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source: ntrip/branches/BNC_2.12/src/upload/bncrtnetuploadcaster.cpp@ 9141

Last change on this file since 9141 was 9141, checked in by stuerze, 5 years ago
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File size: 37.5 KB

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1	/* -------------------------------------------------------------------------
2	* BKG NTRIP Server
3	* -------------------------------------------------------------------------
4	*
5	* Class: bncRtnetUploadCaster
6	*
7	* Purpose: Connection to NTRIP Caster
8	*
9	* Author: L. Mervart
10	*
11	* Created: 29-Mar-2011
12	*
13	* Changes:
14	*
15	* -----------------------------------------------------------------------*/
16
17	#include <math.h>
18	#include "bncrtnetuploadcaster.h"
19	#include "bncsettings.h"
20	#include "bncephuser.h"
21	#include "bncclockrinex.h"
22	#include "bncsp3.h"
23	#include "gnss.h"
24
25	using namespace std;
26
27	// Constructor
28	////////////////////////////////////////////////////////////////////////////
29	bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
30	const QString& outHost, int outPort,
31	const QString& password,
32	const QString& crdTrafo, const QString& ssrFormat, bool CoM, const QString& sp3FileName,
33	const QString& rnxFileName, int PID, int SID, int IOD, int iRow) :
34	bncUploadCaster(mountpoint, outHost, outPort, password, iRow, 0) {
35
36	if (!mountpoint.isEmpty()) {
37	_casterID += mountpoint;
38	}
39	if (!outHost.isEmpty()) {
40	_casterID += " " + outHost;
41	if (outPort) {
42	_casterID += ":" + QString("%1").arg(outPort, 10);
43	}
44	}
45	if (!crdTrafo.isEmpty()) {
46	_casterID += " " + crdTrafo;
47	}
48	if (!sp3FileName.isEmpty()) {
49	_casterID += " " + sp3FileName;
50	}
51	if (!rnxFileName.isEmpty()) {
52	_casterID += " " + rnxFileName;
53	}
54
55	_crdTrafo = crdTrafo;
56
57	_ssrFormat = ssrFormat;
58
59	_ssrCorr = 0;
60	if (_ssrFormat == "IGS-SSR") {
61	_ssrCorr = new SsrCorrIgs();
62	}
63	else if (_ssrFormat == "RTCM-SSR") {
64	_ssrCorr = new SsrCorrRtcm();
65	}
66
67	_CoM = CoM;
68	_PID = PID;
69	_SID = SID;
70	_IOD = IOD;
71
72	// Member that receives the ephemeris
73	// ----------------------------------
74	_ephUser = new bncEphUser(true);
75
76	bncSettings settings;
77	QString intr = settings.value("uploadIntr").toString();
78	QStringList hlp = settings.value("cmbStreams").toStringList();
79	_samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toDouble();
80	if (hlp.size() > 1) { // combination stream upload
81	_samplRtcmClkCorr = settings.value("cmbSampl").toInt();
82	}
83	else { // single stream upload or sp3 file generation
84	_samplRtcmClkCorr = 5; // default
85	}
86	int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
87	int samplSp3 = settings.value("uploadSamplSp3").toInt() * 60;
88
89	if (_samplRtcmEphCorr == 0.0) {
90	_usedEph = 0;
91	}
92	else {
93	_usedEph = new QMap<QString, const t_eph*>;
94	}
95
96	// RINEX writer
97	// ------------
98	if (!rnxFileName.isEmpty()) {
99	_rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
100	}
101	else {
102	_rnx = 0;
103	}
104
105	// SP3 writer
106	// ----------
107	if (!sp3FileName.isEmpty()) {
108	_sp3 = new bncSP3(sp3FileName, intr, samplSp3);
109	}
110	else {
111	_sp3 = 0;
112	}
113
114	// Set Transformation Parameters
115	// -----------------------------
116	// Transformation Parameters from ITRF2014 to ETRF2000
117	// EUREF Technical Note 1 Relationship and Transformation between the ITRF and ETRF
118	// Zuheir Altamimi, June 28, 2018
119	if (_crdTrafo == "ETRF2000") {
