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gnss-sdr/src/algorithms/libs/rtklib/rtklib_tides.cc
Carles Fernandez 0a4f6cf499 Avoid crashing when PPP is invoked
2017-05-04 09:19:57 +02:00

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/*!
* \file rtklib_tides.cc
* \brief Tidal displacement corrections
* \authors <ul>
* <li> 2007-2008, T. Takasu
* <li> 2017, Javier Arribas
* <li> 2017, Carles Fernandez
* </ul>
*
* This is a derived work from RTKLIB http://www.rtklib.com/
* The original source code at https://github.com/tomojitakasu/RTKLIB is
* released under the BSD 2-clause license with an additional exclusive clause
* that does not apply here. This additional clause is reproduced below:
*
* " The software package includes some companion executive binaries or shared
* libraries necessary to execute APs on Windows. These licenses succeed to the
* original ones of these software. "
*
* Neither the executive binaries nor the shared libraries are required by, used
* or included in GNSS-SDR.
*
* -------------------------------------------------------------------------
* Copyright (C) 2007-2008, T. Takasu
* Copyright (C) 2017, Javier Arribas
* Copyright (C) 2017, Carles Fernandez
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are
* met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*----------------------------------------------------------------------------*/
#include "rtklib_tides.h"
#include "rtklib_rtkcmn.h"
/* solar/lunar tides (ref [2] 7) ---------------------------------------------*/
//#ifndef IERS_MODEL
void tide_pl(const double *eu, const double *rp, double GMp,
const double *pos, double *dr)
{
const double H3=0.292,L3=0.015;
double r,ep[3],latp,lonp,p,K2,K3,a,H2,L2,dp,du,cosp,sinl,cosl;
int i;
trace(4,"tide_pl : pos=%.3f %.3f\n",pos[0]*R2D,pos[1]*R2D);
if ((r=norm_rtk(rp,3))<=0.0) return;
for (i=0;i<3;i++) ep[i]=rp[i]/r;
K2=GMp/GME*std::pow(RE_WGS84, 2.04)*std::pow(RE_WGS84, 2.0)/(r*r*r);
K3=K2*RE_WGS84/r;
latp=asin(ep[2]); lonp=atan2(ep[1],ep[0]);
cosp=cos(latp); sinl=sin(pos[0]); cosl=cos(pos[0]);
/* step1 in phase (degree 2) */
p=(3.0*sinl*sinl-1.0)/2.0;
H2=0.6078-0.0006*p;
L2=0.0847+0.0002*p;
a=dot(ep,eu,3);
dp=K2*3.0*L2*a;
du=K2*(H2*(1.5*a*a-0.5)-3.0*L2*a*a);
/* step1 in phase (degree 3) */
dp+=K3*L3*(7.5*a*a-1.5);
du+=K3*(H3*(2.5*a*a*a-1.5*a)-L3*(7.5*a*a-1.5)*a);
/* step1 out-of-phase (only radial) */
du+=3.0/4.0*0.0025*K2*sin(2.0*latp)*sin(2.0*pos[0])*sin(pos[1]-lonp);
du+=3.0/4.0*0.0022*K2*cosp*cosp*cosl*cosl*sin(2.0*(pos[1]-lonp));
dr[0]=dp*ep[0]+du*eu[0];
dr[1]=dp*ep[1]+du*eu[1];
dr[2]=dp*ep[2]+du*eu[2];
trace(5,"tide_pl : dr=%.3f %.3f %.3f\n",dr[0],dr[1],dr[2]);
}
/* displacement by solid earth tide (ref [2] 7) ------------------------------*/
void tide_solid(const double *rsun, const double *rmoon,
const double *pos, const double *E, double gmst, int opt,
double *dr)
{
double dr1[3],dr2[3],eu[3],du,dn,sinl,sin2l;
trace(3,"tide_solid: pos=%.3f %.3f opt=%d\n",pos[0]*R2D,pos[1]*R2D,opt);
