source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 6846

Last change on this file since 6846 was 6846, checked in by stuerze, 9 years ago

extension of the rtnetuploadcaster interface regarding RTCM SSR I messages (clock, orbit, code biases) for Galileo, QZSS, SBAS and BDS
File size: 42.7 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 "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 co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
293 co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
294 co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
295 co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
296
297 co.Supplied[COBOFS_CLOCK] = 1;
298 co.Supplied[COBOFS_ORBIT] = 1;
299 co.SatRefDatum = DATUM_ITRF;
300 co.SSRIOD = _IOD;
301 co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
302 co.SSRSolutionID = _SID;
303
304 struct CodeBias bias;
305 memset(&bias, 0, sizeof(bias));
306 bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
307 bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
308 bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
309 bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
310 bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
311 bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
312
313 // Default Update Interval
314 // -----------------------
315 int clkUpdInd = 2; // 5 sec
316 int ephUpdInd = clkUpdInd; // default
317
318 if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
319 ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
320 }
321 if (_samplRtcmClkCorr > 5.0) {
322 clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
323 }
324 if (_samplRtcmEphCorr > 5.0) {
325 ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
326 }
327
328 co.UpdateInterval = clkUpdInd;
329 bias.UpdateInterval = clkUpdInd;
330
331 for (int ii = 1; ii < lines.size(); ii++) {
332
333 QString prn;
334 ColumnVector rtnAPC;
335 ColumnVector rtnVel;
336 ColumnVector rtnCoM;
337 double rtnClk;
338
339 QTextStream in(lines[ii].toAscii());
340
341 in >> prn;
342
343 const t_eph* ephLast = _ephUser->ephLast(prn);
344 const t_eph* ephPrev = _ephUser->ephPrev(prn);
345 const t_eph* eph = ephLast;
346
347 if (eph) {
348
349 // Use previous ephemeris if the last one is too recent
350 // ----------------------------------------------------
351 const int MINAGE = 60; // seconds
352 if (ephPrev && eph->receptDateTime().isValid() &&
353 eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
354 eph = ephPrev;
355 }
356
357 // Make sure the clock messages refer to same IOD as orbit messages
358 // ----------------------------------------------------------------
359 if (_usedEph) {
360 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
361 (*_usedEph)[prn] = eph;
362 }
363 else {
364 eph = 0;
365 if (_usedEph->contains(prn)) {
366 const t_eph* usedEph = _usedEph->value(prn);
367 if (usedEph == ephLast) {
368 eph = ephLast;
369 }
370 else if (usedEph == ephPrev) {
371 eph = ephPrev;
372 }
373 }
374 }
375 }
376 }
377
378 if (eph) {
379
380 QMap<QString, double> codeBiases;
381
382 while (true) {
383 QString key;
384 int numVal = 0;
385 in >> key >> numVal;
386 if (in.status() != QTextStream::Ok) {
387 break;
388 }
389 if (key == "APC") {
390 rtnAPC.ReSize(3);
391 in >> rtnAPC[0] >> rtnAPC[1] >> rtnAPC[2];
392 }
393 else if (key == "Clk") {
394 in >> rtnClk;
395 }
396 else if (key == "Vel") {
397 rtnVel.ReSize(3);
398 in >> rtnVel[0] >> rtnVel[1] >> rtnVel[2];
399 }
400 else if (key == "CoM") {
401 rtnCoM.ReSize(3);
402 in >> rtnCoM[0] >> rtnCoM[1] >> rtnCoM[2];
403 }
404 else if (key == "CodeBias") {
405 for (int ii = 0; ii < numVal; ii++) {
406 QString type;
407 double value;
408 in >> type >> value;
409 codeBiases[type] = value;
410 }
411 }
412 else {
413 for (int ii = 0; ii < numVal; ii++) {
414 double dummy;