120	_dx = 0.0547;
121	_dy = 0.0522;
122	_dz = -0.0741;
123
124	_dxr = 0.0001;
125	_dyr = 0.0001;
126	_dzr = -0.0019;
127
128	_ox = 0.001701;
129	_oy = 0.010290;
130	_oz = -0.016632;
131
132	_oxr = 0.000081;
133	_oyr = 0.000490;
134	_ozr = -0.000729;
135
136	_sc = 2.12;
137	_scr = 0.11;
138
139	_t0 = 2010.0;
140	}
141	// Transformation Parameters from ITRF2014 to GDA2020 (Ryan Ruddick, GA)
142	else if (_crdTrafo == "GDA2020") {
143	_dx = 0.0;
144	_dy = 0.0;
145	_dz = 0.0;
146
147	_dxr = 0.0;
148	_dyr = 0.0;
149	_dzr = 0.0;
150
151	_ox = 0.0;
152	_oy = 0.0;
153	_oz = 0.0;
154
155	_oxr = 0.00150379;
156	_oyr = 0.00118346;
157	_ozr = 0.00120716;
158
159	_sc = 0.0;
160	_scr = 0.0;
161
162	_t0 = 2020.0;
163	}
164	// Transformation Parameters from IGb14 to SIRGAS2000 (Thanks to Sonia Costa, BRA)
165	// June 29 2020: TX:-0.0027 m TY:-0.0025 m TZ:-0.0042 m SCL:1.20 (ppb) no rotations and no rates.*/
166	else if (_crdTrafo == "SIRGAS2000") {
167	_dx = -0.0027;
168	_dy = -0.0025;
169	_dz = -0.0042;
170
171	_dxr = 0.0000;
172	_dyr = 0.0000;
173	_dzr = 0.0000;
174
175	_ox = 0.000000;
176	_oy = 0.000000;
177	_oz = 0.000000;
178
179	_oxr = 0.000000;
180	_oyr = 0.000000;
181	_ozr = 0.000000;
182
183	_sc = 1.20000;
184	_scr = 0.00000;
185	_t0 = 2000.0;
186	}
187	// Transformation Parameters from ITRF2014 to DREF91
188	else if (_crdTrafo == "DREF91") {
189	_dx = 0.0547;
190	_dy = 0.0522;
191	_dz = -0.0741;
192
193	_dxr = 0.0001;
194	_dyr = 0.0001;
195	_dzr = -0.0019;
196	// ERTF200 + rotation parameters (ETRF200 => DREF91)
197	_ox = 0.001701 + 0.000658;
198	_oy = 0.010290 - 0.000208;
199	_oz = -0.016632 + 0.000755;
200
201	_oxr = 0.000081;
202	_oyr = 0.000490;
203	_ozr = -0.000729;
204
205	_sc = 2.12;
206	_scr = 0.11;
207
208	_t0 = 2010.0;
209	}
210	else if (_crdTrafo == "Custom") {
211	_dx = settings.value("trafo_dx").toDouble();
212	_dy = settings.value("trafo_dy").toDouble();
213	_dz = settings.value("trafo_dz").toDouble();
214	_dxr = settings.value("trafo_dxr").toDouble();
215	_dyr = settings.value("trafo_dyr").toDouble();
216	_dzr = settings.value("trafo_dzr").toDouble();
217	_ox = settings.value("trafo_ox").toDouble();
218	_oy = settings.value("trafo_oy").toDouble();
219	_oz = settings.value("trafo_oz").toDouble();
220	_oxr = settings.value("trafo_oxr").toDouble();
221	_oyr = settings.value("trafo_oyr").toDouble();
222	_ozr = settings.value("trafo_ozr").toDouble();
223	_sc = settings.value("trafo_sc").toDouble();
224	_scr = settings.value("trafo_scr").toDouble();
225	_t0 = settings.value("trafo_t0").toDouble();
226	}
227	}
228
229	// Destructor
230	////////////////////////////////////////////////////////////////////////////
231	bncRtnetUploadCaster::~bncRtnetUploadCaster() {
232	if (isRunning()) {
233	wait();
234	}
235	delete _rnx;
236	delete _sp3;
237	delete _ephUser;
238	delete _usedEph;
239	delete _ssrCorr;
240	}
241
242	//
243	////////////////////////////////////////////////////////////////////////////
244	void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
245
246	QMutexLocker locker(&_mutex);
247
248	// Append to internal buffer
249	// -------------------------
250	_rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
251
252	// Select buffer part that contains last epoch
253	// -------------------------------------------
254	QStringList lines;
255	int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
256	if (iEpoBeg == -1) {
257	_rtnetStreamBuffer.clear();
258	return;
259	}
260	int iEpoBegEarlier = _rtnetStreamBuffer.indexOf('*');
261	if (iEpoBegEarlier != -1 && iEpoBegEarlier < iEpoBeg) { // are there two epoch lines in buffer?
