#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"
#include "RTCM3/bits.h"
using namespace std;
// Constructor
////////////////////////////////////////////////////////////////////////////
t_eph::t_eph() {
_checkState = unchecked;
_type = 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_checkState == outdated) {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;
}
//
//////////////////////////////////////////////////////////////////////////////
void t_eph::setType(QString typeStr) {
if (typeStr == "LNAV") {
_type = t_eph::LNAV;
} else if (typeStr == "FDMA") {
_type = t_eph::FDMA;
} else if (typeStr == "FNAV") {
_type = t_eph::FNAV;
} else if (typeStr == "INAV") {
_type = t_eph::INAV;
} else if (typeStr == "D1") {
_type = t_eph::D1;
} else if (typeStr == "D2") {
_type = t_eph::D2;
} else if (typeStr == "SBAS") {
_type = t_eph::SBASL1;
} else if (typeStr == "CNAV") {
_type = t_eph::CNAV;
} else if (typeStr == "CNV1") {
_type = t_eph::CNV1;
} else if (typeStr == "CNV2") {
_type = t_eph::CNV2;
} else if (typeStr == "CNV3") {
_type = t_eph::CNV3;
} else if (typeStr == "L1NV") {
_type = t_eph::L1NV;
} else if (typeStr == "L1OC") {
_type = t_eph::L1OC;
} else if (typeStr == "L3OC") {
_type = t_eph::L3OC;
} else {
_type = t_eph::undefined;
}
}
//
//////////////////////////////////////////////////////////////////////////////
QString t_eph::typeStr(e_type type, const t_prn &prn, double version) {
QString typeStr = "";
QString epochStart;
QString eolStr;
if (version < 4.0) {
return typeStr;
}
if (version == 99.0) { // log output for OUTDATED, WRONG or UNHEALTHY satellites
epochStart = "";
eolStr = "";
} else {
epochStart = "> ";
eolStr = "\n";
}
QString ephStr = QString("EPH %1 ").arg(prn.toString().c_str());
switch (type) {
case undefined:
typeStr = epochStart + ephStr + "unknown" + eolStr;
break;
case LNAV:
typeStr = epochStart + ephStr + "LNAV" + eolStr;
break;
case FDMA:
case FDMA_M:
typeStr = epochStart + ephStr + "FDMA" + eolStr;
break;
case FNAV:
typeStr = epochStart + ephStr + "FNAV" + eolStr;
break;
case INAV:
typeStr = epochStart + ephStr + "INAV" + eolStr;
break;
case D1:
typeStr = epochStart + ephStr + "D1 " + eolStr;
break;
case D2:
typeStr = epochStart + ephStr + "D2 " + eolStr;
break;
case SBASL1:
typeStr = epochStart + ephStr + "SBAS" + eolStr;
break;
case CNAV:
typeStr = epochStart + ephStr + "CNAV" + eolStr;
break;
case CNV1:
typeStr = epochStart + ephStr + "CNV1" + eolStr;
break;
case CNV2:
typeStr = epochStart + ephStr + "CNV2" + eolStr;
break;
case CNV3:
typeStr = epochStart + ephStr + "CNV3" + eolStr;
break;
case L1NV:
typeStr = epochStart + ephStr + "L1NV" + eolStr;
break;
case L1OC:
typeStr = epochStart + ephStr + "L1OC" + eolStr;
break;
case L3OC:
typeStr = epochStart + ephStr + "L3OC" + eolStr;
break;
}
return typeStr;
}
//
//////////////////////////////////////////////////////////////////////////////
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, QString typeStr) {
setType(typeStr);
int nLines = 8; // LNAV
// Source RINEX version < 4
if (type() == t_eph::undefined) {
_type = t_eph::LNAV;
}
if (type() == t_eph::CNAV ||
type() == t_eph::L1NV) {
nLines += 1;
}
if (type() == t_eph::CNV2) {
nLines += 2;
}
if (lines.size() != nLines) {
_checkState = bad;
return;
}
// RINEX Format
// ------------
int fieldLen = 19;
double statusflags = 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 nLines 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);
}
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());
}
_prn.setFlag(type());
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 (type() == t_eph::CNAV ||
type() == t_eph::CNV2 ||
type() == t_eph::L1NV) {
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
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 (type() == t_eph::CNAV ||
type() == 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 if (type() == t_eph::L1NV) {
if ( readDbl(line, pos[0], fieldLen, _IODE)
|| readDbl(line, pos[1], fieldLen, _Cic)
|| readDbl(line, pos[2], fieldLen, _OMEGA0)
|| readDbl(line, pos[3], fieldLen, _Cis)) {
_checkState = bad;
return;
}
} else { // LNAV
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 && system() != t_eph::NavIC) {
if (type() == t_eph::CNAV ||
type() == 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
