source: ntrip/trunk/BNC/src/ephemeris.cpp@ 8541

Last change on this file since 8541 was 8489, checked in by stuerze, 6 years ago

minor changes

File size: 47.4 KB
Line 
1#include <sstream>
2#include <iostream>
3#include <iomanip>
4#include <cstring>
5
6#include <newmatio.h>
7
8#include "ephemeris.h"
9#include "bncutils.h"
10#include "bnctime.h"
11#include "bnccore.h"
12#include "bncutils.h"
13#include "satObs.h"
14#include "pppInclude.h"
15#include "pppModel.h"
16
17using namespace std;
18
19// Constructor
20////////////////////////////////////////////////////////////////////////////
21t_eph::t_eph() {
22 _checkState = unchecked;
23 _orbCorr = 0;
24 _clkCorr = 0;
25}
26// Destructor
27////////////////////////////////////////////////////////////////////////////
28t_eph::~t_eph() {
29 if (_orbCorr)
30 delete _orbCorr;
31 if (_clkCorr)
32 delete _clkCorr;
33}
34
35//
36////////////////////////////////////////////////////////////////////////////
37void t_eph::setOrbCorr(const t_orbCorr* orbCorr) {
38 if (_orbCorr) {
39 delete _orbCorr;
40 _orbCorr = 0;
41 }
42 _orbCorr = new t_orbCorr(*orbCorr);
43}
44
45//
46////////////////////////////////////////////////////////////////////////////
47void t_eph::setClkCorr(const t_clkCorr* clkCorr) {
48 if (_clkCorr) {
49 delete _clkCorr;
50 _clkCorr = 0;
51 }
52 _clkCorr = new t_clkCorr(*clkCorr);
53}
54
55//
56////////////////////////////////////////////////////////////////////////////
57t_irc t_eph::getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const {
58
59 if (_checkState == bad ||
60 _checkState == unhealthy) {
61 return failure;
62 }
63 const QVector<int> updateInt = QVector<int>() << 1 << 2 << 5 << 10 << 15 << 30
64 << 60 << 120 << 240 << 300 << 600
65 << 900 << 1800 << 3600 << 7200
66 << 10800;
67 xc.ReSize(7);
68 vv.ReSize(3);
69 if (position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data()) != success) {
70 return failure;
71 }
72 if (useCorr) {
73 if (_orbCorr && _clkCorr) {
74 double dtO = tt - _orbCorr->_time;
75 if (_orbCorr->_updateInt) {
76 dtO -= (0.5 * updateInt[_orbCorr->_updateInt]);
77 }
78 ColumnVector dx(3);
79 dx[0] = _orbCorr->_xr[0] + _orbCorr->_dotXr[0] * dtO;
80 dx[1] = _orbCorr->_xr[1] + _orbCorr->_dotXr[1] * dtO;
81 dx[2] = _orbCorr->_xr[2] + _orbCorr->_dotXr[2] * dtO;
82
83 RSW_to_XYZ(xc.Rows(1,3), vv.Rows(1,3), dx, dx);
84
85 xc[0] -= dx[0];
86 xc[1] -= dx[1];
87 xc[2] -= dx[2];
88
89 ColumnVector dv(3);
90 RSW_to_XYZ(xc.Rows(1,3), vv.Rows(1,3), _orbCorr->_dotXr, dv);
91
92 vv[0] -= dv[0];
93 vv[1] -= dv[1];
94 vv[2] -= dv[2];
95
96 double dtC = tt - _clkCorr->_time;
97 if (_clkCorr->_updateInt) {
98 dtC -= (0.5 * updateInt[_clkCorr->_updateInt]);
99 }
100 xc[3] += _clkCorr->_dClk + _clkCorr->_dotDClk * dtC + _clkCorr->_dotDotDClk * dtC * dtC;
101 }
102 else {
103 return failure;
104 }
105 }
106 return success;
107}
108
109//
110//////////////////////////////////////////////////////////////////////////////
111QString t_eph::rinexDateStr(const bncTime& tt, const t_prn& prn, double version) {
112 QString prnStr(prn.toString().c_str());
113 return rinexDateStr(tt, prnStr, version);
114}
115
116//
117//////////////////////////////////////////////////////////////////////////////
118QString t_eph::rinexDateStr(const bncTime& tt, const QString& prnStr, double version) {
119
120 QString datStr;
121
122 unsigned year, month, day, hour, min;
123 double sec;
124 tt.civil_date(year, month, day);
125 tt.civil_time(hour, min, sec);
126
127 QTextStream out(&datStr);
128
129 if (version < 3.0) {
130 QString prnHlp = prnStr.mid(1,2); if (prnHlp[0] == '0') prnHlp[0] = ' ';
131 out << prnHlp << QString(" %1 %2 %3 %4 %5%6")
132 .arg(year % 100, 2, 10, QChar('0'))
133 .arg(month, 2)
134 .arg(day, 2)
135 .arg(hour, 2)
136 .arg(min, 2)
137 .arg(sec, 5, 'f',1);
138 }
139 else {
140 out << prnStr << QString(" %1 %2 %3 %4 %5 %6")
141 .arg(year, 4)
142 .arg(month, 2, 10, QChar('0'))
143 .arg(day, 2, 10, QChar('0'))
144 .arg(hour, 2, 10, QChar('0'))
145 .arg(min, 2, 10, QChar('0'))
146 .arg(int(sec), 2, 10, QChar('0'));
147 }
148
149 return datStr;
150}
151
152// Constructor
153//////////////////////////////////////////////////////////////////////////////
154t_ephGPS::t_ephGPS(float rnxVersion, const QStringList& lines) {
155
156 const int nLines = 8;
157
158 if (lines.size() != nLines) {
159 _checkState = bad;
160 return;
161 }
162
163 // RINEX Format
164 // ------------
165 int fieldLen = 19;
166
167 int pos[4];
168 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
169 pos[1] = pos[0] + fieldLen;
170 pos[2] = pos[1] + fieldLen;
171 pos[3] = pos[2] + fieldLen;
172
173 // Read eight lines
174 // ----------------
175 for (int iLine = 0; iLine < nLines; iLine++) {
176 QString line = lines[iLine];
177
178 if ( iLine == 0 ) {
179 QTextStream in(line.left(pos[1]).toLatin1());
180 int year, month, day, hour, min;
181 double sec;
182
183 QString prnStr, n;
184 in >> prnStr;
185
186 if (prnStr.size() == 1 &&
187 (prnStr[0] == 'G' ||
188 prnStr[0] == 'J' ||
189 prnStr[0] == 'I')) {
190 in >> n;
191 prnStr.append(n);
192 }
193
194 in >> year >> month >> day >> hour >> min >> sec;
195 if (prnStr.at(0) == 'G') {
196 _prn.set('G', prnStr.mid(1).toInt());
197 }
198 else if (prnStr.at(0) == 'J') {
199 _prn.set('J', prnStr.mid(1).toInt());
200 }
201 else if (prnStr.at(0) == 'I') {
202 _prn.set('I', prnStr.mid(1).toInt());
203 }
204 else {
205 _prn.set('G', prnStr.toInt());
206 }
207
208 if (year < 80) {
209 year += 2000;
210 }
211 else if (year < 100) {
212 year += 1900;
213 }
214
215 _TOC.set(year, month, day, hour, min, sec);
216
217 if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
218 readDbl(line, pos[2], fieldLen, _clock_drift ) ||
219 readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
220 _checkState = bad;
221 return;
222 }
223 }
224
225 else if ( iLine == 1 ) {
226 if ( readDbl(line, pos[0], fieldLen, _IODE ) ||
227 readDbl(line, pos[1], fieldLen, _Crs ) ||
228 readDbl(line, pos[2], fieldLen, _Delta_n) ||
229 readDbl(line, pos[3], fieldLen, _M0 ) ) {
