[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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[1025] | 16 |
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| 17 | using namespace std;
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| 18 |
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[5749] | 19 | // Constructor
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| 20 | ////////////////////////////////////////////////////////////////////////////
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| 21 | t_eph::t_eph() {
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[6518] | 22 | _checkState = unchecked;
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[9765] | 23 | _navType = undefined;
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[6518] | 24 | _orbCorr = 0;
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| 25 | _clkCorr = 0;
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[5749] | 26 | }
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[7278] | 27 | // Destructor
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| 28 | ////////////////////////////////////////////////////////////////////////////
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| 29 | t_eph::~t_eph() {
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| 30 | if (_orbCorr)
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| 31 | delete _orbCorr;
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| 32 | if (_clkCorr)
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| 33 | delete _clkCorr;
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| 34 | }
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[5749] | 35 |
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[7481] | 36 | //
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[5749] | 37 | ////////////////////////////////////////////////////////////////////////////
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[6141] | 38 | void t_eph::setOrbCorr(const t_orbCorr* orbCorr) {
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[7888] | 39 | if (_orbCorr) {
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| 40 | delete _orbCorr;
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| 41 | _orbCorr = 0;
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| 42 | }
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[6141] | 43 | _orbCorr = new t_orbCorr(*orbCorr);
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[5749] | 44 | }
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| 45 |
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[7481] | 46 | //
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[5749] | 47 | ////////////////////////////////////////////////////////////////////////////
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[6141] | 48 | void t_eph::setClkCorr(const t_clkCorr* clkCorr) {
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[7888] | 49 | if (_clkCorr) {
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| 50 | delete _clkCorr;
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| 51 | _clkCorr = 0;
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| 52 | }
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[6141] | 53 | _clkCorr = new t_clkCorr(*clkCorr);
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[5749] | 54 | }
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| 55 |
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[7481] | 56 | //
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[5749] | 57 | ////////////////////////////////////////////////////////////////////////////
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[6109] | 58 | t_irc t_eph::getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const {
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[6518] | 59 |
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[8419] | 60 | if (_checkState == bad ||
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[8618] | 61 | _checkState == unhealthy ||
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| 62 | _checkState == outdated) {
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[6518] | 63 | return failure;
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| 64 | }
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[8903] | 65 |
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[8542] | 66 | xc.ReSize(6);
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[5749] | 67 | vv.ReSize(3);
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[6213] | 68 | if (position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data()) != success) {
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| 69 | return failure;
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| 70 | }
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[5789] | 71 | if (useCorr) {
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[5839] | 72 | if (_orbCorr && _clkCorr) {
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[5849] | 73 | double dtO = tt - _orbCorr->_time;
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[6556] | 74 | if (_orbCorr->_updateInt) {
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[8903] | 75 | dtO -= (0.5 * ssrUpdateInt[_orbCorr->_updateInt]);
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[6556] | 76 | }
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[5839] | 77 | ColumnVector dx(3);
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[5849] | 78 | dx[0] = _orbCorr->_xr[0] + _orbCorr->_dotXr[0] * dtO;
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| 79 | dx[1] = _orbCorr->_xr[1] + _orbCorr->_dotXr[1] * dtO;
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| 80 | dx[2] = _orbCorr->_xr[2] + _orbCorr->_dotXr[2] * dtO;
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| 81 |
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[7133] | 82 | RSW_to_XYZ(xc.Rows(1,3), vv.Rows(1,3), dx, dx);
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[5849] | 83 |
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[5839] | 84 | xc[0] -= dx[0];
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| 85 | xc[1] -= dx[1];
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| 86 | xc[2] -= dx[2];
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[5849] | 87 |
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[7133] | 88 | ColumnVector dv(3);
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| 89 | RSW_to_XYZ(xc.Rows(1,3), vv.Rows(1,3), _orbCorr->_dotXr, dv);
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| 90 |
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| 91 | vv[0] -= dv[0];
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| 92 | vv[1] -= dv[1];
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| 93 | vv[2] -= dv[2];
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| 94 |
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[5849] | 95 | double dtC = tt - _clkCorr->_time;
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[6556] | 96 | if (_clkCorr->_updateInt) {
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[8903] | 97 | dtC -= (0.5 * ssrUpdateInt[_clkCorr->_updateInt]);
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[6556] | 98 | }
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[7014] | 99 | xc[3] += _clkCorr->_dClk + _clkCorr->_dotDClk * dtC + _clkCorr->_dotDotDClk * dtC * dtC;
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[5839] | 100 | }
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| 101 | else {
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| 102 | return failure;
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| 103 | }
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[5749] | 104 | }
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| 105 | return success;
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| 106 | }
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| 107 |
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[9765] | 108 |
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[6801] | 109 | //
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| 110 | //////////////////////////////////////////////////////////////////////////////
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[9765] | 111 | t_irc t_eph::setNavType(QString navTypeStr) {
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| 112 | if (navTypeStr == "LNAV") {_navType = t_eph::LNAV;}
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| 113 | else if (navTypeStr == "FDMA") {_navType = t_eph::FDMA;}
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| 114 | else if (navTypeStr == "FNAV") {_navType = t_eph::FNAV;}
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| 115 | else if (navTypeStr == "INAF") {_navType = t_eph::INAF;}
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| 116 | else if (navTypeStr == "D1") {_navType = t_eph::D1;}
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| 117 | else if (navTypeStr == "D2") {_navType = t_eph::D2;}
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| 118 | else if (navTypeStr == "SBAS") {_navType = t_eph::SBASL1;}
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| 119 | else if (navTypeStr == "CNAV") {_navType = t_eph::CNAV;}
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| 120 | else if (navTypeStr == "CNV1") {_navType = t_eph::CNV1;}
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| 121 | else if (navTypeStr == "CNV2") {_navType = t_eph::CNV2;}
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| 122 | else if (navTypeStr == "CNV3") {_navType = t_eph::CNV3;}
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| 123 | else {_navType = t_eph::undefined; return failure;}
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| 124 |
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| 125 | return success;
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| 126 | }
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| 127 |
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| 128 | //
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| 129 | //////////////////////////////////////////////////////////////////////////////
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| 130 | QString t_eph::navTypeString(e_navType navType, const t_prn& prn, double version) {
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| 131 | QString navTypeString = "";
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| 132 | QString epochStart;
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| 133 | QString eolStr;
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| 134 |
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| 135 | if (version < 4.0) {
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| 136 | return navTypeString;
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| 137 | }
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| 138 |
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| 139 | if (version == 99.0) {
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| 140 | epochStart = "";
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| 141 | eolStr = "";
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| 142 | }
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| 143 | else {
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| 144 | epochStart = "> ";
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| 145 | eolStr = "\n";
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| 146 | }
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| 147 |
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| 148 | QString ephStr = QString("EPH %1 ").arg(prn.toString().c_str());
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| 149 | switch (navType) {
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| 150 | case undefined:
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| 151 | navTypeString = epochStart + ephStr + "unknown" + eolStr;
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| 152 | break;
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| 153 | case LNAV:
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| 154 | navTypeString = epochStart + ephStr + "LNAV" + eolStr;
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| 155 | break;
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| 156 | case FDMA:
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| 157 | navTypeString = epochStart + ephStr + "FDMA" + eolStr;
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| 158 | break;
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| 159 | case FNAV:
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| 160 | navTypeString = epochStart + ephStr + "FNAV" + eolStr;
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| 161 | break;
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| 162 | case INAF:
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| 163 | navTypeString = epochStart + ephStr + "INAV" + eolStr;
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| 164 | break;
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| 165 | case D1:
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[9774] | 166 | navTypeString = epochStart + ephStr + "D1 " + eolStr;
