/* -------------------------------------------------------------------------
* BKG NTRIP Server
* -------------------------------------------------------------------------
*
* Class: bncRtnetUploadCaster
*
* Purpose: Connection to NTRIP Caster
*
* Author: L. Mervart
*
* Created: 29-Mar-2011
*
* Changes:
*
* -----------------------------------------------------------------------*/
#include <math.h>
#include "bncrtnetuploadcaster.h"
#include "bncsettings.h"
#include "bncephuser.h"
#include "bncclockrinex.h"
#include "bncsp3.h"
using namespace std;
// Constructor
////////////////////////////////////////////////////////////////////////////
bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
const QString& outHost, int outPort,
const QString& password,
const QString& crdTrafo, bool CoM,
const QString& sp3FileName,
const QString& rnxFileName,
int PID, int SID, int IOD, int iRow) :
bncUploadCaster(mountpoint, outHost, outPort, password, iRow, 0) {
if (!outHost.isEmpty()) {
_casterID += outHost;
}
if (!crdTrafo.isEmpty()) {
_casterID += " " + crdTrafo;
}
if (!sp3FileName.isEmpty()) {
_casterID += " " + sp3FileName;
}
if (!rnxFileName.isEmpty()) {
_casterID += " " + rnxFileName;
}
_crdTrafo = crdTrafo;
_CoM = CoM;
_PID = PID;
_SID = SID;
_IOD = IOD;
// Member that receives the ephemeris
// ----------------------------------
_ephUser = new bncEphUser();
bncSettings settings;
QString intr = settings.value("uploadIntr").toString();
_samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toDouble();
int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
int samplSp3 = settings.value("uploadSamplSp3").toInt() * 60;
if (_samplRtcmEphCorr == 0.0) {
_usedEph = 0;
}
else {
_usedEph = new QMap<QString, t_eph*>;
}
// RINEX writer
// ------------
if (!rnxFileName.isEmpty()) {
_rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
}
else {
_rnx = 0;
}
// SP3 writer
// ----------
if (!sp3FileName.isEmpty()) {
_sp3 = new bncSP3(sp3FileName, intr, samplSp3);
}
else {
_sp3 = 0;
}
// Set Transformation Parameters
// -----------------------------
if (_crdTrafo == "ETRF2000") {
_dx = 0.0521;
_dy = 0.0493;
_dz = -0.0585;
_dxr = 0.0001;
_dyr = 0.0001;
_dzr = -0.0018;
_ox = 0.000891;
_oy = 0.005390;
_oz = -0.008712;
_oxr = 0.000081;
_oyr = 0.000490;
_ozr = -0.000792;
_sc = 1.34;
_scr = 0.08;
_t0 = 2000.0;
}
else if (_crdTrafo == "NAD83") {
_dx = 0.99343;
_dy = -1.90331;
_dz = -0.52655;
_dxr = 0.00079;
_dyr = -0.00060;
_dzr = -0.00134;
_ox = -0.02591467;
_oy = -0.00942645;
_oz = -0.01159935;
_oxr = -0.00006667;
_oyr = 0.00075744;
_ozr = 0.00005133;
_sc = 1.71504;
_scr = -0.10201;
_t0 = 1997.0;
}
else if (_crdTrafo == "GDA94") {
_dx = -0.08468;
_dy = -0.01942;
_dz = 0.03201;
_dxr = 0.00142;
_dyr = 0.00134;
_dzr = 0.00090;
_ox = 0.0004254;
_oy = -0.0022578;
_oz = -0.0024015;
_oxr = -0.0015461;
_oyr = -0.0011820;
_ozr = -0.0011551;
_sc = 9.710;
_scr = 0.109;
_t0 = 1994.0;
}
else if (_crdTrafo == "SIRGAS2000") {
_dx = 0.0020;
_dy = 0.0041;
_dz = 0.0039;
_dxr = 0.0000;
_dyr = 0.0000;
_dzr = 0.0000;
_ox = 0.000170;
_oy = -0.000030;
_oz = 0.000070;
_oxr = 0.000000;
_oyr = 0.000000;
_ozr = 0.000000;
_sc = -1.000;
_scr = 0.000;
_t0 = 0000.0;
}
else if (_crdTrafo == "SIRGAS95") {
