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bncrtnetuploadcaster.cpp@ 10903

Last change on this file since 10903 was 10827, checked in by stuerze, 7 weeks ago
bug fixed regarding ssr upload
File size: 50.7 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 "bncbiassinex.h"
23	#include "bncsp3.h"
24	#include "gnss.h"
25	#include "bncutils.h"
26
27	using namespace std;
28
29	// Constructor
30	////////////////////////////////////////////////////////////////////////////
31	bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
32	const QString& outHost, int outPort,
33	const QString& ntripVersion,
34	const QString& userName, const QString& password,
35	const QString& crdTrafo, const QString& ssrFormat, bool CoM, const QString& sp3FileName,
36	const QString& rnxFileName, const QString& bsxFileName, int PID, int SID, int IOD, int iRow) :
37	bncUploadCaster(mountpoint, outHost, outPort, ntripVersion, userName, password, iRow, 0) {
38
39	if (!mountpoint.isEmpty()) {
40	_casterID += mountpoint;
41	}
42	if (!outHost.isEmpty()) {
43	_casterID += " " + outHost;
44	if (outPort) {
45	_casterID += ":" + QString("%1").arg(outPort, 10);
46	}
47	}
48	if (!crdTrafo.isEmpty()) {
49	_casterID += " " + crdTrafo;
50	}
51	if (!sp3FileName.isEmpty()) {
52	_casterID += " " + sp3FileName;
53	}
54	if (!rnxFileName.isEmpty()) {
55	_casterID += " " + rnxFileName;
56	}
57
58	if (!bsxFileName.isEmpty()) {
59	_casterID += " " + bsxFileName;
60	}
61
62	_crdTrafoStr = crdTrafo;
63
64	_ssrFormat = ssrFormat;
65
66	_ssrCorr = 0;
67	if (_ssrFormat == "IGS-SSR") {
68	_ssrCorr = new SsrCorrIgs();
69	}
70	else if (_ssrFormat == "RTCM-SSR") {
71	_ssrCorr = new SsrCorrRtcm();
72	}
73	else if (ssrFormat == "RTCM-NEW-SSR") {
74	_ssrCorr = new SsrCorrRtcmNew();
75	}
76
77	_CoM = CoM;
78	_PID = PID;
79	_SID = SID;
80	_IOD = IOD;
81	_phaseBiasInformationDecoded = false;
82
83	// Member that receives the ephemeris
84	// ----------------------------------
85	_ephUser = new bncEphUser(true);
86
87	bncSettings settings;
88	QString intr = settings.value("uploadIntr").toString();
89	QStringList hlp = settings.value("cmbStreams").toStringList();
90	_samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toString().split("sec").first().toDouble();
91
92	if (hlp.size() > 1) { // combination stream upload
93	_samplRtcmClkCorr = settings.value("cmbSampl").toString().split("sec").first().toDouble();
94	}
95	else { // single stream upload or sp3 file generation
96	_samplRtcmClkCorr = 5.0; // default
97	}
98	_samplRtcmVtec = 60.0;
99	_samplRtcmCrs = 60.0;
100	int samplSp3 = settings.value("uploadSamplSp3").toString().split("sec").first().toInt();
101	int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
102	int samplBiaSnx = settings.value("uploadSamplBiaSnx").toInt();
103
104	if (_samplRtcmEphCorr == 0.0) {
105	_usedEph = 0;
106	}
107	else {
108	_usedEph = new QMap<QString, const t_eph*>;
109	}
110
111	// RINEX writer
112	// ------------
113	if (!rnxFileName.isEmpty()) {
114	_rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
115	}
116	else {
117	_rnx = 0;
118	}
119
120	// SP3 writer
121	// ----------
122	if (!sp3FileName.isEmpty()) {
123	_sp3 = new bncSP3(sp3FileName, intr, samplSp3);
124	}
125	else {
126	_sp3 = 0;
127	}
128
129	// SINEX writer
130	// ------------
131	if (!bsxFileName.isEmpty()) {
132	_bsx = new bncBiasSinex(bsxFileName, intr, samplBiaSnx);
133	}
134	else {
135	_bsx = 0;
136	}
137
138
139	// Set Transformation Parameters
140	// -----------------------------
141	// Transformation Parameters from ITRF2014 to ETRF2000
142	// http://etrs89.ign.fr/pub/EUREF-TN-1-Mar-04-2024.pdf
143	if (_crdTrafoStr == "ETRF2000") {
144	_dx = 0.0552;
145	_dy = 0.0527;
146	_dz = -0.0836;
147
148	_dxr = 0.0001;
149	_dyr = 0.0001;
150	_dzr = -0.0019;
151
152	_ox = 0.002106;
153	_oy = 0.012740;
154	_oz = -0.020592;
155
156	_oxr = 0.000081;
157	_oyr = 0.000490;
158	_ozr = -0.000792;
159
160	_sc = 2.67;
161	_scr = 0.11;
162
163	_t0 = 2015.0;
164	}
165	// Transformation Parameters from ITRF2014 to GDA2020 (Ryan Ruddick, GA)
166	else if (_crdTrafoStr == "GDA2020") {
167	_dx = 0.0;
168	_dy = 0.0;
169	_dz = 0.0;
170
171	_dxr = 0.0;
172	_dyr = 0.0;
173	_dzr = 0.0;
174
175	_ox = 0.0;
176	_oy = 0.0;
177	_oz = 0.0;
178
179	_oxr = 0.00150379;
180	_oyr = 0.00118346;
181	_ozr = 0.00120716;
182
183	_sc = 0.0;
184	_scr = 0.0;
185
186	_t0 = 2020.0;
187	}
188	// Transformation Parameters from IGb14 to SIRGAS2000 (Thanks to Sonia Costa, BRA)
189	// June 29 2020: TX:-0.0027 m TY:-0.0025 m TZ:-0.0042 m SCL:1.20 (ppb) no rotations and no rates.*/
190	else if (_crdTrafoStr == "SIRGAS2000") {
191	_dx = -0.0027;
192	_dy = -0.0025;
193	_dz = -0.0042;
194
195	_dxr = 0.0;
196	_dyr = 0.0;
197	_dzr = 0.0;
198
199	_ox = 0.0;
200	_oy = 0.0;
201	_oz = 0.0;
202
203	_oxr = 0.0;
204	_oyr = 0.0;
205	_ozr = 0.0;
206
207	_sc = 1.2;
208	_scr = 0.0;
209	_t0 = 2000.0;
210	}