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[9765] | 167 | break;
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| 168 | case D2:
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[9774] | 169 | navTypeString = epochStart + ephStr + "D2 " + eolStr;
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[9765] | 170 | break;
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| 171 | case SBASL1:
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| 172 | navTypeString = epochStart + ephStr + "SBAS" + eolStr;
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| 173 | break;
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| 174 | case CNAV:
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| 175 | navTypeString = epochStart + ephStr + "CNAV" + eolStr;
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| 176 | break;
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| 177 | case CNV1:
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| 178 | navTypeString = epochStart + ephStr + "CNV1" + eolStr;
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| 179 | break;
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| 180 | case CNV2:
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| 181 | navTypeString = epochStart + ephStr + "CNV2" + eolStr;
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| 182 | break;
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| 183 | case CNV3:
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| 184 | navTypeString = epochStart + ephStr + "CNV3" + eolStr;
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| 185 | break;
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| 186 | }
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| 187 | return navTypeString;
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| 188 | }
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| 189 |
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| 190 | //
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| 191 | //////////////////////////////////////////////////////////////////////////////
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[6801] | 192 | QString t_eph::rinexDateStr(const bncTime& tt, const t_prn& prn, double version) {
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| 193 | QString prnStr(prn.toString().c_str());
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| 194 | return rinexDateStr(tt, prnStr, version);
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| 195 | }
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| 196 |
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| 197 | //
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| 198 | //////////////////////////////////////////////////////////////////////////////
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| 199 | QString t_eph::rinexDateStr(const bncTime& tt, const QString& prnStr, double version) {
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| 200 |
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| 201 | QString datStr;
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| 202 |
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| 203 | unsigned year, month, day, hour, min;
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| 204 | double sec;
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| 205 | tt.civil_date(year, month, day);
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| 206 | tt.civil_time(hour, min, sec);
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| 207 |
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| 208 | QTextStream out(&datStr);
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| 209 |
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| 210 | if (version < 3.0) {
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| 211 | QString prnHlp = prnStr.mid(1,2); if (prnHlp[0] == '0') prnHlp[0] = ' ';
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| 212 | out << prnHlp << QString(" %1 %2 %3 %4 %5%6")
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| 213 | .arg(year % 100, 2, 10, QChar('0'))
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| 214 | .arg(month, 2)
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| 215 | .arg(day, 2)
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| 216 | .arg(hour, 2)
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| 217 | .arg(min, 2)
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| 218 | .arg(sec, 5, 'f',1);
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| 219 | }
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[9765] | 220 | else if (version == 99) {
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| 221 | out << QString(" %1 %2 %3 %4 %5 %6")
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| 222 | .arg(year, 4)
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| 223 | .arg(month, 2, 10, QChar('0'))
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| 224 | .arg(day, 2, 10, QChar('0'))
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| 225 | .arg(hour, 2, 10, QChar('0'))
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| 226 | .arg(min, 2, 10, QChar('0'))
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| 227 | .arg(int(sec), 2, 10, QChar('0'));
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| 228 | }
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[6801] | 229 | else {
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| 230 | out << prnStr << QString(" %1 %2 %3 %4 %5 %6")
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| 231 | .arg(year, 4)
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| 232 | .arg(month, 2, 10, QChar('0'))
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| 233 | .arg(day, 2, 10, QChar('0'))
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| 234 | .arg(hour, 2, 10, QChar('0'))
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| 235 | .arg(min, 2, 10, QChar('0'))
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| 236 | .arg(int(sec), 2, 10, QChar('0'));
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| 237 | }
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| 238 |
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| 239 | return datStr;
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| 240 | }
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| 241 |
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| 242 | // Constructor
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| 243 | //////////////////////////////////////////////////////////////////////////////
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[9367] | 244 | t_ephGPS::t_ephGPS(double rnxVersion, const QStringList& lines) {
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[6801] | 245 |
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[9786] | 246 | int nLines = 8;
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[6801] | 247 |
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[9786] | 248 | if (navType() == t_eph::CNAV) {
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| 249 | nLines += 1;
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| 250 | }
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| 251 | else if (navType() == t_eph::CNV2) {
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| 252 | nLines += 2;
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| 253 | }
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| 254 |
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[6801] | 255 | if (lines.size() != nLines) {
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| 256 | _checkState = bad;
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| 257 | return;
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| 258 | }
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| 259 |
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| 260 | // RINEX Format
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| 261 | // ------------
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| 262 | int fieldLen = 19;
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| 263 |
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| 264 | int pos[4];
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| 265 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
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| 266 | pos[1] = pos[0] + fieldLen;
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| 267 | pos[2] = pos[1] + fieldLen;
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| 268 | pos[3] = pos[2] + fieldLen;
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| 269 |
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| 270 | // Read eight lines
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| 271 | // ----------------
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| 272 | for (int iLine = 0; iLine < nLines; iLine++) {
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| 273 | QString line = lines[iLine];
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| 274 |
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| 275 | if ( iLine == 0 ) {
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[8204] | 276 | QTextStream in(line.left(pos[1]).toLatin1());
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[6801] | 277 | int year, month, day, hour, min;
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| 278 | double sec;
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| 279 |
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[7139] | 280 | QString prnStr, n;
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[6880] | 281 | in >> prnStr;
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[7639] | 282 |
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| 283 | if (prnStr.size() == 1 &&
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[8168] | 284 | (prnStr[0] == 'G' ||
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| 285 | prnStr[0] == 'J' ||
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| 286 | prnStr[0] == 'I')) {
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[7139] | 287 | in >> n;
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| 288 | prnStr.append(n);
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[6880] | 289 | }
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[7639] | 290 |
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[6880] | 291 | in >> year >> month >> day >> hour >> min >> sec;
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[6801] | 292 | if (prnStr.at(0) == 'G') {
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| 293 | _prn.set('G', prnStr.mid(1).toInt());
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| 294 | }
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| 295 | else if (prnStr.at(0) == 'J') {
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| 296 | _prn.set('J', prnStr.mid(1).toInt());
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| 297 | }
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[8168] | 298 | else if (prnStr.at(0) == 'I') {
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| 299 | _prn.set('I', prnStr.mid(1).toInt());
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| 300 | }
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[6801] | 301 | else {
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| 302 | _prn.set('G', prnStr.toInt());
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| 303 | }
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| 304 |
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| 305 | if (year < 80) {
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| 306 | year += 2000;
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| 307 | }
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| 308 | else if (year < 100) {
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| 309 | year += 1900;
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| 310 | }
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| 311 |
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| 312 | _TOC.set(year, month, day, hour, min, sec);
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| 313 |
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[9786] | 314 | if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
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[6801] | 315 | readDbl(line, pos[2], fieldLen, _clock_drift ) ||
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| 316 | readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
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| 317 | _checkState = bad;
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| 318 | return;
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| 319 | }
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| 320 | }
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[9786] | 321 | // =====================
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| 322 | // BROADCAST ORBIT - 1
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| 323 | // =====================
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| 324 | else if ( iLine == 1) {
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[6801] | 325 |
