source: ntrip/trunk/BNC/src/ephemeris.cpp@ 5849

Last change on this file since 5849 was 5849, checked in by mervart, 8 years ago
File size: 39.6 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
68 double dtO = tt - _orbCorr->_time;
69 ColumnVector dx(3);
70 dx[0] = _orbCorr->_xr[0] + _orbCorr->_dotXr[0] * dtO;
71 dx[1] = _orbCorr->_xr[1] + _orbCorr->_dotXr[1] * dtO;
72 dx[2] = _orbCorr->_xr[2] + _orbCorr->_dotXr[2] * dtO;
73
74 if (_orbCorr->_system == 'R') {
75 RSW_to_XYZ(xc.Rows(1,3), vv.Rows(1,3), dx, dx);
76 }
77
78 xc[0] -= dx[0];
79 xc[1] -= dx[1];
80 xc[2] -= dx[2];
81
82 double dtC = tt - _clkCorr->_time;
83 xc[3] += _clkCorr->_dClk + _clkCorr->_dotDClk * dtC + _clkCorr->_dotDotDClk * dtC * dtC;
84 }
85 else {
86 return failure;
87 }
88 }
89 return success;
90}
91
92// Set GPS Satellite Position
93////////////////////////////////////////////////////////////////////////////
94void t_ephGPS::set(const gpsephemeris* ee) {
95
96 _receptDateTime = currentDateAndTimeGPS();
97
98 _prn.set('G', ee->satellite);
99
100 _TOC.set(ee->GPSweek, ee->TOC);
101 _clock_bias = ee->clock_bias;
102 _clock_drift = ee->clock_drift;
103 _clock_driftrate = ee->clock_driftrate;
104
105 _IODE = ee->IODE;
106 _Crs = ee->Crs;
107 _Delta_n = ee->Delta_n;
108 _M0 = ee->M0;
109
110 _Cuc = ee->Cuc;
111 _e = ee->e;
112 _Cus = ee->Cus;
113 _sqrt_A = ee->sqrt_A;
114
115 _TOEsec = ee->TOE;
116 _Cic = ee->Cic;
117 _OMEGA0 = ee->OMEGA0;
118 _Cis = ee->Cis;
119
120 _i0 = ee->i0;
121 _Crc = ee->Crc;
122 _omega = ee->omega;
123 _OMEGADOT = ee->OMEGADOT;
124
125 _IDOT = ee->IDOT;
126 _L2Codes = 0.0;
127 _TOEweek = ee->GPSweek;
128 _L2PFlag = 0.0;
129
130 if (ee->URAindex <= 6) {
131 _ura = ceil(10.0*pow(2.0, 1.0+((double)ee->URAindex)/2.0))/10.0;
132 }
133 else {
134 _ura = ceil(10.0*pow(2.0, ((double)ee->URAindex)/2.0))/10.0;
135 }
136 _health = ee->SVhealth;
137 _TGD = ee->TGD;
138 _IODC = ee->IODC;
139
140 _TOT = 0.9999e9;
141 _fitInterval = 0.0;
142
143 _ok = true;
144}
145
146// Compute GPS Satellite Position (virtual)
147////////////////////////////////////////////////////////////////////////////
148void t_ephGPS::position(int GPSweek, double GPSweeks,
149 double* xc,
150 double* vv) const {
151
152
153 static const double omegaEarth = 7292115.1467e-11;
154 static const double gmGRS = 398.6005e12;
155
156 memset(xc, 0, 4*sizeof(double));
157 memset(vv, 0, 3*sizeof(double));
158
159 double a0 = _sqrt_A * _sqrt_A;
160 if (a0 == 0) {
161 return;
162 }
163
164 double n0 = sqrt(gmGRS/(a0*a0*a0));
165
166 bncTime tt(GPSweek, GPSweeks);
167 double tk = tt - bncTime(int(_TOEweek), _TOEsec);
168
169 double n = n0 + _Delta_n;
170 double M = _M0 + n*tk;
171 double E = M;
172 double E_last;
173 do {
174 E_last = E;
175 E = M + _e*sin(E);
176 } while ( fabs(E-E_last)*a0 > 0.001 );
177 double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
178 double u0 = v + _omega;
179 double sin2u0 = sin(2*u0);
180 double cos2u0 = cos(2*u0);
181 double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
182 double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
183 double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
184 double xp = r*cos(u);
185 double yp = r*sin(u);
186 double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
187 omegaEarth*_TOEsec;
188
189 double sinom = sin(OM);
190 double cosom = cos(OM);
191 double sini = sin(i);
192 double cosi = cos(i);
193 xc[0] = xp*cosom - yp*cosi*sinom;
194 xc[1] = xp*sinom + yp*cosi*cosom;
195 xc[2] = yp*sini;
196
197 double tc = tt - _TOC;
198 xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
199
200 // Velocity
201 // --------
202 double tanv2 = tan(v/2);
203 double dEdM = 1 / (1 - _e*cos(E));
204 double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
205 * dEdM * n;
206 double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
207 double dotom = _OMEGADOT - omegaEarth;
208 double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
209 double dotr = a0 * _e*sin(E) * dEdM * n
210 + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
211 double dotx = dotr*cos(u) - r*sin(u)*dotu;
212 double doty = dotr*sin(u) + r*cos(u)*dotu;
213
214 vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
215 - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
216 + yp*sini*sinom*doti; // dX / di
217
218 vv[1] = sinom *dotx + cosi*cosom *doty
219 + xp*cosom*dotom - yp*cosi*sinom*dotom
220 - yp*sini*cosom*doti;
221
222 vv[2] = sini *doty + yp*cosi *doti;
223
224 // Relativistic Correction
225 // -----------------------
226 xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
227}
228
229// build up RTCM3 for GPS
230////////////////////////////////////////////////////////////////////////////
231#define GPSTOINT(type, value) static_cast<type>(round(value))
232
233#define GPSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
234 |(GPSTOINT(long long,b)&((1ULL<<a)-1)); \
