Index: /trunk/BNC/RTCM3/ephemeris.cpp =================================================================== --- /trunk/BNC/RTCM3/ephemeris.cpp (revision 4017) +++ /trunk/BNC/RTCM3/ephemeris.cpp (revision 4018) @@ -15,49 +15,19 @@ using namespace std; -#define PI 3.1415926535898 -// 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) -{ +static unsigned long CRC24(long size, const unsigned char *buf) { unsigned long crc = 0; - int i; - - while(size--) - { + int ii; + while (size--) { crc ^= (*buf++) << (16); - for(i = 0; i < 8; i++) - { + for(ii = 0; ii < 8; ii++) { crc <<= 1; - if(crc & 0x1000000) + if (crc & 0x1000000) { crc ^= 0x01864cfb; + } } } return crc; -} /* CRC24 */ - -// -//////////////////////////////////////////////////////////////////////////// -bool t_eph::isNewerThan(const t_eph* eph) const { - if (_GPSweek > eph->_GPSweek || - (_GPSweek == eph->_GPSweek && _GPSweeks > eph->_GPSweeks)) { - return true; - } - else { - return false; - } } @@ -68,43 +38,43 @@ _prn = QString("G%1").arg(ee->satellite, 2, 10, QChar('0')); - // TODO: check if following two lines are correct - _GPSweek = ee->GPSweek; - _GPSweeks = ee->TOE; - - _TOW = ee->TOW; - _TOC = ee->TOC; - _TOE = ee->TOE; - _IODE = ee->IODE; - _IODC = ee->IODC; - + _TOC.set(ee->GPSweek, ee->TOC); _clock_bias = ee->clock_bias; _clock_drift = ee->clock_drift; _clock_driftrate = ee->clock_driftrate; + _IODE = ee->IODE; _Crs = ee->Crs; _Delta_n = ee->Delta_n; _M0 = ee->M0; + _Cuc = ee->Cuc; _e = ee->e; _Cus = ee->Cus; _sqrt_A = ee->sqrt_A; + + _TOEsec = ee->TOE; _Cic = ee->Cic; _OMEGA0 = ee->OMEGA0; _Cis = ee->Cis; + _i0 = ee->i0; _Crc = ee->Crc; _omega = ee->omega; _OMEGADOT = ee->OMEGADOT; + _IDOT = ee->IDOT; - + _L2Codes = 0.0; + _TOEweek = ee->TOW; + _L2PFlag = 0.0; + + _ura = 0.0; + _health = ee->SVhealth; _TGD = ee->TGD; + _IODC = ee->IODC; + + _TOT = 0.9999e9; + _fitInterval = 0.0; _ok = true; - - /* FIXME: convert URAindex and flags! */ - _ura = 0; - _L2Codes = 0; - _L2PFlag = 0; - _health = ee->SVhealth; } @@ -112,8 +82,8 @@ //////////////////////////////////////////////////////////////////////////// void t_ephGPS::position(int GPSweek, double GPSweeks, - double* xc, - double* vv) const { - - static const double secPerWeek = 7 * 86400.0; + double* xc, + double* vv) const { + + static const double omegaEarth = 7292115.1467e-11; static const double gmWGS = 398.6005e12; @@ -128,8 +98,8 @@ double n0 = sqrt(gmWGS/(a0*a0*a0)); - double tk = GPSweeks - _TOE; - if (GPSweek != _GPSweek) { - tk += (GPSweek - _GPSweek) * secPerWeek; - } + + bncTime tt(GPSweek, GPSweeks); + double tk = tt - bncTime(_TOEweek, _TOEsec); + double n = n0 + _Delta_n; double M = _M0 + n*tk; @@ -150,5 +120,5 @@ double yp = r*sin(u); double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk - - omegaEarth*_TOE; + omegaEarth*_TOEsec; double sinom = sin(OM); @@ -160,8 +130,5 @@ xc[2] = yp*sini; - double tc = GPSweeks - _TOC; - if (GPSweek != _GPSweek) { - tc += (GPSweek - _GPSweek) * secPerWeek; - } + double tc = tt - _TOC; xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc; @@ -192,5 +159,4 @@ // 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]) / t_CST::c / t_CST::c; } @@ -198,5 +164,5 @@ // build up RTCM3 for GPS //////////////////////////////////////////////////////////////////////////// -#define GPSTOINT(type, value) static_cast(NearestInt(value,0)) +#define GPSTOINT(type, value) static_cast(round(value)) #define GPSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \ @@ -205,9 +171,9 @@ 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) -{ +int t_ephGPS::RTCM3(unsigned char *buffer) { unsigned char *startbuffer = buffer; @@ -267,11 +233,11 @@ GPSADDBITS(12, 1019) GPSADDBITS(6,_prn.right((_prn.length()-1)).toInt()) - GPSADDBITS(10, _GPSweek) + GPSADDBITS(10, _TOC.gpsw()) GPSADDBITS(4, _ura) GPSADDBITS(2,_L2Codes) - GPSADDBITSFLOAT(14, _IDOT, PI/static_cast(1<<30) + GPSADDBITSFLOAT(14, _IDOT, M_PI/static_cast(1<<30) /static_cast(1<<13)) GPSADDBITS(8, _IODE) - GPSADDBITS(16, static_cast(_TOC)>>4) + GPSADDBITS(16, static_cast(_TOC.gpssec())>>4) GPSADDBITSFLOAT(8, _clock_driftrate, 1.0/static_cast(1<<30) /static_cast(1<<25)) @@ -282,21 +248,21 @@ GPSADDBITS(10, _IODC) GPSADDBITSFLOAT(16, _Crs, 1.0/static_cast(1<<5)) - GPSADDBITSFLOAT(16, _Delta_n, PI/static_cast(1<<30) + GPSADDBITSFLOAT(16, _Delta_n, M_PI/static_cast(1<<30) /static_cast(1<<13)) - GPSADDBITSFLOAT(32, _M0, PI/static_cast(1<<30)/static_cast(1<<1)) + GPSADDBITSFLOAT(32, _M0, M_PI/static_cast(1<<30)/static_cast(1<<1)) GPSADDBITSFLOAT(16, _Cuc, 1.0/static_cast(1<<29)) GPSADDBITSFLOAT(32, _e, 1.0/static_cast(1<<30)/static_cast(1<<3)) GPSADDBITSFLOAT(16, _Cus, 1.0/static_cast(1<<29)) GPSADDBITSFLOAT(32, _sqrt_A, 1.0/static_cast(1<<19)) - GPSADDBITS(16, static_cast(_TOE)>>4) + GPSADDBITS(16, static_cast(_TOEsec)>>4) GPSADDBITSFLOAT(16, _Cic, 1.0/static_cast(1<<29)) - GPSADDBITSFLOAT(32, _OMEGA0, PI/static_cast(1<<30) + GPSADDBITSFLOAT(32, _OMEGA0, M_PI/static_cast(1<<30) /static_cast(1<<1)) GPSADDBITSFLOAT(16, _Cis, 1.0/static_cast(1<<29)) - GPSADDBITSFLOAT(32, _i0, PI/static_cast(1<<30)/static_cast(1<<1)) + GPSADDBITSFLOAT(32, _i0, M_PI/static_cast(1<<30)/static_cast(1<<1)) GPSADDBITSFLOAT(16, _Crc, 1.0/static_cast(1<<5)) - GPSADDBITSFLOAT(32, _omega, PI/static_cast(1<<30) + GPSADDBITSFLOAT(32, _omega, M_PI/static_cast(1<<30) /static_cast(1<<1)) - GPSADDBITSFLOAT(24, _OMEGADOT, PI/static_cast(1<<30) + GPSADDBITSFLOAT(24, _OMEGADOT, M_PI/static_cast(1<<30) /static_cast(1<<13)) GPSADDBITSFLOAT(8, _TGD, 1.0/static_cast(1<<30)/static_cast(1<<1)) @@ -358,5 +324,4 @@ double* xc, double* vv) const { - static const double secPerWeek = 7 * 86400.0; static const double nominalStep = 10.0; @@ -364,8 +329,5 @@ memset(vv, 0, 3*sizeof(double)); - double dtPos = GPSweeks - _tt; - if (GPSweek != _GPSweek) { - dtPos += (GPSweek - _GPSweek) * secPerWeek; - } + double dtPos = bncTime(GPSweek, GPSweeks) - _tt; int nSteps = int(fabs(dtPos) / nominalStep) + 1; @@ -377,6 +339,6 @@ acc[2] = _z_acceleration * 1.e3; for (int ii = 1; ii <= nSteps; ii++) { - _xv = rungeKutta4(_tt, _xv, step, acc, glo_deriv); - _tt += step; + _xv = rungeKutta4(_tt.gpssec(), _xv, step, acc, glo_deriv); + _tt = _tt + step; } @@ -393,8 +355,5 @@ // Clock Correction // ---------------- - double dtClk = GPSweeks - _GPSweeks; - if (GPSweek != _GPSweek) { - dtClk += (GPSweek - _GPSweek) * secPerWeek; - } + double dtClk = bncTime(GPSweek, GPSweeks) - _TOC; xc[3] = -_tau + _gamma * dtClk; } @@ -403,6 +362,5 @@ //////////////////////////////////////////////////////////////////////////// int t_ephGlo::IOD() const { - bncTime tGPS(_GPSweek, _GPSweeks); - bncTime tMoscow = tGPS - _gps_utc + 3 * 3600.0; + bncTime tMoscow = _TOC - _gps_utc + 3 * 3600.0; return int(tMoscow.daysec() / 900); } @@ -472,6 +430,5 @@ _gps_utc = gnumleap(year, month, day); - _GPSweek = ww; - _GPSweeks = tow; + _TOC.set(ww, tow); _E = ee->E; _tau = ee->tau; @@ -492,5 +449,5 @@ // Initialize status vector // ------------------------ - _tt = _GPSweeks; + _tt = _TOC; _xv(1) = _x_pos * 1.e3; @@ -506,5 +463,5 @@ // build up RTCM3 for GLONASS //////////////////////////////////////////////////////////////////////////// -#define GLONASSTOINT(type, value) static_cast(NearestInt(value,0)) +#define GLONASSTOINT(type, value) static_cast(round(value)) #define GLONASSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \ @@ -549,5 +506,5 @@ GLONASSADDBITS(1, _health) GLONASSADDBITS(1, 0) - unsigned long long timeofday = (static_cast(_tt+3*60*60-_gps_utc)%86400); + unsigned long long timeofday = (static_cast(_tt.gpssec()+3*60*60-_gps_utc)%86400); GLONASSADDBITS(7, timeofday/60/15) GLONASSADDBITSFLOATM(24, _x_velocity*1000, 1000.0/static_cast(1<<20)) @@ -597,34 +554,38 @@ _prn = QString("E%1").arg(ee->satellite, 2, 10, QChar('0')); - _GPSweek = ee->Week; - _GPSweeks = ee->TOE; - - _TOC = ee->TOC; - _TOE = ee->TOE; - _IODnav = ee->IODnav; - + _TOC.set(ee->Week, ee->TOC); _clock_bias = ee->clock_bias; _clock_drift = ee->clock_drift; _clock_driftrate = ee->clock_driftrate; + _IODnav = ee->IODnav; _Crs = ee->Crs; _Delta_n = ee->Delta_n; _M0 = ee->M0; + _Cuc = ee->Cuc; _e = ee->e; _Cus = ee->Cus; _sqrt_A = ee->sqrt_A; + + _TOEsec = ee->TOE; _Cic = ee->Cic; _OMEGA0 = ee->OMEGA0; _Cis = ee->Cis; + _i0 = ee->i0; _Crc = ee->Crc; _omega = ee->omega; _OMEGADOT = ee->OMEGADOT; + _IDOT = ee->IDOT; + _TOEweek = ee->Week; + _SISA = ee->SISA; + _E5aHS = ee->E5aHS; _BGD_1_5A = ee->BGD_1_5A; _BGD_1_5B = ee->BGD_1_5B; - _E5aHS = ee->E5aHS; + + _TOT = 0.9999e9; _ok = true; @@ -634,8 +595,7 @@ //////////////////////////////////////////////////////////////////////////// void t_ephGal::position(int GPSweek, double GPSweeks, - double* xc, - double* vv) const { - - static const double secPerWeek = 7 * 86400.0; + double* xc, + double* vv) const { + static const double omegaEarth = 7292115.1467e-11; static const double gmWGS = 398.6005e12; @@ -650,8 +610,8 @@ double n0 = sqrt(gmWGS/(a0*a0*a0)); - double tk = GPSweeks - _TOE; - if (GPSweek != _GPSweek) { - tk += (GPSweek - _GPSweek) * secPerWeek; - } + + bncTime tt(GPSweek, GPSweeks); + double tk = tt - bncTime(_TOC.gpsw(), _TOEsec); + double n = n0 + _Delta_n; double M = _M0 + n*tk; @@ -672,5 +632,5 @@ double yp = r*sin(u); double OM = _OMEGA0 + (_OMEGADOT - omegaEarth)*tk - - omegaEarth*_TOE; + omegaEarth*_TOEsec; double sinom = sin(OM); @@ -682,8 +642,5 @@ xc[2] = yp*sini; - double tc = GPSweeks - _TOC; - if (GPSweek != _GPSweek) { - tc += (GPSweek - _GPSweek) * secPerWeek; - } + double tc = tt - _TOC; xc[3] = _clock_bias + _clock_drift*tc + _clock_driftrate*tc*tc; @@ -720,5 +677,5 @@ // build up RTCM3 for Galileo //////////////////////////////////////////////////////////////////////////// -#define GALILEOTOINT(type, value) static_cast(NearestInt(value, 0)) +#define GALILEOTOINT(type, value) static_cast(round(value)) #define GALILEOADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \ @@ -739,10 +696,10 @@ GALILEOADDBITS(12, /*inav ? 1046 :*/ 1045) GALILEOADDBITS(6, _prn.right((_prn.length()-1)).toInt()) - GALILEOADDBITS(12, _GPSweek) + GALILEOADDBITS(12, _TOC.gpsw()) GALILEOADDBITS(10, _IODnav) GALILEOADDBITS(8, _SISA) - GALILEOADDBITSFLOAT(14, _IDOT, PI/static_cast(1<<30) + GALILEOADDBITSFLOAT(14, _IDOT, M_PI/static_cast(1<<30) /static_cast(1<<13)) - GALILEOADDBITS(14, _TOC/60) + GALILEOADDBITS(14, _TOC.gpssec()/60) GALILEOADDBITSFLOAT(6, _clock_driftrate, 1.0/static_cast(1<<30) /static_cast(1<<29)) @@ -752,21 +709,21 @@ /static_cast(1<<4)) GALILEOADDBITSFLOAT(16, _Crs, 1.0/static_cast(1<<5)) - GALILEOADDBITSFLOAT(16, _Delta_n, PI/static_cast(1<<30) + GALILEOADDBITSFLOAT(16, _Delta_n, M_PI/static_cast(1<<30) /static_cast(1<<13)) - GALILEOADDBITSFLOAT(32, _M0, PI/static_cast(1<<30)/static_cast(1<<1)) + GALILEOADDBITSFLOAT(32, _M0, M_PI/static_cast(1<<30)/static_cast(1<<1)) GALILEOADDBITSFLOAT(16, _Cuc, 1.0/static_cast(1<<29)) GALILEOADDBITSFLOAT(32, _e, 1.0/static_cast(1<<30)/static_cast(1<<3)) GALILEOADDBITSFLOAT(16, _Cus, 1.0/static_cast(1<<29)) GALILEOADDBITSFLOAT(32, _sqrt_A, 1.0/static_cast(1<<19)) - GALILEOADDBITS(14, _TOE/60) + GALILEOADDBITS(14, _TOEsec/60) GALILEOADDBITSFLOAT(16, _Cic, 1.0/static_cast(1<<29)) - GALILEOADDBITSFLOAT(32, _OMEGA0, PI/static_cast(1<<30) + GALILEOADDBITSFLOAT(32, _OMEGA0, M_PI/static_cast(1<<30) /static_cast(1<<1)) GALILEOADDBITSFLOAT(16, _Cis, 1.0/static_cast(1<<29)) - GALILEOADDBITSFLOAT(32, _i0, PI/static_cast(1<<30)/static_cast(1<<1)) + GALILEOADDBITSFLOAT(32, _i0, M_PI/static_cast(1<<30)/static_cast(1<<1)) GALILEOADDBITSFLOAT(16, _Crc, 1.0/static_cast(1<<5)) - GALILEOADDBITSFLOAT(32, _omega, PI/static_cast(1<<30) + GALILEOADDBITSFLOAT(32, _omega, M_PI/static_cast(1<<30) /static_cast(1<<1)) - GALILEOADDBITSFLOAT(24, _OMEGADOT, PI/static_cast(1<<30) + GALILEOADDBITSFLOAT(24, _OMEGADOT, M_PI/static_cast(1<<30) /static_cast(1<<13)) GALILEOADDBITSFLOAT(10, _BGD_1_5A, 1.0/static_cast(1<<30) @@ -784,6 +741,6 @@ GALILEOADDBITS(1, /*flags & MNFGALEPHF_E5ADINVALID*/0) } - _TOE = 0.9999E9; - GALILEOADDBITS(20, _TOE) + _TOEsec = 0.9999E9; + GALILEOADDBITS(20, _TOEsec) GALILEOADDBITS(/*inav ? 1 :*/ 3, 0) /* fill up */ @@ -846,9 +803,5 @@ } - bncTime hlpTime; - hlpTime.set(year, month, day, hour, min, sec); - _GPSweek = hlpTime.gpsw(); - _GPSweeks = hlpTime.gpssec(); - _TOC = _GPSweeks; + _TOC.set(year, month, day, hour, min, sec); if ( readDbl(line, pos[1], fieldLen, _clock_bias ) || @@ -878,5 +831,5 @@ else if ( iLine == 3 ) { - if ( readDbl(line, pos[0], fieldLen, _TOE ) || + if ( readDbl(line, pos[0], fieldLen, _TOEsec) || readDbl(line, pos[1], fieldLen, _Cic ) || readDbl(line, pos[2], fieldLen, _OMEGA0) || @@ -896,9 +849,8 @@ else if ( iLine == 5 ) { - double dummy, TOEw; - if ( readDbl(line, pos[0], fieldLen, _IDOT) || - readDbl(line, pos[1], fieldLen, dummy) || - readDbl(line, pos[2], fieldLen, TOEw ) || - readDbl(line, pos[3], fieldLen, dummy) ) { + if ( readDbl(line, pos[0], fieldLen, _IDOT ) || + readDbl(line, pos[1], fieldLen, _L2Codes) || + readDbl(line, pos[2], fieldLen, _TOEweek ) || + readDbl(line, pos[3], fieldLen, _L2PFlag) ) { return; } @@ -906,6 +858,5 @@ else if ( iLine == 6 ) { - double dummy; - if ( readDbl(line, pos[0], fieldLen, dummy ) || + if ( readDbl(line, pos[0], fieldLen, _ura ) || readDbl(line, pos[1], fieldLen, _health) || readDbl(line, pos[2], fieldLen, _TGD ) || @@ -916,6 +867,6 @@ else if ( iLine == 7 ) { - double TOT; - if ( readDbl(line, pos[0], fieldLen, TOT) ) { + if ( readDbl(line, pos[0], fieldLen, _TOT) || + readDbl(line, pos[1], fieldLen, _fitInterval) ) { return; } @@ -972,19 +923,12 @@ } - bncTime hlpTime; - hlpTime.set(year, month, day, hour, min, sec); - _gps_utc = gnumleap(year, month, day); - hlpTime = hlpTime + _gps_utc; - - _GPSweek = hlpTime.gpsw(); - _GPSweeks = hlpTime.gpssec(); - - _tki = 0.0; // TODO ? - - double second_tot; - if ( readDbl(line, pos[1], fieldLen, _tau ) || - readDbl(line, pos[2], fieldLen, _gamma ) || - readDbl(line, pos[3], fieldLen, second_tot) ) { + + _TOC.set(year, month, day, hour, min, sec); + _TOC = _TOC + _gps_utc; + + if ( readDbl(line, pos[1], fieldLen, _tau ) || + readDbl(line, pos[2], fieldLen, _gamma) || + readDbl(line, pos[3], fieldLen, _tki ) ) { return; } @@ -1023,8 +967,6 @@ // Initialize status vector // ------------------------ - _tt = _GPSweeks; - - _xv.ReSize(6); - + _tt = _TOC; + _xv.ReSize(6); _xv(1) = _x_pos * 1.e3; _xv(2) = _y_pos * 1.e3; @@ -1062,9 +1004,8 @@ QString rnxStr; - bncTime tt(_GPSweek, _GPSweeks); unsigned year, month, day, hour, min; - double sec; - tt.civil_date(year, month, day); - tt.civil_time(hour, min, sec); + double sec; + _TOC.civil_date(year, month, day); + _TOC.civil_time(hour, min, sec); QTextStream out(&rnxStr); @@ -1110,5 +1051,5 @@ out << QString(fmt) - .arg(_TOE, 19, 'e', 12) + .arg(_TOEsec, 19, 'e', 12) .arg(_Cic, 19, 'e', 12) .arg(_OMEGA0, 19, 'e', 12) @@ -1122,11 +1063,11 @@ out << QString(fmt) - .arg(_IDOT, 19, 'e', 12) - .arg(0.0, 19, 'e', 12) - .arg(0.0, 19, 'e', 12) - .arg(0.0, 19, 'e', 12); + .arg(_IDOT, 19, 'e', 12) + .arg(_L2Codes, 19, 'e', 12) + .arg(_TOEweek, 19, 'e', 12) + .arg(_L2PFlag, 19, 'e', 12); out << QString(fmt) - .arg(0.0, 19, 'e', 12) + .arg(_ura, 19, 'e', 12) .arg(_health, 19, 'e', 12) .arg(_TGD, 19, 'e', 12) @@ -1134,6 +1075,6 @@ out << QString(fmt) - .arg(0.0, 19, 'e', 12) - .arg(0.0, 19, 'e', 12) + .arg(_TOT, 19, 'e', 12) + .arg(_fitInterval, 19, 'e', 12) .arg("") .arg(""); Index: /trunk/BNC/RTCM3/ephemeris.h =================================================================== --- /trunk/BNC/RTCM3/ephemeris.h (revision 4017) +++ /trunk/BNC/RTCM3/ephemeris.h (revision 4018) @@ -6,4 +6,5 @@ #include #include +#include "bnctime.h" extern "C" { #include "rtcm3torinex.h" @@ -15,36 +16,28 @@ enum e_type {unknown, GPS, GLONASS, Galileo}; - static bool earlierTime(const