source: ntrip/trunk/BNC/src/ephemeris.cpp@ 5816

Last change on this file since 5816 was 5815, checked in by mervart, 12 years ago
File size: 39.0 KB
Line 
1#include <math.h>
2#include <sstream>
3#include <iostream>
4#include <iomanip>
5#include <cstring>
6
7#include <newmatio.h>
8
9#include "ephemeris.h"
10#include "bncutils.h"
11#include "timeutils.h"
12#include "bnctime.h"
13#include "bnccore.h"
14#include "PPP/pppInclude.h"
15
16using namespace std;
17
18// Returns CRC24
19////////////////////////////////////////////////////////////////////////////
20static unsigned long CRC24(long size, const unsigned char *buf) {
21 unsigned long crc = 0;
22 int ii;
23 while (size--) {
24 crc ^= (*buf++) << (16);
25 for(ii = 0; ii < 8; ii++) {
26 crc <<= 1;
27 if (crc & 0x1000000) {
28 crc ^= 0x01864cfb;
29 }
30 }
31 }
32 return crc;
33}
34
35// Constructor
36////////////////////////////////////////////////////////////////////////////
37t_eph::t_eph() {
38 _ok = false;
39 _orbCorr = 0;
40 _clkCorr = 0;
41}
42
43//
44////////////////////////////////////////////////////////////////////////////
45void t_eph::setOrbCorr(const BNC_PPP::t_orbCorr* orbCorr) {
46 delete _orbCorr;
47 _orbCorr = new BNC_PPP::t_orbCorr(*orbCorr);
48}
49
50//
51////////////////////////////////////////////////////////////////////////////
52void t_eph::setClkCorr(const BNC_PPP::t_clkCorr* clkCorr) {
53 delete _clkCorr;
54 _clkCorr = new BNC_PPP::t_clkCorr(*clkCorr);
55}
56
57//
58////////////////////////////////////////////////////////////////////////////
59t_irc t_eph::getCrd(const bncTime& tt, ColumnVector& xc,
60 ColumnVector& vv, bool useCorr) const {
61 xc.ReSize(4);
62 vv.ReSize(3);
63 position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data());
64 if (useCorr) {
65 throw "t_eph::getCrd: not yet implemented";
66 }
67 return success;
68}
69
70// Set GPS Satellite Position
71////////////////////////////////////////////////////////////////////////////
72void t_ephGPS::set(const gpsephemeris* ee) {
73
74 _receptDateTime = currentDateAndTimeGPS();
75
76 _prn.set('G', ee->satellite);
77
78 _TOC.set(ee->GPSweek, ee->TOC);
79 _clock_bias = ee->clock_bias;
80 _clock_drift = ee->clock_drift;
81 _clock_driftrate = ee->clock_driftrate;
82
83 _IODE = ee->IODE;
84 _Crs = ee->Crs;
85 _Delta_n = ee->Delta_n;
86 _M0 = ee->M0;
87
88 _Cuc = ee->Cuc;
89 _e = ee->e;
90 _Cus = ee->Cus;
91 _sqrt_A = ee->sqrt_A;
92
93 _TOEsec = ee->TOE;
94 _Cic = ee->Cic;
95 _OMEGA0 = ee->OMEGA0;
96 _Cis = ee->Cis;
97
98 _i0 = ee->i0;
99 _Crc = ee->Crc;
100 _omega = ee->omega;
101 _OMEGADOT = ee->OMEGADOT;
102
103 _IDOT = ee->IDOT;
104 _L2Codes = 0.0;
105 _TOEweek = ee->GPSweek;
106 _L2PFlag = 0.0;
107
108 if (ee->URAindex <= 6) {
109 _ura = ceil(10.0*pow(2.0, 1.0+((double)ee->URAindex)/2.0))/10.0;
110 }
111 else {
112 _ura = ceil(10.0*pow(2.0, ((double)ee->URAindex)/2.0))/10.0;
113 }
114 _health = ee->SVhealth;
115 _TGD = ee->TGD;
116 _IODC = ee->IODC;
117
118 _TOT = 0.9999e9;
119 _fitInterval = 0.0;
120
121 _ok = true;
122}
123
124// Compute GPS Satellite Position (virtual)
125////////////////////////////////////////////////////////////////////////////
126void t_ephGPS::position(int GPSweek, double GPSweeks,
127 double* xc,
128 double* vv) const {
129
130
131 static const double omegaEarth = 7292115.1467e-11;
132 static const double gmGRS = 398.6005e12;
133
134 memset(xc, 0, 4*sizeof(double));
135 memset(vv, 0, 3*sizeof(double));
136
137 double a0 = _sqrt_A * _sqrt_A;
138 if (a0 == 0) {
139 return;
140 }
141
142 double n0 = sqrt(gmGRS/(a0*a0*a0));
143
144 bncTime tt(GPSweek, GPSweeks);
145 double tk = tt - bncTime(int(_TOEweek), _TOEsec);
146
147 double n = n0 + _Delta_n;
148 double M = _M0 + n*tk;
149 double E = M;
150 double E_last;
151 do {
152 E_last = E;
153 E = M + _e*sin(E);
154 } while ( fabs(E-E_last)*a0 > 0.001 );
155 double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
156 double u0 = v + _omega;
157 double sin2u0 = sin(2*u0);
158 double cos2u0 = cos(2*u0);
159 double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
160 double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
161 double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
162 double xp = r*cos(u);
163 double yp = r*sin(u);
164 double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
165 omegaEarth*_TOEsec;
166
167 double sinom = sin(OM);
168 double cosom = cos(OM);
169 double sini = sin(i);
170 double cosi = cos(i);
171 xc[0] = xp*cosom - yp*cosi*sinom;
172 xc[1] = xp*sinom + yp*cosi*cosom;
173 xc[2] = yp*sini;
174
175 double tc = tt - _TOC;
176 xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
177
178 // Velocity
179 // --------
180 double tanv2 = tan(v/2);
181 double dEdM = 1 / (1 - _e*cos(E));
182 double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
183 * dEdM * n;
184 double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
185 double dotom = _OMEGADOT - omegaEarth;
186 double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
