[1025] | 1 | #ifndef EPHEMERIS_H
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| 2 | #define EPHEMERIS_H
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| 3 |
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[2221] | 4 | #include <newmat.h>
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[3174] | 5 | #include <QtCore>
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[1025] | 6 | #include <stdio.h>
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| 7 | #include <string>
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[4018] | 8 | #include "bnctime.h"
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[5749] | 9 | #include "bncconst.h"
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[5776] | 10 | #include "t_prn.h"
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[6812] | 11 | #include "gnss.h"
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[6139] | 12 |
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[7054] | 13 |
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[6141] | 14 | class t_orbCorr;
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| 15 | class t_clkCorr;
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[5749] | 16 |
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[1025] | 17 | class t_eph {
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| 18 | public:
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[8168] | 19 | enum e_type {unknown, GPS, QZSS, GLONASS, Galileo, SBAS, BDS, IRNSS};
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[8215] | 20 | enum e_checkState {unchecked, ok, bad, outdated, unhealthy};
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[4005] | 21 |
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[5749] | 22 | t_eph();
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[7278] | 23 | virtual ~t_eph();
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[4018] | 24 |
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[6109] | 25 | virtual e_type type() const = 0;
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[4013] | 26 | virtual QString toString(double version) const = 0;
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[7169] | 27 | virtual unsigned int IOD() const = 0;
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[8187] | 28 | virtual unsigned int isUnhealthy() const = 0;
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[6109] | 29 | virtual int slotNum() const {return 0;}
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[4018] | 30 | bncTime TOC() const {return _TOC;}
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[6109] | 31 | bool isNewerThan(const t_eph* eph) const {return earlierTime(eph, this);}
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[6518] | 32 | e_checkState checkState() const {return _checkState;}
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[9673] | 33 | QString checkStateToString() {
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| 34 | switch (_checkState) {
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| 35 | case unchecked:
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| 36 | return "unchecked";
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| 37 | case ok:
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| 38 | return "ok";
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| 39 | case bad:
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| 40 | return "bad";
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| 41 | case outdated:
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| 42 | return "outdated";
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| 43 | case unhealthy:
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| 44 | return "unhealthy";
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| 45 | default:
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| 46 | return "unknown";
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| 47 | }
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| 48 | }
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[6519] | 49 | void setCheckState(e_checkState checkState) {_checkState = checkState;}
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[6109] | 50 | t_prn prn() const {return _prn;}
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| 51 | t_irc getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const;
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[6141] | 52 | void setOrbCorr(const t_orbCorr* orbCorr);
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| 53 | void setClkCorr(const t_clkCorr* clkCorr);
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[3174] | 54 | const QDateTime& receptDateTime() const {return _receptDateTime;}
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[9212] | 55 | const QString receptStaID() const {return _receptStaID;}
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[6109] | 56 | static QString rinexDateStr(const bncTime& tt, const t_prn& prn, double version);
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| 57 | static QString rinexDateStr(const bncTime& tt, const QString& prnStr, double version);
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| 58 | static bool earlierTime(const t_eph* eph1, const t_eph* eph2) {return eph1->_TOC < eph2->_TOC;}
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[8799] | 59 | static bool prnSort(const t_eph* eph1, const t_eph* eph2) {return eph1->prn() < eph2->prn();}
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[1025] | 60 |
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[7278] | 61 | protected:
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[6213] | 62 | virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const = 0;
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[6518] | 63 | t_prn _prn;
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| 64 | bncTime _TOC;
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| 65 | QDateTime _receptDateTime;
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[9212] | 66 | QString _receptStaID;
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[6518] | 67 | e_checkState _checkState;
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| 68 | t_orbCorr* _orbCorr;
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| 69 | t_clkCorr* _clkCorr;
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[1025] | 70 | };
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| 71 |
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| 72 |
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| 73 | class t_ephGPS : public t_eph {
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[5852] | 74 | friend class t_ephEncoder;
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[6812] | 75 | friend class RTCM3Decoder;
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[1025] | 76 | public:
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[7625] | 77 | t_ephGPS() {
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| 78 | _clock_bias = 0.0;
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| 79 | _clock_drift = 0.0;
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| 80 | _clock_driftrate = 0.0;
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| 81 | _IODE = 0.0;