t_eph* eph1, const t_eph* eph2) { - if (eph1->_GPSweek < eph2->_GPSweek) { - return true; - } - else if (eph1->_GPSweek == eph2->_GPSweek) { - return eph1->_GPSweeks < eph2->_GPSweeks; - } - else { - return false; - } - } - t_eph() {_ok = false;} virtual ~t_eph() {}; + static bool earlierTime(const t_eph* eph1, const t_eph* eph2) { + return eph1->_TOC < eph2->_TOC; + } + virtual e_type type() const = 0; - virtual QString toString(double version) const = 0; - - bool ok() const {return _ok;} - bool isNewerThan(const t_eph* eph) const; - QString prn() const {return _prn;} - void setReceptDateTime(const QDateTime& dateTime) { + virtual void position(int GPSweek, double GPSweeks, + double* xc, double* vv) const = 0; + virtual int IOD() const = 0; + virtual int RTCM3(unsigned char *) = 0; + + bool ok() const {return _ok;} + bncTime TOC() const {return _TOC;} + bool isNewerThan(const t_eph* eph) const { + return earlierTime(this, eph); + } + QString prn() const {return _prn;} + void setReceptDateTime(const QDateTime& dateTime) { _receptDateTime = dateTime; } const QDateTime& receptDateTime() const {return _receptDateTime;} - - int GPSweek() const { return _GPSweek; } - double GPSweeks() const { return _GPSweeks; } - - virtual void position(int GPSweek, double GPSweeks, - double* xc, double* vv) const = 0; void position(int GPSweek, double GPSweeks, @@ -52,5 +45,4 @@ double tmp_xx[4]; double tmp_vv[4]; - position(GPSweek, GPSweeks, tmp_xx, tmp_vv); @@ -61,12 +53,7 @@ } - virtual int IOD() const = 0; - - virtual int RTCM3(unsigned char *) = 0; - protected: QString _prn; - int _GPSweek; - double _GPSweeks; + bncTime _TOC; QDateTime _receptDateTime; bool _ok; @@ -84,6 +71,4 @@ virtual QString toString(double version) const; - double TOC() const {return _TOC;} - void set(const gpsephemeris* ee); @@ -97,134 +82,149 @@ private: - double _TOW; // [s] - double _TOC; // [s] - double _TOE; // [s] - double _IODE; - double _IODC; - + double _clock_bias; // [s] + double _clock_drift; // [s/s] + double _clock_driftrate; // [s/s^2] + + double _IODE; + double _Crs; // [m] + double _Delta_n; // [rad/s] + double _M0; // [rad] + + double _Cuc; // [rad] + double _e; // + double _Cus; // [rad] + double _sqrt_A; // [m^0.5] + + double _TOEsec; // [s] + double _Cic; // [rad] + double _OMEGA0; // [rad] + double _Cis; // [rad] + + double _i0; // [rad] + double _Crc; // [m] + double _omega; // [rad] + double _OMEGADOT; // [rad/s] + + double _IDOT; // [rad/s] + double _L2Codes; // Codes on L2 channel + double _TOEweek; + double _L2PFlag; // L2 P data flag + + double _ura; // SV accuracy + double _health; // SV health + double _TGD; // [s] + double _IODC; + + double _TOT; // Transmisstion time + double _fitInterval; // Fit interval +}; + +class t_ephGlo : public t_eph { + public: + t_ephGlo() { _xv.ReSize(6); } + t_ephGlo(float rnxVersion, const QStringList& lines); + + virtual ~t_ephGlo() {} + + virtual e_type type() const {return t_eph::GLONASS;} + + virtual QString toString(double version) const; + + virtual void position(int GPSweek, double GPSweeks, + double* xc, + double* vv) const; + + virtual int IOD() const; + + virtual int RTCM3(unsigned