source: ntrip/trunk/BNC/src/ephemeris.cpp@ 8187

Last change on this file since 8187 was 8187, checked in by stuerze, 4 years ago

health status check is added

File size: 48.4 KB
Line 
1#include <sstream>
2#include <iostream>
3#include <iomanip>
4#include <cstring>
5
6#include <newmatio.h>
7
8#include "ephemeris.h"
9#include "bncutils.h"
10#include "bnctime.h"
11#include "bnccore.h"
12#include "bncutils.h"
13#include "satObs.h"
14#include "pppInclude.h"
15#include "pppModel.h"
16
17using namespace std;
18
19// Constructor
20////////////////////////////////////////////////////////////////////////////
21t_eph::t_eph() {
22 _checkState = unchecked;
23 _orbCorr = 0;
24 _clkCorr = 0;
25}
26// Destructor
27////////////////////////////////////////////////////////////////////////////
28t_eph::~t_eph() {
29 if (_orbCorr)
30 delete _orbCorr;
31 if (_clkCorr)
32 delete _clkCorr;
33}
34
35//
36////////////////////////////////////////////////////////////////////////////
37void t_eph::setOrbCorr(const t_orbCorr* orbCorr) {
38 if (_orbCorr) {
39 delete _orbCorr;
40 _orbCorr = 0;
41 }
42 _orbCorr = new t_orbCorr(*orbCorr);
43}
44
45//
46////////////////////////////////////////////////////////////////////////////
47void t_eph::setClkCorr(const t_clkCorr* clkCorr) {
48 if (_clkCorr) {
49 delete _clkCorr;
50 _clkCorr = 0;
51 }
52 _clkCorr = new t_clkCorr(*clkCorr);
53}
54
55//
56////////////////////////////////////////////////////////////////////////////
57t_irc t_eph::getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const {
58
59 if (_checkState == bad) {
60 return failure;
61 }
62 const QVector<int> updateInt = QVector<int>() << 1 << 2 << 5 << 10 << 15 << 30
63 << 60 << 120 << 240 << 300 << 600
64 << 900 << 1800 << 3600 << 7200
65 << 10800;
66 xc.ReSize(4);
67 vv.ReSize(3);
68 if (position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data()) != success) {
69 return failure;
70 }
71 if (useCorr) {
72 if (_orbCorr && _clkCorr) {
73 double dtO = tt - _orbCorr->_time;
74 if (_orbCorr->_updateInt) {
75 dtO -= (0.5 * updateInt[_orbCorr->_updateInt]);
76 }
77 ColumnVector dx(3);
78 dx[0] = _orbCorr->_xr[0] + _orbCorr->_dotXr[0] * dtO;
79 dx[1] = _orbCorr->_xr[1] + _orbCorr->_dotXr[1] * dtO;
80 dx[2] = _orbCorr->_xr[2] + _orbCorr->_dotXr[2] * dtO;
81
82 RSW_to_XYZ(xc.Rows(1,3), vv.Rows(1,3), dx, dx);
83
84 xc[0] -= dx[0];
85 xc[1] -= dx[1];
86 xc[2] -= dx[2];
87
88 ColumnVector dv(3);
89 RSW_to_XYZ(xc.Rows(1,3), vv.Rows(1,3), _orbCorr->_dotXr, dv);
90
91 vv[0] -= dv[0];
92 vv[1] -= dv[1];
93 vv[2] -= dv[2];
94
95 double dtC = tt - _clkCorr->_time;
96 if (_clkCorr->_updateInt) {
97 dtC -= (0.5 * updateInt[_clkCorr->_updateInt]);
98 }
99 xc[3] += _clkCorr->_dClk + _clkCorr->_dotDClk * dtC + _clkCorr->_dotDotDClk * dtC * dtC;
100 }
101 else {
102 return failure;
103 }
104 }
105 return success;
106}
107
108//
109//////////////////////////////////////////////////////////////////////////////
110QString t_eph::rinexDateStr(const bncTime& tt, const t_prn& prn, double version) {
111 QString prnStr(prn.toString().c_str());
112 return rinexDateStr(tt, prnStr, version);
113}
114
115//
116//////////////////////////////////////////////////////////////////////////////
117QString t_eph::rinexDateStr(const bncTime& tt, const QString& prnStr, double version) {
118
119 QString datStr;
120
121 unsigned year, month, day, hour, min;
122 double sec;
123 tt.civil_date(year, month, day);
124 tt.civil_time(hour, min, sec);
125
126 QTextStream out(&datStr);
127
128 if (version < 3.0) {
129 QString prnHlp = prnStr.mid(1,2); if (prnHlp[0] == '0') prnHlp[0] = ' ';
130 out << prnHlp << QString(" %1 %2 %3 %4 %5%6")
131 .arg(year % 100, 2, 10, QChar('0'))
132 .arg(month, 2)
133 .arg(day, 2)
134 .arg(hour, 2)
135 .arg(min, 2)
136 .arg(sec, 5, 'f',1);
137 }
138 else {
139 out << prnStr << QString(" %1 %2 %3 %4 %5 %6")
140 .arg(year, 4)
141 .arg(month, 2, 10, QChar('0'))
142 .arg(day, 2, 10, QChar('0'))
143 .arg(hour, 2, 10, QChar('0'))
144 .arg(min, 2, 10, QChar('0'))
145 .arg(int(sec), 2, 10, QChar('0'));
146 }
147
148 return datStr;
149}
150
151// Constructor
152//////////////////////////////////////////////////////////////////////////////
153t_ephGPS::t_ephGPS(float rnxVersion, const QStringList& lines) {
154
155 const int nLines = 8;
156
157 if (lines.size() != nLines) {
158 _checkState = bad;
159 return;
160 }
161
162 // RINEX Format
163 // ------------
164 int fieldLen = 19;
165
166 int pos[4];
167 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
168 pos[1] = pos[0] + fieldLen;
169 pos[2] = pos[1] + fieldLen;
170 pos[3] = pos[2] + fieldLen;
171
172 // Read eight lines
173 // ----------------
174 for (int iLine = 0; iLine < nLines; iLine++) {
175 QString line = lines[iLine];
176
177 if ( iLine == 0 ) {
178 QTextStream in(line.left(pos[1]).toAscii());
179 int year, month, day, hour, min;
180 double sec;
181
182 QString prnStr, n;
183 in >> prnStr;
184
185 if (prnStr.size() == 1 &&
186 (prnStr[0] == 'G' ||
187 prnStr[0] == 'J' ||
188 prnStr[0] == 'I')) {
189 in >> n;
190 prnStr.append(n);
191 }
192
193 in >> year >> month >> day >> hour >> min >> sec;
194 if (prnStr.at(0) == 'G') {
195 _prn.set('G', prnStr.mid(1).toInt());
196 }
197 else if (prnStr.at(0) == 'J') {
198 _prn.set('J', prnStr.mid(1).toInt());
199 }
200 else if (prnStr.at(0) == 'I') {
201 _prn.set('I', prnStr.mid(1).toInt());
202 }
203 else {
204 _prn.set('G', prnStr.toInt());
205 }
206
207 if (year < 80) {
208 year += 2000;
209 }
210 else if (year < 100) {
211 year += 1900;
212 }
213
214 _TOC.set(year, month, day, hour, min, sec);
215
216 if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
217 readDbl(line, pos[2], fieldLen, _clock_drift ) ||
218 readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
219 _checkState = bad;
220 return;
221 }
222 }
223
224 else if ( iLine == 1 ) {
225 if ( readDbl(line, pos[0], fieldLen, _IODE ) ||
226 readDbl(line, pos[1], fieldLen, _Crs ) ||
227 readDbl(line, pos[2], fieldLen, _Delta_n) ||
228 readDbl(line, pos[3], fieldLen, _M0 ) ) {
229 _checkState = bad;
230 return;
231 }
232 }
233
234 else if ( iLine == 2 ) {
235 if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
