source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 5662

Last change on this file since 5662 was 5662, checked in by stuerze, 8 years ago

trafo parameter for ITRF2008=>SIRGAS2000 adjusted with respect to reference document www.ibge.gov.br/home/geociencias/geodesia/ppp/manual_ppp.pdf

File size: 23.9 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
24using namespace std;
25
26// Constructor
27////////////////////////////////////////////////////////////////////////////
28bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
29 const QString& outHost, int outPort,
30 const QString& password,
31 const QString& crdTrafo, bool CoM,
32 const QString& sp3FileName,
33 const QString& rnxFileName,
34 int PID, int SID, int IOD, int iRow) :
35 bncUploadCaster(mountpoint, outHost, outPort, password, iRow, 0) {
36
37 if (!outHost.isEmpty()) {
38 _casterID += outHost;
39 }
40 if (!crdTrafo.isEmpty()) {
41 _casterID += " " + crdTrafo;
42 }
43 if (!sp3FileName.isEmpty()) {
44 _casterID += " " + sp3FileName;
45 }
46 if (!rnxFileName.isEmpty()) {
47 _casterID += " " + rnxFileName;
48 }
49
50 _crdTrafo = crdTrafo;
51 _CoM = CoM;
52 _PID = PID;
53 _SID = SID;
54 _IOD = IOD;
55
56 // Member that receives the ephemeris
57 // ----------------------------------
58 _ephUser = new bncEphUser();
59
60 bncSettings settings;
61 QString intr = settings.value("uploadIntr").toString();
62
63 _samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toDouble();
64 int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
65 int samplSp3 = settings.value("uploadSamplSp3").toInt() * 60;
66
67 if (_samplRtcmEphCorr == 0.0) {
68 _usedEph = 0;
69 }
70 else {
71 _usedEph = new QMap<QString, t_eph*>;
72 }
73
74 // RINEX writer
75 // ------------
76 if (!rnxFileName.isEmpty()) {
77 _rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
78 }
79 else {
80 _rnx = 0;
81 }
82
83 // SP3 writer
84 // ----------
85 if (!sp3FileName.isEmpty()) {
86 _sp3 = new bncSP3(sp3FileName, intr, samplSp3);
87 }
88 else {
89 _sp3 = 0;
90 }
91
92 // Set Transformation Parameters
93 // -----------------------------
94 if (_crdTrafo == "ETRF2000") {
95 _dx = 0.0521;
96 _dy = 0.0493;
97 _dz = -0.0585;
98 _dxr = 0.0001;
99 _dyr = 0.0001;
100 _dzr = -0.0018;
101 _ox = 0.000891;
102 _oy = 0.005390;
103 _oz = -0.008712;
104 _oxr = 0.000081;
105 _oyr = 0.000490;
106 _ozr = -0.000792;
107 _sc = 1.34;
108 _scr = 0.08;
109 _t0 = 2000.0;
110 }
111 else if (_crdTrafo == "NAD83") {
112 _dx = 0.99343;
113 _dy = -1.90331;
114 _dz = -0.52655;
115 _dxr = 0.00079;
116 _dyr = -0.00060;
117 _dzr = -0.00134;
118 _ox = -0.02591467;
119 _oy = -0.00942645;
120 _oz = -0.01159935;
121 _oxr = -0.00006667;
122 _oyr = 0.00075744;
123 _ozr = 0.00005133;
124 _sc = 1.71504;
125 _scr = -0.10201;
126 _t0 = 1997.0;
127 }
128 else if (_crdTrafo == "GDA94") {
129 _dx = -0.08468;
130 _dy = -0.01942;
131 _dz = 0.03201;
132 _dxr = 0.00142;
133 _dyr = 0.00134;
134 _dzr = 0.00090;
135 _ox = 0.0004254;
136 _oy = -0.0022578;
137 _oz = -0.0024015;
138 _oxr = -0.0015461;
139 _oyr = -0.0011820;
140 _ozr = -0.0011551;
141 _sc = 9.710;
142 _scr = 0.109;
143 _t0 = 1994.0;
144 }
