#include <sstream>
#include <iostream>
#include <iomanip>
#include <cstring>
#include <newmatio.h>
#include "ephemeris.h"
#include "bncutils.h"
#include "bnctime.h"
#include "bnccore.h"
#include "bncutils.h"
#include "satObs.h"
#include "pppInclude.h"
#include "pppModel.h"
using namespace std;
// Constructor
////////////////////////////////////////////////////////////////////////////
t_eph::t_eph() {
_checkState = unchecked;
_navType = undefined;
_orbCorr = 0;
_clkCorr = 0;
}
// Destructor
////////////////////////////////////////////////////////////////////////////
t_eph::~t_eph() {
if (_orbCorr)
delete _orbCorr;
if (_clkCorr)
delete _clkCorr;
}
//
////////////////////////////////////////////////////////////////////////////
void t_eph::setOrbCorr(const t_orbCorr* orbCorr) {
if (_orbCorr) {
delete _orbCorr;
_orbCorr = 0;
}
_orbCorr = new t_orbCorr(*orbCorr);
}
//
////////////////////////////////////////////////////////////////////////////
void t_eph::setClkCorr(const t_clkCorr* clkCorr) {
if (_clkCorr) {
delete _clkCorr;
_clkCorr = 0;
}
_clkCorr = new t_clkCorr(*clkCorr);
}
//
////////////////////////////////////////////////////////////////////////////
t_irc t_eph::getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const {
if (_checkState == bad ||
_checkState == unhealthy ||
_checkState == outdated) {
return failure;
}
xc.ReSize(6);
vv.ReSize(3);
if (position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data()) != success) {
return failure;
}
if (useCorr) {
if (_orbCorr && _clkCorr) {
double dtO = tt - _orbCorr->_time;
if (_orbCorr->_updateInt) {
dtO -= (0.5 * ssrUpdateInt[_orbCorr->_updateInt]);
}
ColumnVector dx(3);
dx[0] = _orbCorr->_xr[0] + _orbCorr->_dotXr[0] * dtO;
dx[1] = _orbCorr->_xr[1] + _orbCorr->_dotXr[1] * dtO;
dx[2] = _orbCorr->_xr[2] + _orbCorr->_dotXr[2] * dtO;
RSW_to_XYZ(xc.Rows(1,3), vv.Rows(1,3), dx, dx);
xc[0] -= dx[0];
xc[1] -= dx[1];
xc[2] -= dx[2];
ColumnVector dv(3);
RSW_to_XYZ(xc.Rows(1,3), vv.Rows(1,3), _orbCorr->_dotXr, dv);
vv[0] -= dv[0];
vv[1] -= dv[1];
vv[2] -= dv[2];
double dtC = tt - _clkCorr->_time;
if (_clkCorr->_updateInt) {
dtC -= (0.5 * ssrUpdateInt[_clkCorr->_updateInt]);
}
xc[3] += _clkCorr->_dClk + _clkCorr->_dotDClk * dtC + _clkCorr->_dotDotDClk * dtC * dtC;
}
else {
return failure;
}
}
return success;
}
//
//////////////////////////////////////////////////////////////////////////////
t_irc t_eph::setNavType(QString navTypeStr) {
if (navTypeStr == "LNAV") {_navType = t_eph::LNAV;}
else if (navTypeStr == "FDMA") {_navType = t_eph::FDMA;}
else if (navTypeStr == "FNAV") {_navType = t_eph::FNAV;}
else if (navTypeStr == "INAF") {_navType = t_eph::INAF;}
else if (navTypeStr == "D1") {_navType = t_eph::D1;}
else if (navTypeStr == "D2") {_navType = t_eph::D2;}
else if (navTypeStr == "SBAS") {_navType = t_eph::SBASL1;}
else if (navTypeStr == "CNAV") {_navType = t_eph::CNAV;}
else if (navTypeStr == "CNV1") {_navType = t_eph::CNV1;}
else if (navTypeStr == "CNV2") {_navType = t_eph::CNV2;}
else if (navTypeStr == "CNV3") {_navType = t_eph::CNV3;}
else {_navType = t_eph::undefined; return failure;}
return success;
}
//
//////////////////////////////////////////////////////////////////////////////
QString t_eph::navTypeString(e_navType navType, const t_prn& prn, double version) {
QString navTypeString = "";
QString epochStart;
QString eolStr;
if (version < 4.0) {
return navTypeString;
}
if (version == 99.0) {
epochStart = "";
eolStr = "";
}
else {
epochStart = "> ";
eolStr = "\n";
}
QString ephStr = QString("EPH %1 ").arg(prn.toString().c_str());
switch (navType) {
case undefined:
navTypeString = epochStart + ephStr + "unknown" + eolStr;
break;
case LNAV:
navTypeString = epochStart + ephStr + "LNAV" + eolStr;
break;
case FDMA:
navTypeString = epochStart + ephStr + "FDMA" + eolStr;
break;
case FNAV:
navTypeString = epochStart + ephStr + "FNAV" + eolStr;
break;
case INAF:
navTypeString = epochStart + ephStr + "INAV" + eolStr;
break;
case D1:
navTypeString = epochStart + ephStr + "D1 " + eolStr;
break;
case D2:
navTypeString = epochStart + ephStr + "D2 " + eolStr;
break;
case SBASL1:
navTypeString = epochStart + ephStr + "SBAS" + eolStr;
break;
case CNAV:
navTypeString = epochStart + ephStr + "CNAV" + eolStr;
break;
case CNV1:
navTypeString = epochStart + ephStr + "CNV1" + eolStr;
break;
case CNV2:
navTypeString = epochStart + ephStr + "CNV2" + eolStr;
break;
case CNV3:
navTypeString = epochStart + ephStr + "CNV3" + eolStr;
break;
}
return navTypeString;
}
//
//////////////////////////////////////////////////////////////////////////////
QString t_eph::rinexDateStr(const bncTime& tt, const t_prn& prn, double version) {
QString prnStr(prn.toString().c_str());
return rinexDateStr(tt, prnStr, version);
}
//
//////////////////////////////////////////////////////////////////////////////
QString t_eph::rinexDateStr(const bncTime& tt, const QString& prnStr, double version) {
QString datStr;
unsigned year, month, day, hour, min;
double sec;
tt.civil_date(year, month, day);
tt.civil_time(hour, min, sec);
QTextStream out(&datStr);
if (version < 3.0) {
QString prnHlp = prnStr.mid(1,2); if (prnHlp[0] == '0') prnHlp[0] = ' ';
out << prnHlp << QString(" %1 %2 %3 %4 %5%6")
.arg(year % 100, 2, 10, QChar('0'))
.arg(month, 2)
.arg(day, 2)
.arg(hour, 2)
.arg(min, 2)
.arg(sec, 5, 'f',1);
}
else if (version == 99) {
out << QString(" %1 %2 %3 %4 %5 %6")
.arg(year, 4)
.arg(month, 2, 10, QChar('0'))
.arg(day, 2, 10, QChar('0'))
.arg(hour, 2, 10, QChar('0'))
.arg(min, 2, 10, QChar('0'))
.arg(int(sec), 2, 10, QChar('0'));
}
else {
out << prnStr << QString(" %1 %2 %3 %4 %5 %6")
.arg(year, 4)
.arg(month, 2, 10, QChar('0'))
.arg(day, 2, 10, QChar('0'))
.arg(hour, 2, 10, QChar('0'))
.arg(min, 2, 10, QChar('0'))
.arg(int(sec), 2, 10, QChar('0'));
}
return datStr;
}
// Constructor
//////////////////////////////////////////////////////////////////////////////
t_ephGPS::t_ephGPS(double rnxVersion, const QStringList& lines) {
int nLines = 8;
if (navType() == t_eph::CNAV) {
nLines += 1;
}
if (navType() == t_eph::CNV2) {
nLines += 2;
}
if (lines.size() != nLines) {
_checkState = bad;
return;
}
// RINEX Format
// ------------
int fieldLen = 19;
int pos[4];
pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
pos[1] = pos[0] + fieldLen;
pos[2] = pos[1] + fieldLen;
pos[3] = pos[2] + fieldLen;
// Read eight lines
// ----------------
for (int iLine = 0; iLine < nLines; iLine++) {
QString line = lines[iLine];
if ( iLine == 0 ) {
QTextStream in(line.left(pos[1]).toLatin1());
int year, month, day, hour, min;
double sec;
QString prnStr, n;
in >> prnStr;
if (prnStr.size() == 1 &&
(prnStr[0] == 'G' ||
prnStr[0] == 'J' ||
prnStr[0] == 'I')) {
in >> n;
prnStr.append(n);
}
in >> year >> month >> day >> hour >> min >> sec;
if (prnStr.at(0) == 'G') {
_prn.set('G', prnStr.mid(1).toInt());
}
else if (prnStr.at(0) == 'J') {
_prn.set('J', prnStr.mid(1).toInt());
}
else if (prnStr.at(0) == 'I') {
_prn.set('I', prnStr.mid(1).toInt());
}
else {
_prn.set('G', prnStr.toInt());
}
if (year < 80) {
year += 2000;
}
else if (year < 100) {
year += 1900;
}
_TOC.set(year, month, day, hour, min, sec);
if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
readDbl(line, pos[2], fieldLen, _clock_drift ) ||
readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
_checkState = bad;
return;
}
}
// =====================
// BROADCAST ORBIT - 1