_dx = 0.0077;
_dy = 0.0058;
_dz = -0.0138;
_dxr = 0.0000;
_dyr = 0.0000;
_dzr = 0.0000;
_ox = 0.000000;
_oy = 0.000000;
_oz = -0.000030;
_oxr = 0.000000;
_oyr = 0.000000;
_ozr = 0.000000;
_sc = 1.570;
_scr = 0.000;
_t0 = 0000.0;
}
else if (_crdTrafo == "DREF91") {
_dx = -0.0118;
_dy = 0.1432;
_dz = -0.1117;
_dxr = 0.0001;
_dyr = 0.0001;
_dzr = -0.0018;
_ox = 0.003291;
_oy = 0.006190;
_oz = -0.011012;
_oxr = 0.000081;
_oyr = 0.000490;
_ozr = -0.000792;
_sc = 12.24;
_scr = 0.08;
_t0 = 2000.0;
}
else if (_crdTrafo == "Custom") {
_dx = settings.value("trafo_dx").toDouble();
_dy = settings.value("trafo_dy").toDouble();
_dz = settings.value("trafo_dz").toDouble();
_dxr = settings.value("trafo_dxr").toDouble();
_dyr = settings.value("trafo_dyr").toDouble();
_dzr = settings.value("trafo_dzr").toDouble();
_ox = settings.value("trafo_ox").toDouble();
_oy = settings.value("trafo_oy").toDouble();
_oz = settings.value("trafo_oz").toDouble();
_oxr = settings.value("trafo_oxr").toDouble();
_oyr = settings.value("trafo_oyr").toDouble();
_ozr = settings.value("trafo_ozr").toDouble();
_sc = settings.value("trafo_sc").toDouble();
_scr = settings.value("trafo_scr").toDouble();
_t0 = settings.value("trafo_t0").toDouble();
}
}
// Destructor
////////////////////////////////////////////////////////////////////////////
bncRtnetUploadCaster::~bncRtnetUploadCaster() {
if (isRunning()) {
wait();
}
delete _rnx;
delete _sp3;
delete _ephUser;
delete _usedEph;
}
//
////////////////////////////////////////////////////////////////////////////
void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
QMutexLocker locker(&_mutex);
// Append to internal buffer
// -------------------------
_rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
// Select buffer part that contains last epoch
// -------------------------------------------
QStringList lines;
int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
if (iEpoBeg == -1) {
_rtnetStreamBuffer.clear();
return;
}
_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
if (iEpoEnd == -1) {
return;
}
else {
lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', QString::SkipEmptyParts);
_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd+3);
}
if (lines.size() < 2) {
return;
}
// Keep the last unfinished line in buffer
// ---------------------------------------
int iLastEOL = _rtnetStreamBuffer.lastIndexOf('\n');
if (iLastEOL != -1) {
_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iLastEOL+1);
}
// Read first line (with epoch time)
// ---------------------------------
QTextStream in(lines[0].toAscii());
QString hlp;
int year, month, day, hour, min;
double sec;
in >> hlp >> year >> month >> day >> hour >> min >> sec;
bncTime epoTime; epoTime.set( year, month, day, hour, min, sec);
emit(newMessage("bncRtnetUploadCaster: decode " +
QByteArray(epoTime.datestr().c_str()) + " " +
QByteArray(epoTime.timestr().c_str()) + " " +
_casterID.toAscii(), false));
struct ClockOrbit co;
memset(&co, 0, sizeof(co));
co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
co.Supplied[COBOFS_CLOCK] = 1;
co.Supplied[COBOFS_ORBIT] = 1;
co.SatRefDatum = DATUM_ITRF;
co.SSRIOD = _IOD;
co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