145 else if (_crdTrafo == "SIRGAS2000") {
146 _dx = 0.0020;
147 _dy = 0.0041;
148 _dz = 0.0039;
149 _dxr = 0.0000;
150 _dyr = 0.0000;
151 _dzr = 0.0000;
152 _ox = 0.000170;
153 _oy = -0.000030;
154 _oz = 0.000070;
155 _oxr = 0.000000;
156 _oyr = 0.000000;
157 _ozr = 0.000000;
158 _sc = -1.000;
159 _scr = 0.000;
160 _t0 = 0000.0;
161 }
162 else if (_crdTrafo == "SIRGAS95") {
163 _dx = 0.0077;
164 _dy = 0.0058;
165 _dz = -0.0138;
166 _dxr = 0.0000;
167 _dyr = 0.0000;
168 _dzr = 0.0000;
169 _ox = 0.000000;
170 _oy = 0.000000;
171 _oz = -0.000030;
172 _oxr = 0.000000;
173 _oyr = 0.000000;
174 _ozr = 0.000000;
175 _sc = 1.570;
176 _scr = 0.000;
177 _t0 = 0000.0;
178 }
179 else if (_crdTrafo == "DREF91") {
180 _dx = -0.0118;
181 _dy = 0.1432;
182 _dz = -0.1117;
183 _dxr = 0.0001;
184 _dyr = 0.0001;
185 _dzr = -0.0018;
186 _ox = 0.003291;
187 _oy = 0.006190;
188 _oz = -0.011012;
189 _oxr = 0.000081;
190 _oyr = 0.000490;
191 _ozr = -0.000792;
192 _sc = 12.24;
193 _scr = 0.08;
194 _t0 = 2000.0;
195 }
196 else if (_crdTrafo == "Custom") {
197 _dx = settings.value("trafo_dx").toDouble();
198 _dy = settings.value("trafo_dy").toDouble();
199 _dz = settings.value("trafo_dz").toDouble();
200 _dxr = settings.value("trafo_dxr").toDouble();
201 _dyr = settings.value("trafo_dyr").toDouble();
202 _dzr = settings.value("trafo_dzr").toDouble();
203 _ox = settings.value("trafo_ox").toDouble();
204 _oy = settings.value("trafo_oy").toDouble();
205 _oz = settings.value("trafo_oz").toDouble();
206 _oxr = settings.value("trafo_oxr").toDouble();
207 _oyr = settings.value("trafo_oyr").toDouble();
208 _ozr = settings.value("trafo_ozr").toDouble();
209 _sc = settings.value("trafo_sc").toDouble();
210 _scr = settings.value("trafo_scr").toDouble();
211 _t0 = settings.value("trafo_t0").toDouble();
212 }
213}
214
215// Destructor
216////////////////////////////////////////////////////////////////////////////
217bncRtnetUploadCaster::~bncRtnetUploadCaster() {
218 if (isRunning()) {
219 wait();
220 }
221 delete _rnx;
222 delete _sp3;
223 delete _ephUser;
224 delete _usedEph;
225}
226
227//
228////////////////////////////////////////////////////////////////////////////
229void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
230
231 QMutexLocker locker(&_mutex);
232
233 // Append to internal buffer
234 // -------------------------
235 _rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
236
237 // Select buffer part that contains last epoch
238 // -------------------------------------------
239 QStringList lines;
240 int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
241 if (iEpoBeg == -1) {
242 _rtnetStreamBuffer.clear();
243 return;
244 }
245 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
246
247 int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
248 if (iEpoEnd == -1) {
249 return;
250 }
251 else {
252 lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', QString::SkipEmptyParts);
253 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd+3);
254 }
255
256 if (lines.size() < 2) {
257 return;
258 }
259
260 // Keep the last unfinished line in buffer
261 // ---------------------------------------