236 readDbl(line, pos[1], fieldLen, _e ) ||
237 readDbl(line, pos[2], fieldLen, _Cus ) ||
238 readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
239 _checkState = bad;
240 return;
241 }
242 }
243
244 else if ( iLine == 3 ) {
245 if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
246 readDbl(line, pos[1], fieldLen, _Cic ) ||
247 readDbl(line, pos[2], fieldLen, _OMEGA0) ||
248 readDbl(line, pos[3], fieldLen, _Cis ) ) {
249 _checkState = bad;
250 return;
251 }
252 }
253
254 else if ( iLine == 4 ) {
255 if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
256 readDbl(line, pos[1], fieldLen, _Crc ) ||
257 readDbl(line, pos[2], fieldLen, _omega ) ||
258 readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
259 _checkState = bad;
260 return;
261 }
262 }
263
264 else if ( iLine == 5 && type() != t_eph::IRNSS) {
265 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
266 readDbl(line, pos[1], fieldLen, _L2Codes) ||
267 readDbl(line, pos[2], fieldLen, _TOEweek ) ||
268 readDbl(line, pos[3], fieldLen, _L2PFlag) ) {
269 _checkState = bad;
270 return;
271 }
272 }
273 else if ( iLine == 5 && type() == t_eph::IRNSS) {
274 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
275 readDbl(line, pos[2], fieldLen, _TOEweek) ) {
276 _checkState = bad;
277 return;
278 }
279 }
280
281 else if ( iLine == 6 && type() != t_eph::IRNSS) {
282 if ( readDbl(line, pos[0], fieldLen, _ura ) ||
283 readDbl(line, pos[1], fieldLen, _health) ||
284 readDbl(line, pos[2], fieldLen, _TGD ) ||
285 readDbl(line, pos[3], fieldLen, _IODC ) ) {
286 _checkState = bad;
287 return;
288 }
289 }
290 else if ( iLine == 6 && type() == t_eph::IRNSS) {
291 if ( readDbl(line, pos[0], fieldLen, _ura ) ||
292 readDbl(line, pos[1], fieldLen, _health) ||
293 readDbl(line, pos[2], fieldLen, _TGD ) ) {
294 _checkState = bad;
295 return;
296 }
297 }
298
299 else if ( iLine == 7 ) {
300 if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
301 _checkState = bad;
302 return;
303 }
304 readDbl(line, pos[1], fieldLen, _fitInterval); // _fitInterval optional
305 }
306 }
307}
308
309// Compute GPS Satellite Position (virtual)
310////////////////////////////////////////////////////////////////////////////
311t_irc t_ephGPS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
312
313 if (_checkState == bad) {
314 return failure;
315 }
316
317 static const double omegaEarth = 7292115.1467e-11;
318 static const double gmGRS = 398.6005e12;
319
320 memset(xc, 0, 4*sizeof(double));
321 memset(vv, 0, 3*sizeof(double));
322
323 double a0 = _sqrt_A * _sqrt_A;
324 if (a0 == 0) {
325 return failure;
326 }
327
328 double n0 = sqrt(gmGRS/(a0*a0*a0));
329
330 bncTime tt(GPSweek, GPSweeks);
331 double tk = tt - bncTime(int(_TOEweek), _TOEsec);
332
333 double n = n0 + _Delta_n;
334 double M = _M0 + n*tk;
335 double E = M;
336 double E_last;
337 do {
338 E_last = E;
339 E = M + _e*sin(E);
340 } while ( fabs(E-E_last)*a0 > 0.001 );
341 double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
342 double u0 = v + _omega;
343 double sin2u0 = sin(2*u0);
344 double cos2u0 = cos(2*u0);
345 double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
346 double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
347 double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
348 double xp = r*cos(u);
349 double yp = r*sin(u);
350 double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
351 omegaEarth*_TOEsec;
352
353 double sinom = sin(OM);
354 double cosom = cos(OM);
355 double sini = sin(i);
356 double cosi = cos(i);
357 xc[0] = xp*cosom - yp*cosi*sinom;
358 xc[1] = xp*sinom + yp*cosi*cosom;
359 xc[2] = yp*sini;
360
361 double tc = tt - _TOC;
362 xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
363
364 // Velocity
365 // --------
366 double tanv2 = tan(v/2);
367 double dEdM = 1 / (1 - _e*cos(E));
368 double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
369 * dEdM * n;
370 double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
371 double dotom = _OMEGADOT - omegaEarth;
372 double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
373 double dotr = a0 * _e*sin(E) * dEdM * n
374 + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
375 double dotx = dotr*cos(u) - r*sin(u)*dotu;
376 double doty = dotr*sin(u) + r*cos(u)*dotu;
377
378 vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
379 - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
380 + yp*sini*sinom*doti; // dX / di
381
382 vv[1] = sinom *dotx + cosi*cosom *doty
383 + xp*cosom*dotom - yp*cosi*sinom*dotom
384 - yp*sini*cosom*doti;
385
386 vv[2] = sini *doty + yp*cosi *doti;
387
388 // Relativistic Correction
389 // -----------------------
390 // correspondent to IGS convention and GPS ICD (and SSR standard)
391 xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
392
393 return success;
394}
395
396// RINEX Format String
397//////////////////////////////////////////////////////////////////////////////
398QString t_ephGPS::toString(double version) const {
399
400 QString rnxStr = rinexDateStr(_TOC, _prn, version);
401
402 QTextStream out(&rnxStr);
403
404 out << QString("%1%2%3\n")
405 .arg(_clock_bias, 19, 'e', 12)
406 .arg(_clock_drift, 19, 'e', 12)
407 .arg(_clock_driftrate, 19, 'e', 12);
408
409 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
410
411 out << QString(fmt)
412 .arg(_IODE, 19, 'e', 12)
413 .arg(_Crs, 19, 'e', 12)
414 .arg(_Delta_n, 19, 'e', 12)
415 .arg(_M0, 19, 'e', 12);
416
417 out << QString(fmt)
418 .arg(_Cuc, 19, 'e', 12)
419 .arg(_e, 19, 'e', 12)
420 .arg(_Cus, 19, 'e', 12)
421 .arg(_sqrt_A, 19, 'e', 12);
422
423 out << QString(fmt)
424 .arg(_TOEsec, 19, 'e', 12)
425 .arg(_Cic, 19, 'e', 12)
426 .arg(_OMEGA0, 19, 'e', 12)
427 .arg(_Cis, 19, 'e', 12);
428
429 out << QString(fmt)
430 .arg(_i0, 19, 'e', 12)
431 .arg(_Crc, 19, 'e', 12)
432 .arg(_omega, 19, 'e', 12)
433 .arg(_OMEGADOT, 19, 'e', 12);
434
435 if (type() == t_eph::IRNSS) {
436 out << QString(fmt)
437 .arg(_IDOT, 19, 'e', 12)
438 .arg("", 19, QChar(' '))
439 .arg(_TOEweek, 19, 'e', 12)
440 .arg("", 19, QChar(' '));
441 }
442 else {
443 out << QString(fmt)
444 .arg(_IDOT, 19, 'e', 12)
445 .arg(_L2Codes, 19, 'e', 12)
