| 1 | #include <math.h>
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| 2 | #include <sstream>
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| 3 | #include <iostream>
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| 4 | #include <iomanip>
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| 5 | #include <cstring>
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| 6 |
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| 7 | #include <newmatio.h>
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| 8 |
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| 9 | #include "ephemeris.h"
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| 10 | #include "bncutils.h"
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| 11 | #include "bnctime.h"
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| 12 | #include "bnccore.h"
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| 13 | #include "bncutils.h"
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| 14 | #include "PPP/pppInclude.h"
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| 15 |
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| 16 | using namespace std;
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| 17 |
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| 18 | // Constructor
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| 19 | ////////////////////////////////////////////////////////////////////////////
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| 20 | t_eph::t_eph() {
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| 21 | _ok = false;
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| 22 | _orbCorr = 0;
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| 23 | _clkCorr = 0;
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| 24 | }
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| 25 |
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| 26 | //
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| 27 | ////////////////////////////////////////////////////////////////////////////
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| 28 | void t_eph::setOrbCorr(const BNC_PPP::t_orbCorr* orbCorr) {
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| 29 | delete _orbCorr;
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| 30 | _orbCorr = new BNC_PPP::t_orbCorr(*orbCorr);
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| 31 | }
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| 32 |
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| 33 | //
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| 34 | ////////////////////////////////////////////////////////////////////////////
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| 35 | void t_eph::setClkCorr(const BNC_PPP::t_clkCorr* clkCorr) {
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| 36 | delete _clkCorr;
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| 37 | _clkCorr = new BNC_PPP::t_clkCorr(*clkCorr);
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| 38 | }
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| 39 |
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| 40 | //
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| 41 | ////////////////////////////////////////////////////////////////////////////
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| 42 | t_irc t_eph::getCrd(const bncTime& tt, ColumnVector& xc,
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| 43 | ColumnVector& vv, bool useCorr) const {
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| 44 | xc.ReSize(4);
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| 45 | vv.ReSize(3);
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| 46 | position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data());
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| 47 | if (useCorr) {
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| 48 | if (_orbCorr && _clkCorr) {
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| 49 |
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| 50 | double dtO = tt - _orbCorr->_time;
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| 51 | ColumnVector dx(3);
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| 52 | dx[0] = _orbCorr->_xr[0] + _orbCorr->_dotXr[0] * dtO;
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| 53 | dx[1] = _orbCorr->_xr[1] + _orbCorr->_dotXr[1] * dtO;
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| 54 | dx[2] = _orbCorr->_xr[2] + _orbCorr->_dotXr[2] * dtO;
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| 55 |
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| 56 | if (_orbCorr->_system == 'R') {
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| 57 | RSW_to_XYZ(xc.Rows(1,3), vv.Rows(1,3), dx, dx);
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| 58 | }
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| 59 |
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| 60 | xc[0] -= dx[0];
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| 61 | xc[1] -= dx[1];
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| 62 | xc[2] -= dx[2];
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| 63 |
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| 64 | double dtC = tt - _clkCorr->_time;
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| 65 | xc[3] += _clkCorr->_dClk + _clkCorr->_dotDClk * dtC + _clkCorr->_dotDotDClk * dtC * dtC;
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| 66 | }
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| 67 | else {
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| 68 | return failure;
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| 69 | }
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| 70 | }
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| 71 | return success;
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| 72 | }
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| 73 |
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| 74 | // Set GPS Satellite Position
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| 75 | ////////////////////////////////////////////////////////////////////////////
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| 76 | void t_ephGPS::set(const gpsephemeris* ee) {
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| 77 |
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| 78 | _receptDateTime = currentDateAndTimeGPS();
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| 79 |
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| 80 | _prn.set('G', ee->satellite);
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| 81 |
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| 82 | _TOC.set(ee->GPSweek, ee->TOC);
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| 83 | _clock_bias = ee->clock_bias;
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| 84 | _clock_drift = ee->clock_drift;
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| 85 | _clock_driftrate = ee->clock_driftrate;
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| 86 |
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| 87 | _IODE = ee->IODE;
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| 88 | _Crs = ee->Crs;
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| 89 | _Delta_n = ee->Delta_n;