230 _checkState = bad;
231 return;
232 }
233 }
234
235 else if ( iLine == 2 ) {
236 if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
237 readDbl(line, pos[1], fieldLen, _e ) ||
238 readDbl(line, pos[2], fieldLen, _Cus ) ||
239 readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
240 _checkState = bad;
241 return;
242 }
243 }
244
245 else if ( iLine == 3 ) {
246 if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
247 readDbl(line, pos[1], fieldLen, _Cic ) ||
248 readDbl(line, pos[2], fieldLen, _OMEGA0) ||
249 readDbl(line, pos[3], fieldLen, _Cis ) ) {
250 _checkState = bad;
251 return;
252 }
253 }
254
255 else if ( iLine == 4 ) {
256 if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
257 readDbl(line, pos[1], fieldLen, _Crc ) ||
258 readDbl(line, pos[2], fieldLen, _omega ) ||
259 readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
260 _checkState = bad;
261 return;
262 }
263 }
264
265 else if ( iLine == 5 && type() != t_eph::IRNSS) {
266 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
267 readDbl(line, pos[1], fieldLen, _L2Codes) ||
268 readDbl(line, pos[2], fieldLen, _TOEweek ) ||
269 readDbl(line, pos[3], fieldLen, _L2PFlag) ) {
270 _checkState = bad;
271 return;
272 }
273 }
274 else if ( iLine == 5 && type() == t_eph::IRNSS) {
275 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
276 readDbl(line, pos[2], fieldLen, _TOEweek) ) {
277 _checkState = bad;
278 return;
279 }
280 }
281
282 else if ( iLine == 6 && type() != t_eph::IRNSS) {
283 if ( readDbl(line, pos[0], fieldLen, _ura ) ||
284 readDbl(line, pos[1], fieldLen, _health) ||
285 readDbl(line, pos[2], fieldLen, _TGD ) ||
286 readDbl(line, pos[3], fieldLen, _IODC ) ) {
287 _checkState = bad;
288 return;
289 }
290 }
291 else if ( iLine == 6 && type() == t_eph::IRNSS) {
292 if ( readDbl(line, pos[0], fieldLen, _ura ) ||
293 readDbl(line, pos[1], fieldLen, _health) ||
294 readDbl(line, pos[2], fieldLen, _TGD ) ) {
295 _checkState = bad;
296 return;
297 }
298 }
299
300 else if ( iLine == 7 ) {
301 if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
302 _checkState = bad;
303 return;
304 }
305 readDbl(line, pos[1], fieldLen, _fitInterval); // _fitInterval optional
306 }
307 }
308}
309
310// Compute GPS Satellite Position (virtual)
311////////////////////////////////////////////////////////////////////////////
312t_irc t_ephGPS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
313
314 if (_checkState == bad ||
315 _checkState == unhealthy) {
316 return failure;
317 }
318
319 static const double omegaEarth = 7292115.1467e-11;
320 static const double gmGRS = 398.6005e12;
321
322 memset(xc, 0, 7*sizeof(double));
323 memset(vv, 0, 3*sizeof(double));
324
325 double a0 = _sqrt_A * _sqrt_A;
326 if (a0 == 0) {
327 return failure;
328 }
329
330 double n0 = sqrt(gmGRS/(a0*a0*a0));
331
332 bncTime tt(GPSweek, GPSweeks);
333 double tk = tt - bncTime(int(_TOEweek), _TOEsec);
334
335 double n = n0 + _Delta_n;
336 double M = _M0 + n*tk;
337 double E = M;
338 double E_last;
339 int nLoop = 0;
340 do {
341 E_last = E;
342 E = M + _e*sin(E);
343
344 if (++nLoop == 100) {
345 return failure;
346 }
347 } while ( fabs(E-E_last)*a0 > 0.001);
348 double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
349 double u0 = v + _omega;
350 double sin2u0 = sin(2*u0);
351 double cos2u0 = cos(2*u0);
352 double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
353 double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
354 double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
355 double xp = r*cos(u);
356 double yp = r*sin(u);
357 double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
358 omegaEarth*_TOEsec;
359
360 double sinom = sin(OM);
361 double cosom = cos(OM);
362 double sini = sin(i);
363 double cosi = cos(i);
364 xc[0] = xp*cosom - yp*cosi*sinom;
365 xc[1] = xp*sinom + yp*cosi*cosom;
366 xc[2] = yp*sini;
367
368 double tc = tt - _TOC;
369 xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
370
371 xc[4] = _clock_bias;
372 xc[5] = _clock_drift;
373 xc[6] = _clock_driftrate;
374
375 // Velocity
376 // --------
377 double tanv2 = tan(v/2);
378 double dEdM = 1 / (1 - _e*cos(E));
379 double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
380 * dEdM * n;
381 double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
382 double dotom = _OMEGADOT - omegaEarth;
383 double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
384 double dotr = a0 * _e*sin(E) * dEdM * n
385 + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
386 double dotx = dotr*cos(u) - r*sin(u)*dotu;
387 double doty = dotr*sin(u) + r*cos(u)*dotu;
388
389 vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
390 - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
391 + yp*sini*sinom*doti; // dX / di
392
393 vv[1] = sinom *dotx + cosi*cosom *doty
394 + xp*cosom*dotom - yp*cosi*sinom*dotom
395 - yp*sini*cosom*doti;
396
397 vv[2] = sini *doty + yp*cosi *doti;
398
399 // Relativistic Correction
400 // -----------------------
401 // correspondent to IGS convention and GPS ICD (and SSR standard)
402 xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
403
404 return success;
405}
406
407// RINEX Format String
408//////////////////////////////////////////////////////////////////////////////
409QString t_ephGPS::toString(double version) const {
410
411 QString rnxStr = rinexDateStr(_TOC, _prn, version);
412
413 QTextStream out(&rnxStr);
414
415 out << QString("%1%2%3\n")
416 .arg(_clock_bias, 19, 'e', 12)
417 .arg(_clock_drift, 19, 'e', 12)
418 .arg(_clock_driftrate, 19, 'e', 12);
419
420 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
421
422 out << QString(fmt)
423 .arg(_IODE, 19, 'e', 12)
424 .arg(_Crs, 19, 'e', 12)
425 .arg(_Delta_n, 19, 'e', 12)
426 .arg(_M0, 19, 'e', 12);
427
428 out << QString(fmt)
429 .arg(_Cuc, 19, 'e', 12)
430 .arg(_e, 19, 'e', 12)
431 .arg(_Cus, 19, 'e', 12)
432 .arg(_sqrt_A, 19, 'e', 12);
433
434 out << QString(fmt)
435 .arg(_TOEsec, 19, 'e', 12)
436 .arg(_Cic, 19, 'e', 12)
437 .arg(_OMEGA0, 19, 'e', 12)
438 .arg(_Cis, 19, 'e', 12);
