258 | _z_acceleration = ee->z_acceleration;
|
---|
[6386] | 1259 |
|
---|
| 1260 | _ura = ee->URA;
|
---|
[6390] | 1261 |
|
---|
| 1262 | _health = 0;
|
---|
[6385] | 1263 | }
|
---|
| 1264 |
|
---|
| 1265 | // Compute SBAS Satellite Position (virtual)
|
---|
| 1266 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1267 | t_irc t_ephSBAS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
|
---|
[6386] | 1268 |
|
---|
[6518] | 1269 | if (_checkState == bad) {
|
---|
| 1270 | return failure;
|
---|
| 1271 | }
|
---|
| 1272 |
|
---|
[6386] | 1273 | bncTime tt(GPSweek, GPSweeks);
|
---|
| 1274 | double dt = tt - _TOC;
|
---|
| 1275 |
|
---|
| 1276 | xc[0] = _x_pos + _x_velocity * dt + _x_acceleration * dt * dt / 2.0;
|
---|
| 1277 | xc[1] = _y_pos + _y_velocity * dt + _y_acceleration * dt * dt / 2.0;
|
---|
| 1278 | xc[2] = _z_pos + _z_velocity * dt + _z_acceleration * dt * dt / 2.0;
|
---|
| 1279 |
|
---|
| 1280 | vv[0] = _x_velocity + _x_acceleration * dt;
|
---|
| 1281 | vv[1] = _y_velocity + _y_acceleration * dt;
|
---|
| 1282 | vv[2] = _z_velocity + _z_acceleration * dt;
|
---|
| 1283 |
|
---|
| 1284 | xc[3] = _agf0 + _agf1 * dt;
|
---|
| 1285 |
|
---|
| 1286 | return success;
|
---|
[6385] | 1287 | }
|
---|
| 1288 |
|
---|
| 1289 | // RINEX Format String
|
---|
| 1290 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6388] | 1291 | QString t_ephSBAS::toString(double version) const {
|
---|
| 1292 |
|
---|
| 1293 | QString rnxStr = rinexDateStr(_TOC, _prn, version);
|
---|
| 1294 |
|
---|
| 1295 | QTextStream out(&rnxStr);
|
---|
| 1296 |
|
---|
| 1297 | out << QString("%1%2%3\n")
|
---|
[6390] | 1298 | .arg(_agf0, 19, 'e', 12)
|
---|
| 1299 | .arg(_agf1, 19, 'e', 12)
|
---|
| 1300 | .arg(_TOW, 19, 'e', 12);
|
---|
[6388] | 1301 |
|
---|
| 1302 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
| 1303 |
|
---|
| 1304 | out << QString(fmt)
|
---|
| 1305 | .arg(1.e-3*_x_pos, 19, 'e', 12)
|
---|
| 1306 | .arg(1.e-3*_x_velocity, 19, 'e', 12)
|
---|
| 1307 | .arg(1.e-3*_x_acceleration, 19, 'e', 12)
|
---|
[6390] | 1308 | .arg(_health, 19, 'e', 12);
|
---|
[6388] | 1309 |
|
---|
| 1310 | out << QString(fmt)
|
---|
| 1311 | .arg(1.e-3*_y_pos, 19, 'e', 12)
|
---|
| 1312 | .arg(1.e-3*_y_velocity, 19, 'e', 12)
|
---|
| 1313 | .arg(1.e-3*_y_acceleration, 19, 'e', 12)
|
---|
[6390] | 1314 | .arg(_ura, 19, 'e', 12);
|
---|
[6388] | 1315 |
|
---|
| 1316 | out << QString(fmt)
|
---|
| 1317 | .arg(1.e-3*_z_pos, 19, 'e', 12)
|
---|
| 1318 | .arg(1.e-3*_z_velocity, 19, 'e', 12)
|
---|
| 1319 | .arg(1.e-3*_z_acceleration, 19, 'e', 12)
|
---|
[6536] | 1320 | .arg(double(_IODN), 19, 'e', 12);
