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source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 9025

Last change on this file since 9025 was 9025, checked in by stuerze, 4 years ago
some modification to allow encoding and decoding of SSR corrections in RTCM-SSR and IGS-SSR formats
File size: 37.5 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
25	using namespace std;
26
27	// Constructor
28	////////////////////////////////////////////////////////////////////////////
29	bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
30	const QString& outHost, int outPort,
31	const QString& ntripVersion,
32	const QString& userName, const QString& password,
33	const QString& crdTrafo, const QString& ssrFormat, bool CoM, const QString& sp3FileName,
34	const QString& rnxFileName, int PID, int SID, int IOD, int iRow) :
35	bncUploadCaster(mountpoint, outHost, outPort, ntripVersion, userName, password, iRow, 0) {
36	qDebug() << "bncRtnetUploadCaster";
37
38	if (!mountpoint.isEmpty()) {
39	_casterID += mountpoint;
40	}
41	if (!outHost.isEmpty()) {
42	_casterID += " " + outHost;
43	if (outPort) {
44	_casterID += ":" + QString("%1").arg(outPort, 10);
45	}
46	}
47	if (!crdTrafo.isEmpty()) {
48	_casterID += " " + crdTrafo;
49	}
50	if (!sp3FileName.isEmpty()) {
51	_casterID += " " + sp3FileName;
52	}
53	if (!rnxFileName.isEmpty()) {
54	_casterID += " " + rnxFileName;
55	}
56
57	_crdTrafo = crdTrafo;
58
59	_ssrFormat = ssrFormat;qDebug() << _ssrFormat;
60	_ssrCorr = 0;
61	if (_ssrFormat == "IGS-SSR") {qDebug() << "bin hier IGS";
62	_ssrCorr = new SsrCorrIgs();
63	}
64	else if (_ssrFormat == "RTCM-SSR") {qDebug() << "bin hier RTCM";
65	_ssrCorr = new SsrCorrRtcm();
66	}
67	if (!_ssrCorr) {
68	qDebug() << "no _ssrCorr";
69	}
70	_CoM = CoM;
71	_PID = PID;
72	_SID = SID;
73	_IOD = IOD;
74
75	// Member that receives the ephemeris
76	// ----------------------------------
77	_ephUser = new bncEphUser(true);
78
79	bncSettings settings;
80	QString intr = settings.value("uploadIntr").toString();
81	QStringList hlp = settings.value("cmbStreams").toStringList();
82	_samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toDouble();
83	if (hlp.size() > 1) { // combination stream upload
84	_samplRtcmClkCorr = settings.value("cmbSampl").toInt();
85	}
86	else { // single stream upload or sp3 file generation
87	_samplRtcmClkCorr = 5; // default
88	}
89	int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
90	int samplSp3 = settings.value("uploadSamplSp3").toInt() * 60;
91
92	if (_samplRtcmEphCorr == 0.0) {
93	_usedEph = 0;
94	}
95	else {
96	_usedEph = new QMap<QString, const t_eph*>;
97	}
98
99	// RINEX writer
100	// ------------
101	if (!rnxFileName.isEmpty()) {
102	_rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
103	}
104	else {
105	_rnx = 0;
106	}
107
108	// SP3 writer
109	// ----------
110	if (!sp3FileName.isEmpty()) {
111	_sp3 = new bncSP3(sp3FileName, intr, samplSp3);
112	}
113	else {
114	_sp3 = 0;
115	}
116
117	// Set Transformation Parameters
118	// -----------------------------
119	// Transformation Parameters from ITRF2014 to ETRF2000
120	// EUREF Technical Note 1 Relationship and Transformation between the ITRF and ETRF
121	// Zuheir Altamimi, June 28, 2018
122	if (_crdTrafo == "ETRF2000") {
123	_dx = 0.0547;
124	_dy = 0.0522;
125	_dz = -0.0741;
126
127	_dxr = 0.0001;
128	_dyr = 0.0001;
129	_dzr = -0.0019;
130
131	_ox = 0.001701;
132	_oy = 0.010290;
133	_oz = -0.016632;
134
135	_oxr = 0.000081;