446 .arg(_TOEweek, 19, 'e', 12)
447 .arg(_L2PFlag, 19, 'e', 12);
448 }
449
450 if (type() == t_eph::IRNSS) {
451 out << QString(fmt)
452 .arg(_ura, 19, 'e', 12)
453 .arg(_health, 19, 'e', 12)
454 .arg(_TGD, 19, 'e', 12)
455 .arg("", 19, QChar(' '));
456 }
457 else {
458 out << QString(fmt)
459 .arg(_ura, 19, 'e', 12)
460 .arg(_health, 19, 'e', 12)
461 .arg(_TGD, 19, 'e', 12)
462 .arg(_IODC, 19, 'e', 12);
463 }
464
465 double tot = _TOT;
466 if (tot == 0.9999e9 && version < 3.0) {
467 tot = 0.0;
468 }
469 if (type() == t_eph::IRNSS) {
470 out << QString(fmt)
471 .arg(tot, 19, 'e', 12)
472 .arg("", 19, QChar(' '))
473 .arg("", 19, QChar(' '))
474 .arg("", 19, QChar(' '));
475 }
476 else {
477 out << QString(fmt)
478 .arg(tot, 19, 'e', 12)
479 .arg(_fitInterval, 19, 'e', 12)
480 .arg("", 19, QChar(' '))
481 .arg("", 19, QChar(' '));
482 }
483
484 return rnxStr;
485}
486
487// Constructor
488//////////////////////////////////////////////////////////////////////////////
489t_ephGlo::t_ephGlo(float rnxVersion, const QStringList& lines) {
490
491 const int nLines = 4;
492
493 if (lines.size() != nLines) {
494 _checkState = bad;
495 return;
496 }
497
498 // RINEX Format
499 // ------------
500 int fieldLen = 19;
501
502 int pos[4];
503 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
504 pos[1] = pos[0] + fieldLen;
505 pos[2] = pos[1] + fieldLen;
506 pos[3] = pos[2] + fieldLen;
507
508 // Read four lines
509 // ---------------
510 for (int iLine = 0; iLine < nLines; iLine++) {
511 QString line = lines[iLine];
512
513 if ( iLine == 0 ) {
514 QTextStream in(line.left(pos[1]).toAscii());
515
516 int year, month, day, hour, min;
517 double sec;
518
519 QString prnStr, n;
520 in >> prnStr;
521 if (prnStr.size() == 1 && prnStr[0] == 'R') {
522 in >> n;
523 prnStr.append(n);
524 }
525 in >> year >> month >> day >> hour >> min >> sec;
526 if (prnStr.at(0) == 'R') {
527 _prn.set('R', prnStr.mid(1).toInt());
528 }
529 else {
530 _prn.set('R', prnStr.toInt());
531 }
532
533 if (year < 80) {
534 year += 2000;
535 }
536 else if (year < 100) {
537 year += 1900;
538 }
539
540 _gps_utc = gnumleap(year, month, day);
541
542 _TOC.set(year, month, day, hour, min, sec);
543 _TOC = _TOC + _gps_utc;
544
545 if ( readDbl(line, pos[1], fieldLen, _tau ) ||
546 readDbl(line, pos[2], fieldLen, _gamma) ||
547 readDbl(line, pos[3], fieldLen, _tki ) ) {
548 _checkState = bad;
549 return;
550 }
551
552 _tau = -_tau;
553 }
554
555 else if ( iLine == 1 ) {
556 if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
557 readDbl(line, pos[1], fieldLen, _x_velocity ) ||
558 readDbl(line, pos[2], fieldLen, _x_acceleration) ||
559 readDbl(line, pos[3], fieldLen, _health ) ) {
560 _checkState = bad;
561 return;
562 }
563 }
564
565 else if ( iLine == 2 ) {
566 if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
567 readDbl(line, pos[1], fieldLen, _y_velocity ) ||
568 readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
569 readDbl(line, pos[3], fieldLen, _frequency_number) ) {
570 _checkState = bad;
571 return;
572 }
573 }
574
575 else if ( iLine == 3 ) {
576 if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
577 readDbl(line, pos[1], fieldLen, _z_velocity ) ||
578 readDbl(line, pos[2], fieldLen, _z_acceleration) ||
579 readDbl(line, pos[3], fieldLen, _E ) ) {
580 _checkState = bad;
581 return;
582 }
583 }
584 }
585
586 // Initialize status vector
587 // ------------------------
588 _tt = _TOC;
589 _xv.ReSize(6);
590 _xv(1) = _x_pos * 1.e3;
591 _xv(2) = _y_pos * 1.e3;
592 _xv(3) = _z_pos * 1.e3;
593 _xv(4) = _x_velocity * 1.e3;
594 _xv(5) = _y_velocity * 1.e3;
595 _xv(6) = _z_velocity * 1.e3;
596}
597
598// Compute Glonass Satellite Position (virtual)
599////////////////////////////////////////////////////////////////////////////
600t_irc t_ephGlo::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
601
602 if (_checkState == bad) {
603 return failure;
604 }
605
606 static const double nominalStep = 10.0;
607
608 memset(xc, 0, 4*sizeof(double));
609 memset(vv, 0, 3*sizeof(double));
610
611 double dtPos = bncTime(GPSweek, GPSweeks) - _tt;
612
613 if (fabs(dtPos) > 24*3600.0) {
614 return failure;
615 }
616
617 int nSteps = int(fabs(dtPos) / nominalStep) + 1;
618 double step = dtPos / nSteps;
619
620 double acc[3];
621 acc[0] = _x_acceleration * 1.e3;
622 acc[1] = _y_acceleration * 1.e3;
623 acc[2] = _z_acceleration * 1.e3;
624 for (int ii = 1; ii <= nSteps; ii++) {
625 _xv = rungeKutta4(_tt.gpssec(), _xv, step, acc, glo_deriv);
626 _tt = _tt + step;
627 }
628
629 // Position and Velocity
630 // ---------------------
631 xc[0] = _xv(1);
632 xc[1] = _xv(2);
633 xc[2] = _xv(3);
634
635 vv[0] = _xv(4);
636 vv[1] = _xv(5);
637 vv[2] = _xv(6);
638
639 // Clock Correction
640 // ----------------
641 double dtClk = bncTime(GPSweek, GPSweeks) - _TOC;
642 xc[3] = -_tau + _gamma * dtClk;
643
644 return success;
645}
646
647// RINEX Format String
648//////////////////////////////////////////////////////////////////////////////
649QString t_ephGlo::toString(double version) const {
650
651 QString rnxStr = rinexDateStr(_TOC-_gps_utc, _prn, version);
652
653 QTextStream out(&rnxStr);
654
655 out << QString("%1%2%3\n")
656 .arg(-_tau, 19, 'e', 12)
657 .arg(_gamma, 19, 'e', 12)
658 .arg(_tki, 19, 'e', 12);
659
660 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
661
662 out << QString(fmt)
663 .arg(_x_pos, 19, 'e', 12)
664 .arg(_x_velocity, 19, 'e', 12)
665 .arg(_x_acceleration, 19, 'e', 12)
666 .arg(_health, 19, 'e', 12);
667
668 out << QString(fmt)
669 .arg(_y_pos, 19, 'e', 12)
670 .arg(_y_velocity, 19, 'e', 12)
671 .arg(_y_acceleration, 19, 'e', 12)
672 .arg(_frequency_number, 19, 'e', 12);
673
674 out << QString(fmt)
675 .arg(_z_pos, 19, 'e', 12)
676 .arg(_z_velocity, 19, 'e', 12)
677 .arg(_z_acceleration, 19, 'e', 12)
678 .arg(_E, 19, 'e', 12);
679
680 return rnxStr;
681}
682
683// Derivative of the state vector using a simple force model (static)
684////////////////////////////////////////////////////////////////////////////
685ColumnVector t_ephGlo::glo_deriv(double /* tt */, const ColumnVector& xv,
686 double* acc) {
687
688 // State vector components