439
440 out << QString(fmt)
441 .arg(_i0, 19, 'e', 12)
442 .arg(_Crc, 19, 'e', 12)
443 .arg(_omega, 19, 'e', 12)
444 .arg(_OMEGADOT, 19, 'e', 12);
445
446 if (type() == t_eph::IRNSS) {
447 out << QString(fmt)
448 .arg(_IDOT, 19, 'e', 12)
449 .arg("", 19, QChar(' '))
450 .arg(_TOEweek, 19, 'e', 12)
451 .arg("", 19, QChar(' '));
452 }
453 else {
454 out << QString(fmt)
455 .arg(_IDOT, 19, 'e', 12)
456 .arg(_L2Codes, 19, 'e', 12)
457 .arg(_TOEweek, 19, 'e', 12)
458 .arg(_L2PFlag, 19, 'e', 12);
459 }
460
461 if (type() == t_eph::IRNSS) {
462 out << QString(fmt)
463 .arg(_ura, 19, 'e', 12)
464 .arg(_health, 19, 'e', 12)
465 .arg(_TGD, 19, 'e', 12)
466 .arg("", 19, QChar(' '));
467 }
468 else {
469 out << QString(fmt)
470 .arg(_ura, 19, 'e', 12)
471 .arg(_health, 19, 'e', 12)
472 .arg(_TGD, 19, 'e', 12)
473 .arg(_IODC, 19, 'e', 12);
474 }
475
476 double tot = _TOT;
477 if (tot == 0.9999e9 && version < 3.0) {
478 tot = 0.0;
479 }
480 if (type() == t_eph::IRNSS) {
481 out << QString(fmt)
482 .arg(tot, 19, 'e', 12)
483 .arg("", 19, QChar(' '))
484 .arg("", 19, QChar(' '))
485 .arg("", 19, QChar(' '));
486 }
487 else {
488 out << QString(fmt)
489 .arg(tot, 19, 'e', 12)
490 .arg(_fitInterval, 19, 'e', 12)
491 .arg("", 19, QChar(' '))
492 .arg("", 19, QChar(' '));
493 }
494
495 return rnxStr;
496}
497
498// Constructor
499//////////////////////////////////////////////////////////////////////////////
500t_ephGlo::t_ephGlo(float rnxVersion, const QStringList& lines) {
501
502 const int nLines = 4;
503
504 if (lines.size() != nLines) {
505 _checkState = bad;
506 return;
507 }
508
509 // RINEX Format
510 // ------------
511 int fieldLen = 19;
512
513 int pos[4];
514 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
515 pos[1] = pos[0] + fieldLen;
516 pos[2] = pos[1] + fieldLen;
517 pos[3] = pos[2] + fieldLen;
518
519 // Read four lines
520 // ---------------
521 for (int iLine = 0; iLine < nLines; iLine++) {
522 QString line = lines[iLine];
523
524 if ( iLine == 0 ) {
525 QTextStream in(line.left(pos[1]).toLatin1());
526
527 int year, month, day, hour, min;
528 double sec;
529
530 QString prnStr, n;
531 in >> prnStr;
532 if (prnStr.size() == 1 && prnStr[0] == 'R') {
533 in >> n;
534 prnStr.append(n);
535 }
536 in >> year >> month >> day >> hour >> min >> sec;
537 if (prnStr.at(0) == 'R') {
538 _prn.set('R', prnStr.mid(1).toInt());
539 }
540 else {
541 _prn.set('R', prnStr.toInt());
542 }
543
544 if (year < 80) {
545 year += 2000;
546 }
547 else if (year < 100) {
548 year += 1900;
549 }
550
551 _gps_utc = gnumleap(year, month, day);
552
553 _TOC.set(year, month, day, hour, min, sec);
554 _TOC = _TOC + _gps_utc;
555
556 if ( readDbl(line, pos[1], fieldLen, _tau ) ||
557 readDbl(line, pos[2], fieldLen, _gamma) ||
558 readDbl(line, pos[3], fieldLen, _tki ) ) {
559 _checkState = bad;
560 return;
561 }
562
563 _tau = -_tau;
564 }
565
566 else if ( iLine == 1 ) {
567 if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
568 readDbl(line, pos[1], fieldLen, _x_velocity ) ||
569 readDbl(line, pos[2], fieldLen, _x_acceleration) ||
570 readDbl(line, pos[3], fieldLen, _health ) ) {
571 _checkState = bad;
572 return;
573 }
574 }
575
576 else if ( iLine == 2 ) {
577 if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
578 readDbl(line, pos[1], fieldLen, _y_velocity ) ||
579 readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
580 readDbl(line, pos[3], fieldLen, _frequency_number) ) {
581 _checkState = bad;
582 return;
583 }
584 }
585
586 else if ( iLine == 3 ) {
587 if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
588 readDbl(line, pos[1], fieldLen, _z_velocity ) ||
589 readDbl(line, pos[2], fieldLen, _z_acceleration) ||
590 readDbl(line, pos[3], fieldLen, _E ) ) {
591 _checkState = bad;
592 return;
593 }
594 }
595 }
596
597 // Initialize status vector
598 // ------------------------
599 _tt = _TOC;
600 _xv.ReSize(6);
601 _xv(1) = _x_pos * 1.e3;
602 _xv(2) = _y_pos * 1.e3;
603 _xv(3) = _z_pos * 1.e3;
604 _xv(4) = _x_velocity * 1.e3;
605 _xv(5) = _y_velocity * 1.e3;
606 _xv(6) = _z_velocity * 1.e3;
607}
608
609// Compute Glonass Satellite Position (virtual)
610////////////////////////////////////////////////////////////////////////////
611t_irc t_ephGlo::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
612
613 if (_checkState == bad ||
614 _checkState == unhealthy) {
615 return failure;
616 }
617
618 static const double nominalStep = 10.0;
619
620 memset(xc, 0, 7*sizeof(double));
621 memset(vv, 0, 3*sizeof(double));
622
623 double dtPos = bncTime(GPSweek, GPSweeks) - _tt;
624
625 if (fabs(dtPos) > 24*3600.0) {
626 return failure;
627 }
628
629 int nSteps = int(fabs(dtPos) / nominalStep) + 1;
630 double step = dtPos / nSteps;
631
632 double acc[3];
633 acc[0] = _x_acceleration * 1.e3;
634 acc[1] = _y_acceleration * 1.e3;
635 acc[2] = _z_acceleration * 1.e3;
636
637 for (int ii = 1; ii <= nSteps; ii++) {
638 _xv = rungeKutta4(_tt.gpssec(), _xv, step, acc, glo_deriv);
639 _tt = _tt + step;
640 }
641
642 // Position and Velocity
643 // ---------------------
644 xc[0] = _xv(1);
645 xc[1] = _xv(2);
646 xc[2] = _xv(3);
647
648 vv[0] = _xv(4);
649 vv[1] = _xv(5);
650 vv[2] = _xv(6);
651
652 // Clock Correction
653 // ----------------
654 double dtClk = bncTime(GPSweek, GPSweeks) - _TOC;
655 xc[3] = -_tau + _gamma * dtClk;
656
657 xc[4] = -_tau;
658 xc[5] = _gamma;
659 xc[6] = 0.0;
660
661 return success;
662}
663
664// RINEX Format String
665//////////////////////////////////////////////////////////////////////////////
666QString t_ephGlo::toString(double version) const {
667
668 QString rnxStr = rinexDateStr(_TOC-_gps_utc, _prn, version);
669
670 QTextStream out(&rnxStr);
671
672 out << QString("%1%2%3\n")
673 .arg(-_tau, 19, 'e', 12)
674 .arg(_gamma, 19, 'e', 12)
675 .arg(_tki, 19, 'e', 12);
676
677 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
678
679 out << QString(fmt)
680 .arg(_x_pos, 19, 'e', 12)
681 .arg(_x_velocity, 19, 'e', 12)
682 .arg(_x_acceleration, 19, 'e', 12)
683 .arg(_health, 19, 'e', 12);
684
