source: ntrip/trunk/BNS/bnseph.h@ 1867

Last change on this file since 1867 was 1867, checked in by mervart, 15 years ago

* empty log message *
File size: 3.8 KB
Line 
1#ifndef BNSEPH_H
2#define BNSEPH_H
3
4#include <math.h>
5#include <newmat.h>
6
7#include <QtCore>
8#include <QThread>
9#include <QtNetwork>
10
11
12class t_eph {
13 public:
14 virtual ~t_eph() {};
15
16 bool isNewerThan(const t_eph* eph) const;
17 QString prn() const {return _prn;}
18
19 virtual void position(int GPSweek, double GPSweeks, ColumnVector& xc,
20 ColumnVector& vv) const = 0;
21 virtual void read(const QStringList& lines) = 0;
22 virtual int IOD() const = 0;
23 virtual int RTCM3(unsigned char *) = 0;
24 protected:
25 QString _prn;
26 int _GPSweek;
27 double _GPSweeks;
28};
29
30class t_ephGlo : public t_eph {
31 public:
32 t_ephGlo() {
33 _gps_utc = 0.0;
34 _xv.ReSize(6);
35 };
36 virtual ~t_ephGlo() {};
37 virtual void read(const QStringList& lines);
38 virtual void position(int GPSweek, double GPSweeks, ColumnVector& xc,
39 ColumnVector& vv) const;
40 virtual int IOD() const;
41 virtual int RTCM3(unsigned char *);
42 private:
43 static ColumnVector glo_deriv(double /* tt */, const ColumnVector& xv);
44 mutable double _tt; // time in seconds of GPSweek
45 mutable ColumnVector _xv; // status vector (position, velocity) at time _tt
46 double _gps_utc; // GPS - UTC in seconds
47
48 double _E; // [days]
49 double _tau; // [s]
50 double _gamma; //
51 double _x_pos; // [km]
52 double _x_velocity; // [km/s]
53 double _x_acceleration; // [km/s^2]
54 double _y_pos; // [km]
55 double _y_velocity; // [km/s]
56 double _y_acceleration; // [km/s^2]
57 double _z_pos; // [km]
58 double _z_velocity; // [km/s]
59 double _z_acceleration; // [km/s^2]
60 double _health; // 0 = O.K.
61 double _frequency_number; // ICD-GLONASS data position
62 double _tki; // message frame time
63};
64
65
66class t_ephGPS : public t_eph {
67 public:
68 t_ephGPS() {};
69 virtual ~t_ephGPS() {};
70 virtual void read(const QStringList& lines);
71 virtual void position(int GPSweek, double GPSweeks, ColumnVector& xc,
72 ColumnVector& vv) const;
73 virtual int IOD() const {return int(_IODE);}
74 virtual int RTCM3(unsigned char *);
75 private:
76 double _TOW; // [s]
77 double _TOC; // [s]
78 double _TOE; // [s]
79 double _IODE;
80 double _IODC;
81
82 double _clock_bias; // [s]
83 double _clock_drift; // [s/s]
84 double _clock_driftrate; // [s/s^2]
85
86 double _Crs; // [m]
87 double _Delta_n; // [rad/s]
88 double _M0; // [rad]
89 double _Cuc; // [rad]
90 double _e; //
91 double _Cus; // [rad]
92 double _sqrt_A; // [m^0.5]
93 double _Cic; // [rad]
94 double _OMEGA0; // [rad]
95 double _Cis; // [rad]
96 double _i0; // [rad]
97 double _Crc; // [m]
98 double _omega; // [rad]
99 double _OMEGADOT; // [rad/s]
100 double _IDOT; // [rad/s]
101
102 double _TGD; // [s]
103 double _health; // SV health
104 double _ura; // SV accuracy
105 double _L2PFlag; // L2 P data flag
106 double _L2Codes; // Codes on L2 channel
107};
108
109class t_bnseph : public QThread {
110 Q_OBJECT
111 public:
112 t_bnseph(QObject* parent = 0);
113 virtual ~t_bnseph();
114 virtual void run();
115
116 signals:
117 void newEph(t_eph* eph, int nBytes);
118 void newMessage(const QByteArray msg);
119 void error(const QByteArray msg);
120
121 private:
122 void reconnect();
123 void readEph();
124 QTcpSocket* _socket;
125 QFile* _echoFile;
126 QTextStream* _echoStream;
127};
128#endif
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