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 && system() == t_eph::NavIC) {
if (type() == t_eph::LNAV) {
if ( readDbl(line, pos[0], fieldLen, _IDOT)
|| readDbl(line, pos[2], fieldLen, _TOEweek)) {
_checkState = bad;
return;
}
}
else if (type() == t_eph::L1NV) {
if ( readDbl(line, pos[0], fieldLen, _IDOT)
|| readDbl(line, pos[1], fieldLen, _Delta_n_dot)
|| readDbl(line, pos[3], fieldLen, _RSF)) {
_checkState = bad;
return;
}
}
}
// =====================
// BROADCAST ORBIT - 6
// =====================
else if (iLine == 6 && system() != t_eph::NavIC) {
if (type() == t_eph::CNAV ||
type() == 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
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 && system() == t_eph::NavIC) {
if (type() == t_eph::LNAV) {
if ( readDbl(line, pos[0], fieldLen, _ura)
|| readDbl(line, pos[1], fieldLen, _health)
|| readDbl(line, pos[2], fieldLen, _TGD)) {
_checkState = bad;
return;
}
}
else if (type() == t_eph::L1NV) {
int i = 0;
(!_RSF) ? i = 2 : i = 3;
if ( readDbl(line, pos[0], fieldLen, _URAI)
|| readDbl(line, pos[1], fieldLen, _health)
|| readDbl(line, pos[i], fieldLen, _TGD)) {
_checkState = bad;
return;
}
_ura = accuracyFromIndex(int(_URAI), system());
}
}
// =====================
// BROADCAST ORBIT - 7
// =====================
else if (iLine == 7) {
if (type() == t_eph::LNAV) {
if (readDbl(line, pos[0], fieldLen, _TOT)) {
_checkState = bad;
return;
}
if (system() != t_eph::NavIC) {
double fitIntervalRnx;
if (readDbl(line, pos[1], fieldLen, fitIntervalRnx)) {
//fit interval BLK, do nothing
_flags_unknown = true;
} else {
_flags_unknown = false;
if (system() == t_eph::GPS) { // in RINEX specified always as time period for GPS
_fitInterval = fitIntervalRnx;
}
else if (system() == 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 (type() == t_eph::CNAV ||
type() == 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;
}
}
else if (type() == t_eph::L1NV) {
if (!_RSF) {
if ( readDbl(line, pos[0], fieldLen, _ISC_S)
|| readDbl(line, pos[1], fieldLen, _ISC_L1D)) {
_checkState = bad;
return;
}
} else {
if ( readDbl(line, pos[2], fieldLen, _ISC_L1P)
|| readDbl(line, pos[3], fieldLen, _ISC_L1D)) {
_checkState = bad;
return;
}
}
}
}
// =====================
// BROADCAST ORBIT - 8
// =====================
else if (iLine == 8) {
if (type() == t_eph::CNAV) {
if ( readDbl(line, pos[0], fieldLen, _TOT)
|| readDbl(line, pos[1], fieldLen, _wnop)) {
_checkState = bad;
return;
}
if (readDbl(line, pos[2], fieldLen, statusflags)) {
_flags_unknown = true;
}
else {
_flags_unknown = false;
// Bit 0:
_intSF = double(bitExtracted(unsigned(statusflags), 1, 0));
// Bit 1:
_L2Cphasing = double(bitExtracted(unsigned(statusflags), 1, 1));
// Bit 2:
_alert = double(bitExtracted(unsigned(statusflags), 1, 2));
}
}
else if (type() == t_eph::CNV2) {
if ( readDbl(line, pos[0], fieldLen, _ISC_L1Cd)
|| readDbl(line, pos[1], fieldLen, _ISC_L1Cp)) {
_checkState = bad;
return;
}
}
else if (type() == t_eph::L1NV) {
if ( readDbl(line, pos[0], fieldLen, _TOT)) {
_checkState = bad;
return;
}
}
}
// =====================
// BROADCAST ORBIT - 9
// =====================
else if (iLine == 9) {
if (type() == t_eph::CNV2) {
if ( readDbl(line, pos[0], fieldLen, _TOT)
|| readDbl(line, pos[1], fieldLen, _wnop)) {
_checkState = bad;
return;
}
if (readDbl(line, pos[2], fieldLen, statusflags)) {
_flags_unknown = true;
}
else {
_flags_unknown = false;
// Bit 0:
_intSF = double(bitExtracted(int(statusflags), 1, 0));
if (system() == t_eph::QZSS) {
// Bit 1:
_ephSF = double(bitExtracted(int(statusflags), 1, 1));
}
}
}
}
}
}
// 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 {
if (version < 4.0 &&
(type() == t_eph::CNAV ||
type() == t_eph::CNV2 ||
type() == t_eph::L1NV )) {
return "";
}
QString ephStr = typeStr(_type, _prn, version);
QString rnxStr = ephStr + 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 (type() == t_eph::CNAV ||
type() == t_eph::CNV2 ||
type() == t_eph::L1NV) {
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, undefined
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 (type() == t_eph::CNAV ||
type() == 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 if (type() == t_eph::L1NV) {
out
<< QString(fmt)
.arg(_IODE, 19, 'e', 12)
.arg(_Cic, 19, 'e', 12)
