/* -------------------------------------------------------------------------
* BKG NTRIP Server
* -------------------------------------------------------------------------
*
* Class: bnseph
*
* Purpose: Retrieve broadcast ephemeris from BNC
*
* Author: L. Mervart
*
* Created: 29-Mar-2008
*
* Changes:
*
* -----------------------------------------------------------------------*/
#include <iostream>
#include "bnseph.h"
#include "bnssettings.h"
#include "bnctime.h"
extern "C" {
#include "rtcm3torinex.h"
}
#define PI 3.1415926535898
const static double c_vel = 299792458.0;
using namespace std;
using namespace BNS;
// Constructor
////////////////////////////////////////////////////////////////////////////
t_bnseph::t_bnseph(QObject* parent) : QThread(parent) {
this->setTerminationEnabled(true);
_socket = 0;
bnsSettings settings;
QIODevice::OpenMode oMode;
if (Qt::CheckState(settings.value("fileAppend").toInt()) == Qt::Checked) {
oMode = QIODevice::WriteOnly | QIODevice::Unbuffered | QIODevice::Append;
}
else {
oMode = QIODevice::WriteOnly | QIODevice::Unbuffered;
}
// Echo ephemeris into a file
// ---------------------------
QString echoFileName = settings.value("ephEcho").toString();
if (echoFileName.isEmpty()) {
_echoFile = 0;
_echoStream = 0;
}
else {
_echoFile = new QFile(echoFileName);
if (_echoFile->open(oMode)) {
_echoStream = new QTextStream(_echoFile);
}
else {
_echoStream = 0;
}
}
}
// Destructor
////////////////////////////////////////////////////////////////////////////
t_bnseph::~t_bnseph() {
delete _socket;
delete _echoStream;
delete _echoFile;
}
// Connect the Socket
////////////////////////////////////////////////////////////////////////////
void t_bnseph::reconnect() {
delete _socket;
bnsSettings settings;
QString host = settings.value("ephHost").toString();
if (host.isEmpty()) {
host = "localhost";
}
int port = settings.value("ephPort").toInt();
_socket = new QTcpSocket();
_socket->connectToHost(host, port);
const int timeOut = 30*1000; // 30 seconds
if (!_socket->waitForConnected(timeOut)) {
// emit(newMessage("bnseph::run Connect Timeout"));
emit(newMessage("Ephemeris server: Connection timeout")); // weber
msleep(1000);
}
}
// Start
////////////////////////////////////////////////////////////////////////////
void t_bnseph::run() {
//emit(newMessage("bnseph::run Start"));
emit(newMessage("Ephemeris server: Connection opened")); // weber
while (true) {
if ( _socket == 0 ||
(_socket->state() != QAbstractSocket::ConnectingState &&
_socket->state() != QAbstractSocket::ConnectedState) ) {
reconnect();
}
if (_socket && _socket->state() == QAbstractSocket::ConnectedState) {
readEph();
}
else {
msleep(10);
}
}
}
// Read One Ephemeris
////////////////////////////////////////////////////////////////////////////
void t_bnseph::readEph() {
int nBytes = 0;
t_eph* eph = 0;
QByteArray line = waitForLine(_socket);
if (line.isEmpty()) {
return;
}
if (_echoStream) {
*_echoStream << line;
_echoStream->flush();
}
nBytes += line.length();
QTextStream in(line);
QString prn;
in >> prn;
int numlines = 0;
if (prn.indexOf('R') != -1) {
eph = new t_ephGlo();
numlines = 4;
}
else if (prn.indexOf('G') != -1) {
eph = new t_ephGPS();
numlines = 8;
}
else if (prn.indexOf('E') != -1) {
eph = new t_ephGal();
