source: ntrip/trunk/BNC/src/satObs.cpp@ 10999

Last change on this file since 10999 was 10999, checked in by stuerze, 4 days ago

minor changes regarding RTCM-SSR
File size: 16.7 KB
Line 
1#include <iostream>
2#include <iomanip>
3#include <sstream>
4#include <newmatio.h>
5
6#include "satObs.h"
7
8using namespace std;
9
10// Constructor
11////////////////////////////////////////////////////////////////////////////
12t_clkCorr::t_clkCorr() {
13 _updateInt = 0;
14 _iod = 0;
15 _dClk = 0.0;
16 _dotDClk = 0.0;
17 _dotDotDClk = 0.0;
18}
19
20//
21////////////////////////////////////////////////////////////////////////////
22void t_clkCorr::writeEpoch(ostream* out, const QList<t_clkCorr>& corrList) {
23 if (!out || corrList.size() == 0) {
24 return;
25 }
26 out->setf(ios::fixed);
27 bncTime epoTime;
28 QListIterator<t_clkCorr> it(corrList);
29 while (it.hasNext()) {
30 const t_clkCorr& corr = it.next();
31 if (!epoTime.valid()) {
32 epoTime = corr._time;
33 *out << "> CLOCK " << epoTime.datestr(' ') << ' ' << epoTime.timestr(1,' ') << " "
34 << corr._updateInt << " "
35 << corrList.size() << ' ' << corr._staID << endl;
36 }
37 *out << corr._prn.toString() << ' ' << setw(11) << corr._iod << ' '
38 << setw(10) << setprecision(4) << corr._dClk * t_CST::c << ' ' // m
39 << setw(10) << setprecision(4) << corr._dotDClk * t_CST::c * 1.e3 << ' ' // m/s => mm/s
40 << setw(10) << setprecision(4) << corr._dotDotDClk * t_CST::c * 1.e3 << endl; // m/s² => mm/s²
41 }
42 out->flush();
43}
44
45//
46////////////////////////////////////////////////////////////////////////////
47void t_clkCorr::readEpoch(const string& epoLine, istream& inStream, QList<t_clkCorr>& corrList) {
48 bncTime epoTime;
49 unsigned int updateInt;
50 int numCorr;
51 string staID;
52 if (t_corrSSR::readEpoLine(epoLine, epoTime, updateInt, numCorr, staID) != t_corrSSR::clkCorr) {
53 return;
54 }
55 for (int ii = 0; ii < numCorr; ii++) {
56 t_clkCorr corr;
57 corr._time = epoTime;
58 corr._updateInt = updateInt;
59 corr._staID = staID;
60
61 string line;
62 getline(inStream, line);
63 istringstream in(line.c_str());
64
65 in >> corr._prn >> corr._iod >> corr._dClk >> corr._dotDClk >> corr._dotDotDClk;
66
67 char sys = corr._prn.system();
68 int num = corr._prn.number();
69 int flag = t_corrSSR::getSsrNavTypeFlag(sys, num);
70 corr._prn.setFlag(flag);
71
72 corr._dClk /= (t_CST::c);
73 corr._dotDClk /= (t_CST::c * 1.e3);
74 corr._dotDotDClk /= (t_CST::c * 1.e3);
75
76 corrList.push_back(corr);
77 }
78}
79
80// Constructor
81////////////////////////////////////////////////////////////////////////////
82t_orbCorr::t_orbCorr() {
83 _updateInt = 0;
84 _iod = 0;
85 _system = 'R';
86 _xr.ReSize(3); _xr = 0.0;
87 _dotXr.ReSize(3); _dotXr = 0.0;
88 _ssrFormat = ssrUnknown;
89}
90
91//
92////////////////////////////////////////////////////////////////////////////
93void t_orbCorr::writeEpoch(ostream* out, const QList<t_orbCorr>& corrList) {
94 if (!out || corrList.size() == 0) {
95 return;
96 }
97 out->setf(ios::fixed);
98 bncTime epoTime;
99 QListIterator<t_orbCorr> it(corrList);
100 while (it.hasNext()) {
101 const t_orbCorr& corr = it.next();
102 if (!epoTime.valid()) {
103 epoTime = corr._time;
104 *out << "> ORBIT " << epoTime.datestr(' ') << ' ' << epoTime.timestr(1,' ') << " "
105 << corr._updateInt << " "
106 << corrList.size() << ' ' << corr._staID << endl;
107 *out << " " << static_cast<int>(corr._ssrFormat) << endl;
