| 1 | /* -------------------------------------------------------------------------
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| 2 | * BKG NTRIP Server
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| 3 | * -------------------------------------------------------------------------
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| 4 | *
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| 5 | * Class: bncutils
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| 6 | *
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| 7 | * Purpose: Auxiliary Functions
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| 8 | *
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| 9 | * Author: L. Mervart
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| 10 | *
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| 11 | * Created: 08-Apr-2008
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| 12 | *
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| 13 | * Changes:
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| 14 | *
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| 15 | * -----------------------------------------------------------------------*/
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| 16 |
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| 17 | #include <iostream>
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| 18 | #include <ctime>
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| 19 | #include <math.h>
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| 20 |
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| 21 | #include <QRegExp>
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| 22 | #include <QStringList>
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| 23 | #include <QDateTime>
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| 24 |
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| 25 | #include "bnsutils.h"
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| 26 | #include "bnseph.h"
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| 27 |
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| 28 | using namespace std;
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| 29 |
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| 30 | //
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| 31 | ////////////////////////////////////////////////////////////////////////////
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| 32 | void expandEnvVar(QString& str) {
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| 33 |
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| 34 | QRegExp rx("(\\$\\{.+\\})");
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| 35 |
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| 36 | if (rx.indexIn(str) != -1) {
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| 37 | QStringListIterator it(rx.capturedTexts());
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| 38 | if (it.hasNext()) {
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| 39 | QString rxStr = it.next();
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| 40 | QString envVar = rxStr.mid(2,rxStr.length()-3);
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| 41 | str.replace(rxStr, qgetenv(envVar.toAscii()));
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| 42 | }
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| 43 | }
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| 44 |
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| 45 | }
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| 46 |
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| 47 | //
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| 48 | ////////////////////////////////////////////////////////////////////////////
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| 49 | QDateTime dateAndTimeFromGPSweek(int GPSWeek, double GPSWeeks) {
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| 50 |
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| 51 | static const QDate zeroEpoch(1980, 1, 6);
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| 52 |
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| 53 | QDate date(zeroEpoch);
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| 54 | QTime time(0,0,0,0);
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| 55 |
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| 56 | int weekDays = int(GPSWeeks) / 86400;
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| 57 | date = date.addDays( GPSWeek * 7 + weekDays );
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| 58 | time = time.addMSecs( int( (GPSWeeks - 86400 * weekDays) * 1e3 ) );
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| 59 |
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| 60 | return QDateTime(date,time);
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| 61 | }
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| 62 |
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| 63 | //
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| 64 | ////////////////////////////////////////////////////////////////////////////
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| 65 | void GPSweekFromDateAndTime(const QDateTime& dateTime,
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| 66 | int& GPSWeek, double& GPSWeeks) {
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| 67 |
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| 68 | static const QDateTime zeroEpoch(QDate(1980, 1, 6));
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| 69 |
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| 70 | GPSWeek = zeroEpoch.daysTo(dateTime) / 7;
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| 71 |
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| 72 | int weekDay = dateTime.date().dayOfWeek() + 1; // Qt: Monday = 1
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| 73 | if (weekDay > 7) weekDay = 1;
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| 74 |
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| 75 | GPSWeeks = (weekDay - 1) * 86400.0
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| 76 | - dateTime.time().msecsTo(QTime()) / 1e3;
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| 77 | }
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| 78 |
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| 79 | //
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| 80 | ////////////////////////////////////////////////////////////////////////////
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| 81 | void currentGPSWeeks(int& week, double& sec) {
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| 82 |
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| 83 | QDateTime currDateTime = QDateTime::currentDateTime().toUTC();
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| 84 | QDate currDate = currDateTime.date();
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| 85 | QTime currTime = currDateTime.time();
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| 86 |
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| 87 | week = int( (double(currDate.toJulianDay()) - 2444244.5) / 7 );
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| 88 |
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| 89 | sec = (currDate.dayOfWeek() % 7) * 24.0 * 3600.0 +
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| 90 | currTime.hour() * 3600.0 +
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| 91 | currTime.minute() * 60.0 +
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| 92 | currTime.second() +
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| 93 | currTime.msec() / 1000.0;
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| 94 | }
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| 95 |
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| 96 | // Satellite Position computed using broadcast ephemeris
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| 97 | ////////////////////////////////////////////////////////////////////////////
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| 98 | void satellitePosition(int GPSweek, double GPSweeks, const gpsEph* ep,
