source: ntrip/trunk/BNC/upload/bncrtnetdecoder.cpp@ 3172

Last change on this file since 3172 was 3172, checked in by mervart, 13 years ago
File size: 14.9 KB
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1// Part of BNC, a utility for retrieving decoding and
2// converting GNSS data streams from NTRIP broadcasters.
3//
4// Copyright (C) 2007
5// German Federal Agency for Cartography and Geodesy (BKG)
6// http://www.bkg.bund.de
7// Czech Technical University Prague, Department of Geodesy
8// http://www.fsv.cvut.cz
9//
10// Email: euref-ip@bkg.bund.de
11//
12// This program is free software; you can redistribute it and/or
13// modify it under the terms of the GNU General Public License
14// as published by the Free Software Foundation, version 2.
15//
16// This program is distributed in the hope that it will be useful,
17// but WITHOUT ANY WARRANTY; without even the implied warranty of
18// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19// GNU General Public License for more details.
20//
21// You should have received a copy of the GNU General Public License
22// along with this program; if not, write to the Free Software
23// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25/* -------------------------------------------------------------------------
26 * BKG NTRIP Client
27 * -------------------------------------------------------------------------
28 *
29 * Class: bncRtnetDecoder
30 *
31 * Purpose: Implementation of RTNet (SP3-like) output decoder
32 *
33 * Author: L. Mervart
34 *
35 * Created: 28-Mar-2011
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <iostream>
42#include "bncrtnetdecoder.h"
43#include "bncutils.h"
44#include "bncsettings.h"
45
46using namespace std;
47
48// Constructor
49////////////////////////////////////////////////////////////////////////
50bncRtnetDecoder::bncRtnetDecoder() {
51 bncSettings settings;
52 _year = 0;
53}
54
55// Destructor
56////////////////////////////////////////////////////////////////////////
57bncRtnetDecoder::~bncRtnetDecoder() {
58}
59
60//
61////////////////////////////////////////////////////////////////////////
62void bncRtnetDecoder::readEpochTime(const QString& line) {
63 QTextStream in(line.toAscii());
64 QString hlp;
65 in >> hlp >> _year >> _month >> _day >> _hour >> _min >> _sec;
66 GPSweekFromYMDhms(_year, _month, _day, _hour, _min, _sec, _GPSweek, _GPSweeks);
67}
68
69// Decode Method
70////////////////////////////////////////////////////////////////////////
71t_irc bncRtnetDecoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
72
73 errmsg.clear();
74 _buffer.append(QByteArray(buffer, bufLen));
75
76 // Prepare list of lines with satellite positions in SP3-like format
77 // -----------------------------------------------------------------
78 QStringList lines;
79 int iLast = _buffer.lastIndexOf('\n');
80 if (iLast != -1) {
81 QStringList hlpLines = _buffer.split('\n', QString::SkipEmptyParts);
82 _buffer = _buffer.mid(iLast+1);
83 for (int ii = 0; ii < hlpLines.size(); ii++) {
84 if (hlpLines[ii].indexOf('*') != -1) {
85 readEpochTime(hlpLines[ii]);
86 }
87 else if (_year != 0) {
88 lines << hlpLines[ii];
89 }
90 }
91 }
92
93 // Satellite positions to be processed
94 // -----------------------------------
95 if (lines.size() > 0) {
96
97 QStringList prns;
98
99 for (int ic = 0; ic < _caster.size(); ic++) {
100 _caster.at(ic)->open();
101
102 struct ClockOrbit co;
103 memset(&co, 0, sizeof(co));
104 co.GPSEpochTime = (int)_GPSweeks;
105 co.GLONASSEpochTime = (int)fmod(_GPSweeks, 86400.0)
106 + 3 * 3600 - gnumleap(_year, _month, _day);
107 co.ClockDataSupplied = 1;
108 co.OrbitDataSupplied = 1;
109 co.SatRefDatum = DATUM_ITRF;
110
111 struct Bias bias;
112 memset(&bias, 0, sizeof(bias));
113 bias.GPSEpochTime = (int)_GPSweeks;
114 bias.GLONASSEpochTime = (int)fmod(_GPSweeks, 86400.0)
115 + 3 * 3600 - gnumleap(_year, _month, _day);
116
117 for (int ii = 0; ii < lines.size(); ii++) {
118
119 QString prn;
120 ColumnVector xx(14); xx = 0.0;
121 t_ephPair* pair = 0;
122
123 if (ic == 0) {
124 QTextStream in(lines[ii].toAscii());
125 in >> prn;
126 prns << prn;
127 if ( _ephList.contains(prn) ) {
128 in >> xx(1) >> xx(2) >> xx(3) >> xx(4) >> xx(5)
129 >> xx(6) >> xx(7) >> xx(8) >> xx(9) >> xx(10)
130 >> xx(11) >> xx(12) >> xx(13) >> xx(14);
131 xx(1) *= 1e3; // x-crd
132 xx(2) *= 1e3; // y-crd
133 xx(3) *= 1e3; // z-crd
134 xx(4) *= 1e-6; // clk
135 xx(5) *= 1e-6; // rel. corr.
