source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 6812

Last change on this file since 6812 was 6812, checked in by stoecker, 9 years ago

integrate RTCM3 parsing into BNC and directly fill target structures, add doxygen documentation
File size: 25.1 KB
Line 
1/* -------------------------------------------------------------------------
2 * BKG NTRIP Server
3 * -------------------------------------------------------------------------
4 *
5 * Class: bncRtnetUploadCaster
6 *
7 * Purpose: Connection to NTRIP Caster
8 *
9 * Author: L. Mervart
10 *
11 * Created: 29-Mar-2011
12 *
13 * Changes:
14 *
15 * -----------------------------------------------------------------------*/
16
17#include <math.h>
18#include "bncrtnetuploadcaster.h"
19#include "bncsettings.h"
20#include "bncephuser.h"
21#include "bncclockrinex.h"
22#include "bncsp3.h"
23#include "gnss.h"
24
25using namespace std;
26
27// Constructor
28////////////////////////////////////////////////////////////////////////////
29bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
30 const QString& outHost, int outPort,
31 const QString& password,
32 const QString& crdTrafo, bool CoM,
33 const QString& sp3FileName,
34 const QString& rnxFileName,
35 int PID, int SID, int IOD, int iRow) :
36 bncUploadCaster(mountpoint, outHost, outPort, password, iRow, 0) {
37
38 if (!outHost.isEmpty()) {
39 _casterID += outHost;
40 }
41 if (!crdTrafo.isEmpty()) {
42 _casterID += " " + crdTrafo;
43 }
44 if (!sp3FileName.isEmpty()) {
45 _casterID += " " + sp3FileName;
46 }
47 if (!rnxFileName.isEmpty()) {
48 _casterID += " " + rnxFileName;
49 }
50
51 _crdTrafo = crdTrafo;
52 _CoM = CoM;
53 _PID = PID;
54 _SID = SID;
55 _IOD = IOD;
56
57 // Member that receives the ephemeris
58 // ----------------------------------
59 _ephUser = new bncEphUser(true);
60
61 bncSettings settings;
62 QString intr = settings.value("uploadIntr").toString();
63 QStringList hlp = settings.value("combineStreams").toStringList();
64 _samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toDouble();
65 if (hlp.size() > 1) { // combination stream upload
66 _samplRtcmClkCorr = settings.value("cmbSampl").toInt();
67 } else { // single stream upload or sp3 file generation
68 _samplRtcmClkCorr = 5; // default
69 }
70 int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
71 int samplSp3 = settings.value("uploadSamplSp3").toInt() * 60;
72
73 if (_samplRtcmEphCorr == 0.0) {
74 _usedEph = 0;
75 }
76 else {
77 _usedEph = new QMap<QString, const t_eph*>;
78 }
79
80 // RINEX writer
81 // ------------
82 if (!rnxFileName.isEmpty()) {
83 _rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
84 }
85 else {
86 _rnx = 0;
87 }
88
89 // SP3 writer
90 // ----------
91 if (!sp3FileName.isEmpty()) {
92 _sp3 = new bncSP3(sp3FileName, intr, samplSp3);
93 }
94 else {
95 _sp3 = 0;
96 }
97
98 // Set Transformation Parameters
99 // -----------------------------
100 if (_crdTrafo == "ETRF2000") {
101 _dx = 0.0521;
102 _dy = 0.0493;
103 _dz = -0.0585;
104 _dxr = 0.0001;
105 _dyr = 0.0001;
106 _dzr = -0.0018;
107 _ox = 0.000891;
108 _oy = 0.005390;
109 _oz = -0.008712;
110 _oxr = 0.000081;
111 _oyr = 0.000490;
112 _ozr = -0.000792;
113 _sc = 1.34;
114 _scr = 0.08;
115 _t0 = 2000.0;
116 }
117 else if (_crdTrafo == "NAD83") {
118 _dx = 0.99343;
119 _dy = -1.90331;
120 _dz = -0.52655;
121 _dxr = 0.00079;
122 _dyr = -0.00060;