187 double dotr = a0 * _e*sin(E) * dEdM * n
188 + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
189 double dotx = dotr*cos(u) - r*sin(u)*dotu;
190 double doty = dotr*sin(u) + r*cos(u)*dotu;
191
192 vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
193 - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
194 + yp*sini*sinom*doti; // dX / di
195
196 vv[1] = sinom *dotx + cosi*cosom *doty
197 + xp*cosom*dotom - yp*cosi*sinom*dotom
198 - yp*sini*cosom*doti;
199
200 vv[2] = sini *doty + yp*cosi *doti;
201
202 // Relativistic Correction
203 // -----------------------
204 xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
205}
206
207// build up RTCM3 for GPS
208////////////////////////////////////////////////////////////////////////////
209#define GPSTOINT(type, value) static_cast<type>(round(value))
210
211#define GPSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
212 |(GPSTOINT(long long,b)&((1ULL<<a)-1)); \
213 numbits += (a); \
214 while(numbits >= 8) { \
215 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
216
217#define GPSADDBITSFLOAT(a,b,c) {long long i = GPSTOINT(long long,(b)/(c)); \
218 GPSADDBITS(a,i)};
219
220int t_ephGPS::RTCM3(unsigned char *buffer) {
221
222 unsigned char *startbuffer = buffer;
223 buffer= buffer+3;
224 int size = 0;
225 int numbits = 0;
226 unsigned long long bitbuffer = 0;
227 if (_ura <= 2.40){
228 _ura = 0;
229 }
230 else if (_ura <= 3.40){
231 _ura = 1;
232 }
233 else if (_ura <= 6.85){
234 _ura = 2;
235 }
236 else if (_ura <= 9.65){
237 _ura = 3;
238 }
239 else if (_ura <= 13.65){
240 _ura = 4;
241 }
242 else if (_ura <= 24.00){
243 _ura = 5;
244 }
245 else if (_ura <= 48.00){
246 _ura = 6;
247 }
248 else if (_ura <= 96.00){
249 _ura = 7;
250 }
251 else if (_ura <= 192.00){
252 _ura = 8;
253 }
254 else if (_ura <= 384.00){
255 _ura = 9;
256 }
257 else if (_ura <= 768.00){
258 _ura = 10;
259 }
260 else if (_ura <= 1536.00){
261 _ura = 11;
262 }
263 else if (_ura <= 1536.00){
264 _ura = 12;
265 }
266 else if (_ura <= 2072.00){
267 _ura = 13;
268 }
269 else if (_ura <= 6144.00){
270 _ura = 14;
271 }
272 else{
273 _ura = 15;
274 }
275
276 GPSADDBITS(12, 1019)
277 GPSADDBITS(6,_prn.number())
278 GPSADDBITS(10, _TOC.gpsw())
279 GPSADDBITS(4, _ura)
280 GPSADDBITS(2,_L2Codes)
281 GPSADDBITSFLOAT(14, _IDOT, M_PI/static_cast<double>(1<<30)
282 /static_cast<double>(1<<13))
283 GPSADDBITS(8, _IODE)
284 GPSADDBITS(16, static_cast<int>(_TOC.gpssec())>>4)
285 GPSADDBITSFLOAT(8, _clock_driftrate, 1.0/static_cast<double>(1<<30)
286 /static_cast<double>(1<<25))
287 GPSADDBITSFLOAT(16, _clock_drift, 1.0/static_cast<double>(1<<30)
288 /static_cast<double>(1<<13))
289 GPSADDBITSFLOAT(22, _clock_bias, 1.0/static_cast<double>(1<<30)
290 /static_cast<double>(1<<1))
291 GPSADDBITS(10, _IODC)
292 GPSADDBITSFLOAT(16, _Crs, 1.0/static_cast<double>(1<<5))
293 GPSADDBITSFLOAT(16, _Delta_n, M_PI/static_cast<double>(1<<30)
294 /static_cast<double>(1<<13))
295 GPSADDBITSFLOAT(32, _M0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
296 GPSADDBITSFLOAT(16, _Cuc, 1.0/static_cast<double>(1<<29))
297 GPSADDBITSFLOAT(32, _e, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
298 GPSADDBITSFLOAT(16, _Cus, 1.0/static_cast<double>(1<<29))
299 GPSADDBITSFLOAT(32, _sqrt_A, 1.0/static_cast<double>(1<<19))
300 GPSADDBITS(16, static_cast<int>(_TOEsec)>>4)
301 GPSADDBITSFLOAT(16, _Cic, 1.0/static_cast<double>(1<<29))
302 GPSADDBITSFLOAT(32, _OMEGA0, M_PI/static_cast<double>(1<<30)
303 /static_cast<double>(1<<1))
304 GPSADDBITSFLOAT(16, _Cis, 1.0/static_cast<double>(1<<29))
305 GPSADDBITSFLOAT(32, _i0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
306 GPSADDBITSFLOAT(16, _Crc, 1.0/static_cast<double>(1<<5))
307 GPSADDBITSFLOAT(32, _omega, M_PI/static_cast<double>(1<<30)
308 /static_cast<double>(1<<1))
309 GPSADDBITSFLOAT(24, _OMEGADOT, M_PI/static_cast<double>(1<<30)
310 /static_cast<double>(1<<13))
311 GPSADDBITSFLOAT(8, _TGD, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
312 GPSADDBITS(6, _health)
313 GPSADDBITS(1, _L2PFlag)
314 GPSADDBITS(1, 0) /* GPS fit interval */
315
316 startbuffer[0]=0xD3;
317 startbuffer[1]=(size >> 8);
318 startbuffer[2]=size;
319 unsigned long i = CRC24(size+3, startbuffer);
320 buffer[size++] = i >> 16;
321 buffer[size++] = i >> 8;
322 buffer[size++] = i;
323 size += 3;
324 return size;
325}
326
327// Derivative of the state vector using a simple force model (static)
328////////////////////////////////////////////////////////////////////////////
329ColumnVector t_ephGlo::glo_deriv(double /* tt */, const ColumnVector& xv,
330 double* acc) {
331
332 // State vector components
333 // -----------------------
334 ColumnVector rr = xv.rows(1,3);
335 ColumnVector vv = xv.rows(4,6);
336
337 // Acceleration
338 // ------------
339 static const double gmWGS = 398.60044e12;
340 static const double AE = 6378136.0;
341 static const double OMEGA = 7292115.e-11;
342 static const double C20 = -1082.6257e-6;
343
344 double rho = rr.norm_Frobenius();