262 int iLastEOL = _rtnetStreamBuffer.lastIndexOf('\n');
263 if (iLastEOL != -1) {
264 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iLastEOL+1);
265 }
266
267 // Read first line (with epoch time)
268 // ---------------------------------
269 QTextStream in(lines[0].toAscii());
270 QString hlp;
271 int year, month, day, hour, min;
272 double sec;
273 in >> hlp >> year >> month >> day >> hour >> min >> sec;
274 bncTime epoTime; epoTime.set( year, month, day, hour, min, sec);
275
276 emit(newMessage("bncRtnetUploadCaster: decode " +
277 QByteArray(epoTime.datestr().c_str()) + " " +
278 QByteArray(epoTime.timestr().c_str()) + " " +
279 _casterID.toAscii(), false));
280
281 struct ClockOrbit co;
282 memset(&co, 0, sizeof(co));
283 co.GPSEpochTime = static_cast<int>(epoTime.gpssec());
284 co.GLONASSEpochTime = static_cast<int>(fmod(epoTime.gpssec(), 86400.0))
285 + 3 * 3600 - gnumleap(year, month, day);
286 co.ClockDataSupplied = 1;
287 co.OrbitDataSupplied = 1;
288 co.SatRefDatum = DATUM_ITRF;
289 co.SSRIOD = _IOD;
290 co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
291 co.SSRSolutionID = _SID;
292
293 struct Bias bias;
294 memset(&bias, 0, sizeof(bias));
295 bias.GPSEpochTime = co.GPSEpochTime;
296 bias.GLONASSEpochTime = co.GLONASSEpochTime;
297
298 // Default Update Interval
299 // -----------------------
300 int clkUpdInd = 2; // 5 sec
301 int ephUpdInd = clkUpdInd; // default
302 if (_samplRtcmEphCorr == 10.0) {
303 ephUpdInd = 3;
304 }
305 else if (_samplRtcmEphCorr == 15.0) {
306 ephUpdInd = 4;
307 }
308 else if (_samplRtcmEphCorr == 30.0) {
309 ephUpdInd = 5;
310 }
311 else if (_samplRtcmEphCorr == 60.0) {
312 ephUpdInd = 6;
313 }
314 else if (_samplRtcmEphCorr == 120.0) {
315 ephUpdInd = 7;
316 }
317 else if (_samplRtcmEphCorr == 240.0) {
318 ephUpdInd = 8;
319 }
320 else if (_samplRtcmEphCorr == 300.0) {
321 ephUpdInd = 9;
322 }
323 else if (_samplRtcmEphCorr == 600.0) {
324 ephUpdInd = 10;
325 }
326 else if (_samplRtcmEphCorr == 900.0) {
327 ephUpdInd = 11;
328 }
329
330 co.UpdateInterval = clkUpdInd;
331 bias.UpdateInterval = clkUpdInd;
332
333 for (int ii = 1; ii < lines.size(); ii++) {
334
335 QString prn;
336 ColumnVector rtnAPC;
337 ColumnVector rtnVel;
338 ColumnVector rtnCoM;
339 double rtnClk;
340
341 QTextStream in(lines[ii].toAscii());
342
343 in >> prn;
344
345 t_eph* eph = 0;
346 const bncEphUser::t_ephPair* ephPair = _ephUser->ephPair(prn);
347 if (ephPair) {
348
349 eph = ephPair->last;
350
351 // Use previous ephemeris if the last one is too recent
352 // ----------------------------------------------------
353 const int MINAGE = 60; // seconds
354 if (ephPair->prev && eph->receptDateTime().isValid() &&
355 eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
356 eph = ephPair->prev;
357 }
358
359 // Make sure the clock messages refer to same IOD as orbit messages
360 // ----------------------------------------------------------------
361 if (_usedEph) {
362 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
363 (*_usedEph)[prn] = eph;
364 }
365 else {
366 eph = 0;
367 if (_usedEph->contains(prn)) {
368 t_eph* usedEph = _usedEph->value(prn);