.arg(_OMEGA0, 19, 'e', 12)
.arg(_Cis, 19, 'e', 12);
}
else { // LNAV, undefined
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 (system() != t_eph::NavIC) {
if (type() == t_eph::CNAV ||
type() == 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);
}
}
else {
if (type() == t_eph::LNAV ||
type() == t_eph::undefined) {
out
<< QString(fmt)
.arg(_IDOT, 19, 'e', 12)
.arg("", 19, QChar(' '))
.arg(_TOEweek, 19, 'e', 12)
.arg("", 19, QChar(' '));
}
else if (type() == t_eph::L1NV) {
out
<< QString(fmt)
.arg(_IDOT, 19, 'e', 12)
.arg(_Delta_n_dot, 19, 'e', 12)
.arg("", 19, QChar(' '))
.arg(_RSF, 19, 'e', 12);
}
}
// =====================
// BROADCAST ORBIT - 6
// =====================
if (system() != t_eph::NavIC) {
if (type() == t_eph::CNAV ||
type() == 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);
}
}
else {
if (type() == t_eph::LNAV ||
type() == t_eph::undefined) {
out
<< QString(fmt)
.arg(_ura, 19, 'e', 12)
.arg(_health, 19, 'e', 12)
.arg(_TGD, 19, 'e', 12);
}
else if (type() == t_eph::L1NV) {
int i = 0; (!_RSF) ? i = 2 : i = 3;
if (i == 2) {
out
<< QString(fmt)
.arg(_URAI, 19, 'e', 12)
.arg(_health, 19, 'e', 12)
.arg(_TGD, 19, 'e', 12)
.arg("", 19, QChar(' '));
}
else {
out
<< QString(fmt)
.arg(_URAI, 19, 'e', 12)
.arg(_health, 19, 'e', 12)
.arg("", 19, QChar(' '))
.arg(_TGD, 19, 'e', 12);
}
}
}
// =====================
// BROADCAST ORBIT - 7
// =====================
if (type() == t_eph::LNAV ||
type() == t_eph::undefined) {
double tot = _TOT;
if (tot == 0.9999e9 && version < 3.0) {
tot = 0.0;
}
// fitInterval
if (system() == t_eph::NavIC) {
out
<< QString(fmt)
.arg(tot, 19, 'e', 12)
.arg("", 19, QChar(' '))
.arg("", 19, QChar(' '))
.arg("", 19, QChar(' '));
}
else {
if (_flags_unknown) {
out
<< QString(fmt)
.arg(tot, 19, 'e', 12)
.arg("", 19, QChar(' '))
.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 (system() == 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 (type() == t_eph::CNAV ||
type() == 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);
}
else if (type() == t_eph::L1NV) {
if (_RSF) {
out
<< QString(fmt)
.arg(_ISC_S, 19, 'e', 12)
.arg(_ISC_L1D, 19, 'e', 12)
.arg("", 19, QChar(' '))
.arg("", 19, QChar(' '));
}
else {
out
<< QString(fmt)
.arg("", 19, QChar(' '))
.arg("", 19, QChar(' '))
.arg(_ISC_L1P, 19, 'e', 12)
.arg(_ISC_L1D, 19, 'e', 12);
}
}
// =====================
// BROADCAST ORBIT - 8
// =====================
if (type() == t_eph::CNAV) {
int intFlags = 0;
if (!_flags_unknown) {
// Bit 0:
if (_intSF) {intFlags |= (1 << 0);}
// Bit 1:
if (_L2Cphasing) {intFlags |= (1 << 1);}
// Bit 2:
if (_alert) {intFlags |= (1 << 2);}
out
<< QString(fmt)
.arg(_TOT, 19, 'e', 12)
.arg(_wnop, 19, 'e', 12)
.arg(double(intFlags), 19, 'e', 12)
.arg("", 19, QChar(' '));
}
else {
out
<< QString(fmt)
.arg(_TOT, 19, 'e', 12)
.arg(_wnop, 19, 'e', 12)
.arg("", 19, QChar(' '))
.arg("", 19, QChar(' '));
}
}
else if (type() == t_eph::CNV2) {
out
<< QString(fmt)
.arg(_ISC_L1Cd, 19, 'e', 12)
.arg(_ISC_L1Cp, 19, 'e', 12)
.arg("", 19, QChar(' '))
.arg("", 19, QChar(' '));
}
else if (type() == t_eph::L1NV) {
out
<< QString(fmt)
.arg(_TOT, 19, 'e', 12)
.arg("", 19, QChar(' '))
.arg("", 19, QChar(' '))
.arg("", 19, QChar(' '));
}
// =====================
// BROADCAST ORBIT - 9
// =====================
if (type() == t_eph::CNV2) {
int intFlags = 0;
if (!_flags_unknown) {
// Bit 0:
if (_intSF) {intFlags |= (1 << 0);}
if (system() == t_eph::QZSS) {
// Bit 1:
if (_ephSF) {intFlags |= (1 << 1);}
}
out
<< QString(fmt)
.arg(_TOT, 19, 'e', 12)
.arg(_wnop, 19, 'e', 12)
.arg(double(intFlags), 19, 'e', 12)
.arg("", 19, QChar(' '));
}
else {
out
<< QString(fmt)
.arg(_TOT, 19, 'e', 12)
.arg(_wnop, 19, 'e', 12)
.arg("", 19, QChar(' '))
.arg("", 19, QChar(' '));
}
}
return rnxStr;
}
// Health status of GPS Ephemeris (virtual)
////////////////////////////////////////////////////////////////////////////
unsigned int t_ephGPS::isUnhealthy() const {
switch (system()) {
case t_eph::GPS:
case t_eph::QZSS:
switch (type()) {
case t_eph::LNAV:
case t_eph::CNAV:
case t_eph::CNV2:
if (_health == 0.0) {
return 0;
}
else {
return 1;
}
break;
}
break;
case t_eph::NavIC:
switch (type()) {
case t_eph::LNAV:
if (_health == 0.0) { // L1 & S healthy
return 0;
}
if (_health == 1.0 || // L5 healthy and S unhealthy,