689 // -----------------------
690 ColumnVector rr = xv.rows(1,3);
691 ColumnVector vv = xv.rows(4,6);
692
693 // Acceleration
694 // ------------
695 static const double gmWGS = 398.60044e12;
696 static const double AE = 6378136.0;
697 static const double OMEGA = 7292115.e-11;
698 static const double C20 = -1082.6257e-6;
699
700 double rho = rr.norm_Frobenius();
701 double t1 = -gmWGS/(rho*rho*rho);
702 double t2 = 3.0/2.0 * C20 * (gmWGS*AE*AE) / (rho*rho*rho*rho*rho);
703 double t3 = OMEGA * OMEGA;
704 double t4 = 2.0 * OMEGA;
705 double z2 = rr(3) * rr(3);
706
707 // Vector of derivatives
708 // ---------------------
709 ColumnVector va(6);
710 va(1) = vv(1);
711 va(2) = vv(2);
712 va(3) = vv(3);
713 va(4) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(1) + t4*vv(2) + acc[0];
714 va(5) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(2) - t4*vv(1) + acc[1];
715 va(6) = (t1 + t2*(3.0-5.0*z2/(rho*rho)) ) * rr(3) + acc[2];
716
717 return va;
718}
719
720// IOD of Glonass Ephemeris (virtual)
721////////////////////////////////////////////////////////////////////////////
722unsigned int t_ephGlo::IOD() const {
723 bncTime tMoscow = _TOC - _gps_utc + 3 * 3600.0;
724 return (unsigned long)tMoscow.daysec() / 900;
725}
726
727// Health status of Glonass Ephemeris (virtual)
728////////////////////////////////////////////////////////////////////////////
729unsigned int t_ephGlo::isUnhealthy() const {
730 if (_health == 0 && _almanac_health == 0) {
731 return 1;
732 }
733 else if (_health == 1 && _almanac_health == 0) {
734 return 1;
735 }
736 else if (_health == 1 && _almanac_health == 1) {
737 return 1;
738 }
739
740 return 0;
741}
742
743// Constructor
744//////////////////////////////////////////////////////////////////////////////
745t_ephGal::t_ephGal(float rnxVersion, const QStringList& lines) {
746 int year, month, day, hour, min;
747 double sec;
748 QString prnStr;
749 const int nLines = 8;
750 if (lines.size() != nLines) {
751 _checkState = bad;
752 return;
753 }
754
755 // RINEX Format
756 // ------------
757 int fieldLen = 19;
758 double SVhealth = 0.0;
759 double datasource = 0.0;
760
761 int pos[4];
762 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
763 pos[1] = pos[0] + fieldLen;
764 pos[2] = pos[1] + fieldLen;
765 pos[3] = pos[2] + fieldLen;
766
767 // Read eight lines
768 // ----------------
769 for (int iLine = 0; iLine < nLines; iLine++) {
770 QString line = lines[iLine];
771
772 if ( iLine == 0 ) {
773 QTextStream in(line.left(pos[1]).toAscii());
774 QString n;
775 in >> prnStr;
776 if (prnStr.size() == 1 && prnStr[0] == 'E') {
777 in >> n;
778 prnStr.append(n);
779 }
780 in >> year >> month >> day >> hour >> min >> sec;
781 if (year < 80) {
782 year += 2000;
783 }
784 else if (year < 100) {
785 year += 1900;
786 }
787
788 _TOC.set(year, month, day, hour, min, sec);
789
790 if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
791 readDbl(line, pos[2], fieldLen, _clock_drift ) ||
792 readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
793 _checkState = bad;
794 return;
795 }
796 }
797
798 else if ( iLine == 1 ) {
799 if ( readDbl(line, pos[0], fieldLen, _IODnav ) ||
800 readDbl(line, pos[1], fieldLen, _Crs ) ||
801 readDbl(line, pos[2], fieldLen, _Delta_n) ||
802 readDbl(line, pos[3], fieldLen, _M0 ) ) {
803 _checkState = bad;
804 return;
805 }
806 }
807
808 else if ( iLine == 2 ) {
809 if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
810 readDbl(line, pos[1], fieldLen, _e ) ||
811 readDbl(line, pos[2], fieldLen, _Cus ) ||
812 readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
813 _checkState = bad;
814 return;
815 }
816 }
817
818 else if ( iLine == 3 ) {
819 if ( readDbl(line, pos[0], fieldLen, _TOEsec) ||
820 readDbl(line, pos[1], fieldLen, _Cic ) ||
821 readDbl(line, pos[2], fieldLen, _OMEGA0) ||
822 readDbl(line, pos[3], fieldLen, _Cis ) ) {
823 _checkState = bad;
824 return;
825 }
826 }
827
828 else if ( iLine == 4 ) {
829 if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
830 readDbl(line, pos[1], fieldLen, _Crc ) ||
831 readDbl(line, pos[2], fieldLen, _omega ) ||
832 readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
833 _checkState = bad;
834 return;
835 }
836 }
837
838 else if ( iLine == 5 ) {
839 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
840 readDbl(line, pos[1], fieldLen, datasource) ||
841 readDbl(line, pos[2], fieldLen, _TOEweek ) ) {
842 _checkState = bad;
843 return;
844 } else {
845 if (int(datasource) & (1<<8)) {
846 _fnav = true;
847 _inav = false;
848 } else if (int(datasource) & (1<<9)) {
849 _fnav = false;
850 _inav = true;
851 }
852 _TOEweek -= 1024.0;
853 }
854 }
855
856 else if ( iLine == 6 ) {
857 if ( readDbl(line, pos[0], fieldLen, _SISA ) ||
858 readDbl(line, pos[1], fieldLen, SVhealth) ||
859 readDbl(line, pos[2], fieldLen, _BGD_1_5A) ||
860 readDbl(line, pos[3], fieldLen, _BGD_1_5B) ) {
861 _checkState = bad;
862 return;
863 } else {
864 // Bit 0
865 _e1DataInValid = (int(SVhealth) & (1<<0));
866 // Bit 1-2
867 _E1_bHS = double((int(SVhealth) >> 1) & 0x3);
868 // Bit 3
869 _e5aDataInValid = (int(SVhealth) & (1<<3));
870 // Bit 4-5
871 _E5aHS = double((int(SVhealth) >> 4) & 0x3);
872 // Bit 6
873 _e5bDataInValid = (int(SVhealth) & (1<<6));
874 // Bit 7-8
875 _E5bHS = double((int(SVhealth) >> 7) & 0x3);
876
877 if (prnStr.at(0) == 'E') {
878 _prn.set('E', prnStr.mid(1).toInt(), _inav ? 1 : 0);
879 }
880 }
881 }
882
883 else if ( iLine == 7 ) {
884 if ( readDbl(line, pos[0], fieldLen, _TOT) ) {
885 _checkState = bad;
886 return;
887 }
888 }
889 }
890}
891
892// Compute Galileo Satellite Position (virtual)
893////////////////////////////////////////////////////////////////////////////
894t_irc t_ephGal::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
895
896 if (_checkState == bad) {
897 return failure;
898 }
899
900 static const double omegaEarth = 7292115.1467e-11;
901 static const double gmWGS = 398.60044e12;
902
903 memset(xc, 0, 4*sizeof(double));
904 memset(vv, 0, 3*sizeof(double));
905
906 double a0 = _sqrt_A * _sqrt_A;
907 if (a0 == 0) {
908 return failure;
909 }
910
911 double n0 = sqrt(gmWGS/(a0*a0*a0));
912
