source: ntrip/trunk/BNC/src/ephemeris.cpp@ 5839

Last change on this file since 5839 was 5839, checked in by mervart, 8 years ago
File size: 39.4 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 "bncutils.h"
15#include "PPP/pppInclude.h"
16
17using namespace std;
18
19// Returns CRC24
20////////////////////////////////////////////////////////////////////////////
21static unsigned long CRC24(long size, const unsigned char *buf) {
22 unsigned long crc = 0;
23 int ii;
24 while (size--) {
25 crc ^= (*buf++) << (16);
26 for(ii = 0; ii < 8; ii++) {
27 crc <<= 1;
28 if (crc & 0x1000000) {
29 crc ^= 0x01864cfb;
30 }
31 }
32 }
33 return crc;
34}
35
36// Constructor
37////////////////////////////////////////////////////////////////////////////
38t_eph::t_eph() {
39 _ok = false;
40 _orbCorr = 0;
41 _clkCorr = 0;
42}
43
44//
45////////////////////////////////////////////////////////////////////////////
46void t_eph::setOrbCorr(const BNC_PPP::t_orbCorr* orbCorr) {
47 delete _orbCorr;
48 _orbCorr = new BNC_PPP::t_orbCorr(*orbCorr);
49}
50
51//
52////////////////////////////////////////////////////////////////////////////
53void t_eph::setClkCorr(const BNC_PPP::t_clkCorr* clkCorr) {
54 delete _clkCorr;
55 _clkCorr = new BNC_PPP::t_clkCorr(*clkCorr);
56}
57
58//
59////////////////////////////////////////////////////////////////////////////
60t_irc t_eph::getCrd(const bncTime& tt, ColumnVector& xc,
61 ColumnVector& vv, bool useCorr) const {
62 xc.ReSize(4);
63 vv.ReSize(3);
64 position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data());
65 if (useCorr) {
66 if (_orbCorr && _clkCorr) {
67 ColumnVector xr = _orbCorr->getX(tt);
68 ColumnVector dx(3);
69 if (_orbCorr->_system == 'R') {
70 RSW_to_XYZ(xc.Rows(1,3), vv.Rows(1,3), xr, dx);
71 }
72 else {
73 dx = xr;
74 }
75 xc[0] -= dx[0];
76 xc[1] -= dx[1];
77 xc[2] -= dx[2];
78 xc[3] += _clkCorr->getClk(tt);
79 }
80 else {
81 return failure;
82 }
83 }
84 return success;
85}
86
87// Set GPS Satellite Position
88////////////////////////////////////////////////////////////////////////////
89void t_ephGPS::set(const gpsephemeris* ee) {
90
91 _receptDateTime = currentDateAndTimeGPS();
92
93 _prn.set('G', ee->satellite);
94
95 _TOC.set(ee->GPSweek, ee->TOC);
96 _clock_bias = ee->clock_bias;
97 _clock_drift = ee->clock_drift;
98 _clock_driftrate = ee->clock_driftrate;
99
100 _IODE = ee->IODE;
101 _Crs = ee->Crs;
102 _Delta_n = ee->Delta_n;
103 _M0 = ee->M0;
104
105 _Cuc = ee->Cuc;
106 _e = ee->e;
107 _Cus = ee->Cus;
108 _sqrt_A = ee->sqrt_A;
109
110 _TOEsec = ee->TOE;
111 _Cic = ee->Cic;
112 _OMEGA0 = ee->OMEGA0;
113 _Cis = ee->Cis;
114
115 _i0 = ee->i0;
116 _Crc = ee->Crc;
117 _omega = ee->omega;
118 _OMEGADOT = ee->OMEGADOT;
119
120 _IDOT = ee->IDOT;
121 _L2Codes = 0.0;
122 _TOEweek = ee->GPSweek;
123 _L2PFlag = 0.0;
124
125 if (ee->URAindex <= 6) {
126 _ura = ceil(10.0*pow(2.0, 1.0+((double)ee->URAindex)/2.0))/10.0;
127 }
128 else {
129 _ura = ceil(10.0*pow(2.0, ((double)ee->URAindex)/2.0))/10.0;
130 }
131 _health = ee->SVhealth;
132 _TGD = ee->TGD;
133 _IODC = ee->IODC;
134
135 _TOT = 0.9999e9;
136 _fitInterval = 0.0;
137
138 _ok = true;
139}
140
141// Compute GPS Satellite Position (virtual)
142////////////////////////////////////////////////////////////////////////////
143void t_ephGPS::position(int GPSweek, double GPSweeks,
144 double* xc,
145 double* vv) const {
146
147
148 static const double omegaEarth = 7292115.1467e-11;
149 static const double gmGRS = 398.6005e12;
150
151 memset(xc, 0, 4*sizeof(double));
152 memset(vv, 0, 3*sizeof(double));
153
154 double a0 = _sqrt_A * _sqrt_A;
155 if (a0 == 0) {
156 return;
157 }
158
159 double n0 = sqrt(gmGRS/(a0*a0*a0));
160
161 bncTime tt(GPSweek, GPSweeks);
162 double tk = tt - bncTime(int(_TOEweek), _TOEsec);
163
164 double n = n0 + _Delta_n;
165 double M = _M0 + n*tk;
166 double E = M;
167 double E_last;
168 do {
169 E_last = E;
170 E = M + _e*sin(E);
171 } while ( fabs(E-E_last)*a0 > 0.001 );
172 double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
173 double u0 = v + _omega;
174 double sin2u0 = sin(2*u0);
175 double cos2u0 = cos(2*u0);
176 double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
177 double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
178 double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
179 double xp = r*cos(u);
180 double yp = r*sin(u);
181 double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
182 omegaEarth*_TOEsec;
183
184 double sinom = sin(OM);
185 double cosom = cos(OM);
186 double sini = sin(i);
187 double cosi = cos(i);
188 xc[0] = xp*cosom - yp*cosi*sinom;
189 xc[1] = xp*sinom + yp*cosi*cosom;
190 xc[2] = yp*sini;
191
192 double tc = tt - _TOC;
193 xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
194
195 // Velocity
196 // --------
197 double tanv2 = tan(v/2);
198 double dEdM = 1 / (1 - _e*cos(E));
199 double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
200 * dEdM * n;
201 double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