211	// Transformation Parameters from ITRF2014 to DREF91
212	else if (_crdTrafoStr == "DREF91") {
213	_dx = 0.0547;
214	_dy = 0.0522;
215	_dz = -0.0741;
216
217	_dxr = 0.0001;
218	_dyr = 0.0001;
219	_dzr = -0.0019;
220	// ERTF200 + rotation parameters (ETRF2000 => DREF91)
221	_ox = 0.001701 + 0.000658;
222	_oy = 0.010290 - 0.000208;
223	_oz = -0.016632 + 0.000755;
224
225	_oxr = 0.000081;
226	_oyr = 0.000490;
227	_ozr = -0.000729;
228
229	_sc = 2.12;
230	_scr = 0.11;
231
232	_t0 = 2010.0;
233	}
234	else if (_crdTrafoStr == "Custom") {
235	_dx = settings.value("trafo_dx").toDouble();
236	_dy = settings.value("trafo_dy").toDouble();
237	_dz = settings.value("trafo_dz").toDouble();
238	_dxr = settings.value("trafo_dxr").toDouble();
239	_dyr = settings.value("trafo_dyr").toDouble();
240	_dzr = settings.value("trafo_dzr").toDouble();
241	_ox = settings.value("trafo_ox").toDouble();
242	_oy = settings.value("trafo_oy").toDouble();
243	_oz = settings.value("trafo_oz").toDouble();
244	_oxr = settings.value("trafo_oxr").toDouble();
245	_oyr = settings.value("trafo_oyr").toDouble();
246	_ozr = settings.value("trafo_ozr").toDouble();
247	_sc = settings.value("trafo_sc").toDouble();
248	_scr = settings.value("trafo_scr").toDouble();
249	_t0 = settings.value("trafo_t0").toDouble();
250	}
251	// TODO: the following lines can be deleted if all parameters are updated regarding ITRF2020
252	if (_crdTrafoStr == "ETRF2000" \|\|
253	_crdTrafoStr == "GDA2020" \|\|
254	_crdTrafoStr == "DREF91" \|\|
255	_crdTrafoStr == "SIRGAS2000") {
256	// Transformation Parameters from ITRF2020 to ITRF2014
257	// from ITRF web site: https://itrf.ign.fr/en/solutions/transformations
258	_dx14 = -0.0014;
259	_dy14 = -0.0009;
260	_dz14 = 0.0014;
261	_dxr14 = 0.0;
262	_dyr14 = -0.0001;
263	_dzr14 = -0.0002;
264	_ox14 = 0.0;
265	_oy14 = 0.0;
266	_oz14 = 0.0;
267	_oxr14 = 0.0;
268	_oyr14 = 0.0;
269	_ozr14 = 0.0;
270	_sc14 = -0.42;
271	_scr14 = 0.0;
272	_t014 = 2015.0;
273	}
274	}
275
276	// Destructor
277	////////////////////////////////////////////////////////////////////////////
278	bncRtnetUploadCaster::~bncRtnetUploadCaster() {
279	if (isRunning()) {
280	wait();
281	}
282	delete _rnx;
283	delete _sp3;
284	delete _bsx;
285	delete _ephUser;
286	delete _usedEph;
287	delete _ssrCorr;
288	}
289
290	//
291	////////////////////////////////////////////////////////////////////////////
292	void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
293
294	QMutexLocker locker(&_mutex);
295
296	// Append to internal buffer
297	// -------------------------
298	_rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
299
300	// Select buffer part that contains last epoch
301	// -------------------------------------------
302	QStringList lines;
303	int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
304	if (iEpoBeg == -1) {
305	_rtnetStreamBuffer.clear();
306	return;
307	}
308	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
309
310	int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
311	if (iEpoEnd == -1) {
312	return;
313	}
314	else {
315	lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', Qt::SkipEmptyParts);
316	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
317	}
318
319	if (lines.size() < 2) {
320	emit(newMessage(
321	"bncRtnetUploadCaster: less than 2 lines to decode " + _casterID.toLatin1(), false));
322	return;
323	}
324
325	// Keep the last unfinished line in buffer
326	// ---------------------------------------
327	int iLastEOL = _rtnetStreamBuffer.lastIndexOf('\n');
328	if (iLastEOL != -1) {
329	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iLastEOL + 1);
330	}
331
332
333	// Read first line (with epoch time)
334	// ---------------------------------
335	//QTextStream in(lines[0].toLatin1());
336	QTextStream in(&lines[0], QIODevice::ReadOnly);
337	QString hlp;
338	int year, month, day, hour, min;
339	double sec;
340	in >> hlp >> year >> month >> day >> hour >> min >> sec;
341	bncTime epoTime;
342	epoTime.set(year, month, day, hour, min, sec);
343
344	emit(newMessage(
345	"bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
346	+ " " + QByteArray(epoTime.timestr().c_str()) + " "
347	+ _casterID.toLatin1(), false));
348
349	struct SsrCorr::ClockOrbit co;
350	memset(&co, 0, sizeof(co));
351	co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
352	double gt = epoTime.gpssec() - gnumleap(year, month, day);
353	if (_ssrFormat == "RTCM-SSR") {
354	gt += 3 * 3600;
355	}
356	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
357	co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
358	co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
359	co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
360	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
361	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
362	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
363	(_crdTrafoStr == "IGS20") ?