369 if (usedEph == ephPair->last) {
370 eph = ephPair->last;
371 }
372 else if (usedEph == ephPair->prev) {
373 eph = ephPair->prev;
374 }
375 }
376 }
377 }
378 }
379
380 if (eph) {
381
382 QMap<QString, double> codeBiases;
383
384 while (true) {
385 QString key;
386 int numVal = 0;
387 in >> key >> numVal;
388 if (in.status() != QTextStream::Ok) {
389 break;
390 }
391 if (key == "APC") {
392 rtnAPC.ReSize(3);
393 in >> rtnAPC[0] >> rtnAPC[1] >> rtnAPC[2];
394 }
395 else if (key == "Clk") {
396 in >> rtnClk;
397 }
398 else if (key == "Vel") {
399 rtnVel.ReSize(3);
400 in >> rtnVel[0] >> rtnVel[1] >> rtnVel[2];
401 }
402 else if (key == "CoM") {
403 rtnCoM.ReSize(3);
404 in >> rtnCoM[0] >> rtnCoM[1] >> rtnCoM[2];
405 }
406 else if (key == "CodeBias") {
407 for (int ii = 0; ii < numVal; ii++) {
408 QString type;
409 double value;
410 in >> type >> value;
411 codeBiases[type] = value;
412 }
413 }
414 else {
415 for (int ii = 0; ii < numVal; ii++) {
416 double dummy;
417 in >> dummy;
418 }
419 }
420 }
421 struct ClockOrbit::SatData* sd = 0;
422 if (prn[0] == 'G') {
423 sd = co.Sat + co.NumberOfGPSSat;
424 ++co.NumberOfGPSSat;
425 }
426 else if (prn[0] == 'R') {
427 sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
428 ++co.NumberOfGLONASSSat;
429 }
430 if (sd) {
431 QString outLine;
432 processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prn,
433 rtnAPC, rtnClk, rtnVel, rtnCoM, sd, outLine);
434 }
435
436 struct Bias::BiasSat* biasSat = 0;
437 if (prn[0] == 'G') {
438 biasSat = bias.Sat + bias.NumberOfGPSSat;
439 ++bias.NumberOfGPSSat;
440 }
441 else if (prn[0] == 'R') {
442 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + bias.NumberOfGLONASSSat;
443 ++bias.NumberOfGLONASSSat;
444 }
445
446 // Code Biases
447 // -----------
448 if (biasSat) {
449 biasSat->ID = prn.mid(1).toInt();
450 biasSat->NumberOfCodeBiases = 0;
451 if (prn[0] == 'G') {
452 QMapIterator<QString, double> it(codeBiases);
453 while (it.hasNext()) {
454 it.next();
455 if (it.key() == "1C") {
456 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
457 biasSat->NumberOfCodeBiases += 1;
458 biasSat->Biases[ii].Type = CODETYPEGPS_L1_CA;
459 biasSat->Biases[ii].Bias = it.value();
460 }
461 else if (it.key() == "1C") {
462 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
463 biasSat->NumberOfCodeBiases += 1;
464 biasSat->Biases[ii].Type = CODETYPEGPS_L1_CA;
465 biasSat->Biases[ii].Bias = it.value();
466 }
467 else if (it.key() == "1P") {
468 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
469 biasSat->NumberOfCodeBiases += 1;
470 biasSat->Biases[ii].Type = CODETYPEGPS_L1_P;
471 biasSat->Biases[ii].Bias = it.value();
472 }
473 else if (it.key() == "1W") {
474 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
475 biasSat->NumberOfCodeBiases += 1;
476 biasSat->Biases[ii].Type = CODETYPEGPS_L1_Z;
477 biasSat->Biases[ii].Bias = it.value();
478 }
479 else if (it.key() == "2C") {
480 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
481 biasSat->NumberOfCodeBiases += 1;
482 biasSat->Biases[ii].Type = CODETYPEGPS_L2_CA;
483 biasSat->Biases[ii].Bias = it.value();
484 }
