[3222] | 1 | /* -------------------------------------------------------------------------
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| 2 | * BKG NTRIP Server
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| 3 | * -------------------------------------------------------------------------
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| 4 | *
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[3224] | 5 | * Class: bncRtnetUploadCaster
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[3222] | 6 | *
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| 7 | * Purpose: Connection to NTRIP Caster
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| 8 | *
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| 9 | * Author: L. Mervart
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| 10 | *
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| 11 | * Created: 29-Mar-2011
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| 12 | *
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| 13 | * Changes:
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| 14 | *
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| 15 | * -----------------------------------------------------------------------*/
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| 16 |
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| 17 | #include <math.h>
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[3224] | 18 | #include "bncrtnetuploadcaster.h"
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[3222] | 19 | #include "bncsettings.h"
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[3224] | 20 | #include "bncephuser.h"
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[3222] | 21 | #include "bncclockrinex.h"
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| 22 | #include "bncsp3.h"
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| 23 |
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| 24 | using namespace std;
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| 25 |
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| 26 | // Constructor
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| 27 | ////////////////////////////////////////////////////////////////////////////
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[3224] | 28 | bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
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[3222] | 29 | const QString& outHost, int outPort,
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| 30 | const QString& password,
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| 31 | const QString& crdTrafo, bool CoM,
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| 32 | const QString& sp3FileName,
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| 33 | const QString& rnxFileName,
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[4111] | 34 | int PID, int SID, int IOD, int iRow) :
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[3273] | 35 | bncUploadCaster(mountpoint, outHost, outPort, password, iRow, 0) {
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[3224] | 36 |
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[3222] | 37 | _crdTrafo = crdTrafo;
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| 38 | _CoM = CoM;
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[4111] | 39 | _PID = PID;
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| 40 | _SID = SID;
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| 41 | _IOD = IOD;
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[3222] | 42 |
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[3224] | 43 | // Member that receives the ephemeris
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| 44 | // ----------------------------------
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| 45 | _ephUser = new bncEphUser();
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[3222] | 46 |
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[3272] | 47 | bncSettings settings;
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| 48 | QString intr = settings.value("uploadIntr").toString();
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[4174] | 49 |
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| 50 | _samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toDouble();
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[4542] | 51 | int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
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| 52 | int samplSp3 = settings.value("uploadSamplSp3").toInt() * 60;
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[4174] | 53 |
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| 54 | if (_samplRtcmEphCorr == 0.0) {
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[3753] | 55 | _usedEph = 0;
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| 56 | }
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| 57 | else {
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| 58 | _usedEph = new QMap<QString, t_eph*>;
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| 59 | }
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[3272] | 60 |
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[3222] | 61 | // RINEX writer
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| 62 | // ------------
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| 63 | if (!rnxFileName.isEmpty()) {
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[4174] | 64 | _rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
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[3222] | 65 | }
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| 66 | else {
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| 67 | _rnx = 0;
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| 68 | }
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| 69 |
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| 70 | // SP3 writer
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| 71 | // ----------
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| 72 | if (!sp3FileName.isEmpty()) {
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[4174] | 73 | _sp3 = new bncSP3(sp3FileName, intr, samplSp3);
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[3222] | 74 | }
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| 75 | else {
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| 76 | _sp3 = 0;
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| 77 | }
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| 78 |
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| 79 | // Set Transformation Parameters
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| 80 | // -----------------------------
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| 81 | if (_crdTrafo == "ETRF2000") {
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[3890] | 82 | _dx = 0.0521;
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| 83 | _dy = 0.0493;
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| 84 | _dz = -0.0585;
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| 85 | _dxr = 0.0001;
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[3222] | 86 | _dyr = 0.0001;
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| 87 | _dzr = -0.0018;
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| 88 | _ox = 0.000891;
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| 89 | _oy = 0.005390;
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| 90 | _oz = -0.008712;
