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source: ntrip/trunk/BNC/src/ephemeris.cpp@ 10579

Last change on this file since 10579 was 10579, checked in by stuerze, 6 hours ago
updates regarding RINEX version 4.02 navigation information
File size: 74.7 KB

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1	#include <sstream>
2	#include <iostream>
3	#include <iomanip>
4	#include <cstring>
5
6	#include <newmatio.h>
7
8	#include "ephemeris.h"
9	#include "bncutils.h"
10	#include "bnctime.h"
11	#include "bnccore.h"
12	#include "bncutils.h"
13	#include "satObs.h"
14	#include "pppInclude.h"
15	#include "pppModel.h"
16	#include "RTCM3/bits.h"
17
18	using namespace std;
19
20	// Constructor
21	////////////////////////////////////////////////////////////////////////////
22	t_eph::t_eph() {
23	_checkState = unchecked;
24	_ephType = undefined;
25	_orbCorr = 0;
26	_clkCorr = 0;
27	}
28	// Destructor
29	////////////////////////////////////////////////////////////////////////////
30	t_eph::~t_eph() {
31	if (_orbCorr)
32	delete _orbCorr;
33	if (_clkCorr)
34	delete _clkCorr;
35	}
36
37	//
38	////////////////////////////////////////////////////////////////////////////
39	void t_eph::setOrbCorr(const t_orbCorr *orbCorr) {
40	if (_orbCorr) {
41	delete _orbCorr;
42	_orbCorr = 0;
43	}
44	_orbCorr = new t_orbCorr(*orbCorr);
45	}
46
47	//
48	////////////////////////////////////////////////////////////////////////////
49	void t_eph::setClkCorr(const t_clkCorr *clkCorr) {
50	if (_clkCorr) {
51	delete _clkCorr;
52	_clkCorr = 0;
53	}
54	_clkCorr = new t_clkCorr(*clkCorr);
55	}
56
57	//
58	////////////////////////////////////////////////////////////////////////////
59	t_irc t_eph::getCrd(const bncTime &tt, ColumnVector &xc, ColumnVector &vv,
60	bool useCorr) const {
61
62	if (_checkState == bad \|\| _checkState == unhealthy
63	\|\| _checkState == outdated) {
64	return failure;
65	}
66
67	xc.ReSize(6);
68	vv.ReSize(3);
69	if (position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data()) != success) {
70	return failure;
71	}
72	if (useCorr) {
73	if (_orbCorr && _clkCorr) {
74	double dtO = tt - _orbCorr->_time;
75	if (_orbCorr->_updateInt) {
76	dtO -= (0.5 * ssrUpdateInt[_orbCorr->_updateInt]);
77	}
78	ColumnVector dx(3);
79	dx[0] = _orbCorr->_xr[0] + _orbCorr->_dotXr[0] * dtO;
80	dx[1] = _orbCorr->_xr[1] + _orbCorr->_dotXr[1] * dtO;
81	dx[2] = _orbCorr->_xr[2] + _orbCorr->_dotXr[2] * dtO;
82
83	RSW_to_XYZ(xc.Rows(1, 3), vv.Rows(1, 3), dx, dx);
84
85	xc[0] -= dx[0];
86	xc[1] -= dx[1];
87	xc[2] -= dx[2];
88
89	ColumnVector dv(3);
90	RSW_to_XYZ(xc.Rows(1, 3), vv.Rows(1, 3), _orbCorr->_dotXr, dv);
91
92	vv[0] -= dv[0];
93	vv[1] -= dv[1];
94	vv[2] -= dv[2];
95
96	double dtC = tt - _clkCorr->_time;
97	if (_clkCorr->_updateInt) {
98	dtC -= (0.5 * ssrUpdateInt[_clkCorr->_updateInt]);
99	}
100	xc[3] += _clkCorr->_dClk + _clkCorr->_dotDClk * dtC
101	+ _clkCorr->_dotDotDClk * dtC * dtC;
102	} else {
103	return failure;
104	}
105	}
106	return success;
107	}
108
109	//
110	//////////////////////////////////////////////////////////////////////////////
111	t_irc t_eph::setEphType(QString ephTypeStr) {
112
113	if (ephTypeStr == "LNAV") {
114	_ephType = t_eph::LNAV;
115	} else if (ephTypeStr == "FDMA") {
116	_ephType = t_eph::FDMA;
117	} else if (ephTypeStr == "FNAV") {
118	_ephType = t_eph::FNAV;
119	} else if (ephTypeStr == "INAV") {
120	_ephType = t_eph::INAF;
121	} else if (ephTypeStr == "D1") {
122	_ephType = t_eph::D1;
123	} else if (ephTypeStr == "D2") {
124	_ephType = t_eph::D2;
125	} else if (ephTypeStr == "SBAS") {
126	_ephType = t_eph::SBASL1;
127	} else if (ephTypeStr == "CNAV") {
128	_ephType = t_eph::CNAV;
129	} else if (ephTypeStr == "CNV1") {
130	_ephType = t_eph::CNV1;
131	} else if (ephTypeStr == "CNV2") {
132	_ephType = t_eph::CNV2;
133	} else if (ephTypeStr == "CNV3") {
134	_ephType = t_eph::CNV3;
135	} else if (ephTypeStr == "L1NV") {
136	_ephType = t_eph::L1NV;
137	} else if (ephTypeStr == "L1OC") {
138	_ephType = t_eph::L1OC;
139	} else if (ephTypeStr == "L3OC") {
140	_ephType = t_eph::L3OC;
141	} else {
142	_ephType = t_eph::undefined;
143	return failure;
144	}
145
146	return success;
147	}
148
149	//
150	//////////////////////////////////////////////////////////////////////////////
151	QString t_eph::ephTypeStr(e_ephType ephType, const t_prn &prn, double version) {
152	QString ephTypeStr = "";
153	QString epochStart;
154	QString eolStr;
155
156	if (version < 4.0) {
157	return ephTypeStr;
158	}
159
160	if (version == 99.0) {
161	epochStart = "";
162	eolStr = "";
163	} else {
164	epochStart = "> ";
165	eolStr = "\n";
166	}
167
168	QString ephStr = QString("EPH %1 ").arg(prn.toString().c_str());
169	switch (ephType) {
170	case undefined:
171	ephTypeStr = epochStart + ephStr + "unknown" + eolStr;
172	break;
173	case LNAV:
174	ephTypeStr = epochStart + ephStr + "LNAV" + eolStr;
175	break;
176	case FDMA:
177	ephTypeStr = epochStart + ephStr + "FDMA" + eolStr;
178	break;
179	case FNAV:
180	ephTypeStr = epochStart + ephStr + "FNAV" + eolStr;
181	break;
182	case INAF:
183	ephTypeStr = epochStart + ephStr + "INAV" + eolStr;
184	break;
185	case D1:
186	ephTypeStr = epochStart + ephStr + "D1 " + eolStr;
187	break;
188	case D2:
189	ephTypeStr = epochStart + ephStr + "D2 " + eolStr;
190	break;
191	case SBASL1:
192	ephTypeStr = epochStart + ephStr + "SBAS" + eolStr;
193	break;
194	case CNAV:
195	ephTypeStr = epochStart + ephStr + "CNAV" + eolStr;
196	break;
197	case CNV1:
198	ephTypeStr = epochStart + ephStr + "CNV1" + eolStr;
199	break;
200	case CNV2:
201	ephTypeStr = epochStart + ephStr + "CNV2" + eolStr;
202	break;
203	case CNV3:
204	ephTypeStr = epochStart + ephStr + "CNV3" + eolStr;
205	break;
206	case L1NV:
207	ephTypeStr = epochStart + ephStr + "L1NV" + eolStr;
208	break;
209	case L1OC:
210	ephTypeStr = epochStart + ephStr + "L1OC" + eolStr;
211	break;
212	case L3OC:
213	ephTypeStr = epochStart + ephStr + "L3OC" + eolStr;
214	break;
215	}
216	return ephTypeStr;
217	}
218
219	//
220	//////////////////////////////////////////////////////////////////////////////
221	QString t_eph::rinexDateStr(const bncTime &tt, const t_prn &prn,
222	double version) {
223	QString prnStr(prn.toString().c_str());
224	return rinexDateStr(tt, prnStr, version);
225	}
226
227	//
228	//////////////////////////////////////////////////////////////////////////////
229	QString t_eph::rinexDateStr(const bncTime &tt, const QString &prnStr,
230	double version) {
231
232	QString datStr;
233
234	unsigned year, month, day, hour, min;
235	double sec;
236	tt.civil_date(year, month, day);
237	tt.civil_time(hour, min, sec);
238
239	QTextStream out(&datStr);
240
241	if (version < 3.0) {
242	QString prnHlp = prnStr.mid(1, 2);
243	if (prnHlp[0] == '0')
244	prnHlp[0] = ' ';
245	out << prnHlp
246	<< QString(" %1 %2 %3 %4 %5%6").arg(year % 100, 2, 10, QChar('0')).arg(
247	month, 2).arg(day, 2).arg(hour, 2).arg(min, 2).arg(sec, 5, 'f', 1);
248	} else if (version == 99) {
249	out
250	<< QString(" %1 %2 %3 %4 %5 %6").arg(year, 4).arg(month, 2, 10,
251	QChar('0')).arg(day, 2, 10, QChar('0')).arg(hour, 2, 10, QChar('0')).arg(
252	min, 2, 10, QChar('0')).arg(int(sec), 2, 10, QChar('0'));
253	} else {
254	out << prnStr
255	<< QString(" %1 %2 %3 %4 %5 %6").arg(year, 4).arg(month, 2, 10,
256	QChar('0')).arg(day, 2, 10, QChar('0')).arg(hour, 2, 10, QChar('0')).arg(
257	min, 2, 10, QChar('0')).arg(int(sec), 2, 10, QChar('0'));
258	}
259
260	return datStr;
261	}
262
263	// Constructor
264	//////////////////////////////////////////////////////////////////////////////
265	t_ephGPS::t_ephGPS(double rnxVersion, const QStringList &lines) {
266
267	int nLines = 8; // LNAV,
268
269	if (ephType() == t_eph::CNAV \|\|
270	ephType() == t_eph::L1NV) {
271	nLines += 1;
272	}
273	if (ephType() == t_eph::CNV2) {
274	nLines += 2;
275	}
276
277	if (lines.size() != nLines) {
278	_checkState = bad;
279	return;
280	}
281
282	// RINEX Format
283	// ------------
284	int fieldLen = 19;
285
286	int pos[4];
287	pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
288	pos[1] = pos[0] + fieldLen;
289	pos[2] = pos[1] + fieldLen;
290	pos[3] = pos[2] + fieldLen;
291
292	// Read eight lines
293	// ----------------
294	for (int iLine = 0; iLine < nLines; iLine++) {
295	QString line = lines[iLine];
296
297	if (iLine == 0) {
298	QTextStream in(line.left(pos[1]).toLatin1());
299	int year, month, day, hour, min;
300	double sec;
301
302	QString prnStr, n;
303	in >> prnStr;
304
305	if (prnStr.size() == 1
306	&& (prnStr[0] == 'G' \|\| prnStr[0] == 'J' \|\| prnStr[0] == 'I')) {
307	in >> n;
308	prnStr.append(n);
309	}
310
311	in >> year >> month >> day >> hour >> min >> sec;
312	if (prnStr.at(0) == 'G') {
313	_prn.set('G', prnStr.mid(1).toInt());
314	} else if (prnStr.at(0) == 'J') {
315	_prn.set('J', prnStr.mid(1).toInt());
316	} else if (prnStr.at(0) == 'I') {
317	_prn.set('I', prnStr.mid(1).toInt());
318	} else {
319	_prn.set('G', prnStr.toInt());
320	}
321
322	if (year < 80) {
323	year += 2000;
324	} else if (year < 100) {
325	year += 1900;
326	}
327
328	_TOC.set(year, month, day, hour, min, sec);
329
330	if ( readDbl(line, pos[1], fieldLen, _clock_bias)
331	\|\| readDbl(line, pos[2], fieldLen, _clock_drift)
332	\|\| readDbl(line, pos[3], fieldLen, _clock_driftrate)) {
333	_checkState = bad;
334	return;
335	}
336	}
337	// =====================
338	// BROADCAST ORBIT - 1
339	// =====================
340	else if (iLine == 1) {
341	if (ephType() == t_eph::CNAV \|\|
342	ephType() == t_eph::CNV2 \|\|
343	ephType() == t_eph::L1NV) {