235 numbits += (a); \
236 while(numbits >= 8) { \
237 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
238
239#define GPSADDBITSFLOAT(a,b,c) {long long i = GPSTOINT(long long,(b)/(c)); \
240 GPSADDBITS(a,i)};
241
242int t_ephGPS::RTCM3(unsigned char *buffer) {
243
244 unsigned char *startbuffer = buffer;
245 buffer= buffer+3;
246 int size = 0;
247 int numbits = 0;
248 unsigned long long bitbuffer = 0;
249 if (_ura <= 2.40){
250 _ura = 0;
251 }
252 else if (_ura <= 3.40){
253 _ura = 1;
254 }
255 else if (_ura <= 6.85){
256 _ura = 2;
257 }
258 else if (_ura <= 9.65){
259 _ura = 3;
260 }
261 else if (_ura <= 13.65){
262 _ura = 4;
263 }
264 else if (_ura <= 24.00){
265 _ura = 5;
266 }
267 else if (_ura <= 48.00){
268 _ura = 6;
269 }
270 else if (_ura <= 96.00){
271 _ura = 7;
272 }
273 else if (_ura <= 192.00){
274 _ura = 8;
275 }
276 else if (_ura <= 384.00){
277 _ura = 9;
278 }
279 else if (_ura <= 768.00){
280 _ura = 10;
281 }
282 else if (_ura <= 1536.00){
283 _ura = 11;
284 }
285 else if (_ura <= 1536.00){
286 _ura = 12;
287 }
288 else if (_ura <= 2072.00){
289 _ura = 13;
290 }
291 else if (_ura <= 6144.00){
292 _ura = 14;
293 }
294 else{
295 _ura = 15;
296 }
297
298 GPSADDBITS(12, 1019)
299 GPSADDBITS(6,_prn.number())
300 GPSADDBITS(10, _TOC.gpsw())
301 GPSADDBITS(4, _ura)
302 GPSADDBITS(2,_L2Codes)
303 GPSADDBITSFLOAT(14, _IDOT, M_PI/static_cast<double>(1<<30)
304 /static_cast<double>(1<<13))
305 GPSADDBITS(8, _IODE)
306 GPSADDBITS(16, static_cast<int>(_TOC.gpssec())>>4)
307 GPSADDBITSFLOAT(8, _clock_driftrate, 1.0/static_cast<double>(1<<30)
308 /static_cast<double>(1<<25))
309 GPSADDBITSFLOAT(16, _clock_drift, 1.0/static_cast<double>(1<<30)
310 /static_cast<double>(1<<13))
311 GPSADDBITSFLOAT(22, _clock_bias, 1.0/static_cast<double>(1<<30)
312 /static_cast<double>(1<<1))
313 GPSADDBITS(10, _IODC)
314 GPSADDBITSFLOAT(16, _Crs, 1.0/static_cast<double>(1<<5))
315 GPSADDBITSFLOAT(16, _Delta_n, M_PI/static_cast<double>(1<<30)
316 /static_cast<double>(1<<13))
317 GPSADDBITSFLOAT(32, _M0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
318 GPSADDBITSFLOAT(16, _Cuc, 1.0/static_cast<double>(1<<29))
319 GPSADDBITSFLOAT(32, _e, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
320 GPSADDBITSFLOAT(16, _Cus, 1.0/static_cast<double>(1<<29))
321 GPSADDBITSFLOAT(32, _sqrt_A, 1.0/static_cast<double>(1<<19))
322 GPSADDBITS(16, static_cast<int>(_TOEsec)>>4)
323 GPSADDBITSFLOAT(16, _Cic, 1.0/static_cast<double>(1<<29))
324 GPSADDBITSFLOAT(32, _OMEGA0, M_PI/static_cast<double>(1<<30)
325 /static_cast<double>(1<<1))
326 GPSADDBITSFLOAT(16, _Cis, 1.0/static_cast<double>(1<<29))
327 GPSADDBITSFLOAT(32, _i0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
328 GPSADDBITSFLOAT(16, _Crc, 1.0/static_cast<double>(1<<5))
329 GPSADDBITSFLOAT(32, _omega, M_PI/static_cast<double>(1<<30)
330 /static_cast<double>(1<<1))
331 GPSADDBITSFLOAT(24, _OMEGADOT, M_PI/static_cast<double>(1<<30)
332 /static_cast<double>(1<<13))
333 GPSADDBITSFLOAT(8, _TGD, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
334 GPSADDBITS(6, _health)
335 GPSADDBITS(1, _L2PFlag)
336 GPSADDBITS(1, 0) /* GPS fit interval */
337
338 startbuffer[0]=0xD3;
339 startbuffer[1]=(size >> 8);
340 startbuffer[2]=size;
341 unsigned long i = CRC24(size+3, startbuffer);
342 buffer[size++] = i >> 16;
343 buffer[size++] = i >> 8;
344 buffer[size++] = i;
345 size += 3;
346 return size;
347}
348
349// Derivative of the state vector using a simple force model (static)
350////////////////////////////////////////////////////////////////////////////
351ColumnVector t_ephGlo::glo_deriv(double /* tt */, const ColumnVector& xv,
352 double* acc) {
353
354 // State vector components
355 // -----------------------
356 ColumnVector rr = xv.rows(1,3);
357 ColumnVector vv = xv.rows(4,6);
358
359 // Acceleration
360 // ------------
361 static const double gmWGS = 398.60044e12;
362 static const double AE = 6378136.0;
363 static const double OMEGA = 7292115.e-11;
364 static const double C20 = -1082.6257e-6;
365
366 double rho = rr.norm_Frobenius();
367 double t1 = -gmWGS/(rho*rho*rho);
368 double t2 = 3.0/2.0 * C20 * (gmWGS*AE*AE) / (rho*rho*rho*rho*rho);
369 double t3 = OMEGA * OMEGA;
370 double t4 = 2.0 * OMEGA;
371 double z2 = rr(3) * rr(3);
372
373 // Vector of derivatives
374 // ---------------------
375 ColumnVector va(6);
376 va(1) = vv(1);
377 va(2) = vv(2);
378 va(3) = vv(3);
379 va(4) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(1) + t4*vv(2) + acc[0];
380 va(5) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(2) - t4*vv(1) + acc[1];
381 va(6) = (t1 + t2*(3.0-5.0*z2/(rho*rho)) ) * rr(3) + acc[2];
382
383 return va;
384}
385
386// Compute Glonass Satellite Position (virtual)
387////////////////////////////////////////////////////////////////////////////
388void t_ephGlo::position(int GPSweek, double GPSweeks,