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[9786] | 326 | if (navType() == t_eph::CNAV ||
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| 327 | navType() == t_eph::CNV2) {
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| 328 | if ( readDbl(line, pos[0], fieldLen, _ADOT ) ||
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| 329 | readDbl(line, pos[1], fieldLen, _Crs ) ||
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| 330 | readDbl(line, pos[2], fieldLen, _Delta_n) ||
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| 331 | readDbl(line, pos[3], fieldLen, _M0 ) ) {
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| 332 | _checkState = bad;
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| 333 | return;
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| 334 | }
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[6801] | 335 | }
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[9786] | 336 | else { // LNAV, undefined
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| 337 | if ( readDbl(line, pos[0], fieldLen, _IODE ) ||
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| 338 | readDbl(line, pos[1], fieldLen, _Crs ) ||
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| 339 | readDbl(line, pos[2], fieldLen, _Delta_n) ||
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| 340 | readDbl(line, pos[3], fieldLen, _M0 ) ) {
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| 341 | _checkState = bad;
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| 342 | return;
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| 343 | }
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| 344 | }
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[6801] | 345 | }
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[9786] | 346 | // =====================
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| 347 | // BROADCAST ORBIT - 2
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| 348 | // =====================
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[6801] | 349 | else if ( iLine == 2 ) {
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| 350 | if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
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| 351 | readDbl(line, pos[1], fieldLen, _e ) ||
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| 352 | readDbl(line, pos[2], fieldLen, _Cus ) ||
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| 353 | readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
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| 354 | _checkState = bad;
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| 355 | return;
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| 356 | }
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| 357 | }
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[9786] | 358 | // =====================
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| 359 | // BROADCAST ORBIT - 3
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| 360 | // =====================
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| 361 | else if ( iLine == 3 ) {
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[6801] | 362 |
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[9786] | 363 | if (navType() == t_eph::CNAV ||
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| 364 | navType() == t_eph::CNV2) {
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| 365 | if ( readDbl(line, pos[0], fieldLen, _top) ||
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| 366 | readDbl(line, pos[1], fieldLen, _Cic ) ||
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| 367 | readDbl(line, pos[2], fieldLen, _OMEGA0) ||
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| 368 | readDbl(line, pos[3], fieldLen, _Cis ) ) {
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| 369 | _checkState = bad;
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| 370 | return;
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| 371 | }
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[6801] | 372 | }
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[9786] | 373 | else { // LNAV, undefined
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| 374 | if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
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| 375 | readDbl(line, pos[1], fieldLen, _Cic ) ||
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| 376 | readDbl(line, pos[2], fieldLen, _OMEGA0) ||
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| 377 | readDbl(line, pos[3], fieldLen, _Cis ) ) {
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| 378 | _checkState = bad;
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| 379 | return;
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| 380 | }
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| 381 | }
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[6801] | 382 | }
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[9786] | 383 | // =====================
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| 384 | // BROADCAST ORBIT - 4
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| 385 | // =====================
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[6801] | 386 | else if ( iLine == 4 ) {
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| 387 | if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
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| 388 | readDbl(line, pos[1], fieldLen, _Crc ) ||
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| 389 | readDbl(line, pos[2], fieldLen, _omega ) ||
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| 390 | readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
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| 391 | _checkState = bad;
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| 392 | return;
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| 393 | }
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| 394 | }
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[9786] | 395 | // =====================
|
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| 396 | // BROADCAST ORBIT - 5
|
---|
| 397 | // =====================
|
---|
| 398 | else if ( iLine == 5 && type() != t_eph::IRNSS) {
|
---|
[6801] | 399 |
|
---|
[9786] | 400 | if (navType() == t_eph::CNAV ||
|
---|
| 401 | navType() == t_eph::CNV2) {
|
---|
| 402 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
|
---|
| 403 | readDbl(line, pos[1], fieldLen, _DN0DOT ) ||
|
---|
| 404 | readDbl(line, pos[2], fieldLen, _URAI_NED0 ) ||
|
---|
| 405 | readDbl(line, pos[3], fieldLen, _URAI_NED1) ) {
|
---|
| 406 | _checkState = bad;
|
---|
| 407 | return;
|
---|
| 408 | }
|
---|
[6801] | 409 | }
|
---|
[9786] | 410 | else { // LNAV, undefined
|
---|
| 411 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
|
---|
| 412 | readDbl(line, pos[1], fieldLen, _L2Codes) ||
|
---|
| 413 | readDbl(line, pos[2], fieldLen, _TOEweek ) ||
|
---|
| 414 | readDbl(line, pos[3], fieldLen, _L2PFlag) ) {
|
---|
| 415 | _checkState = bad;
|
---|
| 416 | return;
|
---|
| 417 | }
|
---|
| 418 | }
|
---|
[6801] | 419 | }
|
---|
[8168] | 420 | else if ( iLine == 5 && type() == t_eph::IRNSS) {
|
---|
| 421 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
|
---|
| 422 | readDbl(line, pos[2], fieldLen, _TOEweek) ) {
|
---|
| 423 | _checkState = bad;
|
---|
| 424 | return;
|
---|
| 425 | }
|
---|
| 426 | }
|
---|
[9786] | 427 | // =====================
|
---|
| 428 | // BROADCAST ORBIT - 6
|
---|
| 429 | // =====================
|
---|
| 430 | else if ( iLine == 6 && type() != t_eph::IRNSS) {
|
---|
[6801] | 431 |
|
---|
[9786] | 432 | if (navType() == t_eph::CNAV ||
|
---|
| 433 | navType() == t_eph::CNV2 ) {
|
---|
| 434 | if ( readDbl(line, pos[0], fieldLen, _URAI_ED) ||
|
---|
| 435 | readDbl(line, pos[1], fieldLen, _health ) ||
|
---|
| 436 | readDbl(line, pos[2], fieldLen, _TGD ) ||
|
---|
| 437 | readDbl(line, pos[3], fieldLen, _URAI_NED2) ) {
|
---|
| 438 | _checkState = bad;
|
---|
| 439 | return;
|
---|
| 440 | }
|
---|
[6801] | 441 | }
|
---|
[9786] | 442 | else { // LNAV, undefined
|
---|
| 443 | if ( readDbl(line, pos[0], fieldLen, _ura ) ||
|
---|
| 444 | readDbl(line, pos[1], fieldLen, _health) ||
|
---|
| 445 | readDbl(line, pos[2], fieldLen, _TGD ) ||
|
---|
| 446 | readDbl(line, pos[3], fieldLen, _IODC ) ) {
|
---|
| 447 | _checkState = bad;
|
---|
| 448 | return;
|
---|
| 449 | }
|
---|
| 450 | }
|
---|
[6801] | 451 | }
|
---|
[8168] | 452 | else if ( iLine == 6 && type() == t_eph::IRNSS) {
|
---|
| 453 | if ( readDbl(line, pos[0], fieldLen, _ura ) ||
|
---|
| 454 | readDbl(line, pos[1], fieldLen, _health) ||
|
---|
| 455 | readDbl(line, pos[2], fieldLen, _TGD ) ) {
|
---|
| 456 | _checkState = bad;
|
---|
| 457 | return;
|
---|
| 458 | }
|
---|
| 459 | }
|
---|
[9786] | 460 | // =====================
|
---|
| 461 | // BROADCAST ORBIT - 7
|
---|
| 462 | // =====================
|
---|
[6801] | 463 | else if ( iLine == 7 ) {
|
---|
[9786] | 464 | if (navType() == t_eph::LNAV ||
|
---|
| 465 | navType() == t_eph::undefined) {
|
---|
| 466 |
|
---|
| 467 | if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
|
---|
| 468 | _checkState = bad;
|
---|
| 469 | return;
|
---|
| 470 | }
|
---|
| 471 |
|
---|
| 472 | if (type() != t_eph::IRNSS) {
|
---|
| 473 | double fitIntervalRnx;
|
---|
| 474 | if ( readDbl(line, pos[1], fieldLen, fitIntervalRnx) ) {
|
---|
| 475 | _checkState = bad;
|
---|
| 476 | return;
|
---|
[8931] | 477 | }
|
---|
[9786] | 478 | if (type() == t_eph::GPS) { // in RINEX specified always as time period for GPS
|
---|
| 479 | _fitInterval = fitIntervalRnx;
|
---|
| 480 | } else if (type() == t_eph::QZSS) { // specified as flag for QZSS
|
---|
| 481 | if (rnxVersion == 3.02) {
|
---|
| 482 | _fitInterval = fitIntervalRnx; // specified as time period
|
---|
| 483 | }
|
---|
| 484 | else {
|
---|
| 485 | _fitInterval = fitIntervalFromFlag(fitIntervalRnx, _IODC, t_eph::QZSS);
|
---|
| 486 | }
|
---|
[8934] | 487 | }
|
---|
[8927] | 488 | }
|
---|
[8925] | 489 | }
|
---|
[9786] | 490 |
|
---|
| 491 | else if (navType() == t_eph::CNAV ||
|
---|
| 492 | navType() == t_eph::CNV2) {
|
---|
| 493 | if ( readDbl(line, pos[0], fieldLen, _ISC_L1CA) ||
|
---|
| 494 | readDbl(line, pos[1], fieldLen, _ISC_L2C ) ||
|
---|
| 495 | readDbl(line, pos[2], fieldLen, _ISC_L5I5) ||
|
---|
| 496 | readDbl(line, pos[3], fieldLen, _ISC_L5Q5) ) {
|
---|
| 497 | _checkState = bad;
|
---|
| 498 | return;
|
---|
| 499 | }
|
---|
| 500 |
|
---|
| 501 | }
|
---|
| 502 |
|
---|
[6801] | 503 | }
|
---|
[9786] | 504 | // =====================
|
---|
| 505 | // BROADCAST ORBIT - 8
|
---|
| 506 | // =====================
|
---|
| 507 | else if ( iLine == 8 ) {
|
---|
| 508 | if (navType() == t_eph::CNAV) {
|
---|
| 509 | if ( readDbl(line, pos[0], fieldLen, _TOT) ||
|
---|
| 510 | readDbl(line, pos[1], fieldLen, _wnop) ) {
|
---|
| 511 | _checkState = bad;
|
---|
| 512 | return;
|
---|
| 513 | }
|
---|
| 514 | }
|
---|
| 515 | else if (navType() == t_eph::CNV2) {
|
---|
| 516 | if ( readDbl(line, pos[0], fieldLen, _ISC_L1Cd) ||
|
---|
| 517 | readDbl(line, pos[1], fieldLen, _ISC_L1Cp)) {
|
---|
| 518 | _checkState = bad;
|
---|
| 519 | return;
|
---|
| 520 | }
|
---|
| 521 | }
|
---|
| 522 | }
|
---|
| 523 | // =====================
|
---|
| 524 | // BROADCAST ORBIT - 9
|
---|
| 525 | // =====================
|
---|
| 526 | else if ( iLine == 9 ) {
|
---|
| 527 | if (navType() == t_eph::CNV2) {
|
---|
| 528 | if ( readDbl(line, pos[0], fieldLen, _TOT) ||
|
---|
| 529 | readDbl(line, pos[1], fieldLen, _wnop) ) {
|
---|
| 530 | _checkState = bad;
|
---|
| 531 | return;
|
---|
| 532 | }
|
---|
| 533 | }
|
---|
| 534 | }
|
---|
[6801] | 535 | }
|
---|
| 536 | }
|
---|
| 537 |
|
---|
[2222] | 538 | // Compute GPS Satellite Position (virtual)
|
---|
[1025] | 539 | ////////////////////////////////////////////////////////////////////////////
|
---|
[6213] | 540 | t_irc t_ephGPS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
|
---|
[1025] | 541 |
|
---|
[1098] | 542 | static const double omegaEarth = 7292115.1467e-11;
|
---|
[5277] | 543 | static const double gmGRS = 398.6005e12;
|
---|
[1025] | 544 |
|
---|
[8542] | 545 | memset(xc, 0, 6*sizeof(double));
|
---|
[1025] | 546 | memset(vv, 0, 3*sizeof(double));
|
---|
| 547 |
|
---|
| 548 | double a0 = _sqrt_A * _sqrt_A;
|
---|
| 549 | if (a0 == 0) {
|
---|
[6213] | 550 | return failure;
|
---|
[1025] | 551 | }
|
---|
| 552 |
|
---|
[5277] | 553 | double n0 = sqrt(gmGRS/(a0*a0*a0));
|
---|
[4018] | 554 |
|
---|
| 555 | bncTime tt(GPSweek, GPSweeks);
|
---|
[4543] | 556 | double tk = tt - bncTime(int(_TOEweek), _TOEsec);
|
---|
[4018] | 557 |
|
---|
[1025] | 558 | double n = n0 + _Delta_n;
|
---|
| 559 | double M = _M0 + n*tk;
|
---|
| 560 | double E = M;
|
---|
| 561 | double E_last;
|
---|
[8368] | 562 | int nLoop = 0;
|
---|
[1025] | 563 | do {
|
---|
| 564 | E_last = E;
|
---|
| 565 | E = M + _e*sin(E);
|
---|
[8368] | 566 |
|
---|
| 567 | if (++nLoop == 100) {
|
---|
| 568 | return failure;
|
---|
| 569 | }
|
---|
| 570 | } while ( fabs(E-E_last)*a0 > 0.001);
|
---|