344	if ( readDbl(line, pos[0], fieldLen, _ADOT)
345	\|\| readDbl(line, pos[1], fieldLen, _Crs)
346	\|\| readDbl(line, pos[2], fieldLen, _Delta_n)
347	\|\| readDbl(line, pos[3], fieldLen, _M0)) {
348	_checkState = bad;
349	return;
350	}
351	} else { // LNAV, undefined
352	if ( readDbl(line, pos[0], fieldLen, _IODE)
353	\|\| readDbl(line, pos[1], fieldLen, _Crs)
354	\|\| readDbl(line, pos[2], fieldLen, _Delta_n)
355	\|\| readDbl(line, pos[3], fieldLen, _M0)) {
356	_checkState = bad;
357	return;
358	}
359	}
360	}
361	// =====================
362	// BROADCAST ORBIT - 2
363	// =====================
364	else if (iLine == 2) {
365	if ( readDbl(line, pos[0], fieldLen, _Cuc)
366	\|\| readDbl(line, pos[1], fieldLen, _e)
367	\|\| readDbl(line, pos[2], fieldLen, _Cus)
368	\|\| readDbl(line, pos[3], fieldLen, _sqrt_A)) {
369	_checkState = bad;
370	return;
371	}
372	}
373	// =====================
374	// BROADCAST ORBIT - 3
375	// =====================
376	else if (iLine == 3) {
377	if (ephType() == t_eph::CNAV \|\|
378	ephType() == t_eph::CNV2) {
379	if ( readDbl(line, pos[0], fieldLen, _top)
380	\|\| readDbl(line, pos[1], fieldLen, _Cic)
381	\|\| readDbl(line, pos[2], fieldLen, _OMEGA0)
382	\|\| readDbl(line, pos[3], fieldLen, _Cis)) {
383	_checkState = bad;
384	return;
385	}
386	} else if (ephType() == t_eph::L1NV) {
387	if ( readDbl(line, pos[0], fieldLen, _IODE)
388	\|\| readDbl(line, pos[1], fieldLen, _Cic)
389	\|\| readDbl(line, pos[2], fieldLen, _OMEGA0)
390	\|\| readDbl(line, pos[3], fieldLen, _Cis)) {
391	_checkState = bad;
392	return;
393	}
394	} else { // LNAV, undefined
395	if ( readDbl(line, pos[0], fieldLen, _TOEsec)
396	\|\| readDbl(line, pos[1], fieldLen, _Cic)
397	\|\| readDbl(line, pos[2], fieldLen, _OMEGA0)
398	\|\| readDbl(line, pos[3], fieldLen, _Cis)) {
399	_checkState = bad;
400	return;
401	}
402	}
403	}
404	// =====================
405	// BROADCAST ORBIT - 4
406	// =====================
407	else if (iLine == 4) {
408	if ( readDbl(line, pos[0], fieldLen, _i0)
409	\|\| readDbl(line, pos[1], fieldLen, _Crc)
410	\|\| readDbl(line, pos[2], fieldLen, _omega)
411	\|\| readDbl(line, pos[3], fieldLen, _OMEGADOT)) {
412	_checkState = bad;
413	return;
414	}
415	}
416	// =====================
417	// BROADCAST ORBIT - 5
418	// =====================
419	else if (iLine == 5 && type() != t_eph::IRNSS) {
420	if (ephType() == t_eph::CNAV \|\|
421	ephType() == t_eph::CNV2) {
422	if ( readDbl(line, pos[0], fieldLen, _IDOT)
423	\|\| readDbl(line, pos[1], fieldLen, _Delta_n_dot)
424	\|\| readDbl(line, pos[2], fieldLen, _URAI_NED0)
425	\|\| readDbl(line, pos[3], fieldLen, _URAI_NED1)) {
426	_checkState = bad;
427	return;
428	}
429	}
430	else { // LNAV, undefined
431	if ( readDbl(line, pos[0], fieldLen, _IDOT)
432	\|\| readDbl(line, pos[1], fieldLen, _L2Codes)
433	\|\| readDbl(line, pos[2], fieldLen, _TOEweek)
434	\|\| readDbl(line, pos[3], fieldLen, _L2PFlag)) {
435	_checkState = bad;
436	return;
437	}
438	}
439	} else if (iLine == 5 && type() == t_eph::IRNSS) {
440	if (ephType() == t_eph::LNAV \|\|
441	ephType() == t_eph::undefined) {
442	if ( readDbl(line, pos[0], fieldLen, _IDOT)
443	\|\| readDbl(line, pos[2], fieldLen, _TOEweek)) {
444	_checkState = bad;
445	return;
446	}
447	}
448	else if (ephType() == t_eph::L1NV) {
449	if ( readDbl(line, pos[0], fieldLen, _IDOT)
450	\|\| readDbl(line, pos[1], fieldLen, _Delta_n_dot)
451	\|\| readDbl(line, pos[3], fieldLen, _RSF)) {
452	_checkState = bad;
453	return;
454	}
455	}
456	}
457	// =====================
458	// BROADCAST ORBIT - 6
459	// =====================
460	else if (iLine == 6 && type() != t_eph::IRNSS) {
461	if (ephType() == t_eph::CNAV \|\|
462	ephType() == t_eph::CNV2) {
463	if ( readDbl(line, pos[0], fieldLen, _URAI_ED)
464	\|\| readDbl(line, pos[1], fieldLen, _health)
465	\|\| readDbl(line, pos[2], fieldLen, _TGD)
466	\|\| readDbl(line, pos[3], fieldLen, _URAI_NED2)) {
467	_checkState = bad;
468	return;
469	}
470	} else { // LNAV, undefined
471	if ( readDbl(line, pos[0], fieldLen, _ura)
472	\|\| readDbl(line, pos[1], fieldLen, _health)
473	\|\| readDbl(line, pos[2], fieldLen, _TGD)
474	\|\| readDbl(line, pos[3], fieldLen, _IODC)) {
475	_checkState = bad;
476	return;
477	}
478	}
479	}
480	else if (iLine == 6 && type() == t_eph::IRNSS) {
481	if (ephType() == t_eph::LNAV \|\|
482	ephType() == t_eph::undefined) {
483	if ( readDbl(line, pos[0], fieldLen, _ura)
484	\|\| readDbl(line, pos[1], fieldLen, _health)
485	\|\| readDbl(line, pos[2], fieldLen, _TGD)) {
486	_checkState = bad;
487	return;
488	}
489	}
490	else if (ephType() == t_eph::L1NV) {
491	int i = 0;
492	(!_RSF) ? i = 2 : i = 3;
493	if ( readDbl(line, pos[0], fieldLen, _URAI)
494	\|\| readDbl(line, pos[1], fieldLen, _health)
495	\|\| readDbl(line, pos[i], fieldLen, _TGD)) {
496	_checkState = bad;
497	return;
498	}
499	_ura = accuracyFromIndex(int(_URAI), type());
500	}
501	}
502	// =====================
503	// BROADCAST ORBIT - 7
504	// =====================
505	else if (iLine == 7) {
506	if (ephType() == t_eph::LNAV \|\|
507	ephType() == t_eph::undefined) {
508	if (readDbl(line, pos[0], fieldLen, _TOT)) {
509	_checkState = bad;
510	return;
511	if (type() != t_eph::IRNSS) {
512	double fitIntervalRnx;
513	if (readDbl(line, pos[1], fieldLen, fitIntervalRnx)) {
514	_checkState = bad;
515	return;
516	}
517	if (type() == t_eph::GPS) { // in RINEX specified always as time period for GPS
518	_fitInterval = fitIntervalRnx;
519	}
520	else if (type() == t_eph::QZSS) { // specified as flag for QZSS
521	if (rnxVersion == 3.02) {
522	_fitInterval = fitIntervalRnx; // specified as time period
523	} else {
524	_fitInterval = fitIntervalFromFlag(fitIntervalRnx, _IODC, t_eph::QZSS);
525	}
526	}
527	}
528	}
529	}
530	else if (ephType() == t_eph::CNAV \|\|
531	ephType() == t_eph::CNV2) {
532	if ( readDbl(line, pos[0], fieldLen, _ISC_L1CA)
533	\|\| readDbl(line, pos[1], fieldLen, _ISC_L2C)
534	\|\| readDbl(line, pos[2], fieldLen, _ISC_L5I5)
535	\|\| readDbl(line, pos[3], fieldLen, _ISC_L5Q5)) {
536	_checkState = bad;
537	return;
538	}
539	}
540	else if (ephType() == t_eph::L1NV) {
541	if (!_RSF) {
542	if ( readDbl(line, pos[0], fieldLen, _ISC_S)
543	\|\| readDbl(line, pos[1], fieldLen, _ISC_L1D)) {
544	_checkState = bad;
545	return;
546	}
547	} else {
548	if ( readDbl(line, pos[2], fieldLen, _ISC_L1P)
549	\|\| readDbl(line, pos[3], fieldLen, _ISC_L1D)) {
550	_checkState = bad;
551	return;
552	}
553	}
554	}
555	}
556	// =====================
557	// BROADCAST ORBIT - 8
558	// =====================
559	else if (iLine == 8) {
560	if (ephType() == t_eph::CNAV) {
561	double intFlags = -1.0; // optional; blank if not provided
562	if ( readDbl(line, pos[0], fieldLen, _TOT)
563	\|\| readDbl(line, pos[1], fieldLen, _wnop)
564	\|\| readDbl(line, pos[2], fieldLen, intFlags)) {
565	_checkState = bad;
566	return;
567	}
568	if (intFlags > -1.0) {
569	// Bit 0:
570	_intSF = (int(intFlags) & (1 << 0));
571	// Bit 1:
572	_L2Cphasing = (int(intFlags) & (1 << 1));
573	// Bit 2:
574	_alert = (int(intFlags) & (1 << 2));
575	}
576	}
577	else if (ephType() == t_eph::CNV2) {
578	if ( readDbl(line, pos[0], fieldLen, _ISC_L1Cd)
579	\|\| readDbl(line, pos[1], fieldLen, _ISC_L1Cp)) {
580	_checkState = bad;
581	return;
582	}
583	}
584	else if (ephType() == t_eph::L1NV) {
585	if ( readDbl(line, pos[0], fieldLen, _TOT)) {
586	_checkState = bad;
587	return;
588	}
589	}
590	}
591	// =====================
592	// BROADCAST ORBIT - 9
593	// =====================
594	else if (iLine == 9) {
595	if (ephType() == t_eph::CNV2) {
596	double intFlags = -1.0;
597	if ( readDbl(line, pos[0], fieldLen, _TOT)
598	\|\| readDbl(line, pos[1], fieldLen, _wnop)
599	\|\| readDbl(line, pos[2], fieldLen, intFlags)) {
600	_checkState = bad;
601	return;
602	}
603	if (intFlags > -1.0) {
604	// Bit 0:
605	_intSF = (int(intFlags) & (1 << 0));
606	if (type() == t_eph::QZSS) {
607	// Bit 1:
608	_ephSF = (int(intFlags) & (1 << 1));
609	}
610	}
611	}
612	}
613	}
614	}
615
616	// Compute GPS Satellite Position (virtual)
617	////////////////////////////////////////////////////////////////////////////
618	t_irc t_ephGPS::position(int GPSweek, double GPSweeks, double *xc,
619	double *vv) const {
620
621	static const double omegaEarth = 7292115.1467e-11;
622	static const double gmGRS = 398.6005e12;
623
624	memset(xc, 0, 6 * sizeof(double));
625	memset(vv, 0, 3 * sizeof(double));
626
627	double a0 = _sqrt_A * _sqrt_A;
628	if (a0 == 0) {
629	return failure;
630	}
631
632	double n0 = sqrt(gmGRS / (a0 * a0 * a0));
633
634	bncTime tt(GPSweek, GPSweeks);
635	double tk = tt - bncTime(int(_TOEweek), _TOEsec);
636
637	double n = n0 + _Delta_n;
638	double M = _M0 + n * tk;
639	double E = M;
640	double E_last;
641	int nLoop = 0;
642	do {
643	E_last = E;
644	E = M + _e * sin(E);
645
646	if (++nLoop == 100) {
647	return failure;
648	}
649	} while (fabs(E - E_last) * a0 > 0.001);
650	double v = 2.0 * atan(sqrt((1.0 + _e) / (1.0 - _e)) * tan(E / 2));
651	double u0 = v + _omega;
652	double sin2u0 = sin(2 * u0);
653	double cos2u0 = cos(2 * u0);
654	double r = a0 * (1 - _e * cos(E)) + _Crc * cos2u0 + _Crs * sin2u0;
655	double i = _i0 + _IDOT * tk + _Cic * cos2u0 + _Cis * sin2u0;
656	double u = u0 + _Cuc * cos2u0 + _Cus * sin2u0;
657	double xp = r * cos(u);
658	double yp = r * sin(u);
659	double OM = _OMEGA0 + (_OMEGADOT - omegaEarth) * tk - omegaEarth * _TOEsec;
660
661	double sinom = sin(OM);
662	double cosom = cos(OM);
663	double sini = sin(i);
664	double cosi = cos(i);
665	xc[0] = xp * cosom - yp * cosi * sinom;
666	xc[1] = xp * sinom + yp * cosi * cosom;
667	xc[2] = yp * sini;