364	co.SatRefDatum = _ssrCorr->DATUM_ITRF :
365	co.SatRefDatum = _ssrCorr->DATUM_LOCAL;
366	co.SSRIOD = _IOD;
367	co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
368	co.SSRSolutionID = _SID;
369	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
370	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
371
372	t_serviceCrs serviceCrs;
373	t_rtcmCrs rtcmCrs;
374	if (_crdTrafoStr == "IGS20") {
375	serviceCrs._CE = serviceCrs._coordinateEpoch = 0;
376	int nc = _crdTrafoStr.length();
377	if (nc > 31) { nc = 31; }
378	for (int i = 0; i < nc; i++) {
379	serviceCrs._name[i] =
380	rtcmCrs._name[i] = _crdTrafoStr.toStdString()[i];
381	}
382	serviceCrs._name[nc] = 0;
383	rtcmCrs._name[nc] = 0;
384	rtcmCrs._anchor = 0; // global CRS
385	rtcmCrs._plateNumber = 0; // unknown
386	rtcmCrs._databaseLinks << "ISO.DATUM.979" << "ISO.CRS:980";
387	}
388	else {
389	if (_crdTrafoStr != "Custom") {
390	serviceCrs._coordinateEpoch = _t0;
391	serviceCrs.setCEFromCoordinateEpoch();
392	int nc = _crdTrafoStr.length();
393	if (nc > 31) { nc = 31; }
394	for (int i = 0; i < nc; i++) {
395	serviceCrs._name[i] = _crdTrafoStr.toStdString()[i];
396	}
397	serviceCrs._name[nc] = 0;
398	QString rtcmcrsname = _crdTrafoStr + QString("(%1)").arg(_t0, 4, 'd', 0);
399	nc = rtcmcrsname.length();
400	if (nc > 31) { nc = 31; }
401	for (int i = 0; i < nc; i++) {
402	rtcmCrs._name[i] = rtcmcrsname.toStdString()[i];
403	}
404	rtcmCrs._name[nc] = 0;
405	if (_crdTrafoStr == "ETRF2000") {
406	rtcmCrs._anchor = 1; // plate-fixed CRS
407	rtcmCrs._plateNumber = 7; // Eurasia
408	rtcmCrs._databaseLinks << "ISO.DATUM.187" << "ISO.CRS:260" << "ISO.CRS:457"
409	<< "EPSG.DATUM:1186" << "EPSG.CRS:7930" << "EPSG.CRS:7931";
410	}
411	else if (_crdTrafoStr == "DREF91") {
412	rtcmCrs._anchor = 1; // plate-fixed CRS
413	rtcmCrs._plateNumber = 7; // Eurasia
414	}
415	else if (_crdTrafoStr == "GDA2020") {
416	rtcmCrs._anchor = 1; // plate-fixed CRS
417	rtcmCrs._plateNumber = 4; // Australia
418	rtcmCrs._databaseLinks << "ISO.DATUM.186" << "ISO.CRS:404" << "ISO.CRS:329"
419	<< "EPSG.DATUM:1168" << "EPSG.CRS:7842" << "EPSG.CRS:7843";
420	}
421	else if (_crdTrafoStr == "SIRGAS2000") {
422	rtcmCrs._anchor = 1; // plate-fixed CRS
423	rtcmCrs._plateNumber = 12; // S.America
424	rtcmCrs._databaseLinks << "ISO.DATUM:169" << "ISO.CRS:384" << "ISO.CRS:313"
425	<< "EPSG.DATUM:6674" << "EPSG.CRS:4988" << "EPSG.CRS:4989";
426	}
427	}
428	}
429
430	struct SsrCorr::CodeBias bias;
431	memset(&bias, 0, sizeof(bias));
432	bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
433	bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
434	bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
435	bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
436	bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
437	bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
438	bias.SSRIOD = _IOD;
439	bias.SSRProviderID = _PID;
440	bias.SSRSolutionID = _SID;
441
442	struct SsrCorr::PhaseBias phasebias;
443	memset(&phasebias, 0, sizeof(phasebias));
444	unsigned int dispersiveBiasConsistenyIndicator = 0;
445	unsigned int mwConsistencyIndicator = 0;
446	phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
447	phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
448	phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
449	phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
450	phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
451	phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
452	phasebias.SSRIOD = _IOD;
453	phasebias.SSRProviderID = _PID;
454	phasebias.SSRSolutionID = _SID;
455
456	struct SsrCorr::VTEC vtec;
457	memset(&vtec, 0, sizeof(vtec));
458	vtec.EpochTime = static_cast<int>(epoTime.gpssec());
459	vtec.SSRIOD = _IOD;
460	vtec.SSRProviderID = _PID;
461	vtec.SSRSolutionID = _SID;
462
463	// Update Interval
464	// ---------------
465
466	if (_samplRtcmEphCorr == 0.0) {// combined orb and clock
467	_samplRtcmEphCorr = _samplRtcmClkCorr = 5.0;
468	}
469	int clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
470	int ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
471
472	co.UpdateInterval = clkUpdInd;
473	bias.UpdateInterval = ephUpdInd;
474	phasebias.UpdateInterval = ephUpdInd;
475
476	for (int ii = 1; ii < lines.size(); ii++) {
477	QString key; // prn or key VTEC, IND (phase bias indicators)
478	double rtnUra = 0.0; // [m]
479	ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
480	ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
481	ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
482	ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
483	ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
484
485	//QTextStream in(lines[ii].toLatin1());
486	QTextStream in(&lines[ii], QIODevice::ReadOnly);
487	in >> key;
488
489	// non-satellite specific parameters
490	if (key.contains("IND", Qt::CaseSensitive)) {
491	in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
492	continue;
493	}
494	// non-satellite specific parameters
495	if (key.contains("VTEC", Qt::CaseSensitive)) {
496	double ui;
497	in >> ui >> vtec.NumLayers;
498	vtec.UpdateInterval = (unsigned int)determineUpdateInd(ui);
499	for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
500	int dummy;
501	in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
502	>> vtec.Layers[ll].Height;
503	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
504	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
505	in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
506	}
507	}
508	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
509	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
510	in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
511	}
512	}
513	}
514	continue;
515	}
516	// satellite specific parameters
517	t_prn prn;