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| 91 | _oxr = 0.000081;
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| 92 | _oyr = 0.000490;
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| 93 | _ozr = -0.000792;
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[3890] | 94 | _sc = 1.34;
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[3222] | 95 | _scr = 0.08;
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| 96 | _t0 = 2000.0;
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| 97 | }
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| 98 | else if (_crdTrafo == "NAD83") {
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| 99 | _dx = 0.9963;
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| 100 | _dy = -1.9024;
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| 101 | _dz = -0.5210;
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| 102 | _dxr = 0.0005;
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| 103 | _dyr = -0.0006;
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| 104 | _dzr = -0.0013;
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[3498] | 105 | _ox = -0.025915;
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| 106 | _oy = -0.009426;
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| 107 | _oz = -0.011599;
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| 108 | _oxr = -0.000067;
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| 109 | _oyr = 0.000757;
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| 110 | _ozr = 0.000051;
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[3222] | 111 | _sc = 0.78;
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| 112 | _scr = -0.10;
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| 113 | _t0 = 1997.0;
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| 114 | }
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| 115 | else if (_crdTrafo == "GDA94") {
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[4963] | 116 | _dx = -0.08468;
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| 117 | _dy = -0.01942;
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| 118 | _dz = 0.03201;
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| 119 | _dxr = 0.00142;
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| 120 | _dyr = 0.00134;
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| 121 | _dzr = 0.00090;
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| 122 | _ox = 0.0004254;
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| 123 | _oy = -0.0022578;
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| 124 | _oz = -0.0024015;
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| 125 | _oxr = -0.0015461;
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| 126 | _oyr = -0.0011820;
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| 127 | _ozr = -0.0011551;
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| 128 | _sc = 9.710;
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| 129 | _scr = 0.109;
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[3222] | 130 | _t0 = 1994.0;
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| 131 | }
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| 132 | else if (_crdTrafo == "SIRGAS2000") {
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[4956] | 133 | _dx = 0.0020;
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| 134 | _dy = 0.0041;
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| 135 | _dz = 0.0039;
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[3222] | 136 | _dxr = 0.0000;
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| 137 | _dyr = 0.0000;
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| 138 | _dzr = 0.0000;
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[4956] | 139 | _ox = 0.000170;
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| 140 | _oy = -0.000030;
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| 141 | _oz = 0.000070;
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[3222] | 142 | _oxr = 0.000000;
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| 143 | _oyr = 0.000000;
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| 144 | _ozr = 0.000000;
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| 145 | _sc = 0.000;
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| 146 | _scr = 0.000;
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| 147 | _t0 = 0000.0;
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| 148 | }
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| 149 | else if (_crdTrafo == "SIRGAS95") {
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| 150 | _dx = 0.0077;
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| 151 | _dy = 0.0058;
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| 152 | _dz = -0.0138;
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| 153 | _dxr = 0.0000;
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| 154 | _dyr = 0.0000;
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| 155 | _dzr = 0.0000;
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| 156 | _ox = 0.000000;
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| 157 | _oy = 0.000000;
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| 158 | _oz = -0.000030;
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| 159 | _oxr = 0.000000;
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| 160 | _oyr = 0.000000;
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| 161 | _ozr = 0.000000;
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| 162 | _sc = 1.570;
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| 163 | _scr = 0.000;
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| 164 | _t0 = 0000.0;
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| 165 | }
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| 166 | else if (_crdTrafo == "Custom") {
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| 167 | _dx = settings.value("trafo_dx").toDouble();
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| 168 | _dy = settings.value("trafo_dy").toDouble();
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| 169 | _dz = settings.value("trafo_dz").toDouble();
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| 170 | _dxr = settings.value("trafo_dxr").toDouble();
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| 171 | _dyr = settings.value("trafo_dyr").toDouble();
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| 172 | _dzr = settings.value("trafo_dzr").toDouble();
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| 173 | _ox = settings.value("trafo_ox").toDouble();
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| 174 | _oy = settings.value("trafo_oy").toDouble();
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| 175 | _oz = settings.value("trafo_oz").toDouble();
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| 176 | _oxr = settings.value("trafo_oxr").toDouble();
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| 177 | _oyr = settings.value("trafo_oyr").toDouble();
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| 178 | _ozr = settings.value("trafo_ozr").toDouble();
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| 179 | _sc = settings.value("trafo_sc").toDouble();
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| 180 | _scr = settings.value("trafo_scr").toDouble();
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| 181 | _t0 = settings.value("trafo_t0").toDouble();
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| 182 | }