668
669	double tc = tt - _TOC;
670	xc[3] = _clock_bias + _clock_drift * tc + _clock_driftrate * tc * tc;
671
672	// Velocity
673	// --------
674	double tanv2 = tan(v / 2);
675	double dEdM = 1 / (1 - _e * cos(E));
676	double dotv = sqrt((1.0 + _e) / (1.0 - _e)) / cos(E / 2) / cos(E / 2)
677	/ (1 + tanv2 * tanv2) * dEdM * n;
678	double dotu = dotv + (-_Cuc * sin2u0 + _Cus * cos2u0) * 2 * dotv;
679	double dotom = _OMEGADOT - omegaEarth;
680	double doti = _IDOT + (-_Cic * sin2u0 + _Cis * cos2u0) * 2 * dotv;
681	double dotr = a0 * _e * sin(E) * dEdM * n
682	+ (-_Crc * sin2u0 + _Crs * cos2u0) * 2 * dotv;
683	double dotx = dotr * cos(u) - r * sin(u) * dotu;
684	double doty = dotr * sin(u) + r * cos(u) * dotu;
685
686	vv[0] = cosom * dotx - cosi * sinom * doty // dX / dr
687	- xp * sinom * dotom - yp * cosi * cosom * dotom // dX / dOMEGA
688	+ yp * sini * sinom * doti; // dX / di
689
690	vv[1] = sinom * dotx + cosi * cosom * doty + xp * cosom * dotom
691	- yp * cosi * sinom * dotom - yp * sini * cosom * doti;
692
693	vv[2] = sini * doty + yp * cosi * doti;
694
695	// Relativistic Correction
696	// -----------------------
697	xc[3] -= 4.442807633e-10 * _e * sqrt(a0) * sin(E);
698
699	xc[4] = _clock_drift + _clock_driftrate * tc;
700	xc[5] = _clock_driftrate;
701
702	return success;
703	}
704
705	// RINEX Format String
706	//////////////////////////////////////////////////////////////////////////////
707	QString t_ephGPS::toString(double version) const {
708
709	QString ephStr = ephTypeStr(_ephType, _prn, version);
710	QString rnxStr = ephStr + rinexDateStr(_TOC, _prn, version);
711
712	QTextStream out(&rnxStr);
713
714	out
715	<< QString("%1%2%3\n")
716	.arg(_clock_bias, 19, 'e', 12)
717	.arg(_clock_drift, 19, 'e', 12)
718	.arg(_clock_driftrate, 19, 'e', 12);
719
720	QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
721
722	// =====================
723	// BROADCAST ORBIT - 1
724	// =====================
725	if (ephType() == t_eph::CNAV \|\|
726	ephType() == t_eph::CNV2 \|\|
727	ephType() == t_eph::L1NV) {
728	out
729	<< QString(fmt)
730	.arg(_ADOT, 19, 'e', 12)
731	.arg(_Crs, 19, 'e', 12)
732	.arg(_Delta_n, 19, 'e', 12)
733	.arg(_M0, 19, 'e', 12);
734	} else { // LNAV, undefined
735	out
736	<< QString(fmt)
737	.arg(_IODE, 19, 'e', 12)
738	.arg(_Crs, 19, 'e', 12)
739	.arg(_Delta_n, 19, 'e', 12)
740	.arg(_M0, 19, 'e', 12);
741	}
742	// =====================
743	// BROADCAST ORBIT - 2
744	// =====================
745	out
746	<< QString(fmt)
747	.arg(_Cuc, 19, 'e', 12)
748	.arg(_e, 19, 'e', 12)
749	.arg(_Cus, 19, 'e', 12)
750	.arg(_sqrt_A, 19, 'e', 12);
751	// =====================
752	// BROADCAST ORBIT - 3
753	// =====================
754	if (ephType() == t_eph::CNAV \|\|
755	ephType() == t_eph::CNV2) {
756	out
757	<< QString(fmt)
758	.arg(_top, 19, 'e', 12)
759	.arg(_Cic, 19, 'e', 12)
760	.arg(_OMEGA0, 19, 'e', 12)
761	.arg(_Cis, 19, 'e', 12);
762	}
763	else if (ephType() == t_eph::L1NV) {
764	out
765	<< QString(fmt)
766	.arg(_IODE, 19, 'e', 12)
767	.arg(_Cic, 19, 'e', 12)
768	.arg(_OMEGA0, 19, 'e', 12)
769	.arg(_Cis, 19, 'e', 12);
770	}
771	else { // LNAV, undefined
772	out
773	<< QString(fmt)
774	.arg(_TOEsec, 19, 'e', 12)
775	.arg(_Cic, 19, 'e', 12)
776	.arg(_OMEGA0, 19, 'e', 12)
777	.arg(_Cis, 19, 'e', 12);
778	}
779	// =====================
780	// BROADCAST ORBIT - 4
781	// =====================
782	out
783	<< QString(fmt)
784	.arg(_i0, 19, 'e', 12)
785	.arg(_Crc, 19, 'e', 12)
786	.arg(_omega, 19, 'e', 12)
787	.arg(_OMEGADOT, 19, 'e', 12);
788	// =====================
789	// BROADCAST ORBIT - 5
790	// =====================
791	if (type() != t_eph::IRNSS) {
792	if (ephType() == t_eph::CNAV \|\|
793	ephType() == t_eph::CNV2) {
794	out
795	<< QString(fmt)
796	.arg(_IDOT, 19, 'e', 12)
797	.arg(_Delta_n_dot, 19, 'e', 12)
798	.arg(_URAI_NED0, 19, 'e', 12)
799	.arg(_URAI_NED1, 19, 'e', 12);
800	}
801	else { // LNAV, undefined
802	out
803	<< QString(fmt)
804	.arg(_IDOT, 19, 'e', 12)
805	.arg(_L2Codes, 19, 'e', 12)
806	.arg(_TOEweek, 19, 'e', 12)
807	.arg(_L2PFlag, 19, 'e', 12);
808	}
809	}
810	else {
811	if (ephType() == t_eph::LNAV \|\|
812	ephType() == t_eph::undefined) {
813	out
814	<< QString(fmt)
815	.arg(_IDOT, 19, 'e', 12)
816	.arg("", 19, QChar(' '))
817	.arg(_TOEweek, 19, 'e', 12)
818	.arg("", 19, QChar(' '));
819	}
820	else if (ephType() == t_eph::L1NV) {
821	out
822	<< QString(fmt)
823	.arg(_IDOT, 19, 'e', 12)
824	.arg(_Delta_n_dot, 19, 'e', 12)
825	.arg("", 19, QChar(' '))
826	.arg(_RSF, 19, 'e', 12);
827	}
828	}
829	// =====================
830	// BROADCAST ORBIT - 6
831	// =====================
832	if (type() != t_eph::IRNSS) {
833	if (ephType() == t_eph::CNAV \|\|
834	ephType() == t_eph::CNV2) {
835	out
836	<< QString(fmt)
837	.arg(_URAI_ED, 19, 'e', 12)
838	.arg(_health, 19, 'e', 12)
839	.arg(_TGD, 19, 'e', 12)
840	.arg(_URAI_NED2, 19, 'e', 12);
841	}
842	else { // LNAV, undefined
843	out
844	<< QString(fmt)
845	.arg(_ura, 19, 'e', 12)
846	.arg(_health, 19, 'e', 12)
847	.arg(_TGD, 19, 'e', 12)
848	.arg(_IODC, 19, 'e', 12);
849	}
850	}
851	else {
852	if (ephType() == t_eph::LNAV \|\|
853	ephType() == t_eph::undefined) {
854	out
855	<< QString(fmt)
856	.arg(_ura, 19, 'e', 12)
857	.arg(_health, 19, 'e', 12)
858	.arg(_TGD, 19, 'e', 12);
859	}
860	else if (ephType() == t_eph::L1NV) {
861	int i = 0; (!_RSF) ? i = 2 : i = 3;
862	if (i == 2) {
863	out
864	<< QString(fmt)
865	.arg(_URAI, 19, 'e', 12)
866	.arg(_health, 19, 'e', 12)
867	.arg(_TGD, 19, 'e', 12)
868	.arg("", 19, QChar(' '));
869	}
870	else {
871	out
872	<< QString(fmt)
873	.arg(_URAI, 19, 'e', 12)
874	.arg(_health, 19, 'e', 12)
875	.arg("", 19, QChar(' '))
876	.arg(_TGD, 19, 'e', 12);
877	}
878	}
879	}
880	// =====================
881	// BROADCAST ORBIT - 7
882	// =====================
883	/*
884	out
885	<< QString(fmt)
886	.arg(, 19, 'e', 12)
887	.arg(, 19, 'e', 12)
888	.arg(, 19, 'e', 12)
889	.arg(, 19, 'e', 12);
890
891	*/
892
893	if (ephType() == t_eph::LNAV \|\|
894	ephType() == t_eph::undefined) {
895
896	double tot = _TOT;
897	if (tot == 0.9999e9 && version < 3.0) {
898	tot = 0.0;
899	}
900	// fitInterval
901	if (type() == t_eph::IRNSS) {
902	out
903	<< QString(fmt)
904	.arg(tot, 19, 'e', 12)
905	.arg("", 19, QChar(' '))
906	.arg("", 19, QChar(' '))
907	.arg("", 19, QChar(' '));
908	}
909	else {
910	// for GPS and QZSS in version 3.02 specified in hours
911	double fitIntervalRnx = _fitInterval;
912	// otherwise specified as flag
913	if (type() == t_eph::QZSS && version != 3.02) {
914	(_fitInterval == 2.0) ? fitIntervalRnx = 0.0 : fitIntervalRnx = 1.0;
915	}
916	out
917	<< QString(fmt)
918	.arg(tot, 19, 'e', 12)
919	.arg(fitIntervalRnx, 19, 'e', 12)
920	.arg("", 19, QChar(' '))
921	.arg("", 19, QChar(' '));
922	}
923	}
924	else if (ephType() == t_eph::CNAV \|\|
925	ephType() == t_eph::CNV2) {
926	out
927	<< QString(fmt)
928	.arg(_ISC_L1CA, 19, 'e', 12)
929	.arg(_ISC_L2C, 19, 'e', 12)
930	.arg(_ISC_L5I5, 19, 'e', 12)
931	.arg(_ISC_L5Q5, 19, 'e', 12);
932	}
933	else if (ephType() == t_eph::L1NV) {
934	if (_RSF) {
935	out
936	<< QString(fmt)
937	.arg(_ISC_S, 19, 'e', 12)
938	.arg(_ISC_L1D, 19, 'e', 12)
939	.arg("", 19, QChar(' '))
940	.arg("", 19, QChar(' '));
941	}
942	else {
943	out
944	<< QString(fmt)
945	.arg("", 19, QChar(' '))
946	.arg("", 19, QChar(' '))
947	.arg(_ISC_L1P, 19, 'e', 12)
948	.arg(_ISC_L1D, 19, 'e', 12);
949	}
950	}
951	// =====================
952	// BROADCAST ORBIT - 8
953	// =====================
954	if (ephType() == t_eph::CNAV) {
955	int intFlags;
956	if (_intSF !=-1 ) {
957	intFlags \|= (1 << 0);
958	intFlags \|= (1 << 1);
959	intFlags \|= (1 << 2);
960	out
961	<< QString(fmt)
962	.arg(_TOT, 19, 'e', 12)
963	.arg(_wnop, 19, 'e', 12)
964	.arg(intFlags, 19, 'e', 12)
965	.arg("", 19, QChar(' '));
966	}
967	else {
968	out
969	<< QString(fmt)
970	.arg(_TOT, 19, 'e', 12)
971	.arg(_wnop, 19, 'e', 12)
972	.arg("", 19, QChar(' '))
973	.arg("", 19, QChar(' '));
974	}
975	}
976	else if (ephType() == t_eph::CNV2) {
977	out
978	<< QString(fmt)
979	.arg(_ISC_L1Cd, 19, 'e', 12)
980	.arg(_ISC_L1Cp, 19, 'e', 12)
981	.arg("", 19, QChar(' '))
982	.arg("", 19, QChar(' '));
983	}
984	else if (ephType() == t_eph::L1NV) {
985	out
986	<< QString(fmt)
987	.arg(_TOT, 19, 'e', 12)
988	.arg("", 19, QChar(' '))
989	.arg("", 19, QChar(' '))
990	.arg("", 19, QChar(' '));
991	}
992	// =====================
993	// BROADCAST ORBIT - 9
994	// =====================
995	if (ephType() == t_eph::CNV2) {
996	int intFlags;
997	if (_intSF !=-1 ) {
998	intFlags \|= (1 << 0);
999	out
1000	<< QString(fmt)
1001	.arg(_TOT, 19, 'e', 12)
1002	.arg(_wnop, 19, 'e', 12)
1003	.arg(intFlags, 19, 'e', 12)
1004	.arg("", 19, QChar(' '));
1005	}
1006	else {
1007	out
1008	<< QString(fmt)
1009	.arg(_TOT, 19, 'e', 12)
1010	.arg(_wnop, 19, 'e', 12)
1011	.arg("", 19, QChar(' '))
1012	.arg("", 19, QChar(' '));
1013	}
1014	}
1015
1016	return rnxStr;
1017	}
1018
1019	// Constructor
1020	//////////////////////////////////////////////////////////////////////////////
1021	t_ephGlo::t_ephGlo(double rnxVersion, const QStringList &lines) {
1022
1023	int nLines = 4;
1024	if (rnxVersion >= 3.05) {
1025	nLines += 1;
1026	} else {
1027	_M_delta_tau = 0.9999e9; // unknown
1028	_M_FT = 1.5e1; // unknown
1029	}
1030
1031	if (lines.size() != nLines) {
1032	_checkState = bad;
1033	return;
1034	}
1035
1036	// RINEX Format
1037	// ------------
1038	int fieldLen = 19;
1039	double statusflags = 0.0;
1040	double healthflags = 0.0;
1041
1042	int pos[4];
1043	pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
1044	pos[1] = pos[0] + fieldLen;
