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source: ntrip/branches/BNC_2.12/src/upload/bncrtnetuploadcaster.cpp@ 9249

Last change on this file since 9249 was 9249, checked in by stuerze, 3 years ago
another check is added, to prevent the usage of not updated nav data sets during ssr upload
File size: 38.6 KB

Line
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	#include "bncutils.h"
25
26	using namespace std;
27
28	// Constructor
29	////////////////////////////////////////////////////////////////////////////
30	bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
31	const QString& outHost, int outPort,
32	const QString& password,
33	const QString& crdTrafo, const QString& ssrFormat, bool CoM, const QString& sp3FileName,
34	const QString& rnxFileName, int PID, int SID, int IOD, int iRow) :
35	bncUploadCaster(mountpoint, outHost, outPort, password, iRow, 0) {
36
37	if (!mountpoint.isEmpty()) {
38	_casterID += mountpoint;
39	}
40	if (!outHost.isEmpty()) {
41	_casterID += " " + outHost;
42	if (outPort) {
43	_casterID += ":" + QString("%1").arg(outPort, 10);
44	}
45	}
46	if (!crdTrafo.isEmpty()) {
47	_casterID += " " + crdTrafo;
48	}
49	if (!sp3FileName.isEmpty()) {
50	_casterID += " " + sp3FileName;
51	}
52	if (!rnxFileName.isEmpty()) {
53	_casterID += " " + rnxFileName;
54	}
55
56	_crdTrafo = crdTrafo;
57
58	_ssrFormat = ssrFormat;
59
60	_ssrCorr = 0;
61	if (_ssrFormat == "IGS-SSR") {
62	_ssrCorr = new SsrCorrIgs();
63	}
64	else if (_ssrFormat == "RTCM-SSR") {
65	_ssrCorr = new SsrCorrRtcm();
66	}
67
68	_CoM = CoM;
69	_PID = PID;
70	_SID = SID;
71	_IOD = IOD;
72
73	// Member that receives the ephemeris
74	// ----------------------------------
75	_ephUser = new bncEphUser(true);
76
77	bncSettings settings;
78	QString intr = settings.value("uploadIntr").toString();
79	QStringList hlp = settings.value("cmbStreams").toStringList();
80	_samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toDouble();
81	if (hlp.size() > 1) { // combination stream upload
82	_samplRtcmClkCorr = settings.value("cmbSampl").toInt();
83	}
84	else { // single stream upload or sp3 file generation
85	_samplRtcmClkCorr = 5; // default
86	}
87	int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
88	int samplSp3 = settings.value("uploadSamplSp3").toInt() * 60;
89
90	if (_samplRtcmEphCorr == 0.0) {
91	_usedEph = 0;
92	}
93	else {
94	_usedEph = new QMap<QString, const t_eph*>;
95	}
96
97	// RINEX writer
98	// ------------
99	if (!rnxFileName.isEmpty()) {
100	_rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
101	}
102	else {
103	_rnx = 0;
104	}
105
106	// SP3 writer
107	// ----------
108	if (!sp3FileName.isEmpty()) {
109	_sp3 = new bncSP3(sp3FileName, intr, samplSp3);
110	}
111	else {
112	_sp3 = 0;
113	}
114
115	// Set Transformation Parameters
116	// -----------------------------
117	// Transformation Parameters from ITRF2014 to ETRF2000
118	// EUREF Technical Note 1 Relationship and Transformation between the ITRF and ETRF
119	// Zuheir Altamimi, June 28, 2018
120	if (_crdTrafo == "ETRF2000") {
121	_dx = 0.0547;
122	_dy = 0.0522;
123	_dz = -0.0741;
124
125	_dxr = 0.0001;
126	_dyr = 0.0001;
127	_dzr = -0.0019;
128
129	_ox = 0.001701;
130	_oy = 0.010290;
131	_oz = -0.016632;
132
133	_oxr = 0.000081;
134	_oyr = 0.000490;
135	_ozr = -0.000729;
136
137	_sc = 2.12;
138	_scr = 0.11;
139
140	_t0 = 2010.0;
141	}
142	// Transformation Parameters from ITRF2014 to GDA2020 (Ryan Ruddick, GA)
143	else if (_crdTrafo == "GDA2020") {
144	_dx = 0.0;
145	_dy = 0.0;