685 out << QString(fmt)
686 .arg(_y_pos, 19, 'e', 12)
687 .arg(_y_velocity, 19, 'e', 12)
688 .arg(_y_acceleration, 19, 'e', 12)
689 .arg(_frequency_number, 19, 'e', 12);
690
691 out << QString(fmt)
692 .arg(_z_pos, 19, 'e', 12)
693 .arg(_z_velocity, 19, 'e', 12)
694 .arg(_z_acceleration, 19, 'e', 12)
695 .arg(_E, 19, 'e', 12);
696
697 return rnxStr;
698}
699
700// Derivative of the state vector using a simple force model (static)
701////////////////////////////////////////////////////////////////////////////
702ColumnVector t_ephGlo::glo_deriv(double /* tt */, const ColumnVector& xv,
703 double* acc) {
704
705 // State vector components
706 // -----------------------
707 ColumnVector rr = xv.rows(1,3);
708 ColumnVector vv = xv.rows(4,6);
709
710 // Acceleration
711 // ------------
712 static const double gmWGS = 398.60044e12;
713 static const double AE = 6378136.0;
714 static const double OMEGA = 7292115.e-11;
715 static const double C20 = -1082.6257e-6;
716
717 double rho = rr.norm_Frobenius();
718 double t1 = -gmWGS/(rho*rho*rho);
719 double t2 = 3.0/2.0 * C20 * (gmWGS*AE*AE) / (rho*rho*rho*rho*rho);
720 double t3 = OMEGA * OMEGA;
721 double t4 = 2.0 * OMEGA;
722 double z2 = rr(3) * rr(3);
723
724 // Vector of derivatives
725 // ---------------------
726 ColumnVector va(6);
727 va(1) = vv(1);
728 va(2) = vv(2);
729 va(3) = vv(3);
730 va(4) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(1) + t4*vv(2) + acc[0];
731 va(5) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(2) - t4*vv(1) + acc[1];
732 va(6) = (t1 + t2*(3.0-5.0*z2/(rho*rho)) ) * rr(3) + acc[2];
733
734 return va;
735}
736
737// IOD of Glonass Ephemeris (virtual)
738////////////////////////////////////////////////////////////////////////////
739unsigned int t_ephGlo::IOD() const {
740 bncTime tMoscow = _TOC - _gps_utc + 3 * 3600.0;
741 return (unsigned long)tMoscow.daysec() / 900;
742}
743
744// Health status of Glonass Ephemeris (virtual)
745////////////////////////////////////////////////////////////////////////////
746unsigned int t_ephGlo::isUnhealthy() const {
747
748 if (_almanac_health_availablility_indicator) {
749 if ((_health == 0 && _almanac_health == 0) ||
750 (_health == 1 && _almanac_health == 0) ||
751 (_health == 1 && _almanac_health == 1)) {
752 return 1;
753 }
754 }
755 else if (!_almanac_health_availablility_indicator) {
756 if (_health) {
757 return 1;
758 }
759 }
760 return 0; /* (_health == 0 && _almanac_health == 1) or (_health == 0) */
761}
762
763
764// Constructor
765//////////////////////////////////////////////////////////////////////////////
766t_ephGal::t_ephGal(float rnxVersion, const QStringList& lines) {
767 int year, month, day, hour, min;
768 double sec;
769 QString prnStr;
770 const int nLines = 8;
771 if (lines.size() != nLines) {
772 _checkState = bad;
773 return;
774 }
775
776 // RINEX Format
777 // ------------
778 int fieldLen = 19;
779 double SVhealth = 0.0;
780 double datasource = 0.0;
781
782 int pos[4];
783 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
784 pos[1] = pos[0] + fieldLen;
785 pos[2] = pos[1] + fieldLen;
786 pos[3] = pos[2] + fieldLen;
787
788 // Read eight lines
789 // ----------------
790 for (int iLine = 0; iLine < nLines; iLine++) {
791 QString line = lines[iLine];
792
793 if ( iLine == 0 ) {
794 QTextStream in(line.left(pos[1]).toLatin1());
795 QString n;
796 in >> prnStr;
797 if (prnStr.size() == 1 && prnStr[0] == 'E') {
798 in >> n;
799 prnStr.append(n);
800 }
801 in >> year >> month >> day >> hour >> min >> sec;
802 if (year < 80) {
803 year += 2000;
804 }
805 else if (year < 100) {
806 year += 1900;
807 }
808
809 _TOC.set(year, month, day, hour, min, sec);
810
811 if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
812 readDbl(line, pos[2], fieldLen, _clock_drift ) ||
813 readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
814 _checkState = bad;
815 return;
816 }
817 }
818
819 else if ( iLine == 1 ) {
820 if ( readDbl(line, pos[0], fieldLen, _IODnav ) ||
821 readDbl(line, pos[1], fieldLen, _Crs ) ||
822 readDbl(line, pos[2], fieldLen, _Delta_n) ||
823 readDbl(line, pos[3], fieldLen, _M0 ) ) {
824 _checkState = bad;
825 return;
826 }
827 }
828
829 else if ( iLine == 2 ) {
830 if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
831 readDbl(line, pos[1], fieldLen, _e ) ||
832 readDbl(line, pos[2], fieldLen, _Cus ) ||
833 readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
834 _checkState = bad;
835 return;
836 }
837 }
838
839 else if ( iLine == 3 ) {
840 if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
841 readDbl(line, pos[1], fieldLen, _Cic ) ||
842 readDbl(line, pos[2], fieldLen, _OMEGA0) ||
843 readDbl(line, pos[3], fieldLen, _Cis ) ) {
844 _checkState = bad;
845 return;
846 }
847 }
848
849 else if ( iLine == 4 ) {
850 if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
851 readDbl(line, pos[1], fieldLen, _Crc ) ||
852 readDbl(line, pos[2], fieldLen, _omega ) ||
853 readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
854 _checkState = bad;
855 return;
856 }
857 }
858
859 else if ( iLine == 5 ) {
860 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
861 readDbl(line, pos[1], fieldLen, datasource) ||
862 readDbl(line, pos[2], fieldLen, _TOEweek ) ) {
863 _checkState = bad;
864 return;
865 } else {
866 if (int(datasource) & (1<<8)) {
867 _fnav = true;
868 _inav = false;
869 } else if (int(datasource) & (1<<9)) {
870 _fnav = false;
871 _inav = true;
872 }
873 _TOEweek -= 1024.0;
874 }
875 }
876
877 else if ( iLine == 6 ) {
878 if ( readDbl(line, pos[0], fieldLen, _SISA ) ||
879 readDbl(line, pos[1], fieldLen, SVhealth) ||
880 readDbl(line, pos[2], fieldLen, _BGD_1_5A) ||
881 readDbl(line, pos[3], fieldLen, _BGD_1_5B) ) {
882 _checkState = bad;
883 return;
884 } else {
885 // Bit 0
886 _e1DataInValid = (int(SVhealth) & (1<<0));
887 // Bit 1-2
888 _E1_bHS = double((int(SVhealth) >> 1) & 0x3);
889 // Bit 3
890 _e5aDataInValid = (int(SVhealth) & (1<<3));
891 // Bit 4-5
892 _E5aHS = double((int(SVhealth) >> 4) & 0x3);
893 // Bit 6