913 bncTime tt(GPSweek, GPSweeks);
914 double tk = tt - bncTime(_TOC.gpsw(), _TOEsec);
915
916 double n = n0 + _Delta_n;
917 double M = _M0 + n*tk;
918 double E = M;
919 double E_last;
920 do {
921 E_last = E;
922 E = M + _e*sin(E);
923 } while ( fabs(E-E_last)*a0 > 0.001 );
924 double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
925 double u0 = v + _omega;
926 double sin2u0 = sin(2*u0);
927 double cos2u0 = cos(2*u0);
928 double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
929 double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
930 double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
931 double xp = r*cos(u);
932 double yp = r*sin(u);
933 double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
934 omegaEarth*_TOEsec;
935
936 double sinom = sin(OM);
937 double cosom = cos(OM);
938 double sini = sin(i);
939 double cosi = cos(i);
940 xc[0] = xp*cosom - yp*cosi*sinom;
941 xc[1] = xp*sinom + yp*cosi*cosom;
942 xc[2] = yp*sini;
943
944 double tc = tt - _TOC;
945 xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
946
947 // Velocity
948 // --------
949 double tanv2 = tan(v/2);
950 double dEdM = 1 / (1 - _e*cos(E));
951 double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
952 * dEdM * n;
953 double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
954 double dotom = _OMEGADOT - omegaEarth;
955 double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
956 double dotr = a0 * _e*sin(E) * dEdM * n
957 + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
958 double dotx = dotr*cos(u) - r*sin(u)*dotu;
959 double doty = dotr*sin(u) + r*cos(u)*dotu;
960
961 vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
962 - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
963 + yp*sini*sinom*doti; // dX / di
964
965 vv[1] = sinom *dotx + cosi*cosom *doty
966 + xp*cosom*dotom - yp*cosi*sinom*dotom
967 - yp*sini*cosom*doti;
968
969 vv[2] = sini *doty + yp*cosi *doti;
970
971 // Relativistic Correction
972 // -----------------------
973 // correspondent to Galileo ICD and to SSR standard
974 xc[3] -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
975 // correspondent to IGS convention
976 //xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
977
978 return success;
979}
980
981// Health status of Galileo Ephemeris (virtual)
982////////////////////////////////////////////////////////////////////////////
983unsigned int t_ephGal::isUnhealthy() const {
984 if (_E5aHS && _E5bHS && _E1_bHS) {
985 return 1;
986 }
987 return 0;
988}
989
990// RINEX Format String
991//////////////////////////////////////////////////////////////////////////////
992QString t_ephGal::toString(double version) const {
993
994 QString rnxStr = rinexDateStr(_TOC, _prn, version);
995
996 QTextStream out(&rnxStr);
997
998 out << QString("%1%2%3\n")
999 .arg(_clock_bias, 19, 'e', 12)
1000 .arg(_clock_drift, 19, 'e', 12)
1001 .arg(_clock_driftrate, 19, 'e', 12);
1002
1003 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1004
1005 out << QString(fmt)
1006 .arg(_IODnav, 19, 'e', 12)
1007 .arg(_Crs, 19, 'e', 12)
1008 .arg(_Delta_n, 19, 'e', 12)
1009 .arg(_M0, 19, 'e', 12);
1010
1011 out << QString(fmt)
1012 .arg(_Cuc, 19, 'e', 12)
1013 .arg(_e, 19, 'e', 12)
1014 .arg(_Cus, 19, 'e', 12)
1015 .arg(_sqrt_A, 19, 'e', 12);
1016
1017 out << QString(fmt)
1018 .arg(_TOEsec, 19, 'e', 12)
1019 .arg(_Cic, 19, 'e', 12)
1020 .arg(_OMEGA0, 19, 'e', 12)
1021 .arg(_Cis, 19, 'e', 12);
1022
1023 out << QString(fmt)
1024 .arg(_i0, 19, 'e', 12)
1025 .arg(_Crc, 19, 'e', 12)
1026 .arg(_omega, 19, 'e', 12)
1027 .arg(_OMEGADOT, 19, 'e', 12);
1028
1029 int dataSource = 0;
1030 int SVhealth = 0;
1031 double BGD_1_5A = _BGD_1_5A;
1032 double BGD_1_5B = _BGD_1_5B;
1033 if (_fnav) {
1034 dataSource |= (1<<1);
1035 dataSource |= (1<<8);
1036 BGD_1_5B = 0.0;
1037 // SVhealth
1038 // Bit 3 : E5a DVS
1039 if (_e5aDataInValid) {
1040 SVhealth |= (1<<3);
1041 }
1042 // Bit 4-5: E5a HS
1043 if (_E5aHS == 1.0) {
1044 SVhealth |= (1<<4);
1045 }
1046 else if (_E5aHS == 2.0) {
1047 SVhealth |= (1<<5);
1048 }
1049 else if (_E5aHS == 3.0) {
1050 SVhealth |= (1<<4);
1051 SVhealth |= (1<<5);
1052 }
1053 }
1054 else if(_inav) {
1055 // Bit 2 and 0 are set because from MT1046 the data source cannot be determined
1056 // and RNXv3.03 says both can be set if the navigation messages were merged
1057 dataSource |= (1<<0);
1058 dataSource |= (1<<2);
1059 dataSource |= (1<<9);
1060 // SVhealth
1061 // Bit 0 : E1-B DVS
1062 if (_e1DataInValid) {
1063 SVhealth |= (1<<0);
1064 }
1065 // Bit 1-2: E1-B HS
1066 if (_E1_bHS == 1.0) {
1067 SVhealth |= (1<<1);
1068 }
1069 else if (_E1_bHS == 2.0) {
1070 SVhealth |= (1<<2);
1071 }
1072 else if (_E1_bHS == 3.0) {
1073 SVhealth |= (1<<1);
1074 SVhealth |= (1<<2);
1075 }
1076 // Bit 3 : E5a DVS
1077 if (_e5aDataInValid) {
1078 SVhealth |= (1<<3);
1079 }
1080 // Bit 4-5: E5a HS
1081 if (_E5aHS == 1.0) {
1082 SVhealth |= (1<<4);
1083 }
1084 else if (_E5aHS == 2.0) {
1085 SVhealth |= (1<<5);
1086 }
1087 else if (_E5aHS == 3.0) {
1088 SVhealth |= (1<<4);
1089 SVhealth |= (1<<5);
1090 }
1091 // Bit 6 : E5b DVS
1092 if (_e5bDataInValid) {
1093 SVhealth |= (1<<6);
1094 }
1095 // Bit 7-8: E5b HS
1096 if (_E5bHS == 1.0) {
1097 SVhealth |= (1<<7);
1098 }
1099 else if (_E5bHS == 2.0) {
1100 SVhealth |= (1<<8);
1101 }
1102 else if (_E5bHS == 3.0) {
1103 SVhealth |= (1<<7);
1104 SVhealth |= (1<<8);
1105 }
1106 }
1107
1108 out << QString(fmt)
1109 .arg(_IDOT, 19, 'e', 12)
1110 .arg(double(dataSource), 19, 'e', 12)
1111 .arg(_TOEweek + 1024.0, 19, 'e', 12)
1112 .arg(0.0, 19, 'e', 12);
1113
1114 out << QString(fmt)
1115 .arg(_SISA, 19, 'e', 12)
1116 .arg(double(SVhealth), 19, 'e', 12)
1117 .arg(BGD_1_5A, 19, 'e', 12)
1118 .arg(BGD_1_5B, 19, 'e', 12);
1119
1120
1121 double tot = _TOT;
1122 if (tot == 0.9999e9 && version < 3.0) {
1123 tot = 0.0;
1124 }
1125 out << QString(fmt)
1126 .arg(tot, 19, 'e', 12)
1127 .arg("", 19, QChar(' '))
1128 .arg("", 19, QChar(' '))
1129 .arg("", 19, QChar(' '));
1130
1131 return rnxStr;
1132}
1133
1134// Constructor
1135//////////////////////////////////////////////////////////////////////////////
1136t_ephSBAS::t_ephSBAS(float rnxVersion, const QStringList& lines) {