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| 90 | _M0 = ee->M0;
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| 91 |
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| 92 | _Cuc = ee->Cuc;
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| 93 | _e = ee->e;
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| 94 | _Cus = ee->Cus;
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| 95 | _sqrt_A = ee->sqrt_A;
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| 96 |
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| 97 | _TOEsec = ee->TOE;
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| 98 | _Cic = ee->Cic;
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| 99 | _OMEGA0 = ee->OMEGA0;
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| 100 | _Cis = ee->Cis;
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| 101 |
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| 102 | _i0 = ee->i0;
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| 103 | _Crc = ee->Crc;
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| 104 | _omega = ee->omega;
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| 105 | _OMEGADOT = ee->OMEGADOT;
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| 106 |
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| 107 | _IDOT = ee->IDOT;
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| 108 | _L2Codes = 0.0;
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| 109 | _TOEweek = ee->GPSweek;
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| 110 | _L2PFlag = 0.0;
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| 111 |
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| 112 | if (ee->URAindex <= 6) {
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| 113 | _ura = ceil(10.0*pow(2.0, 1.0+((double)ee->URAindex)/2.0))/10.0;
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| 114 | }
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| 115 | else {
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| 116 | _ura = ceil(10.0*pow(2.0, ((double)ee->URAindex)/2.0))/10.0;
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| 117 | }
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| 118 | _health = ee->SVhealth;
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| 119 | _TGD = ee->TGD;
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| 120 | _IODC = ee->IODC;
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| 121 |
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| 122 | _TOT = 0.9999e9;
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| 123 | _fitInterval = 0.0;
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| 124 |
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| 125 | _ok = true;
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| 126 | }
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| 127 |
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| 128 | // Compute GPS Satellite Position (virtual)
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| 129 | ////////////////////////////////////////////////////////////////////////////
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| 130 | void t_ephGPS::position(int GPSweek, double GPSweeks,
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| 131 | double* xc,
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| 132 | double* vv) const {
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| 133 |
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| 134 |
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| 135 | static const double omegaEarth = 7292115.1467e-11;
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| 136 | static const double gmGRS = 398.6005e12;
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| 137 |
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| 138 | memset(xc, 0, 4*sizeof(double));
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| 139 | memset(vv, 0, 3*sizeof(double));
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| 140 |
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| 141 | double a0 = _sqrt_A * _sqrt_A;
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| 142 | if (a0 == 0) {
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| 143 | return;
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| 144 | }
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| 145 |
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| 146 | double n0 = sqrt(gmGRS/(a0*a0*a0));
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| 147 |
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| 148 | bncTime tt(GPSweek, GPSweeks);
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| 149 | double tk = tt - bncTime(int(_TOEweek), _TOEsec);
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| 150 |
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| 151 | double n = n0 + _Delta_n;
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| 152 | double M = _M0 + n*tk;
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| 153 | double E = M;
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| 154 | double E_last;
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| 155 | do {
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| 156 | E_last = E;
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| 157 | E = M + _e*sin(E);
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| 158 | } while ( fabs(E-E_last)*a0 > 0.001 );
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| 159 | double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
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| 160 | double u0 = v + _omega;
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| 161 | double sin2u0 = sin(2*u0);
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| 162 | double cos2u0 = cos(2*u0);
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| 163 | double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
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| 164 | double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
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| 165 | double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
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| 166 | double xp = r*cos(u);
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| 167 | double yp = r*sin(u);
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| 168 | double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
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| 169 | omegaEarth*_TOEsec;
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| 170 |
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| 171 | double sinom = sin(OM);
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| 172 | double cosom = cos(OM);
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| 173 | double sini = sin(i);
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| 174 | double cosi = cos(i);
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| 175 | xc[0] = xp*cosom - yp*cosi*sinom;
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| 176 | xc[1] = xp*sinom + yp*cosi*cosom;
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| 177 | xc[2] = yp*sini;
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| 178 |
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| 179 | double tc = tt - _TOC;