415 in >> dummy;
416 }
417 }
418 }
419 struct ClockOrbit::SatData* sd = 0;
420 if (prn[0] == 'G') {
421 sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
422 ++co.NumberOfSat[CLOCKORBIT_SATGPS];
423 }
424 else if (prn[0] == 'R') {
425 sd = co.Sat + CLOCKORBIT_NUMGPS
426 + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
427 ++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
428 }
429 else if (prn[0] == 'E') {
430 sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
431 + co.NumberOfSat[CLOCKORBIT_SATGALILEO];
432 ++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
433 }
434 else if (prn[0] == 'J') {
435 sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS + CLOCKORBIT_NUMGALILEO
436 + co.NumberOfSat[CLOCKORBIT_SATQZSS];
437 ++co.NumberOfSat[CLOCKORBIT_SATQZSS];
438 }
439 else if (prn[0] == 'S') {
440 sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS + CLOCKORBIT_NUMGALILEO
441 + CLOCKORBIT_NUMQZSS
442 + co.NumberOfSat[CLOCKORBIT_SATSBAS];
443 ++co.NumberOfSat[CLOCKORBIT_SATSBAS];
444 }
445 else if (prn[0] == 'C') {
446 sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS + CLOCKORBIT_NUMGALILEO
447 + CLOCKORBIT_NUMQZSS + CLOCKORBIT_NUMSBAS
448 + co.NumberOfSat[CLOCKORBIT_SATBDS];
449 ++co.NumberOfSat[CLOCKORBIT_SATBDS];
450 }
451 if (sd) {
452 QString outLine;
453 processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prn,
454 rtnAPC, rtnClk, rtnVel, rtnCoM, sd, outLine);
455 }
456
457 struct CodeBias::BiasSat* biasSat = 0;
458 if (prn[0] == 'G') {
459 biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
460 ++bias.NumberOfSat[CLOCKORBIT_SATGPS];
461 }
462 else if (prn[0] == 'R') {
463 biasSat = bias.Sat + CLOCKORBIT_NUMGPS
464 + bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
465 ++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
466 }
467 else if (prn[0] == 'E') {
468 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
469 + bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
470 ++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
471 }
472 else if (prn[0] == 'J') {
473 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS + CLOCKORBIT_NUMGALILEO
474 + bias.NumberOfSat[CLOCKORBIT_SATQZSS];
475 ++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
476 }
477 else if (prn[0] == 'S') {
478 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS + CLOCKORBIT_NUMGALILEO
479 + CLOCKORBIT_NUMQZSS
480 + bias.NumberOfSat[CLOCKORBIT_SATSBAS];
481 ++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
482 }
483 else if (prn[0] == 'C') {
484 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS + CLOCKORBIT_NUMGALILEO
485 + CLOCKORBIT_NUMQZSS + CLOCKORBIT_NUMSBAS
486 + bias.NumberOfSat[CLOCKORBIT_SATBDS];
487 ++bias.NumberOfSat[CLOCKORBIT_SATBDS];
488 }
489
490 // Code Biases
491 // -----------
492 if (biasSat) {
493 biasSat->ID = prn.mid(1).toInt();
494 biasSat->NumberOfCodeBiases = 0;
495 if (prn[0] == 'G') {
496 QMapIterator<QString, double> it(codeBiases);
497 while (it.hasNext()) {
498 it.next();
499 if (it.key() == "1C") {
500 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
501 biasSat->NumberOfCodeBiases += 1;
502 biasSat->Biases[ii].Type = CODETYPEGPS_L1_CA;
503 biasSat->Biases[ii].Bias = it.value();
504 }
505 else if (it.key() == "1P") {
506 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
507 biasSat->NumberOfCodeBiases += 1;
508 biasSat->Biases[ii].Type = CODETYPEGPS_L1_P;
509 biasSat->Biases[ii].Bias = it.value();
510 }
511 else if (it.key() == "1W") {
512 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
513 biasSat->NumberOfCodeBiases += 1;
514 biasSat->Biases[ii].Type = CODETYPEGPS_L1_Z;
515 biasSat->Biases[ii].Bias = it.value();
516 }
517 else if (it.key() == "2C") {
518 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
519 biasSat->NumberOfCodeBiases += 1;