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| 82 | _Crs = 0.0;
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| 83 | _Delta_n = 0.0;
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| 84 | _M0 = 0.0;
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| 85 | _Cuc = 0.0;
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| 86 | _e = 0.0;
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| 87 | _Cus = 0.0;
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| 88 | _sqrt_A = 0.0;
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| 89 | _TOEsec = 0.0;
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| 90 | _Cic = 0.0;
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| 91 | _OMEGA0 = 0.0;
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| 92 | _Cis = 0.0;
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| 93 | _i0 = 0.0;
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| 94 | _Crc = 0.0;
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| 95 | _omega = 0.0;
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| 96 | _OMEGADOT = 0.0;
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| 97 | _IDOT = 0.0;
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| 98 | _L2Codes = 0.0;
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| 99 | _TOEweek = 0.0;
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| 100 | _L2PFlag = 0.0;
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| 101 | _ura = 0.0;
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| 102 | _health = 0.0;
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| 103 | _TGD = 0.0;
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| 104 | _IODC = 0.0;
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| 105 | _TOT = 0.0;
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| 106 | _fitInterval = 0.0;
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[9212] | 107 | _receptStaID = "";
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[7625] | 108 | }
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[9367] | 109 | t_ephGPS(double rnxVersion, const QStringList& lines);
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[2221] | 110 | virtual ~t_ephGPS() {}
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[4005] | 111 |
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[8168] | 112 | virtual e_type type() const {
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| 113 | switch (_prn.system()) {
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| 114 | case 'J':
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| 115 | return t_eph::QZSS;
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| 116 | case 'I':
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| 117 | return t_eph::IRNSS;
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| 118 | };
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| 119 | return t_eph::GPS;
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| 120 | }
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[4013] | 121 | virtual QString toString(double version) const;
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[8139] | 122 | virtual unsigned int IOD() const { return static_cast<unsigned int>(_IODE); }
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[8187] | 123 | virtual unsigned int isUnhealthy() const { return static_cast<unsigned int>(_health); }
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[4366] | 124 | double TGD() const {return _TGD;} // Timing Group Delay (P1-P2 DCB)
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| 125 |
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[1025] | 126 | private:
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[6213] | 127 | virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
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[6109] | 128 |
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[7278] | 129 | double _clock_bias; // [s]
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| 130 | double _clock_drift; // [s/s]
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[4018] | 131 | double _clock_driftrate; // [s/s^2]
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[1025] | 132 |
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[8168] | 133 | double _IODE; // IODEC in case of IRNSS
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[7278] | 134 | double _Crs; // [m]
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[4018] | 135 | double _Delta_n; // [rad/s]
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[7278] | 136 | double _M0; // [rad]
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[1025] | 137 |
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[7278] | 138 | double _Cuc; // [rad]
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| 139 | double _e; //
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| 140 | double _Cus; // [rad]
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[4018] | 141 | double _sqrt_A; // [m^0.5]
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[1025] | 142 |
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[7278] | 143 | double _TOEsec; // [s]
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| 144 | double _Cic; // [rad]
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| 145 | double _OMEGA0; // [rad]
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| 146 | double _Cis; // [rad]
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[4018] | 147 |
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[7278] | 148 | double _i0; // [rad]
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| 149 | double _Crc; // [m]
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| 150 | double _omega; // [rad]
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[4018] | 151 | double _OMEGADOT; // [rad/s]
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| 152 |
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| 153 | double _IDOT; // [rad/s]
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[8168] | 154 | double _L2Codes; // Codes on L2 channel (not valid for IRNSS)
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[4018] | 155 | double _TOEweek;
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[8790] | 156 | double _L2PFlag; // L2 P data flag (not valid for IRNSS and QZSS)
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[4018] | 157 |
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[9316] | 158 | mutable double _ura; // SV accuracy [m]
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[4018] | 159 | double _health; // SV health
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[7278] | 160 | double _TGD; // [s]
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[8168] | 161 | double _IODC; // (not valid for IRNSS)
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[4018] | 162 |
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[8790] | 163 | double _TOT; // Transmission time
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[8925] | 164 | double _fitInterval; // Fit interval in hours (not valid for IRNSS)
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[1025] | 165 | };
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| 166 |