146	_dz = 0.0;
147
148	_dxr = 0.0;
149	_dyr = 0.0;
150	_dzr = 0.0;
151
152	_ox = 0.0;
153	_oy = 0.0;
154	_oz = 0.0;
155
156	_oxr = 0.00150379;
157	_oyr = 0.00118346;
158	_ozr = 0.00120716;
159
160	_sc = 0.0;
161	_scr = 0.0;
162
163	_t0 = 2020.0;
164	}
165	// Transformation Parameters from IGb14 to SIRGAS2000 (Thanks to Sonia Costa, BRA)
166	// June 29 2020: TX:-0.0027 m TY:-0.0025 m TZ:-0.0042 m SCL:1.20 (ppb) no rotations and no rates.*/
167	else if (_crdTrafo == "SIRGAS2000") {
168	_dx = -0.0027;
169	_dy = -0.0025;
170	_dz = -0.0042;
171
172	_dxr = 0.0000;
173	_dyr = 0.0000;
174	_dzr = 0.0000;
175
176	_ox = 0.000000;
177	_oy = 0.000000;
178	_oz = 0.000000;
179
180	_oxr = 0.000000;
181	_oyr = 0.000000;
182	_ozr = 0.000000;
183
184	_sc = 1.20000;
185	_scr = 0.00000;
186	_t0 = 2000.0;
187	}
188	// Transformation Parameters from ITRF2014 to DREF91
189	else if (_crdTrafo == "DREF91") {
190	_dx = 0.0547;
191	_dy = 0.0522;
192	_dz = -0.0741;
193
194	_dxr = 0.0001;
195	_dyr = 0.0001;
196	_dzr = -0.0019;
197	// ERTF200 + rotation parameters (ETRF200 => DREF91)
198	_ox = 0.001701 + 0.000658;
199	_oy = 0.010290 - 0.000208;
200	_oz = -0.016632 + 0.000755;
201
202	_oxr = 0.000081;
203	_oyr = 0.000490;
204	_ozr = -0.000729;
205
206	_sc = 2.12;
207	_scr = 0.11;
208
209	_t0 = 2010.0;
210	}
211	else if (_crdTrafo == "Custom") {
212	_dx = settings.value("trafo_dx").toDouble();
213	_dy = settings.value("trafo_dy").toDouble();
214	_dz = settings.value("trafo_dz").toDouble();
215	_dxr = settings.value("trafo_dxr").toDouble();
216	_dyr = settings.value("trafo_dyr").toDouble();
217	_dzr = settings.value("trafo_dzr").toDouble();
218	_ox = settings.value("trafo_ox").toDouble();
219	_oy = settings.value("trafo_oy").toDouble();
220	_oz = settings.value("trafo_oz").toDouble();
221	_oxr = settings.value("trafo_oxr").toDouble();
222	_oyr = settings.value("trafo_oyr").toDouble();
223	_ozr = settings.value("trafo_ozr").toDouble();
224	_sc = settings.value("trafo_sc").toDouble();
225	_scr = settings.value("trafo_scr").toDouble();
226	_t0 = settings.value("trafo_t0").toDouble();
227	}
228	}
229
230	// Destructor
231	////////////////////////////////////////////////////////////////////////////
232	bncRtnetUploadCaster::~bncRtnetUploadCaster() {
233	if (isRunning()) {
234	wait();
235	}
236	delete _rnx;
237	delete _sp3;
238	delete _ephUser;
239	delete _usedEph;
240	delete _ssrCorr;
241	}
242
243	//
244	////////////////////////////////////////////////////////////////////////////
245	void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
246
247	QMutexLocker locker(&_mutex);
248
249	// Append to internal buffer
250	// -------------------------
251	_rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
252
253	// Select buffer part that contains last epoch
254	// -------------------------------------------
255	QStringList lines;
256	int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
257	if (iEpoBeg == -1) {
258	_rtnetStreamBuffer.clear();
259	return;
260	}
261	int iEpoBegEarlier = _rtnetStreamBuffer.indexOf('*');
262	if (iEpoBegEarlier != -1 && iEpoBegEarlier < iEpoBeg) { // are there two epoch lines in buffer?
263	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBegEarlier);
264	}
265	else {
266	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
267	}
268	int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
269	if (iEpoEnd == -1) {
270	return;
271	}
272
273	while (_rtnetStreamBuffer.count('*') > 1) { // is there more than 1 epoch line in buffer?