_health == 2.0 || // L5 unhealthy and S healthy
_health == 3.0) { // both L5 and S unhealthy
return 1;
}
break;
case t_eph::L1NV:
if (_health == 0.0) { // All navigation data on L1-SPS signal OK
return 0;
}
if (_health == 1.0) { // Some or all navigation data on L1-SPS signal bad
return 1;
}
break;
}
break;
}
return 0;
}
// Constructor
//////////////////////////////////////////////////////////////////////////////
t_ephGlo::t_ephGlo(double rnxVersion, const QStringList &lines, const QString typeStr) {
setType(typeStr);
int nLines = 4;
// Source RINEX version < 4
if (type() == t_eph::undefined) {
// cannot be determined from input data
// but is set to be able to work with old RINEX files in BNC applications
_type = t_eph::FDMA_M;
}
if (rnxVersion >= 3.05) {
nLines += 1;
} else {
_M_delta_tau = 0.9999e9; // unknown
_M_FT = 1.5e1; // unknown
_statusflags_unknown = true;
_healthflags_unknown = true;
}
if (lines.size() != nLines) {
_checkState = bad;
return;
}
// RINEX Format
// ------------
int fieldLen = 19;
double statusflags = 0.0;
double healthflags = 0.0;
double sourceflags = 0.0;
_tauC = 0.0;
_tau1 = 0.0;
_tau2 = 0.0;
_additional_data_availability = 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);
}
if (prnStr.at(0) == 'R') {
_prn.set('R', prnStr.mid(1).toInt());
} else {
_prn.set('R', prnStr.toInt());
}
in >> year >> month >> day >> hour >> min >> sec;
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_vel)
|| readDbl(line, pos[2], fieldLen, _x_acc)
|| readDbl(line, pos[3], fieldLen, _health)) {
_checkState = bad;
return;
}
}
// =====================
// BROADCAST ORBIT - 2
// =====================
else if (iLine == 2) {
if (type() == t_eph::FDMA ||
type() == t_eph::FDMA_M) {
if ( readDbl(line, pos[0], fieldLen, _y_pos)
|| readDbl(line, pos[1], fieldLen, _y_vel)
|| readDbl(line, pos[2], fieldLen, _y_acc)
|| readDbl(line, pos[3], fieldLen, _frq_num)) {
_checkState = bad;
return;
}
}
else { //L1OC, L3OC
if ( readDbl(line, pos[0], fieldLen, _y_pos)
|| readDbl(line, pos[1], fieldLen, _y_vel)
|| readDbl(line, pos[2], fieldLen, _y_acc)
|| readDbl(line, pos[3], fieldLen, statusflags)) {
_checkState = bad;
return;
}
_data_validity = int(statusflags);
}
}
// =====================
// BROADCAST ORBIT - 3
// =====================
else if (iLine == 3) {
if (type() == t_eph::FDMA ||
type() == t_eph::FDMA_M) {
if ( readDbl(line, pos[0], fieldLen, _z_pos)
|| readDbl(line, pos[1], fieldLen, _z_vel)
|| readDbl(line, pos[2], fieldLen, _z_acc)
|| readDbl(line, pos[3], fieldLen, _E)) {
_checkState = bad;
return;
}
}
else if (type() == t_eph::L1OC) {
if ( readDbl(line, pos[0], fieldLen, _z_pos)
|| readDbl(line, pos[1], fieldLen, _z_vel)
|| readDbl(line, pos[2], fieldLen, _z_acc)
|| readDbl(line, pos[3], fieldLen, _TGD_L2OCp)) {
_checkState = bad;
return;
}
}
else if (type() == t_eph::L3OC) {
if ( readDbl(line, pos[0], fieldLen, _z_pos)
|| readDbl(line, pos[1], fieldLen, _z_vel)
|| readDbl(line, pos[2], fieldLen, _z_acc)
|| readDbl(line, pos[3], fieldLen, _TGD_L3OCp)) {
_checkState = bad;
return;
}
}
}
// =====================
// BROADCAST ORBIT - 4
// =====================
else if (iLine == 4) {
if (type() == t_eph::FDMA ||
type() == t_eph::FDMA_M) {
if (readDbl(line, pos[0], fieldLen, statusflags)) {
//status flags BLK, do nothing
_statusflags_unknown = true;
} else {
_statusflags_unknown = false;
// status flags
// ============
// bit 0-1
_M_P = double(bitExtracted(int(statusflags), 2, 0));
// bit 2-3
_P1 = double(bitExtracted(int(statusflags), 2, 2));
// bit 4
_P2 = double(bitExtracted(int(statusflags), 1, 4));
// bit 5
_P3 = double(bitExtracted(int(statusflags), 1, 5));
// bit 6
_M_P4 = double(bitExtracted(int(statusflags), 1, 6));
// bit 7-8
_M_M = double(bitExtracted(int(statusflags), 2, 7));
/// GLO M/K exclusive flags/values only valid if flag M is set to '01'
if (!_M_M) {
_M_P = 0.0;
_M_l3 = 0.0;
_M_P4 = 0.0;
_M_FE = 0.0;
_M_FT = 0.0;
_M_NA = 0.0;
_M_NT = 0.0;
_M_N4 = 0.0;
_M_l5 = 0.0;
_M_tau_GPS = 0.0;
_M_delta_tau = 0.0;
_type = t_eph::FDMA;
}
else {
_type = t_eph::FDMA_M;
}
}
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)) {
// health flags BLK
_healthflags_unknown = true;
} else {
_healthflags_unknown = false;
// health flags
// ============
// bit 0 (is to be ignored, if bit 1 is zero)