// =====================
else if ( iLine == 1) {
if (navType() == t_eph::CNAV ||
navType() == t_eph::CNV2) {
if ( readDbl(line, pos[0], fieldLen, _ADOT ) ||
readDbl(line, pos[1], fieldLen, _Crs ) ||
readDbl(line, pos[2], fieldLen, _Delta_n) ||
readDbl(line, pos[3], fieldLen, _M0 ) ) {
_checkState = bad;
return;
}
}
else { // LNAV, undefined
if ( readDbl(line, pos[0], fieldLen, _IODE ) ||
readDbl(line, pos[1], fieldLen, _Crs ) ||
readDbl(line, pos[2], fieldLen, _Delta_n) ||
readDbl(line, pos[3], fieldLen, _M0 ) ) {
_checkState = bad;
return;
}
}
}
// =====================
// BROADCAST ORBIT - 2
// =====================
else if ( iLine == 2 ) {
if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
readDbl(line, pos[1], fieldLen, _e ) ||
readDbl(line, pos[2], fieldLen, _Cus ) ||
readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
_checkState = bad;
return;
}
}
// =====================
// BROADCAST ORBIT - 3
// =====================
else if ( iLine == 3 ) {
if (navType() == t_eph::CNAV ||
navType() == t_eph::CNV2) {
if ( readDbl(line, pos[0], fieldLen, _top) ||
readDbl(line, pos[1], fieldLen, _Cic ) ||
readDbl(line, pos[2], fieldLen, _OMEGA0) ||
readDbl(line, pos[3], fieldLen, _Cis ) ) {
_checkState = bad;
return;
}
}
else { // LNAV, undefined
if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
readDbl(line, pos[1], fieldLen, _Cic ) ||
readDbl(line, pos[2], fieldLen, _OMEGA0) ||
readDbl(line, pos[3], fieldLen, _Cis ) ) {
_checkState = bad;
return;
}
}
}
// =====================
// BROADCAST ORBIT - 4
// =====================
else if ( iLine == 4 ) {
if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
readDbl(line, pos[1], fieldLen, _Crc ) ||
readDbl(line, pos[2], fieldLen, _omega ) ||
readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
_checkState = bad;
return;
}
}
// =====================
// BROADCAST ORBIT - 5
// =====================
else if ( iLine == 5 && type() != t_eph::IRNSS) {
if (navType() == t_eph::CNAV ||
navType() == t_eph::CNV2) {
if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
readDbl(line, pos[1], fieldLen, _Delta_n_dot) ||
readDbl(line, pos[2], fieldLen, _URAI_NED0 ) ||
readDbl(line, pos[3], fieldLen, _URAI_NED1) ) {
_checkState = bad;
return;
}
}
else { // LNAV, undefined
if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
readDbl(line, pos[1], fieldLen, _L2Codes) ||
readDbl(line, pos[2], fieldLen, _TOEweek) ||
readDbl(line, pos[3], fieldLen, _L2PFlag) ) {
_checkState = bad;
return;
}
}
}
else if ( iLine == 5 && type() == t_eph::IRNSS) {
if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
readDbl(line, pos[2], fieldLen, _TOEweek) ) {
_checkState = bad;
return;
}
}
// =====================
// BROADCAST ORBIT - 6
// =====================
else if ( iLine == 6 && type() != t_eph::IRNSS) {
if (navType() == t_eph::CNAV ||
navType() == t_eph::CNV2 ) {
if ( readDbl(line, pos[0], fieldLen, _URAI_ED) ||
readDbl(line, pos[1], fieldLen, _health ) ||
readDbl(line, pos[2], fieldLen, _TGD ) ||
readDbl(line, pos[3], fieldLen, _URAI_NED2) ) {
_checkState = bad;
return;
}
}
else { // LNAV, undefined
if ( readDbl(line, pos[0], fieldLen, _ura ) ||
readDbl(line, pos[1], fieldLen, _health) ||
readDbl(line, pos[2], fieldLen, _TGD ) ||
readDbl(line, pos[3], fieldLen, _IODC ) ) {
_checkState = bad;
return;
}
}
}
else if ( iLine == 6 && type() == t_eph::IRNSS) {
if ( readDbl(line, pos[0], fieldLen, _ura ) ||
readDbl(line, pos[1], fieldLen, _health) ||
readDbl(line, pos[2], fieldLen, _TGD ) ) {
_checkState = bad;
return;
}
}
// =====================
// BROADCAST ORBIT - 7
// =====================
else if ( iLine == 7 ) {
if (navType() == t_eph::LNAV ||
navType() == t_eph::undefined) {
if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
_checkState = bad;
return;
}
if (type() != t_eph::IRNSS) {
double fitIntervalRnx;
if ( readDbl(line, pos[1], fieldLen, fitIntervalRnx) ) {
_checkState = bad;
return;
}
if (type() == t_eph::GPS) { // in RINEX specified always as time period for GPS
_fitInterval = fitIntervalRnx;
} else if (type() == t_eph::QZSS) { // specified as flag for QZSS
if (rnxVersion == 3.02) {
_fitInterval = fitIntervalRnx; // specified as time period
}
else {
_fitInterval = fitIntervalFromFlag(fitIntervalRnx, _IODC, t_eph::QZSS);
}
}
}
}
else if (navType() == t_eph::CNAV ||
navType() == t_eph::CNV2) {
if ( readDbl(line, pos[0], fieldLen, _ISC_L1CA) ||
readDbl(line, pos[1], fieldLen, _ISC_L2C ) ||
readDbl(line, pos[2], fieldLen, _ISC_L5I5) ||
readDbl(line, pos[3], fieldLen, _ISC_L5Q5) ) {
_checkState = bad;
return;
}
}
}
// =====================
// BROADCAST ORBIT - 8
// =====================
else if ( iLine == 8 ) {
if (navType() == t_eph::CNAV) {
if ( readDbl(line, pos[0], fieldLen, _TOT) ||
readDbl(line, pos[1], fieldLen, _wnop) ) {
_checkState = bad;
return;
}
}
else if (navType() == t_eph::CNV2) {
if ( readDbl(line, pos[0], fieldLen, _ISC_L1Cd) ||
readDbl(line, pos[1], fieldLen, _ISC_L1Cp)) {
_checkState = bad;
return;
}
}
}
// =====================
// BROADCAST ORBIT - 9
// =====================
else if ( iLine == 9 ) {
if (navType() == t_eph::CNV2) {
if ( readDbl(line, pos[0], fieldLen, _TOT) ||
readDbl(line, pos[1], fieldLen, _wnop) ) {
_checkState = bad;
return;
}
}
}
}
}
// Compute GPS Satellite Position (virtual)
////////////////////////////////////////////////////////////////////////////
t_irc t_ephGPS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
static const double omegaEarth = 7292115.1467e-11;
static const double gmGRS = 398.6005e12;
memset(xc, 0, 6*sizeof(double));
memset(vv, 0, 3*sizeof(double));
double a0 = _sqrt_A * _sqrt_A;
if (a0 == 0) {
return failure;
}
double n0 = sqrt(gmGRS/(a0*a0*a0));
bncTime tt(GPSweek, GPSweeks);
double tk = tt - bncTime(int(_TOEweek), _TOEsec);
double n = n0 + _Delta_n;
double M = _M0 + n*tk;
double E = M;
double E_last;
int nLoop = 0;
do {
E_last = E;
E = M + _e*sin(E);
if (++nLoop == 100) {
return failure;
}
} while ( fabs(E-E_last)*a0 > 0.001);
double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
double u0 = v + _omega;
double sin2u0 = sin(2*u0);
double cos2u0 = cos(2*u0);
double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
double xp = r*cos(u);
double yp = r*sin(u);
double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
omegaEarth*_TOEsec;
double sinom = sin(OM);
double cosom = cos(OM);
double sini = sin(i);
double cosi = cos(i);
xc[0] = xp*cosom - yp*cosi*sinom;
xc[1] = xp*sinom + yp*cosi*cosom;
xc[2] = yp*sini;
double tc = tt - _TOC;
xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
// Velocity
// --------
double tanv2 = tan(v/2);
double dEdM = 1 / (1 - _e*cos(E));
double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
* dEdM * n;
double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
double dotom = _OMEGADOT - omegaEarth;
double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
double dotr = a0 * _e*sin(E) * dEdM * n
+ (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
double dotx = dotr*cos(u) - r*sin(u)*dotu;
double doty = dotr*sin(u) + r*cos(u)*dotu;
vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
- xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
+ yp*sini*sinom*doti; // dX / di
vv[1] = sinom *dotx + cosi*cosom *doty
+ xp*cosom*dotom - yp*cosi*sinom*dotom
- yp*sini*cosom*doti;
vv[2] = sini *doty + yp*cosi *doti;
// Relativistic Correction
// -----------------------