1045	pos[2] = pos[1] + fieldLen;
1046	pos[3] = pos[2] + fieldLen;
1047
1048	// Read four lines
1049	// ---------------
1050	for (int iLine = 0; iLine < nLines; iLine++) {
1051	QString line = lines[iLine];
1052
1053	if (iLine == 0) {
1054	QTextStream in(line.left(pos[1]).toLatin1());
1055
1056	int year, month, day, hour, min;
1057	double sec;
1058
1059	QString prnStr, n;
1060	in >> prnStr;
1061	if (prnStr.size() == 1 && prnStr[0] == 'R') {
1062	in >> n;
1063	prnStr.append(n);
1064	}
1065	in >> year >> month >> day >> hour >> min >> sec;
1066	if (prnStr.at(0) == 'R') {
1067	_prn.set('R', prnStr.mid(1).toInt());
1068	} else {
1069	_prn.set('R', prnStr.toInt());
1070	}
1071
1072	if (year < 80) {
1073	year += 2000;
1074	} else if (year < 100) {
1075	year += 1900;
1076	}
1077
1078	_gps_utc = gnumleap(year, month, day);
1079
1080	_TOC.set(year, month, day, hour, min, sec);
1081	_TOC = _TOC + _gps_utc;
1082	int nd = int((_TOC.gpssec())) / (24.0 * 60.0 * 60.0);
1083	if (readDbl(line, pos[1], fieldLen, _tau)
1084	\|\| readDbl(line, pos[2], fieldLen, _gamma)
1085	\|\| readDbl(line, pos[3], fieldLen, _tki)) {
1086	_checkState = bad;
1087	return;
1088	}
1089	_tki -= nd * 86400.0;
1090	_tau = -_tau;
1091	}
1092	// =====================
1093	// BROADCAST ORBIT - 1
1094	// =====================
1095	else if (iLine == 1) {
1096	if (readDbl(line, pos[0], fieldLen, _x_pos)
1097	\|\| readDbl(line, pos[1], fieldLen, _x_velocity)
1098	\|\| readDbl(line, pos[2], fieldLen, _x_acceleration)
1099	\|\| readDbl(line, pos[3], fieldLen, _health)) {
1100	_checkState = bad;
1101	return;
1102	}
1103	}
1104	// =====================
1105	// BROADCAST ORBIT - 2
1106	// =====================
1107	else if (iLine == 2) {
1108	if (readDbl(line, pos[0], fieldLen, _y_pos)
1109	\|\| readDbl(line, pos[1], fieldLen, _y_velocity)
1110	\|\| readDbl(line, pos[2], fieldLen, _y_acceleration)
1111	\|\| readDbl(line, pos[3], fieldLen, _frequency_number)) {
1112	_checkState = bad;
1113	return;
1114	}
1115	}
1116	// =====================
1117	// BROADCAST ORBIT - 3
1118	// =====================
1119	else if (iLine == 3) {
1120	if (readDbl(line, pos[0], fieldLen, _z_pos)
1121	\|\| readDbl(line, pos[1], fieldLen, _z_velocity)
1122	\|\| readDbl(line, pos[2], fieldLen, _z_acceleration)
1123	\|\| readDbl(line, pos[3], fieldLen, _E)) {
1124	_checkState = bad;
1125	return;
1126	}
1127	}
1128	// =====================
1129	// BROADCAST ORBIT - 4
1130	// =====================
1131	else if (iLine == 4) {
1132	if (readDbl(line, pos[0], fieldLen, statusflags)) {
1133	//statusflags BLK, do nothing
1134	_flags_unknown = true;
1135	} else {
1136	_flags_unknown = false;
1137	// status flags
1138	// ============
1139	// bit 0-1
1140	_M_P = double(bitExtracted(statusflags, 2, 0));
1141	// bit 2-3
1142	_P1 = double(bitExtracted(statusflags, 2, 2));
1143	// bit 4
1144	_P2 = double(bitExtracted(statusflags, 1, 4));
1145	// bit 5
1146	_P3 = double(bitExtracted(statusflags, 1, 5));
1147	// bit 6
1148	_M_P4 = double(bitExtracted(statusflags, 1, 6));
1149	// bit 7-8
1150	_M_M = double(bitExtracted(statusflags, 2, 7));
1151	/// GLO M/K exclusive flags/values only valid if flag M is set to '01'
1152	if (!_M_M) {
1153	_M_P4 = 0.0;
1154	_M_P = 0.0;
1155	}
1156	}
1157	if (readDbl(line, pos[1], fieldLen, _M_delta_tau)
1158	\|\| readDbl(line, pos[2], fieldLen, _M_FT)) {
1159	_checkState = bad;
1160	return;
1161	}
1162	if (readDbl(line, pos[3], fieldLen, healthflags)) {
1163	// healthflags BLK
1164	_flags_unknown = true;
1165	} else {
1166	_flags_unknown = false;
1167	// health flags
1168	// ============
1169	// bit 0 (is to be ignored, if bit 1 is zero)
1170	_almanac_health = double(bitExtracted(healthflags, 1, 0));
1171	// bit 1
1172	_almanac_health_availablility_indicator = double(
1173	bitExtracted(healthflags, 1, 1));
1174	// bit 2
1175	_M_l3 = double(bitExtracted(healthflags, 1, 2));
1176	}
1177	}
1178	}
1179
1180	// Initialize status vector
1181	// ------------------------
1182	_tt = _TOC;
1183	_xv.ReSize(6);
1184	_xv = 0.0;
1185	_xv(1) = _x_pos * 1.e3;
1186	_xv(2) = _y_pos * 1.e3;
1187	_xv(3) = _z_pos * 1.e3;
1188	_xv(4) = _x_velocity * 1.e3;
1189	_xv(5) = _y_velocity * 1.e3;
1190	_xv(6) = _z_velocity * 1.e3;
1191	}
1192
1193	// Compute Glonass Satellite Position (virtual)
1194	////////////////////////////////////////////////////////////////////////////
1195	t_irc t_ephGlo::position(int GPSweek, double GPSweeks, double *xc,
1196	double *vv) const {
1197
1198	static const double nominalStep = 10.0;
1199
1200	memset(xc, 0, 6 * sizeof(double));
1201	memset(vv, 0, 3 * sizeof(double));
1202
1203	double dtPos = bncTime(GPSweek, GPSweeks) - _tt;
1204
1205	if (fabs(dtPos) > 24 * 3600.0) {
1206	return failure;
1207	}
1208
1209	int nSteps = int(fabs(dtPos) / nominalStep) + 1;
1210	double step = dtPos / nSteps;
1211
1212	double acc[3];
1213	acc[0] = _x_acceleration * 1.e3;
1214	acc[1] = _y_acceleration * 1.e3;
1215	acc[2] = _z_acceleration * 1.e3;
1216
1217	for (int ii = 1; ii <= nSteps; ii++) {
1218	_xv = rungeKutta4(_tt.gpssec(), _xv, step, acc, glo_deriv);
1219	_tt = _tt + step;
1220	}
1221
1222	// Position and Velocity
1223	// ---------------------
1224	xc[0] = _xv(1);
1225	xc[1] = _xv(2);
1226	xc[2] = _xv(3);
1227
1228	vv[0] = _xv(4);
1229	vv[1] = _xv(5);
1230	vv[2] = _xv(6);
1231
1232	// Clock Correction
1233	// ----------------
1234	double dtClk = bncTime(GPSweek, GPSweeks) - _TOC;
1235	xc[3] = -_tau + _gamma * dtClk;
1236
1237	xc[4] = _gamma;
1238	xc[5] = 0.0;
1239
1240	return success;
1241	}
1242
1243	// RINEX Format String
1244	//////////////////////////////////////////////////////////////////////////////
1245	QString t_ephGlo::toString(double version) const {
1246
1247	QString ephStr = ephTypeStr(_ephType, _prn, version);
1248	QString rnxStr = ephStr + rinexDateStr(_TOC - _gps_utc, _prn, version);
1249	int nd = int((_TOC - _gps_utc).gpssec()) / (24.0 * 60.0 * 60.0);
1250	QTextStream out(&rnxStr);
1251
1252	out
1253	<< QString("%1%2%3\n").arg(-_tau, 19, 'e', 12).arg(_gamma, 19, 'e', 12).arg(
1254	_tki + nd * 86400.0, 19, 'e', 12);
1255
1256	QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1257	// =====================
1258	// BROADCAST ORBIT - 1
1259	// =====================
1260	out
1261	<< QString(fmt).arg(_x_pos, 19, 'e', 12).arg(_x_velocity, 19, 'e', 12).arg(
1262	_x_acceleration, 19, 'e', 12).arg(_health, 19, 'e', 12);
1263	// =====================
1264	// BROADCAST ORBIT - 2
1265	// =====================
1266	out
1267	<< QString(fmt).arg(_y_pos, 19, 'e', 12).arg(_y_velocity, 19, 'e', 12).arg(
1268	_y_acceleration, 19, 'e', 12).arg(_frequency_number, 19, 'e', 12);
1269	// =====================
1270	// BROADCAST ORBIT - 3
1271	// =====================
1272	out
1273	<< QString(fmt).arg(_z_pos, 19, 'e', 12).arg(_z_velocity, 19, 'e', 12).arg(
1274	_z_acceleration, 19, 'e', 12).arg(_E, 19, 'e', 12);
1275	// =====================
1276	// BROADCAST ORBIT - 4
1277	// =====================
1278	if (version >= 3.05) {
1279	// unknown (RINEX version < 3.05)
1280	if (_flags_unknown) {
1281	out
1282	<< QString(fmt).arg("", 19, QChar(' ')) // statusflags blank if unknown
1283	.arg(_M_delta_tau, 19, 'e', 12).arg(_M_FT, 19, 'e', 12).arg("", 19,
1284	QChar(' ')); // healthflags blank if unknown
1285	} else {
1286	int statusflags = 0;
1287	// bit 7-8
1288	if (_M_M == 2.0) {
1289	statusflags \|= (1 << 7);
1290	}
1291	// bit 6
1292	if (_M_P4) {
1293	statusflags \|= (1 << 6);
1294	}
1295	// bit 5
1296	if (_P3) {
1297	statusflags \|= (1 << 5);
1298	}
1299	// bit 4
1300	if (_P2) {
1301	statusflags \|= (1 << 4);
1302	}
1303	// bit 2-3
1304	if (_P1 == 2.0) {
1305	statusflags \|= (1 << 2);
1306	} else if (_P1 == 1.0) {
1307	statusflags \|= (1 << 3);
1308	} else if (_P1 == 3.0) {
1309	statusflags \|= (1 << 2);
1310	statusflags \|= (1 << 3);
1311	}
1312	// bit 0-1
1313	if (_M_P == 2.0) {
1314	statusflags \|= (1 << 0);
1315	} else if (_M_P == 1.0) {
1316	statusflags \|= (1 << 1);
1317	} else if (_M_P == 3.0) {
1318	statusflags \|= (1 << 0);
1319	statusflags \|= (1 << 1);
1320	}
1321	// health flags
1322	// ============
1323	int healthflags = 0;
1324	// bit 0 (is to be ignored, if bit 1 is zero)
1325	if (_almanac_health) {
1326	healthflags \|= (1 << 0);
1327	}
1328	// bit 1
1329	if (_almanac_health_availablility_indicator) {
1330	healthflags \|= (1 << 1);
1331	}
1332	// bit 2
1333	if (_M_l3) {
1334	healthflags \|= (1 << 2);
1335	}
1336	out
1337	<< QString(fmt).arg(double(statusflags), 19, 'e', 12).arg(
1338	_M_delta_tau, 19, 'e', 12).arg(_M_FT, 19, 'e', 12).arg(
1339	double(healthflags), 19, 'e', 12);
1340	}
1341	}
1342
1343	return rnxStr;
1344	}
1345
1346	// Derivative of the state vector using a simple force model (static)
1347	////////////////////////////////////////////////////////////////////////////
1348	ColumnVector t_ephGlo::glo_deriv(double /* tt */, const ColumnVector &xv,
1349	double *acc) {
1350
1351	// State vector components
1352	// -----------------------
1353	ColumnVector rr = xv.rows(1, 3);
1354	ColumnVector vv = xv.rows(4, 6);
1355
1356	// Acceleration
1357	// ------------
1358	static const double gmWGS = 398.60044e12;
1359	static const double AE = 6378136.0;
1360	static const double OMEGA = 7292115.e-11;
1361	static const double C20 = -1082.6257e-6;
1362
1363	double rho = rr.NormFrobenius();
1364	double t1 = -gmWGS / (rho * rho * rho);
1365	double t2 = 3.0 / 2.0 * C20 * (gmWGS * AE * AE)
1366	/ (rho * rho * rho * rho * rho);
1367	double t3 = OMEGA * OMEGA;
1368	double t4 = 2.0 * OMEGA;
1369	double z2 = rr(3) * rr(3);
1370