[1025] | 571 | double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
|
---|
| 572 | double u0 = v + _omega;
|
---|
| 573 | double sin2u0 = sin(2*u0);
|
---|
| 574 | double cos2u0 = cos(2*u0);
|
---|
| 575 | double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
|
---|
| 576 | double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
|
---|
| 577 | double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
|
---|
| 578 | double xp = r*cos(u);
|
---|
| 579 | double yp = r*sin(u);
|
---|
[7481] | 580 | double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
|
---|
[4018] | 581 | omegaEarth*_TOEsec;
|
---|
[7278] | 582 |
|
---|
[1025] | 583 | double sinom = sin(OM);
|
---|
| 584 | double cosom = cos(OM);
|
---|
| 585 | double sini = sin(i);
|
---|
| 586 | double cosi = cos(i);
|
---|
| 587 | xc[0] = xp*cosom - yp*cosi*sinom;
|
---|
| 588 | xc[1] = xp*sinom + yp*cosi*cosom;
|
---|
[7481] | 589 | xc[2] = yp*sini;
|
---|
| 590 |
|
---|
[4018] | 591 | double tc = tt - _TOC;
|
---|
[2429] | 592 | xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
|
---|
[1025] | 593 |
|
---|
| 594 | // Velocity
|
---|
| 595 | // --------
|
---|
| 596 | double tanv2 = tan(v/2);
|
---|
| 597 | double dEdM = 1 / (1 - _e*cos(E));
|
---|
[7278] | 598 | double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
|
---|
[1025] | 599 | * dEdM * n;
|
---|
| 600 | double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
|
---|
| 601 | double dotom = _OMEGADOT - omegaEarth;
|
---|
| 602 | double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
|
---|
[7278] | 603 | double dotr = a0 * _e*sin(E) * dEdM * n
|
---|
[1025] | 604 | + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
|
---|
| 605 | double dotx = dotr*cos(u) - r*sin(u)*dotu;
|
---|
| 606 | double doty = dotr*sin(u) + r*cos(u)*dotu;
|
---|
| 607 |
|
---|
| 608 | vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
|
---|
| 609 | - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
|
---|
| 610 | + yp*sini*sinom*doti; // dX / di
|
---|
| 611 |
|
---|
| 612 | vv[1] = sinom *dotx + cosi*cosom *doty
|
---|
| 613 | + xp*cosom*dotom - yp*cosi*sinom*dotom
|
---|
| 614 | - yp*sini*cosom*doti;
|
---|
| 615 |
|
---|
| 616 | vv[2] = sini *doty + yp*cosi *doti;
|
---|
[2429] | 617 |
|
---|
| 618 | // Relativistic Correction
|
---|
| 619 | // -----------------------
|
---|
[9124] | 620 | xc[3] -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
|
---|
[9132] | 621 |
|
---|
[8542] | 622 | xc[4] = _clock_drift + _clock_driftrate*tc;
|
---|
| 623 | xc[5] = _clock_driftrate;
|
---|
[8581] | 624 |
|
---|
[6213] | 625 | return success;
|
---|
[1025] | 626 | }
|
---|
| 627 |
|
---|
[6801] | 628 | // RINEX Format String
|
---|
| 629 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 630 | QString t_ephGPS::toString(double version) const {
|
---|
[2221] | 631 |
|
---|
[9765] | 632 | QString navStr = navTypeString(_navType, _prn, version);
|
---|
| 633 | QString rnxStr = navStr + rinexDateStr(_TOC, _prn, version);
|
---|
[2221] | 634 |
|
---|
[6801] | 635 | QTextStream out(&rnxStr);
|
---|
[2221] | 636 |
|
---|
[6801] | 637 | out << QString("%1%2%3\n")
|
---|
| 638 | .arg(_clock_bias, 19, 'e', 12)
|
---|
| 639 | .arg(_clock_drift, 19, 'e', 12)
|
---|
| 640 | .arg(_clock_driftrate, 19, 'e', 12);
|
---|
[2221] | 641 |
|
---|
[6801] | 642 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
[2221] | 643 |
|
---|
[6801] | 644 |
|
---|
[9786] | 645 | // =====================
|
---|
| 646 | // BROADCAST ORBIT - 1
|
---|
| 647 | // =====================
|
---|
| 648 | if (navType() == t_eph::CNAV ||
|
---|
| 649 | navType() == t_eph::CNV2) {
|
---|
| 650 | out << QString(fmt)
|
---|
| 651 | .arg(_ADOT, 19, 'e', 12)
|
---|
| 652 | .arg(_Crs, 19, 'e', 12)
|
---|
| 653 | .arg(_Delta_n, 19, 'e', 12)
|
---|
| 654 | .arg(_M0, 19, 'e', 12);
|
---|
| 655 | }
|
---|
| 656 | else { // LNAV, undefinded
|
---|
| 657 | out << QString(fmt)
|
---|
| 658 | .arg(_IODE, 19, 'e', 12)
|
---|
| 659 | .arg(_Crs, 19, 'e', 12)
|
---|
| 660 | .arg(_Delta_n, 19, 'e', 12)
|
---|
| 661 | .arg(_M0, 19, 'e', 12);
|
---|
| 662 | }
|
---|
| 663 | // =====================
|
---|
| 664 | // BROADCAST ORBIT - 2
|
---|
| 665 | // =====================
|
---|
[6801] | 666 | out << QString(fmt)
|
---|
| 667 | .arg(_Cuc, 19, 'e', 12)
|
---|
| 668 | .arg(_e, 19, 'e', 12)
|
---|
| 669 | .arg(_Cus, 19, 'e', 12)
|
---|
| 670 | .arg(_sqrt_A, 19, 'e', 12);
|
---|
[9786] | 671 | // =====================
|
---|
| 672 | // BROADCAST ORBIT - 3
|
---|
| 673 | // =====================
|
---|
| 674 | if (navType() == t_eph::CNAV ||
|
---|
| 675 | navType() == t_eph::CNV2) {
|
---|
| 676 | out << QString(fmt)
|
---|
| 677 | .arg(_top, 19, 'e', 12)
|
---|
| 678 | .arg(_Cic, 19, 'e', 12)
|
---|
| 679 | .arg(_OMEGA0, 19, 'e', 12)
|
---|
| 680 | .arg(_Cis, 19, 'e', 12);
|
---|
| 681 | }
|
---|
| 682 | else {
|
---|
| 683 | out << QString(fmt)
|
---|
| 684 | .arg(_TOEsec, 19, 'e', 12)
|
---|
| 685 | .arg(_Cic, 19, 'e', 12)
|
---|
| 686 | .arg(_OMEGA0, 19, 'e', 12)
|
---|
| 687 | .arg(_Cis, 19, 'e', 12);
|
---|
| 688 | }
|
---|
| 689 | // =====================
|
---|
| 690 | // BROADCAST ORBIT - 4
|
---|
| 691 | // =====================
|
---|
[6801] | 692 | out << QString(fmt)
|
---|
| 693 | .arg(_i0, 19, 'e', 12)
|
---|
| 694 | .arg(_Crc, 19, 'e', 12)
|
---|
| 695 | .arg(_omega, 19, 'e', 12)
|
---|
| 696 | .arg(_OMEGADOT, 19, 'e', 12);
|
---|
[9786] | 697 | // =====================
|
---|
| 698 | // BROADCAST ORBIT - 5
|
---|
| 699 | // =====================
|
---|
[8800] | 700 | if (type() == t_eph::IRNSS) {
|
---|
[8168] | 701 | out << QString(fmt)
|
---|
| 702 | .arg(_IDOT, 19, 'e', 12)
|
---|
[8800] | 703 | .arg(0.0, 19, 'e', 12)
|
---|
| 704 | .arg(_TOEweek, 19, 'e', 12)
|
---|
| 705 | .arg(0.0, 19, 'e', 12);
|
---|
| 706 | }
|
---|
| 707 | else {
|
---|
[9786] | 708 | if (navType() == t_eph::CNAV ||
|
---|
| 709 | navType() == t_eph::CNV2) {
|
---|
| 710 | out << QString(fmt)
|
---|
| 711 | .arg(_IDOT, 19, 'e', 12)
|
---|
| 712 | .arg(_DN0DOT, 19, 'e', 12)
|
---|
| 713 | .arg(_URAI_NED0, 19, 'e', 12)
|
---|
| 714 | .arg(_URAI_NED1, 19, 'e', 12);
|
---|
| 715 |
|
---|
| 716 | }
|
---|
| 717 | else { // LNAV, undefined
|
---|
| 718 | out << QString(fmt)
|
---|
| 719 | .arg(_IDOT, 19, 'e', 12)
|
---|
| 720 | .arg(_L2Codes, 19, 'e', 12)
|
---|
| 721 | .arg(_TOEweek, 19, 'e', 12)
|
---|
| 722 | .arg(_L2PFlag, 19, 'e', 12);
|
---|
| 723 |
|
---|
| 724 | }
|
---|
[8800] | 725 | }
|
---|
[9786] | 726 | // =====================
|
---|
| 727 | // BROADCAST ORBIT - 6
|
---|
| 728 | // =====================
|
---|
[8168] | 729 | if (type() == t_eph::IRNSS) {
|
---|
| 730 | out << QString(fmt)
|
---|
| 731 | .arg(_ura, 19, 'e', 12)
|
---|
| 732 | .arg(_health, 19, 'e', 12)
|
---|
| 733 | .arg(_TGD, 19, 'e', 12)
|
---|
[8790] | 734 | .arg(0.0, 19, 'e', 12);
|
---|
[8168] | 735 | }
|
---|
| 736 | else {
|
---|
[9786] | 737 | if (navType() == t_eph::CNAV ||
|
---|
| 738 | navType() == t_eph::CNV2) {
|
---|
| 739 | out << QString(fmt)
|
---|
| 740 | .arg(_URAI_ED, 19, 'e', 12)
|
---|
| 741 | .arg(_health, 19, 'e', 12)
|
---|
| 742 | .arg(_TGD, 19, 'e', 12)
|
---|
| 743 | .arg(_URAI_NED2,19, 'e', 12);
|
---|
| 744 |
|
---|
| 745 | }
|
---|
| 746 | else { // LNAV, undefined
|
---|
| 747 | out << QString(fmt)
|
---|
| 748 | .arg(_ura, 19, 'e', 12)
|
---|
| 749 | .arg(_health, 19, 'e', 12)
|
---|
| 750 | .arg(_TGD, 19, 'e', 12)
|
---|
| 751 | .arg(_IODC, 19, 'e', 12);
|
---|
| 752 | }
|
---|
[8168] | 753 | }
|
---|
[9786] | 754 | // =====================
|
---|
| 755 | // BROADCAST ORBIT - 7
|
---|
| 756 | // =====================
|
---|
| 757 | if (navType() == t_eph::LNAV ||
|
---|
| 758 | navType() == t_eph::undefined) {
|
---|
[6801] | 759 |
|
---|
[9786] | 760 | double tot = _TOT;
|
---|
| 761 | if (tot == 0.9999e9 && version < 3.0) {
|
---|
| 762 | tot = 0.0;
|
---|
| 763 | }
|
---|
| 764 | // fitInterval
|
---|
| 765 | if (type() == t_eph::IRNSS) {// not valid for IRNSS
|
---|
| 766 | out << QString(fmt)
|
---|
| 767 | .arg(tot, 19, 'e', 12)
|
---|
| 768 | .arg(0.0, 19, 'e', 12)
|
---|
| 769 | .arg("", 19, QChar(' '))
|
---|
| 770 | .arg("", 19, QChar(' '));
|
---|
| 771 | }
|
---|
| 772 | else {
|
---|
| 773 | // for GPS and QZSS in version 3.02 specified in hours
|
---|
| 774 | double fitIntervalRnx = _fitInterval;
|
---|
| 775 | // otherwise specified as flag
|
---|
| 776 | if (type() == t_eph::QZSS && version != 3.02) {
|
---|
| 777 | (_fitInterval == 2.0) ? fitIntervalRnx = 0.0 : fitIntervalRnx = 1.0;
|
---|
| 778 | }
|
---|
| 779 | out << QString(fmt)
|
---|
| 780 | .arg(tot, 19, 'e', 12)
|
---|
| 781 | .arg(fitIntervalRnx, 19, 'e', 12)
|
---|
| 782 | .arg("", 19, QChar(' '))
|
---|
| 783 | .arg("", 19, QChar(' '));
|
---|
| 784 | }
|
---|
[7922] | 785 | }
|
---|
[9786] | 786 | else if (navType() == t_eph::CNAV ||
|
---|
| 787 | navType() == t_eph::CNV2) {
|
---|
[8800] | 788 | out << QString(fmt)
|
---|
[9786] | 789 | .arg(_ISC_L1CA, 19, 'e', 12)
|
---|
| 790 | .arg(_ISC_L2C, 19, 'e', 12)
|
---|
| 791 | .arg(_ISC_L5I5, 19, 'e', 12)
|
---|
| 792 | .arg(_ISC_L5Q5, 19, 'e', 12);
|
---|
[8800] | 793 | }
|
---|
[9786] | 794 | // =====================
|
---|
| 795 | // BROADCAST ORBIT - 8
|
---|
| 796 | // =====================
|
---|
| 797 | if (navType() == t_eph::CNAV) {
|
---|
[8800] | 798 | out << QString(fmt)
|
---|
[9786] | 799 | .arg(_TOT, 19, 'e', 12)
|
---|
| 800 | .arg(_wnop, 19, 'e', 12)
|
---|
| 801 | .arg("", 19, QChar(' '))
|
---|
| 802 | .arg("", 19, QChar(' '));
|
---|
[8800] | 803 | }
|
---|
[9786] | 804 | else if (navType() == t_eph::CNV2) {
|
---|
| 805 | out << QString(fmt)
|
---|
| 806 | .arg(_ISC_L1Cd, 19, 'e', 12)
|
---|
| 807 | .arg(_ISC_L1Cp, 19, 'e', 12)
|
---|
| 808 | .arg("", 19, QChar(' '))
|
---|
| 809 | .arg("", 19, QChar(' '));
|
---|
| 810 | }
|
---|
| 811 |
|
---|
| 812 | // =====================
|
---|
| 813 | // BROADCAST ORBIT - 9
|
---|
| 814 | // =====================
|
---|
| 815 | if (navType() == t_eph::CNV2) {
|
---|
| 816 | out << QString(fmt)
|
---|
| 817 | .arg(_TOT, 19, 'e', 12)
|
---|
| 818 | .arg(_wnop, 19, 'e', 12)
|
---|
| 819 | .arg("", 19, QChar(' '))
|
---|
| 820 | .arg("", 19, QChar(' '));
|
---|
| 821 | }
|
---|
| 822 |
|
---|
[6801] | 823 | return rnxStr;
|
---|
[2221] | 824 | }
|
---|
| 825 |
|
---|
[6801] | 826 | // Constructor
|
---|
| 827 | //////////////////////////////////////////////////////////////////////////////
|
---|
[9367] | 828 | t_ephGlo::t_ephGlo(double rnxVersion, const QStringList& lines) {
|
---|
[2221] | 829 |
|
---|
[9367] | 830 | int nLines = 4;
|
---|
| 831 | if (rnxVersion >= 3.05) {
|
---|
| 832 | nLines += 1;
|
---|
| 833 | _flags_unknown = false;
|
---|
| 834 | }
|
---|
| 835 | else {
|
---|
| 836 | _M_delta_tau = 0.9999e9; // unknown
|
---|
| 837 | _M_FT = 1.5e1; // unknown
|
---|
| 838 | _flags_unknown = true;
|
---|
| 839 | }
|
---|
[6801] | 840 |
|
---|
| 841 | if (lines.size() != nLines) {
|
---|
| 842 | _checkState = bad;
|
---|
| 843 | return;
|
---|
[6518] | 844 | }
|
---|
| 845 |
|
---|
[6801] | 846 | // RINEX Format
|
---|
| 847 | // ------------
|
---|
| 848 | int fieldLen = 19;
|
---|
[9367] | 849 | double statusflags = 0.0;
|
---|
| 850 | double healthflags = 0.0;
|
---|
[2221] | 851 |
|
---|
[6801] | 852 | int pos[4];
|
---|
| 853 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
| 854 | pos[1] = pos[0] + fieldLen;
|
---|
| 855 | pos[2] = pos[1] + fieldLen;
|
---|
| 856 | pos[3] = pos[2] + fieldLen;
|
---|
[2221] | 857 |
|
---|
[6801] | 858 | // Read four lines
|
---|
| 859 | // ---------------
|
---|
| 860 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
| 861 | QString line = lines[iLine];
|
---|
[2221] | 862 |
|
---|
[6801] | 863 | if ( iLine == 0 ) {
|
---|
[8204] | 864 | QTextStream in(line.left(pos[1]).toLatin1());
|
---|
[6213] | 865 |
|
---|
[6801] | 866 | int year, month, day, hour, min;
|
---|
| 867 | double sec;
|
---|
[2221] | 868 |
|
---|
[7139] | 869 | QString prnStr, n;
|
---|
[6880] | 870 | in >> prnStr;
|
---|
[7639] | 871 | if (prnStr.size() == 1 && prnStr[0] == 'R') {
|
---|
[7139] | 872 | in >> n;
|
---|
| 873 | prnStr.append(n);
|
---|
[6880] | 874 | }
|
---|
| 875 | in >> year >> month >> day >> hour >> min >> sec;
|
---|
[6801] | 876 | if (prnStr.at(0) == 'R') {
|
---|
| 877 | _prn.set('R', prnStr.mid(1).toInt());
|
---|
| 878 | }
|
---|
| 879 | else {
|
---|
| 880 | _prn.set('R', prnStr.toInt());
|
---|
| 881 | }
|
---|
[2221] | 882 |
|
---|
[6801] | 883 | if (year < 80) {
|
---|
| 884 | year += 2000;
|
---|
| 885 | }
|
---|
| 886 | else if (year < 100) {
|
---|
| 887 | year += 1900;
|
---|
| 888 | }
|
---|
[2221] | 889 |
|
---|
[6801] | 890 | _gps_utc = gnumleap(year, month, day);
|
---|
[2221] | 891 |
|
---|
[6801] | 892 | _TOC.set(year, month, day, hour, min, sec);
|
---|
| 893 | _TOC = _TOC + _gps_utc;
|
---|
[8800] | 894 | int nd = int((_TOC.gpssec())) / (24.0*60.0*60.0);
|
---|
[6801] | 895 | if ( readDbl(line, pos[1], fieldLen, _tau ) ||
|
---|
| 896 | readDbl(line, pos[2], fieldLen, _gamma) ||
|
---|
| 897 | readDbl(line, pos[3], fieldLen, _tki ) ) {
|
---|
| 898 | _checkState = bad;
|
---|
| 899 | return;
|
---|
| 900 | }
|
---|
[8800] | 901 | _tki -= nd * 86400.0;
|
---|
| 902 | _tau = -_tau;
|
---|
[6801] | 903 | }
|
---|
| 904 |
|
---|
| 905 | else if ( iLine == 1 ) {