136 // xx(6), xx(7), xx(8) ... PhaseCent - CoM
137 // xx(9) ... P1-C1 DCB in meters
138 // xx(10) ... P1-P2 DCB in meters
139 // xx(11) ... dT
140 xx(12) *= 1e3; // x-crd at time + dT
141 xx(13) *= 1e3; // y-crd at time + dT
142 xx(14) *= 1e3; // z-crd at time + dT
143
144 pair = _ephList[prn];
145 pair->xx = xx;
146 }
147 }
148 else {
149 prn = prns[ii];
150 if ( _ephList.contains(prn) ) {
151 pair = _ephList[prn];
152 xx = pair->xx;
153 }
154 }
155
156 // Use old ephemeris if the new one is too recent
157 // ----------------------------------------------
158 t_eph* ep = 0;
159 if (pair) {
160 ep = pair->eph;
161 if (pair->oldEph && ep &&
162 ep->receptDateTime().secsTo(QDateTime::currentDateTime()) < 60) {
163 ep = pair->oldEph;
164 }
165 }
166
167 if (ep != 0) {
168 struct ClockOrbit::SatData* sd = 0;
169 if (prn[0] == 'G') {
170 sd = co.Sat + co.NumberOfGPSSat;
171 ++co.NumberOfGPSSat;
172 }
173 else if (prn[0] == 'R') {
174 sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
175 ++co.NumberOfGLONASSSat;
176 }
177 if (sd) {
178 QString outLine;
179 processSatellite(ic, _caster.at(ic)->crdTrafo(),
180 _caster.at(ic)->CoM(), ep,
181 _GPSweek, _GPSweeks, prn, xx, sd, outLine);
182 _caster.at(ic)->printAscii(outLine);
183 }
184
185 struct Bias::BiasSat* biasSat = 0;
186 if (prn[0] == 'G') {
187 biasSat = bias.Sat + bias.NumberOfGPSSat;
188 ++bias.NumberOfGPSSat;
189 }
190 else if (prn[0] == 'R') {
191 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + bias.NumberOfGLONASSSat;
192 ++bias.NumberOfGLONASSSat;
193 }
194
195 // Coefficient of Ionosphere-Free LC
196 // ---------------------------------
197 const static double a_L1_GPS = 2.54572778;
198 const static double a_L2_GPS = -1.54572778;
199 const static double a_L1_Glo = 2.53125000;
200 const static double a_L2_Glo = -1.53125000;
201
202 if (biasSat) {
203 biasSat->ID = prn.mid(1).toInt();
204 biasSat->NumberOfCodeBiases = 3;
205 if (prn[0] == 'G') {
206 biasSat->Biases[0].Type = CODETYPEGPS_L1_Z;
207 biasSat->Biases[0].Bias = - a_L2_GPS * xx(10);
208 biasSat->Biases[1].Type = CODETYPEGPS_L1_CA;
209 biasSat->Biases[1].Bias = - a_L2_GPS * xx(10) + xx(9);
210 biasSat->Biases[2].Type = CODETYPEGPS_L2_Z;
211 biasSat->Biases[2].Bias = a_L1_GPS * xx(10);
212 }
213 else if (prn[0] == 'R') {
214 biasSat->Biases[0].Type = CODETYPEGLONASS_L1_P;
215 biasSat->Biases[0].Bias = - a_L2_Glo * xx(10);
216 biasSat->Biases[1].Type = CODETYPEGLONASS_L1_CA;
217 biasSat->Biases[1].Bias = - a_L2_Glo * xx(10) + xx(9);
218 biasSat->Biases[2].Type = CODETYPEGLONASS_L2_P;
219 biasSat->Biases[2].Bias = a_L1_Glo * xx(10);
220 }
221 }
222 }
223 }
224
225 if ( _caster.at(ic)->usedSocket() &&
226 (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) ) {
227 char obuffer[CLOCKORBIT_BUFFERSIZE];
228
229 int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
230 if (len > 0) {
231 if (_caster.at(ic)->ic() == 1) { emit(newOutBytes1(len));}
232 if (_caster.at(ic)->ic() == 2) { emit(newOutBytes2(len));}
233 if (_caster.at(ic)->ic() == 3) { emit(newOutBytes3(len));}
234 if (_caster.at(ic)->ic() == 4) { emit(newOutBytes4(len));}
235 if (_caster.at(ic)->ic() == 5) { emit(newOutBytes5(len));}
236 if (_caster.at(ic)->ic() == 6) { emit(newOutBytes6(len));}