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| 183 | }
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| 184 |
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| 185 | // Destructor
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| 186 | ////////////////////////////////////////////////////////////////////////////
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[3224] | 187 | bncRtnetUploadCaster::~bncRtnetUploadCaster() {
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[3222] | 188 | if (isRunning()) {
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| 189 | wait();
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| 190 | }
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| 191 | delete _rnx;
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| 192 | delete _sp3;
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| 193 | delete _ephUser;
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[3753] | 194 | delete _usedEph;
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[3222] | 195 | }
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| 196 |
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| 197 | //
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| 198 | ////////////////////////////////////////////////////////////////////////////
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[3224] | 199 | void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
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[3222] | 200 |
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| 201 | QMutexLocker locker(&_mutex);
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| 202 |
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[3230] | 203 | // Append to internal buffer
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| 204 | // -------------------------
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[3222] | 205 | _rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
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[3230] | 206 |
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| 207 | // Select buffer part that contains last epoch
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| 208 | // -------------------------------------------
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| 209 | QStringList lines;
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| 210 | int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
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| 211 | if (iEpoBeg == -1) {
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[3226] | 212 | _rtnetStreamBuffer.clear();
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| 213 | return;
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[3222] | 214 | }
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[3230] | 215 | _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
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| 216 |
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| 217 | int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
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| 218 | if (iEpoEnd == -1) {
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| 219 | return;
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| 220 | }
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[3226] | 221 | else {
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[3230] | 222 | lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', QString::SkipEmptyParts);
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| 223 | _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd+3);
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[3226] | 224 | }
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[3222] | 225 |
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[3226] | 226 | if (lines.size() < 2) {
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[3222] | 227 | return;
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| 228 | }
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| 229 |
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[3226] | 230 | // Keep the last unfinished line in buffer
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| 231 | // ---------------------------------------
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| 232 | int iLastEOL = _rtnetStreamBuffer.lastIndexOf('\n');
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| 233 | if (iLastEOL != -1) {
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| 234 | _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iLastEOL+1);
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| 235 | }
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| 236 |
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| 237 | // Read first line (with epoch time)
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| 238 | // ---------------------------------
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| 239 | QTextStream in(lines[0].toAscii());
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| 240 | QString hlp;
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| 241 | int year, month, day, hour, min;
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| 242 | double sec;
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| 243 | in >> hlp >> year >> month >> day >> hour >> min >> sec;
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| 244 | bncTime epoTime; epoTime.set( year, month, day, hour, min, sec);
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| 245 |
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[4808] | 246 | emit(newMessage("decodeRtnetStream: " + lines[0].toAscii(), false));
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| 247 |
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[3222] | 248 | struct ClockOrbit co;
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| 249 | memset(&co, 0, sizeof(co));
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[3226] | 250 | co.GPSEpochTime = static_cast<int>(epoTime.gpssec());
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| 251 | co.GLONASSEpochTime = static_cast<int>(fmod(epoTime.gpssec(), 86400.0))
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[3222] | 252 | + 3 * 3600 - gnumleap(year, month, day);
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| 253 | co.ClockDataSupplied = 1;
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| 254 | co.OrbitDataSupplied = 1;
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| 255 | co.SatRefDatum = DATUM_ITRF;
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[4111] | 256 | co.SSRIOD = _IOD;
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| 257 | co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
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| 258 | co.SSRSolutionID = _SID;
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[3222] | 259 |
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| 260 | struct Bias bias;
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| 261 | memset(&bias, 0, sizeof(bias));
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[3226] | 262 | bias.GPSEpochTime = co.GPSEpochTime;
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| 263 | bias.GLONASSEpochTime = co.GLONASSEpochTime;
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[3222] | 264 |
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[4753] | 265 | // Default Update Interval