274	QString rtnetStreamBuffer = _rtnetStreamBuffer.mid(1);
275	int nextEpoch = rtnetStreamBuffer.indexOf('*');
276	if (nextEpoch != -1 && nextEpoch < iEpoEnd) {
277	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(nextEpoch);
278	}
279	else if (nextEpoch != -1 && nextEpoch >= iEpoEnd) {
280	break;
281	}
282	}
283
284	lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n',
285	QString::SkipEmptyParts);
286	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
287
288	if (lines.size() < 2) {
289	return;
290	}
291
292	// Read first line (with epoch time)
293	// ---------------------------------
294	QTextStream in(lines[0].toAscii());
295	QString hlp;
296	int year, month, day, hour, min;
297	double sec;
298	in >> hlp >> year >> month >> day >> hour >> min >> sec;
299	bncTime epoTime;
300	epoTime.set(year, month, day, hour, min, sec);
301
302	emit(newMessage(
303	"bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
304	+ " " + QByteArray(epoTime.timestr().c_str()) + " "
305	+ _casterID.toAscii(), false));
306
307	struct SsrCorr::ClockOrbit co;
308	memset(&co, 0, sizeof(co));
309	co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
310	if (_ssrFormat == "RTCM-SSR") {
311	double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
312	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
313	}
314	else if (_ssrFormat == "IGS-SSR") {
315	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(epoTime.gpssec());
316	}
317	co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
318	co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
319	co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
320	if (_ssrFormat == "RTCM-SSR") {
321	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
322	}
323	else if (_ssrFormat == "IGS-SSR") {
324	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
325	}
326	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
327	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
328	co.SatRefDatum = _ssrCorr->DATUM_ITRF;
329	co.SSRIOD = _IOD;
330	co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
331	co.SSRSolutionID = _SID;
332
333	struct SsrCorr::CodeBias bias;
334	memset(&bias, 0, sizeof(bias));
335	bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
336	bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
337	bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
338	bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
339	bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
340	bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
341	bias.SSRIOD = _IOD;
342	bias.SSRProviderID = _PID;
343	bias.SSRSolutionID = _SID;
344
345	struct SsrCorr::PhaseBias phasebias;
346	memset(&phasebias, 0, sizeof(phasebias));
347	unsigned int dispersiveBiasConsistenyIndicator = 0;
348	unsigned int mwConsistencyIndicator = 0;
349	phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
350	phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
351	phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
352	phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
353	phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
354	phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
355	phasebias.SSRIOD = _IOD;
356	phasebias.SSRProviderID = _PID;
357	phasebias.SSRSolutionID = _SID;
358
359	struct SsrCorr::VTEC vtec;
360	memset(&vtec, 0, sizeof(vtec));
361	vtec.EpochTime = static_cast<int>(epoTime.gpssec());
362	vtec.SSRIOD = _IOD;
363	vtec.SSRProviderID = _PID;
364	vtec.SSRSolutionID = _SID;
365
366	// Default Update Interval
367	// -----------------------
368	int clkUpdInd = 2; // 5 sec
369	int ephUpdInd = clkUpdInd; // default
370
371	if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
372	ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
373	}
374	if (_samplRtcmClkCorr > 5.0) {
375	clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
376	}
377	if (_samplRtcmEphCorr > 5.0) {
378	ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
379	}
380
381	co.UpdateInterval = clkUpdInd;
382	bias.UpdateInterval = ephUpdInd;
383	phasebias.UpdateInterval = ephUpdInd;
384
385	for (int ii = 1; ii < lines.size(); ii++) {
386	QString key; // prn or key VTEC, IND (phase bias indicators)
387	double rtnUra = 0.0; // [m]
388	ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
389	ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
390	ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
391	ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
392	ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
393	t_prn prn;
394
395	QTextStream in(lines[ii].toAscii());
396	in >> key;
397
398	// non-satellite specific parameters
399	if (key.contains("IND", Qt::CaseSensitive)) {
400	in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
401	continue;
402	}
403	// non-satellite specific parameters
404	if (key.contains("VTEC", Qt::CaseSensitive)) {
405	double ui;
406	in >> ui >> vtec.NumLayers;
407	vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
408	for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