389 double* xc, double* vv) const {
390
391 static const double nominalStep = 10.0;
392
393 memset(xc, 0, 4*sizeof(double));
394 memset(vv, 0, 3*sizeof(double));
395
396 double dtPos = bncTime(GPSweek, GPSweeks) - _tt;
397
398 int nSteps = int(fabs(dtPos) / nominalStep) + 1;
399 double step = dtPos / nSteps;
400
401 double acc[3];
402 acc[0] = _x_acceleration * 1.e3;
403 acc[1] = _y_acceleration * 1.e3;
404 acc[2] = _z_acceleration * 1.e3;
405 for (int ii = 1; ii <= nSteps; ii++) {
406 _xv = rungeKutta4(_tt.gpssec(), _xv, step, acc, glo_deriv);
407 _tt = _tt + step;
408 }
409
410 // Position and Velocity
411 // ---------------------
412 xc[0] = _xv(1);
413 xc[1] = _xv(2);
414 xc[2] = _xv(3);
415
416 vv[0] = _xv(4);
417 vv[1] = _xv(5);
418 vv[2] = _xv(6);
419
420 // Clock Correction
421 // ----------------
422 double dtClk = bncTime(GPSweek, GPSweeks) - _TOC;
423 xc[3] = -_tau + _gamma * dtClk;
424}
425
426// IOD of Glonass Ephemeris (virtual)
427////////////////////////////////////////////////////////////////////////////
428int t_ephGlo::IOD() const {
429 bncTime tMoscow = _TOC - _gps_utc + 3 * 3600.0;
430 return int(tMoscow.daysec() / 900);
431}
432
433// Set Glonass Ephemeris
434////////////////////////////////////////////////////////////////////////////
435void t_ephGlo::set(const glonassephemeris* ee) {
436
437 _receptDateTime = currentDateAndTimeGPS();
438
439 _prn.set('R', ee->almanac_number);
440
441 int ww = ee->GPSWeek;
442 int tow = ee->GPSTOW;
443 updatetime(&ww, &tow, ee->tb*1000, 0); // Moscow -> GPS
444
445 // Check the day once more
446 // -----------------------
447 bool timeChanged = false;
448 {
449 const double secPerDay = 24 * 3600.0;
450 const double secPerWeek = 7 * secPerDay;
451 int ww_old = ww;
452 int tow_old = tow;
453 int currentWeek;
454 double currentSec;
455 currentGPSWeeks(currentWeek, currentSec);
456 bncTime currentTime(currentWeek, currentSec);
457 bncTime hTime(ww, (double) tow);
458
459 if (hTime - currentTime > secPerDay/2.0) {
460 timeChanged = true;
461 tow -= int(secPerDay);
462 if (tow < 0) {
463 tow += int(secPerWeek);
464 ww -= 1;
465 }
466 }
467 else if (hTime - currentTime < -secPerDay/2.0) {
468 timeChanged = true;
469 tow += int(secPerDay);
470 if (tow > secPerWeek) {
471 tow -= int(secPerWeek);
472 ww += 1;
473 }
474 }
475
476 if (false && timeChanged && BNC_CORE->mode() == t_bncCore::batchPostProcessing) {
477 bncTime newHTime(ww, (double) tow);
478 cout << "GLONASS " << ee->almanac_number << " Time Changed at "
479 << currentTime.datestr() << " " << currentTime.timestr()
480 << endl
481 << "old: " << hTime.datestr() << " " << hTime.timestr()
482 << endl
483 << "new: " << newHTime.datestr() << " " << newHTime.timestr()
484 << endl
485 << "eph: " << ee->GPSWeek << " " << ee->GPSTOW << " " << ee->tb
486 << endl
487 << "ww, tow (old): " << ww_old << " " << tow_old
488 << endl
489 << "ww, tow (new): " << ww << " " << tow
490 << endl << endl;
491 }
492 }
493
494 bncTime hlpTime(ww, (double) tow);
495 unsigned year, month, day;
496 hlpTime.civil_date(year, month, day);
497 _gps_utc = gnumleap(year, month, day);
498
499 _TOC.set(ww, tow);
500 _E = ee->E;
501 _tau = ee->tau;
502 _gamma = ee->gamma;
503 _x_pos = ee->x_pos;
504 _x_velocity = ee->x_velocity;
505 _x_acceleration = ee->x_acceleration;
506 _y_pos = ee->y_pos;
507 _y_velocity = ee->y_velocity;
508 _y_acceleration = ee->y_acceleration;
509 _z_pos = ee->z_pos;
510 _z_velocity = ee->z_velocity;
511 _z_acceleration = ee->z_acceleration;
512 _health = 0;
513 _frequency_number = ee->frequency_number;
514 _tki = ee->tk-3*60*60; if (_tki < 0) _tki += 86400;
515
516 // Initialize status vector
517 // ------------------------
518 _tt = _TOC;
519
520 _xv(1) = _x_pos * 1.e3;
521 _xv(2) = _y_pos * 1.e3;
522 _xv(3) = _z_pos * 1.e3;
523 _xv(4) = _x_velocity * 1.e3;
524 _xv(5) = _y_velocity * 1.e3;
525 _xv(6) = _z_velocity * 1.e3;
526
527 _ok = true;
528}
529
530// build up RTCM3 for GLONASS
531////////////////////////////////////////////////////////////////////////////
532#define GLONASSTOINT(type, value) static_cast<type>(round(value))
533
534#define GLONASSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
535 |(GLONASSTOINT(long long,b)&((1ULL<<(a))-1)); \
536 numbits += (a); \
537 while(numbits >= 8) { \
538 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
539#define GLONASSADDBITSFLOATM(a,b,c) {int s; long long i; \
540 if(b < 0.0) \
541 { \
542 s = 1; \
543 i = GLONASSTOINT(long long,(-b)/(c)); \
544 if(!i) s = 0; \
545 } \
546 else \
547 { \
548 s = 0; \
549 i = GLONASSTOINT(long long,(b)/(c)); \
550 } \
551 GLONASSADDBITS(1,s) \
552 GLONASSADDBITS(a-1,i)}
553
554int t_ephGlo::RTCM3(unsigned char *buffer)
555{
556
557 int size = 0;
558 int numbits = 0;
559 long long bitbuffer = 0;
560 unsigned char *startbuffer = buffer;
561 buffer= buffer+3;
562
563 GLONASSADDBITS(12, 1020)