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| 266 | // -----------------------
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[4754] | 267 | int clkUpdInd = 2; // 5 sec
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| 268 | int ephUpdInd = clkUpdInd; // default
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| 269 | if (_samplRtcmEphCorr == 10.0) {
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| 270 | ephUpdInd = 3;
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| 271 | }
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| 272 | else if (_samplRtcmEphCorr == 15.0) {
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| 273 | ephUpdInd = 4;
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| 274 | }
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| 275 | else if (_samplRtcmEphCorr == 30.0) {
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| 276 | ephUpdInd = 5;
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| 277 | }
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| 278 | else if (_samplRtcmEphCorr == 60.0) {
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| 279 | ephUpdInd = 6;
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| 280 | }
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| 281 | else if (_samplRtcmEphCorr == 120.0) {
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| 282 | ephUpdInd = 7;
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| 283 | }
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| 284 | else if (_samplRtcmEphCorr == 240.0) {
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| 285 | ephUpdInd = 8;
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| 286 | }
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| 287 | else if (_samplRtcmEphCorr == 300.0) {
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| 288 | ephUpdInd = 9;
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| 289 | }
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| 290 | else if (_samplRtcmEphCorr == 600.0) {
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| 291 | ephUpdInd = 10;
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| 292 | }
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| 293 | else if (_samplRtcmEphCorr == 900.0) {
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| 294 | ephUpdInd = 11;
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| 295 | }
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[4753] | 296 |
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[4754] | 297 | co.UpdateInterval = clkUpdInd;
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| 298 | bias.UpdateInterval = clkUpdInd;
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[4753] | 299 |
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[3226] | 300 | for (int ii = 1; ii < lines.size(); ii++) {
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| 301 |
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[3222] | 302 | QString prn;
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| 303 | ColumnVector xx(14); xx = 0.0;
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| 304 |
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| 305 | QTextStream in(lines[ii].toAscii());
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| 306 |
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| 307 | in >> prn;
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| 308 | if (prn[0] == 'P') {
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| 309 | prn.remove(0,1);
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| 310 | }
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| 311 |
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[3753] | 312 | t_eph* eph = 0;
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[3222] | 313 | const bncEphUser::t_ephPair* ephPair = _ephUser->ephPair(prn);
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| 314 | if (ephPair) {
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| 315 |
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[3754] | 316 | eph = ephPair->last;
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| 317 |
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[4098] | 318 | // Use previous ephemeris if the last one is too recent
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| 319 | // ----------------------------------------------------
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| 320 | const int MINAGE = 60; // seconds
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| 321 | if (ephPair->prev && eph->receptDateTime().isValid() &&
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| 322 | eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
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| 323 | eph = ephPair->prev;
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| 324 | }
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[3754] | 325 |
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[3753] | 326 | // Make sure the clock messages refer to same IOD as orbit messages
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| 327 | // ----------------------------------------------------------------
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| 328 | if (_usedEph) {
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[4174] | 329 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
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[3753] | 330 | (*_usedEph)[prn] = eph;
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| 331 | }
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| 332 | else {
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| 333 | eph = 0;
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| 334 | if (_usedEph->contains(prn)) {
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| 335 | t_eph* usedEph = _usedEph->value(prn);
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| 336 | if (usedEph == ephPair->last) {
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| 337 | eph = ephPair->last;
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| 338 | }
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| 339 | else if (usedEph == ephPair->prev) {
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| 340 | eph = ephPair->prev;
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| 341 | }
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| 342 | }
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| 343 | }
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| 344 | }
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| 345 | }
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| 346 |
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| 347 | if (eph) {
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| 348 |
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[3222] | 349 | in >> xx(1) >> xx(2) >> xx(3) >> xx(4) >> xx(5)
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| 350 | >> xx(6) >> xx(7) >> xx(8) >> xx(9) >> xx(10)
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| 351 | >> xx(11) >> xx(12) >> xx(13) >> xx(14);
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| 352 | xx(1) *= 1e3; // x-crd
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| 353 | xx(2) *= 1e3; // y-crd
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| 354 | xx(3) *= 1e3; // z-crd
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| 355 | xx(4) *= 1e-6; // clk
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| 356 | xx(5) *= 1e-6; // rel. corr.