|
---|
[6388] | 1321 |
|
---|
| 1322 | return rnxStr;
|
---|
[6385] | 1323 | }
|
---|
[6400] | 1324 |
|
---|
| 1325 | // Constructor
|
---|
| 1326 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 1327 | t_ephCompass::t_ephCompass(float rnxVersion, const QStringList& lines) {
|
---|
| 1328 |
|
---|
| 1329 | const int nLines = 8;
|
---|
| 1330 |
|
---|
| 1331 | if (lines.size() != nLines) {
|
---|
[6518] | 1332 | _checkState = bad;
|
---|
[6400] | 1333 | return;
|
---|
| 1334 | }
|
---|
| 1335 |
|
---|
| 1336 | // RINEX Format
|
---|
| 1337 | // ------------
|
---|
| 1338 | int fieldLen = 19;
|
---|
| 1339 |
|
---|
| 1340 | int pos[4];
|
---|
| 1341 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
| 1342 | pos[1] = pos[0] + fieldLen;
|
---|
| 1343 | pos[2] = pos[1] + fieldLen;
|
---|
| 1344 | pos[3] = pos[2] + fieldLen;
|
---|
| 1345 |
|
---|
| 1346 | double TOTs;
|
---|
| 1347 | double TOEs;
|
---|
| 1348 | double TOEw;
|
---|
| 1349 |
|
---|
| 1350 | // Read eight lines
|
---|
| 1351 | // ----------------
|
---|
| 1352 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
| 1353 | QString line = lines[iLine];
|
---|
| 1354 |
|
---|
| 1355 | if ( iLine == 0 ) {
|
---|
| 1356 | QTextStream in(line.left(pos[1]).toAscii());
|
---|
| 1357 |
|
---|
| 1358 | int year, month, day, hour, min;
|
---|
| 1359 | double sec;
|
---|
| 1360 |
|
---|
| 1361 | QString prnStr;
|
---|
| 1362 | in >> prnStr >> year >> month >> day >> hour >> min >> sec;
|
---|
| 1363 | if (prnStr.at(0) == 'C') {
|
---|
| 1364 | _prn.set('C', prnStr.mid(1).toInt());
|
---|
| 1365 | }
|
---|
| 1366 | else {
|
---|
| 1367 | _prn.set('C', prnStr.toInt());
|
---|
| 1368 | }
|
---|
| 1369 |
|
---|
| 1370 | if (year < 80) {
|
---|
| 1371 | year += 2000;
|
---|
| 1372 | }
|
---|
| 1373 | else if (year < 100) {
|
---|
| 1374 | year += 1900;
|
---|
| 1375 | }
|
---|
| 1376 |
|
---|
| 1377 | _TOC_bdt.set(year, month, day, hour, min, sec);
|
---|
| 1378 |
|
---|
| 1379 | if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
|
---|
| 1380 | readDbl(line, pos[2], fieldLen, _clock_drift ) ||
|
---|
| 1381 | readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
|
---|
[6518] | 1382 | _checkState = bad;
|
---|
[6400] | 1383 | return;
|
---|
| 1384 | }
|
---|
| 1385 | }
|
---|
| 1386 |
|
---|
| 1387 | else if ( iLine == 1 ) {
|
---|
| 1388 | double aode;
|
---|
| 1389 | if ( readDbl(line, pos[0], fieldLen, aode ) ||
|
---|
| 1390 | readDbl(line, pos[1], fieldLen, _Crs ) ||
|
---|
| 1391 | readDbl(line, pos[2], fieldLen, _Delta_n) ||
|
---|
| 1392 | readDbl(line, pos[3], fieldLen, _M0 ) ) {