|
---|
| 906 | if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
|
---|
| 907 | readDbl(line, pos[1], fieldLen, _x_velocity ) ||
|
---|
| 908 | readDbl(line, pos[2], fieldLen, _x_acceleration) ||
|
---|
| 909 | readDbl(line, pos[3], fieldLen, _health ) ) {
|
---|
| 910 | _checkState = bad;
|
---|
| 911 | return;
|
---|
| 912 | }
|
---|
| 913 | }
|
---|
| 914 |
|
---|
| 915 | else if ( iLine == 2 ) {
|
---|
| 916 | if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
|
---|
| 917 | readDbl(line, pos[1], fieldLen, _y_velocity ) ||
|
---|
| 918 | readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
|
---|
| 919 | readDbl(line, pos[3], fieldLen, _frequency_number) ) {
|
---|
| 920 | _checkState = bad;
|
---|
| 921 | return;
|
---|
| 922 | }
|
---|
| 923 | }
|
---|
| 924 |
|
---|
| 925 | else if ( iLine == 3 ) {
|
---|
| 926 | if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
|
---|
| 927 | readDbl(line, pos[1], fieldLen, _z_velocity ) ||
|
---|
| 928 | readDbl(line, pos[2], fieldLen, _z_acceleration) ||
|
---|
| 929 | readDbl(line, pos[3], fieldLen, _E ) ) {
|
---|
| 930 | _checkState = bad;
|
---|
| 931 | return;
|
---|
| 932 | }
|
---|
| 933 | }
|
---|
[9367] | 934 |
|
---|
| 935 | else if ( iLine == 4 ) {
|
---|
| 936 | if ( readDbl(line, pos[0], fieldLen, statusflags ) ||
|
---|
| 937 | readDbl(line, pos[1], fieldLen, _M_delta_tau ) ||
|
---|
| 938 | readDbl(line, pos[2], fieldLen, _M_FT ) ||
|
---|
| 939 | readDbl(line, pos[3], fieldLen, healthflags ) ) {
|
---|
| 940 | _checkState = bad;
|
---|
| 941 | return;
|
---|
| 942 | }
|
---|
| 943 | else {
|
---|
| 944 | // status flags
|
---|
| 945 | // ============
|
---|
| 946 | // bit 0-1
|
---|
| 947 | _M_P = double(bitExtracted(statusflags, 2, 0));
|
---|
| 948 | // bit 2-3
|
---|
| 949 | _P1 = double(bitExtracted(statusflags, 2, 2));
|
---|
| 950 | // bit 4
|
---|
| 951 | _P2 = double(bitExtracted(statusflags, 1, 4));
|
---|
| 952 | // bit 5
|
---|
| 953 | _P3 = double(bitExtracted(statusflags, 1, 5));
|
---|
| 954 | // bit 6
|
---|
| 955 | _M_P4 = double(bitExtracted(statusflags, 1, 6));
|
---|
| 956 | // bit 7-8
|
---|
| 957 | _M_M = double(bitExtracted(statusflags, 2, 7));
|
---|
| 958 | /// GLO M/K exclusive flags/values only valid if flag M is set to '01'
|
---|
| 959 | if (!_M_M) {
|
---|
| 960 | _M_P4 = 0.0;
|
---|
| 961 | _M_P = 0.0;
|
---|
| 962 | }
|
---|
| 963 | // health flags
|
---|
| 964 | // ============
|
---|
| 965 | // bit 0 (is to be ignored, if bit 1 is zero)
|
---|
| 966 | _almanac_health = double(bitExtracted(healthflags, 1, 0));
|
---|
| 967 | // bit 1
|
---|
| 968 | _almanac_health_availablility_indicator = double(bitExtracted(healthflags, 1, 1));
|
---|
| 969 | // bit 2
|
---|
| 970 | _M_l3 = double(bitExtracted(healthflags, 1, 2));
|
---|
| 971 | }
|
---|
| 972 | }
|
---|
[6801] | 973 | }
|
---|
| 974 |
|
---|
| 975 | // Initialize status vector
|
---|
| 976 | // ------------------------
|
---|
| 977 | _tt = _TOC;
|
---|
[8698] | 978 | _xv.ReSize(6); _xv = 0.0;
|
---|
[6801] | 979 | _xv(1) = _x_pos * 1.e3;
|
---|
| 980 | _xv(2) = _y_pos * 1.e3;
|
---|
| 981 | _xv(3) = _z_pos * 1.e3;
|
---|
| 982 | _xv(4) = _x_velocity * 1.e3;
|
---|
| 983 | _xv(5) = _y_velocity * 1.e3;
|
---|
| 984 | _xv(6) = _z_velocity * 1.e3;
|
---|
[2221] | 985 | }
|
---|
| 986 |
|
---|
[6801] | 987 | // Compute Glonass Satellite Position (virtual)
|
---|
[2771] | 988 | ////////////////////////////////////////////////////////////////////////////
|
---|
[6801] | 989 | t_irc t_ephGlo::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
|
---|
[2771] | 990 |
|
---|
[6801] | 991 | static const double nominalStep = 10.0;
|
---|
[2771] | 992 |
|
---|
[8542] | 993 | memset(xc, 0, 6*sizeof(double));
|
---|
[2771] | 994 | memset(vv, 0, 3*sizeof(double));
|
---|
| 995 |
|
---|
[6801] | 996 | double dtPos = bncTime(GPSweek, GPSweeks) - _tt;
|
---|
| 997 |
|
---|
[8698] | 998 | if (fabs(dtPos) > 24 * 3600.0) {
|
---|
[6213] | 999 | return failure;
|
---|
[2771] | 1000 | }
|
---|
| 1001 |
|
---|
[6801] | 1002 | int nSteps = int(fabs(dtPos) / nominalStep) + 1;
|
---|
| 1003 | double step = dtPos / nSteps;
|
---|
[4018] | 1004 |
|
---|
[6801] | 1005 | double acc[3];
|
---|
| 1006 | acc[0] = _x_acceleration * 1.e3;
|
---|
| 1007 | acc[1] = _y_acceleration * 1.e3;
|
---|
| 1008 | acc[2] = _z_acceleration * 1.e3;
|
---|
[9132] | 1009 |
|
---|
[6801] | 1010 | for (int ii = 1; ii <= nSteps; ii++) {
|
---|
| 1011 | _xv = rungeKutta4(_tt.gpssec(), _xv, step, acc, glo_deriv);
|
---|
| 1012 | _tt = _tt + step;
|
---|
| 1013 | }
|
---|
[4018] | 1014 |
|
---|
[6801] | 1015 | // Position and Velocity
|
---|
| 1016 | // ---------------------
|
---|
| 1017 | xc[0] = _xv(1);
|
---|
| 1018 | xc[1] = _xv(2);
|
---|
| 1019 | xc[2] = _xv(3);
|
---|
[2771] | 1020 |
|
---|
[6801] | 1021 | vv[0] = _xv(4);
|
---|
| 1022 | vv[1] = _xv(5);
|
---|
| 1023 | vv[2] = _xv(6);
|
---|
[2771] | 1024 |
|
---|
[6801] | 1025 | // Clock Correction
|
---|
| 1026 | // ----------------
|
---|
| 1027 | double dtClk = bncTime(GPSweek, GPSweeks) - _TOC;
|
---|
| 1028 | xc[3] = -_tau + _gamma * dtClk;
|
---|
[2771] | 1029 |
|
---|
[8542] | 1030 | xc[4] = _gamma;
|
---|
| 1031 | xc[5] = 0.0;
|
---|
[8483] | 1032 |
|
---|
[6213] | 1033 | return success;
|
---|
[2771] | 1034 | }
|
---|
| 1035 |
|
---|
[6801] | 1036 | // RINEX Format String
|
---|
[3659] | 1037 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6801] | 1038 | QString t_ephGlo::toString(double version) const {
|
---|
[3664] | 1039 |
|
---|
[9765] | 1040 | QString navStr = navTypeString(_navType, _prn, version);
|
---|
| 1041 | QString rnxStr = navStr + rinexDateStr(_TOC -_gps_utc, _prn, version);
|
---|
[8800] | 1042 | int nd = int((_TOC - _gps_utc).gpssec()) / (24.0*60.0*60.0);
|
---|
[6801] | 1043 | QTextStream out(&rnxStr);
|
---|
[3664] | 1044 |
|
---|
[6801] | 1045 | out << QString("%1%2%3\n")
|
---|
[8800] | 1046 | .arg(-_tau, 19, 'e', 12)
|
---|
| 1047 | .arg(_gamma, 19, 'e', 12)
|
---|
| 1048 | .arg(_tki+nd*86400.0, 19, 'e', 12);
|
---|
[3668] | 1049 |
|
---|
[6801] | 1050 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
[3664] | 1051 |
|
---|
[6801] | 1052 | out << QString(fmt)
|
---|
| 1053 | .arg(_x_pos, 19, 'e', 12)
|
---|
| 1054 | .arg(_x_velocity, 19, 'e', 12)
|
---|
| 1055 | .arg(_x_acceleration, 19, 'e', 12)
|
---|
| 1056 | .arg(_health, 19, 'e', 12);
|
---|
[3664] | 1057 |
|
---|
[6801] | 1058 | out << QString(fmt)
|
---|
| 1059 | .arg(_y_pos, 19, 'e', 12)
|
---|
| 1060 | .arg(_y_velocity, 19, 'e', 12)
|
---|
| 1061 | .arg(_y_acceleration, 19, 'e', 12)
|
---|
| 1062 | .arg(_frequency_number, 19, 'e', 12);
|
---|
[3666] | 1063 |
|
---|
[6801] | 1064 | out << QString(fmt)
|
---|
| 1065 | .arg(_z_pos, 19, 'e', 12)
|
---|
| 1066 | .arg(_z_velocity, 19, 'e', 12)
|
---|
| 1067 | .arg(_z_acceleration, 19, 'e', 12)
|
---|
| 1068 | .arg(_E, 19, 'e', 12);
|
---|
[3666] | 1069 |
|
---|
[9367] | 1070 | if (version >= 3.05) {
|
---|
| 1071 | // unknown (RINEX version < 3.05)
|
---|
| 1072 | if (_flags_unknown) {
|
---|
| 1073 | out << QString(fmt)
|
---|
| 1074 | .arg("", 19, QChar(' ')) // statusflags blank if unknown
|
---|
| 1075 | .arg(_M_delta_tau, 19, 'e', 12)
|
---|
| 1076 | .arg(_M_FT, 19, 'e', 12)
|
---|
| 1077 | .arg("", 19, QChar(' ')); // healthflags blank if unknown
|
---|
| 1078 | }
|
---|
| 1079 | else {
|
---|
| 1080 | int statusflags = 0;
|
---|
| 1081 | // bit 7-8
|
---|
| 1082 | if (_M_M == 2.0) {
|
---|
| 1083 | statusflags |= (1<<7);
|
---|
| 1084 | }
|
---|
| 1085 | // bit 6
|
---|
| 1086 | if (_M_P4) {
|
---|
| 1087 | statusflags |= (1<<6);
|
---|
| 1088 | }
|
---|
| 1089 | // bit 5
|
---|
| 1090 | if (_P3) {
|
---|
| 1091 | statusflags |= (1<<5);
|
---|
| 1092 | }
|
---|
| 1093 | // bit 4
|
---|
| 1094 | if (_P2) {
|
---|
| 1095 | statusflags |= (1<<4);
|
---|
| 1096 | }
|
---|
| 1097 | // bit 2-3
|
---|
| 1098 | if (_P1 == 2.0) {
|
---|
| 1099 | statusflags |= (1<<2);
|
---|
| 1100 | }
|
---|
| 1101 | else if (_P1 == 1.0) {
|
---|
| 1102 | statusflags |= (1<<3);
|
---|
| 1103 | }
|
---|
| 1104 | else if (_P1 == 3.0) {
|
---|
| 1105 | statusflags |= (1<<2);
|
---|
| 1106 | statusflags |= (1<<3);
|
---|
| 1107 | }
|
---|
| 1108 | // bit 0-1
|
---|
| 1109 | if (_M_P == 2.0) {
|
---|
| 1110 | statusflags |= (1<<0);
|
---|
| 1111 | }
|
---|
| 1112 | else if (_M_P == 1.0) {
|
---|
| 1113 | statusflags |= (1<<1);
|
---|
| 1114 | }
|
---|
| 1115 | else if (_M_P == 3.0) {
|
---|
| 1116 | statusflags |= (1<<0);
|
---|
| 1117 | statusflags |= (1<<1);
|
---|
| 1118 | }
|
---|
| 1119 | // health flags
|
---|
| 1120 | // ============
|
---|
| 1121 | int healthflags = 0;
|
---|
| 1122 | // bit 0 (is to be ignored, if bit 1 is zero)
|
---|
| 1123 | if (_almanac_health) {
|
---|
| 1124 | healthflags |= (1<<0);
|
---|
| 1125 | }
|
---|
| 1126 | // bit 1
|
---|
| 1127 | if (_almanac_health_availablility_indicator) {
|
---|
| 1128 | healthflags |= (1<<1);
|
---|
| 1129 | }
|
---|
| 1130 | // bit 2
|
---|
| 1131 | if (_M_l3) {
|
---|
| 1132 | healthflags |= (1<<2);
|
---|
| 1133 | }
|
---|
| 1134 | out << QString(fmt)
|
---|
| 1135 | .arg(double(statusflags), 19, 'e', 12)
|
---|
| 1136 | .arg(_M_delta_tau, 19, 'e', 12)
|
---|
| 1137 | .arg(_M_FT, 19, 'e', 12)
|
---|
| 1138 | .arg(double(healthflags), 19, 'e', 12);
|
---|
| 1139 | }
|
---|
| 1140 | }
|
---|
| 1141 |
|
---|
[6801] | 1142 | return rnxStr;
|
---|
[3659] | 1143 | }
|
---|
| 1144 |
|
---|
[6801] | 1145 | // Derivative of the state vector using a simple force model (static)
|
---|
| 1146 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1147 | ColumnVector t_ephGlo::glo_deriv(double /* tt */, const ColumnVector& xv,
|
---|
| 1148 | double* acc) {
|
---|
[3659] | 1149 |
|
---|
[6801] | 1150 | // State vector components
|
---|
| 1151 | // -----------------------
|
---|
| 1152 | ColumnVector rr = xv.rows(1,3);
|
---|
| 1153 | ColumnVector vv = xv.rows(4,6);
|
---|
[3699] | 1154 |
|
---|
[6801] | 1155 | // Acceleration
|
---|
[3699] | 1156 | // ------------
|
---|
[6801] | 1157 | static const double gmWGS = 398.60044e12;
|
---|
| 1158 | static const double AE = 6378136.0;
|
---|
| 1159 | static const double OMEGA = 7292115.e-11;
|
---|
| 1160 | static const double C20 = -1082.6257e-6;
|
---|
[3699] | 1161 |
|
---|
[8903] | 1162 | double rho = rr.NormFrobenius();
|
---|
[6801] | 1163 | double t1 = -gmWGS/(rho*rho*rho);
|
---|
| 1164 | double t2 = 3.0/2.0 * C20 * (gmWGS*AE*AE) / (rho*rho*rho*rho*rho);
|
---|
| 1165 | double t3 = OMEGA * OMEGA;
|
---|
| 1166 | double t4 = 2.0 * OMEGA;
|
---|
| 1167 | double z2 = rr(3) * rr(3);
|
---|
[3699] | 1168 |
|
---|
[6801] | 1169 | // Vector of derivatives
|
---|
| 1170 | // ---------------------
|
---|
| 1171 | ColumnVector va(6);
|
---|
| 1172 | va(1) = vv(1);
|
---|
| 1173 | va(2) = vv(2);
|
---|
| 1174 | va(3) = vv(3);
|
---|
| 1175 | va(4) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(1) + t4*vv(2) + acc[0];
|
---|
| 1176 | va(5) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(2) - t4*vv(1) + acc[1];
|
---|
| 1177 | va(6) = (t1 + t2*(3.0-5.0*z2/(rho*rho)) ) * rr(3) + acc[2];
|
---|
[3699] | 1178 |
|
---|
[6801] | 1179 | return va;
|
---|
| 1180 | }
|
---|
[3699] | 1181 |
|
---|
[6801] | 1182 | // IOD of Glonass Ephemeris (virtual)
|
---|
| 1183 | ////////////////////////////////////////////////////////////////////////////
|
---|
[7169] | 1184 | unsigned int t_ephGlo::IOD() const {
|
---|
[6801] | 1185 | bncTime tMoscow = _TOC - _gps_utc + 3 * 3600.0;
|
---|
[7054] | 1186 | return (unsigned long)tMoscow.daysec() / 900;
|
---|
[3659] | 1187 | }
|
---|
| 1188 |
|
---|
[8187] | 1189 | // Health status of Glonass Ephemeris (virtual)
|
---|
| 1190 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1191 | unsigned int t_ephGlo::isUnhealthy() const {
|
---|
[8215] | 1192 |
|
---|
[8217] | 1193 | if (_almanac_health_availablility_indicator) {
|
---|
[8215] | 1194 | if ((_health == 0 && _almanac_health == 0) ||
|
---|
| 1195 | (_health == 1 && _almanac_health == 0) ||
|
---|
| 1196 | (_health == 1 && _almanac_health == 1)) {
|
---|
| 1197 | return 1;
|
---|
| 1198 | }
|
---|
[8187] | 1199 | }
|
---|
[8217] | 1200 | else if (!_almanac_health_availablility_indicator) {
|
---|
| 1201 | if (_health) {
|
---|
| 1202 | return 1;
|
---|
| 1203 | }
|
---|
| 1204 | }
|
---|
[8215] | 1205 | return 0; /* (_health == 0 && _almanac_health == 1) or (_health == 0) */
|
---|
[8187] | 1206 | }
|
---|
| 1207 |
|
---|
[3659] | 1208 | // Constructor
|
---|
| 1209 | //////////////////////////////////////////////////////////////////////////////
|
---|
[9367] | 1210 | t_ephGal::t_ephGal(double rnxVersion, const QStringList& lines) {
|
---|
[6809] | 1211 | int year, month, day, hour, min;
|
---|
| 1212 | double sec;
|
---|
| 1213 | QString prnStr;
|
---|
[4891] | 1214 | const int nLines = 8;
|
---|
| 1215 | if (lines.size() != nLines) {
|
---|
[6518] | 1216 | _checkState = bad;
|
---|
[4891] | 1217 | return;
|
---|
| 1218 | }
|
---|
| 1219 |
|
---|
| 1220 | // RINEX Format
|
---|
| 1221 | // ------------
|
---|
| 1222 | int fieldLen = 19;
|
---|
[6792] | 1223 | double SVhealth = 0.0;
|
---|
| 1224 | double datasource = 0.0;
|
---|
[6798] | 1225 |
|
---|
[4891] | 1226 | int pos[4];
|
---|
| 1227 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