1137
1138 const int nLines = 4;
1139
1140 if (lines.size() != nLines) {
1141 _checkState = bad;
1142 return;
1143 }
1144
1145 // RINEX Format
1146 // ------------
1147 int fieldLen = 19;
1148
1149 int pos[4];
1150 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
1151 pos[1] = pos[0] + fieldLen;
1152 pos[2] = pos[1] + fieldLen;
1153 pos[3] = pos[2] + fieldLen;
1154
1155 // Read four lines
1156 // ---------------
1157 for (int iLine = 0; iLine < nLines; iLine++) {
1158 QString line = lines[iLine];
1159
1160 if ( iLine == 0 ) {
1161 QTextStream in(line.left(pos[1]).toAscii());
1162
1163 int year, month, day, hour, min;
1164 double sec;
1165
1166 QString prnStr, n;
1167 in >> prnStr;
1168 if (prnStr.size() == 1 && prnStr[0] == 'S') {
1169 in >> n;
1170 prnStr.append(n);
1171 }
1172 in >> year >> month >> day >> hour >> min >> sec;
1173 if (prnStr.at(0) == 'S') {
1174 _prn.set('S', prnStr.mid(1).toInt());
1175 }
1176 else {
1177 _prn.set('S', prnStr.toInt());
1178 }
1179
1180 if (year < 80) {
1181 year += 2000;
1182 }
1183 else if (year < 100) {
1184 year += 1900;
1185 }
1186
1187 _TOC.set(year, month, day, hour, min, sec);
1188
1189 if ( readDbl(line, pos[1], fieldLen, _agf0 ) ||
1190 readDbl(line, pos[2], fieldLen, _agf1 ) ||
1191 readDbl(line, pos[3], fieldLen, _TOW ) ) {
1192 _checkState = bad;
1193 return;
1194 }
1195 }
1196
1197 else if ( iLine == 1 ) {
1198 if ( readDbl(line, pos[0], fieldLen, _x_pos ) ||
1199 readDbl(line, pos[1], fieldLen, _x_velocity ) ||
1200 readDbl(line, pos[2], fieldLen, _x_acceleration) ||
1201 readDbl(line, pos[3], fieldLen, _health ) ) {
1202 _checkState = bad;
1203 return;
1204 }
1205 }
1206
1207 else if ( iLine == 2 ) {
1208 if ( readDbl(line, pos[0], fieldLen, _y_pos ) ||
1209 readDbl(line, pos[1], fieldLen, _y_velocity ) ||
1210 readDbl(line, pos[2], fieldLen, _y_acceleration ) ||
1211 readDbl(line, pos[3], fieldLen, _ura ) ) {
1212 _checkState = bad;
1213 return;
1214 }
1215 }
1216
1217 else if ( iLine == 3 ) {
1218 double iodn;
1219 if ( readDbl(line, pos[0], fieldLen, _z_pos ) ||
1220 readDbl(line, pos[1], fieldLen, _z_velocity ) ||
1221 readDbl(line, pos[2], fieldLen, _z_acceleration) ||
1222 readDbl(line, pos[3], fieldLen, iodn ) ) {
1223 _checkState = bad;
1224 return;
1225 } else {
1226 _IODN = int(iodn);
1227 }
1228 }
1229 }
1230
1231 _x_pos *= 1.e3;
1232 _y_pos *= 1.e3;
1233 _z_pos *= 1.e3;
1234 _x_velocity *= 1.e3;
1235 _y_velocity *= 1.e3;
1236 _z_velocity *= 1.e3;
1237 _x_acceleration *= 1.e3;
1238 _y_acceleration *= 1.e3;
1239 _z_acceleration *= 1.e3;
1240}
1241
1242// IOD of SBAS Ephemeris (virtual)
1243////////////////////////////////////////////////////////////////////////////
1244
1245unsigned int t_ephSBAS::IOD() const {
1246 unsigned char buffer[80];
1247 int size = 0;
1248 int numbits = 0;
1249 long long bitbuffer = 0;
1250 unsigned char *startbuffer = buffer;
1251
1252 SBASADDBITSFLOAT(30, this->_x_pos, 0.08)
1253 SBASADDBITSFLOAT(30, this->_y_pos, 0.08)
1254 SBASADDBITSFLOAT(25, this->_z_pos, 0.4)
1255 SBASADDBITSFLOAT(17, this->_x_velocity, 0.000625)
1256 SBASADDBITSFLOAT(17, this->_y_velocity, 0.000625)
1257 SBASADDBITSFLOAT(18, this->_z_velocity, 0.004)
1258 SBASADDBITSFLOAT(10, this->_x_acceleration, 0.0000125)
1259 SBASADDBITSFLOAT(10, this->_y_acceleration, 0.0000125)
1260 SBASADDBITSFLOAT(10, this->_z_acceleration, 0.0000625)
1261 SBASADDBITSFLOAT(12, this->_agf0, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1262 SBASADDBITSFLOAT(8, this->_agf1, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<10))
1263 SBASADDBITS(5,0); // the last byte is filled by 0-bits to obtain a length of an integer multiple of 8
1264
1265 return CRC24(size, startbuffer);
1266}
1267
1268// Compute SBAS Satellite Position (virtual)
1269////////////////////////////////////////////////////////////////////////////
1270t_irc t_ephSBAS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
1271
1272 if (_checkState == bad) {
1273 return failure;
1274 }
1275
1276 bncTime tt(GPSweek, GPSweeks);
1277 double dt = tt - _TOC;
1278
1279 xc[0] = _x_pos + _x_velocity * dt + _x_acceleration * dt * dt / 2.0;
1280 xc[1] = _y_pos + _y_velocity * dt + _y_acceleration * dt * dt / 2.0;
1281 xc[2] = _z_pos + _z_velocity * dt + _z_acceleration * dt * dt / 2.0;
1282
1283 vv[0] = _x_velocity + _x_acceleration * dt;
1284 vv[1] = _y_velocity + _y_acceleration * dt;
1285 vv[2] = _z_velocity + _z_acceleration * dt;
1286
1287 xc[3] = _agf0 + _agf1 * dt;
1288
1289 return success;
1290}
1291
1292// RINEX Format String
1293//////////////////////////////////////////////////////////////////////////////
1294QString t_ephSBAS::toString(double version) const {
1295
1296 QString rnxStr = rinexDateStr(_TOC, _prn, version);
1297
1298 QTextStream out(&rnxStr);
1299
1300 out << QString("%1%2%3\n")
1301 .arg(_agf0, 19, 'e', 12)
1302 .arg(_agf1, 19, 'e', 12)
1303 .arg(_TOW, 19, 'e', 12);
1304
1305 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1306
1307 out << QString(fmt)
1308 .arg(1.e-3*_x_pos, 19, 'e', 12)
1309 .arg(1.e-3*_x_velocity, 19, 'e', 12)
1310 .arg(1.e-3*_x_acceleration, 19, 'e', 12)
1311 .arg(_health, 19, 'e', 12);
1312
1313 out << QString(fmt)
1314 .arg(1.e-3*_y_pos, 19, 'e', 12)
1315 .arg(1.e-3*_y_velocity, 19, 'e', 12)
1316 .arg(1.e-3*_y_acceleration, 19, 'e', 12)
1317 .arg(_ura, 19, 'e', 12);
1318
1319 out << QString(fmt)
1320 .arg(1.e-3*_z_pos, 19, 'e', 12)
1321 .arg(1.e-3*_z_velocity, 19, 'e', 12)
1322 .arg(1.e-3*_z_acceleration, 19, 'e', 12)
1323 .arg(double(_IODN), 19, 'e', 12);
1324
1325 return rnxStr;
1326}
1327
1328// Constructor
1329//////////////////////////////////////////////////////////////////////////////
1330t_ephBDS::t_ephBDS(float rnxVersion, const QStringList& lines) {
1331
1332 const int nLines = 8;
1333
1334 if (lines.size() != nLines) {
1335 _checkState = bad;
1336 return;
1337 }
1338
1339 // RINEX Format
1340 // ------------
1341 int fieldLen = 19;
1342
1343 int pos[4];
1344 pos[0] = (rnxVersion <= 2.12) ? 3 : 4;
1345 pos[1] = pos[0] + fieldLen;
1346 pos[2] = pos[1] + fieldLen;
1347 pos[3] = pos[2] + fieldLen;
1348
1349 // Read eight lines
1350 // ----------------