123 _dzr = -0.00134;
124 _ox = -0.02591467;
125 _oy = -0.00942645;
126 _oz = -0.01159935;
127 _oxr = -0.00006667;
128 _oyr = 0.00075744;
129 _ozr = 0.00005133;
130 _sc = 1.71504;
131 _scr = -0.10201;
132 _t0 = 1997.0;
133 }
134 else if (_crdTrafo == "GDA94") {
135 _dx = -0.08468;
136 _dy = -0.01942;
137 _dz = 0.03201;
138 _dxr = 0.00142;
139 _dyr = 0.00134;
140 _dzr = 0.00090;
141 _ox = 0.0004254;
142 _oy = -0.0022578;
143 _oz = -0.0024015;
144 _oxr = -0.0015461;
145 _oyr = -0.0011820;
146 _ozr = -0.0011551;
147 _sc = 9.710;
148 _scr = 0.109;
149 _t0 = 1994.0;
150 }
151 else if (_crdTrafo == "SIRGAS2000") {
152 _dx = 0.0020;
153 _dy = 0.0041;
154 _dz = 0.0039;
155 _dxr = 0.0000;
156 _dyr = 0.0000;
157 _dzr = 0.0000;
158 _ox = 0.000170;
159 _oy = -0.000030;
160 _oz = 0.000070;
161 _oxr = 0.000000;
162 _oyr = 0.000000;
163 _ozr = 0.000000;
164 _sc = -1.000;
165 _scr = 0.000;
166 _t0 = 0000.0;
167 }
168 else if (_crdTrafo == "SIRGAS95") {
169 _dx = 0.0077;
170 _dy = 0.0058;
171 _dz = -0.0138;
172 _dxr = 0.0000;
173 _dyr = 0.0000;
174 _dzr = 0.0000;
175 _ox = 0.000000;
176 _oy = 0.000000;
177 _oz = -0.000030;
178 _oxr = 0.000000;
179 _oyr = 0.000000;
180 _ozr = 0.000000;
181 _sc = 1.570;
182 _scr = 0.000;
183 _t0 = 0000.0;
184 }
185 else if (_crdTrafo == "DREF91") {
186 _dx = -0.0118;
187 _dy = 0.1432;
188 _dz = -0.1117;
189 _dxr = 0.0001;
190 _dyr = 0.0001;
191 _dzr = -0.0018;
192 _ox = 0.003291;
193 _oy = 0.006190;
194 _oz = -0.011012;
195 _oxr = 0.000081;
196 _oyr = 0.000490;
197 _ozr = -0.000792;
198 _sc = 12.24;
199 _scr = 0.08;
200 _t0 = 2000.0;
201 }
202 else if (_crdTrafo == "Custom") {
203 _dx = settings.value("trafo_dx").toDouble();
204 _dy = settings.value("trafo_dy").toDouble();
205 _dz = settings.value("trafo_dz").toDouble();
206 _dxr = settings.value("trafo_dxr").toDouble();
207 _dyr = settings.value("trafo_dyr").toDouble();
208 _dzr = settings.value("trafo_dzr").toDouble();
209 _ox = settings.value("trafo_ox").toDouble();
210 _oy = settings.value("trafo_oy").toDouble();
211 _oz = settings.value("trafo_oz").toDouble();
212 _oxr = settings.value("trafo_oxr").toDouble();
213 _oyr = settings.value("trafo_oyr").toDouble();
214 _ozr = settings.value("trafo_ozr").toDouble();
215 _sc = settings.value("trafo_sc").toDouble();
216 _scr = settings.value("trafo_scr").toDouble();
217 _t0 = settings.value("trafo_t0").toDouble();
218 }
219}
220
221// Destructor
222////////////////////////////////////////////////////////////////////////////
223bncRtnetUploadCaster::~bncRtnetUploadCaster() {
224 if (isRunning()) {
225 wait();
226 }
227 delete _rnx;
228 delete _sp3;
229 delete _ephUser;
230 delete _usedEph;
231}
232
233//
234////////////////////////////////////////////////////////////////////////////
235void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
236
237 QMutexLocker locker(&_mutex);
238
239 // Append to internal buffer
240 // -------------------------
241 _rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
242
243 // Select buffer part that contains last epoch
244 // -------------------------------------------
245 QStringList lines;
246 int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
247 if (iEpoBeg == -1) {
248 _rtnetStreamBuffer.clear();
249 return;
250 }
251 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
252
253 int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
254 if (iEpoEnd == -1) {