_almanac_health = double(bitExtracted(int(healthflags), 1, 0));
// bit 1
_almanac_health_availablility_indicator =
double(bitExtracted(int(healthflags), 1, 1));
// bit 2; GLO-M/K only, health bit of string 3
_M_l3 = double(bitExtracted(int(healthflags), 1, 2));
}
}
else if (type() == t_eph::L1OC ||
type() == t_eph::L3OC) {
if ( readDbl(line, pos[0], fieldLen, _sat_type)
|| readDbl(line, pos[1], fieldLen, sourceflags)
|| readDbl(line, pos[2], fieldLen, _EE)
|| readDbl(line, pos[3], fieldLen, _ET)) {
_checkState = bad;
return;
}
// sourceflags:
// ============
// bit 0-1
_RT = double(bitExtracted(int(sourceflags), 2, 0));
// bit 2-3:
_RE = double(bitExtracted(int(sourceflags), 2, 2));
}
}
// =====================
// BROADCAST ORBIT - 5
// =====================
else if (iLine == 5) {
if (type() == t_eph::L1OC ||
type() == t_eph::L3OC) {
if ( readDbl(line, pos[0], fieldLen, _attitude_P2)
|| readDbl(line, pos[1], fieldLen, _Tin)
|| readDbl(line, pos[2], fieldLen, _tau1)
|| readDbl(line, pos[3], fieldLen, _tau2)) {
_checkState = bad;
return;
}
}
}
// =====================
// BROADCAST ORBIT - 6
// =====================
else if (iLine == 6) {
if (type() == t_eph::L1OC ||
type() == t_eph::L3OC) {
if ( readDbl(line, pos[0], fieldLen, _yaw)
|| readDbl(line, pos[1], fieldLen, _sn)
|| readDbl(line, pos[2], fieldLen, _angular_rate)
|| readDbl(line, pos[3], fieldLen, _angular_acc)) {
_checkState = bad;
return;
}
}
}
// =====================
// BROADCAST ORBIT - 7
// =====================
else if (iLine == 7) {
if (type() == t_eph::L1OC ||
type() == t_eph::L3OC) {
if ( readDbl(line, pos[0], fieldLen, _angular_rate_max)
|| readDbl(line, pos[1], fieldLen, _X_PC)
|| readDbl(line, pos[2], fieldLen, _Y_PC)
|| readDbl(line, pos[3], fieldLen, _Z_PC)) {
_checkState = bad;
return;
}
}
}
// =====================
// BROADCAST ORBIT - 8
// =====================
else if (iLine == 8) {
if (type() == t_eph::L1OC ||
type() == t_eph::L3OC) {
if ( readDbl(line, pos[0], fieldLen, _M_FE)
|| readDbl(line, pos[1], fieldLen, _M_FT)
|| readDbl(line, pos[3], fieldLen, _TOT)) {
_checkState = bad;
return;
}
}
}
}
_prn.setFlag(type());
// 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_vel * 1.e3;
_xv(5) = _y_vel * 1.e3;
_xv(6) = _z_vel * 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_acc * 1.e3;
acc[1] = _y_acc * 1.e3;
acc[2] = _z_acc * 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 {
if (version < 4.0 &&
(type() == t_eph::L1OC ||
type() == t_eph::L3OC )) {
return "";
}
QString ephStr = typeStr(_type, _prn, version);
QString rnxStr = ephStr + 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_vel, 19, 'e', 12)
.arg(_x_acc, 19, 'e', 12)
.arg(_health, 19, 'e', 12);
// =====================
// BROADCAST ORBIT - 2
// =====================
if (type() == t_eph::FDMA ||
type() == t_eph::FDMA_M) {
out
<< QString(fmt)
.arg(_y_pos, 19, 'e', 12)
.arg(_y_vel, 19, 'e', 12)
.arg(_y_acc, 19, 'e', 12)
.arg(_frq_num, 19, 'e', 12);
}
else { //L1OC, L3OC
out
<< QString(fmt)
.arg(_y_pos, 19, 'e', 12)
.arg(_y_vel, 19, 'e', 12)
.arg(_y_acc, 19, 'e', 12)
.arg(double(_data_validity), 19, 'e', 12);
}
// =====================
// BROADCAST ORBIT - 3
// =====================
if (type() == t_eph::FDMA ||
type() == t_eph::FDMA_M) {
out
<< QString(fmt)
.arg(_z_pos, 19, 'e', 12)
.arg(_z_vel, 19, 'e', 12)
.arg(_z_acc, 19, 'e', 12)
.arg(_E, 19, 'e', 12);
}
else if (type() == t_eph::L1OC) {
out
<< QString(fmt)
.arg(_z_pos, 19, 'e', 12)
.arg(_z_vel, 19, 'e', 12)
.arg(_z_acc, 19, 'e', 12)
.arg(_TGD_L2OCp, 19, 'e', 12);
}
else if (type() == t_eph::L3OC) {
out
<< QString(fmt)
.arg(_z_pos, 19, 'e', 12)
.arg(_z_vel, 19, 'e', 12)
.arg(_z_acc, 19, 'e', 12)
.arg(_TGD_L3OCp, 19, 'e', 12);
}
if (version >= 3.05) {
// =====================
// BROADCAST ORBIT - 4
// =====================
if (type() == t_eph::FDMA ||
type() == t_eph::FDMA_M){
int statusflags = 0;
int healthflags = 0;
if (!_statusflags_unknown ) {
// bit 0-1
if (_M_P == 1.0) {statusflags |= (1 << 0);}
else if (_M_P == 2.0) {statusflags |= (1 << 1);}
else if (_M_P == 3.0) {statusflags |= (1 << 0); statusflags |= (1 << 1);}
// bit 2-3
if (_P1 == 1.0) {statusflags |= (1 << 2);}
else if (_P1 == 2.0) {statusflags |= (1 << 3);}
else if (_P1 == 3.0) {statusflags |= (1 << 2); statusflags |= (1 << 3);}
// bit 4