136	_oyr = 0.000490;
137	_ozr = -0.000729;
138
139	_sc = 2.12;
140	_scr = 0.11;
141
142	_t0 = 2010.0;
143	}
144	// Transformation Parameters from ITRF2014 to GDA2020 (Ryan Ruddick, GA)
145	else if (_crdTrafo == "GDA2020") {
146	_dx = 0.0;
147	_dy = 0.0;
148	_dz = 0.0;
149
150	_dxr = 0.0;
151	_dyr = 0.0;
152	_dzr = 0.0;
153
154	_ox = 0.0;
155	_oy = 0.0;
156	_oz = 0.0;
157
158	_oxr = 0.00150379;
159	_oyr = 0.00118346;
160	_ozr = 0.00120716;
161
162	_sc = 0.0;
163	_scr = 0.0;
164
165	_t0 = 2020.0;
166	}
167	// Transformation Parameters from IGb14 to SIRGAS2000 (Thanks to Sonia Costa, BRA)
168	// June 29 2020: TX:-0.0027 m TY:-0.0025 m TZ:-0.0042 m SCL:1.20 (ppb) no rotations and no rates.*/
169	else if (_crdTrafo == "SIRGAS2000") {
170	_dx = -0.0027;
171	_dy = -0.0025;
172	_dz = -0.0042;
173
174	_dxr = 0.0000;
175	_dyr = 0.0000;
176	_dzr = 0.0000;
177
178	_ox = 0.000000;
179	_oy = 0.000000;
180	_oz = 0.000000;
181
182	_oxr = 0.000000;
183	_oyr = 0.000000;
184	_ozr = 0.000000;
185
186	_sc = 1.20000;
187	_scr = 0.00000;
188	_t0 = 2000.0;
189	}
190	// Transformation Parameters from ITRF2014 to DREF91
191	else if (_crdTrafo == "DREF91") {
192	_dx = 0.0547;
193	_dy = 0.0522;
194	_dz = -0.0741;
195
196	_dxr = 0.0001;
197	_dyr = 0.0001;
198	_dzr = -0.0019;
199	// ERTF200 + rotation parameters (ETRF200 => DREF91)
200	_ox = 0.001701 + 0.000658;
201	_oy = 0.010290 - 0.000208;
202	_oz = -0.016632 + 0.000755;
203
204	_oxr = 0.000081;
205	_oyr = 0.000490;
206	_ozr = -0.000729;
207
208	_sc = 2.12;
209	_scr = 0.11;
210
211	_t0 = 2010.0;
212	}
213	else if (_crdTrafo == "Custom") {
214	_dx = settings.value("trafo_dx").toDouble();
215	_dy = settings.value("trafo_dy").toDouble();
216	_dz = settings.value("trafo_dz").toDouble();
217	_dxr = settings.value("trafo_dxr").toDouble();
218	_dyr = settings.value("trafo_dyr").toDouble();
219	_dzr = settings.value("trafo_dzr").toDouble();
220	_ox = settings.value("trafo_ox").toDouble();
221	_oy = settings.value("trafo_oy").toDouble();
222	_oz = settings.value("trafo_oz").toDouble();
223	_oxr = settings.value("trafo_oxr").toDouble();
224	_oyr = settings.value("trafo_oyr").toDouble();
225	_ozr = settings.value("trafo_ozr").toDouble();
226	_sc = settings.value("trafo_sc").toDouble();
227	_scr = settings.value("trafo_scr").toDouble();
228	_t0 = settings.value("trafo_t0").toDouble();
229	}
230	}
231
232	// Destructor
233	////////////////////////////////////////////////////////////////////////////
234	bncRtnetUploadCaster::~bncRtnetUploadCaster() {
235	if (isRunning()) {
236	wait();
237	}
238	delete _rnx;
239	delete _sp3;
240	delete _ephUser;
241	delete _usedEph;
242	delete _ssrCorr;
243	}
244
245	//
246	////////////////////////////////////////////////////////////////////////////
247	void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {qDebug() << "decodeRtnetStream";
248	qDebug() << "decodeRtnetStream";
249	QMutexLocker locker(&_mutex);
250
251	// Append to internal buffer
252	// -------------------------
253	_rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
254
255	// Select buffer part that contains last epoch
256	// -------------------------------------------
257	QStringList lines;
258	int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
259	if (iEpoBeg == -1) {
260	_rtnetStreamBuffer.clear();
261	return;
262	}
263	int iEpoBegEarlier = _rtnetStreamBuffer.indexOf('*');
264	if (iEpoBegEarlier != -1 && iEpoBegEarlier < iEpoBeg) { // are there two epoch lines in buffer?