518	char sys = key.mid(0, 1).at(0).toLatin1();
519	int num = key.mid(1, 2).toInt();
520	int flag = t_corrSSR::getSsrNavTypeFlag(sys, num);
521	if (!num) {
522	continue;
523	}
524	prn.set(sys, num, flag);
525	QString prnInternalStr = QString::fromStdString(prn.toInternalString());
526	QString prnStr = QString::fromStdString(prn.toString());
527
528	const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
529	const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
530	const t_eph* eph = ephLast;
531	if (eph) {
532
533	// Use previous ephemeris if the last one is too recent
534	// ----------------------------------------------------
535	const int MINAGE = 60; // seconds
536	if (ephPrev && eph->receptDateTime().isValid() &&
537	eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
538	eph = ephPrev;
539	}
540
541	// Make sure the clock messages refer to same IOD as orbit messages
542	// ----------------------------------------------------------------
543	if (_usedEph) {
544	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
545	(*_usedEph)[prnInternalStr] = eph;
546	}
547	else {
548	eph = 0;
549	if (_usedEph->contains(prnInternalStr)) {
550	const t_eph* usedEph = _usedEph->value(prnInternalStr);
551	if (usedEph == ephLast) {
552	eph = ephLast;
553	}
554	else if (usedEph == ephPrev) {
555	eph = ephPrev;
556	}
557	}
558	}
559	}
560	}
561
562	QDateTime now = currentDateAndTimeGPS();
563	bncTime currentTime(now.toString(Qt::ISODate).toStdString());
564	if (eph &&
565	!outDatedBcep(eph, currentTime) && // detected from storage because of no update
566	eph->checkState() != t_eph::bad &&
567	eph->checkState() != t_eph::unhealthy &&
568	eph->checkState() != t_eph::outdated) { // detected during reception (bncephuser)
569	QMap<QString, double> codeBiases;
570	QList<phaseBiasSignal> phaseBiasList;
571	phaseBiasesSat pbSat;
572	_phaseBiasInformationDecoded = false;
573
574	while (true) {
575	QString key;
576	int numVal = 0;
577	in >> key;
578	if (in.status() != QTextStream::Ok) {
579	break;
580	}
581	if (key == "APC") {
582	in >> numVal;
583	rtnAPC.ReSize(3); rtnAPC = 0.0;
584	for (int ii = 0; ii < numVal; ii++) {
585	in >> rtnAPC[ii];
586	}
587	}
588	else if (key == "Ura") {
589	in >> numVal;
590	if (numVal == 1)
591	in >> rtnUra;
592	}
593	else if (key == "Clk") {
594	in >> numVal;
595	rtnClk.ReSize(3); rtnClk = 0.0;
596	for (int ii = 0; ii < numVal; ii++) {
597	in >> rtnClk[ii];
598	}
599	}
600	else if (key == "ClkSig") {
601	in >> numVal;
602	rtnClkSig.ReSize(3); rtnClkSig = 0.0;
603	for (int ii = 0; ii < numVal; ii++) {
604	in >> rtnClkSig[ii];
605	}
606	}
607	else if (key == "Vel") {
608	in >> numVal;
609	rtnVel.ReSize(3); rtnVel = 0.0;
610	for (int ii = 0; ii < numVal; ii++) {
611	in >> rtnVel[ii];
612	}
613	}
614	else if (key == "CoM") {
615	in >> numVal;
616	rtnCoM.ReSize(3); rtnCoM = 0.0;
617	for (int ii = 0; ii < numVal; ii++) {
618	in >> rtnCoM[ii];
619	}
620	}
621	else if (key == "CodeBias") {
622	in >> numVal;
623	for (int ii = 0; ii < numVal; ii++) {
624	QString type;
625	double value;
626	in >> type >> value;
627	codeBiases[type] = value;
628	}
629	}
630	else if (key == "YawAngle") {
631	_phaseBiasInformationDecoded = true;
632	in >> numVal >> pbSat.yawAngle;
633	if (pbSat.yawAngle < 0.0) {
634	pbSat.yawAngle += (2 * M_PI);
635	}
636	else if (pbSat.yawAngle > 2 * M_PI) {
637	pbSat.yawAngle -= (2 * M_PI);
638	}
639	}
640	else if (key == "YawRate") {
641	_phaseBiasInformationDecoded = true;
642	in >> numVal >> pbSat.yawRate;
643	}
644	else if (key == "PhaseBias") {
645	_phaseBiasInformationDecoded = true;
646	in >> numVal;
647	for (int ii = 0; ii < numVal; ii++) {
648	phaseBiasSignal pb;
649	in >> pb.type >> pb.bias >> pb.integerIndicator
650	>> pb.wlIndicator >> pb.discontinuityCounter;
651	phaseBiasList.append(pb);
652	}
653	}
654	else {
655	in >> numVal;
656	for (int ii = 0; ii < numVal; ii++) {
657	double dummy;
658	in >> dummy;
659	}
660	emit(newMessage(" RTNET format error: "
661	+ lines[ii].toLatin1(), false));
662	break;
663	}
664	}
665
666	struct SsrCorr::ClockOrbit::SatData* sd = 0;
667	if (prn.system() == 'G') {
668	sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
669	++co.NumberOfSat[CLOCKORBIT_SATGPS];
670	}
671	else if (prn.system() == 'R') {
672	sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
673	++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
674	}
675	else if (prn.system() == 'E') {
676	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
677	+ co.NumberOfSat[CLOCKORBIT_SATGALILEO];
678	++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
679	}
680	else if (prn.system() == 'J') {
681	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
682	+ CLOCKORBIT_NUMGALILEO
683	+ co.NumberOfSat[CLOCKORBIT_SATQZSS];
684	++co.NumberOfSat[CLOCKORBIT_SATQZSS];
685	}
686	else if (prn.system() == 'S') {
687	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
688	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
689	+ co.NumberOfSat[CLOCKORBIT_SATSBAS];
690	++co.NumberOfSat[CLOCKORBIT_SATSBAS];
691	}
692	else if (prn.system() == 'C') {
693	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
694	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
695	+ CLOCKORBIT_NUMSBAS
696	+ co.NumberOfSat[CLOCKORBIT_SATBDS];
697	++co.NumberOfSat[CLOCKORBIT_SATBDS];
698	}
699	if (sd) {
700	QString outLine;
701	t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
702	rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
703	if (irc != success) {
704	continue;
705	}
706	}
707
708	// Code Biases
709	// -----------
710	struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
711	if (!codeBiases.isEmpty()) {
712	if (prn.system() == 'G') {
713	biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
714	++bias.NumberOfSat[CLOCKORBIT_SATGPS];