564 GLONASSADDBITS(6, _prn.number())
565 GLONASSADDBITS(5, 7+_frequency_number)
566 GLONASSADDBITS(1, 0)
567 GLONASSADDBITS(1, 0)
568 GLONASSADDBITS(2, 0)
569 _tki=_tki+3*60*60;
570 GLONASSADDBITS(5, static_cast<int>(_tki)/(60*60))
571 GLONASSADDBITS(6, (static_cast<int>(_tki)/60)%60)
572 GLONASSADDBITS(1, (static_cast<int>(_tki)/30)%30)
573 GLONASSADDBITS(1, _health)
574 GLONASSADDBITS(1, 0)
575 unsigned long long timeofday = (static_cast<int>(_tt.gpssec()+3*60*60-_gps_utc)%86400);
576 GLONASSADDBITS(7, timeofday/60/15)
577 GLONASSADDBITSFLOATM(24, _x_velocity*1000, 1000.0/static_cast<double>(1<<20))
578 GLONASSADDBITSFLOATM(27, _x_pos*1000, 1000.0/static_cast<double>(1<<11))
579 GLONASSADDBITSFLOATM(5, _x_acceleration*1000, 1000.0/static_cast<double>(1<<30))
580 GLONASSADDBITSFLOATM(24, _y_velocity*1000, 1000.0/static_cast<double>(1<<20))
581 GLONASSADDBITSFLOATM(27, _y_pos*1000, 1000.0/static_cast<double>(1<<11))
582 GLONASSADDBITSFLOATM(5, _y_acceleration*1000, 1000.0/static_cast<double>(1<<30))
583 GLONASSADDBITSFLOATM(24, _z_velocity*1000, 1000.0/static_cast<double>(1<<20))
584 GLONASSADDBITSFLOATM(27,_z_pos*1000, 1000.0/static_cast<double>(1<<11))
585 GLONASSADDBITSFLOATM(5, _z_acceleration*1000, 1000.0/static_cast<double>(1<<30))
586 GLONASSADDBITS(1, 0)
587 GLONASSADDBITSFLOATM(11, _gamma, 1.0/static_cast<double>(1<<30)
588 /static_cast<double>(1<<10))
589 GLONASSADDBITS(2, 0) /* GLONASS-M P */
590 GLONASSADDBITS(1, 0) /* GLONASS-M ln(3) */
591 GLONASSADDBITSFLOATM(22, _tau, 1.0/static_cast<double>(1<<30))
592 GLONASSADDBITS(5, 0) /* GLONASS-M delta tau */
593 GLONASSADDBITS(5, _E)
594 GLONASSADDBITS(1, 0) /* GLONASS-M P4 */
595 GLONASSADDBITS(4, 0) /* GLONASS-M FT */
596 GLONASSADDBITS(11, 0) /* GLONASS-M NT */
597 GLONASSADDBITS(2, 0) /* GLONASS-M active? */
598 GLONASSADDBITS(1, 0) /* GLONASS additional data */
599 GLONASSADDBITS(11, 0) /* GLONASS NA */
600 GLONASSADDBITS(32, 0) /* GLONASS tau C */
601 GLONASSADDBITS(5, 0) /* GLONASS-M N4 */
602 GLONASSADDBITS(22, 0) /* GLONASS-M tau GPS */
603 GLONASSADDBITS(1, 0) /* GLONASS-M ln(5) */
604 GLONASSADDBITS(7, 0) /* Reserved */
605
606 startbuffer[0]=0xD3;
607 startbuffer[1]=(size >> 8);
608 startbuffer[2]=size;
609 unsigned long i = CRC24(size+3, startbuffer);
610 buffer[size++] = i >> 16;
611 buffer[size++] = i >> 8;
612 buffer[size++] = i;
613 size += 3;
614 return size;
615}
616
617// Set Galileo Satellite Position
618////////////////////////////////////////////////////////////////////////////
619void t_ephGal::set(const galileoephemeris* ee) {
620
621 _receptDateTime = currentDateAndTimeGPS();
622
623 _prn.set('E', ee->satellite);
624
625 _TOC.set(ee->Week, ee->TOC);
626 _clock_bias = ee->clock_bias;
627 _clock_drift = ee->clock_drift;
628 _clock_driftrate = ee->clock_driftrate;
629
630 _IODnav = ee->IODnav;
631 _Crs = ee->Crs;
632 _Delta_n = ee->Delta_n;
633 _M0 = ee->M0;
634
635 _Cuc = ee->Cuc;
636 _e = ee->e;
637 _Cus = ee->Cus;
638 _sqrt_A = ee->sqrt_A;
639
640 _TOEsec = _TOC.gpssec();
641 //// _TOEsec = ee->TOE; //// TODO:
642 _Cic = ee->Cic;
643 _OMEGA0 = ee->OMEGA0;
644 _Cis = ee->Cis;
645
646 _i0 = ee->i0;
647 _Crc = ee->Crc;
648 _omega = ee->omega;
649 _OMEGADOT = ee->OMEGADOT;
650
651 _IDOT = ee->IDOT;
652 _TOEweek = ee->Week;
653
654 _SISA = ee->SISA;
655 _E5aHS = ee->E5aHS;
656 _E5bHS = ee->E5bHS;
657 _BGD_1_5A = ee->BGD_1_5A;
658 _BGD_1_5B = ee->BGD_1_5B;
659
660 _TOT = 0.9999e9;
661
662 _flags = ee->flags;
663
664 _ok = true;
665}
666
667// Compute Galileo Satellite Position (virtual)
668////////////////////////////////////////////////////////////////////////////
669void t_ephGal::position(int GPSweek, double GPSweeks,
670 double* xc,
671 double* vv) const {
672
673 static const double omegaEarth = 7292115.1467e-11;
674 static const double gmWGS = 398.60044e12;
675
676 memset(xc, 0, 4*sizeof(double));
677 memset(vv, 0, 3*sizeof(double));
678
679 double a0 = _sqrt_A * _sqrt_A;
680 if (a0 == 0) {
681 return;
682 }
683
684 double n0 = sqrt(gmWGS/(a0*a0*a0));
685
686 bncTime tt(GPSweek, GPSweeks);
687 double tk = tt - bncTime(_TOC.gpsw(), _TOEsec);
688
689 double n = n0 + _Delta_n;
690 double M = _M0 + n*tk;
691 double E = M;
692 double E_last;
693 do {
694 E_last = E;
695 E = M + _e*sin(E);
696 } while ( fabs(E-E_last)*a0 > 0.001 );
697 double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
698 double u0 = v + _omega;
699 double sin2u0 = sin(2*u0);
700 double cos2u0 = cos(2*u0);
701 double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
702 double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
703 double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
704 double xp = r*cos(u);
705 double yp = r*sin(u);
706 double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
707 omegaEarth*_TOEsec;
708
709 double sinom = sin(OM);
710 double cosom = cos(OM);