520 biasSat->Biases[ii].Type = CODETYPEGPS_L2_CA;
521 biasSat->Biases[ii].Bias = it.value();
522 }
523 else if (it.key() == "2D") {
524 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
525 biasSat->NumberOfCodeBiases += 1;
526 biasSat->Biases[ii].Type = CODETYPEGPS_SEMI_CODELESS;
527 biasSat->Biases[ii].Bias = it.value();
528 }
529 else if (it.key() == "2S") {
530 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
531 biasSat->NumberOfCodeBiases += 1;
532 biasSat->Biases[ii].Type = CODETYPEGPS_L2_CM;
533 biasSat->Biases[ii].Bias = it.value();
534 }
535 else if (it.key() == "2L") {
536 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
537 biasSat->NumberOfCodeBiases += 1;
538 biasSat->Biases[ii].Type = CODETYPEGPS_L2_CL;
539 biasSat->Biases[ii].Bias = it.value();
540 }
541 else if (it.key() == "2X") {
542 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
543 biasSat->NumberOfCodeBiases += 1;
544 biasSat->Biases[ii].Type = CODETYPEGPS_L2_CML;
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 = CODETYPEGPS_L2_P;
551 biasSat->Biases[ii].Bias = it.value();
552 }
553 else if (it.key() == "2W") {
554 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
555 biasSat->NumberOfCodeBiases += 1;
556 biasSat->Biases[ii].Type = CODETYPEGPS_L2_Z;
557 biasSat->Biases[ii].Bias = it.value();
558 }
559 else if (it.key() == "5I") {
560 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
561 biasSat->NumberOfCodeBiases += 1;
562 biasSat->Biases[ii].Type = CODETYPEGPS_L5_I;
563 biasSat->Biases[ii].Bias = it.value();
564 }
565 else if (it.key() == "5Q") {
566 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
567 biasSat->NumberOfCodeBiases += 1;
568 biasSat->Biases[ii].Type = CODETYPEGPS_L5_Q;
569 biasSat->Biases[ii].Bias = it.value();
570 }
571 else if (it.key() == "5X") {
572 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
573 biasSat->NumberOfCodeBiases += 1;
574 biasSat->Biases[ii].Type = CODETYPEGPS_L5_IQ;
575 biasSat->Biases[ii].Bias = it.value();
576 }
577 }
578 }
579 else if (prn[0] == 'R') {
580 QMapIterator<QString, double> it(codeBiases);
581 while (it.hasNext()) {
582 it.next();
583 if (it.key() == "1C") {
584 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
585 biasSat->NumberOfCodeBiases += 1;
586 biasSat->Biases[ii].Type = CODETYPEGLONASS_L1_CA;
587 biasSat->Biases[ii].Bias = it.value();
588 }
589 else if (it.key() == "1P") {
590 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
591 biasSat->NumberOfCodeBiases += 1;
592 biasSat->Biases[ii].Type = CODETYPEGLONASS_L1_P;
593 biasSat->Biases[ii].Bias = it.value();
594 }
595 else if (it.key() == "2C") {
596 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
597 biasSat->NumberOfCodeBiases += 1;
598 biasSat->Biases[ii].Type = CODETYPEGLONASS_L2_CA;
599 biasSat->Biases[ii].Bias = it.value();
600 }
601 else if (it.key() == "2P") {
602 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
603 biasSat->NumberOfCodeBiases += 1;
604 biasSat->Biases[ii].Type = CODETYPEGLONASS_L2_P;
605 biasSat->Biases[ii].Bias = it.value();
606 }
607 }
608 }
609 else if (prn[0] == 'E') {
610 QMapIterator<QString, double> it(codeBiases);
611 while (it.hasNext()) {
612 it.next();
613 if (it.key() == "1A") {
614 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
615 biasSat->NumberOfCodeBiases += 1;
616 biasSat->Biases[ii].Type = CODETYPEGALILEO_E1_A;
617 biasSat->Biases[ii].Bias = it.value();
618 }
619 else if (it.key() == "1B") {
620 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
621 biasSat->NumberOfCodeBiases += 1;
622 biasSat->Biases[ii].Type = CODETYPEGALILEO_E1_B;
623 biasSat->Biases[ii].Bias = it.value();
624 }
625 else if (it.key() == "1C") {
626 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
627 biasSat->NumberOfCodeBiases += 1;
628 biasSat->Biases[ii].Type = CODETYPEGALILEO_E1_C;
629 biasSat->Biases[ii].Bias = it.value();