715	}
716	else if (prn.system() == 'R') {
717	biasSat = bias.Sat + CLOCKORBIT_NUMGPS
718	+ bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
719	++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
720	}
721	else if (prn.system() == 'E') {
722	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
723	+ bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
724	++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
725	}
726	else if (prn.system() == 'J') {
727	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
728	+ CLOCKORBIT_NUMGALILEO
729	+ bias.NumberOfSat[CLOCKORBIT_SATQZSS];
730	++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
731	}
732	else if (prn.system() == 'S') {
733	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
734	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
735	+ bias.NumberOfSat[CLOCKORBIT_SATSBAS];
736	++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
737	}
738	else if (prn.system() == 'C') {
739	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
740	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
741	+ CLOCKORBIT_NUMSBAS
742	+ bias.NumberOfSat[CLOCKORBIT_SATBDS];
743	++bias.NumberOfSat[CLOCKORBIT_SATBDS];
744	}
745	}
746
747	if (biasSat) {
748	biasSat->ID = prn.number();
749	biasSat->NumberOfCodeBiases = 0;
750	QMapIterator<QString, double> it(codeBiases);
751	while (it.hasNext()) {
752	it.next();
753	int ii = biasSat->NumberOfCodeBiases;
754	if (ii >= CLOCKORBIT_NUMBIAS)
755	break;
756	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
757	if (type != _ssrCorr->CODETYPE_RESERVED) {
758	biasSat->NumberOfCodeBiases += 1;
759	biasSat->Biases[ii].Type = type;
760	biasSat->Biases[ii].Bias = it.value();
761	if (_bsx) {
762	QString obsCode = 'C' + it.key();
763	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, it.value());
764	}
765	}
766	}
767	}
768
769	// Phase Biases
770	// ------------
771	struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
772	if (prn.system() == 'G') {
773	phasebiasSat = phasebias.Sat
774	+ phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
775	++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
776	}
777	else if (prn.system() == 'R') {
778	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
779	+ phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
780	++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
781	}
782	else if (prn.system() == 'E') {
783	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
784	+ phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
785	++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
786	}
787	else if (prn.system() == 'J') {
788	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
789	+ CLOCKORBIT_NUMGALILEO
790	+ phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
791	++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
792	}
793	else if (prn.system() == 'S') {
794	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
795	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
796	+ phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
797	++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
798	}
799	else if (prn.system() == 'C') {
800	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
801	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
802	+ CLOCKORBIT_NUMSBAS
803	+ phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
804	++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
805	}
806
807	if (phasebiasSat && _phaseBiasInformationDecoded) {
808	phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
809	phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
810	phasebiasSat->ID = prn.number();
811	phasebiasSat->NumberOfPhaseBiases = 0;
812	phasebiasSat->YawAngle = pbSat.yawAngle;
813	phasebiasSat->YawRate = pbSat.yawRate;
814	QListIterator<phaseBiasSignal> it(phaseBiasList);
815	while (it.hasNext()) {
816	const phaseBiasSignal& pbSig = it.next();
817	int ii = phasebiasSat->NumberOfPhaseBiases;
818	if (ii >= CLOCKORBIT_NUMBIAS)
819	break;
820	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
821	if (type != _ssrCorr->PBEXTTYPE_RESERVED) {
822	phasebiasSat->NumberOfPhaseBiases += 1;
823	phasebiasSat->Biases[ii].Type = type;
824	phasebiasSat->Biases[ii].Bias = pbSig.bias;
825	phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
826	phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
827	phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
828	if (_bsx) {
829	QString obsCode = 'L' + pbSig.type;
830	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, pbSig.bias);
831	}
832	}
833	}
834	}
835	}
836	}
837
838	QByteArray hlpBufferCo;
839	char obuffer[CLOCKORBIT_BUFFERSIZE];
840	size_t len = 0;
841
842	// Orbit and Clock Corrections together
843	// ------------------------------------
844	if (_samplRtcmEphCorr == _samplRtcmClkCorr) {
845	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
846	\|\| co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
847	\|\| co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
848	\|\| co.NumberOfSat[CLOCKORBIT_SATBDS] > 0
849	\|\| co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
850	\|\| co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
851	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
852	memset(obuffer, 0, sizeof(obuffer));
853	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
854	if (len > 0) {
855	hlpBufferCo = QByteArray(obuffer, int(len));
856	}
857	}
858	}
859	}
860
861	// Orbit and Clock Corrections separately
862	// --------------------------------------
863	else {
864	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
865	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
866	co.UpdateInterval = ephUpdInd;
867	memset(obuffer, 0, sizeof(obuffer));