|
---|
[6518] | 1393 | _checkState = bad;
|
---|
[6400] | 1394 | return;
|
---|
| 1395 | }
|
---|
| 1396 | _AODE = int(aode);
|
---|
| 1397 | }
|
---|
| 1398 |
|
---|
| 1399 | else if ( iLine == 2 ) {
|
---|
| 1400 | if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
|
---|
| 1401 | readDbl(line, pos[1], fieldLen, _e ) ||
|
---|
| 1402 | readDbl(line, pos[2], fieldLen, _Cus ) ||
|
---|
| 1403 | readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
|
---|
[6518] | 1404 | _checkState = bad;
|
---|
[6400] | 1405 | return;
|
---|
| 1406 | }
|
---|
| 1407 | }
|
---|
| 1408 |
|
---|
| 1409 | else if ( iLine == 3 ) {
|
---|
| 1410 | if ( readDbl(line, pos[0], fieldLen, TOEs ) ||
|
---|
| 1411 | readDbl(line, pos[1], fieldLen, _Cic ) ||
|
---|
| 1412 | readDbl(line, pos[2], fieldLen, _OMEGA0) ||
|
---|
| 1413 | readDbl(line, pos[3], fieldLen, _Cis ) ) {
|
---|
[6518] | 1414 | _checkState = bad;
|
---|
[6400] | 1415 | return;
|
---|
| 1416 | }
|
---|
| 1417 | }
|
---|
| 1418 |
|
---|
| 1419 | else if ( iLine == 4 ) {
|
---|
| 1420 | if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
|
---|
| 1421 | readDbl(line, pos[1], fieldLen, _Crc ) ||
|
---|
| 1422 | readDbl(line, pos[2], fieldLen, _omega ) ||
|
---|
| 1423 | readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
|
---|
[6518] | 1424 | _checkState = bad;
|
---|
[6400] | 1425 | return;
|
---|
| 1426 | }
|
---|
| 1427 | }
|
---|
| 1428 |
|
---|
| 1429 | else if ( iLine == 5 ) {
|
---|
| 1430 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
|
---|
| 1431 | readDbl(line, pos[2], fieldLen, TOEw) ) {
|
---|
[6518] | 1432 | _checkState = bad;
|
---|
[6400] | 1433 | return;
|
---|
| 1434 | }
|
---|
| 1435 | }
|
---|
| 1436 |
|
---|
| 1437 | else if ( iLine == 6 ) {
|
---|
| 1438 | double SatH1;
|
---|
| 1439 | if ( readDbl(line, pos[1], fieldLen, SatH1) ||
|
---|
| 1440 | readDbl(line, pos[2], fieldLen, _TGD1) ||
|
---|
| 1441 | readDbl(line, pos[3], fieldLen, _TGD2) ) {
|
---|
[6518] | 1442 | _checkState = bad;
|
---|
[6400] | 1443 | return;
|
---|
| 1444 | }
|
---|
| 1445 | _SatH1 = int(SatH1);
|
---|
| 1446 | }
|
---|
| 1447 |
|
---|
| 1448 | else if ( iLine == 7 ) {
|
---|
| 1449 | double aodc;
|
---|
| 1450 | if ( readDbl(line, pos[0], fieldLen, TOTs) ||
|
---|
| 1451 | readDbl(line, pos[1], fieldLen, aodc) ) {
|
---|
[6518] | 1452 | _checkState = bad;
|
---|
[6400] | 1453 | return;
|
---|
| 1454 | }
|
---|
| 1455 | if (TOTs == 0.9999e9) { // 0.9999e9 means not known (RINEX standard)
|
---|
| 1456 | TOTs = TOEs;
|
---|
| 1457 | }
|
---|
| 1458 | _AODC = int(aodc);
|
---|
| 1459 | }
|
---|
| 1460 | }
|