630 }
631 else if (it.key() == "5I") {
632 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
633 biasSat->NumberOfCodeBiases += 1;
634 biasSat->Biases[ii].Type = CODETYPEGALILEO_E5A_I;
635 biasSat->Biases[ii].Bias = it.value();
636 }
637 else if (it.key() == "5Q") {
638 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
639 biasSat->NumberOfCodeBiases += 1;
640 biasSat->Biases[ii].Type = CODETYPEGALILEO_E5A_Q;
641 biasSat->Biases[ii].Bias = it.value();
642 }
643 else if (it.key() == "7I") {
644 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
645 biasSat->NumberOfCodeBiases += 1;
646 biasSat->Biases[ii].Type = CODETYPEGALILEO_E5B_I;
647 biasSat->Biases[ii].Bias = it.value();
648 }
649 else if (it.key() == "7Q") {
650 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
651 biasSat->NumberOfCodeBiases += 1;
652 biasSat->Biases[ii].Type = CODETYPEGALILEO_E5B_Q;
653 biasSat->Biases[ii].Bias = it.value();
654 }
655 else if (it.key() == "8I") {
656 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
657 biasSat->NumberOfCodeBiases += 1;
658 biasSat->Biases[ii].Type = CODETYPEGALILEO_E5_I;
659 biasSat->Biases[ii].Bias = it.value();
660 }
661 else if (it.key() == "8Q") {
662 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
663 biasSat->NumberOfCodeBiases += 1;
664 biasSat->Biases[ii].Type = CODETYPEGALILEO_E5_Q;
665 biasSat->Biases[ii].Bias = it.value();
666 }
667 else if (it.key() == "6A") {
668 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
669 biasSat->NumberOfCodeBiases += 1;
670 biasSat->Biases[ii].Type = CODETYPEGALILEO_E6_A;
671 biasSat->Biases[ii].Bias = it.value();
672 }
673 else if (it.key() == "6B") {
674 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
675 biasSat->NumberOfCodeBiases += 1;
676 biasSat->Biases[ii].Type = CODETYPEGALILEO_E6_B;
677 biasSat->Biases[ii].Bias = it.value();
678 }
679 else if (it.key() == "6C") {
680 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
681 biasSat->NumberOfCodeBiases += 1;
682 biasSat->Biases[ii].Type = CODETYPEGALILEO_E6_C;
683 biasSat->Biases[ii].Bias = it.value();
684 }
685 }
686 }
687 else if (prn[0] == 'J') {
688 QMapIterator<QString, double> it(codeBiases);
689 while (it.hasNext()) {
690 it.next();
691 if (it.key() == "1C") {
692 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
693 biasSat->NumberOfCodeBiases += 1;
694 biasSat->Biases[ii].Type = CODETYPEQZSS_L1_CA;
695 biasSat->Biases[ii].Bias = it.value();
696 }
697 else if (it.key() == "1S") {
698 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
699 biasSat->NumberOfCodeBiases += 1;
700 biasSat->Biases[ii].Type = CODETYPEQZSS_L1C_D;
701 biasSat->Biases[ii].Bias = it.value();
702 }
703 else if (it.key() == "1L") {
704 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
705 biasSat->NumberOfCodeBiases += 1;
706 biasSat->Biases[ii].Type = CODETYPEQZSS_L1C_P;
707 biasSat->Biases[ii].Bias = it.value();
708 }
709 else if (it.key() == "1X") {
710 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
711 biasSat->NumberOfCodeBiases += 1;
712 biasSat->Biases[ii].Type = CODETYPEQZSS_L1C_DP;
713 biasSat->Biases[ii].Bias = it.value();
714 }
715 else if (it.key() == "2S") {
716 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
717 biasSat->NumberOfCodeBiases += 1;
718 biasSat->Biases[ii].Type = CODETYPEQZSS_L2_CM;
719 biasSat->Biases[ii].Bias = it.value();
720 }
721 else if (it.key() == "2L") {
722 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
723 biasSat->NumberOfCodeBiases += 1;
724 biasSat->Biases[ii].Type = CODETYPEQZSS_L2_CL;
725 biasSat->Biases[ii].Bias = it.value();
726 }
727 else if (it.key() == "2X") {
728 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
729 biasSat->NumberOfCodeBiases += 1;
730 biasSat->Biases[ii].Type = CODETYPEQZSS_L2_CML;
731 biasSat->Biases[ii].Bias = it.value();