409	int dummy;
410	in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
411	>> vtec.Layers[ll].Height;
412	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
413	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
414	in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
415	}
416	}
417	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
418	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
419	in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
420	}
421	}
422	}
423	continue;
424	}
425	// satellite specific parameters
426	char sys = key.mid(0, 1).at(0).toAscii();
427	int number = key.mid(1, 2).toInt();
428	int flags = 0;
429	if (sys == 'E') { // I/NAV
430	flags = 1;
431	}
432	prn.set(sys, number, flags);
433	QString prnInternalStr = QString::fromStdString(prn.toInternalString());
434	QString prnStr = QString::fromStdString(prn.toString());
435
436	const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
437	const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
438	const t_eph* eph = ephLast;
439	if (eph) {
440
441	// Use previous ephemeris if the last one is too recent
442	// ----------------------------------------------------
443	const int MINAGE = 60; // seconds
444	if (ephPrev && eph->receptDateTime().isValid()
445	&& eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
446	eph = ephPrev;
447	}
448
449	// Make sure the clock messages refer to same IOD as orbit messages
450	// ----------------------------------------------------------------
451	if (_usedEph) {
452	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
453	(*_usedEph)[prnInternalStr] = eph;
454	}
455	else {
456	eph = 0;
457	if (_usedEph->contains(prnInternalStr)) {
458	const t_eph* usedEph = _usedEph->value(prnInternalStr);
459	if (usedEph == ephLast) {
460	eph = ephLast;
461	}
462	else if (usedEph == ephPrev) {
463	eph = ephPrev;
464	}
465	}
466	}
467	}
468	}
469
470	if (eph && !outDatedBcep(eph) && // detected from storage because of no update
471	eph->checkState() != t_eph::bad &&
472	eph->checkState() != t_eph::unhealthy &&
473	eph->checkState() != t_eph::outdated) { // detected during reception (bncephuser)
474	QMap<QString, double> codeBiases;
475	QList<phaseBiasSignal> phaseBiasList;
476	phaseBiasesSat pbSat;
477	_phaseBiasInformationDecoded = false;
478
479	while (true) {
480	QString key;
481	int numVal = 0;
482	in >> key;
483	if (in.status() != QTextStream::Ok) {
484	break;
485	}
486	if (key == "APC") {
487	in >> numVal;
488	rtnAPC.ReSize(3); rtnAPC = 0.0;
489	for (int ii = 0; ii < numVal; ii++) {
490	in >> rtnAPC[ii];
491	}
492	}
493	else if (key == "Ura") {
494	in >> numVal;
495	if (numVal == 1)
496	in >> rtnUra;
497	}
498	else if (key == "Clk") {
499	in >> numVal;
500	rtnClk.ReSize(3); rtnClk = 0.0;
501	for (int ii = 0; ii < numVal; ii++) {
502	in >> rtnClk[ii];
503	}
504	}
505	else if (key == "ClkSig") {
506	in >> numVal;
507	rtnClkSig.ReSize(3); rtnClkSig = 0.0;
508	for (int ii = 0; ii < numVal; ii++) {
509	in >> rtnClkSig[ii];
510	}
511	}
512	else if (key == "Vel") {
513	in >> numVal;
514	rtnVel.ReSize(3); rtnVel = 0.0;
515	for (int ii = 0; ii < numVal; ii++) {
516	in >> rtnVel[ii];
517	}
518	}
519	else if (key == "CoM") {
520	in >> numVal;
521	rtnCoM.ReSize(3); rtnCoM = 0.0;
522	for (int ii = 0; ii < numVal; ii++) {
523	in >> rtnCoM[ii];
524	}
525	}
526	else if (key == "CodeBias") {
527	in >> numVal;
528	for (int ii = 0; ii < numVal; ii++) {
529	QString type;
530	double value;
531	in >> type >> value;
532	codeBiases[type] = value;
533	}
534	}
535	else if (key == "YawAngle") {
536	_phaseBiasInformationDecoded = true;
537	in >> numVal >> pbSat.yawAngle;
538	if (pbSat.yawAngle < 0.0) {
539	pbSat.yawAngle += (2*M_PI);
540	}
541	else if (pbSat.yawAngle > 2*M_PI) {
542	pbSat.yawAngle -= (2*M_PI);
543	}
544	}
545	else if (key == "YawRate") {
546	_phaseBiasInformationDecoded = true;
547	in >> numVal >> pbSat.yawRate;
548	}
549	else if (key == "PhaseBias") {
550	_phaseBiasInformationDecoded = true;
551	in >> numVal;
552	for (int ii = 0; ii < numVal; ii++) {
553	phaseBiasSignal pb;
554	in >> pb.type >> pb.bias >> pb.integerIndicator
555	>> pb.wlIndicator >> pb.discontinuityCounter;
556	phaseBiasList.append(pb);
557	}
558	}
559	else {
560	in >> numVal;
561	for (int ii = 0; ii < numVal; ii++) {
562	double dummy;
563	in >> dummy;
564	}
565	emit(newMessage(" RTNET format error: "
566	+ lines[ii].toAscii(), false));
567	}
568	}
569
570	struct SsrCorr::ClockOrbit::SatData* sd = 0;
571	if (prn.system() == 'G') {
572	sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
573	++co.NumberOfSat[CLOCKORBIT_SATGPS];
574	}
575	else if (prn.system() == 'R') {
576	sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
577	++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
578	}
579	else if (prn.system() == 'E') {
580	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
581	+ co.NumberOfSat[CLOCKORBIT_SATGALILEO];
582	++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
583	}
584	else if (prn.system() == 'J') {