1371	// Vector of derivatives
1372	// ---------------------
1373	ColumnVector va(6);
1374	va(1) = vv(1);
1375	va(2) = vv(2);
1376	va(3) = vv(3);
1377	va(4) = (t1 + t2 * (1.0 - 5.0 * z2 / (rho * rho)) + t3) * rr(1) + t4 * vv(2)
1378	+ acc[0];
1379	va(5) = (t1 + t2 * (1.0 - 5.0 * z2 / (rho * rho)) + t3) * rr(2) - t4 * vv(1)
1380	+ acc[1];
1381	va(6) = (t1 + t2 * (3.0 - 5.0 * z2 / (rho * rho))) * rr(3) + acc[2];
1382
1383	return va;
1384	}
1385
1386	// IOD of Glonass Ephemeris (virtual)
1387	////////////////////////////////////////////////////////////////////////////
1388	unsigned int t_ephGlo::IOD() const {
1389	bncTime tMoscow = _TOC - _gps_utc + 3 * 3600.0;
1390	return (unsigned long) tMoscow.daysec() / 900;
1391	}
1392
1393	// Health status of Glonass Ephemeris (virtual)
1394	////////////////////////////////////////////////////////////////////////////
1395	unsigned int t_ephGlo::isUnhealthy() const {
1396
1397	if (_almanac_health_availablility_indicator) {
1398	if ((_health == 0 && _almanac_health == 0)
1399	\|\| (_health == 1 && _almanac_health == 0)
1400	\|\| (_health == 1 && _almanac_health == 1)) {
1401	return 1;
1402	}
1403	} else if (!_almanac_health_availablility_indicator) {
1404	if (_health) {
1405	return 1;
1406	}
1407	}
1408	return 0; /* (_health == 0 && _almanac_health == 1) or (_health == 0) */
1409	}
1410
1411	// Constructor
1412	//////////////////////////////////////////////////////////////////////////////
1413	t_ephGal::t_ephGal(double rnxVersion, const QStringList &lines) {
1414	int year, month, day, hour, min;
1415	double sec;
1416	QString prnStr;
1417	const int nLines = 8;
1418	if (lines.size() != nLines) {
1419	_checkState = bad;
1420	return;
1421	}
1422
1423	// RINEX Format
1424	// ------------
1425	int fieldLen = 19;
1426	double SVhealth = 0.0;
1427	double datasource = 0.0;
1428
1429	int pos[4];
1430	pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
1431	pos[1] = pos[0] + fieldLen;
1432	pos[2] = pos[1] + fieldLen;
1433	pos[3] = pos[2] + fieldLen;
1434
1435	// Read eight lines
1436	// ----------------
1437	for (int iLine = 0; iLine < nLines; iLine++) {
1438	QString line = lines[iLine];
1439
1440	if (iLine == 0) {
1441	QTextStream in(line.left(pos[1]).toLatin1());
1442	QString n;
1443	in >> prnStr;
1444	if (prnStr.size() == 1 && prnStr[0] == 'E') {
1445	in >> n;
1446	prnStr.append(n);
1447	}
1448	in >> year >> month >> day >> hour >> min >> sec;
1449	if (year < 80) {
1450	year += 2000;
1451	} else if (year < 100) {
1452	year += 1900;
1453	}
1454
1455	_TOC.set(year, month, day, hour, min, sec);
1456
1457	if (readDbl(line, pos[1], fieldLen, _clock_bias)
1458	\|\| readDbl(line, pos[2], fieldLen, _clock_drift)
1459	\|\| readDbl(line, pos[3], fieldLen, _clock_driftrate)) {
1460	_checkState = bad;
1461	return;
1462	}
1463	}
1464	// =====================
1465	// BROADCAST ORBIT - 1
1466	// =====================
1467	else if (iLine == 1) {
1468	if (readDbl(line, pos[0], fieldLen, _IODnav)
1469	\|\| readDbl(line, pos[1], fieldLen, _Crs)
1470	\|\| readDbl(line, pos[2], fieldLen, _Delta_n)
1471	\|\| readDbl(line, pos[3], fieldLen, _M0)) {
1472	_checkState = bad;
1473	return;
1474	}
1475	}
1476	// =====================
1477	// BROADCAST ORBIT - 2
1478	// =====================
1479	else if (iLine == 2) {
1480	if (readDbl(line, pos[0], fieldLen, _Cuc)
1481	\|\| readDbl(line, pos[1], fieldLen, _e)
1482	\|\| readDbl(line, pos[2], fieldLen, _Cus)
1483	\|\| readDbl(line, pos[3], fieldLen, _sqrt_A)) {
1484	_checkState = bad;
1485	return;
1486	}
1487	}
1488	// =====================
1489	// BROADCAST ORBIT - 3
1490	// =====================
1491	else if (iLine == 3) {
1492	if (readDbl(line, pos[0], fieldLen, _TOEsec)
1493	\|\| readDbl(line, pos[1], fieldLen, _Cic)
1494	\|\| readDbl(line, pos[2], fieldLen, _OMEGA0)
1495	\|\| readDbl(line, pos[3], fieldLen, _Cis)) {
1496	_checkState = bad;
1497	return;
1498	}
1499	}
1500	// =====================
1501	// BROADCAST ORBIT - 4
1502	// =====================
1503	else if (iLine == 4) {
1504	if (readDbl(line, pos[0], fieldLen, _i0)
1505	\|\| readDbl(line, pos[1], fieldLen, _Crc)
1506	\|\| readDbl(line, pos[2], fieldLen, _omega)
1507	\|\| readDbl(line, pos[3], fieldLen, _OMEGADOT)) {
1508	_checkState = bad;
1509	return;
1510	}
1511	}
1512	// =====================
1513	// BROADCAST ORBIT - 5
1514	// =====================
1515	else if (iLine == 5) {
1516	if (readDbl(line, pos[0], fieldLen, _IDOT)
1517	\|\| readDbl(line, pos[1], fieldLen, datasource)
1518	\|\| readDbl(line, pos[2], fieldLen, _TOEweek)) {
1519	_checkState = bad;
1520	return;
1521	} else {
1522	if (int(datasource) & (1 << 8)) {
1523	_fnav = true;
1524	_inav = false;
1525	} else if (int(datasource) & (1 << 9)) {
1526	_fnav = false;
1527	_inav = true;
1528	}
1529	_TOEweek -= 1024.0;
1530	}
1531	}
1532	// =====================
1533	// BROADCAST ORBIT - 6
1534	// =====================
1535	else if (iLine == 6) {
1536	if (readDbl(line, pos[0], fieldLen, _SISA)
1537	\|\| readDbl(line, pos[1], fieldLen, SVhealth)
1538	\|\| readDbl(line, pos[2], fieldLen, _BGD_1_5A)
1539	\|\| readDbl(line, pos[3], fieldLen, _BGD_1_5B)) {
1540	_checkState = bad;
1541	return;
1542	} else {
1543	// Bit 0
1544	_e1DataInvalid = (int(SVhealth) & (1 << 0));
1545	// Bit 1-2
1546	_E1_bHS = double((int(SVhealth) >> 1) & 0x3);
1547	// Bit 3
1548	_e5aDataInvalid = (int(SVhealth) & (1 << 3));
1549	// Bit 4-5
1550	_E5aHS = double((int(SVhealth) >> 4) & 0x3);
1551	// Bit 6
1552	_e5bDataInvalid = (int(SVhealth) & (1 << 6));
1553	// Bit 7-8
1554	_E5bHS = double((int(SVhealth) >> 7) & 0x3);
1555
1556	if (prnStr.at(0) == 'E') {
1557	_prn.set('E', prnStr.mid(1).toInt(), _inav ? 1 : 0);
1558	}
1559	}
1560	}
1561	// =====================
1562	// BROADCAST ORBIT - 7
1563	// =====================
1564	else if (iLine == 7) {
1565	if (readDbl(line, pos[0], fieldLen, _TOT)) {
1566	_checkState = bad;
1567	return;
1568	}
1569	}
1570	}
1571	}
1572
1573	// Compute Galileo Satellite Position (virtual)
1574	////////////////////////////////////////////////////////////////////////////
1575	t_irc t_ephGal::position(int GPSweek, double GPSweeks, double *xc,
1576	double *vv) const {
1577
1578	static const double omegaEarth = 7292115.1467e-11;
1579	static const double gmWGS = 398.6004418e12;
1580
1581	memset(xc, 0, 6 * sizeof(double));
1582	memset(vv, 0, 3 * sizeof(double));
1583
1584	double a0 = _sqrt_A * _sqrt_A;
1585	if (a0 == 0) {
1586	return failure;
1587	}
1588
1589	double n0 = sqrt(gmWGS / (a0 * a0 * a0));
1590
1591	bncTime tt(GPSweek, GPSweeks);
1592	double tk = tt - bncTime(_TOC.gpsw(), _TOEsec);
1593
1594	double n = n0 + _Delta_n;
1595	double M = _M0 + n * tk;
1596	double E = M;
1597	double E_last;
1598	int nLoop = 0;
1599	do {
1600	E_last = E;
1601	E = M + _e * sin(E);
1602
1603	if (++nLoop == 100) {
1604	return failure;
1605	}
1606	} while (fabs(E - E_last) * a0 > 0.001);
1607	double v = 2.0 * atan(sqrt((1.0 + _e) / (1.0 - _e)) * tan(E / 2));
1608	double u0 = v + _omega;
1609	double sin2u0 = sin(2 * u0);
1610	double cos2u0 = cos(2 * u0);
1611	double r = a0 * (1 - _e * cos(E)) + _Crc * cos2u0 + _Crs * sin2u0;
1612	double i = _i0 + _IDOT * tk + _Cic * cos2u0 + _Cis * sin2u0;
1613	double u = u0 + _Cuc * cos2u0 + _Cus * sin2u0;
1614	double xp = r * cos(u);
1615	double yp = r * sin(u);
1616	double OM = _OMEGA0 + (_OMEGADOT - omegaEarth) * tk - omegaEarth * _TOEsec;
1617
1618	double sinom = sin(OM);
1619	double cosom = cos(OM);
1620	double sini = sin(i);
1621	double cosi = cos(i);
1622	xc[0] = xp * cosom - yp * cosi * sinom;
1623	xc[1] = xp * sinom + yp * cosi * cosom;
1624	xc[2] = yp * sini;
1625
1626	double tc = tt - _TOC;
1627	xc[3] = _clock_bias + _clock_drift * tc + _clock_driftrate * tc * tc;
1628
1629	// Velocity
1630	// --------
1631	double tanv2 = tan(v / 2);
1632	double dEdM = 1 / (1 - _e * cos(E));
1633	double dotv = sqrt((1.0 + _e) / (1.0 - _e)) / cos(E / 2) / cos(E / 2)
1634	/ (1 + tanv2 * tanv2) * dEdM * n;
1635	double dotu = dotv + (-_Cuc * sin2u0 + _Cus * cos2u0) * 2 * dotv;
1636	double dotom = _OMEGADOT - omegaEarth;
1637	double doti = _IDOT + (-_Cic * sin2u0 + _Cis * cos2u0) * 2 * dotv;
1638	double dotr = a0 * _e * sin(E) * dEdM * n
1639	+ (-_Crc * sin2u0 + _Crs * cos2u0) * 2 * dotv;
1640	double dotx = dotr * cos(u) - r * sin(u) * dotu;
1641	double doty = dotr * sin(u) + r * cos(u) * dotu;
1642
1643	vv[0] = cosom * dotx - cosi * sinom * doty // dX / dr
1644	- xp * sinom * dotom - yp * cosi * cosom * dotom // dX / dOMEGA
1645	+ yp * sini * sinom * doti; // dX / di
1646
1647	vv[1] = sinom * dotx + cosi * cosom * doty + xp * cosom * dotom
1648	- yp * cosi * sinom * dotom - yp * sini * cosom * doti;
1649
1650	vv[2] = sini * doty + yp * cosi * doti;
1651
1652	// Relativistic Correction
1653	// -----------------------
1654	xc[3] -= 4.442807309e-10 * _e * sqrt(a0) * sin(E);
1655
1656	xc[4] = _clock_drift + _clock_driftrate * tc;
1657	xc[5] = _clock_driftrate;
1658
1659	return success;
1660	}
1661
1662	// Health status of Galileo Ephemeris (virtual)
1663	////////////////////////////////////////////////////////////////////////////
1664	unsigned int t_ephGal::isUnhealthy() const {
1665	if (_E5aHS == 1 \|\| _E5aHS == 3 \|\| _E5bHS == 1 \|\| _E5bHS == 3 \|\| _E1_bHS == 1
1666	\|\| _E1_bHS == 3) {
1667	return 1;
1668	}
1669	if (_e5aDataInvalid \|\| _e5bDataInvalid \|\| _e1DataInvalid) {
1670	return 1;
1671	}
1672	if (_SISA == 255.0) {
1673	return 1;
1674	}
1675	/*
1676	* SDD v1.3: SHS=2 leads to a newly-defined "EOM" status.
1677	* It also means that the satellite signal may be used for PNT.