xc[3] -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
xc[4] = _clock_drift + _clock_driftrate*tc;
xc[5] = _clock_driftrate;
return success;
}
// RINEX Format String
//////////////////////////////////////////////////////////////////////////////
QString t_ephGPS::toString(double version) const {
QString navStr = navTypeString(_navType, _prn, version);
QString rnxStr = navStr + rinexDateStr(_TOC, _prn, version);
QTextStream out(&rnxStr);
out << QString("%1%2%3\n")
.arg(_clock_bias, 19, 'e', 12)
.arg(_clock_drift, 19, 'e', 12)
.arg(_clock_driftrate, 19, 'e', 12);
QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
// =====================
// BROADCAST ORBIT - 1
// =====================
if (navType() == t_eph::CNAV ||
navType() == t_eph::CNV2) {
out << QString(fmt)
.arg(_ADOT, 19, 'e', 12)
.arg(_Crs, 19, 'e', 12)
.arg(_Delta_n, 19, 'e', 12)
.arg(_M0, 19, 'e', 12);
}
else { // LNAV, undefinded
out << QString(fmt)
.arg(_IODE, 19, 'e', 12)
.arg(_Crs, 19, 'e', 12)
.arg(_Delta_n, 19, 'e', 12)
.arg(_M0, 19, 'e', 12);
}
// =====================
// BROADCAST ORBIT - 2
// =====================
out << QString(fmt)
.arg(_Cuc, 19, 'e', 12)
.arg(_e, 19, 'e', 12)
.arg(_Cus, 19, 'e', 12)
.arg(_sqrt_A, 19, 'e', 12);
// =====================
// BROADCAST ORBIT - 3
// =====================
if (navType() == t_eph::CNAV ||
navType() == t_eph::CNV2) {
out << QString(fmt)
.arg(_top, 19, 'e', 12)
.arg(_Cic, 19, 'e', 12)
.arg(_OMEGA0, 19, 'e', 12)
.arg(_Cis, 19, 'e', 12);
}
else {
out << QString(fmt)
.arg(_TOEsec, 19, 'e', 12)
.arg(_Cic, 19, 'e', 12)
.arg(_OMEGA0, 19, 'e', 12)
.arg(_Cis, 19, 'e', 12);
}
// =====================
// BROADCAST ORBIT - 4
// =====================
out << QString(fmt)
.arg(_i0, 19, 'e', 12)
.arg(_Crc, 19, 'e', 12)
.arg(_omega, 19, 'e', 12)
.arg(_OMEGADOT, 19, 'e', 12);
// =====================
// BROADCAST ORBIT - 5
// =====================
if (type() == t_eph::IRNSS) {
out << QString(fmt)
.arg(_IDOT, 19, 'e', 12)
.arg(0.0, 19, 'e', 12)
.arg(_TOEweek, 19, 'e', 12)
.arg(0.0, 19, 'e', 12);
}
else {
if (navType() == t_eph::CNAV ||
navType() == t_eph::CNV2) {
out << QString(fmt)
.arg(_IDOT, 19, 'e', 12)
.arg(_Delta_n_dot, 19, 'e', 12)
.arg(_URAI_NED0, 19, 'e', 12)
.arg(_URAI_NED1, 19, 'e', 12);
}
else { // LNAV, undefined
out << QString(fmt)
.arg(_IDOT, 19, 'e', 12)
.arg(_L2Codes, 19, 'e', 12)
.arg(_TOEweek, 19, 'e', 12)
.arg(_L2PFlag, 19, 'e', 12);
}
}
// =====================
// BROADCAST ORBIT - 6
// =====================
if (type() == t_eph::IRNSS) {
out << QString(fmt)
.arg(_ura, 19, 'e', 12)
.arg(_health, 19, 'e', 12)
.arg(_TGD, 19, 'e', 12)
.arg(0.0, 19, 'e', 12);
}
else {
if (navType() == t_eph::CNAV ||
navType() == t_eph::CNV2) {
out << QString(fmt)
.arg(_URAI_ED, 19, 'e', 12)
.arg(_health, 19, 'e', 12)
.arg(_TGD, 19, 'e', 12)
.arg(_URAI_NED2,19, 'e', 12);
}
else { // LNAV, undefined
out << QString(fmt)
.arg(_ura, 19, 'e', 12)
.arg(_health, 19, 'e', 12)
.arg(_TGD, 19, 'e', 12)
.arg(_IODC, 19, 'e', 12);
}
}
// =====================
// BROADCAST ORBIT - 7
// =====================
if (navType() == t_eph::LNAV ||
navType() == t_eph::undefined) {
double tot = _TOT;
if (tot == 0.9999e9 && version < 3.0) {
tot = 0.0;
}
// fitInterval
if (type() == t_eph::IRNSS) {// not valid for IRNSS
out << QString(fmt)
.arg(tot, 19, 'e', 12)
.arg(0.0, 19, 'e', 12)
.arg("", 19, QChar(' '))
.arg("", 19, QChar(' '));
}
else {
// for GPS and QZSS in version 3.02 specified in hours
double fitIntervalRnx = _fitInterval;
// otherwise specified as flag
if (type() == t_eph::QZSS && version != 3.02) {
(_fitInterval == 2.0) ? fitIntervalRnx = 0.0 : fitIntervalRnx = 1.0;
}
out << QString(fmt)
.arg(tot, 19, 'e', 12)
.arg(fitIntervalRnx, 19, 'e', 12)
.arg("", 19, QChar(' '))
.arg("", 19, QChar(' '));
}
}
else if (navType() == t_eph::CNAV ||
navType() == t_eph::CNV2) {
out << QString(fmt)
.arg(_ISC_L1CA, 19, 'e', 12)
.arg(_ISC_L2C, 19, 'e', 12)
.arg(_ISC_L5I5, 19, 'e', 12)
.arg(_ISC_L5Q5, 19, 'e', 12);
}
// =====================
// BROADCAST ORBIT - 8
// =====================
if (navType() == t_eph::CNAV) {
out << QString(fmt)
.arg(_TOT, 19, 'e', 12)
.arg(_wnop, 19, 'e', 12)
.arg("", 19, QChar(' '))
.arg("", 19, QChar(' '));
}
else if (navType() == t_eph::CNV2) {
out << QString(fmt)
.arg(_ISC_L1Cd, 19, 'e', 12)
.arg(_ISC_L1Cp, 19, 'e', 12)
.arg("", 19, QChar(' '))
.arg("", 19, QChar(' '));
}
// =====================
// BROADCAST ORBIT - 9
// =====================
if (navType() == t_eph::CNV2) {
out << QString(fmt)
.arg(_TOT, 19, 'e', 12)
.arg(_wnop, 19, 'e', 12)
.arg("", 19, QChar(' '))
.arg("", 19, QChar(' '));
}
return rnxStr;
}
// Constructor
//////////////////////////////////////////////////////////////////////////////
t_ephGlo::t_ephGlo(double rnxVersion, const QStringList& lines) {
int nLines = 4;
if (rnxVersion >= 3.05) {
nLines += 1;
}
else {
_M_delta_tau = 0.9999e9; // unknown
_M_FT = 1.5e1; // unknown
}
if (lines.size() != nLines) {
_checkState = bad;
return;
}
// RINEX Format
// ------------
int fieldLen = 19;
double statusflags = 0.0;
double healthflags = 0.0;
int pos[4];
pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
pos[1] = pos[0] + fieldLen;
pos[2] = pos[1] + fieldLen;
pos[3] = pos[2] + fieldLen;
// Read four lines
// ---------------
for (int iLine = 0; iLine < nLines; iLine++) {
QString line = lines[iLine];
if ( iLine == 0 ) {
QTextStream in(line.left(pos[1]).toLatin1());
int year, month, day, hour, min;
double sec;
QString prnStr, n;
in >> prnStr;
if (prnStr.size() == 1 && prnStr[0] == 'R') {
in >> n;
prnStr.append(n);
}
in >> year >> month >> day >> hour >> min >> sec;
if (prnStr.at(0) == 'R') {
_prn.set('R', prnStr.mid(1).toInt());
}
else {
_prn.set('R', prnStr.toInt());
}
if (year < 80) {
year += 2000;
}
else if (year < 100) {
year += 1900;
}
_gps_utc = gnumleap(year, month, day);
_TOC.set(year, month, day, hour, min, sec);
_TOC = _TOC + _gps_utc;
int nd = int((_TOC.gpssec())) / (24.0*60.0*60.0);
if ( readDbl(line, pos[1], fieldLen, _tau ) ||
readDbl(line, pos[2], fieldLen, _gamma) ||
readDbl(line, pos[3], fieldLen, _tki ) ) {
_checkState = bad;
return;
}
_tki -= nd * 86400.0;
_tau = -_tau;
}
// =====================
// BROADCAST ORBIT - 1
// =====================
else if ( iLine == 1 ) {
if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
readDbl(line, pos[1], fieldLen, _x_velocity ) ||
readDbl(line, pos[2], fieldLen, _x_acceleration) ||
readDbl(line, pos[3], fieldLen, _health ) ) {
_checkState = bad;
return;
}
}
// =====================
// BROADCAST ORBIT - 2
// =====================
else if ( iLine == 2 ) {
if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
readDbl(line, pos[1], fieldLen, _y_velocity ) ||
readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
readDbl(line, pos[3], fieldLen, _frequency_number) ) {
_checkState = bad;
return;
}
}
// =====================
// BROADCAST ORBIT - 3
// =====================
else if ( iLine == 3 ) {
if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
readDbl(line, pos[1], fieldLen, _z_velocity ) ||
readDbl(line, pos[2], fieldLen, _z_acceleration) ||
readDbl(line, pos[3], fieldLen, _E ) ) {
_checkState = bad;
return;
}
}
// =====================
// BROADCAST ORBIT - 4
// =====================
else if ( iLine == 4 ) {
if (readDbl(line, pos[0], fieldLen, statusflags ) ) {
//statusflags BLK, do nothing
_flags_unknown = true;
}
else {
_flags_unknown = false;