345 double t1 = -gmWGS/(rho*rho*rho);
346 double t2 = 3.0/2.0 * C20 * (gmWGS*AE*AE) / (rho*rho*rho*rho*rho);
347 double t3 = OMEGA * OMEGA;
348 double t4 = 2.0 * OMEGA;
349 double z2 = rr(3) * rr(3);
350
351 // Vector of derivatives
352 // ---------------------
353 ColumnVector va(6);
354 va(1) = vv(1);
355 va(2) = vv(2);
356 va(3) = vv(3);
357 va(4) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(1) + t4*vv(2) + acc[0];
358 va(5) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(2) - t4*vv(1) + acc[1];
359 va(6) = (t1 + t2*(3.0-5.0*z2/(rho*rho)) ) * rr(3) + acc[2];
360
361 return va;
362}
363
364// Compute Glonass Satellite Position (virtual)
365////////////////////////////////////////////////////////////////////////////
366void t_ephGlo::position(int GPSweek, double GPSweeks,
367 double* xc, double* vv) const {
368
369 static const double nominalStep = 10.0;
370
371 memset(xc, 0, 4*sizeof(double));
372 memset(vv, 0, 3*sizeof(double));
373
374 double dtPos = bncTime(GPSweek, GPSweeks) - _tt;
375
376 int nSteps = int(fabs(dtPos) / nominalStep) + 1;
377 double step = dtPos / nSteps;
378
379 double acc[3];
380 acc[0] = _x_acceleration * 1.e3;
381 acc[1] = _y_acceleration * 1.e3;
382 acc[2] = _z_acceleration * 1.e3;
383 for (int ii = 1; ii <= nSteps; ii++) {
384 _xv = rungeKutta4(_tt.gpssec(), _xv, step, acc, glo_deriv);
385 _tt = _tt + step;
386 }
387
388 // Position and Velocity
389 // ---------------------
390 xc[0] = _xv(1);
391 xc[1] = _xv(2);
392 xc[2] = _xv(3);
393
394 vv[0] = _xv(4);
395 vv[1] = _xv(5);
396 vv[2] = _xv(6);
397
398 // Clock Correction
399 // ----------------
400 double dtClk = bncTime(GPSweek, GPSweeks) - _TOC;
401 xc[3] = -_tau + _gamma * dtClk;
402}
403
404// IOD of Glonass Ephemeris (virtual)
405////////////////////////////////////////////////////////////////////////////
406int t_ephGlo::IOD() const {
407 bncTime tMoscow = _TOC - _gps_utc + 3 * 3600.0;
408 return int(tMoscow.daysec() / 900);
409}
410
411// Set Glonass Ephemeris
412////////////////////////////////////////////////////////////////////////////
413void t_ephGlo::set(const glonassephemeris* ee) {
414
415 _receptDateTime = currentDateAndTimeGPS();
416
417 _prn.set('R', ee->almanac_number);
418
419 int ww = ee->GPSWeek;
420 int tow = ee->GPSTOW;
421 updatetime(&ww, &tow, ee->tb*1000, 0); // Moscow -> GPS
422
423 // Check the day once more
424 // -----------------------
425 bool timeChanged = false;
426 {
427 const double secPerDay = 24 * 3600.0;
428 const double secPerWeek = 7 * secPerDay;
429 int ww_old = ww;
430 int tow_old = tow;
431 int currentWeek;
432 double currentSec;
433 currentGPSWeeks(currentWeek, currentSec);
434 bncTime currentTime(currentWeek, currentSec);
435 bncTime hTime(ww, (double) tow);
436
437 if (hTime - currentTime > secPerDay/2.0) {
438 timeChanged = true;
439 tow -= int(secPerDay);
440 if (tow < 0) {
441 tow += int(secPerWeek);
442 ww -= 1;
443 }
444 }
445 else if (hTime - currentTime < -secPerDay/2.0) {
446 timeChanged = true;
447 tow += int(secPerDay);
448 if (tow > secPerWeek) {
449 tow -= int(secPerWeek);
450 ww += 1;
451 }
452 }
453
454 if (false && timeChanged && BNC_CORE->mode() == t_bncCore::batchPostProcessing) {
455 bncTime newHTime(ww, (double) tow);
456 cout << "GLONASS " << ee->almanac_number << " Time Changed at "
457 << currentTime.datestr() << " " << currentTime.timestr()
458 << endl
459 << "old: " << hTime.datestr() << " " << hTime.timestr()
460 << endl
461 << "new: " << newHTime.datestr() << " " << newHTime.timestr()
462 << endl
463 << "eph: " << ee->GPSWeek << " " << ee->GPSTOW << " " << ee->tb
464 << endl
465 << "ww, tow (old): " << ww_old << " " << tow_old
466 << endl
467 << "ww, tow (new): " << ww << " " << tow
468 << endl << endl;
469 }
470 }
471
472 bncTime hlpTime(ww, (double) tow);
473 unsigned year, month, day;
474 hlpTime.civil_date(year, month, day);
475 _gps_utc = gnumleap(year, month, day);
476
477 _TOC.set(ww, tow);
478 _E = ee->E;
479 _tau = ee->tau;
480 _gamma = ee->gamma;
481 _x_pos = ee->x_pos;
482 _x_velocity = ee->x_velocity;
483 _x_acceleration = ee->x_acceleration;
484 _y_pos = ee->y_pos;
485 _y_velocity = ee->y_velocity;
486 _y_acceleration = ee->y_acceleration;
487 _z_pos = ee->z_pos;
488 _z_velocity = ee->z_velocity;
489 _z_acceleration = ee->z_acceleration;
490 _health = 0;
491 _frequency_number = ee->frequency_number;
492 _tki = ee->tk-3*60*60; if (_tki < 0) _tki += 86400;
493
494 // Initialize status vector
495 // ------------------------
496 _tt = _TOC;
497
498 _xv(1) = _x_pos * 1.e3;
499 _xv(2) = _y_pos * 1.e3;
500 _xv(3) = _z_pos * 1.e3;
501 _xv(4) = _x_velocity * 1.e3;
502 _xv(5) = _y_velocity * 1.e3;
503 _xv(6) = _z_velocity * 1.e3;
504
505 _ok = true;
506}
507
508// build up RTCM3 for GLONASS
509////////////////////////////////////////////////////////////////////////////
510#define GLONASSTOINT(type, value) static_cast<type>(round(value))
511
512#define GLONASSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