if (_P2) {statusflags |= (1 << 4);}
// bit 5
if (_P3) {statusflags |= (1 << 5);}
// bit 6
if (_M_P4) {statusflags |= (1 << 6);}
// bit 7-8
if (_M_M == 1.0) {statusflags |= (1 << 7);}
}
if (!_healthflags_unknown) {
// 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);}
}
if (_statusflags_unknown && _healthflags_unknown) {
out
<< QString(fmt)
.arg("", 19, QChar(' ')) // status-flags BNK (unknown)
.arg(_M_delta_tau, 19, 'e', 12)
.arg(_M_FT, 19, 'e', 12)
.arg("", 19, QChar(' '));// health-flags BNK (unknown)
}
else if (!_statusflags_unknown && _healthflags_unknown) {
out
<< QString(fmt)
.arg(double(statusflags), 19, 'e', 12)
.arg(_M_delta_tau, 19, 'e', 12)
.arg(_M_FT, 19, 'e', 12)
.arg("", 19, QChar(' '));// health-flags BNK (unknown)
}
else if (_statusflags_unknown && !_healthflags_unknown) {
out
<< QString(fmt)
.arg("", 19, QChar(' ')) // status-flags BNK (unknown)
.arg(_M_delta_tau, 19, 'e', 12)
.arg(_M_FT, 19, 'e', 12)
.arg(double(healthflags), 19, 'e', 12);
}
else if (!_statusflags_unknown && !_healthflags_unknown) {
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);
}
}
else if (type() == t_eph::L1OC ||
type() == t_eph::L3OC) {
int sourceflags = 0;
// bit 0-1
if (_RT == 1.0) {sourceflags |= (1 << 0);}
else if (_RT == 2.0) {sourceflags |= (1 << 1);}
else if (_RT == 3.0) {sourceflags |= (1 << 0); sourceflags |= (1 << 1);}
// bit 2-3
if (_RE == 1.0) {sourceflags |= (1 << 2);}
else if (_RE == 2.0) {sourceflags |= (1 << 3);}
else if (_RE == 3.0) {sourceflags |= (1 << 2); sourceflags |= (1 << 3);}
out
<< QString(fmt)
.arg(_sat_type , 19, 'e', 12)
.arg(double(sourceflags), 19, 'e', 12)
.arg(_ET, 19, 'e', 12)
.arg(_EE, 19, 'e', 12);
}
// =====================
// BROADCAST ORBIT - 5
// =====================
if (type() == t_eph::L1OC ||
type() == t_eph::L3OC) {
out
<< QString(fmt)
.arg(_attitude_P2, 19, 'e', 12)
.arg(_Tin, 19, 'e', 12)
.arg(_tau1, 19, 'e', 12)
.arg(_tau2, 19, 'e', 12);
}
// =====================
// BROADCAST ORBIT - 6
// =====================
if (type() == t_eph::L1OC ||
type() == t_eph::L3OC) {
out
<< QString(fmt)
.arg(_yaw, 19, 'e', 12)
.arg(_sn, 19, 'e', 12)
.arg(_angular_rate, 19, 'e', 12)
.arg(_angular_acc, 19, 'e', 12);
}
// =====================
// BROADCAST ORBIT - 7
// =====================
if (type() == t_eph::L1OC ||
type() == t_eph::L3OC) {
out
<< QString(fmt)
.arg(_angular_rate_max, 19, 'e', 12)
.arg(_X_PC, 19, 'e', 12)
.arg(_Y_PC, 19, 'e', 12)
.arg(_Z_PC, 19, 'e', 12);
}
// =====================
// BROADCAST ORBIT - 8
// =====================
if (type() == t_eph::L1OC ||
type() == t_eph::L3OC) {
out
<< QString(fmt)
.arg(_M_FE, 19, 'e', 12)
.arg(_M_FT, 19, 'e', 12)
.arg("", 19, QChar(' '))
.arg(_TOT, 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, const QString typeStr) {
setType(typeStr);
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());
int year, month, day, hour, min;
double sec;
QString prnStr, n;
in >> prnStr;
if (prnStr.size() == 1 && prnStr[0] == 'E') {
in >> n;
prnStr.append(n);
}
if (prnStr.at(0) == 'E') {
_prn.set('E', prnStr.mid(1).toInt());
} else {
_prn.set('E', prnStr.toInt());
}
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 (bitExtracted(unsigned(datasource), 1, 8)) {
_fnav = true;
_type = t_eph::FNAV;
_inav = false;
/* set unused I/NAV values */
_E5b_HS = 0.0;
_E1B_HS = 0.0;
_E1B_DataInvalid = false;
_E5b_DataInvalid = false;
}
if (bitExtracted(unsigned(datasource), 1, 9)) {
_fnav = false;
_inav = true;
_type = t_eph::INAV;
/* set unused F/NAV values */
_E5a_HS = 0.0;
_E5a_DataInvalid = false;
}
// GAL week # in RINEX is aligned/identical to continuous GPS week # used in RINEX
// but GST week # started at the first GPS roll-over (continuous GPS week 1024)
_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
_E1B_DataInvalid = bitExtracted(int(SVhealth), 1, 0);
// Bit 1-2
_E1B_HS = double(bitExtracted(int(SVhealth), 2, 1));
// Bit 3
_E5a_DataInvalid = bitExtracted(int(SVhealth), 1, 3);
// Bit 4-5
_E5a_HS = double(bitExtracted(int(SVhealth), 2, 4));
// Bit 6
_E5b_DataInvalid = bitExtracted(int(SVhealth), 1, 6);
// Bit 7-8
_E5b_HS = double(bitExtracted(int(SVhealth), 2, 7));
if (_fnav) {
_BGD_1_5B = 0.0;
}
}
}
// =====================
// BROADCAST ORBIT - 7
// =====================
else if (iLine == 7) {