262	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBegEarlier);
263	}
264	else {
265	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
266	}
267	int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
268	if (iEpoEnd == -1) {
269	return;
270	}
271
272	while (_rtnetStreamBuffer.count('*') > 1) { // is there more than 1 epoch line in buffer?
273	QString rtnetStreamBuffer = _rtnetStreamBuffer.mid(1);
274	int nextEpoch = rtnetStreamBuffer.indexOf('*');
275	if (nextEpoch != -1 && nextEpoch < iEpoEnd) {
276	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(nextEpoch);
277	}
278	else if (nextEpoch != -1 && nextEpoch >= iEpoEnd) {
279	break;
280	}
281	}
282
283	lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n',
284	QString::SkipEmptyParts);
285	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
286
287	if (lines.size() < 2) {
288	return;
289	}
290
291	// Read first line (with epoch time)
292	// ---------------------------------
293	QTextStream in(lines[0].toAscii());
294	QString hlp;
295	int year, month, day, hour, min;
296	double sec;
297	in >> hlp >> year >> month >> day >> hour >> min >> sec;
298	bncTime epoTime;
299	epoTime.set(year, month, day, hour, min, sec);
300
301	emit(newMessage(
302	"bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
303	+ " " + QByteArray(epoTime.timestr().c_str()) + " "
304	+ _casterID.toAscii(), false));
305
306	struct SsrCorr::ClockOrbit co;
307	memset(&co, 0, sizeof(co));
308	co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
309	if (_ssrFormat == "RTCM-SSR") {
310	double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
311	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
312	}
313	else if (_ssrFormat == "IGS-SSR") {
314	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(epoTime.gpssec());
315	}
316	co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
317	co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
318	co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
319	if (_ssrFormat == "RTCM-SSR") {
320	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
321	}
322	else if (_ssrFormat == "IGS-SSR") {
323	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
324	}
325	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
326	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
327	co.SatRefDatum = _ssrCorr->DATUM_ITRF;
328	co.SSRIOD = _IOD;
329	co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
330	co.SSRSolutionID = _SID;
331
332	struct SsrCorr::CodeBias bias;
333	memset(&bias, 0, sizeof(bias));
334	bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
335	bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
336	bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
337	bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
338	bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
339	bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
340	bias.SSRIOD = _IOD;
341	bias.SSRProviderID = _PID;
342	bias.SSRSolutionID = _SID;
343
344	struct SsrCorr::PhaseBias phasebias;
345	memset(&phasebias, 0, sizeof(phasebias));
346	unsigned int dispersiveBiasConsistenyIndicator = 0;
347	unsigned int mwConsistencyIndicator = 0;
348	phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
349	phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
350	phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
351	phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
352	phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
353	phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
354	phasebias.SSRIOD = _IOD;
355	phasebias.SSRProviderID = _PID;
356	phasebias.SSRSolutionID = _SID;
357
358	struct SsrCorr::VTEC vtec;
359	memset(&vtec, 0, sizeof(vtec));
360	vtec.EpochTime = static_cast<int>(epoTime.gpssec());
361	vtec.SSRIOD = _IOD;
362	vtec.SSRProviderID = _PID;
363	vtec.SSRSolutionID = _SID;
364
365	// Default Update Interval
366	// -----------------------
367	int clkUpdInd = 2; // 5 sec
368	int ephUpdInd = clkUpdInd; // default
369
370	if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
371	ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
372	}
373	if (_samplRtcmClkCorr > 5.0) {
374	clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
375	}
376	if (_samplRtcmEphCorr > 5.0) {
377	ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
378	}
379
380	co.UpdateInterval = clkUpdInd;
381	bias.UpdateInterval = ephUpdInd;
382	phasebias.UpdateInterval = ephUpdInd;
383
384	for (int ii = 1; ii < lines.size(); ii++) {
385	QString key; // prn or key VTEC, IND (phase bias indicators)
386	double rtnUra = 0.0; // [m]
387	ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
388	ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
389	ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
390	ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
391	ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
392	t_prn prn;
393