732 }
733 else if (it.key() == "5I") {
734 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
735 biasSat->NumberOfCodeBiases += 1;
736 biasSat->Biases[ii].Type = CODETYPEQZSS_L5_I;
737 biasSat->Biases[ii].Bias = it.value();
738 }
739 else if (it.key() == "5Q") {
740 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
741 biasSat->NumberOfCodeBiases += 1;
742 biasSat->Biases[ii].Type = CODETYPEQZSS_L5_Q;
743 biasSat->Biases[ii].Bias = it.value();
744 }
745 else if (it.key() == "5X") {
746 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
747 biasSat->NumberOfCodeBiases += 1;
748 biasSat->Biases[ii].Type = CODETYPEQZSS_L5_IQ;
749 biasSat->Biases[ii].Bias = it.value();
750 }
751 else if (it.key() == "6S") {
752 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
753 biasSat->NumberOfCodeBiases += 1;
754 biasSat->Biases[ii].Type = CODETYPEQZSS_LEX_S;
755 biasSat->Biases[ii].Bias = it.value();
756 }
757 else if (it.key() == "6L") {
758 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
759 biasSat->NumberOfCodeBiases += 1;
760 biasSat->Biases[ii].Type = CODETYPEQZSS_LEX_L;
761 biasSat->Biases[ii].Bias = it.value();
762 }
763 else if (it.key() == "6X") {
764 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
765 biasSat->NumberOfCodeBiases += 1;
766 biasSat->Biases[ii].Type = CODETYPEQZSS_LEX_SL;
767 biasSat->Biases[ii].Bias = it.value();
768 }
769 }
770 }
771 else if (prn[0] == 'S') {
772 QMapIterator<QString, double> it(codeBiases);
773 while (it.hasNext()) {
774 it.next();
775 if (it.key() == "1C") {
776 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
777 biasSat->NumberOfCodeBiases += 1;
778 biasSat->Biases[ii].Type = CODETYPE_SBAS_L1_CA;
779 biasSat->Biases[ii].Bias = it.value();
780 }
781 else if (it.key() == "5I") {
782 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
783 biasSat->NumberOfCodeBiases += 1;
784 biasSat->Biases[ii].Type = CODETYPE_SBAS_L5_I;
785 biasSat->Biases[ii].Bias = it.value();
786 }
787 else if (it.key() == "5Q") {
788 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
789 biasSat->NumberOfCodeBiases += 1;
790 biasSat->Biases[ii].Type = CODETYPE_SBAS_L5_Q;
791 biasSat->Biases[ii].Bias = it.value();
792 }
793 else if (it.key() == "5X") {
794 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
795 biasSat->NumberOfCodeBiases += 1;
796 biasSat->Biases[ii].Type = CODETYPE_SBAS_L5_IQ;
797 biasSat->Biases[ii].Bias = it.value();
798 }
799 }
800 }
801 else if (prn[0] == 'C') {
802 QMapIterator<QString, double> it(codeBiases);
803 while (it.hasNext()) {
804 it.next();
805 if (it.key() == "2I") {
806 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
807 biasSat->NumberOfCodeBiases += 1;
808 biasSat->Biases[ii].Type = CODETYPE_BDS_B1_I;
809 biasSat->Biases[ii].Bias = it.value();
810 }
811 else if (it.key() == "2Q") {
812 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
813 biasSat->NumberOfCodeBiases += 1;
814 biasSat->Biases[ii].Type = CODETYPE_BDS_B1_Q;
815 biasSat->Biases[ii].Bias = it.value();
816 }
817 else if (it.key() == "2X") {
818 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
819 biasSat->NumberOfCodeBiases += 1;
820 biasSat->Biases[ii].Type = CODETYPE_BDS_B1_IQ;
821 biasSat->Biases[ii].Bias = it.value();
822 }
823 else if (it.key() == "6I") {
824 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
825 biasSat->NumberOfCodeBiases += 1;
826 biasSat->Biases[ii].Type = CODETYPE_BDS_B3_I;
827 biasSat->Biases[ii].Bias = it.value();
828 }
829 else if (it.key() == "6Q") {
830 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
831 biasSat->NumberOfCodeBiases += 1;
832 biasSat->Biases[ii].Type = CODETYPE_BDS_B3_Q;
833 biasSat->Biases[ii].Bias = it.value();
834 }
835 else if (it.key() == "6X") {
836 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
837 biasSat->NumberOfCodeBiases += 1;