237 if (_caster.at(ic)->ic() == 7) { emit(newOutBytes7(len));}
238 if (_caster.at(ic)->ic() == 8) { emit(newOutBytes8(len));}
239 if (_caster.at(ic)->ic() == 9) { emit(newOutBytes9(len));}
240 if (_caster.at(ic)->ic() == 10) { emit(newOutBytes10(len));}
241 _caster.at(ic)->write(obuffer, len);
242 }
243 }
244
245 if ( _caster.at(ic)->usedSocket() &&
246 (bias.NumberOfGPSSat > 0 || bias.NumberOfGLONASSSat > 0) ) {
247 char obuffer[CLOCKORBIT_BUFFERSIZE];
248 int len = MakeBias(&bias, BTYPE_AUTO, 0, obuffer, sizeof(obuffer));
249 if (len > 0) {
250 _caster.at(ic)->write(obuffer, len);
251 }
252 }
253 }
254 }
255
256 return success;
257}
258
259//
260////////////////////////////////////////////////////////////////////////////
261void bncRtnetDecoder::processSatellite(int iCaster, const QString trafo,
262 bool CoM, t_eph* ep, int GPSweek,
263 double GPSweeks, const QString& prn,
264 const ColumnVector& xx,
265 struct ClockOrbit::SatData* sd,
266 QString& outLine) {
267
268 const double secPerWeek = 7.0 * 86400.0;
269
270 ColumnVector rsw(3);
271 ColumnVector rsw2(3);
272 double dClk;
273
274 for (int ii = 1; ii <= 2; ++ii) {
275
276 int GPSweek12 = GPSweek;
277 double GPSweeks12 = GPSweeks;
278 if (ii == 2) {
279 GPSweeks12 += xx(11);
280 if (GPSweeks12 > secPerWeek) {
281 GPSweek12 += 1;
282 GPSweeks12 -= secPerWeek;
283 }
284 }
285
286 ColumnVector xB(4);
287 ColumnVector vv(3);
288
289 ep->position(GPSweek12, GPSweeks12, xB, vv);
290
291 ColumnVector xyz;
292 if (ii == 1) {
293 xyz = xx.Rows(1,3);
294 }
295 else {
296 xyz = xx.Rows(12,14);
297 }
298
299 // Correction Center of Mass -> Antenna Phase Center
300 // -------------------------------------------------
301 if (! CoM) {
302 xyz(1) += xx(6);
303 xyz(2) += xx(7);
304 xyz(3) += xx(8);
305 }
306
307 if (trafo != "IGS05") {
308 crdTrafo(GPSweek12, xyz, trafo);
309 }
310
311 ColumnVector dx = xB.Rows(1,3) - xyz ;
312
313 if (ii == 1) {
314 XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw);
315 dClk = (xx(4) + xx(5) - xB(4)) * 299792458.0;
316 }
317 else {
318 XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw2);
319 }
320 }
321
322 if (sd) {
323 sd->ID = prn.mid(1).toInt();
324 sd->IOD = ep->IOD();
325 sd->Clock.DeltaA0 = dClk;
326 sd->Orbit.DeltaRadial = rsw(1);
327 sd->Orbit.DeltaAlongTrack = rsw(2);
328 sd->Orbit.DeltaCrossTrack = rsw(3);
329 sd->Orbit.DotDeltaRadial = (rsw2(1) - rsw(1)) / xx(11);
330 sd->Orbit.DotDeltaAlongTrack = (rsw2(2) - rsw(2)) / xx(11);
331 sd->Orbit.DotDeltaCrossTrack = (rsw2(3) - rsw(3)) / xx(11);
332 }
333
334 outLine.sprintf("%d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n",
335 GPSweek, GPSweeks, ep->prn().toAscii().data(),
336 ep->IOD(), dClk, rsw(1), rsw(2), rsw(3));
337
338 if (iCaster == 0) {
339 if (_rnx) {
340 _rnx->write(GPSweek, GPSweeks, prn, xx);
341 }
342 if (_sp3) {
343 _sp3->write(GPSweek, GPSweeks, prn, xx, _append);
344 }
345 }
346}
347
348// Transform Coordinates
349////////////////////////////////////////////////////////////////////////////
350void bncRtnetDecoder::crdTrafo(int GPSWeek, ColumnVector& xyz,
351 const QString& trafo) {
352
353 bnsSettings settings;
354
355 if (trafo == "ETRF2000") {
356 _dx = 0.0541;
357 _dy = 0.0502;
358 _dz = -0.0538;