394	QTextStream in(lines[ii].toAscii());
395	in >> key;
396
397	// non-satellite specific parameters
398	if (key.contains("IND", Qt::CaseSensitive)) {
399	in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
400	continue;
401	}
402	// non-satellite specific parameters
403	if (key.contains("VTEC", Qt::CaseSensitive)) {
404	double ui;
405	in >> ui >> vtec.NumLayers;
406	vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
407	for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
408	int dummy;
409	in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
410	>> vtec.Layers[ll].Height;
411	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
412	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
413	in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
414	}
415	}
416	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
417	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
418	in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
419	}
420	}
421	}
422	continue;
423	}
424	// satellite specific parameters
425	char sys = key.mid(0, 1).at(0).toAscii();
426	int number = key.mid(1, 2).toInt();
427	int flags = 0;
428	if (sys == 'E') { // I/NAV
429	flags = 1;
430	}
431	prn.set(sys, number, flags);
432	QString prnInternalStr = QString::fromStdString(prn.toInternalString());
433	QString prnStr = QString::fromStdString(prn.toString());
434
435	const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
436	const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
437	const t_eph* eph = ephLast;
438	if (eph) {
439
440	// Use previous ephemeris if the last one is too recent
441	// ----------------------------------------------------
442	const int MINAGE = 60; // seconds
443	if (ephPrev && eph->receptDateTime().isValid()
444	&& eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
445	eph = ephPrev;
446	}
447
448	// Make sure the clock messages refer to same IOD as orbit messages
449	// ----------------------------------------------------------------
450	if (_usedEph) {
451	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
452	(*_usedEph)[prnInternalStr] = eph;
453	}
454	else {
455	eph = 0;
456	if (_usedEph->contains(prnInternalStr)) {
457	const t_eph* usedEph = _usedEph->value(prnInternalStr);
458	if (usedEph == ephLast) {
459	eph = ephLast;
460	}
461	else if (usedEph == ephPrev) {
462	eph = ephPrev;
463	}
464	}
465	}
466	}
467	}
468
469	if (eph &&
470	eph->checkState() != t_eph::bad &&
471	eph->checkState() != t_eph::unhealthy &&
472	eph->checkState() != t_eph::outdated) {
473	QMap<QString, double> codeBiases;
474	QList<phaseBiasSignal> phaseBiasList;
475	phaseBiasesSat pbSat;
476	_phaseBiasInformationDecoded = false;
477
478	while (true) {
479	QString key;
480	int numVal = 0;
481	in >> key;
482	if (in.status() != QTextStream::Ok) {
483	break;
484	}
485	if (key == "APC") {
486	in >> numVal;
487	rtnAPC.ReSize(3); rtnAPC = 0.0;
488	for (int ii = 0; ii < numVal; ii++) {
489	in >> rtnAPC[ii];
490	}
491	}
492	else if (key == "Ura") {
493	in >> numVal;
494	if (numVal == 1)
495	in >> rtnUra;
496	}
497	else if (key == "Clk") {
498	in >> numVal;
499	rtnClk.ReSize(3); rtnClk = 0.0;
500	for (int ii = 0; ii < numVal; ii++) {
501	in >> rtnClk[ii];
502	}
503	}
504	else if (key == "ClkSig") {
505	in >> numVal;
506	rtnClkSig.ReSize(3); rtnClkSig = 0.0;
507	for (int ii = 0; ii < numVal; ii++) {
508	in >> rtnClkSig[ii];
509	}
510	}
511	else if (key == "Vel") {
512	in >> numVal;
513	rtnVel.ReSize(3); rtnVel = 0.0;
514	for (int ii = 0; ii < numVal; ii++) {
515	in >> rtnVel[ii];
516	}
517	}
518	else if (key == "CoM") {
519	in >> numVal;
520	rtnCoM.ReSize(3); rtnCoM = 0.0;
521	for (int ii = 0; ii < numVal; ii++) {
522	in >> rtnCoM[ii];
523	}
524	}
525	else if (key == "CodeBias") {
526	in >> numVal;
527	for (int ii = 0; ii < numVal; ii++) {
528	QString type;
529	double value;
530	in >> type >> value;
531	codeBiases[type] = value;
532	}
533	}
534	else if (key == "YawAngle") {
535	_phaseBiasInformationDecoded = true;
536	in >> numVal >> pbSat.yawAngle;
537	if (pbSat.yawAngle < 0.0) {
538	pbSat.yawAngle += (2*M_PI);
539	}
540	else if (pbSat.yawAngle > 2*M_PI) {
541	pbSat.yawAngle -= (2*M_PI);
542	}
543	}
544	else if (key == "YawRate") {
545	_phaseBiasInformationDecoded = true;
546	in >> numVal >> pbSat.yawRate;
547	}
548	else if (key == "PhaseBias") {
549	_phaseBiasInformationDecoded = true;
550	in >> numVal;
551	for (int ii = 0; ii < numVal; ii++) {
552	phaseBiasSignal pb;
553	in >> pb.type >> pb.bias >> pb.integerIndicator
554	>> pb.wlIndicator >> pb.discontinuityCounter;
555	phaseBiasList.append(pb);
556	}
557	}
558	else {
559	in >> numVal;
560	for (int ii = 0; ii < numVal; ii++) {
561	double dummy;
562	in >> dummy;
563	}
564	emit(newMessage(" RTNET format error: "
565	+ lines[ii].toAscii(), false));
566	}
567	}
568
569	struct SsrCorr::ClockOrbit::SatData* sd = 0;
570	if (prn.system() == 'G') {