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| 357 | // xx(6), xx(7), xx(8) ... PhaseCent - CoM
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| 358 | // xx(9) ... P1-C1 DCB in meters
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| 359 | // xx(10) ... P1-P2 DCB in meters
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| 360 | // xx(11) ... dT
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| 361 | xx(12) *= 1e3; // x-crd at time + dT
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| 362 | xx(13) *= 1e3; // y-crd at time + dT
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| 363 | xx(14) *= 1e3; // z-crd at time + dT
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| 364 |
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| 365 | struct ClockOrbit::SatData* sd = 0;
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| 366 | if (prn[0] == 'G') {
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| 367 | sd = co.Sat + co.NumberOfGPSSat;
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| 368 | ++co.NumberOfGPSSat;
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| 369 | }
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| 370 | else if (prn[0] == 'R') {
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| 371 | sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
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| 372 | ++co.NumberOfGLONASSSat;
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| 373 | }
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| 374 | if (sd) {
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| 375 | QString outLine;
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[3226] | 376 | processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prn,
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[3222] | 377 | xx, sd, outLine);
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| 378 | }
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| 379 |
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| 380 | struct Bias::BiasSat* biasSat = 0;
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| 381 | if (prn[0] == 'G') {
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| 382 | biasSat = bias.Sat + bias.NumberOfGPSSat;
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| 383 | ++bias.NumberOfGPSSat;
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| 384 | }
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| 385 | else if (prn[0] == 'R') {
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| 386 | biasSat = bias.Sat + CLOCKORBIT_NUMGPS + bias.NumberOfGLONASSSat;
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| 387 | ++bias.NumberOfGLONASSSat;
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| 388 | }
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| 389 |
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| 390 | // Coefficient of Ionosphere-Free LC
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| 391 | // ---------------------------------
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| 392 | const static double a_L1_GPS = 2.54572778;
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| 393 | const static double a_L2_GPS = -1.54572778;
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| 394 | const static double a_L1_Glo = 2.53125000;
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| 395 | const static double a_L2_Glo = -1.53125000;