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| 180 | xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
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| 181 |
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| 182 | // Velocity
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| 183 | // --------
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| 184 | double tanv2 = tan(v/2);
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| 185 | double dEdM = 1 / (1 - _e*cos(E));
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| 186 | double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
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| 187 | * dEdM * n;
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| 188 | double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
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| 189 | double dotom = _OMEGADOT - omegaEarth;
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| 190 | double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
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| 191 | double dotr = a0 * _e*sin(E) * dEdM * n
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| 192 | + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
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| 193 | double dotx = dotr*cos(u) - r*sin(u)*dotu;
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| 194 | double doty = dotr*sin(u) + r*cos(u)*dotu;
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| 195 |
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| 196 | vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
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| 197 | - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
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| 198 | + yp*sini*sinom*doti; // dX / di
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| 199 |
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| 200 | vv[1] = sinom *dotx + cosi*cosom *doty
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| 201 | + xp*cosom*dotom - yp*cosi*sinom*dotom
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| 202 | - yp*sini*cosom*doti;
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| 203 |
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| 204 | vv[2] = sini *doty + yp*cosi *doti;
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| 205 |
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| 206 | // Relativistic Correction
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| 207 | // -----------------------
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| 208 | xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
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| 209 | }
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| 210 |
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| 211 | // Derivative of the state vector using a simple force model (static)
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| 212 | ////////////////////////////////////////////////////////////////////////////
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| 213 | ColumnVector t_ephGlo::glo_deriv(double /* tt */, const ColumnVector& xv,
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| 214 | double* acc) {
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| 215 |
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| 216 | // State vector components
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| 217 | // -----------------------
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| 218 | ColumnVector rr = xv.rows(1,3);
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| 219 | ColumnVector vv = xv.rows(4,6);
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| 220 |
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| 221 | // Acceleration
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| 222 | // ------------
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| 223 | static const double gmWGS = 398.60044e12;
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| 224 | static const double AE = 6378136.0;
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| 225 | static const double OMEGA = 7292115.e-11;
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| 226 | static const double C20 = -1082.6257e-6;
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| 227 |
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| 228 | double rho = rr.norm_Frobenius();
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| 229 | double t1 = -gmWGS/(rho*rho*rho);
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| 230 | double t2 = 3.0/2.0 * C20 * (gmWGS*AE*AE) / (rho*rho*rho*rho*rho);
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| 231 | double t3 = OMEGA * OMEGA;
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| 232 | double t4 = 2.0 * OMEGA;
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| 233 | double z2 = rr(3) * rr(3);
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| 234 |
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| 235 | // Vector of derivatives
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| 236 | // ---------------------
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| 237 | ColumnVector va(6);
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| 238 | va(1) = vv(1);
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| 239 | va(2) = vv(2);
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| 240 | va(3) = vv(3);
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| 241 | va(4) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(1) + t4*vv(2) + acc[0];
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| 242 | va(5) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(2) - t4*vv(1) + acc[1];
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| 243 | va(6) = (t1 + t2*(3.0-5.0*z2/(rho*rho)) ) * rr(3) + acc[2];
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| 244 |
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| 245 | return va;
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| 246 | }
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| 247 |
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| 248 | // Compute Glonass Satellite Position (virtual)
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| 249 | ////////////////////////////////////////////////////////////////////////////
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| 250 | void t_ephGlo::position(int GPSweek, double GPSweeks,
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| 251 | double* xc, double* vv) const {
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| 252 |
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| 253 | static const double nominalStep = 10.0;
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| 254 |
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| 255 | memset(xc, 0, 4*sizeof(double));
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| 256 | memset(vv, 0, 3*sizeof(double));
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| 257 |
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| 258 | double dtPos = bncTime(GPSweek, GPSweeks) - _tt;
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| 259 |