571	sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
572	++co.NumberOfSat[CLOCKORBIT_SATGPS];
573	}
574	else if (prn.system() == 'R') {
575	sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
576	++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
577	}
578	else if (prn.system() == 'E') {
579	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
580	+ co.NumberOfSat[CLOCKORBIT_SATGALILEO];
581	++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
582	}
583	else if (prn.system() == 'J') {
584	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
585	+ CLOCKORBIT_NUMGALILEO
586	+ co.NumberOfSat[CLOCKORBIT_SATQZSS];
587	++co.NumberOfSat[CLOCKORBIT_SATQZSS];
588	}
589	else if (prn.system() == 'S') {
590	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
591	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
592	+ co.NumberOfSat[CLOCKORBIT_SATSBAS];
593	++co.NumberOfSat[CLOCKORBIT_SATSBAS];
594	}
595	else if (prn.system() == 'C') {
596	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
597	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
598	+ CLOCKORBIT_NUMSBAS
599	+ co.NumberOfSat[CLOCKORBIT_SATBDS];
600	++co.NumberOfSat[CLOCKORBIT_SATBDS];
601	}
602	if (sd) {
603	QString outLine;
604	t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
605	rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
606	if (irc != success) {
607	// very few cases: check states bad and unhealthy are excluded earlier
608	sd->ID = prnStr.mid(1).toInt(); // to prevent G00, R00 entries
609	sd->IOD = eph->IOD();
610	}
611	}
612
613	// Code Biases
614	// -----------
615	struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
616	if (!codeBiases.isEmpty()) {
617	if (prn.system() == 'G') {
618	biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
619	++bias.NumberOfSat[CLOCKORBIT_SATGPS];
620	}
621	else if (prn.system() == 'R') {
622	biasSat = bias.Sat + CLOCKORBIT_NUMGPS
623	+ bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
624	++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
625	}
626	else if (prn.system() == 'E') {
627	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
628	+ bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
629	++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
630	}
631	else if (prn.system() == 'J') {
632	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
633	+ CLOCKORBIT_NUMGALILEO
634	+ bias.NumberOfSat[CLOCKORBIT_SATQZSS];
635	++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
636	}
637	else if (prn.system() == 'S') {
638	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
639	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
640	+ bias.NumberOfSat[CLOCKORBIT_SATSBAS];
641	++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
642	}
643	else if (prn.system() == 'C') {
644	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
645	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
646	+ CLOCKORBIT_NUMSBAS
647	+ bias.NumberOfSat[CLOCKORBIT_SATBDS];
648	++bias.NumberOfSat[CLOCKORBIT_SATBDS];
649	}
650	}
651
652	if (biasSat) {
653	biasSat->ID = prn.number();
654	biasSat->NumberOfCodeBiases = 0;
655	QMapIterator<QString, double> it(codeBiases);
656	while (it.hasNext()) {
657	it.next();
658	int ii = biasSat->NumberOfCodeBiases;
659	if (ii >= CLOCKORBIT_NUMBIAS)
660	break;
661	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
662	if (type != _ssrCorr->RESERVED) {
663	biasSat->NumberOfCodeBiases += 1;
664	biasSat->Biases[ii].Type = type;
665	biasSat->Biases[ii].Bias = it.value();
666	}
667	}
668	}
669
670	// Phase Biases
671	// ------------
672	struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
673	if (prn.system() == 'G') {
674	phasebiasSat = phasebias.Sat
675	+ phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
676	++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
677	}
678	else if (prn.system() == 'R') {
679	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
680	+ phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
681	++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
682	}
683	else if (prn.system() == 'E') {
684	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
685	+ phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
686	++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
687	}
688	else if (prn.system() == 'J') {
689	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
690	+ CLOCKORBIT_NUMGALILEO
691	+ phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
692	++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
693	}
694	else if (prn.system() == 'S') {
695	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
696	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
697	+ phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
698	++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
699	}
700	else if (prn.system() == 'C') {
701	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