202 double dotom = _OMEGADOT - omegaEarth;
203 double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
204 double dotr = a0 * _e*sin(E) * dEdM * n
205 + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
206 double dotx = dotr*cos(u) - r*sin(u)*dotu;
207 double doty = dotr*sin(u) + r*cos(u)*dotu;
208
209 vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
210 - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
211 + yp*sini*sinom*doti; // dX / di
212
213 vv[1] = sinom *dotx + cosi*cosom *doty
214 + xp*cosom*dotom - yp*cosi*sinom*dotom
215 - yp*sini*cosom*doti;
216
217 vv[2] = sini *doty + yp*cosi *doti;
218
219 // Relativistic Correction
220 // -----------------------
221 xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
222}
223
224// build up RTCM3 for GPS
225////////////////////////////////////////////////////////////////////////////
226#define GPSTOINT(type, value) static_cast<type>(round(value))
227
228#define GPSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
229 |(GPSTOINT(long long,b)&((1ULL<<a)-1)); \
230 numbits += (a); \
231 while(numbits >= 8) { \
232 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
233
234#define GPSADDBITSFLOAT(a,b,c) {long long i = GPSTOINT(long long,(b)/(c)); \
235 GPSADDBITS(a,i)};
236
237int t_ephGPS::RTCM3(unsigned char *buffer) {
238
239 unsigned char *startbuffer = buffer;
240 buffer= buffer+3;
241 int size = 0;
242 int numbits = 0;
243 unsigned long long bitbuffer = 0;
244 if (_ura <= 2.40){
245 _ura = 0;
246 }
247 else if (_ura <= 3.40){
248 _ura = 1;
249 }
250 else if (_ura <= 6.85){
251 _ura = 2;
252 }
253 else if (_ura <= 9.65){
254 _ura = 3;
255 }
256 else if (_ura <= 13.65){
257 _ura = 4;
258 }
259 else if (_ura <= 24.00){
260 _ura = 5;
261 }
262 else if (_ura <= 48.00){
263 _ura = 6;
264 }
265 else if (_ura <= 96.00){
266 _ura = 7;
267 }
268 else if (_ura <= 192.00){
269 _ura = 8;
270 }
271 else if (_ura <= 384.00){
272 _ura = 9;
273 }
274 else if (_ura <= 768.00){
275 _ura = 10;
276 }
277 else if (_ura <= 1536.00){
278 _ura = 11;
279 }
280 else if (_ura <= 1536.00){
281 _ura = 12;
282 }
283 else if (_ura <= 2072.00){
284 _ura = 13;
285 }
286 else if (_ura <= 6144.00){
287 _ura = 14;
288 }
289 else{
290 _ura = 15;
291 }
292
293 GPSADDBITS(12, 1019)
294 GPSADDBITS(6,_prn.number())
295 GPSADDBITS(10, _TOC.gpsw())
296 GPSADDBITS(4, _ura)
297 GPSADDBITS(2,_L2Codes)
298 GPSADDBITSFLOAT(14, _IDOT, M_PI/static_cast<double>(1<<30)
299 /static_cast<double>(1<<13))
300 GPSADDBITS(8, _IODE)
301 GPSADDBITS(16, static_cast<int>(_TOC.gpssec())>>4)
302 GPSADDBITSFLOAT(8, _clock_driftrate, 1.0/static_cast<double>(1<<30)
303 /static_cast<double>(1<<25))
304 GPSADDBITSFLOAT(16, _clock_drift, 1.0/static_cast<double>(1<<30)
305 /static_cast<double>(1<<13))
306 GPSADDBITSFLOAT(22, _clock_bias, 1.0/static_cast<double>(1<<30)
307 /static_cast<double>(1<<1))
308 GPSADDBITS(10, _IODC)
309 GPSADDBITSFLOAT(16, _Crs, 1.0/static_cast<double>(1<<5))
310 GPSADDBITSFLOAT(16, _Delta_n, M_PI/static_cast<double>(1<<30)
311 /static_cast<double>(1<<13))
312 GPSADDBITSFLOAT(32, _M0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
313 GPSADDBITSFLOAT(16, _Cuc, 1.0/static_cast<double>(1<<29))
314 GPSADDBITSFLOAT(32, _e, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
315 GPSADDBITSFLOAT(16, _Cus, 1.0/static_cast<double>(1<<29))
316 GPSADDBITSFLOAT(32, _sqrt_A, 1.0/static_cast<double>(1<<19))
317 GPSADDBITS(16, static_cast<int>(_TOEsec)>>4)
318 GPSADDBITSFLOAT(16, _Cic, 1.0/static_cast<double>(1<<29))
319 GPSADDBITSFLOAT(32, _OMEGA0, M_PI/static_cast<double>(1<<30)
320 /static_cast<double>(1<<1))
321 GPSADDBITSFLOAT(16, _Cis, 1.0/static_cast<double>(1<<29))
322 GPSADDBITSFLOAT(32, _i0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
323 GPSADDBITSFLOAT(16, _Crc, 1.0/static_cast<double>(1<<5))
324 GPSADDBITSFLOAT(32, _omega, M_PI/static_cast<double>(1<<30)
325 /static_cast<double>(1<<1))
326 GPSADDBITSFLOAT(24, _OMEGADOT, M_PI/static_cast<double>(1<<30)
327 /static_cast<double>(1<<13))
328 GPSADDBITSFLOAT(8, _TGD, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
329 GPSADDBITS(6, _health)
330 GPSADDBITS(1, _L2PFlag)
331 GPSADDBITS(1, 0) /* GPS fit interval */
332
333 startbuffer[0]=0xD3;
334 startbuffer[1]=(size >> 8);
335 startbuffer[2]=size;
336 unsigned long i = CRC24(size+3, startbuffer);
337 buffer[size++] = i >> 16;
338 buffer[size++] = i >> 8;
339 buffer[size++] = i;
340 size += 3;
341 return size;
342}
343
344// Derivative of the state vector using a simple force model (static)
345////////////////////////////////////////////////////////////////////////////
346ColumnVector t_ephGlo::glo_deriv(double /* tt */, const ColumnVector& xv,
347 double* acc) {
348
349 // State vector components
350 // -----------------------
351 ColumnVector rr = xv.rows(1,3);
352 ColumnVector vv = xv.rows(4,6);
353
354 // Acceleration
355 // ------------
356 static const double gmWGS = 398.60044e12;
357 static const double AE = 6378136.0;
358 static const double OMEGA = 7292115.e-11;