1351 for (int iLine = 0; iLine < nLines; iLine++) {
1352 QString line = lines[iLine];
1353
1354 if ( iLine == 0 ) {
1355 QTextStream in(line.left(pos[1]).toAscii());
1356
1357 int year, month, day, hour, min;
1358 double sec;
1359
1360 QString prnStr, n;
1361 in >> prnStr;
1362 if (prnStr.size() == 1 && prnStr[0] == 'C') {
1363 in >> n;
1364 prnStr.append(n);
1365 }
1366 in >> year >> month >> day >> hour >> min >> sec;
1367 if (prnStr.at(0) == 'C') {
1368 _prn.set('C', prnStr.mid(1).toInt());
1369 }
1370 else {
1371 _prn.set('C', prnStr.toInt());
1372 }
1373
1374 if (year < 80) {
1375 year += 2000;
1376 }
1377 else if (year < 100) {
1378 year += 1900;
1379 }
1380
1381 _TOC.setBDS(year, month, day, hour, min, sec);
1382
1383 if ( readDbl(line, pos[1], fieldLen, _clock_bias ) ||
1384 readDbl(line, pos[2], fieldLen, _clock_drift ) ||
1385 readDbl(line, pos[3], fieldLen, _clock_driftrate) ) {
1386 _checkState = bad;
1387 return;
1388 }
1389 }
1390
1391 else if ( iLine == 1 ) {
1392 double aode;
1393 if ( readDbl(line, pos[0], fieldLen, aode ) ||
1394 readDbl(line, pos[1], fieldLen, _Crs ) ||
1395 readDbl(line, pos[2], fieldLen, _Delta_n) ||
1396 readDbl(line, pos[3], fieldLen, _M0 ) ) {
1397 _checkState = bad;
1398 return;
1399 }
1400 _AODE = int(aode);
1401 }
1402
1403 else if ( iLine == 2 ) {
1404 if ( readDbl(line, pos[0], fieldLen, _Cuc ) ||
1405 readDbl(line, pos[1], fieldLen, _e ) ||
1406 readDbl(line, pos[2], fieldLen, _Cus ) ||
1407 readDbl(line, pos[3], fieldLen, _sqrt_A) ) {
1408 _checkState = bad;
1409 return;
1410 }
1411 }
1412
1413 else if ( iLine == 3 ) {
1414 if ( readDbl(line, pos[0], fieldLen, _TOEsec ) ||
1415 readDbl(line, pos[1], fieldLen, _Cic ) ||
1416 readDbl(line, pos[2], fieldLen, _OMEGA0) ||
1417 readDbl(line, pos[3], fieldLen, _Cis ) ) {
1418 _checkState = bad;
1419 return;
1420 }
1421 }
1422
1423 else if ( iLine == 4 ) {
1424 if ( readDbl(line, pos[0], fieldLen, _i0 ) ||
1425 readDbl(line, pos[1], fieldLen, _Crc ) ||
1426 readDbl(line, pos[2], fieldLen, _omega ) ||
1427 readDbl(line, pos[3], fieldLen, _OMEGADOT) ) {
1428 _checkState = bad;
1429 return;
1430 }
1431 }
1432
1433 else if ( iLine == 5 ) {
1434 if ( readDbl(line, pos[0], fieldLen, _IDOT ) ||
1435 readDbl(line, pos[2], fieldLen, _TOEweek)) {
1436 _checkState = bad;
1437 return;
1438 }
1439 }
1440
1441 else if ( iLine == 6 ) {
1442 double SatH1;
1443 if ( readDbl(line, pos[0], fieldLen, _URA ) ||
1444 readDbl(line, pos[1], fieldLen, SatH1) ||
1445 readDbl(line, pos[2], fieldLen, _TGD1) ||
1446 readDbl(line, pos[3], fieldLen, _TGD2) ) {
1447 _checkState = bad;
1448 return;
1449 }
1450 _SatH1 = int(SatH1);
1451 }
1452
1453 else if ( iLine == 7 ) {
1454 double aodc;
1455 if ( readDbl(line, pos[0], fieldLen, _TOT) ||
1456 readDbl(line, pos[1], fieldLen, aodc) ) {
1457 _checkState = bad;
1458 return;
1459 }
1460 if (_TOT == 0.9999e9) { // 0.9999e9 means not known (RINEX standard)
1461 _TOT = _TOEsec;
1462 }
1463 _AODC = int(aodc);
1464 }
1465 }
1466
1467 _TOE.setBDS(int(_TOEweek), _TOEsec);
1468
1469 // remark: actually should be computed from second_tot
1470 // but it seems to be unreliable in RINEX files
1471 //_TOT = _TOC.bdssec();
1472}
1473
1474// IOD of BDS Ephemeris (virtual)
1475////////////////////////////////////////////////////////////////////////////
1476unsigned int t_ephBDS::IOD() const {
1477 unsigned char buffer[80];
1478 int size = 0;
1479 int numbits = 0;
1480 long long bitbuffer = 0;
1481 unsigned char *startbuffer = buffer;
1482
1483 BDSADDBITSFLOAT(14, this->_IDOT, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<13))
1484 BDSADDBITSFLOAT(11, this->_clock_driftrate, 1.0/static_cast<double>(1<<30)
1485 /static_cast<double>(1<<30)/static_cast<double>(1<<6))
1486 BDSADDBITSFLOAT(22, this->_clock_drift, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<20))
1487 BDSADDBITSFLOAT(24, this->_clock_bias, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
1488 BDSADDBITSFLOAT(18, this->_Crs, 1.0/static_cast<double>(1<<6))
1489 BDSADDBITSFLOAT(16, this->_Delta_n, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<13))
1490 BDSADDBITSFLOAT(32, this->_M0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1491 BDSADDBITSFLOAT(18, this->_Cuc, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1492 BDSADDBITSFLOAT(32, this->_e, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
1493 BDSADDBITSFLOAT(18, this->_Cus, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1494 BDSADDBITSFLOAT(32, this->_sqrt_A, 1.0/static_cast<double>(1<<19))
1495 BDSADDBITSFLOAT(18, this->_Cic, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1496 BDSADDBITSFLOAT(32, this->_OMEGA0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1497 BDSADDBITSFLOAT(18, this->_Cis, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1498 BDSADDBITSFLOAT(32, this->_i0, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1499 BDSADDBITSFLOAT(18, this->_Crc, 1.0/static_cast<double>(1<<6))
1500 BDSADDBITSFLOAT(32, this->_omega, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
1501 BDSADDBITSFLOAT(24, this->_OMEGADOT, M_PI/static_cast<double>(1<<30)/static_cast<double>(1<<13))
1502 BDSADDBITS(5, 0) // the last byte is filled by 0-bits to obtain a length of an integer multiple of 8
1503
1504 return CRC24(size, startbuffer);
1505}
1506
1507// Compute BDS Satellite Position (virtual)
1508//////////////////////////////////////////////////////////////////////////////
1509t_irc t_ephBDS::position(int GPSweek, double GPSweeks, double* xc, double* vv) const {
1510
1511 if (_checkState == bad) {
1512 return failure;
1513 }
1514
1515 static const double gmBDS = 398.6004418e12;
1516 static const double omegaBDS = 7292115.0000e-11;
1517
1518 xc[0] = xc[1] = xc[2] = xc[3] = 0.0;
1519 vv[0] = vv[1] = vv[2] = 0.0;
1520
1521 bncTime tt(GPSweek, GPSweeks);
1522
1523 if (_sqrt_A == 0) {
1524 return failure;
1525 }
1526 double a0 = _sqrt_A * _sqrt_A;
1527
1528 double n0 = sqrt(gmBDS/(a0*a0*a0));
1529 double tk = tt - _TOE;
1530 double n = n0 + _Delta_n;
1531 double M = _M0 + n*tk;
1532 double E = M;
1533 double E_last;
1534 int nLoop = 0;
1535 do {
1536 E_last = E;
1537 E = M + _e*sin(E);