255 return;
256 }
257 else {
258 lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', QString::SkipEmptyParts);
259 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd+3);
260 }
261
262 if (lines.size() < 2) {
263 return;
264 }
265
266 // Keep the last unfinished line in buffer
267 // ---------------------------------------
268 int iLastEOL = _rtnetStreamBuffer.lastIndexOf('\n');
269 if (iLastEOL != -1) {
270 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iLastEOL+1);
271 }
272
273 // Read first line (with epoch time)
274 // ---------------------------------
275 QTextStream in(lines[0].toAscii());
276 QString hlp;
277 int year, month, day, hour, min;
278 double sec;
279 in >> hlp >> year >> month >> day >> hour >> min >> sec;
280 bncTime epoTime; epoTime.set( year, month, day, hour, min, sec);
281
282 emit(newMessage("bncRtnetUploadCaster: decode " +
283 QByteArray(epoTime.datestr().c_str()) + " " +
284 QByteArray(epoTime.timestr().c_str()) + " " +
285 _casterID.toAscii(), false));
286
287 struct ClockOrbit co;
288 memset(&co, 0, sizeof(co));
289 co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
290 double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
291 co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
292
293 co.Supplied[COBOFS_CLOCK] = 1;
294 co.Supplied[COBOFS_ORBIT] = 1;
295 co.SatRefDatum = DATUM_ITRF;
296 co.SSRIOD = _IOD;
297 co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
298 co.SSRSolutionID = _SID;
299
300 struct CodeBias bias;
301 memset(&bias, 0, sizeof(bias));
302 bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
303 bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
304
305 // Default Update Interval
306 // -----------------------
307 int clkUpdInd = 2; // 5 sec
308 int ephUpdInd = clkUpdInd; // default
309
310 if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
311 ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
312 }
313 if (_samplRtcmClkCorr > 5.0) {
314 clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
315 }
316 if (_samplRtcmEphCorr > 5.0) {
317 ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
318 }
319
320 co.UpdateInterval = clkUpdInd;
321 bias.UpdateInterval = clkUpdInd;
322
323 for (int ii = 1; ii < lines.size(); ii++) {
324
325 QString prn;
326 ColumnVector rtnAPC;
327 ColumnVector rtnVel;
328 ColumnVector rtnCoM;
329 double rtnClk;
330
331 QTextStream in(lines[ii].toAscii());
332
333 in >> prn;
334
335 const t_eph* ephLast = _ephUser->ephLast(prn);
336 const t_eph* ephPrev = _ephUser->ephPrev(prn);
337 const t_eph* eph = ephLast;
338
339 if (eph) {
340
341 // Use previous ephemeris if the last one is too recent
342 // ----------------------------------------------------
343 const int MINAGE = 60; // seconds
344 if (ephPrev && eph->receptDateTime().isValid() &&
345 eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
346 eph = ephPrev;
347 }
348
349 // Make sure the clock messages refer to same IOD as orbit messages
350 // ----------------------------------------------------------------
351 if (_usedEph) {
352 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
353 (*_usedEph)[prn] = eph;
354 }
355 else {
356 eph = 0;
357 if (_usedEph->contains(prn)) {
358 const t_eph* usedEph = _usedEph->value(prn);
359 if (usedEph == ephLast) {
360 eph = ephLast;
361 }
362 else if (usedEph == ephPrev) {
363 eph = ephPrev;
364 }
365 }