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[2221] | 167 | class t_ephGlo : public t_eph {
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[5853] | 168 | friend class t_ephEncoder;
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[6812] | 169 | friend class RTCM3Decoder;
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[2221] | 170 | public:
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[7625] | 171 | t_ephGlo() {
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[8495] | 172 | _xv.ReSize(6); _xv = 0.0;
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[7625] | 173 | _gps_utc = 0.0;
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| 174 | _tau = 0.0;
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| 175 | _gamma = 0.0;
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| 176 | _tki = 0.0;
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| 177 | _x_pos = 0.0;
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| 178 | _x_velocity = 0.0;
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| 179 | _x_acceleration = 0.0;
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| 180 | _health = 0.0;
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| 181 | _y_pos = 0.0;
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| 182 | _y_velocity = 0.0;
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| 183 | _y_acceleration = 0.0;
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| 184 | _frequency_number = 0.0;
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| 185 | _z_pos = 0.0;
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| 186 | _z_velocity = 0.0;
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| 187 | _z_acceleration = 0.0;
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| 188 | _E = 0.0;
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[8182] | 189 | _almanac_health = 0.0;
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| 190 | _almanac_health_availablility_indicator = 0.0;
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| 191 | _additional_data_availability = 0.0;
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| 192 | _tauC = 0.0;
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| 193 | _P1 = 0.0;
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| 194 | _P2 = 0.0;
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| 195 | _P3 = 0.0;
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| 196 | _NA = 0.0;
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| 197 | _M_P = 0.0;
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| 198 | _M_l3 = 0.0;
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| 199 | _M_delta_tau = 0.0;
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| 200 | _M_P4 = 0.0;
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| 201 | _M_FT = 0.0;
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| 202 | _M_NT = 0.0;
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| 203 | _M_M = 0.0;
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| 204 | _M_N4 = 0.0;
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| 205 | _M_tau_GPS = 0.0;
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| 206 | _M_l5 = 0.0;
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[9212] | 207 | _receptStaID = "";
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[9367] | 208 | _flags_unknown = true;
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[7625] | 209 | }
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[9367] | 210 | t_ephGlo(double rnxVersion, const QStringList& lines);
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[2221] | 211 | virtual ~t_ephGlo() {}
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| 212 |
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[4005] | 213 | virtual e_type type() const {return t_eph::GLONASS;}
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[4013] | 214 | virtual QString toString(double version) const;
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[7169] | 215 | virtual unsigned int IOD() const;
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[8187] | 216 | virtual unsigned int isUnhealthy() const;
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[6109] | 217 | virtual int slotNum() const {return int(_frequency_number);}
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[2221] | 218 |
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| 219 | private:
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[6213] | 220 | virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
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[6109] | 221 | static ColumnVector glo_deriv(double /* tt */, const ColumnVector& xv, double* acc);
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[2221] | 222 |
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[7278] | 223 | mutable bncTime _tt; // time
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[2221] | 224 | mutable ColumnVector _xv; // status vector (position, velocity) at time _tt
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| 225 |
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[3255] | 226 | double _gps_utc;
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[7278] | 227 | double _tau; // [s]
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[8182] | 228 | double _gamma; // [-]
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[5853] | 229 | mutable double _tki; // message frame time
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[4018] | 230 |
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[7278] | 231 | double _x_pos; // [km]
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| 232 | double _x_velocity; // [km/s]
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| 233 | double _x_acceleration; // [km/s^2]
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[8182] | 234 | double _health; // 0 = O.K. MSB of Bn word
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[4018] | 235 |
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[7278] | 236 | double _y_pos; // [km]
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| 237 | double _y_velocity; // [km/s]
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| 238 | double _y_acceleration; // [km/s^2]
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| 239 | double _frequency_number; // ICD-GLONASS data position
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[4018] | 240 |
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[7278] | 241 | double _z_pos; // [km]
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| 242 | double _z_velocity; // [km/s]
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| 243 | double _z_acceleration; // [km/s^2]
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| 244 | double _E; // Age of Information [days]
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[8182] | 245 |
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| 246 | double _almanac_health; // Cn word
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| 247 | double _almanac_health_availablility_indicator;
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| 248 |
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| 249 | double _additional_data_availability; //