265	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBegEarlier);
266	}
267	else {
268	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
269	}
270	int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
271	if (iEpoEnd == -1) {
272	return;
273	}
274
275	while (_rtnetStreamBuffer.count('*') > 1) { // is there more than 1 epoch line in buffer?
276	QString rtnetStreamBuffer = _rtnetStreamBuffer.mid(1);
277	int nextEpoch = rtnetStreamBuffer.indexOf('*');
278	if (nextEpoch != -1 && nextEpoch < iEpoEnd) {
279	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(nextEpoch);
280	}
281	else if (nextEpoch != -1 && nextEpoch >= iEpoEnd) {
282	break;
283	}
284	}
285
286	lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n',
287	QString::SkipEmptyParts);
288	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
289
290	if (lines.size() < 2) {
291	return;
292	}
293
294	// Read first line (with epoch time)
295	// ---------------------------------
296	QTextStream in(lines[0].toLatin1());
297	QString hlp;
298	int year, month, day, hour, min;
299	double sec;
300	in >> hlp >> year >> month >> day >> hour >> min >> sec;
301	bncTime epoTime;
302	epoTime.set(year, month, day, hour, min, sec);
303
304	emit(newMessage(
305	"bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
306	+ " " + QByteArray(epoTime.timestr().c_str()) + " "
307	+ _casterID.toLatin1(), false));
308
309	struct SsrCorr::ClockOrbit co;
310	memset(&co, 0, sizeof(co));
311	co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
312	if (_ssrFormat == "RTCM-SSR") {
313	double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
314	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
315	}
316	else if (_ssrFormat == "IGS-SSR") {
317	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(epoTime.gpssec());
318	}
319	co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
320	co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
321	co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
322	if (_ssrFormat == "RTCM-SSR") {
323	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
324	}
325	else if (_ssrFormat == "IGS-SSR") {
326	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
327	}
328	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
329	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
330	co.SatRefDatum = _ssrCorr->DATUM_ITRF; // ToDo: to decode from RTNET format
331	co.SSRIOD = _IOD;
332	co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
333	co.SSRSolutionID = _SID;
334
335	struct SsrCorr::CodeBias bias;
336	memset(&bias, 0, sizeof(bias));
337	bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
338	bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
339	bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
340	bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
341	bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
342	bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
343	bias.SSRIOD = _IOD;
344	bias.SSRProviderID = _PID;
345	bias.SSRSolutionID = _SID;
346
347	struct SsrCorr::PhaseBias phasebias;
348	memset(&phasebias, 0, sizeof(phasebias));
349	unsigned int dispersiveBiasConsistenyIndicator = 0;
350	unsigned int mwConsistencyIndicator = 0;
351	phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
352	phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
353	phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
354	phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
355	phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
356	phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
357	phasebias.SSRIOD = _IOD;
358	phasebias.SSRProviderID = _PID;
359	phasebias.SSRSolutionID = _SID;
360
361	struct SsrCorr::VTEC vtec;
362	memset(&vtec, 0, sizeof(vtec));
363	vtec.EpochTime = static_cast<int>(epoTime.gpssec());
364	vtec.SSRIOD = _IOD;
365	vtec.SSRProviderID = _PID;
366	vtec.SSRSolutionID = _SID;
367
368	// Default Update Interval
369	// -----------------------
370	int clkUpdInd = 2; // 5 sec
371	int ephUpdInd = clkUpdInd; // default
372
373	if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
374	ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
375	}
376	if (_samplRtcmClkCorr > 5.0) {
377	clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
378	}
379	if (_samplRtcmEphCorr > 5.0) {
380	ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
381	}
382
383	co.UpdateInterval = clkUpdInd;
384	bias.UpdateInterval = clkUpdInd;
385	phasebias.UpdateInterval = clkUpdInd;
386
387	for (int ii = 1; ii < lines.size(); ii++) {
388	QString key; // prn or key VTEC, IND (phase bias indicators)
389	double rtnUra = 0.0; // [m]
390	ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
391	ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
392	ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
393	ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