/* step1: time domain */
eu[0]=E[2]; eu[1]=E[5]; eu[2]=E[8];
tide_pl(eu,rsun, GMS,pos,dr1);
tide_pl(eu,rmoon,GMM,pos,dr2);
/* step2: frequency domain, only K1 radial */
sin2l=sin(2.0*pos[0]);
du=-0.012*sin2l*sin(gmst+pos[1]);
dr[0]=dr1[0]+dr2[0]+du*E[2];
dr[1]=dr1[1]+dr2[1]+du*E[5];
dr[2]=dr1[2]+dr2[2]+du*E[8];
/* eliminate permanent deformation */
if (opt&8)
{
sinl=sin(pos[0]);
du=0.1196*(1.5*sinl*sinl-0.5);
dn=0.0247*sin2l;
dr[0]+=du*E[2]+dn*E[1];
dr[1]+=du*E[5]+dn*E[4];
dr[2]+=du*E[8]+dn*E[7];
}
trace(5,"tide_solid: dr=%.3f %.3f %.3f\n",dr[0],dr[1],dr[2]);
}
//#endif /* !IERS_MODEL */
/* displacement by ocean tide loading (ref [2] 7) ----------------------------*/
void tide_oload(gtime_t tut, const double *odisp, double *denu)
{
const double args[][5]={
{1.40519E-4, 2.0,-2.0, 0.0, 0.00}, /* M2 */
{1.45444E-4, 0.0, 0.0, 0.0, 0.00}, /* S2 */
{1.37880E-4, 2.0,-3.0, 1.0, 0.00}, /* N2 */
{1.45842E-4, 2.0, 0.0, 0.0, 0.00}, /* K2 */
{0.72921E-4, 1.0, 0.0, 0.0, 0.25}, /* K1 */
{0.67598E-4, 1.0,-2.0, 0.0,-0.25}, /* O1 */
{0.72523E-4,-1.0, 0.0, 0.0,-0.25}, /* P1 */
{0.64959E-4, 1.0,-3.0, 1.0,-0.25}, /* Q1 */
{0.53234E-5, 0.0, 2.0, 0.0, 0.00}, /* Mf */
{0.26392E-5, 0.0, 1.0,-1.0, 0.00}, /* Mm */
{0.03982E-5, 2.0, 0.0, 0.0, 0.00} /* Ssa */
};
const double ep1975[]={1975,1,1,0,0,0};
double ep[6],fday,days,t,t2,t3,a[5],ang,dp[3]={0};
int i,j;
trace(3,"tide_oload:\n");
/* angular argument: see subroutine arg.f for reference [1] */
time2epoch(tut,ep);
fday=ep[3]*3600.0+ep[4]*60.0+ep[5];
ep[3]=ep[4]=ep[5]=0.0;
days=timediff(epoch2time(ep),epoch2time(ep1975))/86400.0+1.0;
t=(27392.500528+1.000000035*days)/36525.0;
t2=t*t; t3=t2*t;
a[0]=fday;
a[1]=(279.69668+36000.768930485*t+3.03E-4*t2)*D2R; /* H0 */
a[2]=(270.434358+481267.88314137*t-0.001133*t2+1.9E-6*t3)*D2R; /* S0 */
a[3]=(334.329653+4069.0340329577*t-0.010325*t2-1.2E-5*t3)*D2R; /* P0 */
a[4]=2.0*PI;
/* displacements by 11 constituents */
for (i=0;i<11;i++)
{
ang=0.0;
for (j=0;j<5;j++) ang+=a[j]*args[i][j];
for (j=0;j<3;j++) dp[j]+=odisp[j+i*6]*cos(ang-odisp[j+3+i*6]*D2R);
}
denu[0]=-dp[1];
denu[1]=-dp[2];
denu[2]= dp[0];
trace(5,"tide_oload: denu=%.3f %.3f %.3f\n",denu[0],denu[1],denu[2]);
}
/* iers mean pole (ref [7] eq.7.25) ------------------------------------------*/
void iers_mean_pole(gtime_t tut, double *xp_bar, double *yp_bar)
{
const double ep2000[]={2000,1,1,0,0,0};
double y,y2,y3;
y=timediff(tut,epoch2time(ep2000))/86400.0/365.25;
if (y<3653.0/365.25)
{ /* until 2010.0 */
y2=y*y; y3=y2*y;
*xp_bar= 55.974+1.8243*y+0.18413*y2+0.007024*y3; /* (mas) */
*yp_bar=346.346+1.7896*y-0.10729*y2-0.000908*y3;
}
else
{ /* after 2010.0 */
*xp_bar= 23.513+7.6141*y; /* (mas) */
*yp_bar=358.891-0.6287*y;
}
}
/* displacement by pole tide (ref [7] eq.7.26) --------------------------------*/
void tide_pole(gtime_t tut, const double *pos, const double *erpv,
double *denu)
{
double xp_bar,yp_bar,m1,m2,cosl,sinl;
trace(3,"tide_pole: pos=%.3f %.3f\n",pos[0]*R2D,pos[1]*R2D);