894 _e5bDataInValid = (int(SVhealth) & (1<<6));
895 // Bit 7-8
896 _E5bHS = double((int(SVhealth) >> 7) & 0x3);
897
898 if (prnStr.at(0) == 'E') {
899 _prn.set('E', prnStr.mid(1).toInt(), _inav ? 1 : 0);
900 }
901 }
902 }
903
904 else if ( iLine == 7 ) {
905 if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
906 _checkState = bad;
907 return;
908 }
909 }
910 }
911}
912
913// Compute Galileo Satellite Position (virtual)
914////////////////////////////////////////////////////////////////////////////
915t_irc t_ephGal::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
916
917 if (_checkState == bad ||
918 _checkState == unhealthy) {
919 return failure;
920 }
921
922 static const double omegaEarth = 7292115.1467e-11;
923 static const double gmWGS = 398.6004418e12;
924
925 memset(xc, 0, 7*sizeof(double));
926 memset(vv, 0, 3*sizeof(double));
927
928 double a0 = _sqrt_A * _sqrt_A;
929 if (a0 == 0) {
930 return failure;
931 }
932
933 double n0 = sqrt(gmWGS/(a0*a0*a0));
934
935 bncTime tt(GPSweek, GPSweeks);
936 double tk = tt - bncTime(_TOC.gpsw(), _TOEsec);
937
938 double n = n0 + _Delta_n;
939 double M = _M0 + n*tk;
940 double E = M;
941 double E_last;
942 int nLoop = 0;
943 do {
944 E_last = E;
945 E = M + _e*sin(E);
946
947 if (++nLoop == 100) {
948 return failure;
949 }
950 } while ( fabs(E-E_last)*a0 > 0.001 );
951 double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
952 double u0 = v + _omega;
953 double sin2u0 = sin(2*u0);
954 double cos2u0 = cos(2*u0);
955 double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
956 double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
957 double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
958 double xp = r*cos(u);
959 double yp = r*sin(u);
960 double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
961 omegaEarth*_TOEsec;
962
963 double sinom = sin(OM);
964 double cosom = cos(OM);
965 double sini = sin(i);
966 double cosi = cos(i);
967 xc[0] = xp*cosom - yp*cosi*sinom;
968 xc[1] = xp*sinom + yp*cosi*cosom;
969 xc[2] = yp*sini;
970
971 double tc = tt - _TOC;
972 xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
973
974 xc[4] = _clock_bias;
975 xc[5] = _clock_drift;
976 xc[6] = _clock_driftrate;
977
978 // Velocity
979 // --------
980 double tanv2 = tan(v/2);
981 double dEdM = 1 / (1 - _e*cos(E));
982 double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
983 * dEdM * n;
984 double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
985 double dotom = _OMEGADOT - omegaEarth;
986 double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
987 double dotr = a0 * _e*sin(E) * dEdM * n
988 + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
989 double dotx = dotr*cos(u) - r*sin(u)*dotu;
990 double doty = dotr*sin(u) + r*cos(u)*dotu;
991
992 vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
993 - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
994 + yp*sini*sinom*doti; // dX / di
995
996 vv[1] = sinom *dotx + cosi*cosom *doty
997 + xp*cosom*dotom - yp*cosi*sinom*dotom
998 - yp*sini*cosom*doti;
999
1000 vv[2] = sini *doty + yp*cosi *doti;
1001
1002 // Relativistic Correction
1003 // -----------------------
1004 // correspondent to Galileo ICD and to SSR standard
1005 xc[3] -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
1006 // correspondent to IGS convention
1007 //xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
1008
1009 return success;
1010}
1011
1012// Health status of Galileo Ephemeris (virtual)
1013////////////////////////////////////////////////////////////////////////////
1014unsigned int t_ephGal::isUnhealthy() const {
1015 if (_E5aHS && _E5bHS && _E1_bHS) {
1016 return 1;
1017 }
1018 return 0;
1019}
1020
1021// RINEX Format String
1022//////////////////////////////////////////////////////////////////////////////
1023QString t_ephGal::toString(double version) const {
1024
1025 QString rnxStr = rinexDateStr(_TOC, _prn, version);
1026
1027 QTextStream out(&rnxStr);
1028
1029 out << QString("%1%2%3\n")
1030 .arg(_clock_bias, 19, 'e', 12)
1031 .arg(_clock_drift, 19, 'e', 12)
1032 .arg(_clock_driftrate, 19, 'e', 12);
1033
1034 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1035
1036 out << QString(fmt)
1037 .arg(_IODnav, 19, 'e', 12)
1038 .arg(_Crs, 19, 'e', 12)
1039 .arg(_Delta_n, 19, 'e', 12)
1040 .arg(_M0, 19, 'e', 12);
1041
1042 out << QString(fmt)
1043 .arg(_Cuc, 19, 'e', 12)
1044 .arg(_e, 19, 'e', 12)
1045 .arg(_Cus, 19, 'e', 12)
1046 .arg(_sqrt_A, 19, 'e', 12);
1047
1048 out << QString(fmt)
1049 .arg(_TOEsec, 19, 'e', 12)
1050 .arg(_Cic, 19, 'e', 12)
1051 .arg(_OMEGA0, 19, 'e', 12)
1052 .arg(_Cis, 19, 'e', 12);
1053
1054 out << QString(fmt)
1055 .arg(_i0, 19, 'e', 12)
1056 .arg(_Crc, 19, 'e', 12)
1057 .arg(_omega, 19, 'e', 12)
1058 .arg(_OMEGADOT, 19, 'e', 12);
1059
1060 int dataSource = 0;
1061 int SVhealth = 0;
1062 double BGD_1_5A = _BGD_1_5A;
1063 double BGD_1_5B = _BGD_1_5B;
1064 if (_fnav) {
1065 dataSource |= (1<<1);
1066 dataSource |= (1<<8);
1067 BGD_1_5B = 0.0;
1068 // SVhealth
1069 // Bit 3 : E5a DVS
1070 if (_e5aDataInValid) {
1071 SVhealth |= (1<<3);
1072 }
1073 // Bit 4-5: E5a HS
1074 if (_E5aHS == 1.0) {
1075 SVhealth |= (1<<4);
1076 }
1077 else if (_E5aHS == 2.0) {
1078 SVhealth |= (1<<5);
1079 }
1080 else if (_E5aHS == 3.0) {
1081 SVhealth |= (1<<4);
1082 SVhealth |= (1<<5);
1083 }
1084 }
1085 else if(_inav) {
1086 // Bit 2 and 0 are set because from MT1046 the data source cannot be determined
1087 // and RNXv3.03 says both can be set if the navigation messages were merged
1088 dataSource |= (1<<0);
1089 dataSource |= (1<<2);
1090 dataSource |= (1<<9);
1091 // SVhealth
1092 // Bit 0 : E1-B DVS
1093 if (_e1DataInValid) {
1094 SVhealth |= (1<<0);
1095 }
1096 // Bit 1-2: E1-B HS
1097 if (_E1_bHS == 1.0) {
1098 SVhealth |= (1<<1);
1099 }
1100 else if (_E1_bHS == 2.0) {
1101 SVhealth |= (1<<2);
1102 }
1103 else if (_E1_bHS == 3.0) {
1104 SVhealth |= (1<<1);
1105 SVhealth |= (1<<2);
1106 }
1107 // Bit 3 : E5a DVS
1108 if (_e5aDataInValid) {
1109 SVhealth |= (1<<3);
1110 }
1111 // Bit 4-5: E5a HS