366 }
367 }
368 }
369
370 if (eph) {
371
372 QMap<QString, double> codeBiases;
373
374 while (true) {
375 QString key;
376 int numVal = 0;
377 in >> key >> numVal;
378 if (in.status() != QTextStream::Ok) {
379 break;
380 }
381 if (key == "APC") {
382 rtnAPC.ReSize(3);
383 in >> rtnAPC[0] >> rtnAPC[1] >> rtnAPC[2];
384 }
385 else if (key == "Clk") {
386 in >> rtnClk;
387 }
388 else if (key == "Vel") {
389 rtnVel.ReSize(3);
390 in >> rtnVel[0] >> rtnVel[1] >> rtnVel[2];
391 }
392 else if (key == "CoM") {
393 rtnCoM.ReSize(3);
394 in >> rtnCoM[0] >> rtnCoM[1] >> rtnCoM[2];
395 }
396 else if (key == "CodeBias") {
397 for (int ii = 0; ii < numVal; ii++) {
398 QString type;
399 double value;
400 in >> type >> value;
401 codeBiases[type] = value;
402 }
403 }
404 else {
405 for (int ii = 0; ii < numVal; ii++) {
406 double dummy;
407 in >> dummy;
408 }
409 }
410 }
411 struct ClockOrbit::SatData* sd = 0;
412 if (prn[0] == 'G') {
413 sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
414 ++co.NumberOfSat[CLOCKORBIT_SATGPS];
415 }
416 else if (prn[0] == 'R') {
417 sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
418 ++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
419 }
420 if (sd) {
421 QString outLine;
422 processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prn,
423 rtnAPC, rtnClk, rtnVel, rtnCoM, sd, outLine);
424 }
425
426 struct CodeBias::BiasSat* biasSat = 0;
427 if (prn[0] == 'G') {
428 biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
429 ++bias.NumberOfSat[CLOCKORBIT_SATGPS];
430 }
431 else if (prn[0] == 'R') {
432 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
433 ++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
434 }
435
436 // Code Biases
437 // -----------
438 if (biasSat) {
439 biasSat->ID = prn.mid(1).toInt();
440 biasSat->NumberOfCodeBiases = 0;
441 if (prn[0] == 'G') {
442 QMapIterator<QString, double> it(codeBiases);
443 while (it.hasNext()) {
444 it.next();
445 if (it.key() == "1C") {
446 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
447 biasSat->NumberOfCodeBiases += 1;
448 biasSat->Biases[ii].Type = CODETYPEGPS_L1_CA;
449 biasSat->Biases[ii].Bias = it.value();
450 }
451 else if (it.key() == "1C") {
452 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
453 biasSat->NumberOfCodeBiases += 1;
454 biasSat->Biases[ii].Type = CODETYPEGPS_L1_CA;
455 biasSat->Biases[ii].Bias = it.value();
456 }
457 else if (it.key() == "1P") {
458 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
459 biasSat->NumberOfCodeBiases += 1;
460 biasSat->Biases[ii].Type = CODETYPEGPS_L1_P;
461 biasSat->Biases[ii].Bias = it.value();
462 }
463 else if (it.key() == "1W") {
464 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
465 biasSat->NumberOfCodeBiases += 1;
466 biasSat->Biases[ii].Type = CODETYPEGPS_L1_Z;
467 biasSat->Biases[ii].Bias = it.value();
468 }
469 else if (it.key() == "2C") {
470 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
471 biasSat->NumberOfCodeBiases += 1;
472 biasSat->Biases[ii].Type = CODETYPEGPS_L2_CA;
473 biasSat->Biases[ii].Bias = it.value();
474 }
475 else if (it.key() == "2D") {
476 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
477 biasSat->NumberOfCodeBiases += 1;
478 biasSat->Biases[ii].Type = CODETYPEGPS_SEMI_CODELESS;
479 biasSat->Biases[ii].Bias = it.value();
480 }
481 else if (it.key() == "2S") {
482 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