1678	if (_E5aHS == 2 \|\|
1679	_E5bHS == 2 \|\|
1680	_E1_bHS == 2 ) {
1681	return 1;
1682	}
1683	*/
1684	return 0;
1685	}
1686
1687	// RINEX Format String
1688	//////////////////////////////////////////////////////////////////////////////
1689	QString t_ephGal::toString(double version) const {
1690
1691	QString ephStr = ephTypeStr(_ephType, _prn, version);
1692	QString rnxStr = ephStr + rinexDateStr(_TOC, _prn, version);
1693
1694	QTextStream out(&rnxStr);
1695
1696	out
1697	<< QString("%1%2%3\n").arg(_clock_bias, 19, 'e', 12).arg(_clock_drift, 19,
1698	'e', 12).arg(_clock_driftrate, 19, 'e', 12);
1699
1700	QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1701	// =====================
1702	// BROADCAST ORBIT - 1
1703	// =====================
1704	out
1705	<< QString(fmt).arg(_IODnav, 19, 'e', 12).arg(_Crs, 19, 'e', 12).arg(
1706	_Delta_n, 19, 'e', 12).arg(_M0, 19, 'e', 12);
1707	// =====================
1708	// BROADCAST ORBIT - 2
1709	// =====================
1710	out
1711	<< QString(fmt).arg(_Cuc, 19, 'e', 12).arg(_e, 19, 'e', 12).arg(_Cus, 19,
1712	'e', 12).arg(_sqrt_A, 19, 'e', 12);
1713	// =====================
1714	// BROADCAST ORBIT - 3
1715	// =====================
1716	out
1717	<< QString(fmt).arg(_TOEsec, 19, 'e', 12).arg(_Cic, 19, 'e', 12).arg(
1718	_OMEGA0, 19, 'e', 12).arg(_Cis, 19, 'e', 12);
1719	// =====================
1720	// BROADCAST ORBIT - 4
1721	// =====================
1722	out
1723	<< QString(fmt).arg(_i0, 19, 'e', 12).arg(_Crc, 19, 'e', 12).arg(_omega,
1724	19, 'e', 12).arg(_OMEGADOT, 19, 'e', 12);
1725	// =====================
1726	// BROADCAST ORBIT - 5
1727	// =====================
1728	int dataSource = 0;
1729	int SVhealth = 0;
1730	double BGD_1_5A = _BGD_1_5A;
1731	double BGD_1_5B = _BGD_1_5B;
1732	if (_fnav) {
1733	dataSource \|= (1 << 1);
1734	dataSource \|= (1 << 8);
1735	BGD_1_5B = 0.0;
1736	// SVhealth
1737	// Bit 3 : E5a DVS
1738	if (_e5aDataInvalid) {
1739	SVhealth \|= (1 << 3);
1740	}
1741	// Bit 4-5: E5a HS
1742	if (_E5aHS == 1.0) {
1743	SVhealth \|= (1 << 4);
1744	} else if (_E5aHS == 2.0) {
1745	SVhealth \|= (1 << 5);
1746	} else if (_E5aHS == 3.0) {
1747	SVhealth \|= (1 << 4);
1748	SVhealth \|= (1 << 5);
1749	}
1750	} else if (_inav) {
1751	// Bit 2 and 0 are set because from MT1046 the data source cannot be determined
1752	// and RNXv3.03 says both can be set if the navigation messages were merged
1753	dataSource \|= (1 << 0);
1754	dataSource \|= (1 << 2);
1755	dataSource \|= (1 << 9);
1756	// SVhealth
1757	// Bit 0 : E1-B DVS
1758	if (_e1DataInvalid) {
1759	SVhealth \|= (1 << 0);
1760	}
1761	// Bit 1-2: E1-B HS
1762	if (_E1_bHS == 1.0) {
1763	SVhealth \|= (1 << 1);
1764	} else if (_E1_bHS == 2.0) {
1765	SVhealth \|= (1 << 2);
1766	} else if (_E1_bHS == 3.0) {
1767	SVhealth \|= (1 << 1);
1768	SVhealth \|= (1 << 2);
1769	}
1770	// Bit 3 : E5a DVS
1771	if (_e5aDataInvalid) {
1772	SVhealth \|= (1 << 3);
1773	}
1774	// Bit 4-5: E5a HS
1775	if (_E5aHS == 1.0) {
1776	SVhealth \|= (1 << 4);
1777	} else if (_E5aHS == 2.0) {
1778	SVhealth \|= (1 << 5);
1779	} else if (_E5aHS == 3.0) {
1780	SVhealth \|= (1 << 4);
1781	SVhealth \|= (1 << 5);
1782	}
1783	// Bit 6 : E5b DVS
1784	if (_e5bDataInvalid) {
1785	SVhealth \|= (1 << 6);
1786	}
1787	// Bit 7-8: E5b HS
1788	if (_E5bHS == 1.0) {
1789	SVhealth \|= (1 << 7);
1790	} else if (_E5bHS == 2.0) {
1791	SVhealth \|= (1 << 8);
1792	} else if (_E5bHS == 3.0) {
1793	SVhealth \|= (1 << 7);
1794	SVhealth \|= (1 << 8);
1795	}
1796	}
1797
1798	out
1799	<< QString(fmt).arg(_IDOT, 19, 'e', 12).arg(double(dataSource), 19, 'e',
1800	12).arg(_TOEweek + 1024.0, 19, 'e', 12).arg(0.0, 19, 'e', 12);
1801	// =====================
1802	// BROADCAST ORBIT - 6
1803	// =====================
1804	out
1805	<< QString(fmt).arg(_SISA, 19, 'e', 12).arg(double(SVhealth), 19, 'e', 12).arg(
1806	BGD_1_5A, 19, 'e', 12).arg(BGD_1_5B, 19, 'e', 12);
1807	// =====================
1808	// BROADCAST ORBIT - 7
1809	// =====================
1810	double tot = _TOT;
1811	if (tot == 0.9999e9 && version < 3.0) {
1812	tot = 0.0;
1813	}
1814	out
1815	<< QString(fmt).arg(tot, 19, 'e', 12).arg("", 19, QChar(' ')).arg("", 19,
1816	QChar(' ')).arg("", 19, QChar(' '));
1817
1818	return rnxStr;
1819	}
1820
1821	// Constructor
1822	//////////////////////////////////////////////////////////////////////////////
1823	t_ephSBAS::t_ephSBAS(double rnxVersion, const QStringList &lines) {
1824
1825	const int nLines = 4;
1826
1827	if (lines.size() != nLines) {
1828	_checkState = bad;
1829	return;
1830	}
1831
1832	// RINEX Format
1833	// ------------
1834	int fieldLen = 19;
1835
1836	int pos[4];
1837	pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
1838	pos[1] = pos[0] + fieldLen;
1839	pos[2] = pos[1] + fieldLen;
1840	pos[3] = pos[2] + fieldLen;
1841
1842	// Read four lines
1843	// ---------------
1844	for (int iLine = 0; iLine < nLines; iLine++) {
1845	QString line = lines[iLine];
1846
1847	if (iLine == 0) {
1848	QTextStream in(line.left(pos[1]).toLatin1());
1849
1850	int year, month, day, hour, min;
1851	double sec;
1852
1853	QString prnStr, n;
1854	in >> prnStr;
1855	if (prnStr.size() == 1 && prnStr[0] == 'S') {
1856	in >> n;
1857	prnStr.append(n);
1858	}
1859	in >> year >> month >> day >> hour >> min >> sec;
1860	if (prnStr.at(0) == 'S') {
1861	_prn.set('S', prnStr.mid(1).toInt());
1862	} else {
1863	_prn.set('S', prnStr.toInt());
1864	}
1865
1866	if (year < 80) {
1867	year += 2000;
1868	} else if (year < 100) {
1869	year += 1900;
1870	}
1871
1872	_TOC.set(year, month, day, hour, min, sec);
1873
1874	if (readDbl(line, pos[1], fieldLen, _agf0)
1875	\|\| readDbl(line, pos[2], fieldLen, _agf1)
1876	\|\| readDbl(line, pos[3], fieldLen, _TOT)) {
1877	_checkState = bad;
1878	return;
1879	}
1880	}
1881	// =====================
1882	// BROADCAST ORBIT - 1
1883	// =====================
1884	else if (iLine == 1) {
1885	if (readDbl(line, pos[0], fieldLen, _x_pos)
1886	\|\| readDbl(line, pos[1], fieldLen, _x_velocity)
1887	\|\| readDbl(line, pos[2], fieldLen, _x_acceleration)
1888	\|\| readDbl(line, pos[3], fieldLen, _health)) {
1889	_checkState = bad;
1890	return;
1891	}
1892	}
1893	// =====================
1894	// BROADCAST ORBIT - 2
1895	// =====================
1896	else if (iLine == 2) {
1897	if (readDbl(line, pos[0], fieldLen, _y_pos)
1898	\|\| readDbl(line, pos[1], fieldLen, _y_velocity)
1899	\|\| readDbl(line, pos[2], fieldLen, _y_acceleration)
1900	\|\| readDbl(line, pos[3], fieldLen, _ura)) {
1901	_checkState = bad;
1902	return;
1903	}
1904	}
1905	// =====================
1906	// BROADCAST ORBIT - 3
1907	// =====================
1908	else if (iLine == 3) {
1909	double iodn;
1910	if (readDbl(line, pos[0], fieldLen, _z_pos)
1911	\|\| readDbl(line, pos[1], fieldLen, _z_velocity)
1912	\|\| readDbl(line, pos[2], fieldLen, _z_acceleration)
1913	\|\| readDbl(line, pos[3], fieldLen, iodn)) {
1914	_checkState = bad;
1915	return;
1916	} else {
1917	_IODN = int(iodn);
1918	}
1919	}
1920	}
1921
1922	_x_pos *= 1.e3;
1923	_y_pos *= 1.e3;
1924	_z_pos *= 1.e3;
1925	_x_velocity *= 1.e3;
1926	_y_velocity *= 1.e3;
1927	_z_velocity *= 1.e3;
1928	_x_acceleration *= 1.e3;
1929	_y_acceleration *= 1.e3;
1930	_z_acceleration *= 1.e3;
1931	}
1932
1933	// IOD of SBAS Ephemeris (virtual)
1934	////////////////////////////////////////////////////////////////////////////
1935
1936	unsigned int t_ephSBAS::IOD() const {
1937	unsigned char buffer[80];
1938	int size = 0;
1939	int numbits = 0;
1940	long long bitbuffer = 0;
1941	unsigned char *startbuffer = buffer;
1942
1943	SBASADDBITSFLOAT(30, this->_x_pos, 0.08)
1944	SBASADDBITSFLOAT(30, this->_y_pos, 0.08)
1945	SBASADDBITSFLOAT(25, this->_z_pos, 0.4)
1946	SBASADDBITSFLOAT(17, this->_x_velocity, 0.000625)
1947	SBASADDBITSFLOAT(17, this->_y_velocity, 0.000625)
1948	SBASADDBITSFLOAT(18, this->_z_velocity, 0.004)
1949	SBASADDBITSFLOAT(10, this->_x_acceleration, 0.0000125)
1950	SBASADDBITSFLOAT(10, this->_y_acceleration, 0.0000125)
1951	SBASADDBITSFLOAT(10, this->_z_acceleration, 0.0000625)
1952	SBASADDBITSFLOAT(12, this->_agf0,
1953	1.0 / static_cast<double>(1 << 30) / static_cast<double>(1 << 1))
1954	SBASADDBITSFLOAT(8, this->_agf1,
1955	1.0 / static_cast<double>(1 << 30) / static_cast<double>(1 << 10))
1956	SBASADDBITS(5, 0); // the last byte is filled by 0-bits to obtain a length of an integer multiple of 8
1957
1958	return CRC24(size, startbuffer);
1959	}
1960
1961	// Compute SBAS Satellite Position (virtual)
1962	////////////////////////////////////////////////////////////////////////////
1963	t_irc t_ephSBAS::position(int GPSweek, double GPSweeks, double *xc,
1964	double *vv) const {
1965
1966	bncTime tt(GPSweek, GPSweeks);
1967	double dt = tt - _TOC;
1968
1969	xc[0] = _x_pos + _x_velocity * dt + _x_acceleration * dt * dt / 2.0;
1970	xc[1] = _y_pos + _y_velocity * dt + _y_acceleration * dt * dt / 2.0;
1971	xc[2] = _z_pos + _z_velocity * dt + _z_acceleration * dt * dt / 2.0;
1972
1973	vv[0] = _x_velocity + _x_acceleration * dt;
1974	vv[1] = _y_velocity + _y_acceleration * dt;
1975	vv[2] = _z_velocity + _z_acceleration * dt;
1976
1977	xc[3] = _agf0 + _agf1 * dt;
1978
1979	xc[4] = _agf1;
1980	xc[5] = 0.0;
1981
1982	return success;
1983	}
1984
1985	// Health status of SBAS Ephemeris (virtual)
1986	////////////////////////////////////////////////////////////////////////////
1987	unsigned int t_ephSBAS::isUnhealthy() const {
1988
1989	// Bit 5
1990	bool URAindexIs15 = (int(_health) & (1 << 5));
1991	if (URAindexIs15) {
1992	// in this case it is recommended
1993	// to set the bits 0,1,2,3 to 1 (MT17health = 15)
1994	return 1;
1995	}
1996
1997	// Bit 0-3
1998	int MT17health = (int(_health)) & (0x0f);