---|
| 1461 |
|
---|
| 1462 | TOEw += 1356; // BDT -> GPS week number
|
---|
[6537] | 1463 | _TOE_bdt.set(int(TOEw), TOEs);
|
---|
[6400] | 1464 |
|
---|
| 1465 | // GPS->BDT
|
---|
| 1466 | // --------
|
---|
| 1467 | _TOC = _TOC_bdt + 14.0;
|
---|
| 1468 | _TOE = _TOE_bdt + 14.0;
|
---|
| 1469 |
|
---|
| 1470 | // remark: actually should be computed from second_tot
|
---|
| 1471 | // but it seems to be unreliable in RINEX files
|
---|
| 1472 | _TOT = _TOC;
|
---|
| 1473 | }
|
---|
| 1474 |
|
---|
| 1475 | // Constructor
|
---|
| 1476 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 1477 | t_irc t_ephCompass::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
|
---|
| 1478 |
|
---|
[6518] | 1479 | if (_checkState == bad) {
|
---|
| 1480 | return failure;
|
---|
| 1481 | }
|
---|
| 1482 |
|
---|
[6400] | 1483 | static const double gmCompass = 398.6004418e12;
|
---|
| 1484 | static const double omegaCompass = 7292115.0000e-11;
|
---|
| 1485 |
|
---|
| 1486 | xc[0] = xc[1] = xc[2] = xc[3] = 0.0;
|
---|
| 1487 | vv[0] = vv[1] = vv[2] = 0.0;
|
---|
| 1488 |
|
---|
| 1489 | bncTime tt(GPSweek, GPSweeks);
|
---|
| 1490 |
|
---|
| 1491 | if (_sqrt_A == 0) {
|
---|
| 1492 | return failure;
|
---|
| 1493 | }
|
---|
| 1494 | double a0 = _sqrt_A * _sqrt_A;
|
---|
| 1495 |
|
---|
| 1496 | double n0 = sqrt(gmCompass/(a0*a0*a0));
|
---|
| 1497 | double tk = tt - _TOE;
|
---|
| 1498 | double n = n0 + _Delta_n;
|
---|
| 1499 | double M = _M0 + n*tk;
|
---|
| 1500 | double E = M;
|
---|
| 1501 | double E_last;
|
---|
| 1502 | int nLoop = 0;
|
---|
| 1503 | do {
|
---|
| 1504 | E_last = E;
|
---|
| 1505 | E = M + _e*sin(E);
|
---|
| 1506 |
|
---|
| 1507 | if (++nLoop == 100) {
|
---|
| 1508 | return failure;
|
---|
| 1509 | }
|
---|
| 1510 | } while ( fabs(E-E_last)*a0 > 0.001 );
|
---|
| 1511 |
|
---|
| 1512 | double v = atan2(sqrt(1-_e*_e) * sin(E), cos(E) - _e);
|
---|
| 1513 | double u0 = v + _omega;
|
---|
| 1514 | double sin2u0 = sin(2*u0);
|
---|
| 1515 | double cos2u0 = cos(2*u0);
|
---|
| 1516 | double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
|
---|
| 1517 | double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
|
---|
| 1518 | double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
|
---|
| 1519 | double xp = r*cos(u);
|
---|
| 1520 | double yp = r*sin(u);
|
---|
| 1521 | double toesec = (_TOE.gpssec() - 14.0);
|
---|
| 1522 |
|
---|
| 1523 | double sinom = 0;
|
---|
| 1524 | double cosom = 0;
|
---|
| 1525 | double sini = 0;
|
---|
| 1526 | double cosi = 0;
|
---|
| 1527 |
|
---|
| 1528 | const double iMaxGEO = 10.0 / 180.0 * M_PI;
|
---|
| 1529 |