702	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
703	+ CLOCKORBIT_NUMSBAS
704	+ phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
705	++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
706	}
707
708	if (phasebiasSat && _phaseBiasInformationDecoded) {
709	phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
710	phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
711	phasebiasSat->ID = prn.number();
712	phasebiasSat->NumberOfPhaseBiases = 0;
713	phasebiasSat->YawAngle = pbSat.yawAngle;
714	phasebiasSat->YawRate = pbSat.yawRate;
715	QListIterator<phaseBiasSignal> it(phaseBiasList);
716	while (it.hasNext()) {
717	const phaseBiasSignal &pbSig = it.next();
718	int ii = phasebiasSat->NumberOfPhaseBiases;
719	if (ii >= CLOCKORBIT_NUMBIAS)
720	break;
721	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
722	if (type != _ssrCorr->RESERVED) {
723	phasebiasSat->NumberOfPhaseBiases += 1;
724	phasebiasSat->Biases[ii].Type = type;
725	phasebiasSat->Biases[ii].Bias = pbSig.bias;
726	phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
727	phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
728	phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
729	}
730	}
731	}
732	}
733	}
734
735	QByteArray hlpBufferCo;
736
737	// Orbit and Clock Corrections together
738	// ------------------------------------
739	if (_samplRtcmEphCorr == 0.0) {
740	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
741	\|\| co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
742	\|\| co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
743	\|\| co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
744	\|\| co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
745	\|\| co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
746	char obuffer[CLOCKORBIT_BUFFERSIZE];
747	int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
748	if (len > 0) {
749	hlpBufferCo = QByteArray(obuffer, len);
750	}
751	}
752	}
753
754	// Orbit and Clock Corrections separately
755	// --------------------------------------
756	else {
757	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
758	char obuffer[CLOCKORBIT_BUFFERSIZE];
759	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
760	co.UpdateInterval = ephUpdInd;
761	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer,
762	sizeof(obuffer));
763	co.UpdateInterval = clkUpdInd;
764	if (len1 > 0) {
765	hlpBufferCo += QByteArray(obuffer, len1);
766	}
767	}
768	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 \|\|
769	co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
770	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
771	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
772	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
773	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer,
774	sizeof(obuffer));
775	if (len2 > 0) {
776	hlpBufferCo += QByteArray(obuffer, len2);
777	}
778	}
779	if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
780	char obuffer[CLOCKORBIT_BUFFERSIZE];
781	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
782	co.UpdateInterval = ephUpdInd;
783	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer,
784	sizeof(obuffer));
785	co.UpdateInterval = clkUpdInd;
786	if (len1 > 0) {
787	hlpBufferCo += QByteArray(obuffer, len1);
788	}
789	}
790	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
791	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
792	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
793	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
794	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer,
795	sizeof(obuffer));
796	if (len2 > 0) {
797	hlpBufferCo += QByteArray(obuffer, len2);
798	}
799	}
800	if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
801	char obuffer[CLOCKORBIT_BUFFERSIZE];
802	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
803	co.UpdateInterval = ephUpdInd;
804	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer,
805	sizeof(obuffer));
806	co.UpdateInterval = clkUpdInd;
807	if (len1 > 0) {
808	hlpBufferCo += QByteArray(obuffer, len1);
809	}
810	}
811	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
812	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
813	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
814	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer,
815	sizeof(obuffer));
816	if (len2 > 0) {
817	hlpBufferCo += QByteArray(obuffer, len2);
818	}
819	}
820	if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
821	char obuffer[CLOCKORBIT_BUFFERSIZE];
822	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
823	co.UpdateInterval = ephUpdInd;
824	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer,
825	sizeof(obuffer));
826	co.UpdateInterval = clkUpdInd;
827	if (len1 > 0) {
828	hlpBufferCo += QByteArray(obuffer, len1);
829	}
830	}
831	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
832	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