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| 250 | double _tauC; // GLONASS time scale correction to UTC(SU) time [sec]
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| 251 | double _P1; // flag of the immediate data updating [-]
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| 252 | double _P2; // flag of oddness or evenness of the value of tb for intervals 30 or 60 minutes [-]
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| 253 | double _P3; // flag indicating a number of satellites for which almanac is transmitted within given frame [-]
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| 254 | double _NA; // calendar day number within the 4-year period [days]
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| 255 |
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| 256 | double _M_P; // control segment parameter that indicates the satellite operation mode with respect of time parameters
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| 257 | double _M_l3; // health flag
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| 258 | double _M_delta_tau; // [sec]
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| 259 | double _M_P4; // flag to show that ephemeris parameters are present [-]
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[9367] | 260 | double _M_FT; // Indicator for predicted satellite User Range Accuracy (URAI) [-]
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[8182] | 261 | double _M_NT; // current date, calendar number of day within 4-year interval [days]
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| 262 | double _M_M; // type of satellite transmitting navigation signal: 0 = GLONASS, 1 = GLONASS-M satellite [-]
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| 263 | double _M_N4; // 4-year interval number starting from 1996
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| 264 | double _M_tau_GPS; // correction to GPS time relative to GLONASS time [days]
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| 265 | double _M_l5; // health flag
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[9367] | 266 | bool _flags_unknown; // status and health flags are unknown (rnx version < 3.05) or known (rnx version >= 3.05)
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[2221] | 267 | };
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| 268 |
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[2770] | 269 | class t_ephGal : public t_eph {
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[5853] | 270 | friend class t_ephEncoder;
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[6812] | 271 | friend class RTCM3Decoder;
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[2770] | 272 | public:
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[7625] | 273 | t_ephGal() {
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| 274 | _clock_bias = 0.0;
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| 275 | _clock_drift = 0.0;
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| 276 | _clock_driftrate = 0.0;
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| 277 | _IODnav = 0.0;
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| 278 | _Crs = 0.0;
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| 279 | _Delta_n = 0.0;
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| 280 | _M0 = 0.0;
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| 281 | _Cuc = 0.0;
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| 282 | _e = 0.0;
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| 283 | _Cus = 0.0;
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| 284 | _sqrt_A = 0.0;
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| 285 | _TOEsec = 0.0;
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| 286 | _Cic = 0.0;
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| 287 | _OMEGA0 = 0.0;
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| 288 | _Cis = 0.0;
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| 289 | _i0 = 0.0;
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| 290 | _Crc = 0.0;
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| 291 | _omega = 0.0;
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| 292 | _OMEGADOT = 0.0;
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| 293 | _IDOT = 0.0;
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| 294 | _TOEweek = 0.0;
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| 295 | _SISA = 0.0;
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| 296 | _E5aHS = 0.0;
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| 297 | _E5bHS = 0.0;
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| 298 | _E1_bHS = 0.0;
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| 299 | _BGD_1_5A = 0.0;
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| 300 | _BGD_1_5B = 0.0;
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| 301 | _TOT = 0.0;
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[9212] | 302 | _receptStaID = "";
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[7625] | 303 | };
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[9367] | 304 | t_ephGal(double rnxVersion, const QStringList& lines);
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[2770] | 305 | virtual ~t_ephGal() {}
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[4005] | 306 |
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[4013] | 307 | virtual QString toString(double version) const;
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[4005] | 308 | virtual e_type type() const {return t_eph::Galileo;}
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[7169] | 309 | virtual unsigned int IOD() const { return static_cast<unsigned long>(_IODnav); }
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[8187] | 310 | virtual unsigned int isUnhealthy() const;
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[2770] | 311 |
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[6109] | 312 | private:
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[6213] | 313 | virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
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[2770] | 314 |
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[7278] | 315 | double _clock_bias; // [s]
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| 316 | double _clock_drift; // [s/s]
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[2770] | 317 | double _clock_driftrate; // [s/s^2]
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[4018] | 318 |
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[6812] | 319 | double _IODnav;
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[7278] | 320 | double _Crs; // [m]
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[2770] | 321 | double _Delta_n; // [rad/s]
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[7278] | 322 | double _M0; // [rad]
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[4018] | 323 |
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[7278] | 324 | double _Cuc; // [rad]
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| 325 | double _e; //
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| 326 | double _Cus; // [rad]