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| 260 | int nSteps = int(fabs(dtPos) / nominalStep) + 1;
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| 261 | double step = dtPos / nSteps;
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| 262 |
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| 263 | double acc[3];
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| 264 | acc[0] = _x_acceleration * 1.e3;
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| 265 | acc[1] = _y_acceleration * 1.e3;
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| 266 | acc[2] = _z_acceleration * 1.e3;
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| 267 | for (int ii = 1; ii <= nSteps; ii++) {
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| 268 | _xv = rungeKutta4(_tt.gpssec(), _xv, step, acc, glo_deriv);
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| 269 | _tt = _tt + step;
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| 270 | }
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| 271 |
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| 272 | // Position and Velocity
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| 273 | // ---------------------
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| 274 | xc[0] = _xv(1);
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| 275 | xc[1] = _xv(2);
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| 276 | xc[2] = _xv(3);
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| 277 |
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| 278 | vv[0] = _xv(4);
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| 279 | vv[1] = _xv(5);
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| 280 | vv[2] = _xv(6);
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| 281 |
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| 282 | // Clock Correction
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| 283 | // ----------------
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| 284 | double dtClk = bncTime(GPSweek, GPSweeks) - _TOC;
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| 285 | xc[3] = -_tau + _gamma * dtClk;
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| 286 | }
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| 287 |
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| 288 | // IOD of Glonass Ephemeris (virtual)
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| 289 | ////////////////////////////////////////////////////////////////////////////
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| 290 | int t_ephGlo::IOD() const {
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| 291 | bncTime tMoscow = _TOC - _gps_utc + 3 * 3600.0;
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| 292 | return int(tMoscow.daysec() / 900);
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| 293 | }
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| 294 |
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| 295 | // Set Glonass Ephemeris
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| 296 | ////////////////////////////////////////////////////////////////////////////
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| 297 | void t_ephGlo::set(const glonassephemeris* ee) {
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| 298 |
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| 299 | _receptDateTime = currentDateAndTimeGPS();
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| 300 |
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| 301 | _prn.set('R', ee->almanac_number);
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| 302 |
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| 303 | int ww = ee->GPSWeek;
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| 304 | int tow = ee->GPSTOW;
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| 305 | updatetime(&ww, &tow, ee->tb*1000, 0); // Moscow -> GPS
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| 306 |
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| 307 | // Check the day once more
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| 308 | // -----------------------
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| 309 | bool timeChanged = false;
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| 310 | {
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| 311 | const double secPerDay = 24 * 3600.0;
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| 312 | const double secPerWeek = 7 * secPerDay;
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| 313 | int ww_old = ww;
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| 314 | int tow_old = tow;
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| 315 | int currentWeek;
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| 316 | double currentSec;
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| 317 | currentGPSWeeks(currentWeek, currentSec);
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| 318 | bncTime currentTime(currentWeek, currentSec);
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| 319 | bncTime hTime(ww, (double) tow);
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| 320 |
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| 321 | if (hTime - currentTime > secPerDay/2.0) {
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| 322 | timeChanged = true;
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| 323 | tow -= int(secPerDay);
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| 324 | if (tow < 0) {
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| 325 | tow += int(secPerWeek);
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| 326 | ww -= 1;
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| 327 | }
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| 328 | }
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| 329 | else if (hTime - currentTime < -secPerDay/2.0) {
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| 330 | timeChanged = true;
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| 331 | tow += int(secPerDay);
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| 332 | if (tow > secPerWeek) {
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| 333 | tow -= int(secPerWeek);
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| 334 | ww += 1;
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| 335 | }
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| 336 | }
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| 337 |
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| 338 | if (false && timeChanged && BNC_CORE->mode() == t_bncCore::batchPostProcessing) {
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| 339 | bncTime newHTime(ww, (double) tow);
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| 340 | cout << "GLONASS " << ee->almanac_number << " Time Changed at "
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| 341 | << currentTime.datestr() << " " << currentTime.timestr()
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| 342 | << endl
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| 343 | << "old: " << hTime.datestr() << " " << hTime.timestr()
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| 344 | << endl
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| 345 | << "new: " << newHTime.datestr() << " " << newHTime.timestr()