if (readDbl(line, pos[0], fieldLen, _TOT)) {
_checkState = bad;
return;
}
}
}
_prn.setFlag(type());
}
// 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 {
// SHS; 1 = Out of Service, 3 = In Test, 0 = Signal Ok, 2 = Extended Operations Mode
if (_E5a_HS == 1 || _E5a_HS == 3 ||
_E5b_HS == 1 || _E5b_HS == 3 ||
_E1B_HS == 1 || _E1B_HS == 3) {
return 1;
}
if (_E5a_DataInvalid ||
_E5b_DataInvalid ||
_E1B_DataInvalid) {
return 1;
}
if (_SISA == 255.0) { // NAPA: No Accuracy Prediction Available
return 1;
}
/*
* SDD v1.3: SHS=2 leads to a newly-defined "EOM" status.
* It also means that the satellite signal may be used for PNT.
if (_E5aHS == 2 ||
_E5bHS == 2 ||
_E1_bHS == 2 ) {
return 1;
}
*/
return 0;
}
// RINEX Format String
//////////////////////////////////////////////////////////////////////////////
QString t_ephGal::toString(double version) const {
QString ephStr = typeStr(_type, _prn, version);
QString rnxStr = ephStr + 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 - 5/6
// =====================
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 (_E5a_DataInvalid) {
SVhealth |= (1 << 3);
}
// Bit 4-5: E5a HS
if (_E5a_HS == 1.0) {
SVhealth |= (1 << 4);
}
else if (_E5a_HS == 2.0) {
SVhealth |= (1 << 5);
}
else if (_E5a_HS == 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 (_E1B_DataInvalid) {
SVhealth |= (1 << 0);
}
// Bit 1-2: E1-B HS
if (_E1B_HS == 1.0) {
SVhealth |= (1 << 1);
}
else if (_E1B_HS == 2.0) {
SVhealth |= (1 << 2);
}
else if (_E1B_HS == 3.0) {
SVhealth |= (1 << 1);
SVhealth |= (1 << 2);
}
// Bit 6 : E5b DVS
if (_E5b_DataInvalid) {
SVhealth |= (1 << 6);
}
// Bit 7-8: E5b HS
if (_E5b_HS == 1.0) {
SVhealth |= (1 << 7);
}
else if (_E5b_HS == 2.0) {
SVhealth |= (1 << 8);
}
else if (_E5b_HS == 3.0) {
SVhealth |= (1 << 7);
SVhealth |= (1 << 8);
}
}
// =====================
// BROADCAST ORBIT - 5
// =====================
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 QString typeStr) {
setType(typeStr);
const int nLines = 4;
// Source RINEX version < 4
if (type() == t_eph::undefined) {
_type = t_eph::SBASL1;
}
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);
}
if (prnStr.at(0) == 'S') {
_prn.set('S', prnStr.mid(1).toInt());
} else {
_prn.set('S', prnStr.toInt());
}
_prn.setFlag(type());
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, _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_vel)
|| readDbl(line, pos[2], fieldLen, _x_acc)
|| 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_vel)
|| readDbl(line, pos[2], fieldLen, _y_acc)
|| 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_vel)
|| readDbl(line, pos[2], fieldLen, _z_acc)
|| 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_vel *= 1.e3;
_y_vel *= 1.e3;
_z_vel *= 1.e3;
_x_acc *= 1.e3;
_y_acc *= 1.e3;
_z_acc *= 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_vel, 0.000625)
SBASADDBITSFLOAT(17, this->_y_vel, 0.000625)
SBASADDBITSFLOAT(18, this->_z_vel, 0.004)
SBASADDBITSFLOAT(10, this->_x_acc, 0.0000125)
SBASADDBITSFLOAT(10, this->_y_acc, 0.0000125)
SBASADDBITSFLOAT(10, this->_z_acc, 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_vel * dt + _x_acc * dt * dt / 2.0;
xc[1] = _y_pos + _y_vel * dt + _y_acc * dt * dt / 2.0;
xc[2] = _z_pos + _z_vel * dt + _z_acc * dt * dt / 2.0;
vv[0] = _x_vel + _x_acc * dt;
vv[1] = _y_vel + _y_acc * dt;
vv[2] = _z_vel + _z_acc * 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 = bitExtracted(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 4
bool MT17HealthIsUnavailable = bitExtracted(int(_health), 1, 4);
if (MT17HealthIsUnavailable) {
return 0;
}
// Bit 0-3
int MT17health = bitExtracted(int(_health), 4, 0);
if (MT17health) {
return 1;
}
return 0;
}
// RINEX Format String
//////////////////////////////////////////////////////////////////////////////
QString t_ephSBAS::toString(double version) const {
QString ephStr = typeStr(_type, _prn, version);
QString rnxStr = ephStr + 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_vel, 19, 'e', 12)
.arg(1.e-3 * _x_acc, 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_vel, 19, 'e', 12)
.arg(1.e-3 * _y_acc, 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_vel, 19, 'e', 12)
.arg(1.e-3 * _z_acc, 19, 'e', 12)
.arg(double(_IODN), 19, 'e', 12);
return rnxStr;
}
// Constructor