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| 396 |
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| 397 | if (biasSat) {
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| 398 | biasSat->ID = prn.mid(1).toInt();
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| 399 | biasSat->NumberOfCodeBiases = 3;
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| 400 | if (prn[0] == 'G') {
|
---|
| 401 | biasSat->Biases[0].Type = CODETYPEGPS_L1_Z;
|
---|
| 402 | biasSat->Biases[0].Bias = - a_L2_GPS * xx(10);
|
---|
| 403 | biasSat->Biases[1].Type = CODETYPEGPS_L1_CA;
|
---|
| 404 | biasSat->Biases[1].Bias = - a_L2_GPS * xx(10) + xx(9);
|
---|
| 405 | biasSat->Biases[2].Type = CODETYPEGPS_L2_Z;
|
---|
| 406 | biasSat->Biases[2].Bias = a_L1_GPS * xx(10);
|
---|
| 407 | }
|
---|
| 408 | else if (prn[0] == 'R') {
|
---|
| 409 | biasSat->Biases[0].Type = CODETYPEGLONASS_L1_P;
|
---|
| 410 | biasSat->Biases[0].Bias = - a_L2_Glo * xx(10);
|
---|
| 411 | biasSat->Biases[1].Type = CODETYPEGLONASS_L1_CA;
|
---|
| 412 | biasSat->Biases[1].Bias = - a_L2_Glo * xx(10) + xx(9);
|
---|
| 413 | biasSat->Biases[2].Type = CODETYPEGLONASS_L2_P;
|
---|
| 414 | biasSat->Biases[2].Bias = a_L1_Glo * xx(10);
|
---|
| 415 | }
|
---|
| 416 | }
|
---|
| 417 | }
|
---|
| 418 | }
|
---|
[3227] | 419 |
|
---|
| 420 | QByteArray hlpBufferCo;
|
---|
[3493] | 421 |
|
---|
| 422 | // Orbit and Clock Corrections together
|
---|
| 423 | // ------------------------------------
|
---|
[4174] | 424 | if (_samplRtcmEphCorr == 0.0) {
|
---|
[3493] | 425 | if (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) {
|
---|
| 426 | char obuffer[CLOCKORBIT_BUFFERSIZE];
|
---|
| 427 | int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
|
---|
| 428 | if (len > 0) {
|
---|
| 429 | hlpBufferCo = QByteArray(obuffer, len);
|
---|
| 430 | }
|
---|
[3222] | 431 | }
|
---|
| 432 | }
|
---|
[3493] | 433 |
|
---|
| 434 | // Orbit and Clock Corrections separately
|
---|
| 435 | // --------------------------------------
|
---|
| 436 | else {
|
---|
| 437 | if (co.NumberOfGPSSat > 0) {
|
---|
| 438 | char obuffer[CLOCKORBIT_BUFFERSIZE];
|
---|
[4174] | 439 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
---|
[4754] | 440 | co.UpdateInterval = ephUpdInd;
|
---|
[3591] | 441 | int len1 = MakeClockOrbit(&co, COTYPE_GPSORBIT, 1, obuffer, sizeof(obuffer));
|
---|
[4754] | 442 | co.UpdateInterval = clkUpdInd;
|
---|
[3493] | 443 | if (len1 > 0) {
|
---|
| 444 | hlpBufferCo += QByteArray(obuffer, len1);
|
---|
| 445 | }
|
---|
| 446 | }
|
---|
[3591] | 447 | int mmsg = (co.NumberOfGLONASSSat > 0) ? 1 : 0;
|
---|
| 448 | int len2 = MakeClockOrbit(&co, COTYPE_GPSCLOCK, mmsg, obuffer, sizeof(obuffer));
|
---|
[3493] | 449 | if (len2 > 0) {
|
---|
| 450 | hlpBufferCo += QByteArray(obuffer, len2);
|
---|
| 451 | }
|
---|
| 452 | }
|
---|
| 453 | if (co.NumberOfGLONASSSat > 0) {
|
---|
| 454 | char obuffer[CLOCKORBIT_BUFFERSIZE];
|
---|
[4174] | 455 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
---|
[4754] | 456 | co.UpdateInterval = ephUpdInd;
|
---|
[3591] | 457 | int len1 = MakeClockOrbit(&co, COTYPE_GLONASSORBIT, 1, obuffer, sizeof(obuffer));
|
---|
[4754] | 458 | co.UpdateInterval = clkUpdInd;
|
---|
[3493] | 459 | if (len1 > 0) {
|
---|
| 460 | hlpBufferCo += QByteArray(obuffer, len1);
|
---|
| 461 | }
|
---|
| 462 | }
|
---|
| 463 | int len2 = MakeClockOrbit(&co, COTYPE_GLONASSCLOCK, 0, obuffer, sizeof(obuffer));
|
---|