108 }
109 *out << corr._prn.toString() << ' ' << setw(11) << corr._iod << ' '
110 << setw(10) << setprecision(4) << corr._xr[0] << ' '
111 << setw(10) << setprecision(4) << corr._xr[1] << ' '
112 << setw(10) << setprecision(4) << corr._xr[2] << " "
113 << setw(10) << setprecision(4) << corr._dotXr[0] * 1.e3 << ' ' // m/s => mm/s
114 << setw(10) << setprecision(4) << corr._dotXr[1] * 1.e3 << ' ' // m/s => mm/s
115 << setw(10) << setprecision(4) << corr._dotXr[2] * 1.e3 << endl; // m/s => mm/s
116 }
117 out->flush();
118}
119
120//
121////////////////////////////////////////////////////////////////////////////
122void t_orbCorr::readEpoch(const string& epoLine, istream& inStream, QList<t_orbCorr>& corrList) {
123 bncTime epoTime;
124 unsigned int updateInt;
125 int numCorr;
126 string staID;
127 if (t_corrSSR::readEpoLine(epoLine, epoTime, updateInt, numCorr, staID) != t_corrSSR::orbCorr) {
128 return;
129 }
130
131 e_ssrFormat ssrFormat = ssrUnknown;
132 {
133 string line;
134 getline(inStream, line);
135 istringstream in(line.c_str());
136 int ssrFormatInt = 0;
137 if (in >> ssrFormatInt) {
138 ssrFormat = static_cast<e_ssrFormat>(ssrFormatInt);
139 }
140 }
141
142 for (int ii = 0; ii < numCorr; ii++) {
143 t_orbCorr corr;
144 corr._time = epoTime;
145 corr._updateInt = updateInt;
146 corr._staID = staID;
147 corr._ssrFormat = ssrFormat;
148
149 string line;
150 getline(inStream, line);
151 istringstream in(line.c_str());
152
153 in >> corr._prn >> corr._iod
154 >> corr._xr[0] >> corr._xr[1] >> corr._xr[2]
155 >> corr._dotXr[0] >> corr._dotXr[1] >> corr._dotXr[2];
156
157 char sys = corr._prn.system();
158 int num = corr._prn.number();
159 int flag = t_corrSSR::getSsrNavTypeFlag(sys, num);
160 corr._prn.setFlag(flag);
161
162 corr._dotXr[0] /= 1.e3; // mm/s => m/s
163 corr._dotXr[1] /= 1.e3; // mm/s => m/s
164 corr._dotXr[2] /= 1.e3; // mm/s => m/s
165
166 corrList.push_back(corr);
167 }
168}
169
170// Constructor
171////////////////////////////////////////////////////////////////////////////
172t_URA::t_URA() {
173 _updateInt = 0;
174 _iod = 0;
175 _ura = 0.0;
176}
177
178//
179////////////////////////////////////////////////////////////////////////////
180void t_URA::writeEpoch(ostream* out, const QList<t_URA>& corrList) {
181 if (!out || corrList.size() == 0) {
182 return;
183 }
184 out->setf(ios::fixed);
185 bncTime epoTime;
186 QListIterator<t_URA> it(corrList);
187 while (it.hasNext()) {
188 const t_URA& corr = it.next();
189 if (!epoTime.valid()) {
190 epoTime = corr._time;
191 *out << "> URA " << epoTime.datestr(' ') << ' ' << epoTime.timestr(1,' ') << " "
192 << corr._updateInt << " "
193 << corrList.size() << ' ' << corr._staID << endl;
194 }
195 *out << corr._prn.toString() << ' ' << setw(11) << corr._iod << ' '
196 << setw(10) << setprecision(4) << corr._ura << endl;
197 }
198 out->flush();
199}
200
201//
202////////////////////////////////////////////////////////////////////////////
203void t_URA::readEpoch(const string& epoLine, istream& inStream, QList<t_URA>& corrList) {
204 bncTime epoTime;
205 unsigned int updateInt;
206 int numCorr;
207 string staID;
208 if (t_corrSSR::readEpoLine(epoLine, epoTime, updateInt, numCorr, staID) != t_corrSSR::URA) {
209 return;
210 }
211 for (int ii = 0; ii < numCorr; ii++) {
212 t_URA corr;
213 corr._time = epoTime;
214 corr._updateInt = updateInt;
215 corr._staID = staID;
216
217 string line;