| 1228 | pos[1] = pos[0] + fieldLen;
|
---|
| 1229 | pos[2] = pos[1] + fieldLen;
|
---|
| 1230 | pos[3] = pos[2] + fieldLen;
|
---|
| 1231 |
|
---|
| 1232 | // Read eight lines
|
---|
| 1233 | // ----------------
|
---|
| 1234 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
| 1235 | QString line = lines[iLine];
|
---|
| 1236 |
|
---|
| 1237 | if ( iLine == 0 ) {
|
---|
[8204] | 1238 | QTextStream in(line.left(pos[1]).toLatin1());
|
---|
[7140] | 1239 | QString n;
|
---|
[6880] | 1240 | in >> prnStr;
|
---|
[7639] | 1241 | if (prnStr.size() == 1 && prnStr[0] == 'E') {
|
---|
[7139] | 1242 | in >> n;
|
---|
| 1243 | prnStr.append(n);
|
---|
[6880] | 1244 | }
|
---|
| 1245 | in >> year >> month >> day >> hour >> min >> sec;
|
---|
[4891] | 1246 | if (year < 80) {
|
---|
| 1247 | year += 2000;
|
---|
| 1248 | }
|
---|
| 1249 | else if (year < 100) {
|
---|
| 1250 | year += 1900;
|
---|
| 1251 | }
|
---|
| 1252 |
|
---|
| 1253 | _TOC.set(year, month, day, hour, min, sec);
|
---|
| 1254 |
|
---|
| 1255 | if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
|
---|
| 1256 | readDbl(line, pos[2], fieldLen, _clock_drift ) ||
|
---|
| 1257 | readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
|
---|
[6518] | 1258 | _checkState = bad;
|
---|
[4891] | 1259 | return;
|
---|
| 1260 | }
|
---|
| 1261 | }
|
---|
| 1262 |
|
---|
| 1263 | else if ( iLine == 1 ) {
|
---|
| 1264 | if ( readDbl(line, pos[0], fieldLen, _IODnav ) ||
|
---|
| 1265 | readDbl(line, pos[1], fieldLen, _Crs ) ||
|
---|
| 1266 | readDbl(line, pos[2], fieldLen, _Delta_n) ||
|
---|
| 1267 | readDbl(line, pos[3], fieldLen, _M0 ) ) {
|
---|
[6518] | 1268 | _checkState = bad;
|
---|
[4891] | 1269 | return;
|
---|
| 1270 | }
|
---|
| 1271 | }
|
---|
| 1272 |
|
---|
| 1273 | else if ( iLine == 2 ) {
|
---|
| 1274 | if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
|
---|
| 1275 | readDbl(line, pos[1], fieldLen, _e ) ||
|
---|
| 1276 | readDbl(line, pos[2], fieldLen, _Cus ) ||
|
---|
| 1277 | readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
|
---|
[6518] | 1278 | _checkState = bad;
|
---|
[4891] | 1279 | return;
|
---|
| 1280 | }
|
---|
| 1281 | }
|
---|
| 1282 |
|
---|
| 1283 | else if ( iLine == 3 ) {
|
---|
| 1284 | if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
|
---|
| 1285 | readDbl(line, pos[1], fieldLen, _Cic ) ||
|
---|
| 1286 | readDbl(line, pos[2], fieldLen, _OMEGA0) ||
|
---|
| 1287 | readDbl(line, pos[3], fieldLen, _Cis ) ) {
|
---|
[6518] | 1288 | _checkState = bad;
|
---|
[4891] | 1289 | return;
|
---|
| 1290 | }
|
---|
| 1291 | }
|
---|
| 1292 |
|
---|
| 1293 | else if ( iLine == 4 ) {
|
---|
| 1294 | if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
|
---|
| 1295 | readDbl(line, pos[1], fieldLen, _Crc ) ||
|
---|
| 1296 | readDbl(line, pos[2], fieldLen, _omega ) ||
|
---|
| 1297 | readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
|
---|
[6518] | 1298 | _checkState = bad;
|
---|
[4891] | 1299 | return;
|
---|
| 1300 | }
|
---|
| 1301 | }
|
---|
| 1302 |
|
---|
| 1303 | else if ( iLine == 5 ) {
|
---|
[6792] | 1304 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
|
---|
| 1305 | readDbl(line, pos[1], fieldLen, datasource) ||
|
---|
| 1306 | readDbl(line, pos[2], fieldLen, _TOEweek ) ) {
|
---|
[6518] | 1307 | _checkState = bad;
|
---|
[4891] | 1308 | return;
|
---|
[6792] | 1309 | } else {
|
---|
| 1310 | if (int(datasource) & (1<<8)) {
|
---|
[6812] | 1311 | _fnav = true;
|
---|
| 1312 | _inav = false;
|
---|
[6792] | 1313 | } else if (int(datasource) & (1<<9)) {
|
---|
[6812] | 1314 | _fnav = false;
|
---|
| 1315 | _inav = true;
|
---|
[6792] | 1316 | }
|
---|
[6892] | 1317 | _TOEweek -= 1024.0;
|
---|
[4891] | 1318 | }
|
---|
| 1319 | }
|
---|
| 1320 |
|
---|
| 1321 | else if ( iLine == 6 ) {
|
---|
| 1322 | if ( readDbl(line, pos[0], fieldLen, _SISA ) ||
|
---|
[6792] | 1323 | readDbl(line, pos[1], fieldLen, SVhealth) ||
|
---|
[4891] | 1324 | readDbl(line, pos[2], fieldLen, _BGD_1_5A) ||
|
---|
| 1325 | readDbl(line, pos[3], fieldLen, _BGD_1_5B) ) {
|
---|
[6518] | 1326 | _checkState = bad;
|
---|
[4891] | 1327 | return;
|
---|
[6792] | 1328 | } else {
|
---|
| 1329 | // Bit 0
|
---|
[9367] | 1330 | _e1DataInValid = (int(SVhealth) & (1<<0));
|
---|
[6792] | 1331 | // Bit 1-2
|
---|
[9367] | 1332 | _E1_bHS = double((int(SVhealth) >> 1) & 0x3);
|
---|
[6792] | 1333 | // Bit 3
|
---|
[6812] | 1334 | _e5aDataInValid = (int(SVhealth) & (1<<3));
|
---|
[6792] | 1335 | // Bit 4-5
|
---|
[9367] | 1336 | _E5aHS = double((int(SVhealth) >> 4) & 0x3);
|
---|
[6792] | 1337 | // Bit 6
|
---|
[6812] | 1338 | _e5bDataInValid = (int(SVhealth) & (1<<6));
|
---|
[6792] | 1339 | // Bit 7-8
|
---|
[9367] | 1340 | _E5bHS = double((int(SVhealth) >> 7) & 0x3);
|
---|
[6809] | 1341 |
|
---|
| 1342 | if (prnStr.at(0) == 'E') {
|
---|
[7140] | 1343 | _prn.set('E', prnStr.mid(1).toInt(), _inav ? 1 : 0);
|
---|
[6809] | 1344 | }
|
---|
[4891] | 1345 | }
|
---|
| 1346 | }
|
---|
| 1347 |
|
---|
| 1348 | else if ( iLine == 7 ) {
|
---|
| 1349 | if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
|
---|
[6518] | 1350 | _checkState = bad;
|
---|
[4891] | 1351 | return;
|
---|
| 1352 | }
|
---|
| 1353 | }
|
---|
| 1354 | }
|
---|
[3659] | 1355 | }
|
---|
[4013] | 1356 |
|
---|
[6801] | 1357 | // Compute Galileo Satellite Position (virtual)
|
---|
| 1358 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1359 | t_irc t_ephGal::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
|
---|
[4013] | 1360 |
|
---|
[6801] | 1361 | static const double omegaEarth = 7292115.1467e-11;
|
---|
[8212] | 1362 | static const double gmWGS = 398.6004418e12;
|
---|
[4023] | 1363 |
|
---|
[8542] | 1364 | memset(xc, 0, 6*sizeof(double));
|
---|
[6801] | 1365 | memset(vv, 0, 3*sizeof(double));
|
---|
[4023] | 1366 |
|
---|
[6801] | 1367 | double a0 = _sqrt_A * _sqrt_A;
|
---|
| 1368 | if (a0 == 0) {
|
---|
| 1369 | return failure;
|
---|
| 1370 | }
|
---|
[4023] | 1371 |
|
---|
[6801] | 1372 | double n0 = sqrt(gmWGS/(a0*a0*a0));
|
---|
[4023] | 1373 |
|
---|
[6801] | 1374 | bncTime tt(GPSweek, GPSweeks);
|
---|
| 1375 | double tk = tt - bncTime(_TOC.gpsw(), _TOEsec);
|
---|
[4023] | 1376 |
|
---|
[6801] | 1377 | double n = n0 + _Delta_n;
|
---|
| 1378 | double M = _M0 + n*tk;
|
---|
| 1379 | double E = M;
|
---|
| 1380 | double E_last;
|
---|
[8368] | 1381 | int nLoop = 0;
|
---|
[6801] | 1382 | do {
|
---|
| 1383 | E_last = E;
|
---|
| 1384 | E = M + _e*sin(E);
|
---|
[8368] | 1385 |
|
---|
| 1386 | if (++nLoop == 100) {
|
---|
| 1387 | return failure;
|
---|
| 1388 | }
|
---|
[6801] | 1389 | } while ( fabs(E-E_last)*a0 > 0.001 );
|
---|
| 1390 | double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
|
---|
| 1391 | double u0 = v + _omega;
|
---|
| 1392 | double sin2u0 = sin(2*u0);
|
---|
| 1393 | double cos2u0 = cos(2*u0);
|
---|
| 1394 | double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
|
---|
| 1395 | double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
|
---|
| 1396 | double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
|
---|
| 1397 | double xp = r*cos(u);
|
---|
| 1398 | double yp = r*sin(u);
|
---|
| 1399 | double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
|
---|
| 1400 | omegaEarth*_TOEsec;
|
---|
[4023] | 1401 |
|
---|
[6801] | 1402 | double sinom = sin(OM);
|
---|
| 1403 | double cosom = cos(OM);
|
---|
| 1404 | double sini = sin(i);
|
---|
| 1405 | double cosi = cos(i);
|
---|
| 1406 | xc[0] = xp*cosom - yp*cosi*sinom;
|
---|
| 1407 | xc[1] = xp*sinom + yp*cosi*cosom;
|
---|
| 1408 | xc[2] = yp*sini;
|
---|
[4023] | 1409 |
|
---|
[6801] | 1410 | double tc = tt - _TOC;
|
---|
| 1411 | xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
|
---|
[4023] | 1412 |
|
---|
[6801] | 1413 | // Velocity
|
---|
| 1414 | // --------
|
---|
| 1415 | double tanv2 = tan(v/2);
|
---|
| 1416 | double dEdM = 1 / (1 - _e*cos(E));
|
---|
| 1417 | double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
|
---|
| 1418 | * dEdM * n;
|
---|
| 1419 | double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
|
---|
| 1420 | double dotom = _OMEGADOT - omegaEarth;
|
---|
| 1421 | double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
|
---|
| 1422 | double dotr = a0 * _e*sin(E) * dEdM * n
|
---|
| 1423 | + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
|
---|
| 1424 | double dotx = dotr*cos(u) - r*sin(u)*dotu;
|
---|
| 1425 | double doty = dotr*sin(u) + r*cos(u)*dotu;
|
---|
[4023] | 1426 |
|
---|
[6801] | 1427 | vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
|
---|
| 1428 | - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
|
---|
| 1429 | + yp*sini*sinom*doti; // dX / di
|
---|
| 1430 |
|
---|
| 1431 | vv[1] = sinom *dotx + cosi*cosom *doty
|
---|
| 1432 | + xp*cosom*dotom - yp*cosi*sinom*dotom
|
---|
| 1433 | - yp*sini*cosom*doti;
|
---|
| 1434 |
|
---|
| 1435 | vv[2] = sini *doty + yp*cosi *doti;
|
---|
| 1436 |
|
---|
| 1437 | // Relativistic Correction
|
---|
| 1438 | // -----------------------
|
---|
[9290] | 1439 | xc[3] -= 4.442807309e-10 * _e * sqrt(a0) *sin(E);
|
---|
[6801] | 1440 |
|
---|
[8542] | 1441 | xc[4] = _clock_drift + _clock_driftrate*tc;
|
---|
| 1442 | xc[5] = _clock_driftrate;
|
---|
[8581] | 1443 |
|
---|
[6801] | 1444 | return success;
|
---|
[4023] | 1445 | }
|
---|
| 1446 |
|
---|
[8187] | 1447 | // Health status of Galileo Ephemeris (virtual)
|
---|
| 1448 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1449 | unsigned int t_ephGal::isUnhealthy() const {
|
---|
| 1450 | if (_E5aHS && _E5bHS && _E1_bHS) {
|
---|
| 1451 | return 1;
|
---|
| 1452 | }
|
---|
| 1453 | return 0;
|
---|
| 1454 | }
|
---|
| 1455 |
|
---|
[4023] | 1456 | // RINEX Format String
|
---|
| 1457 | //////////////////////////////////////////////////////////////////////////////
|
---|
| 1458 | QString t_ephGal::toString(double version) const {
|
---|
| 1459 |
|
---|
[9765] | 1460 | QString navStr = navTypeString(_navType, _prn, version);
|
---|
| 1461 | QString rnxStr = navStr + rinexDateStr(_TOC, _prn, version);
|
---|
[4023] | 1462 |
|
---|
| 1463 | QTextStream out(&rnxStr);
|
---|
| 1464 |
|
---|
| 1465 | out << QString("%1%2%3\n")
|
---|
| 1466 | .arg(_clock_bias, 19, 'e', 12)
|
---|
| 1467 | .arg(_clock_drift, 19, 'e', 12)
|
---|
| 1468 | .arg(_clock_driftrate, 19, 'e', 12);
|
---|
| 1469 |
|
---|
| 1470 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
| 1471 |
|
---|
| 1472 | out << QString(fmt)
|
---|
| 1473 | .arg(_IODnav, 19, 'e', 12)
|
---|
| 1474 | .arg(_Crs, 19, 'e', 12)
|
---|
| 1475 | .arg(_Delta_n, 19, 'e', 12)
|
---|
| 1476 | .arg(_M0, 19, 'e', 12);
|
---|
| 1477 |
|
---|
| 1478 | out << QString(fmt)
|
---|
| 1479 | .arg(_Cuc, 19, 'e', 12)
|
---|
| 1480 | .arg(_e, 19, 'e', 12)
|
---|
| 1481 | .arg(_Cus, 19, 'e', 12)
|
---|
| 1482 | .arg(_sqrt_A, 19, 'e', 12);
|
---|
| 1483 |
|
---|
| 1484 | out << QString(fmt)
|
---|
| 1485 | .arg(_TOEsec, 19, 'e', 12)
|
---|
| 1486 | .arg(_Cic, 19, 'e', 12)
|
---|
| 1487 | .arg(_OMEGA0, 19, 'e', 12)
|
---|
| 1488 | .arg(_Cis, 19, 'e', 12);
|
---|
| 1489 |
|
---|
| 1490 | out << QString(fmt)
|
---|
| 1491 | .arg(_i0, 19, 'e', 12)
|
---|
| 1492 | .arg(_Crc, 19, 'e', 12)
|
---|
| 1493 | .arg(_omega, 19, 'e', 12)
|
---|
| 1494 | .arg(_OMEGADOT, 19, 'e', 12);
|
---|
| 1495 |
|
---|
[6792] | 1496 | int dataSource = 0;
|
---|
| 1497 | int SVhealth = 0;
|
---|
| 1498 | double BGD_1_5A = _BGD_1_5A;
|
---|
| 1499 | double BGD_1_5B = _BGD_1_5B;
|
---|
[6812] | 1500 | if (_fnav) {
|
---|
[6792] | 1501 | dataSource |= (1<<1);
|
---|
| 1502 | dataSource |= (1<<8);
|
---|
| 1503 | BGD_1_5B = 0.0;
|
---|
| 1504 | // SVhealth
|
---|
| 1505 | // Bit 3 : E5a DVS
|
---|
[6812] | 1506 | if (_e5aDataInValid) {
|
---|
[6792] | 1507 | SVhealth |= (1<<3);
|
---|
| 1508 | }
|
---|
| 1509 | // Bit 4-5: E5a HS
|
---|
| 1510 | if (_E5aHS == 1.0) {
|
---|
| 1511 | SVhealth |= (1<<4);
|
---|
| 1512 | }
|
---|
| 1513 | else if (_E5aHS == 2.0) {
|
---|
| 1514 | SVhealth |= (1<<5);
|
---|
| 1515 | }
|
---|
| 1516 | else if (_E5aHS == 3.0) {
|
---|
| 1517 | SVhealth |= (1<<4);
|
---|
| 1518 | SVhealth |= (1<<5);
|
---|
| 1519 | }
|
---|
| 1520 | }
|
---|
[6812] | 1521 | else if(_inav) {
|
---|
[6803] | 1522 | // Bit 2 and 0 are set because from MT1046 the data source cannot be determined
|
---|
| 1523 | // and RNXv3.03 says both can be set if the navigation messages were merged
|
---|
[5539] | 1524 | dataSource |= (1<<0);
|
---|
[6792] | 1525 | dataSource |= (1<<2);
|
---|
[5540] | 1526 | dataSource |= (1<<9);
|
---|
[6792] | 1527 | // SVhealth
|
---|
| 1528 | // Bit 0 : E1-B DVS
|
---|
[6812] | 1529 | if (_e1DataInValid) {
|
---|
[6792] | 1530 | SVhealth |= (1<<0);
|
---|
| 1531 | }
|
---|
| 1532 | // Bit 1-2: E1-B HS
|
---|
| 1533 | if (_E1_bHS == 1.0) {
|
---|
| 1534 | SVhealth |= (1<<1);
|
---|
| 1535 | }
|
---|
| 1536 | else if (_E1_bHS == 2.0) {
|
---|
| 1537 | SVhealth |= (1<<2);
|
---|
| 1538 | }
|
---|
[6803] | 1539 | else if (_E1_bHS == 3.0) {
|
---|
[6792] | 1540 | SVhealth |= (1<<1);
|
---|
| 1541 | SVhealth |= (1<<2);
|
---|
| 1542 | }
|
---|
[6802] | 1543 | // Bit 3 : E5a DVS
|
---|
[6812] | 1544 | if (_e5aDataInValid) {
|
---|
[6802] | 1545 | SVhealth |= (1<<3);
|
---|
| 1546 | }
|
---|
| 1547 | // Bit 4-5: E5a HS
|
---|
| 1548 | if (_E5aHS == 1.0) {
|
---|
| 1549 | SVhealth |= (1<<4);