359 _dxr = -0.0002;
360 _dyr = 0.0001;
361 _dzr = -0.0018;
362 _ox = 0.000891;
363 _oy = 0.005390;
364 _oz = -0.008712;
365 _oxr = 0.000081;
366 _oyr = 0.000490;
367 _ozr = -0.000792;
368 _sc = 0.40;
369 _scr = 0.08;
370 _t0 = 2000.0;
371 }
372 else if (trafo == "NAD83") {
373 _dx = 0.9963;
374 _dy = -1.9024;
375 _dz = -0.5210;
376 _dxr = 0.0005;
377 _dyr = -0.0006;
378 _dzr = -0.0013;
379 _ox = 0.025915;
380 _oy = 0.009426;
381 _oz = 0.011599;
382 _oxr = 0.000067;
383 _oyr = -0.000757;
384 _ozr = -0.000051;
385 _sc = 0.78;
386 _scr = -0.10;
387 _t0 = 1997.0;
388 }
389 else if (trafo == "GDA94") {
390 _dx = -0.07973;
391 _dy = -0.00686;
392 _dz = 0.03803;
393 _dxr = 0.00225;
394 _dyr = -0.00062;
395 _dzr = -0.00056;
396 _ox = 0.0000351;
397 _oy = -0.0021211;
398 _oz = -0.0021411;
399 _oxr = -0.0014707;
400 _oyr = -0.0011443;
401 _ozr = -0.0011701;
402 _sc = 6.636;
403 _scr = 0.294;
404 _t0 = 1994.0;
405 }
406 else if (trafo == "SIRGAS2000") {
407 _dx = -0.0051;
408 _dy = -0.0065;
409 _dz = -0.0099;
410 _dxr = 0.0000;
411 _dyr = 0.0000;
412 _dzr = 0.0000;
413 _ox = 0.000150;
414 _oy = 0.000020;
415 _oz = 0.000021;
416 _oxr = 0.000000;
417 _oyr = 0.000000;
418 _ozr = 0.000000;
419 _sc = 0.000;
420 _scr = 0.000;
421 _t0 = 0000.0;
422 }
423 else if (trafo == "SIRGAS95") {
424 _dx = 0.0077;
425 _dy = 0.0058;
426 _dz = -0.0138;
427 _dxr = 0.0000;
428 _dyr = 0.0000;
429 _dzr = 0.0000;
430 _ox = 0.000000;
431 _oy = 0.000000;
432 _oz = -0.000030;
433 _oxr = 0.000000;
434 _oyr = 0.000000;
435 _ozr = 0.000000;
436 _sc = 1.570;
437 _scr = 0.000;
438 _t0 = 0000.0;
439 }
440 else if (trafo == "Custom") {
441 _dx = settings.value("trafo_dx").toDouble();
442 _dy = settings.value("trafo_dy").toDouble();
443 _dz = settings.value("trafo_dz").toDouble();
444 _dxr = settings.value("trafo_dxr").toDouble();
445 _dyr = settings.value("trafo_dyr").toDouble();
446 _dzr = settings.value("trafo_dzr").toDouble();
447 _ox = settings.value("trafo_ox").toDouble();
448 _oy = settings.value("trafo_oy").toDouble();
449 _oz = settings.value("trafo_oz").toDouble();
450 _oxr = settings.value("trafo_oxr").toDouble();
451 _oyr = settings.value("trafo_oyr").toDouble();
452 _ozr = settings.value("trafo_ozr").toDouble();
453 _sc = settings.value("trafo_sc").toDouble();
454 _scr = settings.value("trafo_scr").toDouble();
455 _t0 = settings.value("trafo_t0").toDouble();
456 }
457
458 // Current epoch minus 2000.0 in years
459 // ------------------------------------
460 double dt = (GPSWeek - (1042.0+6.0/7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
461
462 ColumnVector dx(3);
463
464 dx(1) = _dx + dt * _dxr;
465 dx(2) = _dy + dt * _dyr;
466 dx(3) = _dz + dt * _dzr;
467
468 static const double arcSec = 180.0 * 3600.0 / M_PI;
469
470 double ox = (_ox + dt * _oxr) / arcSec;
471 double oy = (_oy + dt * _oyr) / arcSec;
472 double oz = (_oz + dt * _ozr) / arcSec;
473
474 double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
475
476 Matrix rMat(3,3);
477 rMat(1,1) = 1.0;
478 rMat(1,2) = -oz;
479 rMat(1,3) = oy;
480 rMat(2,1) = oz;
481 rMat(2,2) = 1.0;
482 rMat(2,3) = -ox;
483 rMat(3,1) = -oy;
484 rMat(3,2) = ox;
485 rMat(3,3) = 1.0;
486
487 xyz = sc * rMat * xyz + dx;
488}
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