218 getline(inStream, line);
219 istringstream in(line.c_str());
220
221 in >> corr._prn >> corr._iod >> corr._ura;
222
223 char sys = corr._prn.system();
224 int num = corr._prn.number();
225 int flag = t_corrSSR::getSsrNavTypeFlag(sys, num);
226 corr._prn.setFlag(flag);
227
228 corrList.push_back(corr);
229 }
230}
231
232//
233////////////////////////////////////////////////////////////////////////////
234void t_satCodeBias::writeEpoch(ostream* out, const QList<t_satCodeBias>& biasList) {
235 if (!out || biasList.size() == 0) {
236 return;
237 }
238 out->setf(ios::fixed);
239 bncTime epoTime;
240 QListIterator<t_satCodeBias> it(biasList);
241 while (it.hasNext()) {
242 const t_satCodeBias& satCodeBias = it.next();
243 if (!epoTime.valid()) {
244 epoTime = satCodeBias._time;
245 *out << "> CODE_BIAS " << epoTime.datestr(' ') << ' ' << epoTime.timestr(1,' ') << " "
246 << satCodeBias._updateInt << " "
247 << biasList.size() << ' ' << satCodeBias._staID << endl;
248 }
249 *out << satCodeBias._prn.toString() << " " << setw(2) << satCodeBias._bias.size();
250 for (unsigned ii = 0; ii < satCodeBias._bias.size(); ii++) {
251 const t_frqCodeBias& frqCodeBias = satCodeBias._bias[ii];
252 *out << " " << frqCodeBias._rnxType2ch << ' '
253 << setw(10) << setprecision(4) << frqCodeBias._value;
254 }
255 *out << endl;
256 }
257 out->flush();
258}
259
260//
261////////////////////////////////////////////////////////////////////////////
262void t_satCodeBias::readEpoch(const string& epoLine, istream& inStream, QList<t_satCodeBias>& biasList) {
263 bncTime epoTime;
264 unsigned int updateInt;
265 int numSat;
266 string staID;
267 if (t_corrSSR::readEpoLine(epoLine, epoTime, updateInt, numSat, staID) != t_corrSSR::codeBias) {
268 return;
269 }
270 for (int ii = 0; ii < numSat; ii++) {
271 t_satCodeBias satCodeBias;
272 satCodeBias._time = epoTime;
273 satCodeBias._updateInt = updateInt;
274 satCodeBias._staID = staID;
275
276 string line;
277 getline(inStream, line);
278 istringstream in(line.c_str());
279
280 int numBias;
281 in >> satCodeBias._prn >> numBias;
282
283 char sys = satCodeBias._prn.system();
284 int num = satCodeBias._prn.number();
285 int flag = t_corrSSR::getSsrNavTypeFlag(sys, num);
286 satCodeBias._prn.setFlag(flag);
287
288 while (in.good()) {
289 t_frqCodeBias frqCodeBias;
290 in >> frqCodeBias._rnxType2ch >> frqCodeBias._value;
291 if (!frqCodeBias._rnxType2ch.empty()) {
292 satCodeBias._bias.push_back(frqCodeBias);
293 }
294 }
295
296 biasList.push_back(satCodeBias);
297 }
298}
299
300//
301////////////////////////////////////////////////////////////////////////////
302void t_satPhaseBias::writeEpoch(ostream* out, const QList<t_satPhaseBias>& biasList) {
303 if (!out || biasList.size() == 0) {
304 return;
305 }
306 out->setf(ios::fixed);
307 bncTime epoTime;
308 QListIterator<t_satPhaseBias> it(biasList);
309 while (it.hasNext()) {
310 const t_satPhaseBias& satPhaseBias = it.next();
311 if (!epoTime.valid()) {
312 epoTime = satPhaseBias._time;
313 *out << "> PHASE_BIAS " << epoTime.datestr(' ') << ' ' << epoTime.timestr(1,' ') << " "
314 << satPhaseBias._updateInt << " "
315 << biasList.size() << ' ' << satPhaseBias._staID << endl;
316
317 if (satPhaseBias._ssrFormat == e_ssrFormat::ssrRtcmNew) {
318 *out << " " << static_cast<int>(satPhaseBias._ssrFormat) << " "
319 << satPhaseBias._satYawInfoInd << " "
320 << satPhaseBias._extPBPhaseInd << endl;
321 } else {