| 464 | if (len2 > 0) {
|
---|
| 465 | hlpBufferCo += QByteArray(obuffer, len2);
|
---|
| 466 | }
|
---|
| 467 | }
|
---|
| 468 | }
|
---|
[3222] | 469 |
|
---|
[3493] | 470 | // Biases
|
---|
| 471 | // ------
|
---|
[3227] | 472 | QByteArray hlpBufferBias;
|
---|
[3222] | 473 | if (bias.NumberOfGPSSat > 0 || bias.NumberOfGLONASSSat > 0) {
|
---|
| 474 | char obuffer[CLOCKORBIT_BUFFERSIZE];
|
---|
| 475 | int len = MakeBias(&bias, BTYPE_AUTO, 0, obuffer, sizeof(obuffer));
|
---|
| 476 | if (len > 0) {
|
---|
[3227] | 477 | hlpBufferBias = QByteArray(obuffer, len);
|
---|
[3222] | 478 | }
|
---|
| 479 | }
|
---|
[3227] | 480 |
|
---|
[4808] | 481 | _outBuffer += hlpBufferCo + hlpBufferBias;
|
---|
[3222] | 482 | }
|
---|
| 483 |
|
---|
| 484 | //
|
---|
| 485 | ////////////////////////////////////////////////////////////////////////////
|
---|
[3224] | 486 | void bncRtnetUploadCaster::processSatellite(t_eph* eph, int GPSweek,
|
---|
[3222] | 487 | double GPSweeks, const QString& prn,
|
---|
| 488 | const ColumnVector& xx,
|
---|
| 489 | struct ClockOrbit::SatData* sd,
|
---|
| 490 | QString& outLine) {
|
---|
| 491 |
|
---|
[4930] | 492 | // Broadcast Position and Velocity
|
---|
| 493 | // -------------------------------
|
---|
| 494 | ColumnVector xB(4);
|
---|
| 495 | ColumnVector vB(3);
|
---|
| 496 | eph->position(GPSweek, GPSweeks, xB.data(), vB.data());
|
---|
| 497 |
|
---|
| 498 | // Precise Position and Velocity
|
---|
| 499 | // -----------------------------
|
---|
| 500 | ColumnVector xP = xx.Rows(1,3);
|
---|
| 501 | ColumnVector vP = (xx.Rows(12,14) - xx.Rows(1,3)) / xx(11);
|
---|
| 502 |
|
---|
| 503 | // Correction Center of Mass -> Antenna Phase Center
|
---|
| 504 | // -------------------------------------------------
|
---|
| 505 | if (! _CoM) {
|
---|
| 506 | xP(1) += xx(6);
|
---|
| 507 | xP(2) += xx(7);
|
---|
| 508 | xP(3) += xx(8);
|
---|
| 509 | }
|
---|
[3222] | 510 |
|
---|
[4930] | 511 | double dc = 0.0;
|
---|
| 512 | if (_crdTrafo != "IGS08") {
|
---|
| 513 | crdTrafo(GPSweek, xP, dc);
|
---|
| 514 | }
|
---|
| 515 |
|
---|
| 516 | // Difference in xyz
|
---|
| 517 | // -----------------
|
---|
| 518 | ColumnVector dx = xB.Rows(1,3) - xP;
|
---|
| 519 | ColumnVector dv = vB - vP;
|
---|
| 520 |
|
---|
| 521 | // Difference in RSW
|
---|
| 522 | // -----------------
|
---|
[3222] | 523 | ColumnVector rsw(3);
|
---|
[4930] | 524 | XYZ_to_RSW(xB.Rows(1,3), vB, dx, rsw);
|
---|
[3222] | 525 |
|
---|
[4930] | 526 | ColumnVector dotRsw(3);
|
---|
| 527 | XYZ_to_RSW(xB.Rows(1,3), vB, dv, dotRsw);
|
---|
[3222] | 528 |
|
---|
[4930] | 529 | // Clock Correction
|
---|
| 530 | // ----------------
|
---|
| 531 | double dClk = (xx(4) + xx(5) - xB(4) + dc) * t_CST::c;
|
---|
[3222] | 532 |
|
---|
| 533 | if (sd) {
|
---|
[4930] | 534 | sd->ID = prn.mid(1).toInt();
|
---|
| 535 | sd->IOD = eph->IOD();
|
---|
| 536 | sd->Clock.DeltaA0 = dClk;
|
---|
| 537 | sd->Orbit.DeltaRadial = rsw(1);
|
---|
| 538 | sd->Orbit.DeltaAlongTrack = rsw(2);
|
---|
| 539 | sd->Orbit.DeltaCrossTrack = rsw(3);
|
---|
| 540 | sd->Orbit.DotDeltaRadial = dotRsw(1);
|
---|
| 541 | sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
|
---|
| 542 | sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
|
---|
[3222] | 543 | }
|
---|
| 544 |
|
---|
| 545 | outLine.sprintf("%d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n",
|
---|
[3255] | 546 | GPSweek, GPSweeks, eph->prn().toAscii().data(),
|
---|