359 static const double C20 = -1082.6257e-6;
360
361 double rho = rr.norm_Frobenius();
362 double t1 = -gmWGS/(rho*rho*rho);
363 double t2 = 3.0/2.0 * C20 * (gmWGS*AE*AE) / (rho*rho*rho*rho*rho);
364 double t3 = OMEGA * OMEGA;
365 double t4 = 2.0 * OMEGA;
366 double z2 = rr(3) * rr(3);
367
368 // Vector of derivatives
369 // ---------------------
370 ColumnVector va(6);
371 va(1) = vv(1);
372 va(2) = vv(2);
373 va(3) = vv(3);
374 va(4) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(1) + t4*vv(2) + acc[0];
375 va(5) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(2) - t4*vv(1) + acc[1];
376 va(6) = (t1 + t2*(3.0-5.0*z2/(rho*rho)) ) * rr(3) + acc[2];
377
378 return va;
379}
380
381// Compute Glonass Satellite Position (virtual)
382////////////////////////////////////////////////////////////////////////////
383void t_ephGlo::position(int GPSweek, double GPSweeks,
384 double* xc, double* vv) const {
385
386 static const double nominalStep = 10.0;
387
388 memset(xc, 0, 4*sizeof(double));
389 memset(vv, 0, 3*sizeof(double));
390
391 double dtPos = bncTime(GPSweek, GPSweeks) - _tt;
392
393 int nSteps = int(fabs(dtPos) / nominalStep) + 1;
394 double step = dtPos / nSteps;
395
396 double acc[3];
397 acc[0] = _x_acceleration * 1.e3;
398 acc[1] = _y_acceleration * 1.e3;
399 acc[2] = _z_acceleration * 1.e3;
400 for (int ii = 1; ii <= nSteps; ii++) {
401 _xv = rungeKutta4(_tt.gpssec(), _xv, step, acc, glo_deriv);
402 _tt = _tt + step;
403 }
404
405 // Position and Velocity
406 // ---------------------
407 xc[0] = _xv(1);
408 xc[1] = _xv(2);
409 xc[2] = _xv(3);
410
411 vv[0] = _xv(4);
412 vv[1] = _xv(5);
413 vv[2] = _xv(6);
414
415 // Clock Correction
416 // ----------------
417 double dtClk = bncTime(GPSweek, GPSweeks) - _TOC;
418 xc[3] = -_tau + _gamma * dtClk;
419}
420
421// IOD of Glonass Ephemeris (virtual)
422////////////////////////////////////////////////////////////////////////////
423int t_ephGlo::IOD() const {
424 bncTime tMoscow = _TOC - _gps_utc + 3 * 3600.0;
425 return int(tMoscow.daysec() / 900);
426}
427
428// Set Glonass Ephemeris
429////////////////////////////////////////////////////////////////////////////
430void t_ephGlo::set(const glonassephemeris* ee) {
431
432 _receptDateTime = currentDateAndTimeGPS();
433
434 _prn.set('R', ee->almanac_number);
435
436 int ww = ee->GPSWeek;
437 int tow = ee->GPSTOW;
438 updatetime(&ww, &tow, ee->tb*1000, 0); // Moscow -> GPS
439
440 // Check the day once more
441 // -----------------------
442 bool timeChanged = false;
443 {
444 const double secPerDay = 24 * 3600.0;
445 const double secPerWeek = 7 * secPerDay;
446 int ww_old = ww;
447 int tow_old = tow;
448 int currentWeek;
449 double currentSec;
450 currentGPSWeeks(currentWeek, currentSec);
451 bncTime currentTime(currentWeek, currentSec);
452 bncTime hTime(ww, (double) tow);
453
454 if (hTime - currentTime > secPerDay/2.0) {
455 timeChanged = true;
456 tow -= int(secPerDay);
457 if (tow < 0) {
458 tow += int(secPerWeek);
459 ww -= 1;
460 }
461 }
462 else if (hTime - currentTime < -secPerDay/2.0) {
463 timeChanged = true;
464 tow += int(secPerDay);
465 if (tow > secPerWeek) {
466 tow -= int(secPerWeek);
467 ww += 1;
468 }
469 }
470
471 if (false && timeChanged && BNC_CORE->mode() == t_bncCore::batchPostProcessing) {
472 bncTime newHTime(ww, (double) tow);
473 cout << "GLONASS " << ee->almanac_number << " Time Changed at "
474 << currentTime.datestr() << " " << currentTime.timestr()
475 << endl
476 << "old: " << hTime.datestr() << " " << hTime.timestr()
477 << endl
478 << "new: " << newHTime.datestr() << " " << newHTime.timestr()
479 << endl
480 << "eph: " << ee->GPSWeek << " " << ee->GPSTOW << " " << ee->tb
481 << endl
482 << "ww, tow (old): " << ww_old << " " << tow_old
483 << endl
484 << "ww, tow (new): " << ww << " " << tow
485 << endl << endl;
486 }
487 }
488
489 bncTime hlpTime(ww, (double) tow);
490 unsigned year, month, day;
491 hlpTime.civil_date(year, month, day);
492 _gps_utc = gnumleap(year, month, day);
493
494 _TOC.set(ww, tow);
495 _E = ee->E;
496 _tau = ee->tau;
497 _gamma = ee->gamma;
498 _x_pos = ee->x_pos;
499 _x_velocity = ee->x_velocity;
500 _x_acceleration = ee->x_acceleration;
501 _y_pos = ee->y_pos;
502 _y_velocity = ee->y_velocity;
503 _y_acceleration = ee->y_acceleration;
504 _z_pos = ee->z_pos;
505 _z_velocity = ee->z_velocity;
506 _z_acceleration = ee->z_acceleration;
507 _health = 0;
508 _frequency_number = ee->frequency_number;
509 _tki = ee->tk-3*60*60; if (_tki < 0) _tki += 86400;
510
511 // Initialize status vector
512 // ------------------------
513 _tt = _TOC;
514
515 _xv(1) = _x_pos * 1.e3;
516 _xv(2) = _y_pos * 1.e3;
517 _xv(3) = _z_pos * 1.e3;
518 _xv(4) = _x_velocity * 1.e3;
519 _xv(5) = _y_velocity * 1.e3;
520 _xv(6) = _z_velocity * 1.e3;
521
522 _ok = true;
523}
524
525// build up RTCM3 for GLONASS
526////////////////////////////////////////////////////////////////////////////
527#define GLONASSTOINT(type, value) static_cast<type>(round(value))
528