322 *out << " " << static_cast<int>(satPhaseBias._ssrFormat) << " "
323 << satPhaseBias._dispBiasConsistInd << " "
324 << satPhaseBias._MelbWuebConsistInd << endl;
325 }
326 }
327 *out << satPhaseBias._prn.toString() << ' '
328 << setw(12) << setprecision(8) << satPhaseBias._yaw * 180.0 / M_PI << ' '
329 << setw(12) << setprecision(8) << satPhaseBias._yawRate * 180.0 / M_PI<< " "
330 << setw(2) << satPhaseBias._bias.size();
331 for (unsigned ii = 0; ii < satPhaseBias._bias.size(); ii++) {
332 const t_frqPhaseBias& frqPhaseBias = satPhaseBias._bias[ii];
333 *out << " " << frqPhaseBias._rnxType2ch << ' '
334 << setw(10) << setprecision(4) << frqPhaseBias._value << ' '
335 << setw(3) << frqPhaseBias._fixIndicator << ' '
336 << setw(3) << frqPhaseBias._fixWideLaneIndicator << ' '
337 << setw(3) << frqPhaseBias._jumpCounter;
338 }
339 *out << endl;
340 }
341 out->flush();
342}
343
344//
345////////////////////////////////////////////////////////////////////////////
346void t_satPhaseBias::readEpoch(const string& epoLine, istream& inStream, QList<t_satPhaseBias>& biasList) {
347 bncTime epoTime;
348 unsigned int updateInt;
349 int numSat;
350 string staID;
351 unsigned int metadata1;
352 unsigned int metadata2;
353 e_ssrFormat ssrFormat = ssrUnknown;
354 if (t_corrSSR::readEpoLine(epoLine, epoTime, updateInt, numSat, staID) != t_corrSSR::phaseBias) {
355 return;
356 }
357 for (int ii = 0; ii <= numSat; ii++) {
358 t_satPhaseBias satPhaseBias;
359 satPhaseBias._time = epoTime;
360 satPhaseBias._updateInt = updateInt;
361 satPhaseBias._staID = staID;
362
363 string line;
364 getline(inStream, line);
365 istringstream in(line.c_str());
366
367 if (ii == 0) {
368 int ssrFormatInt = 0;
369 in >> ssrFormatInt >> metadata1 >> metadata2;
370 ssrFormat = static_cast<e_ssrFormat>(ssrFormatInt);
371 continue;
372 }
373 satPhaseBias._ssrFormat = ssrFormat;
374 switch(ssrFormat) {
375 case e_ssrFormat::ssrRtcmNew:
376 satPhaseBias._dispBiasConsistInd = metadata1;
377 satPhaseBias._MelbWuebConsistInd = metadata2;
378 break;
379 case e_ssrFormat::ssrRtcmOld:
380 case e_ssrFormat::ssrUnknown:
381 satPhaseBias._satYawInfoInd = metadata1;
382 satPhaseBias._extPBPhaseInd = metadata2;
383 break;
384 }
385 int numBias;
386 double yawDeg, yawDegRate;
387 in >> satPhaseBias._prn >> yawDeg >> yawDegRate >> numBias;
388 satPhaseBias._yaw = yawDeg * M_PI / 180.0;
389 satPhaseBias._yawRate = yawDegRate * M_PI / 180.0;
390
391 char sys = satPhaseBias._prn.system();
392 int num = satPhaseBias._prn.number();
393 int flag = t_corrSSR::getSsrNavTypeFlag(sys, num);
394 satPhaseBias._prn.setFlag(flag);
395
396 while (in.good()) {
397 t_frqPhaseBias frqPhaseBias;
398 in >> frqPhaseBias._rnxType2ch >> frqPhaseBias._value
399 >> frqPhaseBias._fixIndicator >> frqPhaseBias._fixWideLaneIndicator
400 >> frqPhaseBias._jumpCounter;
401 if (!frqPhaseBias._rnxType2ch.empty()) {
402 satPhaseBias._bias.push_back(frqPhaseBias);
403 }
404 }
405
406 biasList.push_back(satPhaseBias);
407 }
408}
409
410//
411////////////////////////////////////////////////////////////////////////////
412void t_vTec::write(ostream* out, const t_vTec& vTec) {
413 if (!out || vTec._layers.size() == 0) {
414 return;
415 }
416 out->setf(ios::fixed);
417 bncTime epoTime = vTec._time;
418 *out << "> VTEC " << epoTime.datestr(' ') << ' ' << epoTime.timestr(1,' ') << " "
419 << vTec._updateInt << " "
420 << vTec._layers.size() << ' ' << vTec._staID << endl;