585	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
586	+ CLOCKORBIT_NUMGALILEO
587	+ co.NumberOfSat[CLOCKORBIT_SATQZSS];
588	++co.NumberOfSat[CLOCKORBIT_SATQZSS];
589	}
590	else if (prn.system() == 'S') {
591	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
592	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
593	+ co.NumberOfSat[CLOCKORBIT_SATSBAS];
594	++co.NumberOfSat[CLOCKORBIT_SATSBAS];
595	}
596	else if (prn.system() == 'C') {
597	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
598	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
599	+ CLOCKORBIT_NUMSBAS
600	+ co.NumberOfSat[CLOCKORBIT_SATBDS];
601	++co.NumberOfSat[CLOCKORBIT_SATBDS];
602	}
603	if (sd) {
604	QString outLine;
605	t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
606	rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
607	if (irc != success) {/*
608	// very few cases: check states bad and unhealthy are excluded earlier
609	sd->ID = prnStr.mid(1).toInt(); // to prevent G00, R00 entries
610	sd->IOD = eph->IOD();
611	*/
612	continue;
613	}
614	}
615
616	// Code Biases
617	// -----------
618	struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
619	if (!codeBiases.isEmpty()) {
620	if (prn.system() == 'G') {
621	biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
622	++bias.NumberOfSat[CLOCKORBIT_SATGPS];
623	}
624	else if (prn.system() == 'R') {
625	biasSat = bias.Sat + CLOCKORBIT_NUMGPS
626	+ bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
627	++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
628	}
629	else if (prn.system() == 'E') {
630	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
631	+ bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
632	++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
633	}
634	else if (prn.system() == 'J') {
635	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
636	+ CLOCKORBIT_NUMGALILEO
637	+ bias.NumberOfSat[CLOCKORBIT_SATQZSS];
638	++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
639	}
640	else if (prn.system() == 'S') {
641	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
642	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
643	+ bias.NumberOfSat[CLOCKORBIT_SATSBAS];
644	++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
645	}
646	else if (prn.system() == 'C') {
647	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
648	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
649	+ CLOCKORBIT_NUMSBAS
650	+ bias.NumberOfSat[CLOCKORBIT_SATBDS];
651	++bias.NumberOfSat[CLOCKORBIT_SATBDS];
652	}
653	}
654
655	if (biasSat) {
656	biasSat->ID = prn.number();
657	biasSat->NumberOfCodeBiases = 0;
658	QMapIterator<QString, double> it(codeBiases);
659	while (it.hasNext()) {
660	it.next();
661	int ii = biasSat->NumberOfCodeBiases;
662	if (ii >= CLOCKORBIT_NUMBIAS)
663	break;
664	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
665	if (type != _ssrCorr->RESERVED) {
666	biasSat->NumberOfCodeBiases += 1;
667	biasSat->Biases[ii].Type = type;
668	biasSat->Biases[ii].Bias = it.value();
669	}
670	}
671	}
672
673	// Phase Biases
674	// ------------
675	struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
676	if (prn.system() == 'G') {
677	phasebiasSat = phasebias.Sat
678	+ phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
679	++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
680	}
681	else if (prn.system() == 'R') {
682	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
683	+ phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
684	++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
685	}
686	else if (prn.system() == 'E') {
687	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
688	+ phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
689	++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
690	}
691	else if (prn.system() == 'J') {
692	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
693	+ CLOCKORBIT_NUMGALILEO
694	+ phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
695	++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
696	}
697	else if (prn.system() == 'S') {
698	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
699	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
700	+ phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
701	++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
702	}
703	else if (prn.system() == 'C') {
704	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
705	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
706	+ CLOCKORBIT_NUMSBAS
707	+ phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
708	++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
709	}
710
711	if (phasebiasSat && _phaseBiasInformationDecoded) {
712	phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
713	phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
714	phasebiasSat->ID = prn.number();
715	phasebiasSat->NumberOfPhaseBiases = 0;
716	phasebiasSat->YawAngle = pbSat.yawAngle;
717	phasebiasSat->YawRate = pbSat.yawRate;
718	QListIterator<phaseBiasSignal> it(phaseBiasList);
719	while (it.hasNext()) {