394	ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
395
396	t_prn prn;
397
398	QTextStream in(lines[ii].toLatin1());
399
400	in >> key;
401
402	// non-satellite specific parameters
403	if (key.contains("IND", Qt::CaseSensitive)) {
404	in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
405	continue;
406	}
407	// non-satellite specific parameters
408	if (key.contains("VTEC", Qt::CaseSensitive)) {
409	double ui;
410	in >> ui >> vtec.NumLayers;
411	vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
412	for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
413	int dummy;
414	in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
415	>> vtec.Layers[ll].Height;
416	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
417	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
418	in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
419	}
420	}
421	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
422	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
423	in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
424	}
425	}
426	}
427	continue;
428	}
429	// satellite specific parameters
430	char sys = key.mid(0, 1).at(0).toLatin1();
431	int number = key.mid(1, 2).toInt();
432	int flags = 0;
433	if (sys == 'E') { // I/NAV
434	flags = 1;
435	}
436	prn.set(sys, number, flags);
437	QString prnInternalStr = QString::fromStdString(prn.toInternalString());
438	QString prnStr = QString::fromStdString(prn.toString());
439
440	const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
441	const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
442	const t_eph* eph = ephLast;
443	if (eph) {
444
445	// Use previous ephemeris if the last one is too recent
446	// ----------------------------------------------------
447	const int MINAGE = 60; // seconds
448	if (ephPrev && eph->receptDateTime().isValid()
449	&& eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
450	eph = ephPrev;
451	}
452
453	// Make sure the clock messages refer to same IOD as orbit messages
454	// ----------------------------------------------------------------
455	if (_usedEph) {
456	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
457	(*_usedEph)[prnInternalStr] = eph;
458	}
459	else {
460	eph = 0;
461	if (_usedEph->contains(prnInternalStr)) {
462	const t_eph* usedEph = _usedEph->value(prnInternalStr);
463	if (usedEph == ephLast) {
464	eph = ephLast;
465	}
466	else if (usedEph == ephPrev) {
467	eph = ephPrev;
468	}
469	}
470	}
471	}
472	}
473
474	if (eph &&
475	eph->checkState() != t_eph::bad &&
476	eph->checkState() != t_eph::unhealthy &&
477	eph->checkState() != t_eph::outdated) {
478	QMap<QString, double> codeBiases;
479	QList<phaseBiasSignal> phaseBiasList;
480	phaseBiasesSat pbSat;
481
482	while (true) {
483	QString key;
484	int numVal = 0;
485	in >> key;qDebug() << key;
486	if (in.status() != QTextStream::Ok) {
487	break;
488	}
489	if (key == "APC") {
490	in >> numVal;
491	rtnAPC.ReSize(3); rtnAPC = 0.0;
492	for (int ii = 0; ii < numVal; ii++) {
493	in >> rtnAPC[ii];
494	}
495	}
496	else if (key == "Ura") {
497	in >> numVal;
498	if (numVal == 1)
499	in >> rtnUra;
500	}
501	else if (key == "Clk") {
502	in >> numVal;
503	rtnClk.ReSize(3); rtnClk = 0.0;
504	for (int ii = 0; ii < numVal; ii++) {
505	in >> rtnClk[ii];
506	}
507	}
508	else if (key == "ClkSig") {
509	in >> numVal;
510	rtnClkSig.ReSize(3); rtnClkSig = 0.0;
511	for (int ii = 0; ii < numVal; ii++) {
512	in >> rtnClkSig[ii];
513	}
514	}
515	else if (key == "Vel") {
516	in >> numVal;
517	rtnVel.ReSize(3); rtnVel = 0.0;
518	for (int ii = 0; ii < numVal; ii++) {
519	in >> rtnVel[ii];
520	}
521	}
522	else if (key == "CoM") {
523	in >> numVal;
524	rtnCoM.ReSize(3); rtnCoM = 0.0;
525	for (int ii = 0; ii < numVal; ii++) {
526	in >> rtnCoM[ii];
527	}
528	}
529	else if (key == "CodeBias") {
530	in >> numVal;
531	for (int ii = 0; ii < numVal; ii++) {
532	QString type;
533	double value;
534	in >> type >> value;
535	codeBiases[type] = value;
536	}
537	}
538	else if (key == "YawAngle") {
539	in >> numVal >> pbSat.yawAngle;
540	if (pbSat.yawAngle < 0.0) {
541	pbSat.yawAngle += (2*M_PI);
542	}
543	else if (pbSat.yawAngle > 2*M_PI) {
544	pbSat.yawAngle -= (2*M_PI);
545	}
546	}
547	else if (key == "YawRate") {
548	in >> numVal >> pbSat.yawRate;
549	}
550	else if (key == "PhaseBias") {
551	in >> numVal;
552	for (int ii = 0; ii < numVal; ii++) {
553	phaseBiasSignal pb;
554	in >> pb.type >> pb.bias >> pb.integerIndicator
555	>> pb.wlIndicator >> pb.discontinuityCounter;
556	phaseBiasList.append(pb);
557	}
558	}
559	else {
560	in >> numVal;
561	for (int ii = 0; ii < numVal; ii++) {
562	double dummy;
563	in >> dummy;
564	}
565	emit(newMessage(" RTNET format error: "
566	+ lines[ii].toLatin1(), false));
567	}
568	}
569
570	struct SsrCorr::ClockOrbit::SatData* sd = 0;
571	if (prn.system() == 'G') {