483 biasSat->NumberOfCodeBiases += 1;
484 biasSat->Biases[ii].Type = CODETYPEGPS_L2_CM;
485 biasSat->Biases[ii].Bias = it.value();
486 }
487 else if (it.key() == "2L") {
488 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
489 biasSat->NumberOfCodeBiases += 1;
490 biasSat->Biases[ii].Type = CODETYPEGPS_L2_CL;
491 biasSat->Biases[ii].Bias = it.value();
492 }
493 else if (it.key() == "2X") {
494 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
495 biasSat->NumberOfCodeBiases += 1;
496 biasSat->Biases[ii].Type = CODETYPEGPS_L2_CML;
497 biasSat->Biases[ii].Bias = it.value();
498 }
499 else if (it.key() == "2P") {
500 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
501 biasSat->NumberOfCodeBiases += 1;
502 biasSat->Biases[ii].Type = CODETYPEGPS_L2_P;
503 biasSat->Biases[ii].Bias = it.value();
504 }
505 else if (it.key() == "2W") {
506 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
507 biasSat->NumberOfCodeBiases += 1;
508 biasSat->Biases[ii].Type = CODETYPEGPS_L2_Z;
509 biasSat->Biases[ii].Bias = it.value();
510 }
511 else if (it.key() == "5I") {
512 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
513 biasSat->NumberOfCodeBiases += 1;
514 biasSat->Biases[ii].Type = CODETYPEGPS_L5_I;
515 biasSat->Biases[ii].Bias = it.value();
516 }
517 else if (it.key() == "5Q") {
518 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
519 biasSat->NumberOfCodeBiases += 1;
520 biasSat->Biases[ii].Type = CODETYPEGPS_L5_Q;
521 biasSat->Biases[ii].Bias = it.value();
522 }
523 }
524 }
525 else if (prn[0] == 'R') {
526 QMapIterator<QString, double> it(codeBiases);
527 while (it.hasNext()) {
528 it.next();
529 if (it.key() == "1C") {
530 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
531 biasSat->NumberOfCodeBiases += 1;
532 biasSat->Biases[ii].Type = CODETYPEGLONASS_L1_CA;
533 biasSat->Biases[ii].Bias = it.value();
534 }
535 else if (it.key() == "1P") {
536 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
537 biasSat->NumberOfCodeBiases += 1;
538 biasSat->Biases[ii].Type = CODETYPEGLONASS_L1_P;
539 biasSat->Biases[ii].Bias = it.value();
540 }
541 else if (it.key() == "2C") {
542 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
543 biasSat->NumberOfCodeBiases += 1;
544 biasSat->Biases[ii].Type = CODETYPEGLONASS_L2_CA;
545 biasSat->Biases[ii].Bias = it.value();
546 }
547 else if (it.key() == "2P") {
548 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
549 biasSat->NumberOfCodeBiases += 1;
550 biasSat->Biases[ii].Type = CODETYPEGLONASS_L2_P;
551 biasSat->Biases[ii].Bias = it.value();
552 }
553 }
554 }
555 }
556 }
557 }
558
559 QByteArray hlpBufferCo;
560
561 // Orbit and Clock Corrections together
562 // ------------------------------------
563 if (_samplRtcmEphCorr == 0.0) {
564 if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0 || co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
565 char obuffer[CLOCKORBIT_BUFFERSIZE];
566 int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
567 if (len > 0) {
568 hlpBufferCo = QByteArray(obuffer, len);
569 }
570 }
571 }
572
573 // Orbit and Clock Corrections separately
574 // --------------------------------------
575 else {
576 if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
577 char obuffer[CLOCKORBIT_BUFFERSIZE];
578 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
579 co.UpdateInterval = ephUpdInd;