// status flags
// ============
// bit 0-1
_M_P = double(bitExtracted(statusflags, 2, 0));
// bit 2-3
_P1 = double(bitExtracted(statusflags, 2, 2));
// bit 4
_P2 = double(bitExtracted(statusflags, 1, 4));
// bit 5
_P3 = double(bitExtracted(statusflags, 1, 5));
// bit 6
_M_P4 = double(bitExtracted(statusflags, 1, 6));
// bit 7-8
_M_M = double(bitExtracted(statusflags, 2, 7));
/// GLO M/K exclusive flags/values only valid if flag M is set to '01'
if (!_M_M) {
_M_P4 = 0.0;
_M_P = 0.0;
}
}
if ( readDbl(line, pos[1], fieldLen, _M_delta_tau ) ||
readDbl(line, pos[2], fieldLen, _M_FT ) ) {
_checkState = bad;
return;
}
if (readDbl(line, pos[3], fieldLen, healthflags ) ) {
// healthflags BLK
_flags_unknown = true;
}
else {
_flags_unknown = false;
// health flags
// ============
// bit 0 (is to be ignored, if bit 1 is zero)
_almanac_health = double(bitExtracted(healthflags, 1, 0));
// bit 1
_almanac_health_availablility_indicator = double(bitExtracted(healthflags, 1, 1));
// bit 2
_M_l3 = double(bitExtracted(healthflags, 1, 2));
}
}
}
// Initialize status vector
// ------------------------
_tt = _TOC;
_xv.ReSize(6); _xv = 0.0;
_xv(1) = _x_pos * 1.e3;
_xv(2) = _y_pos * 1.e3;
_xv(3) = _z_pos * 1.e3;
_xv(4) = _x_velocity * 1.e3;
_xv(5) = _y_velocity * 1.e3;
_xv(6) = _z_velocity * 1.e3;
}
// Compute Glonass Satellite Position (virtual)
////////////////////////////////////////////////////////////////////////////
t_irc t_ephGlo::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
static const double nominalStep = 10.0;
memset(xc, 0, 6*sizeof(double));
memset(vv, 0, 3*sizeof(double));
double dtPos = bncTime(GPSweek, GPSweeks) - _tt;
if (fabs(dtPos) > 24 * 3600.0) {
return failure;
}
int nSteps = int(fabs(dtPos) / nominalStep) + 1;
double step = dtPos / nSteps;
double acc[3];
acc[0] = _x_acceleration * 1.e3;
acc[1] = _y_acceleration * 1.e3;
acc[2] = _z_acceleration * 1.e3;
for (int ii = 1; ii <= nSteps; ii++) {
_xv = rungeKutta4(_tt.gpssec(), _xv, step, acc, glo_deriv);
_tt = _tt + step;
}
// Position and Velocity
// ---------------------
xc[0] = _xv(1);
xc[1] = _xv(2);
xc[2] = _xv(3);
vv[0] = _xv(4);
vv[1] = _xv(5);
vv[2] = _xv(6);
// Clock Correction
// ----------------
double dtClk = bncTime(GPSweek, GPSweeks) - _TOC;
xc[3] = -_tau + _gamma * dtClk;
xc[4] = _gamma;
xc[5] = 0.0;
return success;
}
// RINEX Format String
//////////////////////////////////////////////////////////////////////////////
QString t_ephGlo::toString(double version) const {
QString navStr = navTypeString(_navType, _prn, version);
QString rnxStr = navStr + rinexDateStr(_TOC -_gps_utc, _prn, version);
int nd = int((_TOC - _gps_utc).gpssec()) / (24.0*60.0*60.0);
QTextStream out(&rnxStr);
out << QString("%1%2%3\n")
.arg(-_tau, 19, 'e', 12)
.arg(_gamma, 19, 'e', 12)
.arg(_tki+nd*86400.0, 19, 'e', 12);
QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
// =====================
// BROADCAST ORBIT - 1
// =====================
out << QString(fmt)
.arg(_x_pos, 19, 'e', 12)
.arg(_x_velocity, 19, 'e', 12)
.arg(_x_acceleration, 19, 'e', 12)
.arg(_health, 19, 'e', 12);
// =====================
// BROADCAST ORBIT - 2
// =====================
out << QString(fmt)
.arg(_y_pos, 19, 'e', 12)
.arg(_y_velocity, 19, 'e', 12)
.arg(_y_acceleration, 19, 'e', 12)
.arg(_frequency_number, 19, 'e', 12);
// =====================
// BROADCAST ORBIT - 3
// =====================
out << QString(fmt)
.arg(_z_pos, 19, 'e', 12)
.arg(_z_velocity, 19, 'e', 12)
.arg(_z_acceleration, 19, 'e', 12)
.arg(_E, 19, 'e', 12);
// =====================
// BROADCAST ORBIT - 4
// =====================
if (version >= 3.05) {
// unknown (RINEX version < 3.05)
if (_flags_unknown) {
out << QString(fmt)
.arg("", 19, QChar(' ')) // statusflags blank if unknown
.arg(_M_delta_tau, 19, 'e', 12)
.arg(_M_FT, 19, 'e', 12)
.arg("", 19, QChar(' ')); // healthflags blank if unknown
}
else {
int statusflags = 0;
// bit 7-8
if (_M_M == 2.0) {
statusflags |= (1<<7);
}
// bit 6
if (_M_P4) {
statusflags |= (1<<6);
}
// bit 5
if (_P3) {
statusflags |= (1<<5);
}
// bit 4
if (_P2) {
statusflags |= (1<<4);
}
// bit 2-3
if (_P1 == 2.0) {
statusflags |= (1<<2);
}
else if (_P1 == 1.0) {
statusflags |= (1<<3);
}
else if (_P1 == 3.0) {
statusflags |= (1<<2);
statusflags |= (1<<3);
}
// bit 0-1
if (_M_P == 2.0) {
statusflags |= (1<<0);
}
else if (_M_P == 1.0) {
statusflags |= (1<<1);
}
else if (_M_P == 3.0) {
statusflags |= (1<<0);
statusflags |= (1<<1);
}
// health flags
// ============
int healthflags = 0;
// bit 0 (is to be ignored, if bit 1 is zero)
if (_almanac_health) {
healthflags |= (1<<0);
}
// bit 1
if (_almanac_health_availablility_indicator) {
healthflags |= (1<<1);
}
// bit 2
if (_M_l3) {
healthflags |= (1<<2);
}
out << QString(fmt)
.arg(double(statusflags), 19, 'e', 12)
.arg(_M_delta_tau, 19, 'e', 12)
.arg(_M_FT, 19, 'e', 12)
.arg(double(healthflags), 19, 'e', 12);
}
}
return rnxStr;
}
// Derivative of the state vector using a simple force model (static)
////////////////////////////////////////////////////////////////////////////
ColumnVector t_ephGlo::glo_deriv(double /* tt */, const ColumnVector& xv,
double* acc) {
// State vector components
// -----------------------
ColumnVector rr = xv.rows(1,3);
ColumnVector vv = xv.rows(4,6);
// Acceleration
// ------------
static const double gmWGS = 398.60044e12;
static const double AE = 6378136.0;
static const double OMEGA = 7292115.e-11;
static const double C20 = -1082.6257e-6;
double rho = rr.NormFrobenius();
double t1 = -gmWGS/(rho*rho*rho);
double t2 = 3.0/2.0 * C20 * (gmWGS*AE*AE) / (rho*rho*rho*rho*rho);
double t3 = OMEGA * OMEGA;
double t4 = 2.0 * OMEGA;
double z2 = rr(3) * rr(3);
// Vector of derivatives
// ---------------------
ColumnVector va(6);
va(1) = vv(1);
va(2) = vv(2);
va(3) = vv(3);
va(4) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(1) + t4*vv(2) + acc[0];
va(5) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(2) - t4*vv(1) + acc[1];
va(6) = (t1 + t2*(3.0-5.0*z2/(rho*rho)) ) * rr(3) + acc[2];
return va;
}
// IOD of Glonass Ephemeris (virtual)
////////////////////////////////////////////////////////////////////////////
unsigned int t_ephGlo::IOD() const {
bncTime tMoscow = _TOC - _gps_utc + 3 * 3600.0;
return (unsigned long)tMoscow.daysec() / 900;
}
// Health status of Glonass Ephemeris (virtual)
////////////////////////////////////////////////////////////////////////////
unsigned int t_ephGlo::isUnhealthy() const {
if (_almanac_health_availablility_indicator) {
if ((_health == 0 && _almanac_health == 0) ||
(_health == 1 && _almanac_health == 0) ||
(_health == 1 && _almanac_health == 1)) {
return 1;
}
}
else if (!_almanac_health_availablility_indicator) {
if (_health) {
return 1;
}
}
return 0; /* (_health == 0 && _almanac_health == 1) or (_health == 0) */
}
// Constructor
//////////////////////////////////////////////////////////////////////////////
t_ephGal::t_ephGal(double rnxVersion, const QStringList& lines) {
int year, month, day, hour, min;
double sec;
QString prnStr;
const int nLines = 8;
if (lines.size() != nLines) {
_checkState = bad;
return;
}
// RINEX Format
// ------------
int fieldLen = 19;
double SVhealth = 0.0;
double datasource = 0.0;
int pos[4];
pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
pos[1] = pos[0] + fieldLen;
pos[2] = pos[1] + fieldLen;
pos[3] = pos[2] + fieldLen;
// Read eight lines
// ----------------