co.SSRSolutionID = _SID;
struct CodeBias bias;
memset(&bias, 0, sizeof(bias));
bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
// Default Update Interval
// -----------------------
int clkUpdInd = 2; // 5 sec
int ephUpdInd = clkUpdInd; // default
if (_samplRtcmEphCorr == 10.0) {
ephUpdInd = 3;
}
else if (_samplRtcmEphCorr == 15.0) {
ephUpdInd = 4;
}
else if (_samplRtcmEphCorr == 30.0) {
ephUpdInd = 5;
}
else if (_samplRtcmEphCorr == 60.0) {
ephUpdInd = 6;
}
else if (_samplRtcmEphCorr == 120.0) {
ephUpdInd = 7;
}
else if (_samplRtcmEphCorr == 240.0) {
ephUpdInd = 8;
}
else if (_samplRtcmEphCorr == 300.0) {
ephUpdInd = 9;
}
else if (_samplRtcmEphCorr == 600.0) {
ephUpdInd = 10;
}
else if (_samplRtcmEphCorr == 900.0) {
ephUpdInd = 11;
}
co.UpdateInterval = clkUpdInd;
bias.UpdateInterval = clkUpdInd;
for (int ii = 1; ii < lines.size(); ii++) {
QString prn;
ColumnVector rtnAPC;
ColumnVector rtnVel;
ColumnVector rtnCoM;
double rtnClk;
QTextStream in(lines[ii].toAscii());
in >> prn;
t_eph* eph = 0;
const bncEphUser::t_ephPair* ephPair = _ephUser->ephPair(prn);
if (ephPair) {
eph = ephPair->last;
// Use previous ephemeris if the last one is too recent
// ----------------------------------------------------
const int MINAGE = 60; // seconds
if (ephPair->prev && eph->receptDateTime().isValid() &&
eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
eph = ephPair->prev;
}
// Make sure the clock messages refer to same IOD as orbit messages
// ----------------------------------------------------------------
if (_usedEph) {
if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
(*_usedEph)[prn] = eph;
}
else {
eph = 0;
if (_usedEph->contains(prn)) {
t_eph* usedEph = _usedEph->value(prn);
if (usedEph == ephPair->last) {
eph = ephPair->last;
}
else if (usedEph == ephPair->prev) {
eph = ephPair->prev;
}
}
}
}
}
if (eph) {
QMap<QString, double> codeBiases;
while (true) {
QString key;
int numVal = 0;
in >> key >> numVal;
if (in.status() != QTextStream::Ok) {
break;
}
if (key == "APC") {
rtnAPC.ReSize(3);
in >> rtnAPC[0] >> rtnAPC[1] >> rtnAPC[2];
}
else if (key == "Clk") {
in >> rtnClk;
}
else if (key == "Vel") {
rtnVel.ReSize(3);
in >> rtnVel[0] >> rtnVel[1] >> rtnVel[2];
}
else if (key == "CoM") {
rtnCoM.ReSize(3);
in >> rtnCoM[0] >> rtnCoM[1] >> rtnCoM[2];
}
else if (key == "CodeBias") {
for (int ii = 0; ii < numVal; ii++) {
QString type;
double value;
in >> type >> value;
codeBiases[type] = value;
}
}
else {
for (int ii = 0; ii < numVal; ii++) {
double dummy;
in >> dummy;
}
}
}
struct ClockOrbit::SatData* sd = 0;
if (prn[0] == 'G') {
sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
++co.NumberOfSat[CLOCKORBIT_SATGPS];
}
else if (prn[0] == 'R') {
sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
}
if (sd) {
QString outLine;
processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prn,
rtnAPC, rtnClk, rtnVel, rtnCoM, sd, outLine);
}
struct CodeBias::BiasSat* biasSat = 0;
if (prn[0] == 'G') {
biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
++bias.NumberOfSat[CLOCKORBIT_SATGPS];
}
else if (prn[0] == 'R') {
biasSat = bias.Sat + CLOCKORBIT_NUMGPS + bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