868	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer, sizeof(obuffer));
869	if (len > 0) {
870	hlpBufferCo += QByteArray(obuffer, int(len));
871	}
872	}
873	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 \|\|
874	co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
875	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 \|\|
876	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
877	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) ? 1 : 0;
878	if (fmod(epoTime.gpssec(), _samplRtcmClkCorr) == 0.0) {
879	co.UpdateInterval = clkUpdInd;
880	memset(obuffer, 0, sizeof(obuffer));
881	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer, sizeof(obuffer));
882	if (len > 0) {
883	hlpBufferCo += QByteArray(obuffer, int(len));
884	}
885	}
886	}
887	if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
888	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
889	co.UpdateInterval = ephUpdInd;
890	memset(obuffer, 0, sizeof(obuffer));
891	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer, sizeof(obuffer));
892	if (len > 0) {
893	hlpBufferCo += QByteArray(obuffer, int(len));
894	}
895	}
896	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
897	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 \|\|
898	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
899	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) ? 1 : 0;
900	if (fmod(epoTime.gpssec(), _samplRtcmClkCorr) == 0.0) {
901	co.UpdateInterval = clkUpdInd;
902	memset(obuffer, 0, sizeof(obuffer));
903	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer, sizeof(obuffer));
904	if (len > 0) {
905	hlpBufferCo += QByteArray(obuffer, int(len));
906	}
907	}
908	}
909	if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
910	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
911	co.UpdateInterval = ephUpdInd;
912	memset(obuffer, 0, sizeof(obuffer));
913	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer, sizeof(obuffer));
914	if (len > 0) {
915	hlpBufferCo += QByteArray(obuffer, int(len));
916	}
917	}
918	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 \|\|
919	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
920	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) ? 1 : 0;
921	if (fmod(epoTime.gpssec(), _samplRtcmClkCorr) == 0.0) {
922	co.UpdateInterval = clkUpdInd;
923	memset(obuffer, 0, sizeof(obuffer));
924	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer, sizeof(obuffer));
925	if (len > 0) {
926	hlpBufferCo += QByteArray(obuffer, int(len));
927	}
928	}
929	}
930	if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
931	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
932	co.UpdateInterval = ephUpdInd;
933	memset(obuffer, 0, sizeof(obuffer));
934	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer, sizeof(obuffer));
935	if (len > 0) {
936	hlpBufferCo += QByteArray(obuffer, int(len));
937	}
938	}
939	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
940	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) ? 1 : 0;
941	if (fmod(epoTime.gpssec(), _samplRtcmClkCorr) == 0.0) {
942	co.UpdateInterval = clkUpdInd;
943	memset(obuffer, 0, sizeof(obuffer));
944	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer, sizeof(obuffer));
945	if (len > 0) {
946	hlpBufferCo += QByteArray(obuffer, int(len));
947	}
948	}
949	}
950	if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
951	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
952	co.UpdateInterval = ephUpdInd;
953	memset(obuffer, 0, sizeof(obuffer));
954	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer, sizeof(obuffer));
955	if (len > 0) {
956	hlpBufferCo += QByteArray(obuffer, int(len));
957	}
958	}
959	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) ? 1 : 0;
960	if (fmod(epoTime.gpssec(), _samplRtcmClkCorr) == 0.0) {
961	co.UpdateInterval = clkUpdInd;
962	memset(obuffer, 0, sizeof(obuffer));
963	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer, sizeof(obuffer));
964	if (len > 0) {
965	hlpBufferCo += QByteArray(obuffer, int(len));
966	}
967	}
968	}
969	if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
970	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
971	co.UpdateInterval = ephUpdInd;
972	memset(obuffer, 0, sizeof(obuffer));
973	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer, sizeof(obuffer));
974	co.UpdateInterval = clkUpdInd;
975	if (len > 0) {
976	hlpBufferCo += QByteArray(obuffer, int(len));
977	}
978	}
979	int mmsg = 0;
980	if (fmod(epoTime.gpssec(), _samplRtcmClkCorr) == 0.0) {
981	co.UpdateInterval = clkUpdInd;
982	memset(obuffer, 0, sizeof(obuffer));
983	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer, sizeof(obuffer));
984	if (len > 0) {
985	hlpBufferCo += QByteArray(obuffer, int(len));
986	}
987	}
988	}
989	}
990
991	// Code Biases
992	// -----------
993	QByteArray hlpBufferBias;
994	if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
995	\|\| bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
996	\|\| bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
997	\|\| bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0
998	\|\| bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
999	\|\| bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
1000	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
1001	memset(obuffer, 0, sizeof(obuffer));
1002	len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
1003	if (len > 0) {
1004	hlpBufferBias = QByteArray(obuffer, int(len));
1005	}
1006	}
1007	}
1008
1009	// Phase Biases
1010	// ------------
1011	QByteArray hlpBufferPhaseBias;
1012	if ((phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
1013	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
1014	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
1015	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0