580 int len1 = MakeClockOrbit(&co, COTYPE_GPSORBIT, 1, obuffer, sizeof(obuffer));
581 co.UpdateInterval = clkUpdInd;
582 if (len1 > 0) {
583 hlpBufferCo += QByteArray(obuffer, len1);
584 }
585 }
586 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) ? 1 : 0;
587 int len2 = MakeClockOrbit(&co, COTYPE_GPSCLOCK, mmsg, obuffer, sizeof(obuffer));
588 if (len2 > 0) {
589 hlpBufferCo += QByteArray(obuffer, len2);
590 }
591 }
592 if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
593 char obuffer[CLOCKORBIT_BUFFERSIZE];
594 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
595 co.UpdateInterval = ephUpdInd;
596 int len1 = MakeClockOrbit(&co, COTYPE_GLONASSORBIT, 1, obuffer, sizeof(obuffer));
597 co.UpdateInterval = clkUpdInd;
598 if (len1 > 0) {
599 hlpBufferCo += QByteArray(obuffer, len1);
600 }
601 }
602 int len2 = MakeClockOrbit(&co, COTYPE_GLONASSCLOCK, 0, obuffer, sizeof(obuffer));
603 if (len2 > 0) {
604 hlpBufferCo += QByteArray(obuffer, len2);
605 }
606 }
607 }
608
609 // Biases
610 // ------
611 QByteArray hlpBufferBias;
612 if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0 || bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
613 char obuffer[CLOCKORBIT_BUFFERSIZE];
614 int len = MakeCodeBias(&bias, BTYPE_AUTO, 0, obuffer, sizeof(obuffer));
615 if (len > 0) {
616 hlpBufferBias = QByteArray(obuffer, len);
617 }
618 }
619
620 _outBuffer += hlpBufferCo + hlpBufferBias;
621}
622
623//
624////////////////////////////////////////////////////////////////////////////
625void bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
626 double GPSweeks, const QString& prn,
627 const ColumnVector& rtnAPC,
628 double rtnClk,
629 const ColumnVector& rtnVel,
630 const ColumnVector& rtnCoM,
631 struct ClockOrbit::SatData* sd,
632 QString& outLine) {
633
634 // Broadcast Position and Velocity
635 // -------------------------------
636 ColumnVector xB(4);
637 ColumnVector vB(3);
638 eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
639
640 // Precise Position
641 // ----------------
642 ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
643
644 double dc = 0.0;
645 if (_crdTrafo != "IGS08") {
646 crdTrafo(GPSweek, xP, dc);
647 }
648
649 // Difference in xyz
650 // -----------------
651 ColumnVector dx = xB.Rows(1,3) - xP;
652 ColumnVector dv = vB - rtnVel;
653
654 // Difference in RSW
655 // -----------------
656 ColumnVector rsw(3);
657 XYZ_to_RSW(xB.Rows(1,3), vB, dx, rsw);
658
659 ColumnVector dotRsw(3);
660 XYZ_to_RSW(xB.Rows(1,3), vB, dv, dotRsw);
661
662 // Clock Correction
663 // ----------------
664 double dClk = rtnClk - (xB(4) - dc) * t_CST::c;
665
666 if (sd) {
667 sd->ID = prn.mid(1).toInt();
668 sd->IOD = eph->IOD();
669 sd->Clock.DeltaA0 = dClk;
670 sd->Clock.DeltaA1 = 0.0; // TODO
671 sd->Clock.DeltaA2 = 0.0; // TODO
672 sd->Orbit.DeltaRadial = rsw(1);
673 sd->Orbit.DeltaAlongTrack = rsw(2);
674 sd->Orbit.DeltaCrossTrack = rsw(3);
675 sd->Orbit.DotDeltaRadial = dotRsw(1);
676 sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
677 sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
678 }
679
680 outLine.sprintf("%d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n",
681 GPSweek, GPSweeks, eph->prn().toString().c_str(),
682 eph->IOD(), dClk, rsw(1), rsw(2), rsw(3));
683
684 double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
685 double sp3Clk = (rtnClk - relativity) / t_CST::c; // in seconds