}
// Code Biases
// -----------
if (biasSat) {
biasSat->ID = prn.mid(1).toInt();
biasSat->NumberOfCodeBiases = 0;
if (prn[0] == 'G') {
QMapIterator<QString, double> it(codeBiases);
while (it.hasNext()) {
it.next();
if (it.key() == "1C") {
int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
biasSat->NumberOfCodeBiases += 1;
biasSat->Biases[ii].Type = CODETYPEGPS_L1_CA;
biasSat->Biases[ii].Bias = it.value();
}
else if (it.key() == "1C") {
int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
biasSat->NumberOfCodeBiases += 1;
biasSat->Biases[ii].Type = CODETYPEGPS_L1_CA;
biasSat->Biases[ii].Bias = it.value();
}
else if (it.key() == "1P") {
int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
biasSat->NumberOfCodeBiases += 1;
biasSat->Biases[ii].Type = CODETYPEGPS_L1_P;
biasSat->Biases[ii].Bias = it.value();
}
else if (it.key() == "1W") {
int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
biasSat->NumberOfCodeBiases += 1;
biasSat->Biases[ii].Type = CODETYPEGPS_L1_Z;
biasSat->Biases[ii].Bias = it.value();
}
else if (it.key() == "2C") {
int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
biasSat->NumberOfCodeBiases += 1;
biasSat->Biases[ii].Type = CODETYPEGPS_L2_CA;
biasSat->Biases[ii].Bias = it.value();
}
else if (it.key() == "2D") {
int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
biasSat->NumberOfCodeBiases += 1;
biasSat->Biases[ii].Type = CODETYPEGPS_SEMI_CODELESS;
biasSat->Biases[ii].Bias = it.value();
}
else if (it.key() == "2S") {
int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
biasSat->NumberOfCodeBiases += 1;
biasSat->Biases[ii].Type = CODETYPEGPS_L2_CM;
biasSat->Biases[ii].Bias = it.value();
}
else if (it.key() == "2L") {
int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
biasSat->NumberOfCodeBiases += 1;
biasSat->Biases[ii].Type = CODETYPEGPS_L2_CL;
biasSat->Biases[ii].Bias = it.value();
}
else if (it.key() == "2X") {
int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
biasSat->NumberOfCodeBiases += 1;
biasSat->Biases[ii].Type = CODETYPEGPS_L2_CML;
biasSat->Biases[ii].Bias = it.value();
}
else if (it.key() == "2P") {
int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
biasSat->NumberOfCodeBiases += 1;
biasSat->Biases[ii].Type = CODETYPEGPS_L2_P;
biasSat->Biases[ii].Bias = it.value();
}
else if (it.key() == "2W") {
int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
biasSat->NumberOfCodeBiases += 1;
biasSat->Biases[ii].Type = CODETYPEGPS_L2_Z;
biasSat->Biases[ii].Bias = it.value();
}
else if (it.key() == "5I") {
int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
biasSat->NumberOfCodeBiases += 1;
biasSat->Biases[ii].Type = CODETYPEGPS_L5_I;
biasSat->Biases[ii].Bias = it.value();
}
else if (it.key() == "5Q") {
int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
biasSat->NumberOfCodeBiases += 1;
biasSat->Biases[ii].Type = CODETYPEGPS_L5_Q;
biasSat->Biases[ii].Bias = it.value();
}
}
}
else if (prn[0] == 'R') {
QMapIterator<QString, double> it(codeBiases);
while (it.hasNext()) {
it.next();
if (it.key() == "1C") {
int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
biasSat->NumberOfCodeBiases += 1;
biasSat->Biases[ii].Type = CODETYPEGLONASS_L1_CA;