485 else if (it.key() == "2D") {
486 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
487 biasSat->NumberOfCodeBiases += 1;
488 biasSat->Biases[ii].Type = CODETYPEGPS_SEMI_CODELESS;
489 biasSat->Biases[ii].Bias = it.value();
490 }
491 else if (it.key() == "2S") {
492 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
493 biasSat->NumberOfCodeBiases += 1;
494 biasSat->Biases[ii].Type = CODETYPEGPS_L2_CM;
495 biasSat->Biases[ii].Bias = it.value();
496 }
497 else if (it.key() == "2L") {
498 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
499 biasSat->NumberOfCodeBiases += 1;
500 biasSat->Biases[ii].Type = CODETYPEGPS_L2_CL;
501 biasSat->Biases[ii].Bias = it.value();
502 }
503 else if (it.key() == "2X") {
504 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
505 biasSat->NumberOfCodeBiases += 1;
506 biasSat->Biases[ii].Type = CODETYPEGPS_L2_CML;
507 biasSat->Biases[ii].Bias = it.value();
508 }
509 else if (it.key() == "2P") {
510 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
511 biasSat->NumberOfCodeBiases += 1;
512 biasSat->Biases[ii].Type = CODETYPEGPS_L2_P;
513 biasSat->Biases[ii].Bias = it.value();
514 }
515 else if (it.key() == "2W") {
516 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
517 biasSat->NumberOfCodeBiases += 1;
518 biasSat->Biases[ii].Type = CODETYPEGPS_L2_Z;
519 biasSat->Biases[ii].Bias = it.value();
520 }
521 else if (it.key() == "5I") {
522 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
523 biasSat->NumberOfCodeBiases += 1;
524 biasSat->Biases[ii].Type = CODETYPEGPS_L5_I;
525 biasSat->Biases[ii].Bias = it.value();
526 }
527 else if (it.key() == "5Q") {
528 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
529 biasSat->NumberOfCodeBiases += 1;
530 biasSat->Biases[ii].Type = CODETYPEGPS_L5_Q;
531 biasSat->Biases[ii].Bias = it.value();
532 }
533 }
534 }
535 else if (prn[0] == 'R') {
536 QMapIterator<QString, double> it(codeBiases);
537 while (it.hasNext()) {
538 it.next();
539 if (it.key() == "1C") {
540 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
541 biasSat->NumberOfCodeBiases += 1;
542 biasSat->Biases[ii].Type = CODETYPEGLONASS_L1_CA;
543 biasSat->Biases[ii].Bias = it.value();
544 }
545 else if (it.key() == "1P") {
546 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
547 biasSat->NumberOfCodeBiases += 1;
548 biasSat->Biases[ii].Type = CODETYPEGLONASS_L1_P;
549 biasSat->Biases[ii].Bias = it.value();
550 }
551 else if (it.key() == "2C") {
552 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
553 biasSat->NumberOfCodeBiases += 1;
554 biasSat->Biases[ii].Type = CODETYPEGLONASS_L2_CA;
555 biasSat->Biases[ii].Bias = it.value();
556 }
557 else if (it.key() == "2P") {
558 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
559 biasSat->NumberOfCodeBiases += 1;
560 biasSat->Biases[ii].Type = CODETYPEGLONASS_L2_P;
561 biasSat->Biases[ii].Bias = it.value();
562 }
563 }
564 }
565 }
566 }
567 }
568
569 QByteArray hlpBufferCo;
570
571 // Orbit and Clock Corrections together
572 // ------------------------------------
573 if (_samplRtcmEphCorr == 0.0) {
574 if (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) {