1112 if (_E5aHS == 1.0) {
1113 SVhealth |= (1<<4);
1114 }
1115 else if (_E5aHS == 2.0) {
1116 SVhealth |= (1<<5);
1117 }
1118 else if (_E5aHS == 3.0) {
1119 SVhealth |= (1<<4);
1120 SVhealth |= (1<<5);
1121 }
1122 // Bit 6 : E5b DVS
1123 if (_e5bDataInValid) {
1124 SVhealth |= (1<<6);
1125 }
1126 // Bit 7-8: E5b HS
1127 if (_E5bHS == 1.0) {
1128 SVhealth |= (1<<7);
1129 }
1130 else if (_E5bHS == 2.0) {
1131 SVhealth |= (1<<8);
1132 }
1133 else if (_E5bHS == 3.0) {
1134 SVhealth |= (1<<7);
1135 SVhealth |= (1<<8);
1136 }
1137 }
1138
1139 out << QString(fmt)
1140 .arg(_IDOT, 19, 'e', 12)
1141 .arg(double(dataSource), 19, 'e', 12)
1142 .arg(_TOEweek + 1024.0, 19, 'e', 12)
1143 .arg(0.0, 19, 'e', 12);
1144
1145 out << QString(fmt)
1146 .arg(_SISA, 19, 'e', 12)
1147 .arg(double(SVhealth), 19, 'e', 12)
1148 .arg(BGD_1_5A, 19, 'e', 12)
1149 .arg(BGD_1_5B, 19, 'e', 12);
1150
1151
1152 double tot = _TOT;
1153 if (tot == 0.9999e9 && version < 3.0) {
1154 tot = 0.0;
1155 }
1156 out << QString(fmt)
1157 .arg(tot, 19, 'e', 12)
1158 .arg("", 19, QChar(' '))
1159 .arg("", 19, QChar(' '))
1160 .arg("", 19, QChar(' '));
1161
1162 return rnxStr;
1163}
1164
1165// Constructor
1166//////////////////////////////////////////////////////////////////////////////
1167t_ephSBAS::t_ephSBAS(float rnxVersion, const QStringList& lines) {
1168
1169 const int nLines = 4;
1170
1171 if (lines.size() != nLines) {
1172 _checkState = bad;
1173 return;
1174 }
1175
1176 // RINEX Format
1177 // ------------
1178 int fieldLen = 19;
1179
1180 int pos[4];
1181 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
1182 pos[1] = pos[0] + fieldLen;
1183 pos[2] = pos[1] + fieldLen;
1184 pos[3] = pos[2] + fieldLen;
1185
1186 // Read four lines
1187 // ---------------
1188 for (int iLine = 0; iLine < nLines; iLine++) {
1189 QString line = lines[iLine];
1190
1191 if ( iLine == 0 ) {
1192 QTextStream in(line.left(pos[1]).toLatin1());
1193
1194 int year, month, day, hour, min;
1195 double sec;
1196
1197 QString prnStr, n;
1198 in >> prnStr;
1199 if (prnStr.size() == 1 && prnStr[0] == 'S') {
1200 in >> n;
1201 prnStr.append(n);
1202 }
1203 in >> year >> month >> day >> hour >> min >> sec;
1204 if (prnStr.at(0) == 'S') {
1205 _prn.set('S', prnStr.mid(1).toInt());
1206 }
1207 else {
1208 _prn.set('S', prnStr.toInt());
1209 }
1210
1211 if (year < 80) {
1212 year += 2000;
1213 }
1214 else if (year < 100) {
1215 year += 1900;
1216 }
1217
1218 _TOC.set(year, month, day, hour, min, sec);
1219
1220 if ( readDbl(line, pos[1], fieldLen, _agf0 ) ||
1221 readDbl(line, pos[2], fieldLen, _agf1 ) ||
1222 readDbl(line, pos[3], fieldLen, _TOT ) ) {
1223 _checkState = bad;
1224 return;
1225 }
1226 }
1227
1228 else if ( iLine == 1 ) {
1229 if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
1230 readDbl(line, pos[1], fieldLen, _x_velocity ) ||
1231 readDbl(line, pos[2], fieldLen, _x_acceleration) ||
1232 readDbl(line, pos[3], fieldLen, _health ) ) {
1233 _checkState = bad;
1234 return;
1235 }
1236 }
1237
1238 else if ( iLine == 2 ) {
1239 if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
1240 readDbl(line, pos[1], fieldLen, _y_velocity ) ||
1241 readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
1242 readDbl(line, pos[3], fieldLen, _ura ) ) {
1243 _checkState = bad;
1244 return;
1245 }
1246 }
1247
1248 else if ( iLine == 3 ) {
1249 double iodn;
1250 if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
1251 readDbl(line, pos[1], fieldLen, _z_velocity ) ||
1252 readDbl(line, pos[2], fieldLen, _z_acceleration) ||
1253 readDbl(line, pos[3], fieldLen, iodn ) ) {
1254 _checkState = bad;
1255 return;
1256 } else {
1257 _IODN = int(iodn);
1258 }
1259 }
1260 }
1261
1262 _x_pos *= 1.e3;
1263 _y_pos *= 1.e3;
1264 _z_pos *= 1.e3;
1265 _x_velocity *= 1.e3;
1266 _y_velocity *= 1.e3;
1267 _z_velocity *= 1.e3;
1268 _x_acceleration *= 1.e3;
1269 _y_acceleration *= 1.e3;
1270 _z_acceleration *= 1.e3;
1271}
1272
1273// IOD of SBAS Ephemeris (virtual)
1274////////////////////////////////////////////////////////////////////////////
1275
1276unsigned int t_ephSBAS::IOD() const {
1277 unsigned char buffer[80];
1278 int size = 0;
1279 int numbits = 0;
1280 long long bitbuffer = 0;
1281 unsigned char *startbuffer = buffer;
1282
1283 SBASADDBITSFLOAT(30, this->_x_pos, 0.08)
1284 SBASADDBITSFLOAT(30, this->_y_pos, 0.08)
1285 SBASADDBITSFLOAT(25, this->_z_pos, 0.4)
1286 SBASADDBITSFLOAT(17, this->_x_velocity, 0.000625)
1287 SBASADDBITSFLOAT(17, this->_y_velocity, 0.000625)
1288 SBASADDBITSFLOAT(18, this->_z_velocity, 0.004)
1289 SBASADDBITSFLOAT(10, this->_x_acceleration, 0.0000125)
1290 SBASADDBITSFLOAT(10, this->_y_acceleration, 0.0000125)
1291 SBASADDBITSFLOAT(10, this->_z_acceleration, 0.0000625)
1292 SBASADDBITSFLOAT(12, this->_agf0, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1293 SBASADDBITSFLOAT(8, this->_agf1, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<10))
1294 SBASADDBITS(5,0); // the last byte is filled by 0-bits to obtain a length of an integer multiple of 8
1295
1296 return CRC24(size, startbuffer);
1297}
1298
1299// Compute SBAS Satellite Position (virtual)
1300////////////////////////////////////////////////////////////////////////////
1301t_irc t_ephSBAS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
1302
1303 if (_checkState == bad ||
1304 _checkState == unhealthy) {
1305 return failure;
1306 }
1307
1308 bncTime tt(GPSweek, GPSweeks);
1309 double dt = tt - _TOC;
1310
1311 xc[0] = _x_pos + _x_velocity * dt + _x_acceleration * dt * dt / 2.0;
1312 xc[1] = _y_pos + _y_velocity * dt + _y_acceleration * dt * dt / 2.0;
1313 xc[2] = _z_pos + _z_velocity * dt + _z_acceleration * dt * dt / 2.0;
1314
1315 vv[0] = _x_velocity + _x_acceleration * dt;
1316 vv[1] = _y_velocity + _y_acceleration * dt;
1317 vv[2] = _z_velocity + _z_acceleration * dt;
1318
1319 xc[3] = _agf0 + _agf1 * dt;
1320
1321 xc[4] = _agf0;
1322 xc[5] = _agf1;
1323 xc[6] = 0.0;
1324
1325 return success;
1326}
1327
1328// RINEX Format String
1329//////////////////////////////////////////////////////////////////////////////