529#define GLONASSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
530 |(GLONASSTOINT(long long,b)&((1ULL<<(a))-1)); \
531 numbits += (a); \
532 while(numbits >= 8) { \
533 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
534#define GLONASSADDBITSFLOATM(a,b,c) {int s; long long i; \
535 if(b < 0.0) \
536 { \
537 s = 1; \
538 i = GLONASSTOINT(long long,(-b)/(c)); \
539 if(!i) s = 0; \
540 } \
541 else \
542 { \
543 s = 0; \
544 i = GLONASSTOINT(long long,(b)/(c)); \
545 } \
546 GLONASSADDBITS(1,s) \
547 GLONASSADDBITS(a-1,i)}
548
549int t_ephGlo::RTCM3(unsigned char *buffer)
550{
551
552 int size = 0;
553 int numbits = 0;
554 long long bitbuffer = 0;
555 unsigned char *startbuffer = buffer;
556 buffer= buffer+3;
557
558 GLONASSADDBITS(12, 1020)
559 GLONASSADDBITS(6, _prn.number())
560 GLONASSADDBITS(5, 7+_frequency_number)
561 GLONASSADDBITS(1, 0)
562 GLONASSADDBITS(1, 0)
563 GLONASSADDBITS(2, 0)
564 _tki=_tki+3*60*60;
565 GLONASSADDBITS(5, static_cast<int>(_tki)/(60*60))
566 GLONASSADDBITS(6, (static_cast<int>(_tki)/60)%60)
567 GLONASSADDBITS(1, (static_cast<int>(_tki)/30)%30)
568 GLONASSADDBITS(1, _health)
569 GLONASSADDBITS(1, 0)
570 unsigned long long timeofday = (static_cast<int>(_tt.gpssec()+3*60*60-_gps_utc)%86400);
571 GLONASSADDBITS(7, timeofday/60/15)
572 GLONASSADDBITSFLOATM(24, _x_velocity*1000, 1000.0/static_cast<double>(1<<20))
573 GLONASSADDBITSFLOATM(27, _x_pos*1000, 1000.0/static_cast<double>(1<<11))
574 GLONASSADDBITSFLOATM(5, _x_acceleration*1000, 1000.0/static_cast<double>(1<<30))
575 GLONASSADDBITSFLOATM(24, _y_velocity*1000, 1000.0/static_cast<double>(1<<20))
576 GLONASSADDBITSFLOATM(27, _y_pos*1000, 1000.0/static_cast<double>(1<<11))
577 GLONASSADDBITSFLOATM(5, _y_acceleration*1000, 1000.0/static_cast<double>(1<<30))
578 GLONASSADDBITSFLOATM(24, _z_velocity*1000, 1000.0/static_cast<double>(1<<20))
579 GLONASSADDBITSFLOATM(27,_z_pos*1000, 1000.0/static_cast<double>(1<<11))
580 GLONASSADDBITSFLOATM(5, _z_acceleration*1000, 1000.0/static_cast<double>(1<<30))
581 GLONASSADDBITS(1, 0)
582 GLONASSADDBITSFLOATM(11, _gamma, 1.0/static_cast<double>(1<<30)
583 /static_cast<double>(1<<10))
584 GLONASSADDBITS(2, 0) /* GLONASS-M P */
585 GLONASSADDBITS(1, 0) /* GLONASS-M ln(3) */
586 GLONASSADDBITSFLOATM(22, _tau, 1.0/static_cast<double>(1<<30))
587 GLONASSADDBITS(5, 0) /* GLONASS-M delta tau */
588 GLONASSADDBITS(5, _E)
589 GLONASSADDBITS(1, 0) /* GLONASS-M P4 */
590 GLONASSADDBITS(4, 0) /* GLONASS-M FT */
591 GLONASSADDBITS(11, 0) /* GLONASS-M NT */
592 GLONASSADDBITS(2, 0) /* GLONASS-M active? */
593 GLONASSADDBITS(1, 0) /* GLONASS additional data */
594 GLONASSADDBITS(11, 0) /* GLONASS NA */
595 GLONASSADDBITS(32, 0) /* GLONASS tau C */
596 GLONASSADDBITS(5, 0) /* GLONASS-M N4 */
597 GLONASSADDBITS(22, 0) /* GLONASS-M tau GPS */
598 GLONASSADDBITS(1, 0) /* GLONASS-M ln(5) */
599 GLONASSADDBITS(7, 0) /* Reserved */
600
601 startbuffer[0]=0xD3;
602 startbuffer[1]=(size >> 8);
603 startbuffer[2]=size;
604 unsigned long i = CRC24(size+3, startbuffer);
605 buffer[size++] = i >> 16;
606 buffer[size++] = i >> 8;
607 buffer[size++] = i;
608 size += 3;
609 return size;
610}
611
612// Set Galileo Satellite Position
613////////////////////////////////////////////////////////////////////////////
614void t_ephGal::set(const galileoephemeris* ee) {
615
616 _receptDateTime = currentDateAndTimeGPS();
617
618 _prn.set('E', ee->satellite);
619
620 _TOC.set(ee->Week, ee->TOC);
621 _clock_bias = ee->clock_bias;
622 _clock_drift = ee->clock_drift;
623 _clock_driftrate = ee->clock_driftrate;
624
625 _IODnav = ee->IODnav;
626 _Crs = ee->Crs;
627 _Delta_n = ee->Delta_n;
628 _M0 = ee->M0;
629
630 _Cuc = ee->Cuc;
631 _e = ee->e;
632 _Cus = ee->Cus;
633 _sqrt_A = ee->sqrt_A;
634
635 _TOEsec = _TOC.gpssec();
636 //// _TOEsec = ee->TOE; //// TODO:
637 _Cic = ee->Cic;
638 _OMEGA0 = ee->OMEGA0;
639 _Cis = ee->Cis;
640
641 _i0 = ee->i0;
642 _Crc = ee->Crc;
643 _omega = ee->omega;
644 _OMEGADOT = ee->OMEGADOT;
645
646 _IDOT = ee->IDOT;
647 _TOEweek = ee->Week;
648
649 _SISA = ee->SISA;
650 _E5aHS = ee->E5aHS;
651 _E5bHS = ee->E5bHS;
652 _BGD_1_5A = ee->BGD_1_5A;
653 _BGD_1_5B = ee->BGD_1_5B;
654
655 _TOT = 0.9999e9;
656
657 _flags = ee->flags;
658
659 _ok = true;
660}
661
662// Compute Galileo Satellite Position (virtual)
663////////////////////////////////////////////////////////////////////////////
664void t_ephGal::position(int GPSweek, double GPSweeks,
665 double* xc,
666 double* vv) const {
667
668 static const double omegaEarth = 7292115.1467e-11;
669 static const double gmWGS = 398.60044e12;
670
671 memset(xc, 0, 4*sizeof(double));
672 memset(vv, 0, 3*sizeof(double));
673
674 double a0 = _sqrt_A * _sqrt_A;
675 if (a0 == 0) {
676 return;
677 }
678
679 double n0 = sqrt(gmWGS/(a0*a0*a0));
680
681 bncTime tt(GPSweek, GPSweeks);
682 double tk = tt - bncTime(_TOC.gpsw(), _TOEsec);
683
684 double n = n0 + _Delta_n;
685 double M = _M0 + n*tk;
686 double E = M;
687 double E_last;
688 do {
689 E_last = E;
690 E = M + _e*sin(E);