833	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer,
834	sizeof(obuffer));
835	if (len2 > 0) {
836	hlpBufferCo += QByteArray(obuffer, len2);
837	}
838	}
839	if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
840	char obuffer[CLOCKORBIT_BUFFERSIZE];
841	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
842	co.UpdateInterval = ephUpdInd;
843	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer,
844	sizeof(obuffer));
845	co.UpdateInterval = clkUpdInd;
846	if (len1 > 0) {
847	hlpBufferCo += QByteArray(obuffer, len1);
848	}
849	}
850	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
851	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
852	sizeof(obuffer));
853	if (len2 > 0) {
854	hlpBufferCo += QByteArray(obuffer, len2);
855	}
856	}
857	if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
858	char obuffer[CLOCKORBIT_BUFFERSIZE];
859	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
860	co.UpdateInterval = ephUpdInd;
861	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer,
862	sizeof(obuffer));
863	co.UpdateInterval = clkUpdInd;
864	if (len1 > 0) {
865	hlpBufferCo += QByteArray(obuffer, len1);
866	}
867	}
868	int mmsg = 0;
869	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer,
870	sizeof(obuffer));
871	if (len2 > 0) {
872	hlpBufferCo += QByteArray(obuffer, len2);
873	}
874	}
875	}
876
877	// Code Biases
878	// -----------
879	QByteArray hlpBufferBias;
880	if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
881	\|\| bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
882	\|\| bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
883	\|\| bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
884	\|\| bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
885	\|\| bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
886	char obuffer[CLOCKORBIT_BUFFERSIZE];
887	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
888	int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
889	if (len > 0) {
890	hlpBufferBias = QByteArray(obuffer, len);
891	}
892	}
893	}
894
895	// Phase Biases
896	// ------------
897	QByteArray hlpBufferPhaseBias;
898	if ((phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
899	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
900	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
901	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
902	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
903	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0)
904	&& (_phaseBiasInformationDecoded)) {
905	char obuffer[CLOCKORBIT_BUFFERSIZE];
906	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
907	int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
908	if (len > 0) {
909	hlpBufferPhaseBias = QByteArray(obuffer, len);
910	}
911	}
912	}
913
914	// VTEC
915	// ----
916	QByteArray hlpBufferVtec;
917	if (vtec.NumLayers > 0) {
918	char obuffer[CLOCKORBIT_BUFFERSIZE];
919	int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
920	if (len > 0) {
921	hlpBufferVtec = QByteArray(obuffer, len);
922	}
923	}
924
925	_outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias
926	+ hlpBufferVtec;
927	}
928
929	//
930	////////////////////////////////////////////////////////////////////////////
931	t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
932	double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
933	double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
934	const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
935	struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
936
937	// Broadcast Position and Velocity
938	// -------------------------------
939	ColumnVector xB(6);
940	ColumnVector vB(3);
941	t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
942
943	if (irc != success) {
944	return irc;
945	}
946
947	// Precise Position
948	// ----------------
949	ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
950
951	if (xP.size() == 0) {
952	return failure;
953	}
954
955	double dc = 0.0;
956	if (_crdTrafo != "IGS14") {
957	crdTrafo(GPSweek, xP, dc);
958	}
959
960	// Difference in xyz
961	// -----------------
962	ColumnVector dx = xB.Rows(1, 3) - xP;
963	ColumnVector dv = vB - rtnVel;
964
965	// Difference in RSW
966	// -----------------
967	ColumnVector rsw(3);
968	XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
969
970	ColumnVector dotRsw(3);
971	XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
972
973	// Clock Correction
974	// ----------------
975	double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
976	double dClkA1 = 0.0;
977	if (rtnClk(2)) {
978	dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
979	}
980	double dClkA2 = 0.0;
981	if (rtnClk(3)) {
982	dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
983	}
984
985	if (sd) {
986	sd->ID = prn.mid(1).toInt();
987	sd->IOD = eph->IOD();
988	sd->Clock.DeltaA0 = dClkA0;
989	sd->Clock.DeltaA1 = dClkA1;