1999	if (MT17health) {
2000	return 1;
2001	}
2002
2003	// Bit 4
2004	// bool MT17HealthIsUnavailable = (int(_health) & (1<<4));
2005	// is not used because the MT17health bits can be independently set if URA index is 15
2006
2007	return 0;
2008	}
2009
2010	// RINEX Format String
2011	//////////////////////////////////////////////////////////////////////////////
2012	QString t_ephSBAS::toString(double version) const {
2013
2014	QString ephStr = ephTypeStr(_ephType, _prn, version);
2015	QString rnxStr = ephStr + rinexDateStr(_TOC, _prn, version);
2016
2017	QTextStream out(&rnxStr);
2018
2019	out
2020	<< QString("%1%2%3\n").arg(_agf0, 19, 'e', 12).arg(_agf1, 19, 'e', 12).arg(
2021	_TOT, 19, 'e', 12);
2022
2023	QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
2024	// =====================
2025	// BROADCAST ORBIT - 1
2026	// =====================
2027	out
2028	<< QString(fmt).arg(1.e-3 * _x_pos, 19, 'e', 12).arg(1.e-3 * _x_velocity,
2029	19, 'e', 12).arg(1.e-3 * _x_acceleration, 19, 'e', 12).arg(_health,
2030	19, 'e', 12);
2031	// =====================
2032	// BROADCAST ORBIT - 2
2033	// =====================
2034	out
2035	<< QString(fmt).arg(1.e-3 * _y_pos, 19, 'e', 12).arg(1.e-3 * _y_velocity,
2036	19, 'e', 12).arg(1.e-3 * _y_acceleration, 19, 'e', 12).arg(_ura, 19,
2037	'e', 12);
2038	// =====================
2039	// BROADCAST ORBIT - 3
2040	// =====================
2041	out
2042	<< QString(fmt).arg(1.e-3 * _z_pos, 19, 'e', 12).arg(1.e-3 * _z_velocity,
2043	19, 'e', 12).arg(1.e-3 * _z_acceleration, 19, 'e', 12).arg(
2044	double(_IODN), 19, 'e', 12);
2045
2046	return rnxStr;
2047	}
2048
2049	// Constructor
2050	//////////////////////////////////////////////////////////////////////////////
2051	t_ephBDS::t_ephBDS(double rnxVersion, const QStringList &lines) {
2052
2053	int nLines = 8;
2054
2055	if (ephType() == t_eph::CNV1 \|\| ephType() == t_eph::CNV2) {
2056	nLines += 2;
2057	}
2058	if (ephType() == t_eph::CNV3) {
2059	nLines += 1;
2060	}
2061
2062	if (lines.size() != nLines) {
2063	_checkState = bad;
2064	return;
2065	}
2066
2067	// RINEX Format
2068	// ------------
2069	int fieldLen = 19;
2070
2071	int pos[4];
2072	pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
2073	pos[1] = pos[0] + fieldLen;
2074	pos[2] = pos[1] + fieldLen;
2075	pos[3] = pos[2] + fieldLen;
2076
2077	// Read eight lines
2078	// ----------------
2079	for (int iLine = 0; iLine < nLines; iLine++) {
2080	QString line = lines[iLine];
2081
2082	if (iLine == 0) {
2083	QTextStream in(line.left(pos[1]).toLatin1());
2084
2085	int year, month, day, hour, min;
2086	double sec;
2087
2088	QString prnStr, n;
2089	in >> prnStr;
2090	if (prnStr.size() == 1 && prnStr[0] == 'C') {
2091	in >> n;
2092	prnStr.append(n);
2093	}
2094	in >> year >> month >> day >> hour >> min >> sec;
2095	if (prnStr.at(0) == 'C') {
2096	_prn.set('C', prnStr.mid(1).toInt());
2097	} else {
2098	_prn.set('C', prnStr.toInt());
2099	}
2100
2101	if (year < 80) {
2102	year += 2000;
2103	} else if (year < 100) {
2104	year += 1900;
2105	}
2106
2107	_TOC.setBDS(year, month, day, hour, min, sec);
2108
2109	if (readDbl(line, pos[1], fieldLen, _clock_bias)
2110	\|\| readDbl(line, pos[2], fieldLen, _clock_drift)
2111	\|\| readDbl(line, pos[3], fieldLen, _clock_driftrate)) {
2112	_checkState = bad;
2113	return;
2114	}
2115	}
2116	// =====================
2117	// BROADCAST ORBIT - 1
2118	// =====================
2119	else if (iLine == 1) {
2120	double aode;
2121	if (readDbl(line, pos[0], fieldLen, aode)
2122	\|\| readDbl(line, pos[1], fieldLen, _Crs)
2123	\|\| readDbl(line, pos[2], fieldLen, _Delta_n)
2124	\|\| readDbl(line, pos[3], fieldLen, _M0)) {
2125	_checkState = bad;
2126	return;
2127	}
2128	_AODE = int(aode);
2129	}
2130	// =====================
2131	// BROADCAST ORBIT - 2
2132	// =====================
2133	else if (iLine == 2) {
2134	if (readDbl(line, pos[0], fieldLen, _Cuc)
2135	\|\| readDbl(line, pos[1], fieldLen, _e)
2136	\|\| readDbl(line, pos[2], fieldLen, _Cus)
2137	\|\| readDbl(line, pos[3], fieldLen, _sqrt_A)) {
2138	_checkState = bad;
2139	return;
2140	}
2141	}
2142	// =====================
2143	// BROADCAST ORBIT - 3
2144	// =====================
2145	else if (iLine == 3) {
2146	if (readDbl(line, pos[0], fieldLen, _TOEsec)
2147	\|\| readDbl(line, pos[1], fieldLen, _Cic)
2148	\|\| readDbl(line, pos[2], fieldLen, _OMEGA0)
2149	\|\| readDbl(line, pos[3], fieldLen, _Cis)) {
2150	_checkState = bad;
2151	return;
2152	}
2153	}
2154	// =====================
2155	// BROADCAST ORBIT - 4
2156	// =====================
2157	else if (iLine == 4) {
2158	if (readDbl(line, pos[0], fieldLen, _i0)
2159	\|\| readDbl(line, pos[1], fieldLen, _Crc)
2160	\|\| readDbl(line, pos[2], fieldLen, _omega)
2161	\|\| readDbl(line, pos[3], fieldLen, _OMEGADOT)) {
2162	_checkState = bad;
2163	return;
2164	}
2165	}
2166	// =====================
2167	// BROADCAST ORBIT - 5
2168	// =====================
2169	else if (iLine == 5) {
2170
2171	if (ephType() == t_eph::CNV1 \|\| ephType() == t_eph::CNV2
2172	\|\| ephType() == t_eph::CNV3) {
2173	if (readDbl(line, pos[0], fieldLen, _IDOT)
2174	\|\| readDbl(line, pos[1], fieldLen, _Delta_n_dot)
2175	\|\| readDbl(line, pos[2], fieldLen, _satType)
2176	\|\| readDbl(line, pos[3], fieldLen, _top)) {
2177	_checkState = bad;
2178	return;
2179	}
2180	} else { // D1, D2, undefined
2181	if (readDbl(line, pos[0], fieldLen, _IDOT)
2182	\|\| readDbl(line, pos[2], fieldLen, _BDTweek)) {
2183	_checkState = bad;
2184	return;
2185	}
2186	}
2187	}
2188	// =====================
2189	// BROADCAST ORBIT - 6
2190	// =====================
2191	else if (iLine == 6) {
2192	if (ephType() == t_eph::CNV1 \|\| ephType() == t_eph::CNV2
2193	\|\| ephType() == t_eph::CNV3) {
2194	if (readDbl(line, pos[0], fieldLen, _SISAI_oe)
2195	\|\| readDbl(line, pos[1], fieldLen, _SISAI_ocb)
2196	\|\| readDbl(line, pos[2], fieldLen, _SISAI_oc1)
2197	\|\| readDbl(line, pos[3], fieldLen, _SISAI_oc2)) {
2198	_checkState = bad;
2199	return;
2200	}
2201	} else { // D1, D2, undefined
2202	double SatH1;
2203	if (readDbl(line, pos[0], fieldLen, _URA)
2204	\|\| readDbl(line, pos[1], fieldLen, SatH1)
2205	\|\| readDbl(line, pos[2], fieldLen, _TGD1)
2206	\|\| readDbl(line, pos[3], fieldLen, _TGD2)) {
2207	_checkState = bad;
2208	return;
2209	}
2210	_SatH1 = int(SatH1);
2211	}
2212	}
2213	// =====================
2214	// BROADCAST ORBIT - 7
2215	// =====================
2216	else if (iLine == 7) {
2217	if (ephType() == t_eph::CNV1) {
2218	if (readDbl(line, pos[0], fieldLen, _ISC_B1Cd)
2219	\|\| readDbl(line, pos[2], fieldLen, _TGD_B1Cp)
2220	\|\| readDbl(line, pos[3], fieldLen, _TGD_B2ap)) {
2221	_checkState = bad;
2222	return;
2223	}
2224	} else if (ephType() == t_eph::CNV2) {
2225	if (readDbl(line, pos[1], fieldLen, _ISC_B2ad)
2226	\|\| readDbl(line, pos[2], fieldLen, _TGD_B1Cp)
2227	\|\| readDbl(line, pos[3], fieldLen, _TGD_B2ap)) {
2228	_checkState = bad;
2229	return;
2230	}
2231	} else if (ephType() == t_eph::CNV3) {
2232	double health;
2233	if (readDbl(line, pos[0], fieldLen, _SISMAI)
2234	\|\| readDbl(line, pos[1], fieldLen, health)
2235	\|\| readDbl(line, pos[2], fieldLen, _INTEGRITYF_B2b)
2236	\|\| readDbl(line, pos[3], fieldLen, _TGD_B2bI)) {
2237	_checkState = bad;
2238	return;
2239	}
2240	_health = int(health);
2241	} else { // D1, D2 or undefined
2242	double aodc;
2243	if (readDbl(line, pos[0], fieldLen, _TOT)
2244	\|\| readDbl(line, pos[1], fieldLen, aodc)) {
2245	_checkState = bad;
2246	return;
2247	}
2248	if (_TOT == 0.9999e9) { // 0.9999e9 means not known (RINEX standard)
2249	_TOT = _TOEsec;
2250	}
2251	_AODC = int(aodc);
2252	}
2253	}
2254	// =====================
2255	// BROADCAST ORBIT - 8
2256	// =====================
2257	else if (iLine == 8) {
2258	double health;
2259	if (ephType() == t_eph::CNV1) {
2260	if (readDbl(line, pos[0], fieldLen, _SISMAI)
2261	\|\| readDbl(line, pos[1], fieldLen, health)
2262	\|\| readDbl(line, pos[2], fieldLen, _INTEGRITYF_B1C)
2263	\|\| readDbl(line, pos[3], fieldLen, _IODC)) {
2264	_checkState = bad;
2265	return;
2266	}
2267	_health = int(health);
2268	} else if (ephType() == t_eph::CNV2) {
2269	if (readDbl(line, pos[0], fieldLen, _SISMAI)
2270	\|\| readDbl(line, pos[1], fieldLen, health)
2271	\|\| readDbl(line, pos[2], fieldLen, _INTEGRITYF_B2aB1C)
2272	\|\| readDbl(line, pos[3], fieldLen, _IODC)) {
2273	_checkState = bad;
2274	return;
2275	}
2276	_health = int(health);
2277	} else if (ephType() == t_eph::CNV3) {
2278	if (readDbl(line, pos[0], fieldLen, _TOT)) {
2279	_checkState = bad;
2280	return;
2281	}
2282	}
2283
2284	}
2285	// =====================
2286	// BROADCAST ORBIT - 9
2287	// =====================
2288	else if (iLine == 9) {
2289
2290	if (ephType() == t_eph::CNV1 \|\| ephType() == t_eph::CNV2) {
2291	if (readDbl(line, pos[0], fieldLen, _TOT)
2292	\|\| readDbl(line, pos[3], fieldLen, _IODE)) {
2293	_checkState = bad;
2294	return;
2295	}
2296	}
2297
2298	}
2299	}
2300
2301	_TOE.setBDS(int(_BDTweek), _TOEsec);
2302	// remark: actually should be computed from second_tot
2303	// but it seems to be unreliable in RINEX files
2304	//_TOT = _TOC.bdssec();
2305	}
2306
2307	// IOD of BDS Ephemeris (virtual)
2308	////////////////////////////////////////////////////////////////////////////
2309	unsigned int t_ephBDS::IOD() const {
2310	return (int(_TOC.gpssec()) / 720) % 240; //return (int(_TOEsec)/720) % 240;
2311	}
2312
2313	// Compute BDS Satellite Position (virtual)
2314	//////////////////////////////////////////////////////////////////////////////
2315	t_irc t_ephBDS::position(int GPSweek, double GPSweeks, double *xc,
2316	double *vv) const {
2317