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| 346 | << endl
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| 347 | << "eph: " << ee->GPSWeek << " " << ee->GPSTOW << " " << ee->tb
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| 348 | << endl
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| 349 | << "ww, tow (old): " << ww_old << " " << tow_old
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| 350 | << endl
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| 351 | << "ww, tow (new): " << ww << " " << tow
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| 352 | << endl << endl;
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| 353 | }
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| 354 | }
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| 355 |
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| 356 | bncTime hlpTime(ww, (double) tow);
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| 357 | unsigned year, month, day;
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| 358 | hlpTime.civil_date(year, month, day);
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| 359 | _gps_utc = gnumleap(year, month, day);
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| 360 |
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| 361 | _TOC.set(ww, tow);
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| 362 | _E = ee->E;
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| 363 | _tau = ee->tau;
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| 364 | _gamma = ee->gamma;
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| 365 | _x_pos = ee->x_pos;
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| 366 | _x_velocity = ee->x_velocity;
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| 367 | _x_acceleration = ee->x_acceleration;
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| 368 | _y_pos = ee->y_pos;
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| 369 | _y_velocity = ee->y_velocity;
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| 370 | _y_acceleration = ee->y_acceleration;
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| 371 | _z_pos = ee->z_pos;
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| 372 | _z_velocity = ee->z_velocity;
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| 373 | _z_acceleration = ee->z_acceleration;
|
|---|
| 374 | _health = 0;
|
|---|
| 375 | _frequency_number = ee->frequency_number;
|
|---|
| 376 | _tki = ee->tk-3*60*60; if (_tki < 0) _tki += 86400;
|
|---|
| 377 |
|
|---|
| 378 | // Initialize status vector
|
|---|
| 379 | // ------------------------
|
|---|
| 380 | _tt = _TOC;
|
|---|
| 381 |
|
|---|
| 382 | _xv(1) = _x_pos * 1.e3;
|
|---|
| 383 | _xv(2) = _y_pos * 1.e3;
|
|---|
| 384 | _xv(3) = _z_pos * 1.e3;
|
|---|
| 385 | _xv(4) = _x_velocity * 1.e3;
|
|---|
| 386 | _xv(5) = _y_velocity * 1.e3;
|
|---|
| 387 | _xv(6) = _z_velocity * 1.e3;
|
|---|
| 388 |
|
|---|
| 389 | _ok = true;
|
|---|
| 390 | }
|
|---|
| 391 |
|
|---|
| 392 | // Set Galileo Satellite Position
|
|---|
| 393 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 394 | void t_ephGal::set(const galileoephemeris* ee) {
|
|---|
| 395 |
|
|---|
| 396 | _receptDateTime = currentDateAndTimeGPS();
|
|---|
| 397 |
|
|---|
| 398 | _prn.set('E', ee->satellite);
|
|---|
| 399 |
|
|---|
| 400 | _TOC.set(ee->Week, ee->TOC);
|
|---|
| 401 | _clock_bias = ee->clock_bias;
|
|---|
| 402 | _clock_drift = ee->clock_drift;
|
|---|
| 403 | _clock_driftrate = ee->clock_driftrate;
|
|---|
| 404 |
|
|---|
| 405 | _IODnav = ee->IODnav;
|
|---|
| 406 | _Crs = ee->Crs;
|
|---|
| 407 | _Delta_n = ee->Delta_n;
|
|---|
| 408 | _M0 = ee->M0;
|
|---|
| 409 |
|
|---|
| 410 | _Cuc = ee->Cuc;
|
|---|
| 411 | _e = ee->e;
|
|---|
| 412 | _Cus = ee->Cus;
|
|---|
| 413 | _sqrt_A = ee->sqrt_A;
|
|---|
| 414 |
|
|---|
| 415 | _TOEsec = _TOC.gpssec();
|
|---|
| 416 | //// _TOEsec = ee->TOE; //// TODO:
|
|---|
| 417 | _Cic = ee->Cic;
|
|---|
| 418 | _OMEGA0 = ee->OMEGA0;
|
|---|
| 419 | _Cis = ee->Cis;
|
|---|
| 420 |
|
|---|
| 421 | _i0 = ee->i0;
|
|---|
| 422 | _Crc = ee->Crc;
|
|---|
| 423 | _omega = ee->omega;
|
|---|
| 424 | _OMEGADOT = ee->OMEGADOT;
|
|---|
| 425 |
|
|---|
| 426 | _IDOT = ee->IDOT;
|
|---|
| 427 | _TOEweek = ee->Week;
|
|---|
| 428 |
|
|---|
| 429 | _SISA = ee->SISA;
|
|---|
| 430 | _E5aHS = ee->E5aHS;
|
|---|
| 431 | _E5bHS = ee->E5bHS;
|
|---|
| 432 | _BGD_1_5A = ee->BGD_1_5A;
|
|---|
| 433 | _BGD_1_5B = ee->BGD_1_5B;
|
|---|
| 434 |
|
|---|
| 435 | _TOT = 0.9999e9;
|
|---|
| 436 |
|
|---|
| 437 | _flags = ee->flags;
|
|---|
| 438 |
|
|---|
| 439 | _ok = true;
|
|---|
| 440 | }
|
|---|
| 441 |
|
|---|
| 442 | // Compute Galileo Satellite Position (virtual)
|
|---|
| 443 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 444 | void t_ephGal::position(int GPSweek, double GPSweeks,
|
|---|
| 445 | double* xc,
|
|---|
| 446 | double* vv) const {
|
|---|
| 447 |
|
|---|
| 448 | static const double omegaEarth = 7292115.1467e-11;
|
|---|
| 449 | static const double gmWGS = 398.60044e12;
|
|---|
| 450 |
|
|---|
| 451 | memset(xc, 0, 4*sizeof(double));
|
|---|
| 452 | memset(vv, 0, 3*sizeof(double));
|
|---|
| 453 |
|
|---|
| 454 | double a0 = _sqrt_A * _sqrt_A;
|
|---|
| 455 | if (a0 == 0) {
|
|---|
| 456 | return;
|
|---|
| 457 | }
|
|---|
| 458 |
|
|---|
| 459 | double n0 = sqrt(gmWGS/(a0*a0*a0));
|
|---|
| 460 |
|
|---|
| 461 | bncTime tt(GPSweek, GPSweeks);
|
|---|
| 462 | double tk = tt - bncTime(_TOC.gpsw(), _TOEsec);
|
|---|
| 463 |
|
|---|
| 464 | double n = n0 + _Delta_n;
|
|---|
| 465 | double M = _M0 + n*tk;
|
|---|
| 466 | double E = M;
|
|---|
| 467 | double E_last;
|
|---|
| 468 | do {
|
|---|
| 469 | E_last = E;
|
|---|
| 470 | E = M + _e*sin(E);
|
|---|
| 471 | } while ( fabs(E-E_last)*a0 > 0.001 );
|
|---|
| 472 | double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
|
|---|
| 473 | double u0 = v + _omega;
|
|---|
| 474 | double sin2u0 = sin(2*u0);
|
|---|
| 475 | double cos2u0 = cos(2*u0);
|
|---|
| 476 | double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
|
|---|
| 477 | double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
|
|---|
| 478 | double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
|
|---|
| 479 | double xp = r*cos(u);
|
|---|
| 480 | double yp = r*sin(u);
|
|---|
| 481 | double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
|
|---|
| 482 | omegaEarth*_TOEsec;
|
|---|
| 483 |
|
|---|
| 484 | double sinom = sin(OM);
|
|---|
| 485 | double cosom = cos(OM);
|
|---|
| 486 | double sini = sin(i);
|
|---|
| 487 | double cosi = cos(i);
|
|---|
| 488 | xc[0] = xp*cosom - yp*cosi*sinom;
|
|---|
| 489 | xc[1] = xp*sinom + yp*cosi*cosom;
|
|---|
| 490 | xc[2] = yp*sini;
|
|---|
| 491 |
|
|---|
| 492 | double tc = tt - _TOC;
|
|---|
| 493 | xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
|
|---|
| 494 |
|
|---|
| 495 | // Velocity
|
|---|
| 496 | // --------
|
|---|
| 497 | double tanv2 = tan(v/2);
|
|---|
| 498 | double dEdM = 1 / (1 - _e*cos(E));
|
|---|
| 499 | double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
|
|---|
| 500 | * dEdM * n;
|
|---|
| 501 | double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
|
|---|
| 502 | double dotom = _OMEGADOT - omegaEarth;
|
|---|
| 503 | double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
|
|---|