|
---|
| 1530 | // MEO/IGSO satellite
|
---|
| 1531 | // ------------------
|
---|
| 1532 | if (_i0 > iMaxGEO) {
|
---|
| 1533 | double OM = _OMEGA0 + (_OMEGADOT - omegaCompass)*tk - omegaCompass*toesec;
|
---|
| 1534 |
|
---|
| 1535 | sinom = sin(OM);
|
---|
| 1536 | cosom = cos(OM);
|
---|
| 1537 | sini = sin(i);
|
---|
| 1538 | cosi = cos(i);
|
---|
| 1539 |
|
---|
| 1540 | xc[0] = xp*cosom - yp*cosi*sinom;
|
---|
| 1541 | xc[1] = xp*sinom + yp*cosi*cosom;
|
---|
| 1542 | xc[2] = yp*sini;
|
---|
| 1543 | }
|
---|
| 1544 |
|
---|
| 1545 | // GEO satellite
|
---|
| 1546 | // -------------
|
---|
| 1547 | else {
|
---|
| 1548 | double OM = _OMEGA0 + _OMEGADOT*tk - omegaCompass*toesec;
|
---|
| 1549 | double ll = omegaCompass*tk;
|
---|
| 1550 |
|
---|
| 1551 | sinom = sin(OM);
|
---|
| 1552 | cosom = cos(OM);
|
---|
| 1553 | sini = sin(i);
|
---|
| 1554 | cosi = cos(i);
|
---|
| 1555 |
|
---|
| 1556 | double xx = xp*cosom - yp*cosi*sinom;
|
---|
| 1557 | double yy = xp*sinom + yp*cosi*cosom;
|
---|
| 1558 | double zz = yp*sini;
|
---|
| 1559 |
|
---|
| 1560 | Matrix R1 = BNC_PPP::t_astro::rotX(-5.0 / 180.0 * M_PI);
|
---|
| 1561 | Matrix R2 = BNC_PPP::t_astro::rotZ(ll);
|
---|
| 1562 |
|
---|
| 1563 | ColumnVector X1(3); X1 << xx << yy << zz;
|
---|
| 1564 | ColumnVector X2 = R2*R1*X1;
|
---|
| 1565 |
|
---|
| 1566 | xc[0] = X2(1);
|
---|
| 1567 | xc[1] = X2(2);
|
---|
| 1568 | xc[2] = X2(3);
|
---|
| 1569 | }
|
---|
| 1570 |
|
---|
| 1571 | double tc = tt - _TOC;
|
---|
| 1572 | xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc
|
---|
| 1573 | - 4.442807633e-10 * _e * sqrt(a0) *sin(E);
|
---|
| 1574 |
|
---|
| 1575 | // Velocity
|
---|
| 1576 | // --------
|
---|
| 1577 | double tanv2 = tan(v/2);
|
---|
| 1578 | double dEdM = 1 / (1 - _e*cos(E));
|
---|
| 1579 | double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2)
|
---|
| 1580 | / (1 + tanv2*tanv2) * dEdM * n;
|
---|
| 1581 | double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
|
---|
| 1582 | double dotom = _OMEGADOT - t_CST::omega;
|
---|
| 1583 | double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
|
---|
| 1584 | double dotr = a0 * _e*sin(E) * dEdM * n
|
---|
| 1585 | + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
|
---|
| 1586 | double dotx = dotr*cos(u) - r*sin(u)*dotu;
|
---|
| 1587 | double doty = dotr*sin(u) + r*cos(u)*dotu;
|
---|
| 1588 |
|
---|
| 1589 | vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
|
---|
| 1590 | - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
|
---|
| 1591 | + yp*sini*sinom*doti; // dX / di
|
---|
| 1592 |
|
---|