838 biasSat->Biases[ii].Type = CODETYPE_BDS_B3_IQ;
839 biasSat->Biases[ii].Bias = it.value();
840 }
841 else if (it.key() == "7I") {
842 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
843 biasSat->NumberOfCodeBiases += 1;
844 biasSat->Biases[ii].Type = CODETYPE_BDS_B2_I;
845 biasSat->Biases[ii].Bias = it.value();
846 }
847 else if (it.key() == "7Q") {
848 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
849 biasSat->NumberOfCodeBiases += 1;
850 biasSat->Biases[ii].Type = CODETYPE_BDS_B2_Q;
851 biasSat->Biases[ii].Bias = it.value();
852 }
853 else if (it.key() == "7X") {
854 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
855 biasSat->NumberOfCodeBiases += 1;
856 biasSat->Biases[ii].Type = CODETYPE_BDS_B2_IQ;
857 biasSat->Biases[ii].Bias = it.value();
858 }
859 }
860 }
861 }
862 }
863 }
864
865 QByteArray hlpBufferCo;
866
867 // Orbit and Clock Corrections together
868 // ------------------------------------
869 if (_samplRtcmEphCorr == 0.0) {
870 if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0 ||
871 co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 ||
872 co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 ||
873 co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 ||
874 co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
875 co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
876 char obuffer[CLOCKORBIT_BUFFERSIZE];
877 int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
878 if (len > 0) {
879 hlpBufferCo = QByteArray(obuffer, len);
880 }
881 }
882 }
883
884 // Orbit and Clock Corrections separately
885 // --------------------------------------
886 else {
887 if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
888 char obuffer[CLOCKORBIT_BUFFERSIZE];
889 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
890 co.UpdateInterval = ephUpdInd;
891 int len1 = MakeClockOrbit(&co, COTYPE_GPSORBIT, 1, obuffer, sizeof(obuffer));
892 co.UpdateInterval = clkUpdInd;
893 if (len1 > 0) {
894 hlpBufferCo += QByteArray(obuffer, len1);
895 }
896 }
897 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) ? 1 : 0;
898 int len2 = MakeClockOrbit(&co, COTYPE_GPSCLOCK, mmsg, obuffer, sizeof(obuffer));
899 if (len2 > 0) {
900 hlpBufferCo += QByteArray(obuffer, len2);
901 }
902 }
903 if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
904 char obuffer[CLOCKORBIT_BUFFERSIZE];
905 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
906 co.UpdateInterval = ephUpdInd;
907 int len1 = MakeClockOrbit(&co, COTYPE_GLONASSORBIT, 1, obuffer, sizeof(obuffer));
908 co.UpdateInterval = clkUpdInd;
909 if (len1 > 0) {
910 hlpBufferCo += QByteArray(obuffer, len1);
911 }
912 }
913 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) ? 1 : 0;
914 int len2 = MakeClockOrbit(&co, COTYPE_GLONASSCLOCK, mmsg, obuffer, sizeof(obuffer));
915 if (len2 > 0) {
916 hlpBufferCo += QByteArray(obuffer, len2);
917 }
918 }
919 if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
920 char obuffer[CLOCKORBIT_BUFFERSIZE];
921 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
922 co.UpdateInterval = ephUpdInd;
923 int len1 = MakeClockOrbit(&co, COTYPE_GALILEOORBIT, 1, obuffer, sizeof(obuffer));
924 co.UpdateInterval = clkUpdInd;
925 if (len1 > 0) {
926 hlpBufferCo += QByteArray(obuffer, len1);
927 }
928 }
929 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) ? 1 : 0;
930 int len2 = MakeClockOrbit(&co, COTYPE_GALILEOCLOCK, mmsg, obuffer, sizeof(obuffer));
931 if (len2 > 0) {
932 hlpBufferCo += QByteArray(obuffer, len2);
933 }
934 }
935 if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
936 char obuffer[CLOCKORBIT_BUFFERSIZE];
937 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
938 co.UpdateInterval = ephUpdInd;
939 int len1 = MakeClockOrbit(&co, COTYPE_QZSSORBIT, 1, obuffer, sizeof(obuffer));
940 co.UpdateInterval = clkUpdInd;
941 if (len1 > 0) {