575 char obuffer[CLOCKORBIT_BUFFERSIZE];
576 int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
577 if (len > 0) {
578 hlpBufferCo = QByteArray(obuffer, len);
579 }
580 }
581 }
582
583 // Orbit and Clock Corrections separately
584 // --------------------------------------
585 else {
586 if (co.NumberOfGPSSat > 0) {
587 char obuffer[CLOCKORBIT_BUFFERSIZE];
588 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
589 co.UpdateInterval = ephUpdInd;
590 int len1 = MakeClockOrbit(&co, COTYPE_GPSORBIT, 1, obuffer, sizeof(obuffer));
591 co.UpdateInterval = clkUpdInd;
592 if (len1 > 0) {
593 hlpBufferCo += QByteArray(obuffer, len1);
594 }
595 }
596 int mmsg = (co.NumberOfGLONASSSat > 0) ? 1 : 0;
597 int len2 = MakeClockOrbit(&co, COTYPE_GPSCLOCK, mmsg, obuffer, sizeof(obuffer));
598 if (len2 > 0) {
599 hlpBufferCo += QByteArray(obuffer, len2);
600 }
601 }
602 if (co.NumberOfGLONASSSat > 0) {
603 char obuffer[CLOCKORBIT_BUFFERSIZE];
604 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
605 co.UpdateInterval = ephUpdInd;
606 int len1 = MakeClockOrbit(&co, COTYPE_GLONASSORBIT, 1, obuffer, sizeof(obuffer));
607 co.UpdateInterval = clkUpdInd;
608 if (len1 > 0) {
609 hlpBufferCo += QByteArray(obuffer, len1);
610 }
611 }
612 int len2 = MakeClockOrbit(&co, COTYPE_GLONASSCLOCK, 0, obuffer, sizeof(obuffer));
613 if (len2 > 0) {
614 hlpBufferCo += QByteArray(obuffer, len2);
615 }
616 }
617 }
618
619 // Biases
620 // ------
621 QByteArray hlpBufferBias;
622 if (bias.NumberOfGPSSat > 0 || bias.NumberOfGLONASSSat > 0) {
623 char obuffer[CLOCKORBIT_BUFFERSIZE];
624 int len = MakeBias(&bias, BTYPE_AUTO, 0, obuffer, sizeof(obuffer));
625 if (len > 0) {
626 hlpBufferBias = QByteArray(obuffer, len);
627 }
628 }
629
630 _outBuffer += hlpBufferCo + hlpBufferBias;
631}
632
633//
634////////////////////////////////////////////////////////////////////////////
635void bncRtnetUploadCaster::processSatellite(t_eph* eph, int GPSweek,
636 double GPSweeks, const QString& prn,
637 const ColumnVector& rtnAPC,
638 double rtnClk,
639 const ColumnVector& rtnVel,
640 const ColumnVector& rtnCoM,
641 struct ClockOrbit::SatData* sd,
642 QString& outLine) {
643
644 // Broadcast Position and Velocity
645 // -------------------------------
646 ColumnVector xB(4);
647 ColumnVector vB(3);
648 eph->position(GPSweek, GPSweeks, xB.data(), vB.data());
649
650 // Precise Position
651 // ----------------
652 ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
653
654 double dc = 0.0;
655 if (_crdTrafo != "IGS08") {
656 crdTrafo(GPSweek, xP, dc);
657 }
658
659 // Difference in xyz
660 // -----------------
661 ColumnVector dx = xB.Rows(1,3) - xP;
662 ColumnVector dv = vB - rtnVel;
663
664 // Difference in RSW
665 // -----------------
666 ColumnVector rsw(3);
667 XYZ_to_RSW(xB.Rows(1,3), vB, dx, rsw);
668
669 ColumnVector dotRsw(3);
670 XYZ_to_RSW(xB.Rows(1,3), vB, dv, dotRsw);
671
672 // Clock Correction
673 // ----------------
674 double dClk = rtnClk - (xB(4) - dc) * t_CST::c;
675
676 if (sd) {
677 sd->ID = prn.mid(1).toInt();
678 sd->IOD = eph->IOD();
679 sd->Clock.DeltaA0 = dClk;
680 sd->Clock.DeltaA1 = 0.0; // TODO