| 1593 | vv[1] = sinom *dotx + cosi*cosom *doty
|
---|
| 1594 | + xp*cosom*dotom - yp*cosi*sinom*dotom
|
---|
| 1595 | - yp*sini*cosom*doti;
|
---|
| 1596 |
|
---|
| 1597 | vv[2] = sini *doty + yp*cosi *doti;
|
---|
| 1598 |
|
---|
| 1599 | // dotC = _clock_drift + _clock_driftrate*tc
|
---|
| 1600 | // - 4.442807633e-10*_e*sqrt(a0)*cos(E) * dEdM * n;
|
---|
| 1601 |
|
---|
| 1602 | return success;
|
---|
| 1603 | }
|
---|
| 1604 |
|
---|
| 1605 | // RINEX Format String
|
---|
| 1606 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 1607 | QString t_ephCompass::toString(double version) const {
|
---|
| 1608 |
|
---|
| 1609 | QString rnxStr = rinexDateStr(_TOC_bdt, _prn, version);
|
---|
| 1610 |
|
---|
| 1611 | QTextStream out(&rnxStr);
|
---|
| 1612 |
|
---|
| 1613 | out << QString("%1%2%3\n")
|
---|
| 1614 | .arg(_clock_bias, 19, 'e', 12)
|
---|
| 1615 | .arg(_clock_drift, 19, 'e', 12)
|
---|
| 1616 | .arg(_clock_driftrate, 19, 'e', 12);
|
---|
| 1617 |
|
---|
| 1618 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
| 1619 |
|
---|
| 1620 | out << QString(fmt)
|
---|
| 1621 | .arg(double(_AODE), 19, 'e', 12)
|
---|
| 1622 | .arg(_Crs, 19, 'e', 12)
|
---|
| 1623 | .arg(_Delta_n, 19, 'e', 12)
|
---|
| 1624 | .arg(_M0, 19, 'e', 12);
|
---|
| 1625 |
|
---|
| 1626 | out << QString(fmt)
|
---|
| 1627 | .arg(_Cuc, 19, 'e', 12)
|
---|
| 1628 | .arg(_e, 19, 'e', 12)
|
---|
| 1629 | .arg(_Cus, 19, 'e', 12)
|
---|
| 1630 | .arg(_sqrt_A, 19, 'e', 12);
|
---|
| 1631 |
|
---|
| 1632 | out << QString(fmt)
|
---|
| 1633 | .arg(_TOE_bdt.gpssec(), 19, 'e', 12)
|
---|
| 1634 | .arg(_Cic, 19, 'e', 12)
|
---|
| 1635 | .arg(_OMEGA0, 19, 'e', 12)
|
---|
| 1636 | .arg(_Cis, 19, 'e', 12);
|
---|
| 1637 |
|
---|
| 1638 | out << QString(fmt)
|
---|
| 1639 | .arg(_i0, 19, 'e', 12)
|
---|
| 1640 | .arg(_Crc, 19, 'e', 12)
|
---|
| 1641 | .arg(_omega, 19, 'e', 12)
|
---|
| 1642 | .arg(_OMEGADOT, 19, 'e', 12);
|
---|
| 1643 |
|
---|
| 1644 | out << QString(fmt)
|
---|
| 1645 | .arg(_IDOT, 19, 'e', 12)
|
---|
| 1646 | .arg(0.0, 19, 'e', 12)
|
---|
| 1647 | .arg(double(_TOE_bdt.gpsw()), 19, 'e', 12)
|
---|
| 1648 | .arg(0.0, 19, 'e', 12);
|
---|
| 1649 |
|
---|
| 1650 | out << QString(fmt)
|
---|
| 1651 | .arg(0.0, 19, 'e', 12)
|
---|
| 1652 | .arg(double(_SatH1), 19, 'e', 12)
|
---|
| 1653 | .arg(_TGD1, 19, 'e', 12)
|
---|
| 1654 | .arg(_TGD2, 19, 'e', 12);
|
---|
| 1655 |
|
---|
| 1656 | out << QString(fmt)
|
---|
| 1657 | .arg(_TOE_bdt.gpssec(), 19, 'e', 12)
|
---|
[6537] | 1658 | .arg(double(_AODC), 19, 'e', 12);
|
---|
[6400] | 1659 |
|
---|
| 1660 | return rnxStr;
|
---|
| 1661 | }
|
---|
| 1662 |
|
---|