720	const phaseBiasSignal &pbSig = it.next();
721	int ii = phasebiasSat->NumberOfPhaseBiases;
722	if (ii >= CLOCKORBIT_NUMBIAS)
723	break;
724	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
725	if (type != _ssrCorr->RESERVED) {
726	phasebiasSat->NumberOfPhaseBiases += 1;
727	phasebiasSat->Biases[ii].Type = type;
728	phasebiasSat->Biases[ii].Bias = pbSig.bias;
729	phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
730	phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
731	phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
732	}
733	}
734	}
735	}
736	}
737
738	QByteArray hlpBufferCo;
739
740	// Orbit and Clock Corrections together
741	// ------------------------------------
742	if (_samplRtcmEphCorr == 0.0) {
743	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
744	\|\| co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
745	\|\| co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
746	\|\| co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
747	\|\| co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
748	\|\| co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
749	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
750	int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
751	if (len > 0) {
752	hlpBufferCo = QByteArray(obuffer, len);
753	}
754	}
755	}
756
757	// Orbit and Clock Corrections separately
758	// --------------------------------------
759	else {
760	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
761	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
762	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
763	co.UpdateInterval = ephUpdInd;
764	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer,
765	sizeof(obuffer));
766	co.UpdateInterval = clkUpdInd;
767	if (len1 > 0) {
768	hlpBufferCo += QByteArray(obuffer, len1);
769	}
770	}
771	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 \|\|
772	co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
773	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
774	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
775	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
776	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer,
777	sizeof(obuffer));
778	if (len2 > 0) {
779	hlpBufferCo += QByteArray(obuffer, len2);
780	}
781	}
782	if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
783	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
784	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
785	co.UpdateInterval = ephUpdInd;
786	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer,
787	sizeof(obuffer));
788	co.UpdateInterval = clkUpdInd;
789	if (len1 > 0) {
790	hlpBufferCo += QByteArray(obuffer, len1);
791	}
792	}
793	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
794	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
795	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
796	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
797	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer,
798	sizeof(obuffer));
799	if (len2 > 0) {
800	hlpBufferCo += QByteArray(obuffer, len2);
801	}
802	}
803	if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
804	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
805	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
806	co.UpdateInterval = ephUpdInd;
807	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer,
808	sizeof(obuffer));
809	co.UpdateInterval = clkUpdInd;
810	if (len1 > 0) {
811	hlpBufferCo += QByteArray(obuffer, len1);
812	}
813	}
814	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
815	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
816	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
817	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer,
818	sizeof(obuffer));
819	if (len2 > 0) {
820	hlpBufferCo += QByteArray(obuffer, len2);
821	}
822	}
823	if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
824	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
825	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
826	co.UpdateInterval = ephUpdInd;
827	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer,
828	sizeof(obuffer));
829	co.UpdateInterval = clkUpdInd;
830	if (len1 > 0) {
831	hlpBufferCo += QByteArray(obuffer, len1);
832	}
833	}
834	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
835	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
836	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer,
837	sizeof(obuffer));
838	if (len2 > 0) {
839	hlpBufferCo += QByteArray(obuffer, len2);
840	}
841	}
842	if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
843	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
844	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
845	co.UpdateInterval = ephUpdInd;
846	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer,
847	sizeof(obuffer));
848	co.UpdateInterval = clkUpdInd;
849	if (len1 > 0) {
850	hlpBufferCo += QByteArray(obuffer, len1);
851	}
852	}
853	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
854	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