1330QString t_ephSBAS::toString(double version) const {
1331
1332 QString rnxStr = rinexDateStr(_TOC, _prn, version);
1333
1334 QTextStream out(&rnxStr);
1335
1336 out << QString("%1%2%3\n")
1337 .arg(_agf0, 19, 'e', 12)
1338 .arg(_agf1, 19, 'e', 12)
1339 .arg(_TOT, 19, 'e', 12);
1340
1341 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1342
1343 out << QString(fmt)
1344 .arg(1.e-3*_x_pos, 19, 'e', 12)
1345 .arg(1.e-3*_x_velocity, 19, 'e', 12)
1346 .arg(1.e-3*_x_acceleration, 19, 'e', 12)
1347 .arg(_health, 19, 'e', 12);
1348
1349 out << QString(fmt)
1350 .arg(1.e-3*_y_pos, 19, 'e', 12)
1351 .arg(1.e-3*_y_velocity, 19, 'e', 12)
1352 .arg(1.e-3*_y_acceleration, 19, 'e', 12)
1353 .arg(_ura, 19, 'e', 12);
1354
1355 out << QString(fmt)
1356 .arg(1.e-3*_z_pos, 19, 'e', 12)
1357 .arg(1.e-3*_z_velocity, 19, 'e', 12)
1358 .arg(1.e-3*_z_acceleration, 19, 'e', 12)
1359 .arg(double(_IODN), 19, 'e', 12);
1360
1361 return rnxStr;
1362}
1363
1364// Constructor
1365//////////////////////////////////////////////////////////////////////////////
1366t_ephBDS::t_ephBDS(float rnxVersion, const QStringList& lines) {
1367
1368 const int nLines = 8;
1369
1370 if (lines.size() != nLines) {
1371 _checkState = bad;
1372 return;
1373 }
1374
1375 // RINEX Format
1376 // ------------
1377 int fieldLen = 19;
1378
1379 int pos[4];
1380 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
1381 pos[1] = pos[0] + fieldLen;
1382 pos[2] = pos[1] + fieldLen;
1383 pos[3] = pos[2] + fieldLen;
1384
1385 // Read eight lines
1386 // ----------------
1387 for (int iLine = 0; iLine < nLines; iLine++) {
1388 QString line = lines[iLine];
1389
1390 if ( iLine == 0 ) {
1391 QTextStream in(line.left(pos[1]).toLatin1());
1392
1393 int year, month, day, hour, min;
1394 double sec;
1395
1396 QString prnStr, n;
1397 in >> prnStr;
1398 if (prnStr.size() == 1 && prnStr[0] == 'C') {
1399 in >> n;
1400 prnStr.append(n);
1401 }
1402 in >> year >> month >> day >> hour >> min >> sec;
1403 if (prnStr.at(0) == 'C') {
1404 _prn.set('C', prnStr.mid(1).toInt());
1405 }
1406 else {
1407 _prn.set('C', prnStr.toInt());
1408 }
1409
1410 if (year < 80) {
1411 year += 2000;
1412 }
1413 else if (year < 100) {
1414 year += 1900;
1415 }
1416
1417 _TOC.setBDS(year, month, day, hour, min, sec);
1418
1419 if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
1420 readDbl(line, pos[2], fieldLen, _clock_drift ) ||
1421 readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
1422 _checkState = bad;
1423 return;
1424 }
1425 }
1426
1427 else if ( iLine == 1 ) {
1428 double aode;
1429 if ( readDbl(line, pos[0], fieldLen, aode ) ||
1430 readDbl(line, pos[1], fieldLen, _Crs ) ||
1431 readDbl(line, pos[2], fieldLen, _Delta_n) ||
1432 readDbl(line, pos[3], fieldLen, _M0 ) ) {
1433 _checkState = bad;
1434 return;
1435 }
1436 _AODE = int(aode);
1437 }
1438
1439 else if ( iLine == 2 ) {
1440 if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
1441 readDbl(line, pos[1], fieldLen, _e ) ||
1442 readDbl(line, pos[2], fieldLen, _Cus ) ||
1443 readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
1444 _checkState = bad;
1445 return;
1446 }
1447 }
1448
1449 else if ( iLine == 3 ) {
1450 if ( readDbl(line, pos[0], fieldLen, _TOEsec ) ||
1451 readDbl(line, pos[1], fieldLen, _Cic ) ||
1452 readDbl(line, pos[2], fieldLen, _OMEGA0) ||
1453 readDbl(line, pos[3], fieldLen, _Cis ) ) {
1454 _checkState = bad;
1455 return;
1456 }
1457 }
1458
1459 else if ( iLine == 4 ) {
1460 if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
1461 readDbl(line, pos[1], fieldLen, _Crc ) ||
1462 readDbl(line, pos[2], fieldLen, _omega ) ||
1463 readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
1464 _checkState = bad;
1465 return;
1466 }
1467 }
1468
1469 else if ( iLine == 5 ) {
1470 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
1471 readDbl(line, pos[2], fieldLen, _TOEweek)) {
1472 _checkState = bad;
1473 return;
1474 }
1475 }
1476
1477 else if ( iLine == 6 ) {
1478 double SatH1;
1479 if ( readDbl(line, pos[0], fieldLen, _URA ) ||
1480 readDbl(line, pos[1], fieldLen, SatH1) ||
1481 readDbl(line, pos[2], fieldLen, _TGD1) ||
1482 readDbl(line, pos[3], fieldLen, _TGD2) ) {
1483 _checkState = bad;
1484 return;
1485 }
1486 _SatH1 = int(SatH1);
1487 }
1488
1489 else if ( iLine == 7 ) {
1490 double aodc;
1491 if ( readDbl(line, pos[0], fieldLen, _TOT) ||
1492 readDbl(line, pos[1], fieldLen, aodc) ) {
1493 _checkState = bad;
1494 return;
1495 }
1496 if (_TOT == 0.9999e9) { // 0.9999e9 means not known (RINEX standard)
1497 _TOT = _TOEsec;
1498 }
1499 _AODC = int(aodc);
1500 }
1501 }
1502
1503 _TOE.setBDS(int(_TOEweek), _TOEsec);
1504
1505 // remark: actually should be computed from second_tot
1506 // but it seems to be unreliable in RINEX files
1507 //_TOT = _TOC.bdssec();
1508}
1509
1510// IOD of BDS Ephemeris (virtual)
1511////////////////////////////////////////////////////////////////////////////
1512unsigned int t_ephBDS::IOD() const {
1513 return (int(_TOEsec)/720) % 240;
1514}
1515
1516// Compute BDS Satellite Position (virtual)
1517//////////////////////////////////////////////////////////////////////////////
1518t_irc t_ephBDS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
1519
1520 if (_checkState == bad ||
1521 _checkState == unhealthy) {
1522 return failure;
1523 }
1524
1525 static const double gmBDS = 398.6004418e12;
1526 static const double omegaBDS = 7292115.0000e-11;
1527
1528 xc[0] = xc[1] = xc[2] = xc[3] = 0.0;
1529 vv[0] = vv[1] = vv[2] = 0.0;
1530
1531 bncTime tt(GPSweek, GPSweeks);
1532
1533 if (_sqrt_A == 0) {
1534 return failure;
1535 }
1536 double a0 = _sqrt_A * _sqrt_A;
1537
1538 double n0 = sqrt(gmBDS/(a0*a0*a0));
1539 double tk = tt - _TOE;
1540 double n = n0 + _Delta_n;
1541 double M = _M0 + n*tk;
1542 double E = M;
1543 double E_last;
1544 int nLoop = 0;
1545 do {
1546 E_last = E;
1547 E = M + _e*sin(E);
1548
1549 if (++nLoop == 100) {
1550 return failure;
1551 }
1552 } while ( fabs(E-E_last)*a0 > 0.001 );
1553
1554 double v = atan2(sqrt(1-_e*_e) * sin(E), cos(E) - _e);