942 hlpBufferCo += QByteArray(obuffer, len1);
943 }
944 }
945 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) ? 1 : 0;
946 int len2 = MakeClockOrbit(&co, COTYPE_QZSSCLOCK, mmsg, obuffer, sizeof(obuffer));
947 if (len2 > 0) {
948 hlpBufferCo += QByteArray(obuffer, len2);
949 }
950 }
951 if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
952 char obuffer[CLOCKORBIT_BUFFERSIZE];
953 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
954 co.UpdateInterval = ephUpdInd;
955 int len1 = MakeClockOrbit(&co, COTYPE_SBASORBIT, 1, obuffer, sizeof(obuffer));
956 co.UpdateInterval = clkUpdInd;
957 if (len1 > 0) {
958 hlpBufferCo += QByteArray(obuffer, len1);
959 }
960 }
961 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
962 int len2 = MakeClockOrbit(&co, COTYPE_SBASCLOCK, mmsg, obuffer, sizeof(obuffer));
963 if (len2 > 0) {
964 hlpBufferCo += QByteArray(obuffer, len2);
965 }
966 }
967 if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
968 char obuffer[CLOCKORBIT_BUFFERSIZE];
969 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
970 co.UpdateInterval = ephUpdInd;
971 int len1 = MakeClockOrbit(&co, COTYPE_BDSORBIT, 1, obuffer, sizeof(obuffer));
972 co.UpdateInterval = clkUpdInd;
973 if (len1 > 0) {
974 hlpBufferCo += QByteArray(obuffer, len1);
975 }
976 }
977 int len2 = MakeClockOrbit(&co, COTYPE_BDSCLOCK, 0, obuffer, sizeof(obuffer));
978 if (len2 > 0) {
979 hlpBufferCo += QByteArray(obuffer, len2);
980 }
981 }
982 }
983
984 // Biases
985 // ------
986 QByteArray hlpBufferBias;
987 if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0 ||
988 bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 ||
989 bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 ||
990 bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 ||
991 bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
992 bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) {
993 char obuffer[CLOCKORBIT_BUFFERSIZE];
994 int len = MakeCodeBias(&bias, BTYPE_AUTO, 0, obuffer, sizeof(obuffer));
995 if (len > 0) {
996 hlpBufferBias = QByteArray(obuffer, len);
997 }
998 }
999
1000 _outBuffer += hlpBufferCo + hlpBufferBias;
1001}
1002
1003//
1004////////////////////////////////////////////////////////////////////////////
1005void bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
1006 double GPSweeks, const QString& prn,
1007 const ColumnVector& rtnAPC,
1008 double rtnClk,
1009 const ColumnVector& rtnVel,
1010 const ColumnVector& rtnCoM,
1011 struct ClockOrbit::SatData* sd,
1012 QString& outLine) {
1013
1014 // Broadcast Position and Velocity
1015 // -------------------------------
1016 ColumnVector xB(4);
1017 ColumnVector vB(3);
1018 eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
1019
1020 // Precise Position
1021 // ----------------
1022 ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
1023
1024 double dc = 0.0;
1025 if (_crdTrafo != "IGS08") {
1026 crdTrafo(GPSweek, xP, dc);
1027 }
1028
1029 // Difference in xyz
1030 // -----------------
1031 ColumnVector dx = xB.Rows(1,3) - xP;
1032 ColumnVector dv = vB - rtnVel;
1033
1034 // Difference in RSW
1035 // -----------------
1036 ColumnVector rsw(3);
1037 XYZ_to_RSW(xB.Rows(1,3), vB, dx, rsw);
1038
1039 ColumnVector dotRsw(3);
1040 XYZ_to_RSW(xB.Rows(1,3), vB, dv, dotRsw);
1041
1042 // Clock Correction
1043 // ----------------
1044 double dClk = rtnClk - (xB(4) - dc) * t_CST::c;
1045
1046 if (sd) {
1047 sd->ID = prn.mid(1).toInt();
1048 sd->IOD = eph->IOD();
1049 sd->Clock.DeltaA0 = dClk;
1050 sd->Clock.DeltaA1 = 0.0; // TODO
1051 sd->Clock.DeltaA2 = 0.0; // TODO
1052 sd->Orbit.DeltaRadial = rsw(1);
1053 sd->Orbit.DeltaAlongTrack = rsw(2);
1054 sd->Orbit.DeltaCrossTrack = rsw(3);
1055 sd->Orbit.DotDeltaRadial = dotRsw(1);
1056 sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
1057 sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