691 } while ( fabs(E-E_last)*a0 > 0.001 );
692 double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
693 double u0 = v + _omega;
694 double sin2u0 = sin(2*u0);
695 double cos2u0 = cos(2*u0);
696 double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
697 double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
698 double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
699 double xp = r*cos(u);
700 double yp = r*sin(u);
701 double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
702 omegaEarth*_TOEsec;
703
704 double sinom = sin(OM);
705 double cosom = cos(OM);
706 double sini = sin(i);
707 double cosi = cos(i);
708 xc[0] = xp*cosom - yp*cosi*sinom;
709 xc[1] = xp*sinom + yp*cosi*cosom;
710 xc[2] = yp*sini;
711
712 double tc = tt - _TOC;
713 xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
714
715 // Velocity
716 // --------
717 double tanv2 = tan(v/2);
718 double dEdM = 1 / (1 - _e*cos(E));
719 double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
720 * dEdM * n;
721 double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
722 double dotom = _OMEGADOT - omegaEarth;
723 double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
724 double dotr = a0 * _e*sin(E) * dEdM * n
725 + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
726 double dotx = dotr*cos(u) - r*sin(u)*dotu;
727 double doty = dotr*sin(u) + r*cos(u)*dotu;
728
729 vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
730 - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
731 + yp*sini*sinom*doti; // dX / di
732
733 vv[1] = sinom *dotx + cosi*cosom *doty
734 + xp*cosom*dotom - yp*cosi*sinom*dotom
735 - yp*sini*cosom*doti;
736
737 vv[2] = sini *doty + yp*cosi *doti;
738
739 // Relativistic Correction
740 // -----------------------
741 // xc(4) -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
742 xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
743}
744
745// build up RTCM3 for Galileo
746////////////////////////////////////////////////////////////////////////////
747#define GALILEOTOINT(type, value) static_cast<type>(round(value))
748
749#define GALILEOADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
750 |(GALILEOTOINT(long long,b)&((1LL<<a)-1)); \
751 numbits += (a); \
752 while(numbits >= 8) { \
753 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
754#define GALILEOADDBITSFLOAT(a,b,c) {long long i = GALILEOTOINT(long long,(b)/(c)); \
755 GALILEOADDBITS(a,i)};
756
757int t_ephGal::RTCM3(unsigned char *buffer) {
758 int size = 0;
759 int numbits = 0;
760 long long bitbuffer = 0;
761 unsigned char *startbuffer = buffer;
762 buffer= buffer+3;
763
764 bool inav = ( (_flags & GALEPHF_INAV) == GALEPHF_INAV );
765
766 GALILEOADDBITS(12, inav ? 1046 : 1045)
767 GALILEOADDBITS(6, _prn.number())
768 GALILEOADDBITS(12, _TOC.gpsw())
769 GALILEOADDBITS(10, _IODnav)
770 GALILEOADDBITS(8, _SISA)
771 GALILEOADDBITSFLOAT(14, _IDOT, M_PI/static_cast<double>(1<<30)
772 /static_cast<double>(1<<13))
773 GALILEOADDBITS(14, _TOC.gpssec()/60)
774 GALILEOADDBITSFLOAT(6, _clock_driftrate, 1.0/static_cast<double>(1<<30)
775 /static_cast<double>(1<<29))
776 GALILEOADDBITSFLOAT(21, _clock_drift, 1.0/static_cast<double>(1<<30)
777 /static_cast<double>(1<<16))
778 GALILEOADDBITSFLOAT(31, _clock_bias, 1.0/static_cast<double>(1<<30)
779 /static_cast<double>(1<<4))
780 GALILEOADDBITSFLOAT(16, _Crs, 1.0/static_cast<double>(1<<5))
781 GALILEOADDBITSFLOAT(16, _Delta_n, M_PI/static_cast<double>(1<<30)
782 /static_cast<double>(1<<13))
783 GALILEOADDBITSFLOAT(32, _M0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
784 GALILEOADDBITSFLOAT(16, _Cuc, 1.0/static_cast<double>(1<<29))
785 GALILEOADDBITSFLOAT(32, _e, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
786 GALILEOADDBITSFLOAT(16, _Cus, 1.0/static_cast<double>(1<<29))
787 GALILEOADDBITSFLOAT(32, _sqrt_A, 1.0/static_cast<double>(1<<19))
788 GALILEOADDBITS(14, _TOEsec/60)
789 GALILEOADDBITSFLOAT(16, _Cic, 1.0/static_cast<double>(1<<29))
790 GALILEOADDBITSFLOAT(32, _OMEGA0, M_PI/static_cast<double>(1<<30)
791 /static_cast<double>(1<<1))
792 GALILEOADDBITSFLOAT(16, _Cis, 1.0/static_cast<double>(1<<29))
793 GALILEOADDBITSFLOAT(32, _i0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
794 GALILEOADDBITSFLOAT(16, _Crc, 1.0/static_cast<double>(1<<5))
795 GALILEOADDBITSFLOAT(32, _omega, M_PI/static_cast<double>(1<<30)
796 /static_cast<double>(1<<1))
797 GALILEOADDBITSFLOAT(24, _OMEGADOT, M_PI/static_cast<double>(1<<30)
798 /static_cast<double>(1<<13))
799 GALILEOADDBITSFLOAT(10, _BGD_1_5A, 1.0/static_cast<double>(1<<30)
800 /static_cast<double>(1<<2))
801 if(inav)
802 {
803 GALILEOADDBITSFLOAT(10, _BGD_1_5B, 1.0/static_cast<double>(1<<30)
804 /static_cast<double>(1<<2))
805 GALILEOADDBITS(2, static_cast<int>(_E5bHS))
806 GALILEOADDBITS(1, _flags & GALEPHF_E5BDINVALID)
807 }
808 else
809 {
810 GALILEOADDBITS(2, static_cast<int>(_E5aHS))
811 GALILEOADDBITS(1, _flags & GALEPHF_E5ADINVALID)
812 }
813 _TOEsec = 0.9999E9;
814 GALILEOADDBITS(20, _TOEsec)
815
816 GALILEOADDBITS(inav ? 1 : 3, 0)