572	sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
573	++co.NumberOfSat[CLOCKORBIT_SATGPS];
574	}
575	else if (prn.system() == 'R') {
576	sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
577	++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
578	}
579	else if (prn.system() == 'E') {
580	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
581	+ co.NumberOfSat[CLOCKORBIT_SATGALILEO];
582	++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
583	}
584	else if (prn.system() == 'J') {
585	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
586	+ CLOCKORBIT_NUMGALILEO
587	+ co.NumberOfSat[CLOCKORBIT_SATQZSS];
588	++co.NumberOfSat[CLOCKORBIT_SATQZSS];
589	}
590	else if (prn.system() == 'S') {
591	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
592	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
593	+ co.NumberOfSat[CLOCKORBIT_SATSBAS];
594	++co.NumberOfSat[CLOCKORBIT_SATSBAS];
595	}
596	else if (prn.system() == 'C') {
597	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
598	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
599	+ CLOCKORBIT_NUMSBAS
600	+ co.NumberOfSat[CLOCKORBIT_SATBDS];
601	++co.NumberOfSat[CLOCKORBIT_SATBDS];
602	}
603	if (sd) {
604	QString outLine;
605	t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
606	rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
607	if (irc != success) {
608	// very few cases: check states bad and unhealthy are excluded earlier
609	sd->ID = prnStr.mid(1).toInt(); // to prevent G00, R00 entries
610	sd->IOD = eph->IOD();
611	}
612	}
613
614	// Code Biases
615	// -----------
616	struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
617	if (!codeBiases.isEmpty()) {
618	if (prn.system() == 'G') {
619	biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
620	++bias.NumberOfSat[CLOCKORBIT_SATGPS];
621	}
622	else if (prn.system() == 'R') {
623	biasSat = bias.Sat + CLOCKORBIT_NUMGPS
624	+ bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
625	++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
626	}
627	else if (prn.system() == 'E') {
628	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
629	+ bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
630	++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
631	}
632	else if (prn.system() == 'J') {
633	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
634	+ CLOCKORBIT_NUMGALILEO
635	+ bias.NumberOfSat[CLOCKORBIT_SATQZSS];
636	++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
637	}
638	else if (prn.system() == 'S') {
639	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
640	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
641	+ bias.NumberOfSat[CLOCKORBIT_SATSBAS];
642	++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
643	}
644	else if (prn.system() == 'C') {
645	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
646	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
647	+ CLOCKORBIT_NUMSBAS
648	+ bias.NumberOfSat[CLOCKORBIT_SATBDS];
649	++bias.NumberOfSat[CLOCKORBIT_SATBDS];
650	}
651	}
652
653	if (biasSat) {
654	biasSat->ID = prn.number();
655	biasSat->NumberOfCodeBiases = 0;
656	QMapIterator<QString, double> it(codeBiases);
657	while (it.hasNext()) {
658	it.next();
659	int ii = biasSat->NumberOfCodeBiases;
660	if (ii >= CLOCKORBIT_NUMBIAS)
661	break;
662	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
663	if (type != _ssrCorr->RESERVED) {
664	biasSat->NumberOfCodeBiases += 1;
665	biasSat->Biases[ii].Type = type;
666	biasSat->Biases[ii].Bias = it.value();
667	}
668	}
669	}
670
671	// Phase Biases
672	// ------------
673	struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
674	if (prn.system() == 'G') {
675	phasebiasSat = phasebias.Sat
676	+ phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
677	++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
678	}
679	else if (prn.system() == 'R') {
680	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
681	+ phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
682	++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
683	}
684	else if (prn.system() == 'E') {
685	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
686	+ phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
687	++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
688	}
689	else if (prn.system() == 'J') {
690	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
691	+ CLOCKORBIT_NUMGALILEO
692	+ phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
693	++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
694	}
695	else if (prn.system() == 'S') {
696	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
697	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
698	+ phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
699	++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
700	}
701	else if (prn.system() == 'C') {