513 |(GLONASSTOINT(long long,b)&((1ULL<<(a))-1)); \
514 numbits += (a); \
515 while(numbits >= 8) { \
516 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
517#define GLONASSADDBITSFLOATM(a,b,c) {int s; long long i; \
518 if(b < 0.0) \
519 { \
520 s = 1; \
521 i = GLONASSTOINT(long long,(-b)/(c)); \
522 if(!i) s = 0; \
523 } \
524 else \
525 { \
526 s = 0; \
527 i = GLONASSTOINT(long long,(b)/(c)); \
528 } \
529 GLONASSADDBITS(1,s) \
530 GLONASSADDBITS(a-1,i)}
531
532int t_ephGlo::RTCM3(unsigned char *buffer)
533{
534
535 int size = 0;
536 int numbits = 0;
537 long long bitbuffer = 0;
538 unsigned char *startbuffer = buffer;
539 buffer= buffer+3;
540
541 GLONASSADDBITS(12, 1020)
542 GLONASSADDBITS(6, _prn.number())
543 GLONASSADDBITS(5, 7+_frequency_number)
544 GLONASSADDBITS(1, 0)
545 GLONASSADDBITS(1, 0)
546 GLONASSADDBITS(2, 0)
547 _tki=_tki+3*60*60;
548 GLONASSADDBITS(5, static_cast<int>(_tki)/(60*60))
549 GLONASSADDBITS(6, (static_cast<int>(_tki)/60)%60)
550 GLONASSADDBITS(1, (static_cast<int>(_tki)/30)%30)
551 GLONASSADDBITS(1, _health)
552 GLONASSADDBITS(1, 0)
553 unsigned long long timeofday = (static_cast<int>(_tt.gpssec()+3*60*60-_gps_utc)%86400);
554 GLONASSADDBITS(7, timeofday/60/15)
555 GLONASSADDBITSFLOATM(24, _x_velocity*1000, 1000.0/static_cast<double>(1<<20))
556 GLONASSADDBITSFLOATM(27, _x_pos*1000, 1000.0/static_cast<double>(1<<11))
557 GLONASSADDBITSFLOATM(5, _x_acceleration*1000, 1000.0/static_cast<double>(1<<30))
558 GLONASSADDBITSFLOATM(24, _y_velocity*1000, 1000.0/static_cast<double>(1<<20))
559 GLONASSADDBITSFLOATM(27, _y_pos*1000, 1000.0/static_cast<double>(1<<11))
560 GLONASSADDBITSFLOATM(5, _y_acceleration*1000, 1000.0/static_cast<double>(1<<30))
561 GLONASSADDBITSFLOATM(24, _z_velocity*1000, 1000.0/static_cast<double>(1<<20))
562 GLONASSADDBITSFLOATM(27,_z_pos*1000, 1000.0/static_cast<double>(1<<11))
563 GLONASSADDBITSFLOATM(5, _z_acceleration*1000, 1000.0/static_cast<double>(1<<30))
564 GLONASSADDBITS(1, 0)
565 GLONASSADDBITSFLOATM(11, _gamma, 1.0/static_cast<double>(1<<30)
566 /static_cast<double>(1<<10))
567 GLONASSADDBITS(2, 0) /* GLONASS-M P */
568 GLONASSADDBITS(1, 0) /* GLONASS-M ln(3) */
569 GLONASSADDBITSFLOATM(22, _tau, 1.0/static_cast<double>(1<<30))
570 GLONASSADDBITS(5, 0) /* GLONASS-M delta tau */
571 GLONASSADDBITS(5, _E)
572 GLONASSADDBITS(1, 0) /* GLONASS-M P4 */
573 GLONASSADDBITS(4, 0) /* GLONASS-M FT */
574 GLONASSADDBITS(11, 0) /* GLONASS-M NT */
575 GLONASSADDBITS(2, 0) /* GLONASS-M active? */
576 GLONASSADDBITS(1, 0) /* GLONASS additional data */
577 GLONASSADDBITS(11, 0) /* GLONASS NA */
578 GLONASSADDBITS(32, 0) /* GLONASS tau C */
579 GLONASSADDBITS(5, 0) /* GLONASS-M N4 */
580 GLONASSADDBITS(22, 0) /* GLONASS-M tau GPS */
581 GLONASSADDBITS(1, 0) /* GLONASS-M ln(5) */
582 GLONASSADDBITS(7, 0) /* Reserved */
583
584 startbuffer[0]=0xD3;
585 startbuffer[1]=(size >> 8);
586 startbuffer[2]=size;
587 unsigned long i = CRC24(size+3, startbuffer);
588 buffer[size++] = i >> 16;
589 buffer[size++] = i >> 8;
590 buffer[size++] = i;
591 size += 3;
592 return size;
593}
594
595// Set Galileo Satellite Position
596////////////////////////////////////////////////////////////////////////////
597void t_ephGal::set(const galileoephemeris* ee) {
598
599 _receptDateTime = currentDateAndTimeGPS();
600
601 _prn.set('E', ee->satellite);
602
603 _TOC.set(ee->Week, ee->TOC);
604 _clock_bias = ee->clock_bias;
605 _clock_drift = ee->clock_drift;
606 _clock_driftrate = ee->clock_driftrate;
607
608 _IODnav = ee->IODnav;
609 _Crs = ee->Crs;
610 _Delta_n = ee->Delta_n;
611 _M0 = ee->M0;
612
613 _Cuc = ee->Cuc;
614 _e = ee->e;
615 _Cus = ee->Cus;
616 _sqrt_A = ee->sqrt_A;
617
618 _TOEsec = _TOC.gpssec();
619 //// _TOEsec = ee->TOE; //// TODO:
620 _Cic = ee->Cic;
621 _OMEGA0 = ee->OMEGA0;
622 _Cis = ee->Cis;
623
624 _i0 = ee->i0;
625 _Crc = ee->Crc;
626 _omega = ee->omega;
627 _OMEGADOT = ee->OMEGADOT;
628
629 _IDOT = ee->IDOT;
630 _TOEweek = ee->Week;
631
632 _SISA = ee->SISA;
633 _E5aHS = ee->E5aHS;
634 _E5bHS = ee->E5bHS;
635 _BGD_1_5A = ee->BGD_1_5A;
636 _BGD_1_5B = ee->BGD_1_5B;
637
638 _TOT = 0.9999e9;
639
640 _flags = ee->flags;
641
642 _ok = true;
643}
644
645// Compute Galileo Satellite Position (virtual)
646////////////////////////////////////////////////////////////////////////////
647void t_ephGal::position(int GPSweek, double GPSweeks,
648 double* xc,
649 double* vv) const {
650
651 static const double omegaEarth = 7292115.1467e-11;
652 static const double gmWGS = 398.60044e12;
653
654 memset(xc, 0, 4*sizeof(double));
655 memset(vv, 0, 3*sizeof(double));
656
657 double a0 = _sqrt_A * _sqrt_A;
658 if (a0 == 0) {
659 return;
660 }
661
662 double n0 = sqrt(gmWGS/(a0*a0*a0));
663
664 bncTime tt(GPSweek, GPSweeks);
665 double tk = tt - bncTime(_TOC.gpsw(), _TOEsec);
666
667 double n = n0 + _Delta_n;
668 double M = _M0 + n*tk;
669 double E = M;
670 double E_last;
671 do {
672 E_last = E;
673 E = M + _e*sin(E);
674 } while ( fabs(E-E_last)*a0 > 0.001 );