817
818 startbuffer[0]=0xD3;
819 startbuffer[1]=(size >> 8);
820 startbuffer[2]=size;
821 unsigned long i = CRC24(size+3, startbuffer);
822 buffer[size++] = i >> 16;
823 buffer[size++] = i >> 8;
824 buffer[size++] = i;
825 size += 3;
826 return size;
827}
828
829// Constructor
830//////////////////////////////////////////////////////////////////////////////
831t_ephGPS::t_ephGPS(float rnxVersion, const QStringList& lines) {
832
833 const int nLines = 8;
834
835 _ok = false;
836
837 if (lines.size() != nLines) {
838 return;
839 }
840
841 // RINEX Format
842 // ------------
843 int fieldLen = 19;
844
845 int pos[4];
846 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
847 pos[1] = pos[0] + fieldLen;
848 pos[2] = pos[1] + fieldLen;
849 pos[3] = pos[2] + fieldLen;
850
851 // Read eight lines
852 // ----------------
853 for (int iLine = 0; iLine < nLines; iLine++) {
854 QString line = lines[iLine];
855
856 if ( iLine == 0 ) {
857 QTextStream in(line.left(pos[1]).toAscii());
858
859 int year, month, day, hour, min;
860 double sec;
861
862 QString prnStr;
863 in >> prnStr >> year >> month >> day >> hour >> min >> sec;
864 if (prnStr.at(0) == 'G') {
865 _prn.set('G', prnStr.mid(1).toInt());
866 }
867 else {
868 _prn.set('G', prnStr.toInt());
869 }
870
871 if (year < 80) {
872 year += 2000;
873 }
874 else if (year < 100) {
875 year += 1900;
876 }
877
878 _TOC.set(year, month, day, hour, min, sec);
879
880 if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
881 readDbl(line, pos[2], fieldLen, _clock_drift ) ||
882 readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
883 return;
884 }
885 }
886
887 else if ( iLine == 1 ) {
888 if ( readDbl(line, pos[0], fieldLen, _IODE ) ||
889 readDbl(line, pos[1], fieldLen, _Crs ) ||
890 readDbl(line, pos[2], fieldLen, _Delta_n) ||
891 readDbl(line, pos[3], fieldLen, _M0 ) ) {
892 return;
893 }
894 }
895
896 else if ( iLine == 2 ) {
897 if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
898 readDbl(line, pos[1], fieldLen, _e ) ||
899 readDbl(line, pos[2], fieldLen, _Cus ) ||
900 readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
901 return;
902 }
903 }
904
905 else if ( iLine == 3 ) {
906 if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
907 readDbl(line, pos[1], fieldLen, _Cic ) ||
908 readDbl(line, pos[2], fieldLen, _OMEGA0) ||
909 readDbl(line, pos[3], fieldLen, _Cis ) ) {
910 return;
911 }
912 }
913
914 else if ( iLine == 4 ) {
915 if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
916 readDbl(line, pos[1], fieldLen, _Crc ) ||
917 readDbl(line, pos[2], fieldLen, _omega ) ||
918 readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
919 return;
920 }
921 }
922
923 else if ( iLine == 5 ) {
924 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
925 readDbl(line, pos[1], fieldLen, _L2Codes) ||
926 readDbl(line, pos[2], fieldLen, _TOEweek ) ||
927 readDbl(line, pos[3], fieldLen, _L2PFlag) ) {
928 return;
929 }
930 }
931
932 else if ( iLine == 6 ) {
933 if ( readDbl(line, pos[0], fieldLen, _ura ) ||
934 readDbl(line, pos[1], fieldLen, _health) ||
935 readDbl(line, pos[2], fieldLen, _TGD ) ||
936 readDbl(line, pos[3], fieldLen, _IODC ) ) {
937 return;
938 }
939 }
940
941 else if ( iLine == 7 ) {
942 if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
943 return;
944 }
945 readDbl(line, pos[1], fieldLen, _fitInterval); // _fitInterval optional
946 }
947 }
948
949 _ok = true;
950}
951
952// Constructor
953//////////////////////////////////////////////////////////////////////////////
954t_ephGlo::t_ephGlo(float rnxVersion, const QStringList& lines) {
955
956 const int nLines = 4;
957
958 _ok = false;
959
960 if (lines.size() != nLines) {
961 return;
962 }
963
964 // RINEX Format
965 // ------------
966 int fieldLen = 19;
967
968 int pos[4];
969 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
970 pos[1] = pos[0] + fieldLen;
971 pos[2] = pos[1] + fieldLen;
972 pos[3] = pos[2] + fieldLen;
973
974 // Read four lines
975 // ---------------
976 for (int iLine = 0; iLine < nLines; iLine++) {
977 QString line = lines[iLine];
978
979 if ( iLine == 0 ) {
980 QTextStream in(line.left(pos[1]).toAscii());
981
982 int year, month, day, hour, min;
983 double sec;
984
985 QString prnStr;
986 in >> prnStr >> year >> month >> day >> hour >> min >> sec;
987 if (prnStr.at(0) == 'R') {
988 _prn.set('R', prnStr.mid(1).toInt());
989 }
990 else {
991 _prn.set('R', prnStr.toInt());
992 }
993
994 if (year < 80) {
995 year += 2000;
996 }
997 else if (year < 100) {
998 year += 1900;
999 }
1000
1001 _gps_utc = gnumleap(year, month, day);
1002
1003 _TOC.set(year, month, day, hour, min, sec);
1004 _TOC = _TOC + _gps_utc;
1005
1006 if ( readDbl(line, pos[1], fieldLen, _tau ) ||
1007 readDbl(line, pos[2], fieldLen, _gamma) ||
1008 readDbl(line, pos[3], fieldLen, _tki ) ) {
1009 return;
1010 }
1011
1012 _tau = -_tau;
1013 }
1014
1015 else if ( iLine == 1 ) {
1016 if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
1017 readDbl(line, pos[1], fieldLen, _x_velocity ) ||