1016	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
1017	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) && (_phaseBiasInformationDecoded)) {
1018	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
1019	memset(obuffer, 0, sizeof(obuffer));
1020	len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
1021	if (len > 0) {
1022	hlpBufferPhaseBias = QByteArray(obuffer, int(len));
1023	}
1024	}
1025	}
1026
1027	// VTEC
1028	// ----
1029	QByteArray hlpBufferVtec;
1030	if (vtec.NumLayers > 0) {
1031	if (fmod(epoTime.gpssec(), _samplRtcmVtec) == 0.0) {
1032	memset(obuffer, 0, sizeof(obuffer));
1033	len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
1034	if (len > 0) {
1035	hlpBufferVtec = QByteArray(obuffer, int(len));
1036	}
1037	}
1038	}
1039
1040	// Service CRS
1041	// -----------
1042	QByteArray hlpBufferServiceCrs;
1043	if (sizeof(serviceCrs._name) > 0) {
1044	if (fmod(epoTime.gpssec(), _samplRtcmCrs) == 0.0) {
1045	memset(obuffer, 0, sizeof(obuffer));
1046	len = t_crsEncoder::RTCM3(serviceCrs, obuffer, sizeof(obuffer));
1047	if (len > 0) {
1048	hlpBufferServiceCrs = QByteArray(obuffer, int(len));
1049	}
1050	}
1051	}
1052
1053	// RTCM CRS
1054	// --------
1055	QByteArray hlpBufferRtcmCrs;
1056	if (sizeof(rtcmCrs._name) > 0) {
1057	if (fmod(epoTime.gpssec(), _samplRtcmCrs) == 0.0) {
1058	memset(obuffer, 0, sizeof(obuffer));
1059	len = t_crsEncoder::RTCM3(rtcmCrs, obuffer, sizeof(obuffer));
1060	if (len > 0) {
1061	hlpBufferRtcmCrs = QByteArray(obuffer, int(len));
1062	}
1063	}
1064	}
1065
1066	// Create OutBuffer
1067	// ----------------
1068	_outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias + hlpBufferVtec
1069	+ hlpBufferServiceCrs + hlpBufferRtcmCrs + '\0';
1070	}
1071	//
1072	////////////////////////////////////////////////////////////////////////////
1073	t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
1074	double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
1075	double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
1076	const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
1077	struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
1078
1079	// Broadcast Position and Velocity
1080	// -------------------------------
1081	ColumnVector xB(6);
1082	ColumnVector vB(3);
1083	t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
1084
1085	if (irc != success) {
1086	return irc;
1087	}
1088
1089	// Precise Position
1090	// ----------------
1091	ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
1092
1093	if (xP.size() == 0) {
1094	return failure;
1095	}
1096
1097	double dc = 0.0;
1098	if (_crdTrafoStr != "IGS20") {
1099	crdTrafo14(GPSweek, xP, dc); // ITRF2020 => ITRF2014
1100	crdTrafo(GPSweek, xP, dc); // ITRF2014 to other reference frames
1101	}
1102
1103	// Difference in xyz
1104	// -----------------
1105	ColumnVector dx = xB.Rows(1, 3) - xP;
1106	ColumnVector dv = vB - rtnVel;
1107
1108	// Difference in RSW
1109	// -----------------
1110	ColumnVector rsw(3);
1111	XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
1112
1113	ColumnVector dotRsw(3);
1114	XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
1115
1116	// Clock Correction
1117	// ----------------
1118	double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
1119	double dClkA1 = 0.0;
1120	if (rtnClk(2)) {
1121	dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
1122	}
1123	double dClkA2 = 0.0;
1124	if (rtnClk(3)) {
1125	dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
1126	}
1127
1128	if (sd) {
1129	sd->ID = prn.mid(1).toInt();
1130	sd->IOD = eph->IOD();
1131	sd->Clock.DeltaA0 = dClkA0;
1132	sd->Clock.DeltaA1 = dClkA1;
1133	sd->Clock.DeltaA2 = dClkA2;
1134	sd->UserRangeAccuracy = rtnUra;
1135	sd->Orbit.DeltaRadial = rsw(1);
1136	sd->Orbit.DeltaAlongTrack = rsw(2);
1137	sd->Orbit.DeltaCrossTrack = rsw(3);
1138	sd->Orbit.DotDeltaRadial = dotRsw(1);
1139	sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
1140	sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
1141
1142	if (corrIsOutOfRange(sd)) {
1143	emit(newMessage(QString("bncRtnetUploadCaster: SSR parameter is out of its defined range").toLatin1(), false));
1144	return failure;
1145	}
1146	}
1147
1148	outLine = QString().asprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
1149	GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
1150	rsw(1), rsw(2), rsw(3)); //fprintf(stderr, "%s\n", outLine.toStdString().c_str());
1151
1152	// RTNET full clock for RINEX and SP3 file
1153	// ---------------------------------------
1154	double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1155	double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1156	double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1157	double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² = -/s]
1158
1159	if (_rnx) {
1160	double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1161	int s = rtnClkSig.size();
1162	switch (s) {
1163	case 1:
1164	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1165	clkRnxRateSig = 0.0; // [s/s = -]
1166	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1167	break;
1168	case 2:
1169	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1170	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1171	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1172	break;
1173	case 3:
1174	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1175	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1176	clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1177	break;
1178	}
1179	_rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1180	clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1181	}
1182	if (_sp3) {
1183	_sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1184	}
1185	return success;
1186	}
1187
1188	// Transform Coordinates