675 double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
676 double u0 = v + _omega;
677 double sin2u0 = sin(2*u0);
678 double cos2u0 = cos(2*u0);
679 double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
680 double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
681 double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
682 double xp = r*cos(u);
683 double yp = r*sin(u);
684 double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
685 omegaEarth*_TOEsec;
686
687 double sinom = sin(OM);
688 double cosom = cos(OM);
689 double sini = sin(i);
690 double cosi = cos(i);
691 xc[0] = xp*cosom - yp*cosi*sinom;
692 xc[1] = xp*sinom + yp*cosi*cosom;
693 xc[2] = yp*sini;
694
695 double tc = tt - _TOC;
696 xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
697
698 // Velocity
699 // --------
700 double tanv2 = tan(v/2);
701 double dEdM = 1 / (1 - _e*cos(E));
702 double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
703 * dEdM * n;
704 double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
705 double dotom = _OMEGADOT - omegaEarth;
706 double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
707 double dotr = a0 * _e*sin(E) * dEdM * n
708 + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
709 double dotx = dotr*cos(u) - r*sin(u)*dotu;
710 double doty = dotr*sin(u) + r*cos(u)*dotu;
711
712 vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
713 - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
714 + yp*sini*sinom*doti; // dX / di
715
716 vv[1] = sinom *dotx + cosi*cosom *doty
717 + xp*cosom*dotom - yp*cosi*sinom*dotom
718 - yp*sini*cosom*doti;
719
720 vv[2] = sini *doty + yp*cosi *doti;
721
722 // Relativistic Correction
723 // -----------------------
724 // xc(4) -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
725 xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
726}
727
728// build up RTCM3 for Galileo
729////////////////////////////////////////////////////////////////////////////
730#define GALILEOTOINT(type, value) static_cast<type>(round(value))
731
732#define GALILEOADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
733 |(GALILEOTOINT(long long,b)&((1LL<<a)-1)); \
734 numbits += (a); \
735 while(numbits >= 8) { \
736 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
737#define GALILEOADDBITSFLOAT(a,b,c) {long long i = GALILEOTOINT(long long,(b)/(c)); \
738 GALILEOADDBITS(a,i)};
739
740int t_ephGal::RTCM3(unsigned char *buffer) {
741 int size = 0;
742 int numbits = 0;
743 long long bitbuffer = 0;
744 unsigned char *startbuffer = buffer;
745 buffer= buffer+3;
746
747 bool inav = ( (_flags & GALEPHF_INAV) == GALEPHF_INAV );
748
749 GALILEOADDBITS(12, inav ? 1046 : 1045)
750 GALILEOADDBITS(6, _prn.number())
751 GALILEOADDBITS(12, _TOC.gpsw())
752 GALILEOADDBITS(10, _IODnav)
753 GALILEOADDBITS(8, _SISA)
754 GALILEOADDBITSFLOAT(14, _IDOT, M_PI/static_cast<double>(1<<30)
755 /static_cast<double>(1<<13))
756 GALILEOADDBITS(14, _TOC.gpssec()/60)
757 GALILEOADDBITSFLOAT(6, _clock_driftrate, 1.0/static_cast<double>(1<<30)
758 /static_cast<double>(1<<29))
759 GALILEOADDBITSFLOAT(21, _clock_drift, 1.0/static_cast<double>(1<<30)
760 /static_cast<double>(1<<16))
761 GALILEOADDBITSFLOAT(31, _clock_bias, 1.0/static_cast<double>(1<<30)
762 /static_cast<double>(1<<4))
763 GALILEOADDBITSFLOAT(16, _Crs, 1.0/static_cast<double>(1<<5))
764 GALILEOADDBITSFLOAT(16, _Delta_n, M_PI/static_cast<double>(1<<30)
765 /static_cast<double>(1<<13))
766 GALILEOADDBITSFLOAT(32, _M0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
767 GALILEOADDBITSFLOAT(16, _Cuc, 1.0/static_cast<double>(1<<29))
768 GALILEOADDBITSFLOAT(32, _e, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
769 GALILEOADDBITSFLOAT(16, _Cus, 1.0/static_cast<double>(1<<29))
770 GALILEOADDBITSFLOAT(32, _sqrt_A, 1.0/static_cast<double>(1<<19))
771 GALILEOADDBITS(14, _TOEsec/60)
772 GALILEOADDBITSFLOAT(16, _Cic, 1.0/static_cast<double>(1<<29))
773 GALILEOADDBITSFLOAT(32, _OMEGA0, M_PI/static_cast<double>(1<<30)
774 /static_cast<double>(1<<1))
775 GALILEOADDBITSFLOAT(16, _Cis, 1.0/static_cast<double>(1<<29))
776 GALILEOADDBITSFLOAT(32, _i0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
777 GALILEOADDBITSFLOAT(16, _Crc, 1.0/static_cast<double>(1<<5))
778 GALILEOADDBITSFLOAT(32, _omega, M_PI/static_cast<double>(1<<30)
779 /static_cast<double>(1<<1))
780 GALILEOADDBITSFLOAT(24, _OMEGADOT, M_PI/static_cast<double>(1<<30)
781 /static_cast<double>(1<<13))
782 GALILEOADDBITSFLOAT(10, _BGD_1_5A, 1.0/static_cast<double>(1<<30)
783 /static_cast<double>(1<<2))
784 if(inav)
785 {
786 GALILEOADDBITSFLOAT(10, _BGD_1_5B, 1.0/static_cast<double>(1<<30)
787 /static_cast<double>(1<<2))
788 GALILEOADDBITS(2, static_cast<int>(_E5bHS))
789 GALILEOADDBITS(1, _flags & GALEPHF_E5BDINVALID)
790 }
791 else
792 {
793 GALILEOADDBITS(2, static_cast<int>(_E5aHS))
794 GALILEOADDBITS(1, _flags & GALEPHF_E5ADINVALID)
795 }
796 _TOEsec = 0.9999E9;
797 GALILEOADDBITS(20, _TOEsec)
798
799 GALILEOADDBITS(inav ? 1 : 3, 0)
800
801 startbuffer[0]=0xD3;