711 double sini = sin(i);
712 double cosi = cos(i);
713 xc[0] = xp*cosom - yp*cosi*sinom;
714 xc[1] = xp*sinom + yp*cosi*cosom;
715 xc[2] = yp*sini;
716
717 double tc = tt - _TOC;
718 xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
719
720 // Velocity
721 // --------
722 double tanv2 = tan(v/2);
723 double dEdM = 1 / (1 - _e*cos(E));
724 double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
725 * dEdM * n;
726 double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
727 double dotom = _OMEGADOT - omegaEarth;
728 double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
729 double dotr = a0 * _e*sin(E) * dEdM * n
730 + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
731 double dotx = dotr*cos(u) - r*sin(u)*dotu;
732 double doty = dotr*sin(u) + r*cos(u)*dotu;
733
734 vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
735 - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
736 + yp*sini*sinom*doti; // dX / di
737
738 vv[1] = sinom *dotx + cosi*cosom *doty
739 + xp*cosom*dotom - yp*cosi*sinom*dotom
740 - yp*sini*cosom*doti;
741
742 vv[2] = sini *doty + yp*cosi *doti;
743
744 // Relativistic Correction
745 // -----------------------
746 // xc(4) -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
747 xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
748}
749
750// build up RTCM3 for Galileo
751////////////////////////////////////////////////////////////////////////////
752#define GALILEOTOINT(type, value) static_cast<type>(round(value))
753
754#define GALILEOADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
755 |(GALILEOTOINT(long long,b)&((1LL<<a)-1)); \
756 numbits += (a); \
757 while(numbits >= 8) { \
758 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
759#define GALILEOADDBITSFLOAT(a,b,c) {long long i = GALILEOTOINT(long long,(b)/(c)); \
760 GALILEOADDBITS(a,i)};
761
762int t_ephGal::RTCM3(unsigned char *buffer) {
763 int size = 0;
764 int numbits = 0;
765 long long bitbuffer = 0;
766 unsigned char *startbuffer = buffer;
767 buffer= buffer+3;
768
769 bool inav = ( (_flags & GALEPHF_INAV) == GALEPHF_INAV );
770
771 GALILEOADDBITS(12, inav ? 1046 : 1045)
772 GALILEOADDBITS(6, _prn.number())
773 GALILEOADDBITS(12, _TOC.gpsw())
774 GALILEOADDBITS(10, _IODnav)
775 GALILEOADDBITS(8, _SISA)
776 GALILEOADDBITSFLOAT(14, _IDOT, M_PI/static_cast<double>(1<<30)
777 /static_cast<double>(1<<13))
778 GALILEOADDBITS(14, _TOC.gpssec()/60)
779 GALILEOADDBITSFLOAT(6, _clock_driftrate, 1.0/static_cast<double>(1<<30)
780 /static_cast<double>(1<<29))
781 GALILEOADDBITSFLOAT(21, _clock_drift, 1.0/static_cast<double>(1<<30)
782 /static_cast<double>(1<<16))
783 GALILEOADDBITSFLOAT(31, _clock_bias, 1.0/static_cast<double>(1<<30)
784 /static_cast<double>(1<<4))
785 GALILEOADDBITSFLOAT(16, _Crs, 1.0/static_cast<double>(1<<5))
786 GALILEOADDBITSFLOAT(16, _Delta_n, M_PI/static_cast<double>(1<<30)
787 /static_cast<double>(1<<13))
788 GALILEOADDBITSFLOAT(32, _M0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
789 GALILEOADDBITSFLOAT(16, _Cuc, 1.0/static_cast<double>(1<<29))
790 GALILEOADDBITSFLOAT(32, _e, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
791 GALILEOADDBITSFLOAT(16, _Cus, 1.0/static_cast<double>(1<<29))
792 GALILEOADDBITSFLOAT(32, _sqrt_A, 1.0/static_cast<double>(1<<19))
793 GALILEOADDBITS(14, _TOEsec/60)
794 GALILEOADDBITSFLOAT(16, _Cic, 1.0/static_cast<double>(1<<29))
795 GALILEOADDBITSFLOAT(32, _OMEGA0, M_PI/static_cast<double>(1<<30)
796 /static_cast<double>(1<<1))
797 GALILEOADDBITSFLOAT(16, _Cis, 1.0/static_cast<double>(1<<29))
798 GALILEOADDBITSFLOAT(32, _i0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
799 GALILEOADDBITSFLOAT(16, _Crc, 1.0/static_cast<double>(1<<5))
800 GALILEOADDBITSFLOAT(32, _omega, M_PI/static_cast<double>(1<<30)
801 /static_cast<double>(1<<1))
802 GALILEOADDBITSFLOAT(24, _OMEGADOT, M_PI/static_cast<double>(1<<30)
803 /static_cast<double>(1<<13))
804 GALILEOADDBITSFLOAT(10, _BGD_1_5A, 1.0/static_cast<double>(1<<30)
805 /static_cast<double>(1<<2))
806 if(inav)
807 {
808 GALILEOADDBITSFLOAT(10, _BGD_1_5B, 1.0/static_cast<double>(1<<30)
809 /static_cast<double>(1<<2))
810 GALILEOADDBITS(2, static_cast<int>(_E5bHS))
811 GALILEOADDBITS(1, _flags & GALEPHF_E5BDINVALID)
812 }
813 else
814 {
815 GALILEOADDBITS(2, static_cast<int>(_E5aHS))
816 GALILEOADDBITS(1, _flags & GALEPHF_E5ADINVALID)
817 }
818 _TOEsec = 0.9999E9;
819 GALILEOADDBITS(20, _TOEsec)
820
821 GALILEOADDBITS(inav ? 1 : 3, 0)
822
823 startbuffer[0]=0xD3;
824 startbuffer[1]=(size >> 8);
825 startbuffer[2]=size;
826 unsigned long i = CRC24(size+3, startbuffer);
827 buffer[size++] = i >> 16;
828 buffer[size++] = i >> 8;
829 buffer[size++] = i;
830 size += 3;
831 return size;
832}
833
834// Constructor
835//////////////////////////////////////////////////////////////////////////////
836t_ephGPS::t_ephGPS(float rnxVersion, const QStringList& lines) {
837