numlines = 8;
}
else {
emit(newMessage(QString("Ephemeris server: line not recognized: %1")
.arg(line.data()).toAscii().data()));
return;
}
QStringList lines;
lines << line;
for (int ii = 2; ii <= numlines; ii++) {
QByteArray line = waitForLine(_socket);
if (line.isEmpty()) {
delete eph;
return;
}
if (_echoStream) {
*_echoStream << line;
_echoStream->flush();
}
nBytes += line.length();
lines << line;
}
if (eph->read(lines) == success) {
eph->setRecepDateTime(QDateTime::currentDateTime());
emit(newEph(eph, nBytes));
}
else {
emit(newMessage(QString("Broadcast message too new, excluded.\n%1")
.arg(lines.join("")).toAscii().data()));
delete eph;
return;
}
}
// Compare Time
////////////////////////////////////////////////////////////////////////////
bool t_eph::isNewerThan(const t_eph* eph) const {
if (_GPSweek > eph->_GPSweek ||
(_GPSweek == eph->_GPSweek && _GPSweeks > eph->_GPSweeks)) {
return true;
}
else {
return false;
}
}
// Read GPS Ephemeris
////////////////////////////////////////////////////////////////////////////
t_irc t_ephGPS::read(const QStringList& lines) {
for (int ii = 1; ii <= lines.size(); ii++) {
QTextStream in(lines.at(ii-1).toAscii());
if (ii == 1) {
double year, month, day, hour, minute, second;
in >> _prn >> year >> month >> day >> hour >> minute >> second
>> _clock_bias >> _clock_drift >> _clock_driftrate;
if (year < 100) year += 2000;
QDateTime* dateTime = new QDateTime(QDate(int(year), int(month), int(day)),
QTime(int(hour), int(minute), int(second)), Qt::UTC);
// do not allow too new message (actually 12h) ! /JD
QDateTime currTime = QDateTime::currentDateTime();
if( dateTime->secsTo(currTime) < -3600*12 ){
delete dateTime;
return failure;
}
GPSweekFromDateAndTime(*dateTime, _GPSweek, _GPSweeks);
delete dateTime;
_TOC = _GPSweeks;
}
else if (ii == 2) {
in >> _IODE >> _Crs >> _Delta_n >> _M0;
}
else if (ii == 3) {
in >> _Cuc >> _e >> _Cus >> _sqrt_A;
}
else if (ii == 4) {
in >> _TOE >> _Cic >> _OMEGA0 >> _Cis;
}
else if (ii == 5) {
in >> _i0 >> _Crc >> _omega >> _OMEGADOT;
}
else if (ii == 6) {
double GPSweek;
in >> _IDOT >> _L2Codes >> GPSweek >> _L2PFlag;
}
else if (ii == 7) {
in >> _ura >> _health >> _TGD >> _IODC;
}
else if (ii == 8) {
in >> _TOW;
}
}
return success;
}
// Returns nearest integer value
////////////////////////////////////////////////////////////////////////////
static double NearestInt(double fl, double * remain)
{
bool isneg = fl < 0.0;
double intval;
if(isneg) fl *= -1.0;
intval = (double)((unsigned long)(fl+0.5));
if(isneg) {fl *= -1.0; intval *= -1.0;}
if(remain)
*remain = fl-intval;
return intval;
} /* NearestInt() */
// Returns CRC24
////////////////////////////////////////////////////////////////////////////
static unsigned long CRC24(long size, const unsigned char *buf)
{
unsigned long crc = 0;
int i;
while(size--)
{
crc ^= (*buf++) << (16);
for(i = 0; i < 8; i++)
{
crc <<= 1;
if(crc & 0x1000000)
crc ^= 0x01864cfb;
}
}
return crc;
} /* CRC24 */
// build up RTCM3 for GPS
////////////////////////////////////////////////////////////////////////////
#define GPSTOINT(type, value) static_cast<type>(NearestInt(value,0))
#define GPSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
|(GPSTOINT(long long,b)&((1ULL<<a)-1)); \
numbits += (a); \
while(numbits >= 8) { \
buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
#define GPSADDBITSFLOAT(a,b,c) {long long i = GPSTOINT(long long,(b)/(c)); \
GPSADDBITS(a,i)};
int t_ephGPS::RTCM3(unsigned char *buffer)
{
unsigned char *startbuffer = buffer;
buffer= buffer+3;
int size = 0;
int numbits = 0;
unsigned long long bitbuffer = 0;
if (_ura <= 2.40){
_ura = 0;
}
else if (_ura <= 3.40){
_ura = 1;
}
else if (_ura <= 6.85){
_ura = 2;
}
else if (_ura <= 9.65){
_ura = 3;
}
else if (_ura <= 13.65){
_ura = 4;
}
else if (_ura <= 24.00){
_ura = 5;
}
else if (_ura <= 48.00){
_ura = 6;
}
else if (_ura <= 96.00){
_ura = 7;
}
else if (_ura <= 192.00){
_ura = 8;
}
else if (_ura <= 384.00){
_ura = 9;
}
else if (_ura <= 768.00){
_ura = 10;
}
else if (_ura <= 1536.00){
_ura = 11;
}
else if (_ura <= 1536.00){
_ura = 12;
}
else if (_ura <= 2072.00){
_ura = 13;
}
else if (_ura <= 6144.00){
_ura = 14;
}
else{
_ura = 15;
}
GPSADDBITS(12, 1019)
GPSADDBITS(6,_prn.right((_prn.length()-1)).toInt())
GPSADDBITS(10, _GPSweek)
GPSADDBITS(4, _ura)
GPSADDBITS(2,_L2Codes)
GPSADDBITSFLOAT(14, _IDOT, PI/static_cast<double>(1<<30)
/static_cast<double>(1<<13))
GPSADDBITS(8, _IODE)
GPSADDBITS(16, static_cast<int>(_TOC)>>4)
GPSADDBITSFLOAT(8, _clock_driftrate, 1.0/static_cast<double>(1<<30)
/static_cast<double>(1<<25))
GPSADDBITSFLOAT(16, _clock_drift, 1.0/static_cast<double>(1<<30)
/static_cast<double>(1<<13))
GPSADDBITSFLOAT(22, _clock_bias, 1.0/static_cast<double>(1<<30)
/static_cast<double>(1<<1))
GPSADDBITS(10, _IODC)
GPSADDBITSFLOAT(16, _Crs, 1.0/static_cast<double>(1<<5))
GPSADDBITSFLOAT(16, _Delta_n, PI/static_cast<double>(1<<30)
/static_cast<double>(1<<13))
GPSADDBITSFLOAT(32, _M0, PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
GPSADDBITSFLOAT(16, _Cuc, 1.0/static_cast<double>(1<<29))
GPSADDBITSFLOAT(32, _e, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
GPSADDBITSFLOAT(16, _Cus, 1.0/static_cast<double>(1<<29))
GPSADDBITSFLOAT(32, _sqrt_A, 1.0/static_cast<double>(1<<19))
GPSADDBITS(16, static_cast<int>(_TOE)>>4)
GPSADDBITSFLOAT(16, _Cic, 1.0/static_cast<double>(1<<29))
GPSADDBITSFLOAT(32, _OMEGA0, PI/static_cast<double>(1<<30)
/static_cast<double>(1<<1))
GPSADDBITSFLOAT(16, _Cis, 1.0/static_cast<double>(1<<29))
GPSADDBITSFLOAT(32, _i0, PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
GPSADDBITSFLOAT(16, _Crc, 1.0/static_cast<double>(1<<5))
GPSADDBITSFLOAT(32, _omega, PI/static_cast<double>(1<<30)
/static_cast<double>(1<<1))
GPSADDBITSFLOAT(24, _OMEGADOT, PI/static_cast<double>(1<<30)
/static_cast<double>(1<<13))
GPSADDBITSFLOAT(8, _TGD, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<1))
GPSADDBITS(6, _health)
GPSADDBITS(1, _L2PFlag)
GPSADDBITS(1, 0) /* GPS fit interval */
startbuffer[0]=0xD3;
startbuffer[1]=(size >> 8);
startbuffer[2]=size;
unsigned long i = CRC24(size+3, startbuffer);
buffer[size++] = i >> 16;
buffer[size++] = i >> 8;
buffer[size++] = i;
size += 3;
return size;
}
// Compute GPS Satellite Position
////////////////////////////////////////////////////////////////////////////
void t_ephGPS::position(int GPSweek, double GPSweeks, ColumnVector& xc,
ColumnVector& vv) const {
static const double secPerWeek = 7 * 86400.0;
static const double omegaEarth = 7292115.1467e-11;
static const double gmWGS = 398.6005e12;