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[2770] | 327 | double _sqrt_A; // [m^0.5]
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[4018] | 328 |
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[7278] | 329 | double _TOEsec; // [s]
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| 330 | double _Cic; // [rad]
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| 331 | double _OMEGA0; // [rad]
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| 332 | double _Cis; // [rad]
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[4018] | 333 |
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[7278] | 334 | double _i0; // [rad]
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| 335 | double _Crc; // [m]
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| 336 | double _omega; // [rad]
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[2770] | 337 | double _OMEGADOT; // [rad/s]
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[4018] | 338 |
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[2770] | 339 | double _IDOT; // [rad/s]
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[6809] | 340 | double _TOEweek;
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[4018] | 341 | // spare
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| 342 |
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[6798] | 343 | mutable double _SISA; // Signal In Space Accuracy
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[6794] | 344 | double _E5aHS; // [0..3] E5a Health Status
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| 345 | double _E5bHS; // [0..3] E5b Health Status
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| 346 | double _E1_bHS; // [0..3] E1-b Health Status
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[7278] | 347 | double _BGD_1_5A; // group delay [s]
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| 348 | double _BGD_1_5B; // group delay [s]
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[2770] | 349 |
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[6809] | 350 | double _TOT; // [s]
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[6812] | 351 | /** Data comes from I/NAV when <code>true</code> */
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| 352 | bool _inav;
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| 353 | /** Data comes from F/NAV when <code>true</code> */
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| 354 | bool _fnav;
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| 355 | /** EE Data is not valid */
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| 356 | bool _e1DataInValid;
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| 357 | /** E5A Data is not valid */
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| 358 | bool _e5aDataInValid;
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| 359 | /** E5B Data is not valid */
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| 360 | bool _e5bDataInValid;
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[2770] | 361 | };
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| 362 |
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[6380] | 363 | class t_ephSBAS : public t_eph {
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| 364 | friend class t_ephEncoder;
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[6812] | 365 | friend class RTCM3Decoder;
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[6380] | 366 | public:
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[7625] | 367 | t_ephSBAS() {
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| 368 | _IODN = 0;
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[8456] | 369 | _TOT = 0.0;
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[7625] | 370 | _agf0 = 0.0;
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| 371 | _agf1 = 0.0;
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| 372 | _x_pos = 0.0;
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| 373 | _x_velocity = 0.0;
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| 374 | _x_acceleration = 0.0;
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| 375 | _y_pos = 0.0;
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| 376 | _y_velocity = 0.0;
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| 377 | _y_acceleration = 0.0;
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| 378 | _z_pos = 0.0;
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| 379 | _z_velocity = 0.0;
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| 380 | _z_acceleration = 0.0;
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| 381 | _ura = 0.0;
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| 382 | _health = 0.0;
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[9212] | 383 | _receptStaID = "";
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[7625] | 384 | }
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[9367] | 385 | t_ephSBAS(double rnxVersion, const QStringList& lines);
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[6380] | 386 | virtual ~t_ephSBAS() {}
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| 387 |
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| 388 | virtual e_type type() const {return t_eph::SBAS;}
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[7169] | 389 | virtual unsigned int IOD() const;
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[8187] | 390 | virtual unsigned int isUnhealthy() const { return static_cast<unsigned int>(_health); }
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[6380] | 391 | virtual QString toString(double version) const;
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| 392 |
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| 393 | private:
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[6381] | 394 | virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
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[6380] | 395 |
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[6536] | 396 | int _IODN;
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[8456] | 397 | double _TOT; // not used (set to 0.9999e9)
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[6380] | 398 | double _agf0; // [s] clock correction
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| 399 | double _agf1; // [s/s] clock correction drift
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| 400 |
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[7278] | 401 | double _x_pos; // [m]
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| 402 | double _x_velocity; // [m/s]
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| 403 | double _x_acceleration; // [m/s^2]
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[6380] | 404 |
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[7278] | 405 | double _y_pos; // [m]
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| 406 | double _y_velocity; // [m/s]
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| 407 | double _y_acceleration; // [m/s^2]
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[6380] | 408 |
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[7278] | 409 | double _z_pos; // [m]
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| 410 | double _z_velocity; // [m/s]