1018 readDbl(line, pos[2], fieldLen, _x_acceleration) ||
1019 readDbl(line, pos[3], fieldLen, _health ) ) {
1020 return;
1021 }
1022 }
1023
1024 else if ( iLine == 2 ) {
1025 if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
1026 readDbl(line, pos[1], fieldLen, _y_velocity ) ||
1027 readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
1028 readDbl(line, pos[3], fieldLen, _frequency_number) ) {
1029 return;
1030 }
1031 }
1032
1033 else if ( iLine == 3 ) {
1034 if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
1035 readDbl(line, pos[1], fieldLen, _z_velocity ) ||
1036 readDbl(line, pos[2], fieldLen, _z_acceleration) ||
1037 readDbl(line, pos[3], fieldLen, _E ) ) {
1038 return;
1039 }
1040 }
1041 }
1042
1043 // Initialize status vector
1044 // ------------------------
1045 _tt = _TOC;
1046 _xv.ReSize(6);
1047 _xv(1) = _x_pos * 1.e3;
1048 _xv(2) = _y_pos * 1.e3;
1049 _xv(3) = _z_pos * 1.e3;
1050 _xv(4) = _x_velocity * 1.e3;
1051 _xv(5) = _y_velocity * 1.e3;
1052 _xv(6) = _z_velocity * 1.e3;
1053
1054 _ok = true;
1055}
1056
1057// Constructor
1058//////////////////////////////////////////////////////////////////////////////
1059t_ephGal::t_ephGal(float rnxVersion, const QStringList& lines) {
1060
1061 const int nLines = 8;
1062
1063 _ok = false;
1064
1065 if (lines.size() != nLines) {
1066 return;
1067 }
1068
1069 // RINEX Format
1070 // ------------
1071 int fieldLen = 19;
1072
1073 int pos[4];
1074 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
1075 pos[1] = pos[0] + fieldLen;
1076 pos[2] = pos[1] + fieldLen;
1077 pos[3] = pos[2] + fieldLen;
1078
1079 // Read eight lines
1080 // ----------------
1081 for (int iLine = 0; iLine < nLines; iLine++) {
1082 QString line = lines[iLine];
1083
1084 if ( iLine == 0 ) {
1085 QTextStream in(line.left(pos[1]).toAscii());
1086
1087 int year, month, day, hour, min;
1088 double sec;
1089
1090 QString prnStr;
1091 in >> prnStr >> year >> month >> day >> hour >> min >> sec;
1092 if (prnStr.at(0) == 'E') {
1093 _prn.set('E', prnStr.mid(1).toInt());
1094 }
1095 else {
1096 _prn.set('E', prnStr.toInt());
1097 }
1098
1099 if (year < 80) {
1100 year += 2000;
1101 }
1102 else if (year < 100) {
1103 year += 1900;
1104 }
1105
1106 _TOC.set(year, month, day, hour, min, sec);
1107
1108 if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
1109 readDbl(line, pos[2], fieldLen, _clock_drift ) ||
1110 readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
1111 return;
1112 }
1113 }
1114
1115 else if ( iLine == 1 ) {
1116 if ( readDbl(line, pos[0], fieldLen, _IODnav ) ||
1117 readDbl(line, pos[1], fieldLen, _Crs ) ||
1118 readDbl(line, pos[2], fieldLen, _Delta_n) ||
1119 readDbl(line, pos[3], fieldLen, _M0 ) ) {
1120 return;
1121 }
1122 }
1123
1124 else if ( iLine == 2 ) {
1125 if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
1126 readDbl(line, pos[1], fieldLen, _e ) ||
1127 readDbl(line, pos[2], fieldLen, _Cus ) ||
1128 readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
1129 return;
1130 }
1131 }
1132
1133 else if ( iLine == 3 ) {
1134 if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
1135 readDbl(line, pos[1], fieldLen, _Cic ) ||
1136 readDbl(line, pos[2], fieldLen, _OMEGA0) ||
1137 readDbl(line, pos[3], fieldLen, _Cis ) ) {
1138 return;
1139 }
1140 }
1141
1142 else if ( iLine == 4 ) {
1143 if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
1144 readDbl(line, pos[1], fieldLen, _Crc ) ||
1145 readDbl(line, pos[2], fieldLen, _omega ) ||
1146 readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
1147 return;
1148 }
1149 }
1150
1151 else if ( iLine == 5 ) {
1152 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
1153 readDbl(line, pos[2], fieldLen, _TOEweek) ) {
1154 return;
1155 }
1156 }
1157
1158 else if ( iLine == 6 ) {
1159 if ( readDbl(line, pos[0], fieldLen, _SISA ) ||
1160 readDbl(line, pos[1], fieldLen, _E5aHS ) ||
1161 readDbl(line, pos[2], fieldLen, _BGD_1_5A) ||
1162 readDbl(line, pos[3], fieldLen, _BGD_1_5B) ) {
1163 return;
1164 }
1165 }
1166
1167 else if ( iLine == 7 ) {
1168 if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
1169 return;
1170 }
1171 }
1172 }
1173
1174 _ok = true;
1175}
1176
1177//
1178//////////////////////////////////////////////////////////////////////////////
1179QString t_eph::rinexDateStr(const bncTime& tt, const t_prn& prn, double version) {
1180 QString prnStr(prn.toString().c_str());
1181 return rinexDateStr(tt, prnStr, version);
1182}
1183
1184//
1185//////////////////////////////////////////////////////////////////////////////
1186QString t_eph::rinexDateStr(const bncTime& tt, const QString& prnStr, double version) {
1187
1188 QString datStr;
1189
1190 unsigned year, month, day, hour, min;
1191 double sec;
1192 tt.civil_date(year, month, day);
1193 tt.civil_time(hour, min, sec);
1194
1195 QTextStream out(&datStr);
1196
1197 if (version < 3.0) {
1198 QString prnHlp = prnStr.mid(1,2); if (prnHlp[0] == '0') prnHlp[0] = ' ';
1199 out << prnHlp << QString(" %1 %2 %3 %4 %5%6")