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| 99 | double& X, double& Y, double& Z, double& dt,
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| 100 | double& vX, double& vY, double& vZ) {
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| 101 |
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| 102 | const static double secPerWeek = 7 * 86400.0;
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| 103 | const static double omegaEarth = 7292115.1467e-11;
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| 104 | const static double gmWGS = 398.6005e12;
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| 105 |
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| 106 | X = Y = Z = dt = 0.0;
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| 107 |
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| 108 | double a0 = ep->sqrt_A * ep->sqrt_A;
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| 109 | if (a0 == 0) {
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| 110 | return;
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| 111 | }
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| 112 |
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| 113 | double n0 = sqrt(gmWGS/(a0*a0*a0));
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| 114 | double tk = GPSweeks - ep->TOE;
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| 115 | if (GPSweek != ep->GPSweek) {
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| 116 | tk += (GPSweek - ep->GPSweek) * secPerWeek;
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| 117 | }
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| 118 | double n = n0 + ep->Delta_n;
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| 119 | double M = ep->M0 + n*tk;
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| 120 | double E = M;
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| 121 | double E_last;
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| 122 | do {
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| 123 | E_last = E;
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| 124 | E = M + ep->e*sin(E);
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| 125 | } while ( fabs(E-E_last)*a0 > 0.001 );
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| 126 | double v = 2.0*atan( sqrt( (1.0 + ep->e)/(1.0 - ep->e) )*tan( E/2 ) );
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| 127 | double u0 = v + ep->omega;
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| 128 | double sin2u0 = sin(2*u0);
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| 129 | double cos2u0 = cos(2*u0);
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| 130 | double r = a0*(1 - ep->e*cos(E)) + ep->Crc*cos2u0 + ep->Crs*sin2u0;
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| 131 | double i = ep->i0 + ep->IDOT*tk + ep->Cic*cos2u0 + ep->Cis*sin2u0;
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| 132 | double u = u0 + ep->Cuc*cos2u0 + ep->Cus*sin2u0;
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| 133 | double xp = r*cos(u);
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| 134 | double yp = r*sin(u);
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| 135 | double OM = ep->OMEGA0 + (ep->OMEGADOT - omegaEarth)*tk -
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| 136 | omegaEarth*ep->TOE;
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| 137 |
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| 138 | double sinom = sin(OM);
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| 139 | double cosom = cos(OM);
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| 140 | double sini = sin(i);
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| 141 | double cosi = cos(i);
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| 142 | X = xp*cosom - yp*cosi*sinom;
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| 143 | Y = xp*sinom + yp*cosi*cosom;
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| 144 | Z = yp*sini;
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| 145 |
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| 146 | double tc = GPSweeks - ep->TOC;
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| 147 | if (GPSweek != ep->GPSweek) {
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| 148 | tc += (GPSweek - ep->GPSweek) * secPerWeek;
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| 149 | }
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| 150 | dt = ep->clock_bias + ep->clock_drift*tc + ep->clock_driftrate*tc*tc
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| 151 | - 4.442807633e-10 * ep->e * sqrt(a0) *sin(E);
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| 152 |
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| 153 | // Velocity
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| 154 | // --------
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| 155 | double tanv2 = tan(v/2);
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| 156 | double dEdM = 1 / (1 - ep->e*cos(E));
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| 157 | double dotv = sqrt((1.0 + ep->e)/(1.0 - ep->e)) / cos(E/2)/cos(E/2) / (1 + tanv2*tanv2)
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| 158 | * dEdM * n;
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| 159 | double dotu = dotv + (-ep->Cuc*sin2u0 + ep->Cus*cos2u0)*2*dotv;
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| 160 | double dotom = ep->OMEGADOT - omegaEarth;
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| 161 | double doti = ep->IDOT + (-ep->Cic*sin2u0 + ep->Cis*cos2u0)*2*dotv;
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| 162 | double dotr = a0 * ep->e*sin(E) * dEdM * n
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| 163 | + (-ep->Crc*sin2u0 + ep->Crs*cos2u0)*2*dotv;
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| 164 | double dotx = dotr*cos(u) - r*sin(u)*dotu;
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| 165 | double doty = dotr*sin(u) + r*cos(u)*dotu;
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| 166 |
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| 167 | vX = cosom *dotx - cosi*sinom *doty // dX / dr
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| 168 | - xp*sinom*dotom - yp*cosi*cosom*dotom // dX / dOMEGA
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| 169 | + yp*sini*sinom*doti; // dX / di
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| 170 |
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| 171 | vY = sinom *dotx + cosi*cosom *doty
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| 172 | + xp*cosom*dotom - yp*cosi*sinom*dotom
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| 173 | - yp*sini*cosom*doti;
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| 174 |
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| 175 | vZ = sini *doty + yp*cosi *doti;
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| 176 | }
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| 177 |
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| 178 | // Transformation xyz --> radial, along track, out-of-plane
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| 179 | ////////////////////////////////////////////////////////////////////////////
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| 180 | void XYZ_to_RSW(const ColumnVector& rr, const ColumnVector& vv,
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| 181 | const ColumnVector& xyz, ColumnVector& rsw) {
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| 182 |
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| 183 | ColumnVector cross = crossproduct(rr, vv);
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| 184 |
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| 185 | rsw.ReSize(3);
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| 186 | rsw(1) = DotProduct(xyz, rr) / rr.norm_Frobenius();
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| 187 | rsw(2) = DotProduct(xyz, vv) / vv.norm_Frobenius();
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| 188 | rsw(3) = DotProduct(xyz, cross) / cross.norm_Frobenius();
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| 189 | }
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