[3222] | 547 | eph->IOD(), dClk, rsw(1), rsw(2), rsw(3));
|
---|
| 548 |
|
---|
| 549 | if (_rnx) {
|
---|
| 550 | _rnx->write(GPSweek, GPSweeks, prn, xx);
|
---|
| 551 | }
|
---|
| 552 | if (_sp3) {
|
---|
| 553 | _sp3->write(GPSweek, GPSweeks, prn, xx);
|
---|
| 554 | }
|
---|
| 555 | }
|
---|
| 556 |
|
---|
| 557 | // Transform Coordinates
|
---|
| 558 | ////////////////////////////////////////////////////////////////////////////
|
---|
[4803] | 559 | void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
|
---|
| 560 | double& dc) {
|
---|
[3222] | 561 |
|
---|
| 562 | // Current epoch minus 2000.0 in years
|
---|
| 563 | // ------------------------------------
|
---|
| 564 | double dt = (GPSWeek - (1042.0+6.0/7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
|
---|
| 565 |
|
---|
| 566 | ColumnVector dx(3);
|
---|
| 567 |
|
---|
| 568 | dx(1) = _dx + dt * _dxr;
|
---|
| 569 | dx(2) = _dy + dt * _dyr;
|
---|
| 570 | dx(3) = _dz + dt * _dzr;
|
---|
| 571 |
|
---|
| 572 | static const double arcSec = 180.0 * 3600.0 / M_PI;
|
---|
| 573 |
|
---|
| 574 | double ox = (_ox + dt * _oxr) / arcSec;
|
---|
| 575 | double oy = (_oy + dt * _oyr) / arcSec;
|
---|
| 576 | double oz = (_oz + dt * _ozr) / arcSec;
|
---|
| 577 |
|
---|
| 578 | double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
|
---|
| 579 |
|
---|
[4912] | 580 | // Specify approximate center of area
|
---|
| 581 | // ----------------------------------
|
---|
| 582 | ColumnVector meanSta(3);
|
---|
| 583 |
|
---|
| 584 | if (_crdTrafo == "ETRF2000") {
|
---|
[4973] | 585 | meanSta(1) = 3661090.0;
|
---|
| 586 | meanSta(2) = 845230.0;
|
---|
| 587 | meanSta(3) = 5136850.0;
|
---|
[4908] | 588 | }
|
---|
[4912] | 589 | else if (_crdTrafo == "NAD83") {
|
---|
[4973] | 590 | meanSta(1) = -1092950.0;
|
---|
| 591 | meanSta(2) = -4383600.0;
|
---|
| 592 | meanSta(3) = 4487420.0;
|
---|
[4912] | 593 | }
|
---|
| 594 | else if (_crdTrafo == "GDA94") {
|
---|
[4973] | 595 | meanSta(1) = -4052050.0;
|
---|
| 596 | meanSta(2) = 4212840.0;
|
---|
| 597 | meanSta(3) = -2545110.0;
|
---|
[4912] | 598 | }
|
---|
| 599 | else if (_crdTrafo == "SIRGAS2000") {
|
---|
[4973] | 600 | meanSta(1) = 3740860.0;
|
---|
| 601 | meanSta(2) = -4964290.0;
|
---|
| 602 | meanSta(3) = -1425420.0;
|
---|
[4912] | 603 | }
|
---|
| 604 | else if (_crdTrafo == "SIRGAS95") {
|
---|
[4973] | 605 | meanSta(1) = 3135390.0;
|
---|
| 606 | meanSta(2) = -5017670.0;
|
---|
| 607 | meanSta(3) = -2374440.0;
|
---|
[4912] | 608 | }
|
---|
| 609 | else if (_crdTrafo == "Custom") {
|
---|
| 610 | meanSta(1) = 0.0; // TODO
|
---|
| 611 | meanSta(2) = 0.0; // TODO
|
---|
| 612 | meanSta(3) = 0.0; // TODO
|
---|
| 613 | }
|
---|
[4908] | 614 |
|
---|
[4912] | 615 | // Clock correction proportional to topocentric distance to satellites
|
---|
| 616 | // -------------------------------------------------------------------
|
---|
| 617 | double rho = (xyz - meanSta).norm_Frobenius();
|
---|
[4913] | 618 | dc = rho * (sc - 1.0) / sc / t_CST::c;
|
---|
[4908] | 619 |
|
---|
[3222] | 620 | Matrix rMat(3,3);
|
---|
| 621 | rMat(1,1) = 1.0;
|
---|
| 622 | rMat(1,2) = -oz;
|
---|
| 623 | rMat(1,3) = oy;
|
---|
| 624 | rMat(2,1) = oz;
|
---|
| 625 | rMat(2,2) = 1.0;
|
---|
| 626 | rMat(2,3) = -ox;
|
---|
| 627 | rMat(3,1) = -oy;
|
---|
| 628 | rMat(3,2) = ox;
|
---|
| 629 | rMat(3,3) = 1.0;
|
---|
| 630 |
|
---|
| 631 | xyz = sc * rMat * xyz + dx;
|
---|
| 632 | }
|
---|
| 633 |
|
---|