802 startbuffer[1]=(size >> 8);
803 startbuffer[2]=size;
804 unsigned long i = CRC24(size+3, startbuffer);
805 buffer[size++] = i >> 16;
806 buffer[size++] = i >> 8;
807 buffer[size++] = i;
808 size += 3;
809 return size;
810}
811
812// Constructor
813//////////////////////////////////////////////////////////////////////////////
814t_ephGPS::t_ephGPS(float rnxVersion, const QStringList& lines) {
815
816 const int nLines = 8;
817
818 _ok = false;
819
820 if (lines.size() != nLines) {
821 return;
822 }
823
824 // RINEX Format
825 // ------------
826 int fieldLen = 19;
827
828 int pos[4];
829 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
830 pos[1] = pos[0] + fieldLen;
831 pos[2] = pos[1] + fieldLen;
832 pos[3] = pos[2] + fieldLen;
833
834 // Read eight lines
835 // ----------------
836 for (int iLine = 0; iLine < nLines; iLine++) {
837 QString line = lines[iLine];
838
839 if ( iLine == 0 ) {
840 QTextStream in(line.left(pos[1]).toAscii());
841
842 int year, month, day, hour, min;
843 double sec;
844
845 QString prnStr;
846 in >> prnStr >> year >> month >> day >> hour >> min >> sec;
847 if (prnStr.at(0) == 'G') {
848 _prn.set('G', prnStr.mid(1).toInt());
849 }
850 else {
851 _prn.set('G', prnStr.toInt());
852 }
853
854 if (year < 80) {
855 year += 2000;
856 }
857 else if (year < 100) {
858 year += 1900;
859 }
860
861 _TOC.set(year, month, day, hour, min, sec);
862
863 if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
864 readDbl(line, pos[2], fieldLen, _clock_drift ) ||
865 readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
866 return;
867 }
868 }
869
870 else if ( iLine == 1 ) {
871 if ( readDbl(line, pos[0], fieldLen, _IODE ) ||
872 readDbl(line, pos[1], fieldLen, _Crs ) ||
873 readDbl(line, pos[2], fieldLen, _Delta_n) ||
874 readDbl(line, pos[3], fieldLen, _M0 ) ) {
875 return;
876 }
877 }
878
879 else if ( iLine == 2 ) {
880 if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
881 readDbl(line, pos[1], fieldLen, _e ) ||
882 readDbl(line, pos[2], fieldLen, _Cus ) ||
883 readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
884 return;
885 }
886 }
887
888 else if ( iLine == 3 ) {
889 if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
890 readDbl(line, pos[1], fieldLen, _Cic ) ||
891 readDbl(line, pos[2], fieldLen, _OMEGA0) ||
892 readDbl(line, pos[3], fieldLen, _Cis ) ) {
893 return;
894 }
895 }
896
897 else if ( iLine == 4 ) {
898 if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
899 readDbl(line, pos[1], fieldLen, _Crc ) ||
900 readDbl(line, pos[2], fieldLen, _omega ) ||
901 readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
902 return;
903 }
904 }
905
906 else if ( iLine == 5 ) {
907 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
908 readDbl(line, pos[1], fieldLen, _L2Codes) ||
909 readDbl(line, pos[2], fieldLen, _TOEweek ) ||
910 readDbl(line, pos[3], fieldLen, _L2PFlag) ) {
911 return;
912 }
913 }
914
915 else if ( iLine == 6 ) {
916 if ( readDbl(line, pos[0], fieldLen, _ura ) ||
917 readDbl(line, pos[1], fieldLen, _health) ||
918 readDbl(line, pos[2], fieldLen, _TGD ) ||
919 readDbl(line, pos[3], fieldLen, _IODC ) ) {
920 return;
921 }
922 }
923
924 else if ( iLine == 7 ) {
925 if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
926 return;
927 }
928 readDbl(line, pos[1], fieldLen, _fitInterval); // _fitInterval optional
929 }
930 }
931
932 _ok = true;
933}
934
935// Constructor
936//////////////////////////////////////////////////////////////////////////////
937t_ephGlo::t_ephGlo(float rnxVersion, const QStringList& lines) {
938
939 const int nLines = 4;
940
941 _ok = false;
942
943 if (lines.size() != nLines) {
944 return;
945 }
946
947 // RINEX Format
948 // ------------
949 int fieldLen = 19;
950
951 int pos[4];
952 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
953 pos[1] = pos[0] + fieldLen;
954 pos[2] = pos[1] + fieldLen;
955 pos[3] = pos[2] + fieldLen;
956
957 // Read four lines
958 // ---------------
959 for (int iLine = 0; iLine < nLines; iLine++) {
960 QString line = lines[iLine];
961
962 if ( iLine == 0 ) {
963 QTextStream in(line.left(pos[1]).toAscii());
964
965 int year, month, day, hour, min;
966 double sec;
967
968 QString prnStr;
969 in >> prnStr >> year >> month >> day >> hour >> min >> sec;
970 if (prnStr.at(0) == 'R') {
971 _prn.set('R', prnStr.mid(1).toInt());
972 }
973 else {
974 _prn.set('R', prnStr.toInt());
975 }
976
977 if (year < 80) {
978 year += 2000;
979 }
980 else if (year < 100) {
981 year += 1900;
982 }
983
984 _gps_utc = gnumleap(year, month, day);
985
986 _TOC.set(year, month, day, hour, min, sec);
987 _TOC = _TOC + _gps_utc;
988
989 if ( readDbl(line, pos[1], fieldLen, _tau ) ||
990 readDbl(line, pos[2], fieldLen, _gamma) ||
991 readDbl(line, pos[3], fieldLen, _tki ) ) {
992 return;
993 }
994
995 _tau = -_tau;
996 }
997
998 else if ( iLine == 1 ) {
999 if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
1000 readDbl(line, pos[1], fieldLen, _x_velocity ) ||
1001 readDbl(line, pos[2], fieldLen, _x_acceleration) ||