/* iers mean pole (mas) */
iers_mean_pole(tut,&xp_bar,&yp_bar);
/* ref [7] eq.7.24 */
m1= erpv[0]/AS2R-xp_bar*1E-3; /* (as) */
m2=-erpv[1]/AS2R+yp_bar*1E-3;
/* sin(2*theta) = sin(2*phi), cos(2*theta)=-cos(2*phi) */
cosl=cos(pos[1]);
sinl=sin(pos[1]);
denu[0]= 9E-3*sin(pos[0]) *(m1*sinl-m2*cosl); /* de= Slambda (m) */
denu[1]= -9E-3*cos(2.0*pos[0])*(m1*cosl+m2*sinl); /* dn=-Stheta (m) */
denu[2]=-33E-3*sin(2.0*pos[0])*(m1*cosl+m2*sinl); /* du= Sr (m) */
trace(5,"tide_pole : denu=%.3f %.3f %.3f\n",denu[0],denu[1],denu[2]);
}
/* tidal displacement ----------------------------------------------------------
* displacements by earth tides
* args : gtime_t tutc I time in utc
* double *rr I site position (ecef) (m)
* int opt I options (or of the followings)
* 1: solid earth tide
* 2: ocean tide loading
* 4: pole tide
* 8: elimate permanent deformation
* double *erp I earth rotation parameters (NULL: not used)
* double *odisp I ocean loading parameters (NULL: not used)
* odisp[0+i*6]: consituent i amplitude radial(m)
* odisp[1+i*6]: consituent i amplitude west (m)
* odisp[2+i*6]: consituent i amplitude south (m)
* odisp[3+i*6]: consituent i phase radial (deg)
* odisp[4+i*6]: consituent i phase west (deg)
* odisp[5+i*6]: consituent i phase south (deg)
* (i=0:M2,1:S2,2:N2,3:K2,4:K1,5:O1,6:P1,7:Q1,
* 8:Mf,9:Mm,10:Ssa)
* double *dr O displacement by earth tides (ecef) (m)
* return : none
* notes : see ref [1], [2] chap 7
* see ref [4] 5.2.1, 5.2.2, 5.2.3
* ver.2.4.0 does not use ocean loading and pole tide corrections
*-----------------------------------------------------------------------------*/
void tidedisp(gtime_t tutc, const double *rr, int opt, const erp_t *erp,
const double *odisp, double *dr)
{
gtime_t tut;
double pos[2],E[9],drt[3],denu[3],rs[3],rm[3],gmst,erpv[5]={0};
int i;
#ifdef IERS_MODEL
double ep[6],fhr;
int year,mon,day;
#endif
trace(3,"tidedisp: tutc=%s\n",time_str(tutc,0));
if (erp) geterp(erp,tutc,erpv);
tut=timeadd(tutc,erpv[2]);
dr[0]=dr[1]=dr[2]=0.0;
if (norm_rtk(rr,3)<=0.0) return;
pos[0]=asin(rr[2]/norm_rtk(rr,3));
pos[1]=atan2(rr[1],rr[0]);
xyz2enu(pos,E);
if (opt&1)
{ /* solid earth tides */
/* sun and moon position in ecef */
sunmoonpos(tutc,erpv,rs,rm,&gmst);
#ifdef IERS_MODEL
time2epoch(tutc,ep);
year=(int)ep[0];
mon =(int)ep[1];
day =(int)ep[2];
fhr =ep[3]+ep[4]/60.0+ep[5]/3600.0;
/* call DEHANTTIDEINEL */
// dehanttideinel_((double *)rr,&year,&mon,&day,&fhr,rs,rm,drt);
#else
tide_solid(rs,rm,pos,E,gmst,opt,drt);
#endif
for (i=0;i<3;i++) dr[i]+=drt[i];
}
if ((opt&2)&&odisp)
{ /* ocean tide loading */
tide_oload(tut,odisp,denu);
matmul("TN",3,1,3,1.0,E,denu,0.0,drt);
for (i=0;i<3;i++) dr[i]+=drt[i];
}
if ((opt&4)&&erp)
{ /* pole tide */
tide_pole(tut,pos,erpv,denu);
matmul("TN",3,1,3,1.0,E,denu,0.0,drt);
for (i=0;i<3;i++) dr[i]+=drt[i];
}
trace(5,"tidedisp: dr=%.3f %.3f %.3f\n",dr[0],dr[1],dr[2]);
}
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