| 504 | double dotr = a0 * _e*sin(E) * dEdM * n
|
|---|
| 505 | + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
|
|---|
| 506 | double dotx = dotr*cos(u) - r*sin(u)*dotu;
|
|---|
| 507 | double doty = dotr*sin(u) + r*cos(u)*dotu;
|
|---|
| 508 |
|
|---|
| 509 | vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
|
|---|
| 510 | - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
|
|---|
| 511 | + yp*sini*sinom*doti; // dX / di
|
|---|
| 512 |
|
|---|
| 513 | vv[1] = sinom *dotx + cosi*cosom *doty
|
|---|
| 514 | + xp*cosom*dotom - yp*cosi*sinom*dotom
|
|---|
| 515 | - yp*sini*cosom*doti;
|
|---|
| 516 |
|
|---|
| 517 | vv[2] = sini *doty + yp*cosi *doti;
|
|---|
| 518 |
|
|---|
| 519 | // Relativistic Correction
|
|---|
| 520 | // -----------------------
|
|---|
| 521 | // xc(4) -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
|
|---|
| 522 | xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
|
|---|
| 523 | }
|
|---|
| 524 |
|
|---|
| 525 | // Constructor
|
|---|
| 526 | //////////////////////////////////////////////////////////////////////////////
|
|---|
| 527 | t_ephGPS::t_ephGPS(float rnxVersion, const QStringList& lines) {
|
|---|
| 528 |
|
|---|
| 529 | const int nLines = 8;
|
|---|
| 530 |
|
|---|
| 531 | _ok = false;
|
|---|
| 532 |
|
|---|
| 533 | if (lines.size() != nLines) {
|
|---|
| 534 | return;
|
|---|
| 535 | }
|
|---|
| 536 |
|
|---|
| 537 | // RINEX Format
|
|---|
| 538 | // ------------
|
|---|
| 539 | int fieldLen = 19;
|
|---|
| 540 |
|
|---|
| 541 | int pos[4];
|
|---|
| 542 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
|---|
| 543 | pos[1] = pos[0] + fieldLen;
|
|---|
| 544 | pos[2] = pos[1] + fieldLen;
|
|---|
| 545 | pos[3] = pos[2] + fieldLen;
|
|---|
| 546 |
|
|---|
| 547 | // Read eight lines
|
|---|
| 548 | // ----------------
|
|---|
| 549 | for (int iLine = 0; iLine < nLines; iLine++) {
|
|---|
| 550 | QString line = lines[iLine];
|
|---|
| 551 |
|
|---|
| 552 | if ( iLine == 0 ) {
|
|---|
| 553 | QTextStream in(line.left(pos[1]).toAscii());
|
|---|
| 554 |
|
|---|
| 555 | int year, month, day, hour, min;
|
|---|
| 556 | double sec;
|
|---|
| 557 |
|
|---|
| 558 | QString prnStr;
|
|---|
| 559 | in >> prnStr >> year >> month >> day >> hour >> min >> sec;
|
|---|
| 560 | if (prnStr.at(0) == 'G') {
|
|---|
| 561 | _prn.set('G', prnStr.mid(1).toInt());
|
|---|
| 562 | }
|
|---|
| 563 | else {
|
|---|
| 564 | _prn.set('G', prnStr.toInt());
|
|---|
| 565 | }
|
|---|
| 566 |
|
|---|
| 567 | if (year < 80) {
|
|---|
| 568 | year += 2000;
|
|---|
| 569 | }
|
|---|
| 570 | else if (year < 100) {
|
|---|
| 571 | year += 1900;
|
|---|
| 572 | }
|
|---|
| 573 |
|
|---|
| 574 | _TOC.set(year, month, day, hour, min, sec);
|
|---|
| 575 |
|
|---|
| 576 | if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
|
|---|
| 577 | readDbl(line, pos[2], fieldLen, _clock_drift ) ||
|
|---|
| 578 | readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
|
|---|
| 579 | return;
|
|---|
| 580 | }
|
|---|
| 581 | }
|
|---|
| 582 |
|
|---|
| 583 | else if ( iLine == 1 ) {
|
|---|
| 584 | if ( readDbl(line, pos[0], fieldLen, _IODE ) ||
|
|---|
| 585 | readDbl(line, pos[1], fieldLen, _Crs ) ||
|
|---|
| 586 | readDbl(line, pos[2], fieldLen, _Delta_n) ||
|
|---|
| 587 | readDbl(line, pos[3], fieldLen, _M0 ) ) {
|
|---|
| 588 | return;
|
|---|
| 589 | }
|
|---|
| 590 | }
|
|---|
| 591 |
|
|---|
| 592 | else if ( iLine == 2 ) {
|
|---|
| 593 | if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
|
|---|
| 594 | readDbl(line, pos[1], fieldLen, _e ) ||
|
|---|
| 595 | readDbl(line, pos[2], fieldLen, _Cus ) ||
|
|---|
| 596 | readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
|
|---|
| 597 | return;
|
|---|
| 598 | }
|
|---|
| 599 | }
|
|---|
| 600 |
|
|---|
| 601 | else if ( iLine == 3 ) {
|
|---|
| 602 | if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
|
|---|
| 603 | readDbl(line, pos[1], fieldLen, _Cic ) ||
|
|---|
| 604 | readDbl(line, pos[2], fieldLen, _OMEGA0) ||
|
|---|
| 605 | readDbl(line, pos[3], fieldLen, _Cis ) ) {
|
|---|
| 606 | return;
|
|---|
| 607 | }
|
|---|
| 608 | }
|
|---|
| 609 |
|
|---|
| 610 | else if ( iLine == 4 ) {
|
|---|
| 611 | if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
|
|---|
| 612 | readDbl(line, pos[1], fieldLen, _Crc ) ||
|
|---|
| 613 | readDbl(line, pos[2], fieldLen, _omega ) ||
|
|---|
| 614 | readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
|
|---|
| 615 | return;
|
|---|
| 616 | }
|
|---|
| 617 | }
|
|---|
| 618 |
|
|---|
| 619 | else if ( iLine == 5 ) {
|
|---|
| 620 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
|
|---|
| 621 | readDbl(line, pos[1], fieldLen, _L2Codes) ||
|
|---|
| 622 | readDbl(line, pos[2], fieldLen, _TOEweek ) ||
|
|---|
| 623 | readDbl(line, pos[3], fieldLen, _L2PFlag) ) {
|
|---|
| 624 | return;
|
|---|
| 625 | }
|
|---|
| 626 | }
|
|---|
| 627 |
|
|---|
| 628 | else if ( iLine == 6 ) {
|
|---|
| 629 | if ( readDbl(line, pos[0], fieldLen, _ura ) ||
|
|---|
| 630 | readDbl(line, pos[1], fieldLen, _health) ||
|
|---|
| 631 | readDbl(line, pos[2], fieldLen, _TGD ) ||
|
|---|
| 632 | readDbl(line, pos[3], fieldLen, _IODC ) ) {
|
|---|
| 633 | return;
|
|---|
| 634 | }
|
|---|
| 635 | }
|
|---|
| 636 |
|
|---|
| 637 | else if ( iLine == 7 ) {
|
|---|
| 638 | if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
|
|---|
| 639 | return;
|
|---|
| 640 | }
|
|---|
| 641 | readDbl(line, pos[1], fieldLen, _fitInterval); // _fitInterval optional
|
|---|
| 642 | }
|
|---|
| 643 | }
|
|---|
| 644 |
|
|---|
| 645 | _ok = true;
|
|---|
| 646 | }
|
|---|
| 647 |
|
|---|
| 648 | // Constructor
|
|---|
| 649 | //////////////////////////////////////////////////////////////////////////////
|
|---|
| 650 | t_ephGlo::t_ephGlo(float rnxVersion, const QStringList& lines) {
|
|---|
| 651 |
|
|---|
| 652 | const int nLines = 4;
|
|---|
| 653 |
|
|---|
| 654 | _ok = false;
|
|---|
| 655 |
|
|---|
| 656 | if (lines.size() != nLines) {
|
|---|
| 657 | return;
|
|---|
| 658 | }
|
|---|
| 659 |
|
|---|
| 660 | // RINEX Format
|
|---|
| 661 | // ------------
|
|---|
| 662 | int fieldLen = 19;
|
|---|
| 663 |
|
|---|
| 664 | int pos[4];
|
|---|
| 665 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
|---|
| 666 | pos[1] = pos[0] + fieldLen;
|
|---|
| 667 | pos[2] = pos[1] + fieldLen;
|
|---|
| 668 | pos[3] = pos[2] + fieldLen;
|
|---|
| 669 |
|
|---|
| 670 | // Read four lines
|
|---|
| 671 | // ---------------
|
|---|
| 672 | for (int iLine = 0; iLine < nLines; iLine++) {
|
|---|
| 673 | QString line = lines[iLine];
|
|---|
| 674 |
|
|---|
| 675 | if ( iLine == 0 ) {
|
|---|
| 676 | QTextStream in(line.left(pos[1]).toAscii());
|
|---|
| 677 |
|
|---|
| 678 | int year, month, day, hour, min;
|
|---|
| 679 | double sec;
|
|---|
| 680 |
|
|---|
| 681 | QString prnStr;
|
|---|
| 682 | in >> prnStr >> year >> month >> day >> hour >> min >> sec;
|
|---|
| 683 | if (prnStr.at(0) == 'R') {
|
|---|
| 684 | _prn.set('R', prnStr.mid(1).toInt());
|
|---|
| 685 | }
|
|---|
| 686 | else {
|
|---|
| 687 | _prn.set('R', prnStr.toInt());
|
|---|
| 688 | }
|
|---|
| 689 |
|
|---|
| 690 | if (year < 80) {
|
|---|
| 691 | year += 2000;
|
|---|
| 692 | }
|
|---|
| 693 | else if (year < 100) {
|
|---|
| 694 | year += 1900;
|
|---|
| 695 | }
|
|---|
| 696 |
|
|---|
| 697 | _gps_utc = gnumleap(year, month, day);
|
|---|
| 698 |
|
|---|