1002 readDbl(line, pos[3], fieldLen, _health ) ) {
1003 return;
1004 }
1005 }
1006
1007 else if ( iLine == 2 ) {
1008 if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
1009 readDbl(line, pos[1], fieldLen, _y_velocity ) ||
1010 readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
1011 readDbl(line, pos[3], fieldLen, _frequency_number) ) {
1012 return;
1013 }
1014 }
1015
1016 else if ( iLine == 3 ) {
1017 if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
1018 readDbl(line, pos[1], fieldLen, _z_velocity ) ||
1019 readDbl(line, pos[2], fieldLen, _z_acceleration) ||
1020 readDbl(line, pos[3], fieldLen, _E ) ) {
1021 return;
1022 }
1023 }
1024 }
1025
1026 // Initialize status vector
1027 // ------------------------
1028 _tt = _TOC;
1029 _xv.ReSize(6);
1030 _xv(1) = _x_pos * 1.e3;
1031 _xv(2) = _y_pos * 1.e3;
1032 _xv(3) = _z_pos * 1.e3;
1033 _xv(4) = _x_velocity * 1.e3;
1034 _xv(5) = _y_velocity * 1.e3;
1035 _xv(6) = _z_velocity * 1.e3;
1036
1037 _ok = true;
1038}
1039
1040// Constructor
1041//////////////////////////////////////////////////////////////////////////////
1042t_ephGal::t_ephGal(float rnxVersion, const QStringList& lines) {
1043
1044 const int nLines = 8;
1045
1046 _ok = false;
1047
1048 if (lines.size() != nLines) {
1049 return;
1050 }
1051
1052 // RINEX Format
1053 // ------------
1054 int fieldLen = 19;
1055
1056 int pos[4];
1057 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
1058 pos[1] = pos[0] + fieldLen;
1059 pos[2] = pos[1] + fieldLen;
1060 pos[3] = pos[2] + fieldLen;
1061
1062 // Read eight lines
1063 // ----------------
1064 for (int iLine = 0; iLine < nLines; iLine++) {
1065 QString line = lines[iLine];
1066
1067 if ( iLine == 0 ) {
1068 QTextStream in(line.left(pos[1]).toAscii());
1069
1070 int year, month, day, hour, min;
1071 double sec;
1072
1073 QString prnStr;
1074 in >> prnStr >> year >> month >> day >> hour >> min >> sec;
1075 if (prnStr.at(0) == 'E') {
1076 _prn.set('E', prnStr.mid(1).toInt());
1077 }
1078 else {
1079 _prn.set('E', prnStr.toInt());
1080 }
1081
1082 if (year < 80) {
1083 year += 2000;
1084 }
1085 else if (year < 100) {
1086 year += 1900;
1087 }
1088
1089 _TOC.set(year, month, day, hour, min, sec);
1090
1091 if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
1092 readDbl(line, pos[2], fieldLen, _clock_drift ) ||
1093 readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
1094 return;
1095 }
1096 }
1097
1098 else if ( iLine == 1 ) {
1099 if ( readDbl(line, pos[0], fieldLen, _IODnav ) ||
1100 readDbl(line, pos[1], fieldLen, _Crs ) ||
1101 readDbl(line, pos[2], fieldLen, _Delta_n) ||
1102 readDbl(line, pos[3], fieldLen, _M0 ) ) {
1103 return;
1104 }
1105 }
1106
1107 else if ( iLine == 2 ) {
1108 if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
1109 readDbl(line, pos[1], fieldLen, _e ) ||
1110 readDbl(line, pos[2], fieldLen, _Cus ) ||
1111 readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
1112 return;
1113 }
1114 }
1115
1116 else if ( iLine == 3 ) {
1117 if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
1118 readDbl(line, pos[1], fieldLen, _Cic ) ||
1119 readDbl(line, pos[2], fieldLen, _OMEGA0) ||
1120 readDbl(line, pos[3], fieldLen, _Cis ) ) {
1121 return;
1122 }
1123 }
1124
1125 else if ( iLine == 4 ) {
1126 if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
1127 readDbl(line, pos[1], fieldLen, _Crc ) ||
1128 readDbl(line, pos[2], fieldLen, _omega ) ||
1129 readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
1130 return;
1131 }
1132 }
1133
1134 else if ( iLine == 5 ) {
1135 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
1136 readDbl(line, pos[2], fieldLen, _TOEweek) ) {
1137 return;
1138 }
1139 }
1140
1141 else if ( iLine == 6 ) {
1142 if ( readDbl(line, pos[0], fieldLen, _SISA ) ||
1143 readDbl(line, pos[1], fieldLen, _E5aHS ) ||
1144 readDbl(line, pos[2], fieldLen, _BGD_1_5A) ||
1145 readDbl(line, pos[3], fieldLen, _BGD_1_5B) ) {
1146 return;
1147 }
1148 }
1149
1150 else if ( iLine == 7 ) {
1151 if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
1152 return;
1153 }
1154 }
1155 }
1156
1157 _ok = true;
1158}
1159
1160//
1161//////////////////////////////////////////////////////////////////////////////
1162QString t_eph::rinexDateStr(const bncTime& tt, const t_prn& prn, double version) {
1163 QString prnStr(prn.toString().c_str());
1164 return rinexDateStr(tt, prnStr, version);
1165}
1166
1167//
1168//////////////////////////////////////////////////////////////////////////////
1169QString t_eph::rinexDateStr(const bncTime& tt, const QString& prnStr, double version) {
1170
1171 QString datStr;
1172
1173 unsigned year, month, day, hour, min;
1174 double sec;
1175 tt.civil_date(year, month, day);
1176 tt.civil_time(hour, min, sec);
1177
1178 QTextStream out(&datStr);
1179
1180 if (version < 3.0) {
1181 QString prnHlp = prnStr.mid(1,2); if (prnHlp[0] == '0') prnHlp[0] = ' ';
1182 out << prnHlp << QString(" %1 %2 %3 %4 %5%6")
1183 .arg(year % 100, 2, 10, QChar('0'))