//////////////////////////////////////////////////////////////////////////////
t_ephBDS::t_ephBDS(double rnxVersion, const QStringList &lines, const QString typeStr) {
setType(typeStr);
int nLines = 8;
if (type() == t_eph::CNV1 ||
type() == t_eph::CNV2) {
nLines += 2;
}
if (type() == 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);
}
if (prnStr.at(0) == 'C') {
_prn.set('C', prnStr.mid(1).toInt());
} else {
_prn.set('C', prnStr.toInt());
}
in >> year >> month >> day >> hour >> min >> sec;
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) {
if (type() == t_eph::D1 ||
type() == t_eph::D2 ||
type() == t_eph::undefined) {
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);
}
else { //CNV1, CNV2, CNV3
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;
}
}
}
// =====================
// 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;
}
else {
// Source RINEX version < 4
if (type() == t_eph::undefined) {
const double iMaxGEO = 10.0 / 180.0 * M_PI;
if (_i0 > iMaxGEO) {
_type = t_eph::D1;
}
else {
_type = t_eph::D2;
}
}
}
}
// =====================
// BROADCAST ORBIT - 5
// =====================
else if (iLine == 5) {
if (type() == t_eph::CNV1 ||
type() == t_eph::CNV2 ||
type() == 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
if ( readDbl(line, pos[0], fieldLen, _IDOT)
|| readDbl(line, pos[2], fieldLen, _BDTweek)) {
_checkState = bad;
return;
}
}
}
// =====================
// BROADCAST ORBIT - 6
// =====================
else if (iLine == 6) {
if (type() == t_eph::CNV1 ||
type() == t_eph::CNV2 ||
type() == 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
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 (type() == 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 (type() == 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 (type() == 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
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 (type() == 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 (type() == 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 (type() == t_eph::CNV3) {
if (readDbl(line, pos[0], fieldLen, _TOT)) {
_checkState = bad;
return;
}
}
}
// =====================
// BROADCAST ORBIT - 9
// =====================
else if (iLine == 9) {
if (type() == t_eph::CNV1 ||
type() == t_eph::CNV2) {
if ( readDbl(line, pos[0], fieldLen, _TOT)
|| readDbl(line, pos[3], fieldLen, _IODE)) {
_checkState = bad;
return;
}
}
}
}
_prn.setFlag(type());
_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 (type() == t_eph::CNV1 ||
type() == t_eph::CNV2 ||
type() == 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 {
if (version < 4.0 &&
(type() == t_eph::CNV1 ||
type() == t_eph::CNV2 ||
type() == t_eph::CNV3 )) {
return "";
}
QString ephStr = typeStr(_type, _prn, version);
QString rnxStr = ephStr + 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
// =====================
if (type() == t_eph::D1 ||
type() == t_eph::D2 ||
type() == t_eph::undefined) {
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);
}
else { //CNV1, CNV2, CNV3
out
<< QString(fmt)
.arg(_ADOT, 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 (type() == t_eph::CNV1 ||
type() == t_eph::CNV2 ||
type() == 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,
out
<< QString(fmt)
.arg(_IDOT, 19, 'e', 12)
.arg("", 19, QChar(' '))
.arg(_BDTweek, 19, 'e', 12)
.arg("", 19, QChar(' '));
}
// =====================
// BROADCAST ORBIT - 6
// =====================
if (type() == t_eph::CNV1 ||
type() == t_eph::CNV2 ||
type() == 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 (type() == 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 (type() == 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 (type() == 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 (type() == 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 (type() == 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 (type() == t_eph::CNV3) {
out
<< QString(fmt)
.arg(_TOT, 19, 'e', 12)
.arg("", 19, QChar(' '))
.arg("", 19, QChar(' '))
.arg("", 19, QChar(' '));
}
// =====================
// BROADCAST ORBIT - 9
// =====================
if (type() == t_eph::CNV1 ||
type() == t_eph::CNV2) {
out
<< QString(fmt)
.arg(_TOT, 19, 'e', 12)
.arg("", 19, QChar(' '))
.arg("", 19, QChar(' '))
.arg(_IODE, 19, 'e', 12);
}
return rnxStr;
}