1538
1539 if (++nLoop == 100) {
1540 return failure;
1541 }
1542 } while ( fabs(E-E_last)*a0 > 0.001 );
1543
1544 double v = atan2(sqrt(1-_e*_e) * sin(E), cos(E) - _e);
1545 double u0 = v + _omega;
1546 double sin2u0 = sin(2*u0);
1547 double cos2u0 = cos(2*u0);
1548 double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
1549 double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
1550 double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
1551 double xp = r*cos(u);
1552 double yp = r*sin(u);
1553 double toesec = (_TOE.gpssec() - 14.0);
1554 double sinom = 0;
1555 double cosom = 0;
1556 double sini = 0;
1557 double cosi = 0;
1558
1559 // Velocity
1560 // --------
1561 double tanv2 = tan(v/2);
1562 double dEdM = 1 / (1 - _e*cos(E));
1563 double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2)
1564 / (1 + tanv2*tanv2) * dEdM * n;
1565 double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
1566 double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
1567 double dotr = a0 * _e*sin(E) * dEdM * n
1568 + (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
1569
1570 double dotx = dotr*cos(u) - r*sin(u)*dotu;
1571 double doty = dotr*sin(u) + r*cos(u)*dotu;
1572
1573 const double iMaxGEO = 10.0 / 180.0 * M_PI;
1574
1575 // MEO/IGSO satellite
1576 // ------------------
1577 if (_i0 > iMaxGEO) {
1578 double OM = _OMEGA0 + (_OMEGADOT - omegaBDS)*tk - omegaBDS*toesec;
1579
1580 sinom = sin(OM);
1581 cosom = cos(OM);
1582 sini = sin(i);
1583 cosi = cos(i);
1584
1585 xc[0] = xp*cosom - yp*cosi*sinom;
1586 xc[1] = xp*sinom + yp*cosi*cosom;
1587 xc[2] = yp*sini;
1588
1589 // Velocity
1590 // --------
1591
1592 double dotom = _OMEGADOT - t_CST::omega;
1593
1594 vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
1595 - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
1596 + yp*sini*sinom*doti; // dX / di
1597
1598 vv[1] = sinom *dotx + cosi*cosom *doty
1599 + xp*cosom*dotom - yp*cosi*sinom*dotom
1600 - yp*sini*cosom*doti;
1601
1602 vv[2] = sini *doty + yp*cosi *doti;
1603
1604 }
1605
1606 // GEO satellite
1607 // -------------
1608 else {
1609 double OM = _OMEGA0 + _OMEGADOT*tk - omegaBDS*toesec;
1610 double ll = omegaBDS*tk;
1611
1612 sinom = sin(OM);
1613 cosom = cos(OM);
1614 sini = sin(i);
1615 cosi = cos(i);
1616
1617 double xx = xp*cosom - yp*cosi*sinom;
1618 double yy = xp*sinom + yp*cosi*cosom;
1619 double zz = yp*sini;
1620
1621 Matrix RX = BNC_PPP::t_astro::rotX(-5.0 / 180.0 * M_PI);
1622 Matrix RZ = BNC_PPP::t_astro::rotZ(ll);
1623
1624 ColumnVector X1(3); X1 << xx << yy << zz;
1625 ColumnVector X2 = RZ*RX*X1;
1626
1627 xc[0] = X2(1);
1628 xc[1] = X2(2);
1629 xc[2] = X2(3);
1630
1631 double dotom = _OMEGADOT;
1632
1633 double vx = cosom *dotx - cosi*sinom *doty
1634 - xp*sinom*dotom - yp*cosi*cosom*dotom
1635 + yp*sini*sinom*doti;
1636
1637 double vy = sinom *dotx + cosi*cosom *doty
1638 + xp*cosom*dotom - yp*cosi*sinom*dotom
1639 - yp*sini*cosom*doti;
1640
1641 double vz = sini *doty + yp*cosi *doti;
1642
1643 ColumnVector V(3); V << vx << vy << vz;
1644
1645 Matrix RdotZ(3,3);
1646 double C = cos(ll);
1647 double S = sin(ll);
1648 Matrix UU(3,3);
1649 UU[0][0] = -S; UU[0][1] = +C; UU[0][2] = 0.0;
1650 UU[1][0] = -C; UU[1][1] = -S; UU[1][2] = 0.0;
1651 UU[2][0] = 0.0; UU[2][1] = 0.0; UU[2][2] = 0.0;
1652 RdotZ = omegaBDS * UU;
1653
1654 ColumnVector VV(3);
1655 VV = RZ*RX*V + RdotZ*RX*X1;
1656
1657 vv[0] = VV(1);
1658 vv[1] = VV(2);
1659 vv[2] = VV(3);
1660 }
1661
1662 double tc = tt - _TOC;
1663 xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
1664
1665 // dotC = _clock_drift + _clock_driftrate*tc
1666 // - 4.442807633e-10*_e*sqrt(a0)*cos(E) * dEdM * n;
1667
1668 // Relativistic Correction
1669 // -----------------------
1670 // correspondent to BDS ICD and to SSR standard
1671 xc[3] -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
1672 // correspondent to IGS convention
1673 // xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / t_CST::c / t_CST::c;
1674
1675 return success;
1676}
1677
1678// RINEX Format String
1679//////////////////////////////////////////////////////////////////////////////
1680QString t_ephBDS::toString(double version) const {
1681
1682 QString rnxStr = rinexDateStr(_TOC-14.0, _prn, version);
1683
1684 QTextStream out(&rnxStr);
1685
1686 out << QString("%1%2%3\n")
1687 .arg(_clock_bias, 19, 'e', 12)
1688 .arg(_clock_drift, 19, 'e', 12)
1689 .arg(_clock_driftrate, 19, 'e', 12);
1690
1691 QString fmt = version < 3.0 ? " %1%2%3%4\n" : " %1%2%3%4\n";
1692
1693 out << QString(fmt)
1694 .arg(double(_AODE), 19, 'e', 12)
1695 .arg(_Crs, 19, 'e', 12)
1696 .arg(_Delta_n, 19, 'e', 12)
1697 .arg(_M0, 19, 'e', 12);
1698
1699 out << QString(fmt)
1700 .arg(_Cuc, 19, 'e', 12)
1701 .arg(_e, 19, 'e', 12)
1702 .arg(_Cus, 19, 'e', 12)
1703 .arg(_sqrt_A, 19, 'e', 12);
1704
1705 double toes = 0.0;
1706 if (_TOEweek > -1.0) {// RINEX input
1707 toes = _TOEsec;
1708 }
1709 else {// RTCM stream input
1710 toes = _TOE.bdssec();
1711 }
1712 out << QString(fmt)
1713 .arg(toes, 19, 'e', 12)
1714 .arg(_Cic, 19, 'e', 12)
1715 .arg(_OMEGA0, 19, 'e', 12)
1716 .arg(_Cis, 19, 'e', 12);
1717
1718 out << QString(fmt)
1719 .arg(_i0, 19, 'e', 12)
1720 .arg(_Crc, 19, 'e', 12)
1721 .arg(_omega, 19, 'e', 12)
1722 .arg(_OMEGADOT, 19, 'e', 12);
1723
1724 double toew = 0.0;
1725 if (_TOEweek > -1.0) {// RINEX input
1726 toew = _TOEweek;
1727 }
1728 else {// RTCM stream input
1729 toew = double(_TOE.bdsw());
1730 }
1731 out << QString(fmt)
1732 .arg(_IDOT, 19, 'e', 12)
1733 .arg(0.0, 19, 'e', 12)
1734 .arg(toew, 19, 'e', 12)
1735 .arg(0.0, 19, 'e', 12);
1736
1737 out << QString(fmt)
1738 .arg(_URA, 19, 'e', 12)
1739 .arg(double(_SatH1), 19, 'e', 12)
1740 .arg(_TGD1, 19, 'e', 12)
1741 .arg(_TGD2, 19, 'e', 12);
1742
1743 double tots = 0.0;
1744 if (_TOEweek > -1.0) {// RINEX input
1745 tots = _TOT;
1746 }
1747 else {// RTCM stream input
1748 tots = _TOE.bdssec();
1749 }
1750 out << QString(fmt)
1751 .arg(tots, 19, 'e', 12)
1752 .arg(double(_AODC), 19, 'e', 12)
1753 .arg("", 19, QChar(' '))
1754 .arg("", 19, QChar(' '));
1755 return rnxStr;
1756}
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