for (int iLine = 0; iLine < nLines; iLine++) {
QString line = lines[iLine];
if ( iLine == 0 ) {
QTextStream in(line.left(pos[1]).toLatin1());
QString n;
in >> prnStr;
if (prnStr.size() == 1 && prnStr[0] == 'E') {
in >> n;
prnStr.append(n);
}
in >> year >> month >> day >> hour >> min >> sec;
if (year < 80) {
year += 2000;
}
else if (year < 100) {
year += 1900;
}
_TOC.set(year, month, day, hour, min, sec);
if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
readDbl(line, pos[2], fieldLen, _clock_drift ) ||
readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
_checkState = bad;
return;
}
}
// =====================
// BROADCAST ORBIT - 1
// =====================
else if ( iLine == 1 ) {
if ( readDbl(line, pos[0], fieldLen, _IODnav ) ||
readDbl(line, pos[1], fieldLen, _Crs ) ||
readDbl(line, pos[2], fieldLen, _Delta_n) ||
readDbl(line, pos[3], fieldLen, _M0 ) ) {
_checkState = bad;
return;
}
}
// =====================
// BROADCAST ORBIT - 2
// =====================
else if ( iLine == 2 ) {
if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
readDbl(line, pos[1], fieldLen, _e ) ||
readDbl(line, pos[2], fieldLen, _Cus ) ||
readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
_checkState = bad;
return;
}
}
// =====================
// BROADCAST ORBIT - 3
// =====================
else if ( iLine == 3 ) {
if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
readDbl(line, pos[1], fieldLen, _Cic ) ||
readDbl(line, pos[2], fieldLen, _OMEGA0) ||
readDbl(line, pos[3], fieldLen, _Cis ) ) {
_checkState = bad;
return;
}
}
// =====================
// BROADCAST ORBIT - 4
// =====================
else if ( iLine == 4 ) {
if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
readDbl(line, pos[1], fieldLen, _Crc ) ||
readDbl(line, pos[2], fieldLen, _omega ) ||
readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
_checkState = bad;
return;
}
}
// =====================
// BROADCAST ORBIT - 5
// =====================
else if ( iLine == 5 ) {
if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
readDbl(line, pos[1], fieldLen, datasource) ||
readDbl(line, pos[2], fieldLen, _TOEweek ) ) {
_checkState = bad;
return;
} else {
if (int(datasource) & (1<<8)) {
_fnav = true;
_inav = false;
} else if (int(datasource) & (1<<9)) {
_fnav = false;
_inav = true;
}
_TOEweek -= 1024.0;
}
}
// =====================
// BROADCAST ORBIT - 6
// =====================
else if ( iLine == 6 ) {
if ( readDbl(line, pos[0], fieldLen, _SISA ) ||
readDbl(line, pos[1], fieldLen, SVhealth) ||
readDbl(line, pos[2], fieldLen, _BGD_1_5A) ||
readDbl(line, pos[3], fieldLen, _BGD_1_5B) ) {
_checkState = bad;
return;
} else {
// Bit 0
_e1DataInValid = (int(SVhealth) & (1<<0));
// Bit 1-2
_E1_bHS = double((int(SVhealth) >> 1) & 0x3);
// Bit 3
_e5aDataInValid = (int(SVhealth) & (1<<3));
// Bit 4-5
_E5aHS = double((int(SVhealth) >> 4) & 0x3);
// Bit 6
_e5bDataInValid = (int(SVhealth) & (1<<6));
// Bit 7-8
_E5bHS = double((int(SVhealth) >> 7) & 0x3);
if (prnStr.at(0) == 'E') {
_prn.set('E', prnStr.mid(1).toInt(), _inav ? 1 : 0);
}
}
}
// =====================
// BROADCAST ORBIT - 7
// =====================
else if ( iLine == 7 ) {
if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
_checkState = bad;
return;
}
}
}
}
// Compute Galileo Satellite Position (virtual)
////////////////////////////////////////////////////////////////////////////
t_irc t_ephGal::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
static const double omegaEarth = 7292115.1467e-11;
static const double gmWGS = 398.6004418e12;
memset(xc, 0, 6*sizeof(double));
memset(vv, 0, 3*sizeof(double));
double a0 = _sqrt_A * _sqrt_A;
if (a0 == 0) {
return failure;
}
double n0 = sqrt(gmWGS/(a0*a0*a0));
bncTime tt(GPSweek, GPSweeks);
double tk = tt - bncTime(_TOC.gpsw(), _TOEsec);
double n = n0 + _Delta_n;
double M = _M0 + n*tk;
double E = M;
double E_last;
int nLoop = 0;
do {
E_last = E;
E = M + _e*sin(E);
if (++nLoop == 100) {
return failure;
}
} while ( fabs(E-E_last)*a0 > 0.001 );
double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
double u0 = v + _omega;
double sin2u0 = sin(2*u0);
double cos2u0 = cos(2*u0);
double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
double xp = r*cos(u);
double yp = r*sin(u);
double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
omegaEarth*_TOEsec;
double sinom = sin(OM);
double cosom = cos(OM);
double sini = sin(i);
double cosi = cos(i);
xc[0] = xp*cosom - yp*cosi*sinom;
xc[1] = xp*sinom + yp*cosi*cosom;
xc[2] = yp*sini;
double tc = tt - _TOC;
xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
// Velocity
// --------
double tanv2 = tan(v/2);
double dEdM = 1 / (1 - _e*cos(E));
double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
* dEdM * n;
double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
double dotom = _OMEGADOT - omegaEarth;
double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
double dotr = a0 * _e*sin(E) * dEdM * n
+ (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
double dotx = dotr*cos(u) - r*sin(u)*dotu;
double doty = dotr*sin(u) + r*cos(u)*dotu;
vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
- xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
+ yp*sini*sinom*doti; // dX / di
vv[1] = sinom *dotx + cosi*cosom *doty
+ xp*cosom*dotom - yp*cosi*sinom*dotom
- yp*sini*cosom*doti;
vv[2] = sini *doty + yp*cosi *doti;
// Relativistic Correction
// -----------------------
xc[3] -= 4.442807309e-10 * _e * sqrt(a0) *sin(E);
xc[4] = _clock_drift + _clock_driftrate*tc;
xc[5] = _clock_driftrate;
return success;
}
// Health status of Galileo Ephemeris (virtual)
////////////////////////////////////////////////////////////////////////////
unsigned int t_ephGal::isUnhealthy() const {
if (_E5aHS && _E5bHS && _E1_bHS) {
return 1;
}
return 0;
}
// RINEX Format String
//////////////////////////////////////////////////////////////////////////////
QString t_ephGal::toString(double version) const {
QString navStr = navTypeString(_navType, _prn, version);
QString rnxStr = navStr + rinexDateStr(_TOC, _prn, version);
QTextStream out(&rnxStr);
out << QString("%1%2%3\n")
.arg(_clock_bias, 19, 'e', 12)
.arg(_clock_drift, 19, 'e', 12)
.arg(_clock_driftrate, 19, 'e', 12);
QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
// =====================
// BROADCAST ORBIT - 1
// =====================
out << QString(fmt)
.arg(_IODnav, 19, 'e', 12)
.arg(_Crs, 19, 'e', 12)
.arg(_Delta_n, 19, 'e', 12)
.arg(_M0, 19, 'e', 12);
// =====================
// BROADCAST ORBIT - 2
// =====================
out << QString(fmt)
.arg(_Cuc, 19, 'e', 12)
.arg(_e, 19, 'e', 12)
.arg(_Cus, 19, 'e', 12)
.arg(_sqrt_A, 19, 'e', 12);
// =====================
// BROADCAST ORBIT - 3
// =====================
out << QString(fmt)
.arg(_TOEsec, 19, 'e', 12)
.arg(_Cic, 19, 'e', 12)
.arg(_OMEGA0, 19, 'e', 12)
.arg(_Cis, 19, 'e', 12);
// =====================
// BROADCAST ORBIT - 4
// =====================
out << QString(fmt)
.arg(_i0, 19, 'e', 12)
.arg(_Crc, 19, 'e', 12)
.arg(_omega, 19, 'e', 12)
.arg(_OMEGADOT, 19, 'e', 12);
// =====================
// BROADCAST ORBIT - 5
// =====================
int dataSource = 0;
int SVhealth = 0;
double BGD_1_5A = _BGD_1_5A;
double BGD_1_5B = _BGD_1_5B;
if (_fnav) {
dataSource |= (1<<1);
dataSource |= (1<<8);
BGD_1_5B = 0.0;
// SVhealth
// Bit 3 : E5a DVS
if (_e5aDataInValid) {
SVhealth |= (1<<3);
}
// Bit 4-5: E5a HS