1189	////////////////////////////////////////////////////////////////////////////
1190	void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1191	double& dc) {
1192
1193	// Current epoch minus 2000.0 in years
1194	// ------------------------------------
1195	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1196
1197	ColumnVector dx(3);
1198
1199	dx(1) = _dx + dt * _dxr;
1200	dx(2) = _dy + dt * _dyr;
1201	dx(3) = _dz + dt * _dzr;
1202
1203	static const double arcSec = 180.0 * 3600.0 / M_PI;
1204
1205	double ox = (_ox + dt * _oxr) / arcSec;
1206	double oy = (_oy + dt * _oyr) / arcSec;
1207	double oz = (_oz + dt * _ozr) / arcSec;
1208
1209	double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1210
1211	// Specify approximate center of area
1212	// ----------------------------------
1213	ColumnVector meanSta(3);
1214
1215	if (_crdTrafoStr == "ETRF2000") {
1216	meanSta(1) = 3661090.0;
1217	meanSta(2) = 845230.0;
1218	meanSta(3) = 5136850.0;
1219	}
1220	else if (_crdTrafoStr == "GDA2020") {
1221	meanSta(1) = -4052050.0;
1222	meanSta(2) = 4212840.0;
1223	meanSta(3) = -2545110.0;
1224	}
1225	else if (_crdTrafoStr == "SIRGAS2000") {
1226	meanSta(1) = 3740860.0;
1227	meanSta(2) = -4964290.0;
1228	meanSta(3) = -1425420.0;
1229	}
1230	else if (_crdTrafoStr == "DREF91") {
1231	meanSta(1) = 3959579.0;
1232	meanSta(2) = 721719.0;
1233	meanSta(3) = 4931539.0;
1234	}
1235	else if (_crdTrafoStr == "Custom") {
1236	meanSta(1) = 0.0;
1237	meanSta(2) = 0.0;
1238	meanSta(3) = 0.0;
1239	}
1240
1241	// Clock correction proportional to topocentric distance to satellites
1242	// -------------------------------------------------------------------
1243	double rho = (xyz - meanSta).NormFrobenius();
1244	dc = rho * (sc - 1.0) / sc / t_CST::c;
1245
1246	Matrix rMat(3, 3);
1247	rMat(1, 1) = 1.0;
1248	rMat(1, 2) = -oz;
1249	rMat(1, 3) = oy;
1250	rMat(2, 1) = oz;
1251	rMat(2, 2) = 1.0;
1252	rMat(2, 3) = -ox;
1253	rMat(3, 1) = -oy;
1254	rMat(3, 2) = ox;
1255	rMat(3, 3) = 1.0;
1256
1257	xyz = sc * rMat * xyz + dx;
1258	}
1259
1260	// Transform Coordinates
1261	////////////////////////////////////////////////////////////////////////////
1262	void bncRtnetUploadCaster::crdTrafo14(int GPSWeek, ColumnVector& xyz,
1263	double& dc) {
1264
1265	// Current epoch minus 2000.0 in years
1266	// ------------------------------------
1267	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1268
1269	ColumnVector dx(3);
1270
1271	dx(1) = _dx14 + dt * _dxr14;
1272	dx(2) = _dy14 + dt * _dyr14;
1273	dx(3) = _dz14 + dt * _dzr14;
1274
1275	static const double arcSec = 180.0 * 3600.0 / M_PI;
1276
1277	double ox = (_ox14 + dt * _oxr14) / arcSec;
1278	double oy = (_oy14 + dt * _oyr14) / arcSec;
1279	double oz = (_oz14 + dt * _ozr14) / arcSec;
1280
1281	double sc = 1.0 + _sc14 * 1e-9 + dt * _scr14 * 1e-9;
1282
1283	// Specify approximate center of area
1284	// ----------------------------------
1285	ColumnVector meanSta(3);
1286	meanSta(1) = 0.0; // TODO
1287	meanSta(2) = 0.0; // TODO
1288	meanSta(3) = 0.0; // TODO
1289
1290	// Clock correction proportional to topocentric distance to satellites
1291	// -------------------------------------------------------------------
1292	double rho = (xyz - meanSta).NormFrobenius();
1293	dc = rho * (sc - 1.0) / sc / t_CST::c;
1294
1295	Matrix rMat(3, 3);
1296	rMat(1, 1) = 1.0;
1297	rMat(1, 2) = -oz;
1298	rMat(1, 3) = oy;
1299	rMat(2, 1) = oz;
1300	rMat(2, 2) = 1.0;
1301	rMat(2, 3) = -ox;
1302	rMat(3, 1) = -oy;
1303	rMat(3, 2) = ox;
1304	rMat(3, 3) = 1.0;
1305
1306	xyz = sc * rMat * xyz + dx;
1307	}
1308
1309	// Update Interval
1310	////////////////////////////////////////////////////////////////////////////
1311	int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1312
1313	if (samplingRate == 1.0) {
1314	return 0;
1315	}
1316	else if (samplingRate == 2.0) {
1317	return 1;
1318	}
1319	else if (samplingRate == 5.0) {
1320	return 2;
1321	}
1322	else if (samplingRate == 10.0) {
1323	return 3;
1324	}
1325	else if (samplingRate == 15.0) {
1326	return 4;
1327	}
1328	else if (samplingRate == 30.0) {
1329	return 5;
1330	}
1331	else if (samplingRate == 60.0) {
1332	return 6;
1333	}
1334	else if (samplingRate == 120.0) {
1335	return 7;
1336	}
1337	else if (samplingRate == 240.0) {
1338	return 8;
1339	}
1340	else if (samplingRate == 300.0) {
1341	return 9;
1342	}
1343	else if (samplingRate == 600.0) {
1344	return 10;
1345	}
1346	else if (samplingRate == 900.0) {
1347	return 11;
1348	}
1349	else if (samplingRate == 1800.0) {
1350	return 12;
1351	}
1352	else if (samplingRate == 3600.0) {
1353	return 13;
1354	}
1355	else if (samplingRate == 7200.0) {
1356	return 14;
1357	}
1358	else if (samplingRate == 10800.0) {
1359	return 15;
1360	}
1361	return 2; // default
1362	}
1363
1364	// Check corrections
1365	////////////////////////////////////////////////////////////////////////////
1366	bool bncRtnetUploadCaster::corrIsOutOfRange(struct SsrCorr::ClockOrbit::SatData* sd) {
1367
1368	if (fabs(sd->Clock.DeltaA0) > 209.7151) { return true; }
1369	if (fabs(sd->Clock.DeltaA1) > 1.048575) { return true; }
1370	if (fabs(sd->Clock.DeltaA2) > 1.34217726) { return true; }
1371
1372	if (fabs(sd->Orbit.DeltaRadial) > 209.7151) { return true; }
1373	if (fabs(sd->Orbit.DeltaAlongTrack) > 209.7148) { return true; }
1374	if (fabs(sd->Orbit.DeltaCrossTrack) > 209.7148) { return true; }
1375
1376	if (fabs(sd->Orbit.DotDeltaRadial) > 1.048575) { return true; }
1377	if (fabs(sd->Orbit.DotDeltaAlongTrack) > 1.048572) { return true; }
1378	if (fabs(sd->Orbit.DotDeltaCrossTrack) > 1.048572) { return true; }
1379	return false;
1380	}

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source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 10903

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