1555 double u0 = v + _omega;
1556 double sin2u0 = sin(2*u0);
1557 double cos2u0 = cos(2*u0);
1558 double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
1559 double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
1560 double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
1561 double xp = r*cos(u);
1562 double yp = r*sin(u);
1563 double toesec = (_TOE.gpssec() - 14.0);
1564 double sinom = 0;
1565 double cosom = 0;
1566 double sini = 0;
1567 double cosi = 0;
1568
1569 // Velocity
1570 // --------
1571 double tanv2 = tan(v/2);
1572 double dEdM = 1 / (1 - _e*cos(E));
1573 double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2)
1574 / (1 + tanv2*tanv2) * dEdM * n;
1575 double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
1576 double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
1577 double dotr = a0 * _e*sin(E) * dEdM * n
1578 + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
1579
1580 double dotx = dotr*cos(u) - r*sin(u)*dotu;
1581 double doty = dotr*sin(u) + r*cos(u)*dotu;
1582
1583 const double iMaxGEO = 10.0 / 180.0 * M_PI;
1584
1585 // MEO/IGSO satellite
1586 // ------------------
1587 if (_i0 > iMaxGEO) {
1588 double OM = _OMEGA0 + (_OMEGADOT - omegaBDS)*tk - omegaBDS*toesec;
1589
1590 sinom = sin(OM);
1591 cosom = cos(OM);
1592 sini = sin(i);
1593 cosi = cos(i);
1594
1595 xc[0] = xp*cosom - yp*cosi*sinom;
1596 xc[1] = xp*sinom + yp*cosi*cosom;
1597 xc[2] = yp*sini;
1598
1599 // Velocity
1600 // --------
1601
1602 double dotom = _OMEGADOT - t_CST::omega;
1603
1604 vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
1605 - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
1606 + yp*sini*sinom*doti; // dX / di
1607
1608 vv[1] = sinom *dotx + cosi*cosom *doty
1609 + xp*cosom*dotom - yp*cosi*sinom*dotom
1610 - yp*sini*cosom*doti;
1611
1612 vv[2] = sini *doty + yp*cosi *doti;
1613
1614 }
1615
1616 // GEO satellite
1617 // -------------
1618 else {
1619 double OM = _OMEGA0 + _OMEGADOT*tk - omegaBDS*toesec;
1620 double ll = omegaBDS*tk;
1621
1622 sinom = sin(OM);
1623 cosom = cos(OM);
1624 sini = sin(i);
1625 cosi = cos(i);
1626
1627 double xx = xp*cosom - yp*cosi*sinom;
1628 double yy = xp*sinom + yp*cosi*cosom;
1629 double zz = yp*sini;
1630
1631 Matrix RX = BNC_PPP::t_astro::rotX(-5.0 / 180.0 * M_PI);
1632 Matrix RZ = BNC_PPP::t_astro::rotZ(ll);
1633
1634 ColumnVector X1(3); X1 << xx << yy << zz;
1635 ColumnVector X2 = RZ*RX*X1;
1636
1637 xc[0] = X2(1);
1638 xc[1] = X2(2);
1639 xc[2] = X2(3);
1640
1641 double dotom = _OMEGADOT;
1642
1643 double vx = cosom *dotx - cosi*sinom *doty
1644 - xp*sinom*dotom - yp*cosi*cosom*dotom
1645 + yp*sini*sinom*doti;
1646
1647 double vy = sinom *dotx + cosi*cosom *doty
1648 + xp*cosom*dotom - yp*cosi*sinom*dotom
1649 - yp*sini*cosom*doti;
1650
1651 double vz = sini *doty + yp*cosi *doti;
1652
1653 ColumnVector V(3); V << vx << vy << vz;
1654
1655 Matrix RdotZ(3,3);
1656 double C = cos(ll);
1657 double S = sin(ll);
1658 Matrix UU(3,3);
1659 UU[0][0] = -S; UU[0][1] = +C; UU[0][2] = 0.0;
1660 UU[1][0] = -C; UU[1][1] = -S; UU[1][2] = 0.0;
1661 UU[2][0] = 0.0; UU[2][1] = 0.0; UU[2][2] = 0.0;
1662 RdotZ = omegaBDS * UU;
1663
1664 ColumnVector VV(3);
1665 VV = RZ*RX*V + RdotZ*RX*X1;
1666
1667 vv[0] = VV(1);
1668 vv[1] = VV(2);
1669 vv[2] = VV(3);
1670 }
1671
1672 double tc = tt - _TOC;
1673 xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
1674
1675 xc[4] = _clock_bias;
1676 xc[5] = _clock_drift;
1677 xc[6] = _clock_driftrate;
1678
1679 // dotC = _clock_drift + _clock_driftrate*tc
1680 // - 4.442807633e-10*_e*sqrt(a0)*cos(E) * dEdM * n;
1681
1682 // Relativistic Correction
1683 // -----------------------
1684 // correspondent to BDS ICD and to SSR standard
1685 xc[3] -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
1686 // correspondent to IGS convention
1687 // xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
1688
1689 return success;
1690}
1691
1692// RINEX Format String
1693//////////////////////////////////////////////////////////////////////////////
1694QString t_ephBDS::toString(double version) const {
1695
1696 QString rnxStr = rinexDateStr(_TOC-14.0, _prn, version);
1697
1698 QTextStream out(&rnxStr);
1699
1700 out << QString("%1%2%3\n")
1701 .arg(_clock_bias, 19, 'e', 12)
1702 .arg(_clock_drift, 19, 'e', 12)
1703 .arg(_clock_driftrate, 19, 'e', 12);
1704
1705 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1706
1707 out << QString(fmt)
1708 .arg(double(_AODE), 19, 'e', 12)
1709 .arg(_Crs, 19, 'e', 12)
1710 .arg(_Delta_n, 19, 'e', 12)
1711 .arg(_M0, 19, 'e', 12);
1712
1713 out << QString(fmt)
1714 .arg(_Cuc, 19, 'e', 12)
1715 .arg(_e, 19, 'e', 12)
1716 .arg(_Cus, 19, 'e', 12)
1717 .arg(_sqrt_A, 19, 'e', 12);
1718
1719 double toes = 0.0;
1720 if (_TOEweek > -1.0) {// RINEX input
1721 toes = _TOEsec;
1722 }
1723 else {// RTCM stream input
1724 toes = _TOE.bdssec();
1725 }
1726 out << QString(fmt)
1727 .arg(toes, 19, 'e', 12)
1728 .arg(_Cic, 19, 'e', 12)
1729 .arg(_OMEGA0, 19, 'e', 12)
1730 .arg(_Cis, 19, 'e', 12);
1731
1732 out << QString(fmt)
1733 .arg(_i0, 19, 'e', 12)
1734 .arg(_Crc, 19, 'e', 12)
1735 .arg(_omega, 19, 'e', 12)
1736 .arg(_OMEGADOT, 19, 'e', 12);
1737
1738 double toew = 0.0;
1739 if (_TOEweek > -1.0) {// RINEX input
1740 toew = _TOEweek;
1741 }
1742 else {// RTCM stream input
1743 toew = double(_TOE.bdsw());
1744 }
1745 out << QString(fmt)
1746 .arg(_IDOT, 19, 'e', 12)
1747 .arg(0.0, 19, 'e', 12)
1748 .arg(toew, 19, 'e', 12)
1749 .arg(0.0, 19, 'e', 12);
1750
1751 out << QString(fmt)
1752 .arg(_URA, 19, 'e', 12)
1753 .arg(double(_SatH1), 19, 'e', 12)
1754 .arg(_TGD1, 19, 'e', 12)
1755 .arg(_TGD2, 19, 'e', 12);
1756
1757 double tots = 0.0;
1758 if (_TOEweek > -1.0) {// RINEX input
1759 tots = _TOT;
1760 }
1761 else {// RTCM stream input
1762 tots = _TOE.bdssec();
1763 }
1764 out << QString(fmt)
1765 .arg(tots, 19, 'e', 12)
1766 .arg(double(_AODC), 19, 'e', 12)
1767 .arg("", 19, QChar(' '))
1768 .arg("", 19, QChar(' '));
1769 return rnxStr;
1770}
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