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source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 9032

Last change on this file since 9032 was 9032, checked in by stuerze, 4 years ago
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File size: 37.4 KB

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

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