1058 }
1059
1060 outLine.sprintf("%d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n",
1061 GPSweek, GPSweeks, eph->prn().toString().c_str(),
1062 eph->IOD(), dClk, rsw(1), rsw(2), rsw(3));
1063
1064 double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1065 double sp3Clk = (rtnClk - relativity) / t_CST::c; // in seconds
1066
1067 if (_rnx) {
1068 _rnx->write(GPSweek, GPSweeks, prn, sp3Clk);
1069 }
1070 if (_sp3) {
1071 _sp3->write(GPSweek, GPSweeks, prn, rtnCoM, sp3Clk);
1072 }
1073}
1074
1075// Transform Coordinates
1076////////////////////////////////////////////////////////////////////////////
1077void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1078 double& dc) {
1079
1080 // Current epoch minus 2000.0 in years
1081 // ------------------------------------
1082 double dt = (GPSWeek - (1042.0+6.0/7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1083
1084 ColumnVector dx(3);
1085
1086 dx(1) = _dx + dt * _dxr;
1087 dx(2) = _dy + dt * _dyr;
1088 dx(3) = _dz + dt * _dzr;
1089
1090 static const double arcSec = 180.0 * 3600.0 / M_PI;
1091
1092 double ox = (_ox + dt * _oxr) / arcSec;
1093 double oy = (_oy + dt * _oyr) / arcSec;
1094 double oz = (_oz + dt * _ozr) / arcSec;
1095
1096 double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1097
1098 // Specify approximate center of area
1099 // ----------------------------------
1100 ColumnVector meanSta(3);
1101
1102 if (_crdTrafo == "ETRF2000") {
1103 meanSta(1) = 3661090.0;
1104 meanSta(2) = 845230.0;
1105 meanSta(3) = 5136850.0;
1106 }
1107 else if (_crdTrafo == "NAD83") {
1108 meanSta(1) = -1092950.0;
1109 meanSta(2) = -4383600.0;
1110 meanSta(3) = 4487420.0;
1111 }
1112 else if (_crdTrafo == "GDA94") {
1113 meanSta(1) = -4052050.0;
1114 meanSta(2) = 4212840.0;
1115 meanSta(3) = -2545110.0;
1116 }
1117 else if (_crdTrafo == "SIRGAS2000") {
1118 meanSta(1) = 3740860.0;
1119 meanSta(2) = -4964290.0;
1120 meanSta(3) = -1425420.0;
1121 }
1122 else if (_crdTrafo == "SIRGAS95") {
1123 meanSta(1) = 3135390.0;
1124 meanSta(2) = -5017670.0;
1125 meanSta(3) = -2374440.0;
1126 }
1127 else if (_crdTrafo == "DREF91") {
1128 meanSta(1) = 3959579.0;
1129 meanSta(2) = 721719.0;
1130 meanSta(3) = 4931539.0;
1131 }
1132 else if (_crdTrafo == "Custom") {
1133 meanSta(1) = 0.0; // TODO
1134 meanSta(2) = 0.0; // TODO
1135 meanSta(3) = 0.0; // TODO
1136 }
1137
1138 // Clock correction proportional to topocentric distance to satellites
1139 // -------------------------------------------------------------------
1140 double rho = (xyz - meanSta).norm_Frobenius();
1141 dc = rho * (sc - 1.0) / sc / t_CST::c;
1142
1143 Matrix rMat(3,3);
1144 rMat(1,1) = 1.0;
1145 rMat(1,2) = -oz;
1146 rMat(1,3) = oy;
1147 rMat(2,1) = oz;
1148 rMat(2,2) = 1.0;
1149 rMat(2,3) = -ox;
1150 rMat(3,1) = -oy;
1151 rMat(3,2) = ox;
1152 rMat(3,3) = 1.0;
1153
1154 xyz = sc * rMat * xyz + dx;
1155}
1156
1157int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1158
1159 if (samplingRate == 10.0) {
1160 return 3;
1161 }
1162 else if (samplingRate == 15.0) {
1163 return 4;
1164 }
1165 else if (samplingRate == 30.0) {
1166 return 5;
1167 }
1168 else if (samplingRate == 60.0) {
1169 return 6;
1170 }
1171 else if (samplingRate == 120.0) {
1172 return 7;
1173 }
1174 else if (samplingRate == 240.0) {
1175 return 8;
1176 }
1177 else if (samplingRate == 300.0) {
1178 return 9;
1179 }
1180 else if (samplingRate == 600.0) {
1181 return 10;
1182 }
1183 else if (samplingRate == 900.0) {
1184 return 11;
1185 }
1186 else if (samplingRate == 1800.0) {
1187 return 12;
1188 }
1189 else if (samplingRate == 3600.0) {
1190 return 13;
1191 }
1192 else if (samplingRate == 7200.0) {
1193 return 14;
1194 }
1195 else if (samplingRate == 10800.0) {
1196 return 15;
1197 }
1198 return 2;// default
1199}
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