838 const int nLines = 8;
839
840 _ok = false;
841
842 if (lines.size() != nLines) {
843 return;
844 }
845
846 // RINEX Format
847 // ------------
848 int fieldLen = 19;
849
850 int pos[4];
851 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
852 pos[1] = pos[0] + fieldLen;
853 pos[2] = pos[1] + fieldLen;
854 pos[3] = pos[2] + fieldLen;
855
856 // Read eight lines
857 // ----------------
858 for (int iLine = 0; iLine < nLines; iLine++) {
859 QString line = lines[iLine];
860
861 if ( iLine == 0 ) {
862 QTextStream in(line.left(pos[1]).toAscii());
863
864 int year, month, day, hour, min;
865 double sec;
866
867 QString prnStr;
868 in >> prnStr >> year >> month >> day >> hour >> min >> sec;
869 if (prnStr.at(0) == 'G') {
870 _prn.set('G', prnStr.mid(1).toInt());
871 }
872 else {
873 _prn.set('G', prnStr.toInt());
874 }
875
876 if (year < 80) {
877 year += 2000;
878 }
879 else if (year < 100) {
880 year += 1900;
881 }
882
883 _TOC.set(year, month, day, hour, min, sec);
884
885 if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
886 readDbl(line, pos[2], fieldLen, _clock_drift ) ||
887 readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
888 return;
889 }
890 }
891
892 else if ( iLine == 1 ) {
893 if ( readDbl(line, pos[0], fieldLen, _IODE ) ||
894 readDbl(line, pos[1], fieldLen, _Crs ) ||
895 readDbl(line, pos[2], fieldLen, _Delta_n) ||
896 readDbl(line, pos[3], fieldLen, _M0 ) ) {
897 return;
898 }
899 }
900
901 else if ( iLine == 2 ) {
902 if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
903 readDbl(line, pos[1], fieldLen, _e ) ||
904 readDbl(line, pos[2], fieldLen, _Cus ) ||
905 readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
906 return;
907 }
908 }
909
910 else if ( iLine == 3 ) {
911 if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
912 readDbl(line, pos[1], fieldLen, _Cic ) ||
913 readDbl(line, pos[2], fieldLen, _OMEGA0) ||
914 readDbl(line, pos[3], fieldLen, _Cis ) ) {
915 return;
916 }
917 }
918
919 else if ( iLine == 4 ) {
920 if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
921 readDbl(line, pos[1], fieldLen, _Crc ) ||
922 readDbl(line, pos[2], fieldLen, _omega ) ||
923 readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
924 return;
925 }
926 }
927
928 else if ( iLine == 5 ) {
929 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
930 readDbl(line, pos[1], fieldLen, _L2Codes) ||
931 readDbl(line, pos[2], fieldLen, _TOEweek ) ||
932 readDbl(line, pos[3], fieldLen, _L2PFlag) ) {
933 return;
934 }
935 }
936
937 else if ( iLine == 6 ) {
938 if ( readDbl(line, pos[0], fieldLen, _ura ) ||
939 readDbl(line, pos[1], fieldLen, _health) ||
940 readDbl(line, pos[2], fieldLen, _TGD ) ||
941 readDbl(line, pos[3], fieldLen, _IODC ) ) {
942 return;
943 }
944 }
945
946 else if ( iLine == 7 ) {
947 if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
948 return;
949 }
950 readDbl(line, pos[1], fieldLen, _fitInterval); // _fitInterval optional
951 }
952 }
953
954 _ok = true;
955}
956
957// Constructor
958//////////////////////////////////////////////////////////////////////////////
959t_ephGlo::t_ephGlo(float rnxVersion, const QStringList& lines) {
960
961 const int nLines = 4;
962
963 _ok = false;
964
965 if (lines.size() != nLines) {
966 return;
967 }
968
969 // RINEX Format
970 // ------------
971 int fieldLen = 19;
972
973 int pos[4];
974 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
975 pos[1] = pos[0] + fieldLen;
976 pos[2] = pos[1] + fieldLen;
977 pos[3] = pos[2] + fieldLen;
978
979 // Read four lines
980 // ---------------
981 for (int iLine = 0; iLine < nLines; iLine++) {
982 QString line = lines[iLine];
983
984 if ( iLine == 0 ) {
985 QTextStream in(line.left(pos[1]).toAscii());
986
987 int year, month, day, hour, min;
988 double sec;
989
990 QString prnStr;
991 in >> prnStr >> year >> month >> day >> hour >> min >> sec;
992 if (prnStr.at(0) == 'R') {
993 _prn.set('R', prnStr.mid(1).toInt());
994 }
995 else {
996 _prn.set('R', prnStr.toInt());
997 }
998
999 if (year < 80) {
1000 year += 2000;
1001 }
1002 else if (year < 100) {
1003 year += 1900;
1004 }
1005
1006 _gps_utc = gnumleap(year, month, day);
1007
1008 _TOC.set(year, month, day, hour, min, sec);
1009 _TOC = _TOC + _gps_utc;
1010
1011 if ( readDbl(line, pos[1], fieldLen, _tau ) ||
1012 readDbl(line, pos[2], fieldLen, _gamma) ||
1013 readDbl(line, pos[3], fieldLen, _tki ) ) {
1014 return;
1015 }
1016
1017 _tau = -_tau;
1018 }
1019
1020 else if ( iLine == 1 ) {
1021 if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
1022 readDbl(line, pos[1], fieldLen, _x_velocity ) ||
1023 readDbl(line, pos[2], fieldLen, _x_acceleration) ||
1024 readDbl(line, pos[3], fieldLen, _health ) ) {
1025 return;
1026 }
1027 }
1028
1029 else if ( iLine == 2 ) {
1030 if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
1031 readDbl(line, pos[1], fieldLen, _y_velocity ) ||