|
---|
| 1550 | }
|
---|
| 1551 | else if (_E5aHS == 2.0) {
|
---|
| 1552 | SVhealth |= (1<<5);
|
---|
| 1553 | }
|
---|
[6803] | 1554 | else if (_E5aHS == 3.0) {
|
---|
[6802] | 1555 | SVhealth |= (1<<4);
|
---|
| 1556 | SVhealth |= (1<<5);
|
---|
| 1557 | }
|
---|
[6792] | 1558 | // Bit 6 : E5b DVS
|
---|
[6812] | 1559 | if (_e5bDataInValid) {
|
---|
[6792] | 1560 | SVhealth |= (1<<6);
|
---|
| 1561 | }
|
---|
| 1562 | // Bit 7-8: E5b HS
|
---|
| 1563 | if (_E5bHS == 1.0) {
|
---|
| 1564 | SVhealth |= (1<<7);
|
---|
| 1565 | }
|
---|
| 1566 | else if (_E5bHS == 2.0) {
|
---|
| 1567 | SVhealth |= (1<<8);
|
---|
| 1568 | }
|
---|
[6803] | 1569 | else if (_E5bHS == 3.0) {
|
---|
[6792] | 1570 | SVhealth |= (1<<7);
|
---|
| 1571 | SVhealth |= (1<<8);
|
---|
| 1572 | }
|
---|
[5539] | 1573 | }
|
---|
[6792] | 1574 |
|
---|
[4023] | 1575 | out << QString(fmt)
|
---|
[5532] | 1576 | .arg(_IDOT, 19, 'e', 12)
|
---|
| 1577 | .arg(double(dataSource), 19, 'e', 12)
|
---|
[6892] | 1578 | .arg(_TOEweek + 1024.0, 19, 'e', 12)
|
---|
[5532] | 1579 | .arg(0.0, 19, 'e', 12);
|
---|
[4023] | 1580 |
|
---|
| 1581 | out << QString(fmt)
|
---|
[6798] | 1582 | .arg(_SISA, 19, 'e', 12)
|
---|
[6792] | 1583 | .arg(double(SVhealth), 19, 'e', 12)
|
---|
| 1584 | .arg(BGD_1_5A, 19, 'e', 12)
|
---|
| 1585 | .arg(BGD_1_5B, 19, 'e', 12);
|
---|
[4023] | 1586 |
|
---|
[7922] | 1587 | double tot = _TOT;
|
---|
| 1588 | if (tot == 0.9999e9 && version < 3.0) {
|
---|
| 1589 | tot = 0.0;
|
---|
| 1590 | }
|
---|
[4023] | 1591 | out << QString(fmt)
|
---|
[7922] | 1592 | .arg(tot, 19, 'e', 12)
|
---|
[4024] | 1593 | .arg("", 19, QChar(' '))
|
---|
| 1594 | .arg("", 19, QChar(' '))
|
---|
| 1595 | .arg("", 19, QChar(' '));
|
---|
[4023] | 1596 |
|
---|
| 1597 | return rnxStr;
|
---|
| 1598 | }
|
---|
| 1599 |
|
---|
[6385] | 1600 | // Constructor
|
---|
| 1601 | //////////////////////////////////////////////////////////////////////////////
|
---|
[9367] | 1602 | t_ephSBAS::t_ephSBAS(double rnxVersion, const QStringList& lines) {
|
---|
[6390] | 1603 |
|
---|
| 1604 | const int nLines = 4;
|
---|
| 1605 |
|
---|
| 1606 | if (lines.size() != nLines) {
|
---|
[6518] | 1607 | _checkState = bad;
|
---|
[6390] | 1608 | return;
|
---|
| 1609 | }
|
---|
| 1610 |
|
---|
| 1611 | // RINEX Format
|
---|
| 1612 | // ------------
|
---|
| 1613 | int fieldLen = 19;
|
---|
| 1614 |
|
---|
| 1615 | int pos[4];
|
---|
| 1616 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
| 1617 | pos[1] = pos[0] + fieldLen;
|
---|
| 1618 | pos[2] = pos[1] + fieldLen;
|
---|
| 1619 | pos[3] = pos[2] + fieldLen;
|
---|
| 1620 |
|
---|
| 1621 | // Read four lines
|
---|
| 1622 | // ---------------
|
---|
| 1623 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
| 1624 | QString line = lines[iLine];
|
---|
| 1625 |
|
---|
| 1626 | if ( iLine == 0 ) {
|
---|
[8204] | 1627 | QTextStream in(line.left(pos[1]).toLatin1());
|
---|
[6390] | 1628 |
|
---|
| 1629 | int year, month, day, hour, min;
|
---|
| 1630 | double sec;
|
---|
[6880] | 1631 |
|
---|
[7139] | 1632 | QString prnStr, n;
|
---|
[6880] | 1633 | in >> prnStr;
|
---|
[7639] | 1634 | if (prnStr.size() == 1 && prnStr[0] == 'S') {
|
---|
[7139] | 1635 | in >> n;
|
---|
| 1636 | prnStr.append(n);
|
---|
[6880] | 1637 | }
|
---|
| 1638 | in >> year >> month >> day >> hour >> min >> sec;
|
---|
[6390] | 1639 | if (prnStr.at(0) == 'S') {
|
---|
| 1640 | _prn.set('S', prnStr.mid(1).toInt());
|
---|
| 1641 | }
|
---|
| 1642 | else {
|
---|
| 1643 | _prn.set('S', prnStr.toInt());
|
---|
| 1644 | }
|
---|
| 1645 |
|
---|
| 1646 | if (year < 80) {
|
---|
| 1647 | year += 2000;
|
---|
| 1648 | }
|
---|
| 1649 | else if (year < 100) {
|
---|
| 1650 | year += 1900;
|
---|
| 1651 | }
|
---|
| 1652 |
|
---|
| 1653 | _TOC.set(year, month, day, hour, min, sec);
|
---|
| 1654 |
|
---|
| 1655 | if ( readDbl(line, pos[1], fieldLen, _agf0 ) ||
|
---|
| 1656 | readDbl(line, pos[2], fieldLen, _agf1 ) ||
|
---|
[8456] | 1657 | readDbl(line, pos[3], fieldLen, _TOT ) ) {
|
---|
[6518] | 1658 | _checkState = bad;
|
---|
[6390] | 1659 | return;
|
---|
| 1660 | }
|
---|
| 1661 | }
|
---|
| 1662 |
|
---|
| 1663 | else if ( iLine == 1 ) {
|
---|
| 1664 | if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
|
---|
| 1665 | readDbl(line, pos[1], fieldLen, _x_velocity ) ||
|
---|
| 1666 | readDbl(line, pos[2], fieldLen, _x_acceleration) ||
|
---|
| 1667 | readDbl(line, pos[3], fieldLen, _health ) ) {
|
---|
[6518] | 1668 | _checkState = bad;
|
---|
[6390] | 1669 | return;
|
---|
| 1670 | }
|
---|
| 1671 | }
|
---|
| 1672 |
|
---|
| 1673 | else if ( iLine == 2 ) {
|
---|
| 1674 | if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
|
---|
| 1675 | readDbl(line, pos[1], fieldLen, _y_velocity ) ||
|
---|
| 1676 | readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
|
---|
| 1677 | readDbl(line, pos[3], fieldLen, _ura ) ) {
|
---|
[6518] | 1678 | _checkState = bad;
|
---|
[6390] | 1679 | return;
|
---|
| 1680 | }
|
---|
| 1681 | }
|
---|
| 1682 |
|
---|
| 1683 | else if ( iLine == 3 ) {
|
---|
[6536] | 1684 | double iodn;
|
---|
[6390] | 1685 | if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
|
---|
| 1686 | readDbl(line, pos[1], fieldLen, _z_velocity ) ||
|
---|
| 1687 | readDbl(line, pos[2], fieldLen, _z_acceleration) ||
|
---|
[6536] | 1688 | readDbl(line, pos[3], fieldLen, iodn ) ) {
|
---|
[6518] | 1689 | _checkState = bad;
|
---|
[6390] | 1690 | return;
|
---|
[6891] | 1691 | } else {
|
---|
[6536] | 1692 | _IODN = int(iodn);
|
---|
[6390] | 1693 | }
|
---|
| 1694 | }
|
---|
| 1695 | }
|
---|
| 1696 |
|
---|
[7278] | 1697 | _x_pos *= 1.e3;
|
---|
| 1698 | _y_pos *= 1.e3;
|
---|
| 1699 | _z_pos *= 1.e3;
|
---|
| 1700 | _x_velocity *= 1.e3;
|
---|
| 1701 | _y_velocity *= 1.e3;
|
---|
| 1702 | _z_velocity *= 1.e3;
|
---|
| 1703 | _x_acceleration *= 1.e3;
|
---|
| 1704 | _y_acceleration *= 1.e3;
|
---|
| 1705 | _z_acceleration *= 1.e3;
|
---|
[6385] | 1706 | }
|
---|
| 1707 |
|
---|
[7054] | 1708 | // IOD of SBAS Ephemeris (virtual)
|
---|
| 1709 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1710 |
|
---|
[7169] | 1711 | unsigned int t_ephSBAS::IOD() const {
|
---|
[7054] | 1712 | unsigned char buffer[80];
|
---|
| 1713 | int size = 0;
|
---|
| 1714 | int numbits = 0;
|
---|
| 1715 | long long bitbuffer = 0;
|
---|
| 1716 | unsigned char *startbuffer = buffer;
|
---|
| 1717 |
|
---|
| 1718 | SBASADDBITSFLOAT(30, this->_x_pos, 0.08)
|
---|
| 1719 | SBASADDBITSFLOAT(30, this->_y_pos, 0.08)
|
---|
| 1720 | SBASADDBITSFLOAT(25, this->_z_pos, 0.4)
|
---|
| 1721 | SBASADDBITSFLOAT(17, this->_x_velocity, 0.000625)
|
---|
| 1722 | SBASADDBITSFLOAT(17, this->_y_velocity, 0.000625)
|
---|
| 1723 | SBASADDBITSFLOAT(18, this->_z_velocity, 0.004)
|
---|
| 1724 | SBASADDBITSFLOAT(10, this->_x_acceleration, 0.0000125)
|
---|
| 1725 | SBASADDBITSFLOAT(10, this->_y_acceleration, 0.0000125)
|
---|
| 1726 | SBASADDBITSFLOAT(10, this->_z_acceleration, 0.0000625)
|
---|
| 1727 | SBASADDBITSFLOAT(12, this->_agf0, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
|
---|
| 1728 | SBASADDBITSFLOAT(8, this->_agf1, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<10))
|
---|
| 1729 | SBASADDBITS(5,0); // the last byte is filled by 0-bits to obtain a length of an integer multiple of 8
|
---|
| 1730 |
|
---|
| 1731 | return CRC24(size, startbuffer);
|
---|
| 1732 | }
|
---|
| 1733 |
|
---|
[6385] | 1734 | // Compute SBAS Satellite Position (virtual)
|
---|
| 1735 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1736 | t_irc t_ephSBAS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
|
---|
[6386] | 1737 |
|
---|
| 1738 | bncTime tt(GPSweek, GPSweeks);
|
---|
| 1739 | double dt = tt - _TOC;
|
---|
| 1740 |
|
---|
[7278] | 1741 | xc[0] = _x_pos + _x_velocity * dt + _x_acceleration * dt * dt / 2.0;
|
---|
| 1742 | xc[1] = _y_pos + _y_velocity * dt + _y_acceleration * dt * dt / 2.0;
|
---|
| 1743 | xc[2] = _z_pos + _z_velocity * dt + _z_acceleration * dt * dt / 2.0;
|
---|
[6386] | 1744 |
|
---|
| 1745 | vv[0] = _x_velocity + _x_acceleration * dt;
|
---|
| 1746 | vv[1] = _y_velocity + _y_acceleration * dt;
|
---|
| 1747 | vv[2] = _z_velocity + _z_acceleration * dt;
|
---|
| 1748 |
|
---|
| 1749 | xc[3] = _agf0 + _agf1 * dt;
|
---|
| 1750 |
|
---|
[8542] | 1751 | xc[4] = _agf1;
|
---|
| 1752 | xc[5] = 0.0;
|
---|
[8483] | 1753 |
|
---|
[6386] | 1754 | return success;
|
---|
[6385] | 1755 | }
|
---|
| 1756 |
|
---|
[9774] | 1757 | // Health status of SBAS Ephemeris (virtual)
|
---|
| 1758 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1759 | unsigned int t_ephSBAS::isUnhealthy() const {
|
---|
| 1760 |
|
---|
| 1761 | // Bit 5
|
---|
| 1762 | bool URAindexIs15 = (int(_health) & (1<<5));
|
---|
| 1763 | if (URAindexIs15) {
|
---|
| 1764 | // in this case it is recommended
|
---|
| 1765 | // to set the bits 0,1,2,3 to 1 (MT17health = 15)
|
---|
| 1766 | return 1;
|
---|
| 1767 | }
|
---|
| 1768 |
|
---|
| 1769 | // Bit 0-3
|
---|
| 1770 | int MT17health = (int(_health)) & (0x0f);
|
---|
| 1771 | if (MT17health) {
|
---|
| 1772 | return 1;
|
---|
| 1773 | }
|
---|
| 1774 |
|
---|
| 1775 | // Bit 4
|
---|
| 1776 | // bool MT17HealthIsUnavailable = (int(_health) & (1<<4));
|
---|
| 1777 | // is not used because the MT17health bits can be independently set if URA index is 15
|
---|
| 1778 |
|
---|
| 1779 | return 0;
|
---|
| 1780 | }
|
---|
| 1781 |
|
---|
| 1782 |
|
---|
[6385] | 1783 | // RINEX Format String
|
---|
| 1784 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6388] | 1785 | QString t_ephSBAS::toString(double version) const {
|
---|
| 1786 |
|
---|
[9765] | 1787 | QString navStr = navTypeString(_navType, _prn, version);
|
---|
| 1788 | QString rnxStr = navStr + rinexDateStr(_TOC, _prn, version);
|
---|
[6388] | 1789 |
|
---|
| 1790 | QTextStream out(&rnxStr);
|
---|
| 1791 |
|
---|
| 1792 | out << QString("%1%2%3\n")
|
---|
[6390] | 1793 | .arg(_agf0, 19, 'e', 12)
|
---|
| 1794 | .arg(_agf1, 19, 'e', 12)
|
---|
[8456] | 1795 | .arg(_TOT, 19, 'e', 12);
|
---|
[6388] | 1796 |
|
---|
| 1797 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
| 1798 |
|
---|
| 1799 | out << QString(fmt)
|
---|
| 1800 | .arg(1.e-3*_x_pos, 19, 'e', 12)
|
---|
| 1801 | .arg(1.e-3*_x_velocity, 19, 'e', 12)
|
---|
| 1802 | .arg(1.e-3*_x_acceleration, 19, 'e', 12)
|
---|
[6390] | 1803 | .arg(_health, 19, 'e', 12);
|
---|
[6388] | 1804 |
|
---|
| 1805 | out << QString(fmt)
|
---|
| 1806 | .arg(1.e-3*_y_pos, 19, 'e', 12)
|
---|
| 1807 | .arg(1.e-3*_y_velocity, 19, 'e', 12)
|
---|
| 1808 | .arg(1.e-3*_y_acceleration, 19, 'e', 12)
|
---|
[6390] | 1809 | .arg(_ura, 19, 'e', 12);
|
---|
[6388] | 1810 |
|
---|
| 1811 | out << QString(fmt)
|
---|
| 1812 | .arg(1.e-3*_z_pos, 19, 'e', 12)
|
---|
| 1813 | .arg(1.e-3*_z_velocity, 19, 'e', 12)
|
---|
| 1814 | .arg(1.e-3*_z_acceleration, 19, 'e', 12)
|
---|
[6536] | 1815 | .arg(double(_IODN), 19, 'e', 12);
|
---|
[6388] | 1816 |
|
---|
| 1817 | return rnxStr;
|
---|
[6385] | 1818 | }
|
---|
[6400] | 1819 |
|
---|
| 1820 | // Constructor
|
---|
| 1821 | //////////////////////////////////////////////////////////////////////////////
|
---|
[9367] | 1822 | t_ephBDS::t_ephBDS(double rnxVersion, const QStringList& lines) {
|
---|
[6400] | 1823 |
|
---|
| 1824 | const int nLines = 8;
|
---|
| 1825 |
|
---|
| 1826 | if (lines.size() != nLines) {
|
---|
[6518] | 1827 | _checkState = bad;
|
---|
[6400] | 1828 | return;
|
---|
| 1829 | }
|
---|
| 1830 |
|
---|
| 1831 | // RINEX Format
|
---|
| 1832 | // ------------
|
---|
| 1833 | int fieldLen = 19;
|
---|
| 1834 |
|
---|
| 1835 | int pos[4];
|
---|
| 1836 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
---|
| 1837 | pos[1] = pos[0] + fieldLen;
|
---|
| 1838 | pos[2] = pos[1] + fieldLen;
|
---|
| 1839 | pos[3] = pos[2] + fieldLen;
|
---|
| 1840 |
|
---|
| 1841 | // Read eight lines
|
---|
| 1842 | // ----------------
|
---|
| 1843 | for (int iLine = 0; iLine < nLines; iLine++) {
|
---|
| 1844 | QString line = lines[iLine];
|
---|
| 1845 |
|
---|
| 1846 | if ( iLine == 0 ) {
|
---|
[8204] | 1847 | QTextStream in(line.left(pos[1]).toLatin1());
|
---|
[6400] | 1848 |
|
---|
| 1849 | int year, month, day, hour, min;
|
---|
| 1850 | double sec;
|
---|
[6880] | 1851 |
|
---|
[7139] | 1852 | QString prnStr, n;
|
---|
[6880] | 1853 | in >> prnStr;
|
---|
[7639] | 1854 | if (prnStr.size() == 1 && prnStr[0] == 'C') {
|
---|
[7139] | 1855 | in >> n;
|
---|
| 1856 | prnStr.append(n);
|
---|
[6880] | 1857 | }
|
---|
| 1858 | in >> year >> month >> day >> hour >> min >> sec;
|
---|
[6400] | 1859 | if (prnStr.at(0) == 'C') {
|
---|
| 1860 | _prn.set('C', prnStr.mid(1).toInt());
|
---|
| 1861 | }
|
---|
| 1862 | else {
|
---|
| 1863 | _prn.set('C', prnStr.toInt());
|
---|
| 1864 | }
|
---|
| 1865 |
|
---|
| 1866 | if (year < 80) {
|
---|
| 1867 | year += 2000;
|
---|
| 1868 | }
|
---|
| 1869 | else if (year < 100) {
|
---|
| 1870 | year += 1900;
|
---|
| 1871 | }
|
---|
| 1872 |
|
---|
[6812] | 1873 | _TOC.setBDS(year, month, day, hour, min, sec);
|
---|
[6400] | 1874 |
|
---|
| 1875 | if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
|
---|
| 1876 | readDbl(line, pos[2], fieldLen, _clock_drift ) ||
|
---|
| 1877 | readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
|
---|
[6518] | 1878 | _checkState = bad;