| 699 | _TOC.set(year, month, day, hour, min, sec);
|
|---|
| 700 | _TOC = _TOC + _gps_utc;
|
|---|
| 701 |
|
|---|
| 702 | if ( readDbl(line, pos[1], fieldLen, _tau ) ||
|
|---|
| 703 | readDbl(line, pos[2], fieldLen, _gamma) ||
|
|---|
| 704 | readDbl(line, pos[3], fieldLen, _tki ) ) {
|
|---|
| 705 | return;
|
|---|
| 706 | }
|
|---|
| 707 |
|
|---|
| 708 | _tau = -_tau;
|
|---|
| 709 | }
|
|---|
| 710 |
|
|---|
| 711 | else if ( iLine == 1 ) {
|
|---|
| 712 | if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
|
|---|
| 713 | readDbl(line, pos[1], fieldLen, _x_velocity ) ||
|
|---|
| 714 | readDbl(line, pos[2], fieldLen, _x_acceleration) ||
|
|---|
| 715 | readDbl(line, pos[3], fieldLen, _health ) ) {
|
|---|
| 716 | return;
|
|---|
| 717 | }
|
|---|
| 718 | }
|
|---|
| 719 |
|
|---|
| 720 | else if ( iLine == 2 ) {
|
|---|
| 721 | if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
|
|---|
| 722 | readDbl(line, pos[1], fieldLen, _y_velocity ) ||
|
|---|
| 723 | readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
|
|---|
| 724 | readDbl(line, pos[3], fieldLen, _frequency_number) ) {
|
|---|
| 725 | return;
|
|---|
| 726 | }
|
|---|
| 727 | }
|
|---|
| 728 |
|
|---|
| 729 | else if ( iLine == 3 ) {
|
|---|
| 730 | if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
|
|---|
| 731 | readDbl(line, pos[1], fieldLen, _z_velocity ) ||
|
|---|
| 732 | readDbl(line, pos[2], fieldLen, _z_acceleration) ||
|
|---|
| 733 | readDbl(line, pos[3], fieldLen, _E ) ) {
|
|---|
| 734 | return;
|
|---|
| 735 | }
|
|---|
| 736 | }
|
|---|
| 737 | }
|
|---|
| 738 |
|
|---|
| 739 | // Initialize status vector
|
|---|
| 740 | // ------------------------
|
|---|
| 741 | _tt = _TOC;
|
|---|
| 742 | _xv.ReSize(6);
|
|---|
| 743 | _xv(1) = _x_pos * 1.e3;
|
|---|
| 744 | _xv(2) = _y_pos * 1.e3;
|
|---|
| 745 | _xv(3) = _z_pos * 1.e3;
|
|---|
| 746 | _xv(4) = _x_velocity * 1.e3;
|
|---|
| 747 | _xv(5) = _y_velocity * 1.e3;
|
|---|
| 748 | _xv(6) = _z_velocity * 1.e3;
|
|---|
| 749 |
|
|---|
| 750 | _ok = true;
|
|---|
| 751 | }
|
|---|
| 752 |
|
|---|
| 753 | // Constructor
|
|---|
| 754 | //////////////////////////////////////////////////////////////////////////////
|
|---|
| 755 | t_ephGal::t_ephGal(float rnxVersion, const QStringList& lines) {
|
|---|
| 756 |
|
|---|
| 757 | const int nLines = 8;
|
|---|
| 758 |
|
|---|
| 759 | _ok = false;
|
|---|
| 760 |
|
|---|
| 761 | if (lines.size() != nLines) {
|
|---|
| 762 | return;
|
|---|
| 763 | }
|
|---|
| 764 |
|
|---|
| 765 | // RINEX Format
|
|---|
| 766 | // ------------
|
|---|
| 767 | int fieldLen = 19;
|
|---|
| 768 |
|
|---|
| 769 | int pos[4];
|
|---|
| 770 | pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
|
|---|
| 771 | pos[1] = pos[0] + fieldLen;
|
|---|
| 772 | pos[2] = pos[1] + fieldLen;
|
|---|
| 773 | pos[3] = pos[2] + fieldLen;
|
|---|
| 774 |
|
|---|
| 775 | // Read eight lines
|
|---|
| 776 | // ----------------
|
|---|
| 777 | for (int iLine = 0; iLine < nLines; iLine++) {
|
|---|
| 778 | QString line = lines[iLine];
|
|---|
| 779 |
|
|---|
| 780 | if ( iLine == 0 ) {
|
|---|
| 781 | QTextStream in(line.left(pos[1]).toAscii());
|
|---|
| 782 |
|
|---|
| 783 | int year, month, day, hour, min;
|
|---|
| 784 | double sec;
|
|---|
| 785 |
|
|---|
| 786 | QString prnStr;
|
|---|
| 787 | in >> prnStr >> year >> month >> day >> hour >> min >> sec;
|
|---|
| 788 | if (prnStr.at(0) == 'E') {
|
|---|
| 789 | _prn.set('E', prnStr.mid(1).toInt());
|
|---|
| 790 | }
|
|---|
| 791 | else {
|
|---|
| 792 | _prn.set('E', prnStr.toInt());
|
|---|
| 793 | }
|
|---|
| 794 |
|
|---|
| 795 | if (year < 80) {
|
|---|
| 796 | year += 2000;
|
|---|
| 797 | }
|
|---|
| 798 | else if (year < 100) {
|
|---|
| 799 | year += 1900;
|
|---|
| 800 | }
|
|---|
| 801 |
|
|---|
| 802 | _TOC.set(year, month, day, hour, min, sec);
|
|---|
| 803 |
|
|---|
| 804 | if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
|
|---|
| 805 | readDbl(line, pos[2], fieldLen, _clock_drift ) ||
|
|---|
| 806 | readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
|
|---|
| 807 | return;
|
|---|
| 808 | }
|
|---|
| 809 | }
|
|---|
| 810 |
|
|---|
| 811 | else if ( iLine == 1 ) {
|
|---|
| 812 | if ( readDbl(line, pos[0], fieldLen, _IODnav ) ||
|
|---|
| 813 | readDbl(line, pos[1], fieldLen, _Crs ) ||
|
|---|
| 814 | readDbl(line, pos[2], fieldLen, _Delta_n) ||
|
|---|
| 815 | readDbl(line, pos[3], fieldLen, _M0 ) ) {
|
|---|
| 816 | return;
|
|---|
| 817 | }
|
|---|
| 818 | }
|
|---|
| 819 |
|
|---|
| 820 | else if ( iLine == 2 ) {
|
|---|
| 821 | if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
|
|---|
| 822 | readDbl(line, pos[1], fieldLen, _e ) ||
|
|---|
| 823 | readDbl(line, pos[2], fieldLen, _Cus ) ||
|
|---|
| 824 | readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
|
|---|
| 825 | return;
|
|---|
| 826 | }
|
|---|
| 827 | }
|
|---|
| 828 |
|
|---|
| 829 | else if ( iLine == 3 ) {
|
|---|
| 830 | if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
|
|---|
| 831 | readDbl(line, pos[1], fieldLen, _Cic ) ||
|
|---|
| 832 | readDbl(line, pos[2], fieldLen, _OMEGA0) ||
|
|---|
| 833 | readDbl(line, pos[3], fieldLen, _Cis ) ) {
|
|---|
| 834 | return;
|
|---|
| 835 | }
|
|---|
| 836 | }
|
|---|
| 837 |
|
|---|
| 838 | else if ( iLine == 4 ) {
|
|---|
| 839 | if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
|
|---|
| 840 | readDbl(line, pos[1], fieldLen, _Crc ) ||
|
|---|
| 841 | readDbl(line, pos[2], fieldLen, _omega ) ||
|
|---|
| 842 | readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
|
|---|
| 843 | return;
|
|---|
| 844 | }
|
|---|
| 845 | }
|
|---|
| 846 |
|
|---|
| 847 | else if ( iLine == 5 ) {
|
|---|
| 848 | if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
|
|---|
| 849 | readDbl(line, pos[2], fieldLen, _TOEweek) ) {
|
|---|
| 850 | return;
|
|---|
| 851 | }
|
|---|
| 852 | }
|
|---|
| 853 |
|
|---|
| 854 | else if ( iLine == 6 ) {
|
|---|
| 855 | if ( readDbl(line, pos[0], fieldLen, _SISA ) ||
|
|---|
| 856 | readDbl(line, pos[1], fieldLen, _E5aHS ) ||
|
|---|
| 857 | readDbl(line, pos[2], fieldLen, _BGD_1_5A) ||
|
|---|
| 858 | readDbl(line, pos[3], fieldLen, _BGD_1_5B) ) {
|
|---|
| 859 | return;
|
|---|
| 860 | }
|
|---|
| 861 | }
|
|---|
| 862 |
|
|---|
| 863 | else if ( iLine == 7 ) {
|
|---|
| 864 | if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
|
|---|
| 865 | return;
|
|---|
| 866 | }
|
|---|
| 867 | }
|
|---|
| 868 | }
|
|---|
| 869 |
|
|---|
| 870 | _ok = true;
|
|---|
| 871 | }
|
|---|
| 872 |
|
|---|
| 873 | //
|
|---|
| 874 | //////////////////////////////////////////////////////////////////////////////
|
|---|
| 875 | QString t_eph::rinexDateStr(const bncTime& tt, const t_prn& prn, double version) {
|
|---|
| 876 | QString prnStr(prn.toString().c_str());
|
|---|
| 877 | return rinexDateStr(tt, prnStr, version);
|
|---|
| 878 | }
|
|---|
| 879 |
|
|---|
| 880 | //
|
|---|
| 881 | //////////////////////////////////////////////////////////////////////////////
|
|---|
| 882 | QString t_eph::rinexDateStr(const bncTime& tt, const QString& prnStr, double version) {
|
|---|
| 883 |
|
|---|
| 884 | QString datStr;
|
|---|
| 885 |
|
|---|
| 886 | unsigned year, month, day, hour, min;
|
|---|
| 887 | double sec;
|
|---|
| 888 | tt.civil_date(year, month, day);
|
|---|
| 889 | tt.civil_time(hour, min, sec);
|
|---|
| 890 |
|
|---|