702	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
703	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
704	+ CLOCKORBIT_NUMSBAS
705	+ phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
706	++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
707	}
708
709	if (phasebiasSat) {
710	phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
711	phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
712	phasebiasSat->ID = prn.number();
713	phasebiasSat->NumberOfPhaseBiases = 0;
714	phasebiasSat->YawAngle = pbSat.yawAngle;
715	phasebiasSat->YawRate = pbSat.yawRate;
716	QListIterator<phaseBiasSignal> it(phaseBiasList);
717	while (it.hasNext()) {
718	const phaseBiasSignal &pbSig = it.next();
719	int ii = phasebiasSat->NumberOfPhaseBiases;
720	if (ii >= CLOCKORBIT_NUMBIAS)
721	break;
722	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
723	if (type != _ssrCorr->RESERVED) {
724	phasebiasSat->NumberOfPhaseBiases += 1;
725	phasebiasSat->Biases[ii].Type = type;
726	phasebiasSat->Biases[ii].Bias = pbSig.bias;
727	phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
728	phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
729	phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
730	}
731	}
732	}
733	}
734	}
735
736
737	QByteArray hlpBufferCo;
738
739	// Orbit and Clock Corrections together
740	// ------------------------------------
741	if (_samplRtcmEphCorr == 0.0) {
742	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
743	\|\| co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
744	\|\| co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
745	\|\| co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
746	\|\| co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
747	\|\| co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
748	char obuffer[CLOCKORBIT_BUFFERSIZE];
749	int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
750	if (len > 0) {
751	hlpBufferCo = QByteArray(obuffer, len);
752	}
753	}
754	}
755
756	// Orbit and Clock Corrections separately
757	// --------------------------------------
758	else {
759	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
760	char obuffer[CLOCKORBIT_BUFFERSIZE];
761	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
762	co.UpdateInterval = ephUpdInd;
763	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer,
764	sizeof(obuffer));
765	co.UpdateInterval = clkUpdInd;
766	if (len1 > 0) {
767	hlpBufferCo += QByteArray(obuffer, len1);
768	}
769	}
770	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 \|\|
771	co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
772	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
773	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
774	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
775	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer,
776	sizeof(obuffer));
777	if (len2 > 0) {
778	hlpBufferCo += QByteArray(obuffer, len2);
779	}
780	}
781	if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
782	char obuffer[CLOCKORBIT_BUFFERSIZE];
783	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
784	co.UpdateInterval = ephUpdInd;
785	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer,
786	sizeof(obuffer));
787	co.UpdateInterval = clkUpdInd;
788	if (len1 > 0) {
789	hlpBufferCo += QByteArray(obuffer, len1);
790	}
791	}
792	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
793	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
794	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
795	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
796	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer,
797	sizeof(obuffer));
798	if (len2 > 0) {
799	hlpBufferCo += QByteArray(obuffer, len2);
800	}
801	}
802	if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
803	char obuffer[CLOCKORBIT_BUFFERSIZE];
804	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
805	co.UpdateInterval = ephUpdInd;
806	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer,
807	sizeof(obuffer));
808	co.UpdateInterval = clkUpdInd;
809	if (len1 > 0) {
810	hlpBufferCo += QByteArray(obuffer, len1);
811	}
812	}
813	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
814	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
815	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
816	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer,
817	sizeof(obuffer));
818	if (len2 > 0) {
819	hlpBufferCo += QByteArray(obuffer, len2);
820	}
821	}
822	if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
823	char obuffer[CLOCKORBIT_BUFFERSIZE];
824	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
825	co.UpdateInterval = ephUpdInd;
826	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer,
827	sizeof(obuffer));
828	co.UpdateInterval = clkUpdInd;
829	if (len1 > 0) {
830	hlpBufferCo += QByteArray(obuffer, len1);
831	}
832	}
833	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