2318	static const double gmBDS = 398.6004418e12;
2319	static const double omegaBDS = 7292115.0000e-11;
2320
2321	xc[0] = xc[1] = xc[2] = xc[3] = 0.0;
2322	vv[0] = vv[1] = vv[2] = 0.0;
2323
2324	bncTime tt(GPSweek, GPSweeks);
2325
2326	if (_sqrt_A == 0) {
2327	return failure;
2328	}
2329	double a0 = _sqrt_A * _sqrt_A;
2330
2331	double n0 = sqrt(gmBDS / (a0 * a0 * a0));
2332	double tk = tt - _TOE;
2333	double n = n0 + _Delta_n;
2334	double M = _M0 + n * tk;
2335	double E = M;
2336	double E_last;
2337	int nLoop = 0;
2338	do {
2339	E_last = E;
2340	E = M + _e * sin(E);
2341
2342	if (++nLoop == 100) {
2343	return failure;
2344	}
2345	} while (fabs(E - E_last) * a0 > 0.001);
2346
2347	double v = atan2(sqrt(1 - _e * _e) * sin(E), cos(E) - _e);
2348	double u0 = v + _omega;
2349	double sin2u0 = sin(2 * u0);
2350	double cos2u0 = cos(2 * u0);
2351	double r = a0 * (1 - _e * cos(E)) + _Crc * cos2u0 + _Crs * sin2u0;
2352	double i = _i0 + _IDOT * tk + _Cic * cos2u0 + _Cis * sin2u0;
2353	double u = u0 + _Cuc * cos2u0 + _Cus * sin2u0;
2354	double xp = r * cos(u);
2355	double yp = r * sin(u);
2356	double toesec = (_TOE.gpssec() - 14.0);
2357	double sinom = 0;
2358	double cosom = 0;
2359	double sini = 0;
2360	double cosi = 0;
2361
2362	// Velocity
2363	// --------
2364	double tanv2 = tan(v / 2);
2365	double dEdM = 1 / (1 - _e * cos(E));
2366	double dotv = sqrt((1.0 + _e) / (1.0 - _e)) / cos(E / 2) / cos(E / 2)
2367	/ (1 + tanv2 * tanv2) * dEdM * n;
2368	double dotu = dotv + (-_Cuc * sin2u0 + _Cus * cos2u0) * 2 * dotv;
2369	double doti = _IDOT + (-_Cic * sin2u0 + _Cis * cos2u0) * 2 * dotv;
2370	double dotr = a0 * _e * sin(E) * dEdM * n
2371	+ (-_Crc * sin2u0 + _Crs * cos2u0) * 2 * dotv;
2372
2373	double dotx = dotr * cos(u) - r * sin(u) * dotu;
2374	double doty = dotr * sin(u) + r * cos(u) * dotu;
2375
2376	const double iMaxGEO = 10.0 / 180.0 * M_PI;
2377
2378	// MEO/IGSO satellite
2379	// ------------------
2380	if (_i0 > iMaxGEO) {
2381	double OM = _OMEGA0 + (_OMEGADOT - omegaBDS) * tk - omegaBDS * toesec;
2382
2383	sinom = sin(OM);
2384	cosom = cos(OM);
2385	sini = sin(i);
2386	cosi = cos(i);
2387
2388	xc[0] = xp * cosom - yp * cosi * sinom;
2389	xc[1] = xp * sinom + yp * cosi * cosom;
2390	xc[2] = yp * sini;
2391
2392	// Velocity
2393	// --------
2394
2395	double dotom = _OMEGADOT - t_CST::omega;
2396
2397	vv[0] = cosom * dotx - cosi * sinom * doty // dX / dr
2398	- xp * sinom * dotom - yp * cosi * cosom * dotom // dX / dOMEGA
2399	+ yp * sini * sinom * doti; // dX / di
2400
2401	vv[1] = sinom * dotx + cosi * cosom * doty + xp * cosom * dotom
2402	- yp * cosi * sinom * dotom - yp * sini * cosom * doti;
2403
2404	vv[2] = sini * doty + yp * cosi * doti;
2405
2406	}
2407
2408	// GEO satellite
2409	// -------------
2410	else {
2411	double OM = _OMEGA0 + _OMEGADOT * tk - omegaBDS * toesec;
2412	double ll = omegaBDS * tk;
2413
2414	sinom = sin(OM);
2415	cosom = cos(OM);
2416	sini = sin(i);
2417	cosi = cos(i);
2418
2419	double xx = xp * cosom - yp * cosi * sinom;
2420	double yy = xp * sinom + yp * cosi * cosom;
2421	double zz = yp * sini;
2422
2423	Matrix RX = BNC_PPP::t_astro::rotX(-5.0 / 180.0 * M_PI);
2424	Matrix RZ = BNC_PPP::t_astro::rotZ(ll);
2425
2426	ColumnVector X1(3);
2427	X1 << xx << yy << zz;
2428	ColumnVector X2 = RZ * RX * X1;
2429
2430	xc[0] = X2(1);
2431	xc[1] = X2(2);
2432	xc[2] = X2(3);
2433
2434	double dotom = _OMEGADOT;
2435
2436	double vx = cosom * dotx - cosi * sinom * doty - xp * sinom * dotom
2437	- yp * cosi * cosom * dotom + yp * sini * sinom * doti;
2438
2439	double vy = sinom * dotx + cosi * cosom * doty + xp * cosom * dotom
2440	- yp * cosi * sinom * dotom - yp * sini * cosom * doti;
2441
2442	double vz = sini * doty + yp * cosi * doti;
2443
2444	ColumnVector V(3);
2445	V << vx << vy << vz;
2446
2447	Matrix RdotZ(3, 3);
2448	double C = cos(ll);
2449	double S = sin(ll);
2450	Matrix UU(3, 3);
2451	UU[0][0] = -S;
2452	UU[0][1] = +C;
2453	UU[0][2] = 0.0;
2454	UU[1][0] = -C;
2455	UU[1][1] = -S;
2456	UU[1][2] = 0.0;
2457	UU[2][0] = 0.0;
2458	UU[2][1] = 0.0;
2459	UU[2][2] = 0.0;
2460	RdotZ = omegaBDS * UU;
2461
2462	ColumnVector VV(3);
2463	VV = RZ * RX * V + RdotZ * RX * X1;
2464
2465	vv[0] = VV(1);
2466	vv[1] = VV(2);
2467	vv[2] = VV(3);
2468	}
2469
2470	double tc = tt - _TOC;
2471	xc[3] = _clock_bias + _clock_drift * tc + _clock_driftrate * tc * tc;
2472
2473	// dotC = _clock_drift + _clock_driftrate*tc
2474	// - 4.442807309e-10_e sqrt(a0) * cos(E) * dEdM * n;
2475
2476	// Relativistic Correction
2477	// -----------------------
2478	xc[3] -= 4.442807309e-10 * _e * sqrt(a0) * sin(E);
2479
2480	xc[4] = _clock_drift + _clock_driftrate * tc;
2481	xc[5] = _clock_driftrate;
2482
2483	return success;
2484	}
2485
2486	// Health status of SBAS Ephemeris (virtual)
2487	////////////////////////////////////////////////////////////////////////////
2488	unsigned int t_ephBDS::isUnhealthy() const {
2489
2490	if (ephType() == t_eph::CNV1 \|\| ephType() == t_eph::CNV2
2491	\|\| ephType() == t_eph::CNV3) {
2492	return static_cast<unsigned int>(_health);
2493	}
2494
2495	return static_cast<unsigned int>(_SatH1);
2496
2497	}
2498
2499	// RINEX Format String
2500	//////////////////////////////////////////////////////////////////////////////
2501	QString t_ephBDS::toString(double version) const {
2502
2503	QString ephStr = ephTypeStr(_ephType, _prn, version);
2504	QString rnxStr = ephStr + rinexDateStr(_TOC - 14.0, _prn, version);
2505
2506	QTextStream out(&rnxStr);
2507
2508	out
2509	<< QString("%1%2%3\n").arg(_clock_bias, 19, 'e', 12).arg(_clock_drift, 19,
2510	'e', 12).arg(_clock_driftrate, 19, 'e', 12);
2511
2512	QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
2513	// =====================
2514	// BROADCAST ORBIT - 1
2515	// =====================
2516	out
2517	<< QString(fmt).arg(double(_AODE), 19, 'e', 12).arg(_Crs, 19, 'e', 12).arg(
2518	_Delta_n, 19, 'e', 12).arg(_M0, 19, 'e', 12);
2519	// =====================
2520	// BROADCAST ORBIT - 2
2521	// =====================
2522	out
2523	<< QString(fmt).arg(_Cuc, 19, 'e', 12).arg(_e, 19, 'e', 12).arg(_Cus, 19,
2524	'e', 12).arg(_sqrt_A, 19, 'e', 12);
2525	// =====================
2526	// BROADCAST ORBIT - 3
2527	// =====================
2528	out
2529	<< QString(fmt).arg(_TOEsec, 19, 'e', 12).arg(_Cic, 19, 'e', 12).arg(
2530	_OMEGA0, 19, 'e', 12).arg(_Cis, 19, 'e', 12);
2531	// =====================
2532	// BROADCAST ORBIT - 4
2533	// =====================
2534	out
2535	<< QString(fmt).arg(_i0, 19, 'e', 12).arg(_Crc, 19, 'e', 12).arg(_omega,
2536	19, 'e', 12).arg(_OMEGADOT, 19, 'e', 12);
2537	// =====================
2538	// BROADCAST ORBIT - 5
2539	// =====================
2540	if (ephType() == t_eph::CNV1 \|\| ephType() == t_eph::CNV2
2541	\|\| ephType() == t_eph::CNV3) {
2542	out
2543	<< QString(fmt).arg(_IDOT, 19, 'e', 12).arg(_Delta_n_dot, 19, 'e', 12).arg(
2544	_satType, 19, 'e', 12).arg(_top, 19, 'e', 12);
2545	} else { // D1, D2, undefined
2546	out
2547	<< QString(fmt).arg(_IDOT, 19, 'e', 12).arg("", 19, QChar(' ')).arg(
2548	_BDTweek, 19, 'e', 12).arg("", 19, QChar(' '));
2549	}
2550	// =====================
2551	// BROADCAST ORBIT - 6
2552	// =====================
2553	if (ephType() == t_eph::CNV1 \|\| ephType() == t_eph::CNV2
2554	\|\| ephType() == t_eph::CNV3) {
2555	out
2556	<< QString(fmt).arg(_SISAI_oe, 19, 'e', 12).arg(_SISAI_ocb, 19, 'e', 12).arg(
2557	_SISAI_oc1, 19, 'e', 12).arg(_SISAI_oc2, 19, 'e', 12);
2558	} else { // D1, D2, undefined
2559	out
2560	<< QString(fmt).arg(_URA, 19, 'e', 12).arg(double(_SatH1), 19, 'e', 12).arg(
2561	_TGD1, 19, 'e', 12).arg(_TGD2, 19, 'e', 12);
2562	}
2563	// =====================
2564	// BROADCAST ORBIT - 7
2565	// =====================
2566	if (ephType() == t_eph::CNV1) {
2567	out
2568	<< QString(fmt).arg(_ISC_B1Cd, 19, 'e', 12).arg("", 19, QChar(' ')).arg(
2569	_TGD_B1Cp, 19, 'e', 12).arg(_TGD_B2ap, 19, 'e', 12);
2570	} else if (ephType() == t_eph::CNV2) {
2571	out
2572	<< QString(fmt).arg("", 19, QChar(' ')).arg(_ISC_B2ad, 19, 'e', 12).arg(
2573	_TGD_B1Cp, 19, 'e', 12).arg(_TGD_B2ap, 19, 'e', 12);
2574	} else if (ephType() == t_eph::CNV3) {
2575	out
2576	<< QString(fmt).arg(_SISMAI, 19, 'e', 12).arg(double(_health), 19, 'e',
2577	12).arg(_INTEGRITYF_B2b, 19, 'e', 12).arg(_TGD_B2bI, 19, 'e', 12);
2578	} else { // D1, D2, undefined
2579	double tots = 0.0;
2580	if (_receptDateTime.isValid()) { // RTCM stream input
2581	tots = _TOE.bdssec();
2582	} else { // RINEX input
2583	tots = _TOT;
2584	}
2585	out
2586	<< QString(fmt).arg(tots, 19, 'e', 12).arg(double(_AODC), 19, 'e', 12).arg(
2587	"", 19, QChar(' ')).arg("", 19, QChar(' '));
2588	}
2589
2590	// =====================
2591	// BROADCAST ORBIT - 8
2592	// =====================
2593	if (ephType() == t_eph::CNV1) {
2594	out
2595	<< QString(fmt).arg(_SISMAI, 19, 'e', 12).arg(double(_health), 19, 'e',
2596	12).arg(_INTEGRITYF_B1C, 19, 'e', 12).arg(_IODC, 19, 'e', 12);
2597	} else if (ephType() == t_eph::CNV2) {
2598	out
2599	<< QString(fmt).arg(_SISMAI, 19, 'e', 12).arg(double(_health), 19, 'e',
2600	12).arg(_INTEGRITYF_B2aB1C, 19, 'e', 12).arg(_IODC, 19, 'e', 12);
2601	} else if (ephType() == t_eph::CNV3) {
2602	out
2603	<< QString(fmt).arg(_TOT, 19, 'e', 12).arg("", 19, QChar(' ')).arg("",
2604	19, QChar(' ')).arg("", 19, QChar(' '));
2605	}
2606
2607	// =====================
2608	// BROADCAST ORBIT - 9
2609	// =====================
2610	if (ephType() == t_eph::CNV1 \|\| ephType() == t_eph::CNV2) {
2611	out
2612	<< QString(fmt).arg(_TOT, 19, 'e', 12).arg("", 19, QChar(' ')).arg("",
2613	19, QChar(' ')).arg(_IODE, 19, 'e', 12);
2614	}
2615
2616	return rnxStr;
2617	}

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