if (_E5aHS == 1.0) {
SVhealth |= (1<<4);
}
else if (_E5aHS == 2.0) {
SVhealth |= (1<<5);
}
else if (_E5aHS == 3.0) {
SVhealth |= (1<<4);
SVhealth |= (1<<5);
}
}
else if(_inav) {
// Bit 2 and 0 are set because from MT1046 the data source cannot be determined
// and RNXv3.03 says both can be set if the navigation messages were merged
dataSource |= (1<<0);
dataSource |= (1<<2);
dataSource |= (1<<9);
// SVhealth
// Bit 0 : E1-B DVS
if (_e1DataInValid) {
SVhealth |= (1<<0);
}
// Bit 1-2: E1-B HS
if (_E1_bHS == 1.0) {
SVhealth |= (1<<1);
}
else if (_E1_bHS == 2.0) {
SVhealth |= (1<<2);
}
else if (_E1_bHS == 3.0) {
SVhealth |= (1<<1);
SVhealth |= (1<<2);
}
// Bit 3 : E5a DVS
if (_e5aDataInValid) {
SVhealth |= (1<<3);
}
// Bit 4-5: E5a HS
if (_E5aHS == 1.0) {
SVhealth |= (1<<4);
}
else if (_E5aHS == 2.0) {
SVhealth |= (1<<5);
}
else if (_E5aHS == 3.0) {
SVhealth |= (1<<4);
SVhealth |= (1<<5);
}
// Bit 6 : E5b DVS
if (_e5bDataInValid) {
SVhealth |= (1<<6);
}
// Bit 7-8: E5b HS
if (_E5bHS == 1.0) {
SVhealth |= (1<<7);
}
else if (_E5bHS == 2.0) {
SVhealth |= (1<<8);
}
else if (_E5bHS == 3.0) {
SVhealth |= (1<<7);
SVhealth |= (1<<8);
}
}
out << QString(fmt)
.arg(_IDOT, 19, 'e', 12)
.arg(double(dataSource), 19, 'e', 12)
.arg(_TOEweek + 1024.0, 19, 'e', 12)
.arg(0.0, 19, 'e', 12);
// =====================
// BROADCAST ORBIT - 6
// =====================
out << QString(fmt)
.arg(_SISA, 19, 'e', 12)
.arg(double(SVhealth), 19, 'e', 12)
.arg(BGD_1_5A, 19, 'e', 12)
.arg(BGD_1_5B, 19, 'e', 12);
// =====================
// BROADCAST ORBIT - 7
// =====================
double tot = _TOT;
if (tot == 0.9999e9 && version < 3.0) {
tot = 0.0;
}
out << QString(fmt)
.arg(tot, 19, 'e', 12)
.arg("", 19, QChar(' '))
.arg("", 19, QChar(' '))
.arg("", 19, QChar(' '));
return rnxStr;
}
// Constructor
//////////////////////////////////////////////////////////////////////////////
t_ephSBAS::t_ephSBAS(double rnxVersion, const QStringList& lines) {
const int nLines = 4;
if (lines.size() != nLines) {
_checkState = bad;
return;
}
// RINEX Format
// ------------
int fieldLen = 19;
int pos[4];
pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
pos[1] = pos[0] + fieldLen;
pos[2] = pos[1] + fieldLen;
pos[3] = pos[2] + fieldLen;
// Read four lines
// ---------------
for (int iLine = 0; iLine < nLines; iLine++) {
QString line = lines[iLine];
if ( iLine == 0 ) {
QTextStream in(line.left(pos[1]).toLatin1());
int year, month, day, hour, min;
double sec;
QString prnStr, n;
in >> prnStr;
if (prnStr.size() == 1 && prnStr[0] == 'S') {
in >> n;
prnStr.append(n);
}
in >> year >> month >> day >> hour >> min >> sec;
if (prnStr.at(0) == 'S') {
_prn.set('S', prnStr.mid(1).toInt());
}
else {
_prn.set('S', prnStr.toInt());
}
if (year < 80) {
year += 2000;
}
else if (year < 100) {
year += 1900;
}
_TOC.set(year, month, day, hour, min, sec);
if ( readDbl(line, pos[1], fieldLen, _agf0 ) ||
readDbl(line, pos[2], fieldLen, _agf1 ) ||
readDbl(line, pos[3], fieldLen, _TOT ) ) {
_checkState = bad;
return;
}
}
// =====================
// BROADCAST ORBIT - 1
// =====================
else if ( iLine == 1 ) {
if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
readDbl(line, pos[1], fieldLen, _x_velocity ) ||
readDbl(line, pos[2], fieldLen, _x_acceleration) ||
readDbl(line, pos[3], fieldLen, _health ) ) {
_checkState = bad;
return;
}
}
// =====================
// BROADCAST ORBIT - 2
// =====================
else if ( iLine == 2 ) {
if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
readDbl(line, pos[1], fieldLen, _y_velocity ) ||
readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
readDbl(line, pos[3], fieldLen, _ura ) ) {
_checkState = bad;
return;
}
}
// =====================
// BROADCAST ORBIT - 3
// =====================
else if ( iLine == 3 ) {
double iodn;
if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
readDbl(line, pos[1], fieldLen, _z_velocity ) ||
readDbl(line, pos[2], fieldLen, _z_acceleration) ||
readDbl(line, pos[3], fieldLen, iodn ) ) {
_checkState = bad;
return;
} else {
_IODN = int(iodn);
}
}
}
_x_pos *= 1.e3;
_y_pos *= 1.e3;
_z_pos *= 1.e3;
_x_velocity *= 1.e3;
_y_velocity *= 1.e3;
_z_velocity *= 1.e3;
_x_acceleration *= 1.e3;
_y_acceleration *= 1.e3;
_z_acceleration *= 1.e3;
}
// IOD of SBAS Ephemeris (virtual)
////////////////////////////////////////////////////////////////////////////
unsigned int t_ephSBAS::IOD() const {
unsigned char buffer[80];
int size = 0;
int numbits = 0;
long long bitbuffer = 0;
unsigned char *startbuffer = buffer;
SBASADDBITSFLOAT(30, this->_x_pos, 0.08)
SBASADDBITSFLOAT(30, this->_y_pos, 0.08)
SBASADDBITSFLOAT(25, this->_z_pos, 0.4)
SBASADDBITSFLOAT(17, this->_x_velocity, 0.000625)
SBASADDBITSFLOAT(17, this->_y_velocity, 0.000625)
SBASADDBITSFLOAT(18, this->_z_velocity, 0.004)
SBASADDBITSFLOAT(10, this->_x_acceleration, 0.0000125)
SBASADDBITSFLOAT(10, this->_y_acceleration, 0.0000125)
SBASADDBITSFLOAT(10, this->_z_acceleration, 0.0000625)
SBASADDBITSFLOAT(12, this->_agf0, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
SBASADDBITSFLOAT(8, this->_agf1, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<10))
SBASADDBITS(5,0); // the last byte is filled by 0-bits to obtain a length of an integer multiple of 8
return CRC24(size, startbuffer);
}
// Compute SBAS Satellite Position (virtual)
////////////////////////////////////////////////////////////////////////////
t_irc t_ephSBAS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
bncTime tt(GPSweek, GPSweeks);
double dt = tt - _TOC;
xc[0] = _x_pos + _x_velocity * dt + _x_acceleration * dt * dt / 2.0;
xc[1] = _y_pos + _y_velocity * dt + _y_acceleration * dt * dt / 2.0;
xc[2] = _z_pos + _z_velocity * dt + _z_acceleration * dt * dt / 2.0;
vv[0] = _x_velocity + _x_acceleration * dt;
vv[1] = _y_velocity + _y_acceleration * dt;
vv[2] = _z_velocity + _z_acceleration * dt;
xc[3] = _agf0 + _agf1 * dt;
xc[4] = _agf1;
xc[5] = 0.0;
return success;
}
// Health status of SBAS Ephemeris (virtual)
////////////////////////////////////////////////////////////////////////////
unsigned int t_ephSBAS::isUnhealthy() const {
// Bit 5
bool URAindexIs15 = (int(_health) & (1<<5));
if (URAindexIs15) {
// in this case it is recommended
// to set the bits 0,1,2,3 to 1 (MT17health = 15)
return 1;
}
// Bit 0-3
int MT17health = (int(_health)) & (0x0f);
if (MT17health) {
return 1;
}
// Bit 4
// bool MT17HealthIsUnavailable = (int(_health) & (1<<4));
// is not used because the MT17health bits can be independently set if URA index is 15
return 0;
}
// RINEX Format String
//////////////////////////////////////////////////////////////////////////////
QString t_ephSBAS::toString(double version) const {
QString navStr = navTypeString(_navType, _prn, version);
QString rnxStr = navStr + rinexDateStr(_TOC, _prn, version);
QTextStream out(&rnxStr);
out << QString("%1%2%3\n")
.arg(_agf0, 19, 'e', 12)
.arg(_agf1, 19, 'e', 12)
.arg(_TOT, 19, 'e', 12);
QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
// =====================
// BROADCAST ORBIT - 1
// =====================
out << QString(fmt)
.arg(1.e-3*_x_pos, 19, 'e', 12)
.arg(1.e-3*_x_velocity, 19, 'e', 12)
.arg(1.e-3*_x_acceleration, 19, 'e', 12)
.arg(_health, 19, 'e', 12);
// =====================
// BROADCAST ORBIT - 2
// =====================
out << QString(fmt)
.arg(1.e-3*_y_pos, 19, 'e', 12)
.arg(1.e-3*_y_velocity, 19, 'e', 12)
.arg(1.e-3*_y_acceleration, 19, 'e', 12)