1184 .arg(month, 2)
1185 .arg(day, 2)
1186 .arg(hour, 2)
1187 .arg(min, 2)
1188 .arg(sec, 5, 'f',1);
1189 }
1190 else {
1191 out << prnStr << QString(" %1 %2 %3 %4 %5 %6")
1192 .arg(year, 4)
1193 .arg(month, 2, 10, QChar('0'))
1194 .arg(day, 2, 10, QChar('0'))
1195 .arg(hour, 2, 10, QChar('0'))
1196 .arg(min, 2, 10, QChar('0'))
1197 .arg(int(sec), 2, 10, QChar('0'));
1198 }
1199
1200 return datStr;
1201}
1202
1203// RINEX Format String
1204//////////////////////////////////////////////////////////////////////////////
1205QString t_ephGPS::toString(double version) const {
1206
1207 QString rnxStr = rinexDateStr(_TOC, _prn, version);
1208
1209 QTextStream out(&rnxStr);
1210
1211 out << QString("%1%2%3\n")
1212 .arg(_clock_bias, 19, 'e', 12)
1213 .arg(_clock_drift, 19, 'e', 12)
1214 .arg(_clock_driftrate, 19, 'e', 12);
1215
1216 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1217
1218 out << QString(fmt)
1219 .arg(_IODE, 19, 'e', 12)
1220 .arg(_Crs, 19, 'e', 12)
1221 .arg(_Delta_n, 19, 'e', 12)
1222 .arg(_M0, 19, 'e', 12);
1223
1224 out << QString(fmt)
1225 .arg(_Cuc, 19, 'e', 12)
1226 .arg(_e, 19, 'e', 12)
1227 .arg(_Cus, 19, 'e', 12)
1228 .arg(_sqrt_A, 19, 'e', 12);
1229
1230 out << QString(fmt)
1231 .arg(_TOEsec, 19, 'e', 12)
1232 .arg(_Cic, 19, 'e', 12)
1233 .arg(_OMEGA0, 19, 'e', 12)
1234 .arg(_Cis, 19, 'e', 12);
1235
1236 out << QString(fmt)
1237 .arg(_i0, 19, 'e', 12)
1238 .arg(_Crc, 19, 'e', 12)
1239 .arg(_omega, 19, 'e', 12)
1240 .arg(_OMEGADOT, 19, 'e', 12);
1241
1242 out << QString(fmt)
1243 .arg(_IDOT, 19, 'e', 12)
1244 .arg(_L2Codes, 19, 'e', 12)
1245 .arg(_TOEweek, 19, 'e', 12)
1246 .arg(_L2PFlag, 19, 'e', 12);
1247
1248 out << QString(fmt)
1249 .arg(_ura, 19, 'e', 12)
1250 .arg(_health, 19, 'e', 12)
1251 .arg(_TGD, 19, 'e', 12)
1252 .arg(_IODC, 19, 'e', 12);
1253
1254 out << QString(fmt)
1255 .arg(_TOT, 19, 'e', 12)
1256 .arg(_fitInterval, 19, 'e', 12)
1257 .arg("", 19, QChar(' '))
1258 .arg("", 19, QChar(' '));
1259
1260 return rnxStr;
1261}
1262
1263// RINEX Format String
1264//////////////////////////////////////////////////////////////////////////////
1265QString t_ephGlo::toString(double version) const {
1266
1267 QString rnxStr = rinexDateStr(_TOC-_gps_utc, _prn, version);
1268
1269 QTextStream out(&rnxStr);
1270
1271 out << QString("%1%2%3\n")
1272 .arg(-_tau, 19, 'e', 12)
1273 .arg(_gamma, 19, 'e', 12)
1274 .arg(_tki, 19, 'e', 12);
1275
1276 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1277
1278 out << QString(fmt)
1279 .arg(_x_pos, 19, 'e', 12)
1280 .arg(_x_velocity, 19, 'e', 12)
1281 .arg(_x_acceleration, 19, 'e', 12)
1282 .arg(_health, 19, 'e', 12);
1283
1284 out << QString(fmt)
1285 .arg(_y_pos, 19, 'e', 12)
1286 .arg(_y_velocity, 19, 'e', 12)
1287 .arg(_y_acceleration, 19, 'e', 12)
1288 .arg(_frequency_number, 19, 'e', 12);
1289
1290 out << QString(fmt)
1291 .arg(_z_pos, 19, 'e', 12)
1292 .arg(_z_velocity, 19, 'e', 12)
1293 .arg(_z_acceleration, 19, 'e', 12)
1294 .arg(_E, 19, 'e', 12);
1295
1296 return rnxStr;
1297}
1298
1299// RINEX Format String
1300//////////////////////////////////////////////////////////////////////////////
1301QString t_ephGal::toString(double version) const {
1302
1303 QString rnxStr = rinexDateStr(_TOC, _prn, version);
1304
1305 QTextStream out(&rnxStr);
1306
1307 out << QString("%1%2%3\n")
1308 .arg(_clock_bias, 19, 'e', 12)
1309 .arg(_clock_drift, 19, 'e', 12)
1310 .arg(_clock_driftrate, 19, 'e', 12);
1311
1312 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1313
1314 out << QString(fmt)
1315 .arg(_IODnav, 19, 'e', 12)
1316 .arg(_Crs, 19, 'e', 12)
1317 .arg(_Delta_n, 19, 'e', 12)
1318 .arg(_M0, 19, 'e', 12);
1319
1320 out << QString(fmt)
1321 .arg(_Cuc, 19, 'e', 12)
1322 .arg(_e, 19, 'e', 12)
1323 .arg(_Cus, 19, 'e', 12)
1324 .arg(_sqrt_A, 19, 'e', 12);
1325
1326 out << QString(fmt)
1327 .arg(_TOEsec, 19, 'e', 12)
1328 .arg(_Cic, 19, 'e', 12)
1329 .arg(_OMEGA0, 19, 'e', 12)
1330 .arg(_Cis, 19, 'e', 12);
1331
1332 out << QString(fmt)
1333 .arg(_i0, 19, 'e', 12)
1334 .arg(_Crc, 19, 'e', 12)
1335 .arg(_omega, 19, 'e', 12)
1336 .arg(_OMEGADOT, 19, 'e', 12);
1337
1338 int dataSource = 0;
1339 double HS = 0.0;
1340 if ( (_flags & GALEPHF_INAV) == GALEPHF_INAV ) {
1341 dataSource |= (1<<0);
1342 dataSource |= (1<<9);
1343 HS = _E5bHS;
1344 }
1345 else if ( (_flags & GALEPHF_FNAV) == GALEPHF_FNAV ) {
1346 dataSource |= (1<<1);
1347 dataSource |= (1<<8);
1348 HS = _E5aHS;
1349 }
1350 out << QString(fmt)
1351 .arg(_IDOT, 19, 'e', 12)
1352 .arg(double(dataSource), 19, 'e', 12)
1353 .arg(_TOEweek, 19, 'e', 12)
1354 .arg(0.0, 19, 'e', 12);
1355
1356 out << QString(fmt)
1357 .arg(_SISA, 19, 'e', 12)
1358 .arg(HS, 19, 'e', 12)
1359 .arg(_BGD_1_5A, 19, 'e', 12)
1360 .arg(_BGD_1_5B, 19, 'e', 12);
1361
1362 out << QString(fmt)
1363 .arg(_TOT, 19, 'e', 12)
1364 .arg("", 19, QChar(' '))
1365 .arg("", 19, QChar(' '))
1366 .arg("", 19, QChar(' '));
1367
1368 return rnxStr;
1369}
1370
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