biasSat->Biases[ii].Bias = it.value();
}
else if (it.key() == "1P") {
int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
biasSat->NumberOfCodeBiases += 1;
biasSat->Biases[ii].Type = CODETYPEGLONASS_L1_P;
biasSat->Biases[ii].Bias = it.value();
}
else if (it.key() == "2C") {
int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
biasSat->NumberOfCodeBiases += 1;
biasSat->Biases[ii].Type = CODETYPEGLONASS_L2_CA;
biasSat->Biases[ii].Bias = it.value();
}
else if (it.key() == "2P") {
int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
biasSat->NumberOfCodeBiases += 1;
biasSat->Biases[ii].Type = CODETYPEGLONASS_L2_P;
biasSat->Biases[ii].Bias = it.value();
}
}
}
}
}
}
QByteArray hlpBufferCo;
// Orbit and Clock Corrections together
// ------------------------------------
if (_samplRtcmEphCorr == 0.0) {
if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0 || co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
char obuffer[CLOCKORBIT_BUFFERSIZE];
int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
if (len > 0) {
hlpBufferCo = QByteArray(obuffer, len);
}
}
}
// Orbit and Clock Corrections separately
// --------------------------------------
else {
if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
char obuffer[CLOCKORBIT_BUFFERSIZE];
if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
co.UpdateInterval = ephUpdInd;
int len1 = MakeClockOrbit(&co, COTYPE_GPSORBIT, 1, obuffer, sizeof(obuffer));
co.UpdateInterval = clkUpdInd;
if (len1 > 0) {
hlpBufferCo += QByteArray(obuffer, len1);
}
}
int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) ? 1 : 0;
int len2 = MakeClockOrbit(&co, COTYPE_GPSCLOCK, mmsg, obuffer, sizeof(obuffer));
if (len2 > 0) {
hlpBufferCo += QByteArray(obuffer, len2);
}
}
if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
char obuffer[CLOCKORBIT_BUFFERSIZE];
if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
co.UpdateInterval = ephUpdInd;
int len1 = MakeClockOrbit(&co, COTYPE_GLONASSORBIT, 1, obuffer, sizeof(obuffer));
co.UpdateInterval = clkUpdInd;
if (len1 > 0) {
hlpBufferCo += QByteArray(obuffer, len1);
}
}
int len2 = MakeClockOrbit(&co, COTYPE_GLONASSCLOCK, 0, obuffer, sizeof(obuffer));
if (len2 > 0) {
hlpBufferCo += QByteArray(obuffer, len2);
}
}
}
// Biases
// ------
QByteArray hlpBufferBias;
if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0 || bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
char obuffer[CLOCKORBIT_BUFFERSIZE];
int len = MakeCodeBias(&bias, BTYPE_AUTO, 0, obuffer, sizeof(obuffer));
if (len > 0) {
hlpBufferBias = QByteArray(obuffer, len);
}
}
_outBuffer += hlpBufferCo + hlpBufferBias;
}
//
////////////////////////////////////////////////////////////////////////////
void bncRtnetUploadCaster::processSatellite(t_eph* eph, int GPSweek,
double GPSweeks, const QString& prn,
const ColumnVector& rtnAPC,
double rtnClk,
const ColumnVector& rtnVel,
const ColumnVector& rtnCoM,
struct ClockOrbit::SatData* sd,
QString& outLine) {
// Broadcast Position and Velocity
// -------------------------------
ColumnVector xB(4);
ColumnVector vB(3);
eph->position(GPSweek, GPSweeks, xB.data(), vB.data());
// Precise Position
// ----------------
ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