686
687 if (_rnx) {
688 _rnx->write(GPSweek, GPSweeks, prn, sp3Clk);
689 }
690 if (_sp3) {
691 _sp3->write(GPSweek, GPSweeks, prn, rtnCoM, sp3Clk);
692 }
693}
694
695// Transform Coordinates
696////////////////////////////////////////////////////////////////////////////
697void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
698 double& dc) {
699
700 // Current epoch minus 2000.0 in years
701 // ------------------------------------
702 double dt = (GPSWeek - (1042.0+6.0/7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
703
704 ColumnVector dx(3);
705
706 dx(1) = _dx + dt * _dxr;
707 dx(2) = _dy + dt * _dyr;
708 dx(3) = _dz + dt * _dzr;
709
710 static const double arcSec = 180.0 * 3600.0 / M_PI;
711
712 double ox = (_ox + dt * _oxr) / arcSec;
713 double oy = (_oy + dt * _oyr) / arcSec;
714 double oz = (_oz + dt * _ozr) / arcSec;
715
716 double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
717
718 // Specify approximate center of area
719 // ----------------------------------
720 ColumnVector meanSta(3);
721
722 if (_crdTrafo == "ETRF2000") {
723 meanSta(1) = 3661090.0;
724 meanSta(2) = 845230.0;
725 meanSta(3) = 5136850.0;
726 }
727 else if (_crdTrafo == "NAD83") {
728 meanSta(1) = -1092950.0;
729 meanSta(2) = -4383600.0;
730 meanSta(3) = 4487420.0;
731 }
732 else if (_crdTrafo == "GDA94") {
733 meanSta(1) = -4052050.0;
734 meanSta(2) = 4212840.0;
735 meanSta(3) = -2545110.0;
736 }
737 else if (_crdTrafo == "SIRGAS2000") {
738 meanSta(1) = 3740860.0;
739 meanSta(2) = -4964290.0;
740 meanSta(3) = -1425420.0;
741 }
742 else if (_crdTrafo == "SIRGAS95") {
743 meanSta(1) = 3135390.0;
744 meanSta(2) = -5017670.0;
745 meanSta(3) = -2374440.0;
746 }
747 else if (_crdTrafo == "DREF91") {
748 meanSta(1) = 3959579.0;
749 meanSta(2) = 721719.0;
750 meanSta(3) = 4931539.0;
751 }
752 else if (_crdTrafo == "Custom") {
753 meanSta(1) = 0.0; // TODO
754 meanSta(2) = 0.0; // TODO
755 meanSta(3) = 0.0; // TODO
756 }
757
758 // Clock correction proportional to topocentric distance to satellites
759 // -------------------------------------------------------------------
760 double rho = (xyz - meanSta).norm_Frobenius();
761 dc = rho * (sc - 1.0) / sc / t_CST::c;
762
763 Matrix rMat(3,3);
764 rMat(1,1) = 1.0;
765 rMat(1,2) = -oz;
766 rMat(1,3) = oy;
767 rMat(2,1) = oz;
768 rMat(2,2) = 1.0;
769 rMat(2,3) = -ox;
770 rMat(3,1) = -oy;
771 rMat(3,2) = ox;
772 rMat(3,3) = 1.0;
773
774 xyz = sc * rMat * xyz + dx;
775}
776
777int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
778
779 if (samplingRate == 10.0) {
780 return 3;
781 }
782 else if (samplingRate == 15.0) {
783 return 4;
784 }
785 else if (samplingRate == 30.0) {
786 return 5;
787 }
788 else if (samplingRate == 60.0) {
789 return 6;
790 }
791 else if (samplingRate == 120.0) {
792 return 7;
793 }
794 else if (samplingRate == 240.0) {
795 return 8;
796 }
797 else if (samplingRate == 300.0) {
798 return 9;
799 }
800 else if (samplingRate == 600.0) {
801 return 10;
802 }
803 else if (samplingRate == 900.0) {
804 return 11;
805 }
806 else if (samplingRate == 1800.0) {
807 return 12;
808 }
809 else if (samplingRate == 3600.0) {
810 return 13;
811 }
812 else if (samplingRate == 7200.0) {
813 return 14;
814 }
815 else if (samplingRate == 10800.0) {
816 return 15;
817 }
818 return 2;// default
819}
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