|
---|
[6400] | 1879 | return;
|
---|
| 1880 | }
|
---|
| 1881 | }
|
---|
| 1882 |
|
---|
| 1883 | else if ( iLine == 1 ) {
|
---|
| 1884 | double aode;
|
---|
| 1885 | if ( readDbl(line, pos[0], fieldLen, aode ) ||
|
---|
| 1886 | readDbl(line, pos[1], fieldLen, _Crs ) ||
|
---|
| 1887 | readDbl(line, pos[2], fieldLen, _Delta_n) ||
|
---|
| 1888 | readDbl(line, pos[3], fieldLen, _M0 ) ) {
|
---|
[6518] | 1889 | _checkState = bad;
|
---|
[6400] | 1890 | return;
|
---|
| 1891 | }
|
---|
| 1892 | _AODE = int(aode);
|
---|
| 1893 | }
|
---|
| 1894 |
|
---|
| 1895 | else if ( iLine == 2 ) {
|
---|
| 1896 | if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
|
---|
| 1897 | readDbl(line, pos[1], fieldLen, _e ) ||
|
---|
| 1898 | readDbl(line, pos[2], fieldLen, _Cus ) ||
|
---|
| 1899 | readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
|
---|
[6518] | 1900 | _checkState = bad;
|
---|
[6400] | 1901 | return;
|
---|
| 1902 | }
|
---|
| 1903 | }
|
---|
| 1904 |
|
---|
| 1905 | else if ( iLine == 3 ) {
|
---|
[6812] | 1906 | if ( readDbl(line, pos[0], fieldLen, _TOEsec ) ||
|
---|
[6400] | 1907 | readDbl(line, pos[1], fieldLen, _Cic ) ||
|
---|
| 1908 | readDbl(line, pos[2], fieldLen, _OMEGA0) ||
|
---|
| 1909 | readDbl(line, pos[3], fieldLen, _Cis ) ) {
|
---|
[6518] | 1910 | _checkState = bad;
|
---|
[6400] | 1911 | return;
|
---|
| 1912 | }
|
---|
| 1913 | }
|
---|
| 1914 |
|
---|
| 1915 | else if ( iLine == 4 ) {
|
---|
| 1916 | if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
|
---|
| 1917 | readDbl(line, pos[1], fieldLen, _Crc ) ||
|
---|
| 1918 | readDbl(line, pos[2], fieldLen, _omega ) ||
|
---|
| 1919 | readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
|
---|
[6518] | 1920 | _checkState = bad;
|
---|
[6400] | 1921 | return;
|
---|
| 1922 | }
|
---|
| 1923 | }
|
---|
| 1924 |
|
---|
| 1925 | else if ( iLine == 5 ) {
|
---|
| 1926 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
|
---|
[9785] | 1927 | readDbl(line, pos[2], fieldLen, _BDTweek)) {
|
---|
[6518] | 1928 | _checkState = bad;
|
---|
[6400] | 1929 | return;
|
---|
| 1930 | }
|
---|
| 1931 | }
|
---|
| 1932 |
|
---|
| 1933 | else if ( iLine == 6 ) {
|
---|
| 1934 | double SatH1;
|
---|
[6755] | 1935 | if ( readDbl(line, pos[0], fieldLen, _URA ) ||
|
---|
| 1936 | readDbl(line, pos[1], fieldLen, SatH1) ||
|
---|
[6400] | 1937 | readDbl(line, pos[2], fieldLen, _TGD1) ||
|
---|
| 1938 | readDbl(line, pos[3], fieldLen, _TGD2) ) {
|
---|
[6518] | 1939 | _checkState = bad;
|
---|
[6400] | 1940 | return;
|
---|
| 1941 | }
|
---|
| 1942 | _SatH1 = int(SatH1);
|
---|
| 1943 | }
|
---|
| 1944 |
|
---|
| 1945 | else if ( iLine == 7 ) {
|
---|
| 1946 | double aodc;
|
---|
[6812] | 1947 | if ( readDbl(line, pos[0], fieldLen, _TOT) ||
|
---|
[6400] | 1948 | readDbl(line, pos[1], fieldLen, aodc) ) {
|
---|
[6518] | 1949 | _checkState = bad;
|
---|
[6400] | 1950 | return;
|
---|
| 1951 | }
|
---|
[6812] | 1952 | if (_TOT == 0.9999e9) { // 0.9999e9 means not known (RINEX standard)
|
---|
| 1953 | _TOT = _TOEsec;
|
---|
[6400] | 1954 | }
|
---|
| 1955 | _AODC = int(aodc);
|
---|
| 1956 | }
|
---|
| 1957 | }
|
---|
| 1958 |
|
---|
[9785] | 1959 | _TOE.setBDS(int(_BDTweek), _TOEsec);
|
---|
[7138] | 1960 |
|
---|
[6400] | 1961 | // remark: actually should be computed from second_tot
|
---|
| 1962 | // but it seems to be unreliable in RINEX files
|
---|
[6843] | 1963 | //_TOT = _TOC.bdssec();
|
---|
[6400] | 1964 | }
|
---|
| 1965 |
|
---|
[7054] | 1966 | // IOD of BDS Ephemeris (virtual)
|
---|
| 1967 | ////////////////////////////////////////////////////////////////////////////
|
---|
[7169] | 1968 | unsigned int t_ephBDS::IOD() const {
|
---|
[8410] | 1969 | return (int(_TOEsec)/720) % 240;
|
---|
[7054] | 1970 | }
|
---|
| 1971 |
|
---|
[6601] | 1972 | // Compute BDS Satellite Position (virtual)
|
---|
[6400] | 1973 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6600] | 1974 | t_irc t_ephBDS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
|
---|
[6400] | 1975 |
|
---|
[6602] | 1976 | static const double gmBDS = 398.6004418e12;
|
---|
| 1977 | static const double omegaBDS = 7292115.0000e-11;
|
---|
[6400] | 1978 |
|
---|
| 1979 | xc[0] = xc[1] = xc[2] = xc[3] = 0.0;
|
---|
| 1980 | vv[0] = vv[1] = vv[2] = 0.0;
|
---|
| 1981 |
|
---|
| 1982 | bncTime tt(GPSweek, GPSweeks);
|
---|
| 1983 |
|
---|
| 1984 | if (_sqrt_A == 0) {
|
---|
| 1985 | return failure;
|
---|
| 1986 | }
|
---|
| 1987 | double a0 = _sqrt_A * _sqrt_A;
|
---|
| 1988 |
|
---|
[6602] | 1989 | double n0 = sqrt(gmBDS/(a0*a0*a0));
|
---|
[6400] | 1990 | double tk = tt - _TOE;
|
---|
| 1991 | double n = n0 + _Delta_n;
|
---|
| 1992 | double M = _M0 + n*tk;
|
---|
| 1993 | double E = M;
|
---|
| 1994 | double E_last;
|
---|
| 1995 | int nLoop = 0;
|
---|
| 1996 | do {
|
---|
| 1997 | E_last = E;
|
---|
| 1998 | E = M + _e*sin(E);
|
---|
| 1999 |
|
---|
| 2000 | if (++nLoop == 100) {
|
---|
| 2001 | return failure;
|
---|
| 2002 | }
|
---|
| 2003 | } while ( fabs(E-E_last)*a0 > 0.001 );
|
---|
| 2004 |
|
---|
| 2005 | double v = atan2(sqrt(1-_e*_e) * sin(E), cos(E) - _e);
|
---|
| 2006 | double u0 = v + _omega;
|
---|
| 2007 | double sin2u0 = sin(2*u0);
|
---|
| 2008 | double cos2u0 = cos(2*u0);
|
---|
| 2009 | double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
|
---|
| 2010 | double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
|
---|
| 2011 | double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
|
---|
| 2012 | double xp = r*cos(u);
|
---|
| 2013 | double yp = r*sin(u);
|
---|
| 2014 | double toesec = (_TOE.gpssec() - 14.0);
|
---|
| 2015 | double sinom = 0;
|
---|
| 2016 | double cosom = 0;
|
---|
| 2017 | double sini = 0;
|
---|
| 2018 | double cosi = 0;
|
---|
[7278] | 2019 |
|
---|
[7481] | 2020 | // Velocity
|
---|
| 2021 | // --------
|
---|
| 2022 | double tanv2 = tan(v/2);
|
---|
| 2023 | double dEdM = 1 / (1 - _e*cos(E));
|
---|
| 2024 | double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2)
|
---|
| 2025 | / (1 + tanv2*tanv2) * dEdM * n;
|
---|
| 2026 | double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
|
---|
| 2027 | double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
|
---|
| 2028 | double dotr = a0 * _e*sin(E) * dEdM * n
|
---|
| 2029 | + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
|
---|
| 2030 |
|
---|
| 2031 | double dotx = dotr*cos(u) - r*sin(u)*dotu;
|
---|
| 2032 | double doty = dotr*sin(u) + r*cos(u)*dotu;
|
---|
| 2033 |
|
---|
[6400] | 2034 | const double iMaxGEO = 10.0 / 180.0 * M_PI;
|
---|
| 2035 |
|
---|
| 2036 | // MEO/IGSO satellite
|
---|
| 2037 | // ------------------
|
---|
| 2038 | if (_i0 > iMaxGEO) {
|
---|
[6602] | 2039 | double OM = _OMEGA0 + (_OMEGADOT - omegaBDS)*tk - omegaBDS*toesec;
|
---|
[6400] | 2040 |
|
---|
| 2041 | sinom = sin(OM);
|
---|
| 2042 | cosom = cos(OM);
|
---|
| 2043 | sini = sin(i);
|
---|
| 2044 | cosi = cos(i);
|
---|
| 2045 |
|
---|
| 2046 | xc[0] = xp*cosom - yp*cosi*sinom;
|
---|
| 2047 | xc[1] = xp*sinom + yp*cosi*cosom;
|
---|
[7278] | 2048 | xc[2] = yp*sini;
|
---|
[7481] | 2049 |
|
---|
| 2050 | // Velocity
|
---|
| 2051 | // --------
|
---|
| 2052 |
|
---|
| 2053 | double dotom = _OMEGADOT - t_CST::omega;
|
---|
| 2054 |
|
---|
| 2055 | vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
|
---|
| 2056 | - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
|
---|
| 2057 | + yp*sini*sinom*doti; // dX / di
|
---|
| 2058 |
|
---|
| 2059 | vv[1] = sinom *dotx + cosi*cosom *doty
|
---|
| 2060 | + xp*cosom*dotom - yp*cosi*sinom*dotom
|
---|
| 2061 | - yp*sini*cosom*doti;
|
---|
| 2062 |
|
---|
| 2063 | vv[2] = sini *doty + yp*cosi *doti;
|
---|
| 2064 |
|
---|
[6400] | 2065 | }
|
---|
| 2066 |
|
---|
| 2067 | // GEO satellite
|
---|
| 2068 | // -------------
|
---|
| 2069 | else {
|
---|
[6602] | 2070 | double OM = _OMEGA0 + _OMEGADOT*tk - omegaBDS*toesec;
|
---|
| 2071 | double ll = omegaBDS*tk;
|
---|
[6400] | 2072 |
|
---|
| 2073 | sinom = sin(OM);
|
---|
| 2074 | cosom = cos(OM);
|
---|
| 2075 | sini = sin(i);
|
---|
| 2076 | cosi = cos(i);
|
---|
| 2077 |
|
---|
| 2078 | double xx = xp*cosom - yp*cosi*sinom;
|
---|
| 2079 | double yy = xp*sinom + yp*cosi*cosom;
|
---|
[7278] | 2080 | double zz = yp*sini;
|
---|
[6400] | 2081 |
|
---|
[7487] | 2082 | Matrix RX = BNC_PPP::t_astro::rotX(-5.0 / 180.0 * M_PI);
|
---|
| 2083 | Matrix RZ = BNC_PPP::t_astro::rotZ(ll);
|
---|
[6400] | 2084 |
|
---|
| 2085 | ColumnVector X1(3); X1 << xx << yy << zz;
|
---|
[7487] | 2086 | ColumnVector X2 = RZ*RX*X1;
|
---|
[6400] | 2087 |
|
---|
| 2088 | xc[0] = X2(1);
|
---|
| 2089 | xc[1] = X2(2);
|
---|
| 2090 | xc[2] = X2(3);
|
---|
[7278] | 2091 |
|
---|
[7481] | 2092 | double dotom = _OMEGADOT;
|
---|
[6400] | 2093 |
|
---|
[7481] | 2094 | double vx = cosom *dotx - cosi*sinom *doty
|
---|
| 2095 | - xp*sinom*dotom - yp*cosi*cosom*dotom
|
---|
| 2096 | + yp*sini*sinom*doti;
|
---|
[6400] | 2097 |
|
---|
[7481] | 2098 | double vy = sinom *dotx + cosi*cosom *doty
|
---|
| 2099 | + xp*cosom*dotom - yp*cosi*sinom*dotom
|
---|
| 2100 | - yp*sini*cosom*doti;
|
---|
[7278] | 2101 |
|
---|
[7501] | 2102 | double vz = sini *doty + yp*cosi *doti;
|
---|
[6400] | 2103 |
|
---|
[7501] | 2104 | ColumnVector V(3); V << vx << vy << vz;
|
---|
[7481] | 2105 |
|
---|
[7487] | 2106 | Matrix RdotZ(3,3);
|
---|
[7481] | 2107 | double C = cos(ll);
|
---|
| 2108 | double S = sin(ll);
|
---|
| 2109 | Matrix UU(3,3);
|
---|
| 2110 | UU[0][0] = -S; UU[0][1] = +C; UU[0][2] = 0.0;
|
---|
| 2111 | UU[1][0] = -C; UU[1][1] = -S; UU[1][2] = 0.0;
|
---|
| 2112 | UU[2][0] = 0.0; UU[2][1] = 0.0; UU[2][2] = 0.0;
|
---|
[7487] | 2113 | RdotZ = omegaBDS * UU;
|
---|
[7481] | 2114 |
|
---|
| 2115 | ColumnVector VV(3);
|
---|
[7487] | 2116 | VV = RZ*RX*V + RdotZ*RX*X1;
|
---|
[7481] | 2117 |
|
---|
| 2118 | vv[0] = VV(1);
|
---|
| 2119 | vv[1] = VV(2);
|
---|
| 2120 | vv[2] = VV(3);
|
---|
| 2121 | }
|
---|
| 2122 |
|
---|
| 2123 | double tc = tt - _TOC;
|
---|
| 2124 | xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
|
---|
| 2125 |
|
---|
[9132] | 2126 | // dotC = _clock_drift + _clock_driftrate*tc
|
---|
[9290] | 2127 | // - 4.442807309e-10*_e * sqrt(a0) * cos(E) * dEdM * n;
|
---|
[6400] | 2128 |
|
---|
[7481] | 2129 | // Relativistic Correction
|
---|
| 2130 | // -----------------------
|
---|
[9290] | 2131 | xc[3] -= 4.442807309e-10 * _e * sqrt(a0) *sin(E);
|
---|
[7481] | 2132 |
|
---|
[8542] | 2133 | xc[4] = _clock_drift + _clock_driftrate*tc;
|
---|
| 2134 | xc[5] = _clock_driftrate;
|
---|
[9126] | 2135 |
|
---|
[6400] | 2136 | return success;
|
---|
| 2137 | }
|
---|
| 2138 |
|
---|
| 2139 | // RINEX Format String
|
---|
| 2140 | //////////////////////////////////////////////////////////////////////////////
|
---|
[6600] | 2141 | QString t_ephBDS::toString(double version) const {
|
---|
[8419] | 2142 |
|
---|
[9765] | 2143 | QString navStr = navTypeString(_navType, _prn, version);
|
---|
| 2144 | QString rnxStr = navStr + rinexDateStr(_TOC-14.0, _prn, version);
|
---|
[6400] | 2145 |
|
---|
| 2146 | QTextStream out(&rnxStr);
|
---|
| 2147 |
|
---|
| 2148 | out << QString("%1%2%3\n")
|
---|
| 2149 | .arg(_clock_bias, 19, 'e', 12)
|
---|
| 2150 | .arg(_clock_drift, 19, 'e', 12)
|
---|
| 2151 | .arg(_clock_driftrate, 19, 'e', 12);
|
---|
| 2152 |
|
---|
| 2153 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
---|
| 2154 |
|
---|
| 2155 | out << QString(fmt)
|
---|
| 2156 | .arg(double(_AODE), 19, 'e', 12)
|
---|
| 2157 | .arg(_Crs, 19, 'e', 12)
|
---|
| 2158 | .arg(_Delta_n, 19, 'e', 12)
|
---|
| 2159 | .arg(_M0, 19, 'e', 12);
|
---|
| 2160 |
|
---|
| 2161 | out << QString(fmt)
|
---|
| 2162 | .arg(_Cuc, 19, 'e', 12)
|
---|
| 2163 | .arg(_e, 19, 'e', 12)
|
---|
| 2164 | .arg(_Cus, 19, 'e', 12)
|
---|
| 2165 | .arg(_sqrt_A, 19, 'e', 12);
|
---|
| 2166 |
|
---|
| 2167 | out << QString(fmt)
|
---|
[9785] | 2168 | .arg(_TOEsec, 19, 'e', 12)
|
---|
[6755] | 2169 | .arg(_Cic, 19, 'e', 12)
|
---|
| 2170 | .arg(_OMEGA0, 19, 'e', 12)
|
---|
| 2171 | .arg(_Cis, 19, 'e', 12);
|
---|
[6400] | 2172 |
|
---|
| 2173 | out << QString(fmt)
|
---|
| 2174 | .arg(_i0, 19, 'e', 12)
|
---|
| 2175 | .arg(_Crc, 19, 'e', 12)
|
---|
| 2176 | .arg(_omega, 19, 'e', 12)
|
---|
| 2177 | .arg(_OMEGADOT, 19, 'e', 12);
|
---|
| 2178 |
|
---|
| 2179 | out << QString(fmt)
|
---|
[9785] | 2180 | .arg(_IDOT, 19, 'e', 12)
|
---|
| 2181 | .arg(0.0, 19, 'e', 12)
|
---|
| 2182 | .arg(_BDTweek, 19, 'e', 12)
|
---|
| 2183 | .arg(0.0, 19, 'e', 12);
|
---|
[6400] | 2184 |
|
---|
| 2185 | out << QString(fmt)
|
---|
[6798] | 2186 | .arg(_URA, 19, 'e', 12)
|
---|
[6400] | 2187 | .arg(double(_SatH1), 19, 'e', 12)
|
---|
| 2188 | .arg(_TGD1, 19, 'e', 12)
|
---|
| 2189 | .arg(_TGD2, 19, 'e', 12);
|
---|
| 2190 |
|
---|
[6843] | 2191 | double tots = 0.0;
|
---|
[9785] | 2192 | if (_receptDateTime.isValid()) {// RTCM stream input
|
---|
| 2193 | tots = _TOE.bdssec();
|
---|
| 2194 | }
|
---|
| 2195 | else { // RINEX input
|
---|
[6843] | 2196 | tots = _TOT;
|
---|
| 2197 | }
|
---|
[6400] | 2198 | out << QString(fmt)
|
---|
[6792] | 2199 | .arg(tots, 19, 'e', 12)
|
---|
[6755] | 2200 | .arg(double(_AODC), 19, 'e', 12)
|
---|
| 2201 | .arg("", 19, QChar(' '))
|
---|
| 2202 | .arg("", 19, QChar(' '));
|
---|
[6400] | 2203 | return rnxStr;
|
---|
| 2204 | }
|
---|