| 891 | QTextStream out(&datStr);
|
|---|
| 892 |
|
|---|
| 893 | if (version < 3.0) {
|
|---|
| 894 | QString prnHlp = prnStr.mid(1,2); if (prnHlp[0] == '0') prnHlp[0] = ' ';
|
|---|
| 895 | out << prnHlp << QString(" %1 %2 %3 %4 %5%6")
|
|---|
| 896 | .arg(year % 100, 2, 10, QChar('0'))
|
|---|
| 897 | .arg(month, 2)
|
|---|
| 898 | .arg(day, 2)
|
|---|
| 899 | .arg(hour, 2)
|
|---|
| 900 | .arg(min, 2)
|
|---|
| 901 | .arg(sec, 5, 'f',1);
|
|---|
| 902 | }
|
|---|
| 903 | else {
|
|---|
| 904 | out << prnStr << QString(" %1 %2 %3 %4 %5 %6")
|
|---|
| 905 | .arg(year, 4)
|
|---|
| 906 | .arg(month, 2, 10, QChar('0'))
|
|---|
| 907 | .arg(day, 2, 10, QChar('0'))
|
|---|
| 908 | .arg(hour, 2, 10, QChar('0'))
|
|---|
| 909 | .arg(min, 2, 10, QChar('0'))
|
|---|
| 910 | .arg(int(sec), 2, 10, QChar('0'));
|
|---|
| 911 | }
|
|---|
| 912 |
|
|---|
| 913 | return datStr;
|
|---|
| 914 | }
|
|---|
| 915 |
|
|---|
| 916 | // RINEX Format String
|
|---|
| 917 | //////////////////////////////////////////////////////////////////////////////
|
|---|
| 918 | QString t_ephGPS::toString(double version) const {
|
|---|
| 919 |
|
|---|
| 920 | QString rnxStr = rinexDateStr(_TOC, _prn, version);
|
|---|
| 921 |
|
|---|
| 922 | QTextStream out(&rnxStr);
|
|---|
| 923 |
|
|---|
| 924 | out << QString("%1%2%3\n")
|
|---|
| 925 | .arg(_clock_bias, 19, 'e', 12)
|
|---|
| 926 | .arg(_clock_drift, 19, 'e', 12)
|
|---|
| 927 | .arg(_clock_driftrate, 19, 'e', 12);
|
|---|
| 928 |
|
|---|
| 929 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
|---|
| 930 |
|
|---|
| 931 | out << QString(fmt)
|
|---|
| 932 | .arg(_IODE, 19, 'e', 12)
|
|---|
| 933 | .arg(_Crs, 19, 'e', 12)
|
|---|
| 934 | .arg(_Delta_n, 19, 'e', 12)
|
|---|
| 935 | .arg(_M0, 19, 'e', 12);
|
|---|
| 936 |
|
|---|
| 937 | out << QString(fmt)
|
|---|
| 938 | .arg(_Cuc, 19, 'e', 12)
|
|---|
| 939 | .arg(_e, 19, 'e', 12)
|
|---|
| 940 | .arg(_Cus, 19, 'e', 12)
|
|---|
| 941 | .arg(_sqrt_A, 19, 'e', 12);
|
|---|
| 942 |
|
|---|
| 943 | out << QString(fmt)
|
|---|
| 944 | .arg(_TOEsec, 19, 'e', 12)
|
|---|
| 945 | .arg(_Cic, 19, 'e', 12)
|
|---|
| 946 | .arg(_OMEGA0, 19, 'e', 12)
|
|---|
| 947 | .arg(_Cis, 19, 'e', 12);
|
|---|
| 948 |
|
|---|
| 949 | out << QString(fmt)
|
|---|
| 950 | .arg(_i0, 19, 'e', 12)
|
|---|
| 951 | .arg(_Crc, 19, 'e', 12)
|
|---|
| 952 | .arg(_omega, 19, 'e', 12)
|
|---|
| 953 | .arg(_OMEGADOT, 19, 'e', 12);
|
|---|
| 954 |
|
|---|
| 955 | out << QString(fmt)
|
|---|
| 956 | .arg(_IDOT, 19, 'e', 12)
|
|---|
| 957 | .arg(_L2Codes, 19, 'e', 12)
|
|---|
| 958 | .arg(_TOEweek, 19, 'e', 12)
|
|---|
| 959 | .arg(_L2PFlag, 19, 'e', 12);
|
|---|
| 960 |
|
|---|
| 961 | out << QString(fmt)
|
|---|
| 962 | .arg(_ura, 19, 'e', 12)
|
|---|
| 963 | .arg(_health, 19, 'e', 12)
|
|---|
| 964 | .arg(_TGD, 19, 'e', 12)
|
|---|
| 965 | .arg(_IODC, 19, 'e', 12);
|
|---|
| 966 |
|
|---|
| 967 | out << QString(fmt)
|
|---|
| 968 | .arg(_TOT, 19, 'e', 12)
|
|---|
| 969 | .arg(_fitInterval, 19, 'e', 12)
|
|---|
| 970 | .arg("", 19, QChar(' '))
|
|---|
| 971 | .arg("", 19, QChar(' '));
|
|---|
| 972 |
|
|---|
| 973 | return rnxStr;
|
|---|
| 974 | }
|
|---|
| 975 |
|
|---|
| 976 | // RINEX Format String
|
|---|
| 977 | //////////////////////////////////////////////////////////////////////////////
|
|---|
| 978 | QString t_ephGlo::toString(double version) const {
|
|---|
| 979 |
|
|---|
| 980 | QString rnxStr = rinexDateStr(_TOC-_gps_utc, _prn, version);
|
|---|
| 981 |
|
|---|
| 982 | QTextStream out(&rnxStr);
|
|---|
| 983 |
|
|---|
| 984 | out << QString("%1%2%3\n")
|
|---|
| 985 | .arg(-_tau, 19, 'e', 12)
|
|---|
| 986 | .arg(_gamma, 19, 'e', 12)
|
|---|
| 987 | .arg(_tki, 19, 'e', 12);
|
|---|
| 988 |
|
|---|
| 989 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
|---|
| 990 |
|
|---|
| 991 | out << QString(fmt)
|
|---|
| 992 | .arg(_x_pos, 19, 'e', 12)
|
|---|
| 993 | .arg(_x_velocity, 19, 'e', 12)
|
|---|
| 994 | .arg(_x_acceleration, 19, 'e', 12)
|
|---|
| 995 | .arg(_health, 19, 'e', 12);
|
|---|
| 996 |
|
|---|
| 997 | out << QString(fmt)
|
|---|
| 998 | .arg(_y_pos, 19, 'e', 12)
|
|---|
| 999 | .arg(_y_velocity, 19, 'e', 12)
|
|---|
| 1000 | .arg(_y_acceleration, 19, 'e', 12)
|
|---|
| 1001 | .arg(_frequency_number, 19, 'e', 12);
|
|---|
| 1002 |
|
|---|
| 1003 | out << QString(fmt)
|
|---|
| 1004 | .arg(_z_pos, 19, 'e', 12)
|
|---|
| 1005 | .arg(_z_velocity, 19, 'e', 12)
|
|---|
| 1006 | .arg(_z_acceleration, 19, 'e', 12)
|
|---|
| 1007 | .arg(_E, 19, 'e', 12);
|
|---|
| 1008 |
|
|---|
| 1009 | return rnxStr;
|
|---|
| 1010 | }
|
|---|
| 1011 |
|
|---|
| 1012 | // RINEX Format String
|
|---|
| 1013 | //////////////////////////////////////////////////////////////////////////////
|
|---|
| 1014 | QString t_ephGal::toString(double version) const {
|
|---|
| 1015 |
|
|---|
| 1016 | QString rnxStr = rinexDateStr(_TOC, _prn, version);
|
|---|
| 1017 |
|
|---|
| 1018 | QTextStream out(&rnxStr);
|
|---|
| 1019 |
|
|---|
| 1020 | out << QString("%1%2%3\n")
|
|---|
| 1021 | .arg(_clock_bias, 19, 'e', 12)
|
|---|
| 1022 | .arg(_clock_drift, 19, 'e', 12)
|
|---|
| 1023 | .arg(_clock_driftrate, 19, 'e', 12);
|
|---|
| 1024 |
|
|---|
| 1025 | QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
|
|---|
| 1026 |
|
|---|
| 1027 | out << QString(fmt)
|
|---|
| 1028 | .arg(_IODnav, 19, 'e', 12)
|
|---|
| 1029 | .arg(_Crs, 19, 'e', 12)
|
|---|
| 1030 | .arg(_Delta_n, 19, 'e', 12)
|
|---|
| 1031 | .arg(_M0, 19, 'e', 12);
|
|---|
| 1032 |
|
|---|
| 1033 | out << QString(fmt)
|
|---|
| 1034 | .arg(_Cuc, 19, 'e', 12)
|
|---|
| 1035 | .arg(_e, 19, 'e', 12)
|
|---|
| 1036 | .arg(_Cus, 19, 'e', 12)
|
|---|
| 1037 | .arg(_sqrt_A, 19, 'e', 12);
|
|---|
| 1038 |
|
|---|
| 1039 | out << QString(fmt)
|
|---|
| 1040 | .arg(_TOEsec, 19, 'e', 12)
|
|---|
| 1041 | .arg(_Cic, 19, 'e', 12)
|
|---|
| 1042 | .arg(_OMEGA0, 19, 'e', 12)
|
|---|
| 1043 | .arg(_Cis, 19, 'e', 12);
|
|---|
| 1044 |
|
|---|
| 1045 | out << QString(fmt)
|
|---|
| 1046 | .arg(_i0, 19, 'e', 12)
|
|---|
| 1047 | .arg(_Crc, 19, 'e', 12)
|
|---|
| 1048 | .arg(_omega, 19, 'e', 12)
|
|---|
| 1049 | .arg(_OMEGADOT, 19, 'e', 12);
|
|---|
| 1050 |
|
|---|
| 1051 | int dataSource = 0;
|
|---|
| 1052 | double HS = 0.0;
|
|---|
| 1053 | if ( (_flags & GALEPHF_INAV) == GALEPHF_INAV ) {
|
|---|
| 1054 | dataSource |= (1<<0);
|
|---|
| 1055 | dataSource |= (1<<9);
|
|---|
| 1056 | HS = _E5bHS;
|
|---|
| 1057 | }
|
|---|
| 1058 | else if ( (_flags & GALEPHF_FNAV) == GALEPHF_FNAV ) {
|
|---|
| 1059 | dataSource |= (1<<1);
|
|---|
| 1060 | dataSource |= (1<<8);
|
|---|
| 1061 | HS = _E5aHS;
|
|---|
| 1062 | }
|
|---|
| 1063 | out << QString(fmt)
|
|---|
| 1064 | .arg(_IDOT, 19, 'e', 12)
|
|---|
| 1065 | .arg(double(dataSource), 19, 'e', 12)
|
|---|
| 1066 | .arg(_TOEweek, 19, 'e', 12)
|
|---|
| 1067 | .arg(0.0, 19, 'e', 12);
|
|---|
| 1068 |
|
|---|
| 1069 | out << QString(fmt)
|
|---|
| 1070 | .arg(_SISA, 19, 'e', 12)
|
|---|
| 1071 | .arg(HS, 19, 'e', 12)
|
|---|
| 1072 | .arg(_BGD_1_5A, 19, 'e', 12)
|
|---|
| 1073 | .arg(_BGD_1_5B, 19, 'e', 12);
|
|---|
| 1074 |
|
|---|
| 1075 | out << QString(fmt)
|
|---|
| 1076 | .arg(_TOT, 19, 'e', 12)
|
|---|
| 1077 | .arg("", 19, QChar(' '))
|
|---|
| 1078 | .arg("", 19, QChar(' '))
|
|---|
| 1079 | .arg("", 19, QChar(' '));
|
|---|
| 1080 |
|
|---|
| 1081 | return rnxStr;
|
|---|
| 1082 | }
|
|---|
| 1083 |
|
|---|