char *); + + void set(const glonassephemeris* ee); + + int slotNum() const {return int(_frequency_number);} + + private: + static ColumnVector glo_deriv(double /* tt */, const ColumnVector& xv, + double* acc); + + mutable bncTime _tt; // time + mutable ColumnVector _xv; // status vector (position, velocity) at time _tt + + double _gps_utc; + double _tau; // [s] + double _gamma; // + double _tki; // message frame time + + double _x_pos; // [km] + double _x_velocity; // [km/s] + double _x_acceleration; // [km/s^2] + double _health; // 0 = O.K. + + double _y_pos; // [km] + double _y_velocity; // [km/s] + double _y_acceleration; // [km/s^2] + double _frequency_number; // ICD-GLONASS data position + + double _z_pos; // [km] + double _z_velocity; // [km/s] + double _z_acceleration; // [km/s^2] + double _E; // Age of Information [days] +}; + +class t_ephGal : public t_eph { + public: + t_ephGal() { } + t_ephGal(float rnxVersion, const QStringList& lines); + virtual ~t_ephGal() {} + + virtual QString toString(double version) const; + + virtual e_type type() const {return t_eph::Galileo;} + + void set(const galileoephemeris* ee); + + virtual void position(int GPSweek, double GPSweeks, + double* xc, + double* vv) const; + + virtual int IOD() const { return static_cast(_IODnav); } + + virtual int RTCM3(unsigned char *); + + private: double _clock_bias; // [s] double _clock_drift; // [s/s] double _clock_driftrate; // [s/s^2] + double _IODnav; double _Crs; // [m] double _Delta_n; // [rad/s] double _M0; // [rad] + double _Cuc; // [rad] double _e; // double _Cus; // [rad] double _sqrt_A; // [m^0.5] + + double _TOEsec; // [s] double _Cic; // [rad] double _OMEGA0; // [rad] double _Cis; // [rad] + double _i0; // [rad] double _Crc; // [m] double _omega; // [rad] double _OMEGADOT; // [rad/s] + double _IDOT; // [rad/s] - - double _TGD; // [s] - double _health; // SV health - double _ura; // SV accuracy - double _L2PFlag; // L2 P data flag - double _L2Codes; // Codes on L2 channel -}; - -class t_ephGlo : public t_eph { - public: - t_ephGlo() { _xv.ReSize(6); } - t_ephGlo(float rnxVersion, const QStringList& lines); - - virtual ~t_ephGlo() {} - - virtual e_type type() const {return t_eph::GLONASS;} - - virtual QString toString(double version) const; - - virtual void position(int GPSweek, double GPSweeks, - double* xc, - double* vv) const; - - virtual int IOD() const; - - virtual int RTCM3(unsigned char *); - - void set(const glonassephemeris* ee); - - int slotNum() const {return int(_frequency_number);} - - private: - static ColumnVector glo_deriv(double /* tt */, const ColumnVector& xv, - double* acc); - - mutable double _tt; // time in seconds of GPSweek - mutable ColumnVector _xv; // status vector (position, velocity) at time _tt - - double _gps_utc; - double _E; // [days] - double _tau; // [s] - double _gamma; // - double _x_pos; // [km] - double _x_velocity; // [km/s] - double _x_acceleration; // [km/s^2] - double _y_pos; // [km] - double _y_velocity; // [km/s] - double _y_acceleration; // [km/s^2] - double _z_pos; // [km] - double _z_velocity; // [km/s] - double _z_acceleration; // [km/s^2] - double _health; // 