421 for (unsigned ii = 0; ii < vTec._layers.size(); ii++) {
422 const t_vTecLayer& layer = vTec._layers[ii];
423 *out << setw(2) << ii+1 << ' '
424 << setw(2) << layer._C.Nrows()-1 << ' '
425 << setw(2) << layer._C.Ncols()-1 << ' '
426 << setw(10) << setprecision(1) << layer._height << endl
427 << setw(10) << setprecision(4) << layer._C
428 << setw(10) << setprecision(4) << layer._S;
429 }
430 out->flush();
431}
432
433//
434////////////////////////////////////////////////////////////////////////////
435void t_vTec::read(const string& epoLine, istream& inStream, t_vTec& vTec) {
436 bncTime epoTime;
437 unsigned int updateInt;
438 int numLayers;
439 string staID;
440 if (t_corrSSR::readEpoLine(epoLine, epoTime, updateInt, numLayers, staID) != t_corrSSR::vTec) {
441 return;
442 }
443 if (numLayers <= 0) {
444 return;
445 }
446 vTec._time = epoTime;
447 vTec._updateInt = updateInt;
448 vTec._staID = staID;
449 for (int ii = 0; ii < numLayers; ii++) {
450 t_vTecLayer layer;
451
452 string line;
453 getline(inStream, line);
454 istringstream in(line.c_str());
455
456 int dummy, maxDeg, maxOrd;
457 in >> dummy >> maxDeg >> maxOrd >> layer._height;
458
459 layer._C.ReSize(maxDeg+1, maxOrd+1);
460 layer._S.ReSize(maxDeg+1, maxOrd+1);
461
462 for (int iDeg = 0; iDeg <= maxDeg; iDeg++) {
463 for (int iOrd = 0; iOrd <= maxOrd; iOrd++) {
464 inStream >> layer._C[iDeg][iOrd];
465 }
466 }
467 for (int iDeg = 0; iDeg <= maxDeg; iDeg++) {
468 for (int iOrd = 0; iOrd <= maxOrd; iOrd++) {
469 inStream >> layer._S[iDeg][iOrd];
470 }
471 }
472
473 vTec._layers.push_back(layer);
474 }
475}
476
477//
478////////////////////////////////////////////////////////////////////////////
479t_corrSSR::e_type t_corrSSR::readEpoLine(const string& line, bncTime& epoTime,
480 unsigned int& updateInt, int& numEntries,
481 string& staID) {
482
483 istringstream inLine(line.c_str());
484
485 char epoChar;
486 string typeString;
487 int year, month, day, hour, min;
488 double sec;
489
490 inLine >> epoChar >> typeString
491 >> year >> month >> day >> hour >> min >> sec >> updateInt >> numEntries >> staID;
492
493 if (epoChar == '>') {
494 epoTime.set(year, month, day, hour, min, sec);
495 if (typeString == "CLOCK") {
496 return clkCorr;
497 }
498 else if (typeString == "ORBIT") {
499 return orbCorr;
500 }
501 else if (typeString == "CODE_BIAS") {
502 return codeBias;
503 }
504 else if (typeString == "PHASE_BIAS") {
505 return phaseBias;
506 }
507 else if (typeString == "VTEC") {
508 return vTec;
509 }
510 else if (typeString == "URA") {
511 return URA;
512 }
513 }
514
515 return unknown;
516}
517
518// Set NAV type to force NAVtype usage according SSR standard
519/////////////////////////////////////////////////////////////
520t_eph::e_type t_corrSSR::getSsrNavTypeFlag(char sys, int num) {
521
522 t_eph::e_type flag = t_eph::undefined;
523
524 switch (sys) {
525 case 'G':
526 case 'J':
527 case 'I': // not part of the SSR standard
528 flag = t_eph::LNAV;
529 break;
530 case 'R':
531 flag = t_eph::FDMA_M;
532 break;
533 case 'E':
534 flag = t_eph::INAV;
535 break;
536 case 'C':
537 if (num < 6) {// GEO
538 flag = t_eph::D2;
539 }
540 else if (num > 58 && num < 63) { // GEO
541 flag = t_eph::D2;
542 }
543 else {
544 flag = t_eph::D1;
545 }
546 break;
547 case 'S':
548 flag = t_eph::SBASL1;
549 break;
550 }
551
552 return flag;
553}
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