if (xc.Nrows() < 4) {
xc.ReSize(4);
}
xc = 0.0;
if (vv.Nrows() < 3) {
vv.ReSize(3);
}
vv = 0.0;
double a0 = _sqrt_A * _sqrt_A;
if (a0 == 0) {
return;
}
double n0 = sqrt(gmWGS/(a0*a0*a0));
double tk = GPSweeks - _TOE;
if (GPSweek != _GPSweek) {
tk += (GPSweek - _GPSweek) * secPerWeek;
}
double n = n0 + _Delta_n;
double M = _M0 + n*tk;
double E = M;
double E_last;
do {
E_last = E;
E = M + _e*sin(E);
} while ( fabs(E-E_last)*a0 > 0.001 );
double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
double u0 = v + _omega;
double sin2u0 = sin(2*u0);
double cos2u0 = cos(2*u0);
double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
double xp = r*cos(u);
double yp = r*sin(u);
double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
omegaEarth*_TOE;
double sinom = sin(OM);
double cosom = cos(OM);
double sini = sin(i);
double cosi = cos(i);
xc(1) = xp*cosom - yp*cosi*sinom;
xc(2) = xp*sinom + yp*cosi*cosom;
xc(3) = yp*sini;
double tc = GPSweeks - _TOC;
if (GPSweek != _GPSweek) {
tc += (GPSweek - _GPSweek) * secPerWeek;
}
xc(4) = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
// Velocity
// --------
double tanv2 = tan(v/2);
double dEdM = 1 / (1 - _e*cos(E));
double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
* dEdM * n;
double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
double dotom = _OMEGADOT - omegaEarth;
double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
double dotr = a0 * _e*sin(E) * dEdM * n
+ (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
double dotx = dotr*cos(u) - r*sin(u)*dotu;
double doty = dotr*sin(u) + r*cos(u)*dotu;
vv(1) = cosom *dotx - cosi*sinom *doty // dX / dr
- xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
+ yp*sini*sinom*doti; // dX / di
vv(2) = sinom *dotx + cosi*cosom *doty
+ xp*cosom*dotom - yp*cosi*sinom*dotom
- yp*sini*cosom*doti;
vv(3) = sini *doty + yp*cosi *doti;
// Relativistic Correction
// -----------------------
// xc(4) -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
xc(4) -= 2.0 * DotProduct(xc.Rows(1,3),vv) / c_vel / c_vel;
}
// Read Glonass Ephemeris
////////////////////////////////////////////////////////////////////////////
t_irc t_ephGlo::read(const QStringList& lines) {
static const double secPerWeek = 7 * 86400.0;
for (int ii = 1; ii <= lines.size(); ii++) {
QTextStream in(lines.at(ii-1).toAscii());
if (ii == 1) {
double year, month, day, hour, minute, second;
in >> _prn >> year >> month >> day >> hour >> minute >> second
>> _tau >> _gamma >> _tki;
_tau = -_tau;
if (year < 100) year += 2000;
// do not allow too new message (actually 24h) ! /JD
QDateTime mesgTime = QDateTime::fromString(QString("%1-%2-%3 %4").arg(year).arg(month).arg(day).arg(hour), "yyyy-MM-dd hh");
QDateTime currTime = QDateTime::currentDateTime();
if (mesgTime.secsTo(currTime) < -3600*24) {
return failure;
}
bncTime tHlp;
tHlp.set(int(year), int(month), int(day),
int(hour), int(minute), second);
_GPSweek = tHlp.gpsw();
_GPSweeks = tHlp.gpssec();
// Correct UTC -> GPS;
// -------------------
_gps_utc = gnumleap(int(year), int(month), int(day));
_GPSweeks += _gps_utc;
if (_GPSweeks >= secPerWeek) {
_GPSweek += 1;
_GPSweeks -= secPerWeek;
}
}
else if (ii == 2) {
in >>_x_pos >> _x_velocity >> _x_acceleration >> _health;
}