1032 readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
1033 readDbl(line, pos[3], fieldLen, _frequency_number) ) {
1034 return;
1035 }
1036 }
1037
1038 else if ( iLine == 3 ) {
1039 if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
1040 readDbl(line, pos[1], fieldLen, _z_velocity ) ||
1041 readDbl(line, pos[2], fieldLen, _z_acceleration) ||
1042 readDbl(line, pos[3], fieldLen, _E ) ) {
1043 return;
1044 }
1045 }
1046 }
1047
1048 // Initialize status vector
1049 // ------------------------
1050 _tt = _TOC;
1051 _xv.ReSize(6);
1052 _xv(1) = _x_pos * 1.e3;
1053 _xv(2) = _y_pos * 1.e3;
1054 _xv(3) = _z_pos * 1.e3;
1055 _xv(4) = _x_velocity * 1.e3;
1056 _xv(5) = _y_velocity * 1.e3;
1057 _xv(6) = _z_velocity * 1.e3;
1058
1059 _ok = true;
1060}
1061
1062// Constructor
1063//////////////////////////////////////////////////////////////////////////////
1064t_ephGal::t_ephGal(float rnxVersion, const QStringList& lines) {
1065
1066 const int nLines = 8;
1067
1068 _ok = false;
1069
1070 if (lines.size() != nLines) {
1071 return;
1072 }
1073
1074 // RINEX Format
1075 // ------------
1076 int fieldLen = 19;
1077
1078 int pos[4];
1079 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
1080 pos[1] = pos[0] + fieldLen;
1081 pos[2] = pos[1] + fieldLen;
1082 pos[3] = pos[2] + fieldLen;
1083
1084 // Read eight lines
1085 // ----------------
1086 for (int iLine = 0; iLine < nLines; iLine++) {
1087 QString line = lines[iLine];
1088
1089 if ( iLine == 0 ) {
1090 QTextStream in(line.left(pos[1]).toAscii());
1091
1092 int year, month, day, hour, min;
1093 double sec;
1094
1095 QString prnStr;
1096 in >> prnStr >> year >> month >> day >> hour >> min >> sec;
1097 if (prnStr.at(0) == 'E') {
1098 _prn.set('E', prnStr.mid(1).toInt());
1099 }
1100 else {
1101 _prn.set('E', prnStr.toInt());
1102 }
1103
1104 if (year < 80) {
1105 year += 2000;
1106 }
1107 else if (year < 100) {
1108 year += 1900;
1109 }
1110
1111 _TOC.set(year, month, day, hour, min, sec);
1112
1113 if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
1114 readDbl(line, pos[2], fieldLen, _clock_drift ) ||
1115 readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
1116 return;
1117 }
1118 }
1119
1120 else if ( iLine == 1 ) {
1121 if ( readDbl(line, pos[0], fieldLen, _IODnav ) ||
1122 readDbl(line, pos[1], fieldLen, _Crs ) ||
1123 readDbl(line, pos[2], fieldLen, _Delta_n) ||
1124 readDbl(line, pos[3], fieldLen, _M0 ) ) {
1125 return;
1126 }
1127 }
1128
1129 else if ( iLine == 2 ) {
1130 if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
1131 readDbl(line, pos[1], fieldLen, _e ) ||
1132 readDbl(line, pos[2], fieldLen, _Cus ) ||
1133 readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
1134 return;
1135 }
1136 }
1137
1138 else if ( iLine == 3 ) {
1139 if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
1140 readDbl(line, pos[1], fieldLen, _Cic ) ||
1141 readDbl(line, pos[2], fieldLen, _OMEGA0) ||
1142 readDbl(line, pos[3], fieldLen, _Cis ) ) {
1143 return;
1144 }
1145 }
1146
1147 else if ( iLine == 4 ) {
1148 if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
1149 readDbl(line, pos[1], fieldLen, _Crc ) ||
1150 readDbl(line, pos[2], fieldLen, _omega ) ||
1151 readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
1152 return;
1153 }
1154 }
1155
1156 else if ( iLine == 5 ) {
1157 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
1158 readDbl(line, pos[2], fieldLen, _TOEweek) ) {
1159 return;
1160 }
1161 }
1162
1163 else if ( iLine == 6 ) {
1164 if ( readDbl(line, pos[0], fieldLen, _SISA ) ||
1165 readDbl(line, pos[1], fieldLen, _E5aHS ) ||
1166 readDbl(line, pos[2], fieldLen, _BGD_1_5A) ||
1167 readDbl(line, pos[3], fieldLen, _BGD_1_5B) ) {
1168 return;
1169 }
1170 }
1171
1172 else if ( iLine == 7 ) {
1173 if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
1174 return;
1175 }
1176 }
1177 }
1178
1179 _ok = true;
1180}
1181
1182//
1183//////////////////////////////////////////////////////////////////////////////
1184QString t_eph::rinexDateStr(const bncTime& tt, const t_prn& prn, double version) {
1185 QString prnStr(prn.toString().c_str());
1186 return rinexDateStr(tt, prnStr, version);
1187}
1188
1189//
1190//////////////////////////////////////////////////////////////////////////////
1191QString t_eph::rinexDateStr(const bncTime& tt, const QString& prnStr, double version) {
1192
1193 QString datStr;
1194
1195 unsigned year, month, day, hour, min;
1196 double sec;
1197 tt.civil_date(year, month, day);
1198 tt.civil_time(hour, min, sec);
1199
1200 QTextStream out(&datStr);
1201
1202 if (version < 3.0) {
1203 QString prnHlp = prnStr.mid(1,2); if (prnHlp[0] == '0') prnHlp[0] = ' ';
1204 out << prnHlp << QString(" %1 %2 %3 %4 %5%6")
1205 .arg(year % 100, 2, 10, QChar('0'))
1206 .arg(month, 2)
1207 .arg(day, 2)
1208 .arg(hour, 2)
1209 .arg(min, 2)
1210 .arg(sec, 5, 'f',1);
1211 }
1212 else {