1200 .arg(year % 100, 2, 10, QChar('0'))
1201 .arg(month, 2)
1202 .arg(day, 2)
1203 .arg(hour, 2)
1204 .arg(min, 2)
1205 .arg(sec, 5, 'f',1);
1206 }
1207 else {
1208 out << prnStr << QString(" %1 %2 %3 %4 %5 %6")
1209 .arg(year, 4)
1210 .arg(month, 2, 10, QChar('0'))
1211 .arg(day, 2, 10, QChar('0'))
1212 .arg(hour, 2, 10, QChar('0'))
1213 .arg(min, 2, 10, QChar('0'))
1214 .arg(int(sec), 2, 10, QChar('0'));
1215 }
1216
1217 return datStr;
1218}
1219
1220// RINEX Format String
1221//////////////////////////////////////////////////////////////////////////////
1222QString t_ephGPS::toString(double version) const {
1223
1224 QString rnxStr = rinexDateStr(_TOC, _prn, version);
1225
1226 QTextStream out(&rnxStr);
1227
1228 out << QString("%1%2%3\n")
1229 .arg(_clock_bias, 19, 'e', 12)
1230 .arg(_clock_drift, 19, 'e', 12)
1231 .arg(_clock_driftrate, 19, 'e', 12);
1232
1233 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1234
1235 out << QString(fmt)
1236 .arg(_IODE, 19, 'e', 12)
1237 .arg(_Crs, 19, 'e', 12)
1238 .arg(_Delta_n, 19, 'e', 12)
1239 .arg(_M0, 19, 'e', 12);
1240
1241 out << QString(fmt)
1242 .arg(_Cuc, 19, 'e', 12)
1243 .arg(_e, 19, 'e', 12)
1244 .arg(_Cus, 19, 'e', 12)
1245 .arg(_sqrt_A, 19, 'e', 12);
1246
1247 out << QString(fmt)
1248 .arg(_TOEsec, 19, 'e', 12)
1249 .arg(_Cic, 19, 'e', 12)
1250 .arg(_OMEGA0, 19, 'e', 12)
1251 .arg(_Cis, 19, 'e', 12);
1252
1253 out << QString(fmt)
1254 .arg(_i0, 19, 'e', 12)
1255 .arg(_Crc, 19, 'e', 12)
1256 .arg(_omega, 19, 'e', 12)
1257 .arg(_OMEGADOT, 19, 'e', 12);
1258
1259 out << QString(fmt)
1260 .arg(_IDOT, 19, 'e', 12)
1261 .arg(_L2Codes, 19, 'e', 12)
1262 .arg(_TOEweek, 19, 'e', 12)
1263 .arg(_L2PFlag, 19, 'e', 12);
1264
1265 out << QString(fmt)
1266 .arg(_ura, 19, 'e', 12)
1267 .arg(_health, 19, 'e', 12)
1268 .arg(_TGD, 19, 'e', 12)
1269 .arg(_IODC, 19, 'e', 12);
1270
1271 out << QString(fmt)
1272 .arg(_TOT, 19, 'e', 12)
1273 .arg(_fitInterval, 19, 'e', 12)
1274 .arg("", 19, QChar(' '))
1275 .arg("", 19, QChar(' '));
1276
1277 return rnxStr;
1278}
1279
1280// RINEX Format String
1281//////////////////////////////////////////////////////////////////////////////
1282QString t_ephGlo::toString(double version) const {
1283
1284 QString rnxStr = rinexDateStr(_TOC-_gps_utc, _prn, version);
1285
1286 QTextStream out(&rnxStr);
1287
1288 out << QString("%1%2%3\n")
1289 .arg(-_tau, 19, 'e', 12)
1290 .arg(_gamma, 19, 'e', 12)
1291 .arg(_tki, 19, 'e', 12);
1292
1293 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1294
1295 out << QString(fmt)
1296 .arg(_x_pos, 19, 'e', 12)
1297 .arg(_x_velocity, 19, 'e', 12)
1298 .arg(_x_acceleration, 19, 'e', 12)
1299 .arg(_health, 19, 'e', 12);
1300
1301 out << QString(fmt)
1302 .arg(_y_pos, 19, 'e', 12)
1303 .arg(_y_velocity, 19, 'e', 12)
1304 .arg(_y_acceleration, 19, 'e', 12)
1305 .arg(_frequency_number, 19, 'e', 12);
1306
1307 out << QString(fmt)
1308 .arg(_z_pos, 19, 'e', 12)
1309 .arg(_z_velocity, 19, 'e', 12)
1310 .arg(_z_acceleration, 19, 'e', 12)
1311 .arg(_E, 19, 'e', 12);
1312
1313 return rnxStr;
1314}
1315
1316// RINEX Format String
1317//////////////////////////////////////////////////////////////////////////////
1318QString t_ephGal::toString(double version) const {
1319
1320 QString rnxStr = rinexDateStr(_TOC, _prn, version);
1321
1322 QTextStream out(&rnxStr);
1323
1324 out << QString("%1%2%3\n")
1325 .arg(_clock_bias, 19, 'e', 12)
1326 .arg(_clock_drift, 19, 'e', 12)
1327 .arg(_clock_driftrate, 19, 'e', 12);
1328
1329 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1330
1331 out << QString(fmt)
1332 .arg(_IODnav, 19, 'e', 12)
1333 .arg(_Crs, 19, 'e', 12)
1334 .arg(_Delta_n, 19, 'e', 12)
1335 .arg(_M0, 19, 'e', 12);
1336
1337 out << QString(fmt)
1338 .arg(_Cuc, 19, 'e', 12)
1339 .arg(_e, 19, 'e', 12)
1340 .arg(_Cus, 19, 'e', 12)
1341 .arg(_sqrt_A, 19, 'e', 12);
1342
1343 out << QString(fmt)
1344 .arg(_TOEsec, 19, 'e', 12)
1345 .arg(_Cic, 19, 'e', 12)
1346 .arg(_OMEGA0, 19, 'e', 12)
1347 .arg(_Cis, 19, 'e', 12);
1348
1349 out << QString(fmt)
1350 .arg(_i0, 19, 'e', 12)
1351 .arg(_Crc, 19, 'e', 12)
1352 .arg(_omega, 19, 'e', 12)
1353 .arg(_OMEGADOT, 19, 'e', 12);
1354
1355 int dataSource = 0;
1356 double HS = 0.0;
1357 if ( (_flags & GALEPHF_INAV) == GALEPHF_INAV ) {
1358 dataSource |= (1<<0);
1359 dataSource |= (1<<9);
1360 HS = _E5bHS;
1361 }
1362 else if ( (_flags & GALEPHF_FNAV) == GALEPHF_FNAV ) {
1363 dataSource |= (1<<1);
1364 dataSource |= (1<<8);
1365 HS = _E5aHS;
1366 }
1367 out << QString(fmt)
1368 .arg(_IDOT, 19, 'e', 12)
1369 .arg(double(dataSource), 19, 'e', 12)
1370 .arg(_TOEweek, 19, 'e', 12)
1371 .arg(0.0, 19, 'e', 12);
1372
1373 out << QString(fmt)
1374 .arg(_SISA, 19, 'e', 12)
1375 .arg(HS, 19, 'e', 12)
1376 .arg(_BGD_1_5A, 19, 'e', 12)
1377 .arg(_BGD_1_5B, 19, 'e', 12);
1378
1379 out << QString(fmt)
1380 .arg(_TOT, 19, 'e', 12)
1381 .arg("", 19, QChar(' '))
1382 .arg("", 19, QChar(' '))
1383 .arg("", 19, QChar(' '));
1384
1385 return rnxStr;
1386}
1387
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