855	sizeof(obuffer));
856	if (len2 > 0) {
857	hlpBufferCo += QByteArray(obuffer, len2);
858	}
859	}
860	if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
861	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
862	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
863	co.UpdateInterval = ephUpdInd;
864	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer,
865	sizeof(obuffer));
866	co.UpdateInterval = clkUpdInd;
867	if (len1 > 0) {
868	hlpBufferCo += QByteArray(obuffer, len1);
869	}
870	}
871	int mmsg = 0;
872	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer,
873	sizeof(obuffer));
874	if (len2 > 0) {
875	hlpBufferCo += QByteArray(obuffer, len2);
876	}
877	}
878	}
879
880	// Code Biases
881	// -----------
882	QByteArray hlpBufferBias;
883	if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
884	\|\| bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
885	\|\| bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
886	\|\| bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
887	\|\| bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
888	\|\| bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
889	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
890	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
891	int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
892	if (len > 0) {
893	hlpBufferBias = QByteArray(obuffer, len);
894	}
895	}
896	}
897
898	// Phase Biases
899	// ------------
900	QByteArray hlpBufferPhaseBias;
901	if ((phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
902	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
903	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
904	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
905	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
906	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0)
907	&& (_phaseBiasInformationDecoded)) {
908	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
909	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
910	int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
911	if (len > 0) {
912	hlpBufferPhaseBias = QByteArray(obuffer, len);
913	}
914	}
915	}
916
917	// VTEC
918	// ----
919	QByteArray hlpBufferVtec;
920	if (vtec.NumLayers > 0) {
921	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
922	int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
923	if (len > 0) {
924	hlpBufferVtec = QByteArray(obuffer, len);
925	}
926	}
927
928	_outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias
929	+ hlpBufferVtec + '\0';
930	}
931
932	//
933	////////////////////////////////////////////////////////////////////////////
934	t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
935	double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
936	double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
937	const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
938	struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
939
940	// Broadcast Position and Velocity
941	// -------------------------------
942	ColumnVector xB(6);
943	ColumnVector vB(3);
944	t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
945
946	if (irc != success) {
947	return irc;
948	}
949
950	// Precise Position
951	// ----------------
952	ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
953
954	if (xP.size() == 0) {
955	return failure;
956	}
957
958	double dc = 0.0;
959	if (_crdTrafo != "IGS14") {
960	crdTrafo(GPSweek, xP, dc);
961	}
962
963	// Difference in xyz
964	// -----------------
965	ColumnVector dx = xB.Rows(1, 3) - xP;
966	ColumnVector dv = vB - rtnVel;
967
968	// Difference in RSW
969	// -----------------
970	ColumnVector rsw(3);
971	XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
972
973	ColumnVector dotRsw(3);
974	XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
975
976	// Clock Correction
977	// ----------------
978	double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
979	double dClkA1 = 0.0;
980	if (rtnClk(2)) {
981	dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
982	}
983	double dClkA2 = 0.0;
984	if (rtnClk(3)) {
985	dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
986	}
987
988	if (sd) {
989	sd->ID = prn.mid(1).toInt();
990	sd->IOD = eph->IOD();
991	sd->Clock.DeltaA0 = dClkA0;
992	sd->Clock.DeltaA1 = dClkA1;
993	sd->Clock.DeltaA2 = dClkA2;
994	sd->UserRangeAccuracy = rtnUra;
995	sd->Orbit.DeltaRadial = rsw(1);
996	sd->Orbit.DeltaAlongTrack = rsw(2);
997	sd->Orbit.DeltaCrossTrack = rsw(3);
998	sd->Orbit.DotDeltaRadial = dotRsw(1);
999	sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
1000	sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
1001
1002	if (corrIsOutOfRange(sd)) {
1003	return failure;
1004	}
1005	}
1006
1007	outLine.sprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
1008	GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
1009	rsw(1), rsw(2), rsw(3)); //fprintf(stderr, "%s\n", outLine.toStdString().c_str());
1010
1011	// RTNET full clock for RINEX and SP3 file