1213 out << prnStr << QString(" %1 %2 %3 %4 %5 %6")
1214 .arg(year, 4)
1215 .arg(month, 2, 10, QChar('0'))
1216 .arg(day, 2, 10, QChar('0'))
1217 .arg(hour, 2, 10, QChar('0'))
1218 .arg(min, 2, 10, QChar('0'))
1219 .arg(int(sec), 2, 10, QChar('0'));
1220 }
1221
1222 return datStr;
1223}
1224
1225// RINEX Format String
1226//////////////////////////////////////////////////////////////////////////////
1227QString t_ephGPS::toString(double version) const {
1228
1229 QString rnxStr = rinexDateStr(_TOC, _prn, version);
1230
1231 QTextStream out(&rnxStr);
1232
1233 out << QString("%1%2%3\n")
1234 .arg(_clock_bias, 19, 'e', 12)
1235 .arg(_clock_drift, 19, 'e', 12)
1236 .arg(_clock_driftrate, 19, 'e', 12);
1237
1238 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1239
1240 out << QString(fmt)
1241 .arg(_IODE, 19, 'e', 12)
1242 .arg(_Crs, 19, 'e', 12)
1243 .arg(_Delta_n, 19, 'e', 12)
1244 .arg(_M0, 19, 'e', 12);
1245
1246 out << QString(fmt)
1247 .arg(_Cuc, 19, 'e', 12)
1248 .arg(_e, 19, 'e', 12)
1249 .arg(_Cus, 19, 'e', 12)
1250 .arg(_sqrt_A, 19, 'e', 12);
1251
1252 out << QString(fmt)
1253 .arg(_TOEsec, 19, 'e', 12)
1254 .arg(_Cic, 19, 'e', 12)
1255 .arg(_OMEGA0, 19, 'e', 12)
1256 .arg(_Cis, 19, 'e', 12);
1257
1258 out << QString(fmt)
1259 .arg(_i0, 19, 'e', 12)
1260 .arg(_Crc, 19, 'e', 12)
1261 .arg(_omega, 19, 'e', 12)
1262 .arg(_OMEGADOT, 19, 'e', 12);
1263
1264 out << QString(fmt)
1265 .arg(_IDOT, 19, 'e', 12)
1266 .arg(_L2Codes, 19, 'e', 12)
1267 .arg(_TOEweek, 19, 'e', 12)
1268 .arg(_L2PFlag, 19, 'e', 12);
1269
1270 out << QString(fmt)
1271 .arg(_ura, 19, 'e', 12)
1272 .arg(_health, 19, 'e', 12)
1273 .arg(_TGD, 19, 'e', 12)
1274 .arg(_IODC, 19, 'e', 12);
1275
1276 out << QString(fmt)
1277 .arg(_TOT, 19, 'e', 12)
1278 .arg(_fitInterval, 19, 'e', 12)
1279 .arg("", 19, QChar(' '))
1280 .arg("", 19, QChar(' '));
1281
1282 return rnxStr;
1283}
1284
1285// RINEX Format String
1286//////////////////////////////////////////////////////////////////////////////
1287QString t_ephGlo::toString(double version) const {
1288
1289 QString rnxStr = rinexDateStr(_TOC-_gps_utc, _prn, version);
1290
1291 QTextStream out(&rnxStr);
1292
1293 out << QString("%1%2%3\n")
1294 .arg(-_tau, 19, 'e', 12)
1295 .arg(_gamma, 19, 'e', 12)
1296 .arg(_tki, 19, 'e', 12);
1297
1298 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1299
1300 out << QString(fmt)
1301 .arg(_x_pos, 19, 'e', 12)
1302 .arg(_x_velocity, 19, 'e', 12)
1303 .arg(_x_acceleration, 19, 'e', 12)
1304 .arg(_health, 19, 'e', 12);
1305
1306 out << QString(fmt)
1307 .arg(_y_pos, 19, 'e', 12)
1308 .arg(_y_velocity, 19, 'e', 12)
1309 .arg(_y_acceleration, 19, 'e', 12)
1310 .arg(_frequency_number, 19, 'e', 12);
1311
1312 out << QString(fmt)
1313 .arg(_z_pos, 19, 'e', 12)
1314 .arg(_z_velocity, 19, 'e', 12)
1315 .arg(_z_acceleration, 19, 'e', 12)
1316 .arg(_E, 19, 'e', 12);
1317
1318 return rnxStr;
1319}
1320
1321// RINEX Format String
1322//////////////////////////////////////////////////////////////////////////////
1323QString t_ephGal::toString(double version) const {
1324
1325 QString rnxStr = rinexDateStr(_TOC, _prn, version);
1326
1327 QTextStream out(&rnxStr);
1328
1329 out << QString("%1%2%3\n")
1330 .arg(_clock_bias, 19, 'e', 12)
1331 .arg(_clock_drift, 19, 'e', 12)
1332 .arg(_clock_driftrate, 19, 'e', 12);
1333
1334 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1335
1336 out << QString(fmt)
1337 .arg(_IODnav, 19, 'e', 12)
1338 .arg(_Crs, 19, 'e', 12)
1339 .arg(_Delta_n, 19, 'e', 12)
1340 .arg(_M0, 19, 'e', 12);
1341
1342 out << QString(fmt)
1343 .arg(_Cuc, 19, 'e', 12)
1344 .arg(_e, 19, 'e', 12)
1345 .arg(_Cus, 19, 'e', 12)
1346 .arg(_sqrt_A, 19, 'e', 12);
1347
1348 out << QString(fmt)
1349 .arg(_TOEsec, 19, 'e', 12)
1350 .arg(_Cic, 19, 'e', 12)
1351 .arg(_OMEGA0, 19, 'e', 12)
1352 .arg(_Cis, 19, 'e', 12);
1353
1354 out << QString(fmt)
1355 .arg(_i0, 19, 'e', 12)
1356 .arg(_Crc, 19, 'e', 12)
1357 .arg(_omega, 19, 'e', 12)
1358 .arg(_OMEGADOT, 19, 'e', 12);
1359
1360 int dataSource = 0;
1361 double HS = 0.0;
1362 if ( (_flags & GALEPHF_INAV) == GALEPHF_INAV ) {
1363 dataSource |= (1<<0);
1364 dataSource |= (1<<9);
1365 HS = _E5bHS;
1366 }
1367 else if ( (_flags & GALEPHF_FNAV) == GALEPHF_FNAV ) {
1368 dataSource |= (1<<1);
1369 dataSource |= (1<<8);
1370 HS = _E5aHS;
1371 }
1372 out << QString(fmt)
1373 .arg(_IDOT, 19, 'e', 12)
1374 .arg(double(dataSource), 19, 'e', 12)
1375 .arg(_TOEweek, 19, 'e', 12)
1376 .arg(0.0, 19, 'e', 12);
1377
1378 out << QString(fmt)
1379 .arg(_SISA, 19, 'e', 12)
1380 .arg(HS, 19, 'e', 12)
1381 .arg(_BGD_1_5A, 19, 'e', 12)
1382 .arg(_BGD_1_5B, 19, 'e', 12);
1383
1384 out << QString(fmt)
1385 .arg(_TOT, 19, 'e', 12)
1386 .arg("", 19, QChar(' '))
1387 .arg("", 19, QChar(' '))
1388 .arg("", 19, QChar(' '));
1389
1390 return rnxStr;
1391}
1392
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