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| 411 | double _z_acceleration; // [m/s^2]
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[6380] | 412 |
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[6798] | 413 | mutable double _ura;
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[6390] | 414 | double _health;
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[6380] | 415 | };
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| 416 |
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[6600] | 417 | class t_ephBDS : public t_eph {
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[6400] | 418 | friend class t_ephEncoder;
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[6812] | 419 | friend class RTCM3Decoder;
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[6400] | 420 | public:
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[8482] | 421 | t_ephBDS() {
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[7625] | 422 | _TOT = 0.0;
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| 423 | _AODE = 0;
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| 424 | _AODC = 0;
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| 425 | _URAI = 0;
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| 426 | _URA = 0.0;
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| 427 | _clock_bias = 0.0;
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| 428 | _clock_drift = 0.0;
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| 429 | _clock_driftrate = 0.0;
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| 430 | _Crs = 0.0;
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| 431 | _Delta_n = 0.0;
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| 432 | _M0 = 0.0;
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| 433 | _Cuc = 0.0;
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| 434 | _e = 0.0;
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| 435 | _Cus = 0.0;
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| 436 | _sqrt_A = 0.0;
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| 437 | _Cic = 0.0;
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| 438 | _OMEGA0 = 0.0;
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| 439 | _Cis = 0.0;
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| 440 | _i0 = 0.0;
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| 441 | _Crc = 0.0;
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| 442 | _omega = 0.0;
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| 443 | _OMEGADOT = 0.0;
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| 444 | _IDOT = 0.0;
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| 445 | _TGD1 = 0.0;
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| 446 | _TGD2 = 0.0;
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| 447 | _SatH1 = 0.0;
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| 448 | _TOW = 0.0;
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| 449 | _TOEsec = 0.0;
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[8482] | 450 | _TOEweek =-1.0;
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[9212] | 451 | _receptStaID = "";
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[7625] | 452 | }
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[9367] | 453 | t_ephBDS(double rnxVersion, const QStringList& lines);
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[6600] | 454 | virtual ~t_ephBDS() {}
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[6400] | 455 |
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[6602] | 456 | virtual e_type type() const {return t_eph::BDS;}
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[7169] | 457 | virtual unsigned int IOD() const;
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[9673] | 458 | virtual unsigned int isUnhealthy() const {return static_cast<unsigned int>(_SatH1);}
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[6400] | 459 | virtual QString toString(double version) const;
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| 460 |
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| 461 | private:
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| 462 | virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
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| 463 |
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[6812] | 464 | double _TOT;
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[6400] | 465 | bncTime _TOE;
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| 466 | int _AODE;
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| 467 | int _AODC;
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[6812] | 468 | int _URAI; // [0..15] index from RTCM stream
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[9316] | 469 | mutable double _URA; // user range accuracy [m]
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[7278] | 470 | double _clock_bias; // [s]
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| 471 | double _clock_drift; // [s/s]
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[6400] | 472 | double _clock_driftrate; // [s/s^2]
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[7278] | 473 | double _Crs; // [m]
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[6400] | 474 | double _Delta_n; // [rad/s]
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[7278] | 475 | double _M0; // [rad]
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| 476 | double _Cuc; // [rad]
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| 477 | double _e; //
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| 478 | double _Cus; // [rad]
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[6400] | 479 | double _sqrt_A; // [m^0.5]
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[7278] | 480 | double _Cic; // [rad]
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| 481 | double _OMEGA0; // [rad]
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| 482 | double _Cis; // [rad]
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| 483 | double _i0; // [rad]
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| 484 | double _Crc; // [m]
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| 485 | double _omega; // [rad]
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[6400] | 486 | double _OMEGADOT; // [rad/s]
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| 487 | double _IDOT; // [rad/s]
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[7278] | 488 | double _TGD1; // [s]
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| 489 | double _TGD2; // [s]
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| 490 | int _SatH1; //
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[6843] | 491 | double _TOW; // [s] of BDT week
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| 492 | double _TOEsec; // [s] of BDT week
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| 493 | double _TOEweek; // BDT week will be set only in case of RINEX file input
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[6400] | 494 | };
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[1025] | 495 | #endif
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