.arg(_ura, 19, 'e', 12);
// =====================
// BROADCAST ORBIT - 3
// =====================
out << QString(fmt)
.arg(1.e-3*_z_pos, 19, 'e', 12)
.arg(1.e-3*_z_velocity, 19, 'e', 12)
.arg(1.e-3*_z_acceleration, 19, 'e', 12)
.arg(double(_IODN), 19, 'e', 12);
return rnxStr;
}
// Constructor
//////////////////////////////////////////////////////////////////////////////
t_ephBDS::t_ephBDS(double rnxVersion, const QStringList& lines) {
int nLines = 8;
if (navType() == t_eph::CNV1 ||
navType() == t_eph::CNV2) {
nLines += 2;
}
if (navType() == t_eph::CNV3) {
nLines += 1;
}
if (lines.size() != nLines) {
_checkState = bad;
return;
}
// RINEX Format
// ------------
int fieldLen = 19;
int pos[4];
pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
pos[1] = pos[0] + fieldLen;
pos[2] = pos[1] + fieldLen;
pos[3] = pos[2] + fieldLen;
// Read eight lines
// ----------------
for (int iLine = 0; iLine < nLines; iLine++) {
QString line = lines[iLine];
if ( iLine == 0 ) {
QTextStream in(line.left(pos[1]).toLatin1());
int year, month, day, hour, min;
double sec;
QString prnStr, n;
in >> prnStr;
if (prnStr.size() == 1 && prnStr[0] == 'C') {
in >> n;
prnStr.append(n);
}
in >> year >> month >> day >> hour >> min >> sec;
if (prnStr.at(0) == 'C') {
_prn.set('C', prnStr.mid(1).toInt());
}
else {
_prn.set('C', prnStr.toInt());
}
if (year < 80) {
year += 2000;
}
else if (year < 100) {
year += 1900;
}
_TOC.setBDS(year, month, day, hour, min, sec);
if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
readDbl(line, pos[2], fieldLen, _clock_drift ) ||
readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
_checkState = bad;
return;
}
}
// =====================
// BROADCAST ORBIT - 1
// =====================
else if ( iLine == 1 ) {
double aode;
if ( readDbl(line, pos[0], fieldLen, aode ) ||
readDbl(line, pos[1], fieldLen, _Crs ) ||
readDbl(line, pos[2], fieldLen, _Delta_n) ||
readDbl(line, pos[3], fieldLen, _M0 ) ) {
_checkState = bad;
return;
}
_AODE = int(aode);
}
// =====================
// BROADCAST ORBIT - 2
// =====================
else if ( iLine == 2 ) {
if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
readDbl(line, pos[1], fieldLen, _e ) ||
readDbl(line, pos[2], fieldLen, _Cus ) ||
readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
_checkState = bad;
return;
}
}
// =====================
// BROADCAST ORBIT - 3
// =====================
else if ( iLine == 3 ) {
if ( readDbl(line, pos[0], fieldLen, _TOEsec ) ||
readDbl(line, pos[1], fieldLen, _Cic ) ||
readDbl(line, pos[2], fieldLen, _OMEGA0) ||
readDbl(line, pos[3], fieldLen, _Cis ) ) {
_checkState = bad;
return;
}
}
// =====================
// BROADCAST ORBIT - 4
// =====================
else if ( iLine == 4 ) {
if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
readDbl(line, pos[1], fieldLen, _Crc ) ||
readDbl(line, pos[2], fieldLen, _omega ) ||
readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
_checkState = bad;
return;
}
}
// =====================
// BROADCAST ORBIT - 5
// =====================
else if ( iLine == 5 ) {
if (navType() == t_eph::CNV1 ||
navType() == t_eph::CNV2 ||
navType() == t_eph::CNV3 ) {
if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
readDbl(line, pos[1], fieldLen, _Delta_n_dot) ||
readDbl(line, pos[2], fieldLen, _satType ) ||
readDbl(line, pos[3], fieldLen, _top ) ) {
_checkState = bad;
return;
}
}
else { // D1, D2, undefined
if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
readDbl(line, pos[2], fieldLen, _BDTweek)) {
_checkState = bad;
return;
}
}
}
// =====================
// BROADCAST ORBIT - 6
// =====================
else if ( iLine == 6 ) {
if (navType() == t_eph::CNV1 ||
navType() == t_eph::CNV2 ||
navType() == t_eph::CNV3 ) {
if ( readDbl(line, pos[0], fieldLen, _SISAI_oe ) ||
readDbl(line, pos[1], fieldLen, _SISAI_ocb ) ||
readDbl(line, pos[2], fieldLen, _SISAI_oc1 ) ||
readDbl(line, pos[3], fieldLen, _SISAI_oc2 ) ) {
_checkState = bad;
return;
}
}
else { // D1, D2, undefined
double SatH1;
if ( readDbl(line, pos[0], fieldLen, _URA ) ||
readDbl(line, pos[1], fieldLen, SatH1) ||
readDbl(line, pos[2], fieldLen, _TGD1) ||
readDbl(line, pos[3], fieldLen, _TGD2) ) {
_checkState = bad;
return;
}
_SatH1 = int(SatH1);
}
}
// =====================
// BROADCAST ORBIT - 7
// =====================
else if ( iLine == 7 ) {
if (navType() == t_eph::CNV1) {
if ( readDbl(line, pos[0], fieldLen, _ISC_B1Cd) ||
readDbl(line, pos[2], fieldLen, _TGD_B1Cp) ||
readDbl(line, pos[3], fieldLen, _TGD_B2ap) ) {
_checkState = bad;
return;
}
}
else if (navType() == t_eph::CNV2) {
if ( readDbl(line, pos[1], fieldLen, _ISC_B2ad) ||
readDbl(line, pos[2], fieldLen, _TGD_B1Cp) ||
readDbl(line, pos[3], fieldLen, _TGD_B2ap) ) {
_checkState = bad;
return;
}
}
else if (navType() == t_eph::CNV3) {
double health;
if ( readDbl(line, pos[0], fieldLen, _SISMAI ) ||
readDbl(line, pos[1], fieldLen, health ) ||
readDbl(line, pos[2], fieldLen, _INTEGRITYF_B2b) ||
readDbl(line, pos[3], fieldLen, _TGD_B2bI) ) {
_checkState = bad;
return;
}
_health = int(health);
}
else { // D1, D2 or undefined
double aodc;
if ( readDbl(line, pos[0], fieldLen, _TOT) ||
readDbl(line, pos[1], fieldLen, aodc) ) {
_checkState = bad;
return;
}
if (_TOT == 0.9999e9) { // 0.9999e9 means not known (RINEX standard)
_TOT = _TOEsec;
}
_AODC = int(aodc);
}
}
// =====================
// BROADCAST ORBIT - 8
// =====================
else if ( iLine == 8 ) {
double health;
if (navType() == t_eph::CNV1) {
if ( readDbl(line, pos[0], fieldLen, _SISMAI ) ||
readDbl(line, pos[1], fieldLen, health ) ||
readDbl(line, pos[2], fieldLen, _INTEGRITYF_B1C) ||
readDbl(line, pos[3], fieldLen, _IODC) ) {
_checkState = bad;
return;
}
_health = int(health);
}
else if (navType() == t_eph::CNV2) {
if ( readDbl(line, pos[0], fieldLen, _SISMAI ) ||
readDbl(line, pos[1], fieldLen, health ) ||
readDbl(line, pos[2], fieldLen, _INTEGRITYF_B2aB1C) ||
readDbl(line, pos[3], fieldLen, _IODC) ) {
_checkState = bad;
return;
}
_health = int(health);
}
else if (navType() == t_eph::CNV3) {
if ( readDbl(line, pos[0], fieldLen, _TOT)) {
_checkState = bad;
return;
}
}
}
// =====================
// BROADCAST ORBIT - 9
// =====================
else if ( iLine == 9 ) {
if (navType() == t_eph::CNV1 ||
navType() == t_eph::CNV2) {
if ( readDbl(line, pos[0], fieldLen, _TOT) ||
readDbl(line, pos[3], fieldLen, _IODE) ) {
_checkState = bad;
return;
}
}
}
}
_TOE.setBDS(int(_BDTweek), _TOEsec);
// remark: actually should be computed from second_tot
// but it seems to be unreliable in RINEX files
//_TOT = _TOC.bdssec();
}
// IOD of BDS Ephemeris (virtual)
////////////////////////////////////////////////////////////////////////////
unsigned int t_ephBDS::IOD() const {
return (int(_TOC.gpssec())/720) % 240; //return (int(_TOEsec)/720) % 240;
}
// Compute BDS Satellite Position (virtual)
//////////////////////////////////////////////////////////////////////////////
t_irc t_ephBDS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
static const double gmBDS = 398.6004418e12;
static const double omegaBDS = 7292115.0000e-11;
xc[0] = xc[1] = xc[2] = xc[3] = 0.0;
vv[0] = vv[1] = vv[2] = 0.0;
bncTime tt(GPSweek, GPSweeks);
if (_sqrt_A == 0) {
return failure;
}
double a0 = _sqrt_A * _sqrt_A;
double n0 = sqrt(gmBDS/(a0*a0*a0));
double tk = tt - _TOE;
double n = n0 + _Delta_n;
double M = _M0 + n*tk;
double E = M;
double E_last;