else if (ii == 3) {
in >>_y_pos >> _y_velocity >> _y_acceleration >> _frequency_number;
}
else if (ii == 4) {
in >>_z_pos >> _z_velocity >> _z_acceleration >> _E;
}
}
// Initialize status vector
// ------------------------
_tt = _GPSweeks;
_xv(1) = _x_pos * 1.e3;
_xv(2) = _y_pos * 1.e3;
_xv(3) = _z_pos * 1.e3;
_xv(4) = _x_velocity * 1.e3;
_xv(5) = _y_velocity * 1.e3;
_xv(6) = _z_velocity * 1.e3;
return success;
}
// build up RTCM3 for GLONASS
////////////////////////////////////////////////////////////////////////////
#define GLONASSTOINT(type, value) static_cast<type>(NearestInt(value,0))
#define GLONASSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
|(GLONASSTOINT(long long,b)&((1ULL<<(a))-1)); \
numbits += (a); \
while(numbits >= 8) { \
buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
#define GLONASSADDBITSFLOATM(a,b,c) {int s; long long i; \
if(b < 0.0) \
{ \
s = 1; \
i = GLONASSTOINT(long long,(-b)/(c)); \
if(!i) s = 0; \
} \
else \
{ \
s = 0; \
i = GLONASSTOINT(long long,(b)/(c)); \
} \
GLONASSADDBITS(1,s) \
GLONASSADDBITS(a-1,i)}
int t_ephGlo::RTCM3(unsigned char *buffer)
{
int size = 0;
int numbits = 0;
long long bitbuffer = 0;
unsigned char *startbuffer = buffer;
buffer= buffer+3;
GLONASSADDBITS(12, 1020)
GLONASSADDBITS(6, _prn.right((_prn.length()-1)).toInt())
GLONASSADDBITS(5, 7+_frequency_number)
GLONASSADDBITS(1, 0)
GLONASSADDBITS(1, 0)
GLONASSADDBITS(2, 0)
_tki=_tki+3*60*60;
GLONASSADDBITS(5, static_cast<int>(_tki)/(60*60))
GLONASSADDBITS(6, (static_cast<int>(_tki)/60)%60)
GLONASSADDBITS(1, (static_cast<int>(_tki)/30)%30)
GLONASSADDBITS(1, _health)
GLONASSADDBITS(1, 0)
unsigned long long timeofday = (static_cast<int>(_tt+3*60*60-_gps_utc)%86400);
GLONASSADDBITS(7, timeofday/60/15)
GLONASSADDBITSFLOATM(24, _x_velocity*1000, 1000.0/static_cast<double>(1<<20))
GLONASSADDBITSFLOATM(27, _x_pos*1000, 1000.0/static_cast<double>(1<<11))
GLONASSADDBITSFLOATM(5, _x_acceleration*1000, 1000.0/static_cast<double>(1<<30))
GLONASSADDBITSFLOATM(24, _y_velocity*1000, 1000.0/static_cast<double>(1<<20))
GLONASSADDBITSFLOATM(27, _y_pos*1000, 1000.0/static_cast<double>(1<<11))
GLONASSADDBITSFLOATM(5, _y_acceleration*1000, 1000.0/static_cast<double>(1<<30))
GLONASSADDBITSFLOATM(24, _z_velocity*1000, 1000.0/static_cast<double>(1<<20))
GLONASSADDBITSFLOATM(27,_z_pos*1000, 1000.0/static_cast<double>(1<<11))
GLONASSADDBITSFLOATM(5, _z_acceleration*1000, 1000.0/static_cast<double>(1<<30))
GLONASSADDBITS(1, 0)
GLONASSADDBITSFLOATM(11, _gamma, 1.0/static_cast<double>(1<<30)
/static_cast<double>(1<<10))
GLONASSADDBITS(2, 0) /* GLONASS-M P */
GLONASSADDBITS(1, 0) /* GLONASS-M ln(3) */
GLONASSADDBITSFLOATM(22, _tau, 1.0/static_cast<double>(1<<30))
GLONASSADDBITS(5, 0) /* GLONASS-M delta tau */
GLONASSADDBITS(5, _E)
GLONASSADDBITS(1, 0) /* GLONASS-M P4 */
GLONASSADDBITS(4, 0) /* GLONASS-M FT */
GLONASSADDBITS(11, 0) /* GLONASS-M NT */
GLONASSADDBITS(2, 0) /* GLONASS-M active? */
GLONASSADDBITS(1, 0) /* GLONASS additional data */
GLONASSADDBITS(11, 0) /* GLONASS NA */
GLONASSADDBITS(32, 0) /* GLONASS tau C */
GLONASSADDBITS(5, 0) /* GLONASS-M N4 */
GLONASSADDBITS(22, 0) /* GLONASS-M tau GPS */
GLONASSADDBITS(1, 0) /* GLONASS-M ln(5) */
GLONASSADDBITS(7, 0) /* Reserved */
startbuffer[0]=0xD3;