681 sd->Clock.DeltaA2 = 0.0; // TODO
682 sd->Orbit.DeltaRadial = rsw(1);
683 sd->Orbit.DeltaAlongTrack = rsw(2);
684 sd->Orbit.DeltaCrossTrack = rsw(3);
685 sd->Orbit.DotDeltaRadial = dotRsw(1);
686 sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
687 sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
688 }
689
690 outLine.sprintf("%d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n",
691 GPSweek, GPSweeks, eph->prn().toAscii().data(),
692 eph->IOD(), dClk, rsw(1), rsw(2), rsw(3));
693
694 double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
695 double sp3Clk = (rtnClk - relativity) / t_CST::c; // in seconds
696
697 if (_rnx) {
698 _rnx->write(GPSweek, GPSweeks, prn, sp3Clk);
699 }
700 if (_sp3) {
701 _sp3->write(GPSweek, GPSweeks, prn, rtnCoM, sp3Clk);
702 }
703}
704
705// Transform Coordinates
706////////////////////////////////////////////////////////////////////////////
707void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
708 double& dc) {
709
710 // Current epoch minus 2000.0 in years
711 // ------------------------------------
712 double dt = (GPSWeek - (1042.0+6.0/7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
713
714 ColumnVector dx(3);
715
716 dx(1) = _dx + dt * _dxr;
717 dx(2) = _dy + dt * _dyr;
718 dx(3) = _dz + dt * _dzr;
719
720 static const double arcSec = 180.0 * 3600.0 / M_PI;
721
722 double ox = (_ox + dt * _oxr) / arcSec;
723 double oy = (_oy + dt * _oyr) / arcSec;
724 double oz = (_oz + dt * _ozr) / arcSec;
725
726 double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
727
728 // Specify approximate center of area
729 // ----------------------------------
730 ColumnVector meanSta(3);
731
732 if (_crdTrafo == "ETRF2000") {
733 meanSta(1) = 3661090.0;
734 meanSta(2) = 845230.0;
735 meanSta(3) = 5136850.0;
736 }
737 else if (_crdTrafo == "NAD83") {
738 meanSta(1) = -1092950.0;
739 meanSta(2) = -4383600.0;
740 meanSta(3) = 4487420.0;
741 }
742 else if (_crdTrafo == "GDA94") {
743 meanSta(1) = -4052050.0;
744 meanSta(2) = 4212840.0;
745 meanSta(3) = -2545110.0;
746 }
747 else if (_crdTrafo == "SIRGAS2000") {
748 meanSta(1) = 3740860.0;
749 meanSta(2) = -4964290.0;
750 meanSta(3) = -1425420.0;
751 }
752 else if (_crdTrafo == "SIRGAS95") {
753 meanSta(1) = 3135390.0;
754 meanSta(2) = -5017670.0;
755 meanSta(3) = -2374440.0;
756 }
757 else if (_crdTrafo == "DREF91") {
758 meanSta(1) = 3959579.0;
759 meanSta(2) = 721719.0;
760 meanSta(3) = 4931539.0;
761 }
762 else if (_crdTrafo == "Custom") {
763 meanSta(1) = 0.0; // TODO
764 meanSta(2) = 0.0; // TODO
765 meanSta(3) = 0.0; // TODO
766 }
767
768 // Clock correction proportional to topocentric distance to satellites
769 // -------------------------------------------------------------------
770 double rho = (xyz - meanSta).norm_Frobenius();
771 dc = rho * (sc - 1.0) / sc / t_CST::c;
772
773 Matrix rMat(3,3);
774 rMat(1,1) = 1.0;
775 rMat(1,2) = -oz;
776 rMat(1,3) = oy;
777 rMat(2,1) = oz;
778 rMat(2,2) = 1.0;
779 rMat(2,3) = -ox;
780 rMat(3,1) = -oy;
781 rMat(3,2) = ox;
782 rMat(3,3) = 1.0;
783
784 xyz = sc * rMat * xyz + dx;
785}
786
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