int nLoop = 0;
do {
E_last = E;
E = M + _e*sin(E);
if (++nLoop == 100) {
return failure;
}
} while ( fabs(E-E_last)*a0 > 0.001 );
double v = atan2(sqrt(1-_e*_e) * sin(E), cos(E) - _e);
double u0 = v + _omega;
double sin2u0 = sin(2*u0);
double cos2u0 = cos(2*u0);
double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
double xp = r*cos(u);
double yp = r*sin(u);
double toesec = (_TOE.gpssec() - 14.0);
double sinom = 0;
double cosom = 0;
double sini = 0;
double cosi = 0;
// Velocity
// --------
double tanv2 = tan(v/2);
double dEdM = 1 / (1 - _e*cos(E));
double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2)
/ (1 + tanv2*tanv2) * dEdM * n;
double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
double dotr = a0 * _e*sin(E) * dEdM * n
+ (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
double dotx = dotr*cos(u) - r*sin(u)*dotu;
double doty = dotr*sin(u) + r*cos(u)*dotu;
const double iMaxGEO = 10.0 / 180.0 * M_PI;
// MEO/IGSO satellite
// ------------------
if (_i0 > iMaxGEO) {
double OM = _OMEGA0 + (_OMEGADOT - omegaBDS)*tk - omegaBDS*toesec;
sinom = sin(OM);
cosom = cos(OM);
sini = sin(i);
cosi = cos(i);
xc[0] = xp*cosom - yp*cosi*sinom;
xc[1] = xp*sinom + yp*cosi*cosom;
xc[2] = yp*sini;
// Velocity
// --------
double dotom = _OMEGADOT - t_CST::omega;
vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
- xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
+ yp*sini*sinom*doti; // dX / di
vv[1] = sinom *dotx + cosi*cosom *doty
+ xp*cosom*dotom - yp*cosi*sinom*dotom
- yp*sini*cosom*doti;
vv[2] = sini *doty + yp*cosi *doti;
}
// GEO satellite
// -------------
else {
double OM = _OMEGA0 + _OMEGADOT*tk - omegaBDS*toesec;
double ll = omegaBDS*tk;
sinom = sin(OM);
cosom = cos(OM);
sini = sin(i);
cosi = cos(i);
double xx = xp*cosom - yp*cosi*sinom;
double yy = xp*sinom + yp*cosi*cosom;
double zz = yp*sini;
Matrix RX = BNC_PPP::t_astro::rotX(-5.0 / 180.0 * M_PI);
Matrix RZ = BNC_PPP::t_astro::rotZ(ll);
ColumnVector X1(3); X1 << xx << yy << zz;
ColumnVector X2 = RZ*RX*X1;
xc[0] = X2(1);
xc[1] = X2(2);
xc[2] = X2(3);
double dotom = _OMEGADOT;
double vx = cosom *dotx - cosi*sinom *doty
- xp*sinom*dotom - yp*cosi*cosom*dotom
+ yp*sini*sinom*doti;
double vy = sinom *dotx + cosi*cosom *doty
+ xp*cosom*dotom - yp*cosi*sinom*dotom
- yp*sini*cosom*doti;
double vz = sini *doty + yp*cosi *doti;
ColumnVector V(3); V << vx << vy << vz;
Matrix RdotZ(3,3);
double C = cos(ll);
double S = sin(ll);
Matrix UU(3,3);
UU[0][0] = -S; UU[0][1] = +C; UU[0][2] = 0.0;
UU[1][0] = -C; UU[1][1] = -S; UU[1][2] = 0.0;
UU[2][0] = 0.0; UU[2][1] = 0.0; UU[2][2] = 0.0;
RdotZ = omegaBDS * UU;
ColumnVector VV(3);
VV = RZ*RX*V + RdotZ*RX*X1;
vv[0] = VV(1);
vv[1] = VV(2);
vv[2] = VV(3);
}
double tc = tt - _TOC;
xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
// dotC = _clock_drift + _clock_driftrate*tc
// - 4.442807309e-10*_e * sqrt(a0) * cos(E) * dEdM * n;
// Relativistic Correction
// -----------------------
xc[3] -= 4.442807309e-10 * _e * sqrt(a0) *sin(E);
xc[4] = _clock_drift + _clock_driftrate*tc;
xc[5] = _clock_driftrate;
return success;
}
// Health status of SBAS Ephemeris (virtual)
////////////////////////////////////////////////////////////////////////////
unsigned int t_ephBDS::isUnhealthy() const {
if (navType() == t_eph::CNV1 ||
navType() == t_eph::CNV2 ||
navType() == t_eph::CNV3) {
return static_cast<unsigned int>(_health);
}
return static_cast<unsigned int>(_SatH1);
}
// RINEX Format String
//////////////////////////////////////////////////////////////////////////////
QString t_ephBDS::toString(double version) const {
QString navStr = navTypeString(_navType, _prn, version);
QString rnxStr = navStr + rinexDateStr(_TOC-14.0, _prn, version);
QTextStream out(&rnxStr);
out << QString("%1%2%3\n")
.arg(_clock_bias, 19, 'e', 12)
.arg(_clock_drift, 19, 'e', 12)
.arg(_clock_driftrate, 19, 'e', 12);
QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
// =====================
// BROADCAST ORBIT - 1
// =====================
out << QString(fmt)
.arg(double(_AODE), 19, 'e', 12)
.arg(_Crs, 19, 'e', 12)
.arg(_Delta_n, 19, 'e', 12)
.arg(_M0, 19, 'e', 12);
// =====================
// BROADCAST ORBIT - 2
// =====================
out << QString(fmt)
.arg(_Cuc, 19, 'e', 12)
.arg(_e, 19, 'e', 12)
.arg(_Cus, 19, 'e', 12)
.arg(_sqrt_A, 19, 'e', 12);
// =====================
// BROADCAST ORBIT - 3
// =====================
out << QString(fmt)
.arg(_TOEsec, 19, 'e', 12)
.arg(_Cic, 19, 'e', 12)
.arg(_OMEGA0, 19, 'e', 12)
.arg(_Cis, 19, 'e', 12);
// =====================
// BROADCAST ORBIT - 4
// =====================
out << QString(fmt)
.arg(_i0, 19, 'e', 12)
.arg(_Crc, 19, 'e', 12)
.arg(_omega, 19, 'e', 12)
.arg(_OMEGADOT, 19, 'e', 12);
// =====================
// BROADCAST ORBIT - 5
// =====================
if (navType() == t_eph::CNV1 ||
navType() == t_eph::CNV2 ||
navType() == t_eph::CNV3 ) {
out << QString(fmt)
.arg(_IDOT, 19, 'e', 12)
.arg(_Delta_n_dot, 19, 'e', 12)
.arg(_satType, 19, 'e', 12)
.arg(_top, 19, 'e', 12);
}
else { // D1, D2, undefined
out << QString(fmt)
.arg(_IDOT, 19, 'e', 12)
.arg("", 19, QChar(' '))
.arg(_BDTweek, 19, 'e', 12)
.arg("", 19, QChar(' '));
}
// =====================
// BROADCAST ORBIT - 6
// =====================
if (navType() == t_eph::CNV1 ||
navType() == t_eph::CNV2 ||
navType() == t_eph::CNV3 ) {
out << QString(fmt)
.arg(_SISAI_oe, 19, 'e', 12)
.arg(_SISAI_ocb, 19, 'e', 12)
.arg(_SISAI_oc1, 19, 'e', 12)
.arg(_SISAI_oc2, 19, 'e', 12);
}
else { // D1, D2, undefined
out << QString(fmt)
.arg(_URA, 19, 'e', 12)
.arg(double(_SatH1), 19, 'e', 12)
.arg(_TGD1, 19, 'e', 12)
.arg(_TGD2, 19, 'e', 12);
}
// =====================
// BROADCAST ORBIT - 7
// =====================
if (navType() == t_eph::CNV1) {
out << QString(fmt)
.arg(_ISC_B1Cd, 19, 'e', 12)
.arg("", 19, QChar(' '))
.arg(_TGD_B1Cp, 19, 'e', 12)
.arg(_TGD_B2ap, 19, 'e', 12);
}
else if (navType() == t_eph::CNV2) {
out << QString(fmt)
.arg("", 19, QChar(' '))
.arg(_ISC_B2ad, 19, 'e', 12)
.arg(_TGD_B1Cp, 19, 'e', 12)
.arg(_TGD_B2ap, 19, 'e', 12);
}
else if (navType() == t_eph::CNV3) {
out << QString(fmt)
.arg(_SISMAI, 19, 'e', 12)
.arg(double(_health), 19, 'e', 12)
.arg(_INTEGRITYF_B2b, 19, 'e', 12)
.arg(_TGD_B2bI, 19, 'e', 12);
}
else { // D1, D2, undefined
double tots = 0.0;
if (_receptDateTime.isValid()) {// RTCM stream input
tots = _TOE.bdssec();
}
else { // RINEX input
tots = _TOT;
}
out << QString(fmt)
.arg(tots, 19, 'e', 12)
.arg(double(_AODC), 19, 'e', 12)
.arg("", 19, QChar(' '))
.arg("", 19, QChar(' '));
}
// =====================
// BROADCAST ORBIT - 8
// =====================
if (navType() == t_eph::CNV1) {
out << QString(fmt)
.arg(_SISMAI, 19, 'e', 12)
.arg(double(_health), 19, 'e', 12)
.arg(_INTEGRITYF_B1C, 19, 'e', 12)
.arg(_IODC, 19, 'e', 12);
}
else if (navType() == t_eph::CNV2) {
out << QString(fmt)
.arg(_SISMAI, 19, 'e', 12)
.arg(double(_health), 19, 'e', 12)
.arg(_INTEGRITYF_B2aB1C, 19, 'e', 12)
.arg(_IODC, 19, 'e', 12);
}
else if (navType() == t_eph::CNV3) {
out << QString(fmt)
.arg(_TOT, 19, 'e', 12)
.arg("", 19, QChar(' '))
.arg("", 19, QChar(' '))
.arg("", 19, QChar(' '));
}
// =====================
// BROADCAST ORBIT - 9
// =====================
if (navType() == t_eph::CNV1 ||
navType() == t_eph::CNV2) {
out << QString(fmt)
.arg(_TOT, 19, 'e', 12)
.arg("", 19, QChar(' '))
.arg("", 19, QChar(' '))
.arg(_IODE, 19, 'e', 12);
}
return rnxStr;
}