startbuffer[1]=(size >> 8);
startbuffer[2]=size;
unsigned long i = CRC24(size+3, startbuffer);
buffer[size++] = i >> 16;
buffer[size++] = i >> 8;
buffer[size++] = i;
size += 3;
return size;
}
// Derivative of the state vector using a simple force model (static)
////////////////////////////////////////////////////////////////////////////
ColumnVector t_ephGlo::glo_deriv(double /* tt */, const ColumnVector& xv,
double* acc) {
// State vector components
// -----------------------
ColumnVector rr = xv.rows(1,3);
ColumnVector vv = xv.rows(4,6);
// Acceleration
// ------------
static const double GM = 398.60044e12;
static const double AE = 6378136.0;
static const double OMEGA = 7292115.e-11;
static const double C20 = -1082.6257e-6;
double rho = rr.norm_Frobenius();
double t1 = -GM/(rho*rho*rho);
double t2 = 3.0/2.0 * C20 * (GM*AE*AE) / (rho*rho*rho*rho*rho);
double t3 = OMEGA * OMEGA;
double t4 = 2.0 * OMEGA;
double z2 = rr(3) * rr(3);
// Vector of derivatives
// ---------------------
ColumnVector va(6);
va(1) = vv(1);
va(2) = vv(2);
va(3) = vv(3);
va(4) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(1) + t4*vv(2) + acc[0];
va(5) = (t1 + t2*(1.0-5.0*z2/(rho*rho)) + t3) * rr(2) - t4*vv(1) + acc[1];
va(6) = (t1 + t2*(3.0-5.0*z2/(rho*rho)) ) * rr(3) + acc[2];
return va;
}
// Compute Glonass Satellite Position
////////////////////////////////////////////////////////////////////////////
void t_ephGlo::position(int GPSweek, double GPSweeks, ColumnVector& xc,
ColumnVector& vv) const {
static const double secPerWeek = 7 * 86400.0;
static const double nominalStep = 10.0;
double dtPos = GPSweeks - _tt;
if (GPSweek != _GPSweek) {
dtPos += (GPSweek - _GPSweek) * secPerWeek;
}
int nSteps = int(fabs(dtPos) / nominalStep) + 1;
double step = dtPos / nSteps;
double acc[3];
acc[0] = _x_acceleration * 1.e3;
acc[1] = _y_acceleration * 1.e3;
acc[2] = _z_acceleration * 1.e3;
for (int ii = 1; ii <= nSteps; ii++) {
_xv = rungeKutta4(_tt, _xv, step, acc, glo_deriv);
_tt += step;
}
// Position and Velocity
// ---------------------
xc(1) = _xv(1);
xc(2) = _xv(2);
xc(3) = _xv(3);
vv(1) = _xv(4);
vv(2) = _xv(5);
vv(3) = _xv(6);
// Clock Correction
// ----------------
double dtClk = GPSweeks - _GPSweeks;
if (GPSweek != _GPSweek) {
dtClk += (GPSweek - _GPSweek) * secPerWeek;
}
xc(4) = -_tau + _gamma * dtClk;
}
// Glonass IOD
////////////////////////////////////////////////////////////////////////////
int t_ephGlo::IOD() const {
bool old = false;
if (old) { // 5 LSBs of iod are equal to 5 LSBs of tb
unsigned int tb = int(fmod(_GPSweeks,86400.0)); //sec of day
const int shift = sizeof(tb) * 8 - 5;
unsigned int iod = tb << shift;
return (iod >> shift);
}
else {
bncTime tGPS(_GPSweek, _GPSweeks);
int hlpWeek = _GPSweek;
int hlpSec = int(_GPSweeks);
int hlpMsec = int(_GPSweeks * 1000);
updatetime(&hlpWeek, &hlpSec, hlpMsec, 0);
bncTime tHlp(hlpWeek, hlpSec);
double diffSec = tGPS - tHlp;
bncTime tMoscow = tGPS + diffSec;
return int(tMoscow.daysec() / 900);
}
}
// Compute Galileo Satellite Position
////////////////////////////////////////////////////////////////////////////
void t_ephGal::position(int GPSweek, double GPSweeks, ColumnVector& xc,
ColumnVector& vv) const {
static const double secPerWeek = 7 * 86400.0;
static const double omegaEarth = 7292115.1467e-11;