990	sd->Clock.DeltaA2 = dClkA2;
991	sd->UserRangeAccuracy = rtnUra;
992	sd->Orbit.DeltaRadial = rsw(1);
993	sd->Orbit.DeltaAlongTrack = rsw(2);
994	sd->Orbit.DeltaCrossTrack = rsw(3);
995	sd->Orbit.DotDeltaRadial = dotRsw(1);
996	sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
997	sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
998	}
999
1000	outLine.sprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
1001	GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
1002	rsw(1), rsw(2), rsw(3));
1003
1004	// RTNET full clock for RINEX and SP3 file
1005	// ---------------------------------------
1006	double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1007	double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1008	double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1009	double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² ) -/s]
1010
1011	if (_rnx) {
1012	double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1013	int s = rtnClkSig.size();
1014	switch (s) {
1015	case 1:
1016	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1017	clkRnxRateSig = 0.0; // [s/s = -]
1018	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1019	break;
1020	case 2:
1021	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1022	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1023	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1024	break;
1025	case 3:
1026	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1027	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1028	clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1029	break;
1030	}
1031	_rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1032	clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1033	}
1034	if (_sp3) {
1035	_sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1036	}
1037	return success;
1038	}
1039
1040	// Transform Coordinates
1041	////////////////////////////////////////////////////////////////////////////
1042	void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1043	double& dc) {
1044
1045	// Current epoch minus 2000.0 in years
1046	// ------------------------------------
1047	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1048
1049	ColumnVector dx(3);
1050
1051	dx(1) = _dx + dt * _dxr;
1052	dx(2) = _dy + dt * _dyr;
1053	dx(3) = _dz + dt * _dzr;
1054
1055	static const double arcSec = 180.0 * 3600.0 / M_PI;
1056
1057	double ox = (_ox + dt * _oxr) / arcSec;
1058	double oy = (_oy + dt * _oyr) / arcSec;
1059	double oz = (_oz + dt * _ozr) / arcSec;
1060
1061	double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1062
1063	// Specify approximate center of area
1064	// ----------------------------------
1065	ColumnVector meanSta(3);
1066
1067	if (_crdTrafo == "ETRF2000") {
1068	meanSta(1) = 3661090.0;
1069	meanSta(2) = 845230.0;
1070	meanSta(3) = 5136850.0;
1071	}
1072	else if (_crdTrafo == "GDA2020") {
1073	meanSta(1) = -4052050.0;
1074	meanSta(2) = 4212840.0;
1075	meanSta(3) = -2545110.0;
1076	}
1077	else if (_crdTrafo == "SIRGAS2000") {
1078	meanSta(1) = 3740860.0;
1079	meanSta(2) = -4964290.0;
1080	meanSta(3) = -1425420.0;
1081	}
1082	else if (_crdTrafo == "DREF91") {
1083	meanSta(1) = 3959579.0;
1084	meanSta(2) = 721719.0;
1085	meanSta(3) = 4931539.0;
1086	}
1087	else if (_crdTrafo == "Custom") {
1088	meanSta(1) = 0.0; // TODO
1089	meanSta(2) = 0.0; // TODO
1090	meanSta(3) = 0.0; // TODO
1091	}
1092
1093	// Clock correction proportional to topocentric distance to satellites
1094	// -------------------------------------------------------------------
1095	double rho = (xyz - meanSta).norm_Frobenius();
1096	dc = rho * (sc - 1.0) / sc / t_CST::c;
1097
1098	Matrix rMat(3, 3);
1099	rMat(1, 1) = 1.0;
1100	rMat(1, 2) = -oz;
1101	rMat(1, 3) = oy;
1102	rMat(2, 1) = oz;
1103	rMat(2, 2) = 1.0;
1104	rMat(2, 3) = -ox;
1105	rMat(3, 1) = -oy;
1106	rMat(3, 2) = ox;
1107	rMat(3, 3) = 1.0;
1108
1109	xyz = sc * rMat * xyz + dx;
1110	}
1111
1112	int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1113
1114	if (samplingRate == 10.0) {
1115	return 3;
1116	}
1117	else if (samplingRate == 15.0) {
1118	return 4;
1119	}
1120	else if (samplingRate == 30.0) {
1121	return 5;
1122	}
1123	else if (samplingRate == 60.0) {
1124	return 6;
1125	}
1126	else if (samplingRate == 120.0) {
1127	return 7;
1128	}
1129	else if (samplingRate == 240.0) {
1130	return 8;
1131	}
1132	else if (samplingRate == 300.0) {
1133	return 9;
1134	}
1135	else if (samplingRate == 600.0) {
1136	return 10;
1137	}
1138	else if (samplingRate == 900.0) {
1139	return 11;
1140	}
1141	else if (samplingRate == 1800.0) {
1142	return 12;
1143	}
1144	else if (samplingRate == 3600.0) {
1145	return 13;
1146	}
1147	else if (samplingRate == 7200.0) {
1148	return 14;
1149	}
1150	else if (samplingRate == 10800.0) {
1151	return 15;
1152	}
1153	return 2; // default
1154	}

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