double dc = 0.0;
if (_crdTrafo != "IGS08") {
crdTrafo(GPSweek, xP, dc);
}
// Difference in xyz
// -----------------
ColumnVector dx = xB.Rows(1,3) - xP;
ColumnVector dv = vB - rtnVel;
// Difference in RSW
// -----------------
ColumnVector rsw(3);
XYZ_to_RSW(xB.Rows(1,3), vB, dx, rsw);
ColumnVector dotRsw(3);
XYZ_to_RSW(xB.Rows(1,3), vB, dv, dotRsw);
// Clock Correction
// ----------------
double dClk = rtnClk - (xB(4) - dc) * t_CST::c;
if (sd) {
sd->ID = prn.mid(1).toInt();
sd->IOD = eph->IOD();
sd->Clock.DeltaA0 = dClk;
sd->Clock.DeltaA1 = 0.0; // TODO
sd->Clock.DeltaA2 = 0.0; // TODO
sd->Orbit.DeltaRadial = rsw(1);
sd->Orbit.DeltaAlongTrack = rsw(2);
sd->Orbit.DeltaCrossTrack = rsw(3);
sd->Orbit.DotDeltaRadial = dotRsw(1);
sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
}
outLine.sprintf("%d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n",
GPSweek, GPSweeks, eph->prn().toAscii().data(),
eph->IOD(), dClk, rsw(1), rsw(2), rsw(3));
double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
double sp3Clk = (rtnClk - relativity) / t_CST::c; // in seconds
if (_rnx) {
_rnx->write(GPSweek, GPSweeks, prn, sp3Clk);
}
if (_sp3) {
_sp3->write(GPSweek, GPSweeks, prn, rtnCoM, sp3Clk);
}
}
// Transform Coordinates
////////////////////////////////////////////////////////////////////////////
void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
double& dc) {
// Current epoch minus 2000.0 in years
// ------------------------------------
double dt = (GPSWeek - (1042.0+6.0/7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
ColumnVector dx(3);
dx(1) = _dx + dt * _dxr;
dx(2) = _dy + dt * _dyr;
dx(3) = _dz + dt * _dzr;
static const double arcSec = 180.0 * 3600.0 / M_PI;
double ox = (_ox + dt * _oxr) / arcSec;
double oy = (_oy + dt * _oyr) / arcSec;
double oz = (_oz + dt * _ozr) / arcSec;
double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
// Specify approximate center of area
// ----------------------------------
ColumnVector meanSta(3);
if (_crdTrafo == "ETRF2000") {
meanSta(1) = 3661090.0;
meanSta(2) = 845230.0;
meanSta(3) = 5136850.0;
}
else if (_crdTrafo == "NAD83") {
meanSta(1) = -1092950.0;
meanSta(2) = -4383600.0;
meanSta(3) = 4487420.0;
}
else if (_crdTrafo == "GDA94") {
meanSta(1) = -4052050.0;
meanSta(2) = 4212840.0;
meanSta(3) = -2545110.0;
}
else if (_crdTrafo == "SIRGAS2000") {
meanSta(1) = 3740860.0;
meanSta(2) = -4964290.0;
meanSta(3) = -1425420.0;
}
else if (_crdTrafo == "SIRGAS95") {
meanSta(1) = 3135390.0;
meanSta(2) = -5017670.0;
meanSta(3) = -2374440.0;
}
else if (_crdTrafo == "DREF91") {
meanSta(1) = 3959579.0;
meanSta(2) = 721719.0;
meanSta(3) = 4931539.0;
}
else if (_crdTrafo == "Custom") {
meanSta(1) = 0.0; // TODO
meanSta(2) = 0.0; // TODO
meanSta(3) = 0.0; // TODO
}
// Clock correction proportional to topocentric distance to satellites
// -------------------------------------------------------------------
double rho = (xyz - meanSta).norm_Frobenius();
dc = rho * (sc - 1.0) / sc / t_CST::c;
Matrix rMat(3,3);
rMat(1,1) = 1.0;
rMat(1,2) = -oz;
rMat(1,3) = oy;
rMat(2,1) = oz;
rMat(2,2) = 1.0;
rMat(2,3) = -ox;
rMat(3,1) = -oy;
rMat(3,2) = ox;
rMat(3,3) = 1.0;
xyz = sc * rMat * xyz + dx;
}