static const double gmWGS = 398.6005e12;
xc.ReSize(4); xc = 0.0;
vv.ReSize(3); vv = 0.0;
double a0 = _sqrt_A * _sqrt_A;
if (a0 == 0) {
return;
}
double n0 = sqrt(gmWGS/(a0*a0*a0));
double tk = GPSweeks - _TOE;
if (GPSweek != _GPSweek) {
tk += (GPSweek - _GPSweek) * secPerWeek;
}
double n = n0 + _Delta_n;
double M = _M0 + n*tk;
double E = M;
double E_last;
do {
E_last = E;
E = M + _e*sin(E);
} while ( fabs(E-E_last)*a0 > 0.001 );
double v = 2.0*atan( sqrt( (1.0 + _e)/(1.0 - _e) )*tan( E/2 ) );
double u0 = v + _omega;
double sin2u0 = sin(2*u0);
double cos2u0 = cos(2*u0);
double r = a0*(1 - _e*cos(E)) + _Crc*cos2u0 + _Crs*sin2u0;
double i = _i0 + _IDOT*tk + _Cic*cos2u0 + _Cis*sin2u0;
double u = u0 + _Cuc*cos2u0 + _Cus*sin2u0;
double xp = r*cos(u);
double yp = r*sin(u);
double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk -
omegaEarth*_TOE;
double sinom = sin(OM);
double cosom = cos(OM);
double sini = sin(i);
double cosi = cos(i);
xc[0] = xp*cosom - yp*cosi*sinom;
xc[1] = xp*sinom + yp*cosi*cosom;
xc[2] = yp*sini;
double tc = GPSweeks - _TOC;
if (GPSweek != _GPSweek) {
tc += (GPSweek - _GPSweek) * secPerWeek;
}
xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc;
// Velocity
// --------
double tanv2 = tan(v/2);
double dEdM = 1 / (1 - _e*cos(E));
double dotv = sqrt((1.0 + _e)/(1.0 - _e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
* dEdM * n;
double dotu = dotv + (-_Cuc*sin2u0 + _Cus*cos2u0)*2*dotv;
double dotom = _OMEGADOT - omegaEarth;
double doti = _IDOT + (-_Cic*sin2u0 + _Cis*cos2u0)*2*dotv;
double dotr = a0 * _e*sin(E) * dEdM * n
+ (-_Crc*sin2u0 + _Crs*cos2u0)*2*dotv;
double dotx = dotr*cos(u) - r*sin(u)*dotu;
double doty = dotr*sin(u) + r*cos(u)*dotu;
vv[0] = cosom *dotx - cosi*sinom *doty // dX / dr
- xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
+ yp*sini*sinom*doti; // dX / di
vv[1] = sinom *dotx + cosi*cosom *doty
+ xp*cosom*dotom - yp*cosi*sinom*dotom
- yp*sini*cosom*doti;
vv[2] = sini *doty + yp*cosi *doti;
// Relativistic Correction
// -----------------------
// xc(4) -= 4.442807633e-10 * _e * sqrt(a0) *sin(E);
xc[3] -= 2.0 * (xc[0]*vv[0] + xc[1]*vv[1] + xc[2]*vv[2]) / c_vel / c_vel;
}
// Read Galileo Ephemeris
////////////////////////////////////////////////////////////////////////////
t_irc t_ephGal::read(const QStringList& lines) {
for (int ii = 1; ii <= lines.size(); ii++) {
QTextStream in(lines.at(ii-1).toAscii());
if (ii == 1) {
double year, month, day, hour, minute, second;
in >> _prn >> year >> month >> day >> hour >> minute >> second
>> _clock_bias >> _clock_drift >> _clock_driftrate;
if (year < 100) year += 2000;
QDateTime* dateTime = new QDateTime(QDate(int(year), int(month), int(day)),
QTime(int(hour), int(minute), int(second)), Qt::UTC);
// do not allow too new message (actually 12h) ! /JD
QDateTime currTime = QDateTime::currentDateTime();
if( dateTime->secsTo(currTime) < -3600*12 ){
delete dateTime;
return failure;
}
GPSweekFromDateAndTime(*dateTime, _GPSweek, _GPSweeks);
delete dateTime;
_TOC = _GPSweeks;
}
else if (ii == 2) {
in >> _IODnav >> _Crs >> _Delta_n >> _M0;
}
else if (ii == 3) {
in >> _Cuc >> _e >> _Cus >> _sqrt_A;
}
else if (ii == 4) {
in >> _TOE >> _Cic >> _OMEGA0 >> _Cis;
}
else if (ii == 5) {