0 = O.K. - double _frequency_number; // ICD-GLONASS data position - double _tki; // message frame time -}; - -class t_ephGal : public t_eph { - public: - t_ephGal() { } - t_ephGal(float rnxVersion, const QStringList& lines); - virtual ~t_ephGal() {} - - virtual QString toString(double version) const; - - virtual e_type type() const {return t_eph::Galileo;} - - double TOC() const {return _TOC;} - - void set(const galileoephemeris* ee); - - virtual void position(int GPSweek, double GPSweeks, - double* xc, - double* vv) const; - - virtual int IOD() const { return static_cast(_IODnav); } - - virtual int RTCM3(unsigned char *); - - private: - double _IODnav; - double _TOC; // [s] - double _TOE; // [s] - double _clock_bias; // [s] - double _clock_drift; // [s/s] - double _clock_driftrate; // [s/s^2] - double _Crs; // [m] - double _Delta_n; // [rad/s] - double _M0; // [rad] - double _Cuc; // [rad] - double _e; // - double _Cus; // [rad] - double _sqrt_A; // [m^0.5] - double _Cic; // [rad] - double _OMEGA0; // [rad] - double _Cis; // [rad] - double _i0; // [rad] - double _Crc; // [m] - double _omega; // [rad] - double _OMEGADOT; // [rad/s] - double _IDOT; // [rad/s] + // + double _TOEweek; + // spare + + int _SISA; // Signal In Space Accuracy + int _E5aHS; // E5a Health Status double _BGD_1_5A; // group delay [s] double _BGD_1_5B; // group delay [s] - int _SISA; // Signal In Space Accuracy - int _E5aHS; // E5a Health Status - + + double _TOT; // [s] }; Index: /trunk/BNC/bncephuser.cpp =================================================================== --- /trunk/BNC/bncephuser.cpp (revision 4017) +++ /trunk/BNC/bncephuser.cpp (revision 4018) @@ -81,7 +81,6 @@ if (_eph.contains(prn)) { t_ephGPS* eLast = static_cast(_eph.value(prn)->last); - if ( (eLast->GPSweek() < gpseph.GPSweek) || - (eLast->GPSweek() == gpseph.GPSweek && - eLast->TOC() < gpseph.TOC) ) { + bncTime toc(gpseph.GPSweek, gpseph.TOC); + if (eLast->TOC() < toc) { delete static_cast(_eph.value(prn)->prev); _eph.value(prn)->prev = _eph.value(prn)->last; @@ -110,6 +109,6 @@ updatetime(&ww, &tow, gloeph.tb*1000, 0); // Moscow -> GPS t_ephGlo* eLast = static_cast(_eph.value(prn)->last); - if (eLast->GPSweek() < ww || - (eLast->GPSweek() == ww && eLast->GPSweeks() < tow)) { + bncTime toc(ww, tow); + if (eLast->TOC() < toc) { delete static_cast(_eph.value(prn)->prev); _eph.value(prn)->prev = _eph.value(prn)->last; @@ -135,7 +134,6 @@ if (_eph.contains(prn)) { t_ephGal* eLast = static_cast(_eph.value(prn)->last); - if ( (eLast->GPSweek() < galeph.Week) || - (eLast->GPSweek() == galeph.Week && - eLast->TOC() < galeph.TOC) ) { + bncTime toc(galeph.Week, galeph.TOC); + if (eLast->TOC() < toc) { delete static_cast(_eph.value(prn)->prev); _eph.value(prn)->prev = _eph.value(prn)->last; Index: /trunk/BNC/rinex/rnxnavfile.cpp =================================================================== --- /trunk/BNC/rinex/rnxnavfile.cpp (revision 4017) +++ /trunk/BNC/rinex/rnxnavfile.cpp (revision 4018) @@ -223,6 +223,5 @@ t_eph* eph = *it; - bncTime ephTime(eph->GPSweek(), eph->GPSweeks()); - double dt = ephTime - tt; + double dt = eph->TOC() - tt; if (dt < 2*3600.0) {