834	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
835	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer,
836	sizeof(obuffer));
837	if (len2 > 0) {
838	hlpBufferCo += QByteArray(obuffer, len2);
839	}
840	}
841	if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
842	char obuffer[CLOCKORBIT_BUFFERSIZE];
843	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
844	co.UpdateInterval = ephUpdInd;
845	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer,
846	sizeof(obuffer));
847	co.UpdateInterval = clkUpdInd;
848	if (len1 > 0) {
849	hlpBufferCo += QByteArray(obuffer, len1);
850	}
851	}
852	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
853	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
854	sizeof(obuffer));
855	if (len2 > 0) {
856	hlpBufferCo += QByteArray(obuffer, len2);
857	}
858	}
859	if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
860	char obuffer[CLOCKORBIT_BUFFERSIZE];
861	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
862	co.UpdateInterval = ephUpdInd;
863	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer,
864	sizeof(obuffer));
865	co.UpdateInterval = clkUpdInd;
866	if (len1 > 0) {
867	hlpBufferCo += QByteArray(obuffer, len1);
868	}
869	}
870	int mmsg = 0;
871	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer,
872	sizeof(obuffer));
873	if (len2 > 0) {
874	hlpBufferCo += QByteArray(obuffer, len2);
875	}
876	}
877	}
878
879	// Code Biases
880	// -----------
881	QByteArray hlpBufferBias;
882	if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
883	\|\| bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
884	\|\| bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
885	\|\| bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
886	\|\| bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
887	\|\| bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
888	char obuffer[CLOCKORBIT_BUFFERSIZE];
889	int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
890	if (len > 0) {
891	hlpBufferBias = QByteArray(obuffer, len);
892	}
893	}
894
895	// Phase Biases
896	// ------------
897	QByteArray hlpBufferPhaseBias;
898	if (phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
899	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
900	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
901	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
902	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
903	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
904	char obuffer[CLOCKORBIT_BUFFERSIZE];
905	int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer,
906	sizeof(obuffer));
907	if (len > 0) {
908	hlpBufferPhaseBias = QByteArray(obuffer, len);
909	}
910	}
911
912	// VTEC
913	// ----
914	QByteArray hlpBufferVtec;
915	if (vtec.NumLayers > 0) {
916	char obuffer[CLOCKORBIT_BUFFERSIZE];
917	int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
918	if (len > 0) {
919	hlpBufferVtec = QByteArray(obuffer, len);
920	}
921	}
922
923	_outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias
924	+ hlpBufferVtec;
925	}
926
927	//
928	////////////////////////////////////////////////////////////////////////////
929	t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
930	double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
931	double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
932	const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
933	struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
934
935	// Broadcast Position and Velocity
936	// -------------------------------
937	ColumnVector xB(6);
938	ColumnVector vB(3);
939	t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
940
941	if (irc != success) {
942	return irc;
943	}
944
945	// Precise Position
946	// ----------------
947	ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
948
949	if (xP.size() == 0) {
950	return failure;
951	}
952
953	double dc = 0.0;
954	if (_crdTrafo != "IGS14") {
955	crdTrafo(GPSweek, xP, dc);
956	}
957
958	// Difference in xyz
959	// -----------------
960	ColumnVector dx = xB.Rows(1, 3) - xP;
961	ColumnVector dv = vB - rtnVel;
962
963	// Difference in RSW
964	// -----------------
965	ColumnVector rsw(3);
966	XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
967
968	ColumnVector dotRsw(3);
969	XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
970
971	// Clock Correction
972	// ----------------
973	double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
974	double dClkA1 = 0.0;
975	if (rtnClk(2)) {
976	dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
977	}
978	double dClkA2 = 0.0;
979	if (rtnClk(3)) {
980	dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
981	}
982
983	if (sd) {
984	sd->ID = prn.mid(1).toInt();
985	sd->IOD = eph->IOD();
986	sd->Clock.DeltaA0 = dClkA0;
987	sd->Clock.DeltaA1 = dClkA1;
988	sd->Clock.DeltaA2 = dClkA2;