in >> _i0 >> _Crc >> _omega >> _OMEGADOT;
}
else if (ii == 6) {
double GPSweek, dummy;
in >> _IDOT >> dummy >> GPSweek;
}
else if (ii == 7) {
in >> _SISA >> _E5aHS >> _BGD_1_5A >> _BGD_1_5B;
}
else if (ii == 8) {
double TOW;
in >> TOW;
}
}
return success;
}
#define GALILEOTOINT(type, value) static_cast<type>(NearestInt(value, 0))
#define GALILEOADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
|(GALILEOTOINT(long long,b)&((1LL<<a)-1)); \
numbits += (a); \
while(numbits >= 8) { \
buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
#define GALILEOADDBITSFLOAT(a,b,c) {long long i = GALILEOTOINT(long long,(b)/(c)); \
GALILEOADDBITS(a,i)};
// build up RTCM3 for Galileo
////////////////////////////////////////////////////////////////////////////
int t_ephGal::RTCM3(unsigned char *buffer) {
int size = 0;
int numbits = 0;
long long bitbuffer = 0;
unsigned char *startbuffer = buffer;
buffer= buffer+3;
GALILEOADDBITS(12, /*inav ? 1046 :*/ 1045)
GALILEOADDBITS(6, _prn.right((_prn.length()-1)).toInt())
GALILEOADDBITS(12, _GPSweek)
GALILEOADDBITS(10, _IODnav)
GALILEOADDBITS(8, _SISA)
GALILEOADDBITSFLOAT(14, _IDOT, PI/static_cast<double>(1<<30)
/static_cast<double>(1<<13))
GALILEOADDBITS(14, _TOC/60)
GALILEOADDBITSFLOAT(6, _clock_driftrate, 1.0/static_cast<double>(1<<30)
/static_cast<double>(1<<29))
GALILEOADDBITSFLOAT(21, _clock_drift, 1.0/static_cast<double>(1<<30)
/static_cast<double>(1<<16))
GALILEOADDBITSFLOAT(31, _clock_bias, 1.0/static_cast<double>(1<<30)
/static_cast<double>(1<<4))
GALILEOADDBITSFLOAT(16, _Crs, 1.0/static_cast<double>(1<<5))
GALILEOADDBITSFLOAT(16, _Delta_n, PI/static_cast<double>(1<<30)
/static_cast<double>(1<<13))
GALILEOADDBITSFLOAT(32, _M0, PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
GALILEOADDBITSFLOAT(16, _Cuc, 1.0/static_cast<double>(1<<29))
GALILEOADDBITSFLOAT(32, _e, 1.0/static_cast<double>(1<<30)/static_cast<double>(1<<3))
GALILEOADDBITSFLOAT(16, _Cus, 1.0/static_cast<double>(1<<29))
GALILEOADDBITSFLOAT(32, _sqrt_A, 1.0/static_cast<double>(1<<19))
GALILEOADDBITS(14, _TOE/60)
GALILEOADDBITSFLOAT(16, _Cic, 1.0/static_cast<double>(1<<29))
GALILEOADDBITSFLOAT(32, _OMEGA0, PI/static_cast<double>(1<<30)
/static_cast<double>(1<<1))
GALILEOADDBITSFLOAT(16, _Cis, 1.0/static_cast<double>(1<<29))
GALILEOADDBITSFLOAT(32, _i0, PI/static_cast<double>(1<<30)/static_cast<double>(1<<1))
GALILEOADDBITSFLOAT(16, _Crc, 1.0/static_cast<double>(1<<5))
GALILEOADDBITSFLOAT(32, _omega, PI/static_cast<double>(1<<30)
/static_cast<double>(1<<1))
GALILEOADDBITSFLOAT(24, _OMEGADOT, PI/static_cast<double>(1<<30)
/static_cast<double>(1<<13))
GALILEOADDBITSFLOAT(10, _BGD_1_5A, 1.0/static_cast<double>(1<<30)
/static_cast<double>(1<<2))
/*if(inav)
{
GALILEOADDBITSFLOAT(10, _BGD_1_5B, 1.0/static_cast<double>(1<<30)
/static_cast<double>(1<<2))
GALILEOADDBITS(2, _E5bHS)
GALILEOADDBITS(1, flags & MNFGALEPHF_E5BDINVALID)
}
else*/
{
GALILEOADDBITS(2, _E5aHS)
GALILEOADDBITS(1, /*flags & MNFGALEPHF_E5ADINVALID*/0)
}
_TOE = 0.9999E9;
GALILEOADDBITS(20, _TOE)
GALILEOADDBITS(/*inav ? 1 :*/ 3, 0) /* fill up */
startbuffer[0]=0xD3;
startbuffer[1]=(size >> 8);
startbuffer[2]=size;
unsigned long i = CRC24(size+3, startbuffer);
buffer[size++] = i >> 16;
buffer[size++] = i >> 8;
buffer[size++] = i;
size += 3;
return size;
}