1012	// ---------------------------------------
1013	double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1014	double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1015	double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1016	double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² ) -/s]
1017
1018	if (_rnx) {
1019	double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1020	int s = rtnClkSig.size();
1021	switch (s) {
1022	case 1:
1023	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1024	clkRnxRateSig = 0.0; // [s/s = -]
1025	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1026	break;
1027	case 2:
1028	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1029	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1030	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1031	break;
1032	case 3:
1033	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1034	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1035	clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1036	break;
1037	}
1038	_rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1039	clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1040	}
1041	if (_sp3) {
1042	_sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1043	}
1044	return success;
1045	}
1046
1047	// Transform Coordinates
1048	////////////////////////////////////////////////////////////////////////////
1049	void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1050	double& dc) {
1051
1052	// Current epoch minus 2000.0 in years
1053	// ------------------------------------
1054	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1055
1056	ColumnVector dx(3);
1057
1058	dx(1) = _dx + dt * _dxr;
1059	dx(2) = _dy + dt * _dyr;
1060	dx(3) = _dz + dt * _dzr;
1061
1062	static const double arcSec = 180.0 * 3600.0 / M_PI;
1063
1064	double ox = (_ox + dt * _oxr) / arcSec;
1065	double oy = (_oy + dt * _oyr) / arcSec;
1066	double oz = (_oz + dt * _ozr) / arcSec;
1067
1068	double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1069
1070	// Specify approximate center of area
1071	// ----------------------------------
1072	ColumnVector meanSta(3);
1073
1074	if (_crdTrafo == "ETRF2000") {
1075	meanSta(1) = 3661090.0;
1076	meanSta(2) = 845230.0;
1077	meanSta(3) = 5136850.0;
1078	}
1079	else if (_crdTrafo == "GDA2020") {
1080	meanSta(1) = -4052050.0;
1081	meanSta(2) = 4212840.0;
1082	meanSta(3) = -2545110.0;
1083	}
1084	else if (_crdTrafo == "SIRGAS2000") {
1085	meanSta(1) = 3740860.0;
1086	meanSta(2) = -4964290.0;
1087	meanSta(3) = -1425420.0;
1088	}
1089	else if (_crdTrafo == "DREF91") {
1090	meanSta(1) = 3959579.0;
1091	meanSta(2) = 721719.0;
1092	meanSta(3) = 4931539.0;
1093	}
1094	else if (_crdTrafo == "Custom") {
1095	meanSta(1) = 0.0; // TODO
1096	meanSta(2) = 0.0; // TODO
1097	meanSta(3) = 0.0; // TODO
1098	}
1099
1100	// Clock correction proportional to topocentric distance to satellites
1101	// -------------------------------------------------------------------
1102	double rho = (xyz - meanSta).norm_Frobenius();
1103	dc = rho * (sc - 1.0) / sc / t_CST::c;
1104
1105	Matrix rMat(3, 3);
1106	rMat(1, 1) = 1.0;
1107	rMat(1, 2) = -oz;
1108	rMat(1, 3) = oy;
1109	rMat(2, 1) = oz;
1110	rMat(2, 2) = 1.0;
1111	rMat(2, 3) = -ox;
1112	rMat(3, 1) = -oy;
1113	rMat(3, 2) = ox;
1114	rMat(3, 3) = 1.0;
1115
1116	xyz = sc * rMat * xyz + dx;
1117	}
1118
1119	int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1120
1121	if (samplingRate == 10.0) {
1122	return 3;
1123	}
1124	else if (samplingRate == 15.0) {
1125	return 4;
1126	}
1127	else if (samplingRate == 30.0) {
1128	return 5;
1129	}
1130	else if (samplingRate == 60.0) {
1131	return 6;
1132	}
1133	else if (samplingRate == 120.0) {
1134	return 7;
1135	}
1136	else if (samplingRate == 240.0) {
1137	return 8;
1138	}
1139	else if (samplingRate == 300.0) {
1140	return 9;
1141	}
1142	else if (samplingRate == 600.0) {
1143	return 10;
1144	}
1145	else if (samplingRate == 900.0) {
1146	return 11;
1147	}
1148	else if (samplingRate == 1800.0) {
1149	return 12;
1150	}
1151	else if (samplingRate == 3600.0) {
1152	return 13;
1153	}
1154	else if (samplingRate == 7200.0) {
1155	return 14;
1156	}
1157	else if (samplingRate == 10800.0) {
1158	return 15;
1159	}
1160	return 2; // default
1161	}
1162
1163	bool bncRtnetUploadCaster::corrIsOutOfRange(struct SsrCorr::ClockOrbit::SatData* sd) {
1164
1165	if (fabs(sd->Clock.DeltaA0) > 209.7151) {return true;}
1166	if (fabs(sd->Clock.DeltaA1) > 1.048575) {return true;}
1167	if (fabs(sd->Clock.DeltaA2) > 1.34217726) {return true;}
1168
1169	if (fabs(sd->Orbit.DeltaRadial) > 209.7151) {return true;}
1170	if (fabs(sd->Orbit.DeltaAlongTrack) > 209.7148) {return true;}
1171	if (fabs(sd->Orbit.DeltaCrossTrack) > 209.7148) {return true;}
1172
1173	if (fabs(sd->Orbit.DotDeltaRadial) > 1.048575) {return true;}
1174	if (fabs(sd->Orbit.DotDeltaAlongTrack) > 1.048572) {return true;}
1175	if (fabs(sd->Orbit.DotDeltaCrossTrack) > 1.048572) {return true;}
1176
1177	return false;
1178	}

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