989	sd->UserRangeAccuracy = rtnUra;
990	sd->Orbit.DeltaRadial = rsw(1);
991	sd->Orbit.DeltaAlongTrack = rsw(2);
992	sd->Orbit.DeltaCrossTrack = rsw(3);
993	sd->Orbit.DotDeltaRadial = dotRsw(1);
994	sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
995	sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
996	}
997
998	outLine.sprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
999	GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
1000	rsw(1), rsw(2), rsw(3));
1001
1002	// RTNET full clock for RINEX and SP3 file
1003	// ---------------------------------------
1004	double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1005	double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1006	double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1007	double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² ) -/s]
1008
1009	if (_rnx) {
1010	double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1011	int s = rtnClkSig.size();
1012	switch (s) {
1013	case 1:
1014	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1015	clkRnxRateSig = 0.0; // [s/s = -]
1016	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1017	break;
1018	case 2:
1019	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1020	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1021	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1022	break;
1023	case 3:
1024	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1025	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1026	clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1027	break;
1028	}
1029	_rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1030	clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1031	}
1032	if (_sp3) {
1033	_sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1034	}
1035	return success;
1036	}
1037
1038	// Transform Coordinates
1039	////////////////////////////////////////////////////////////////////////////
1040	void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1041	double& dc) {
1042
1043	// Current epoch minus 2000.0 in years
1044	// ------------------------------------
1045	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1046
1047	ColumnVector dx(3);
1048
1049	dx(1) = _dx + dt * _dxr;
1050	dx(2) = _dy + dt * _dyr;
1051	dx(3) = _dz + dt * _dzr;
1052
1053	static const double arcSec = 180.0 * 3600.0 / M_PI;
1054
1055	double ox = (_ox + dt * _oxr) / arcSec;
1056	double oy = (_oy + dt * _oyr) / arcSec;
1057	double oz = (_oz + dt * _ozr) / arcSec;
1058
1059	double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1060
1061	// Specify approximate center of area
1062	// ----------------------------------
1063	ColumnVector meanSta(3);
1064
1065	if (_crdTrafo == "ETRF2000") {
1066	meanSta(1) = 3661090.0;
1067	meanSta(2) = 845230.0;
1068	meanSta(3) = 5136850.0;
1069	}
1070	else if (_crdTrafo == "GDA2020") {
1071	meanSta(1) = -4052050.0;
1072	meanSta(2) = 4212840.0;
1073	meanSta(3) = -2545110.0;
1074	}
1075	else if (_crdTrafo == "SIRGAS2000") {
1076	meanSta(1) = 3740860.0;
1077	meanSta(2) = -4964290.0;
1078	meanSta(3) = -1425420.0;
1079	}
1080	else if (_crdTrafo == "DREF91") {
1081	meanSta(1) = 3959579.0;
1082	meanSta(2) = 721719.0;
1083	meanSta(3) = 4931539.0;
1084	}
1085	else if (_crdTrafo == "Custom") {
1086	meanSta(1) = 0.0; // TODO
1087	meanSta(2) = 0.0; // TODO
1088	meanSta(3) = 0.0; // TODO
1089	}
1090
1091	// Clock correction proportional to topocentric distance to satellites
1092	// -------------------------------------------------------------------
1093	double rho = (xyz - meanSta).NormFrobenius();
1094	dc = rho * (sc - 1.0) / sc / t_CST::c;
1095
1096	Matrix rMat(3, 3);
1097	rMat(1, 1) = 1.0;
1098	rMat(1, 2) = -oz;
1099	rMat(1, 3) = oy;
1100	rMat(2, 1) = oz;
1101	rMat(2, 2) = 1.0;
1102	rMat(2, 3) = -ox;
1103	rMat(3, 1) = -oy;
1104	rMat(3, 2) = ox;
1105	rMat(3, 3) = 1.0;
1106
1107	xyz = sc * rMat * xyz + dx;
1108	}
1109
1110	int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1111
1112	if (samplingRate == 10.0) {
1113	return 3;
1114	}
1115	else if (samplingRate == 15.0) {
1116	return 4;
1117	}
1118	else if (samplingRate == 30.0) {
1119	return 5;
1120	}
1121	else if (samplingRate == 60.0) {
1122	return 6;
1123	}
1124	else if (samplingRate == 120.0) {
1125	return 7;
1126	}
1127	else if (samplingRate == 240.0) {
1128	return 8;
1129	}
1130	else if (samplingRate == 300.0) {
1131	return 9;
1132	}
1133	else if (samplingRate == 600.0) {
1134	return 10;
1135	}
1136	else if (samplingRate == 900.0) {
1137	return 11;
1138	}
1139	else if (samplingRate == 1800.0) {
1140	return 12;
1141	}
1142	else if (samplingRate == 3600.0) {
1143	return 13;
1144	}
1145	else if (samplingRate == 7200.0) {
1146	return 14;
1147	}
1148	else if (samplingRate == 10800.0) {
1149	return 15;
1150	}
1151	return 2; // default
1152	}

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