source: ntrip/trunk/BNS/bns.cpp@ 2339

Last change on this file since 2339 was 2339, checked in by mervart, 14 years ago

* empty log message *
File size: 21.0 KB
Line 
1/* -------------------------------------------------------------------------
2 * BKG NTRIP Server
3 * -------------------------------------------------------------------------
4 *
5 * Class: bns
6 *
7 * Purpose: This class implements the main application behaviour
8 *
9 * Author: L. Mervart
10 *
11 * Created: 29-Mar-2008
12 *
13 * Changes:
14 *
15 * -----------------------------------------------------------------------*/
16
17#include <math.h>
18#include <iostream>
19#include <newmatio.h>
20
21#include "bns.h"
22#include "bnsutils.h"
23#include "bnsrinex.h"
24#include "bnssp3.h"
25#include "bnssettings.h"
26extern "C" {
27#include "RTCM/rtcm3torinex.h"
28}
29
30using namespace std;
31
32// Error Handling
33////////////////////////////////////////////////////////////////////////////
34void RTCM3Error(const char*, ...) {
35}
36
37// Constructor
38////////////////////////////////////////////////////////////////////////////
39t_bns::t_bns(QObject* parent) : QThread(parent) {
40
41 this->setTerminationEnabled(true);
42
43 connect(this, SIGNAL(moveSocket(QThread*)),
44 this, SLOT(slotMoveSocket(QThread*)));
45
46 bnsSettings settings;
47
48 // Set Proxy (application-wide)
49 // ----------------------------
50 QString proxyHost = settings.value("proxyHost").toString();
51 int proxyPort = settings.value("proxyPort").toInt();
52
53 QNetworkProxy proxy;
54 if (proxyHost.isEmpty()) {
55 proxy.setType(QNetworkProxy::NoProxy);
56 }
57 else {
58 proxy.setType(QNetworkProxy::Socks5Proxy);
59 proxy.setHostName(proxyHost);
60 proxy.setPort(proxyPort);
61 }
62 QNetworkProxy::setApplicationProxy(proxy);
63
64 // Thread that handles broadcast ephemeris
65 // ---------------------------------------
66 _bnseph = new t_bnseph(parent);
67
68 connect(_bnseph, SIGNAL(newEph(t_eph*, int)),
69 this, SLOT(slotNewEph(t_eph*, int)));
70 connect(_bnseph, SIGNAL(newMessage(QByteArray)),
71 this, SLOT(slotMessage(const QByteArray)));
72 connect(_bnseph, SIGNAL(error(QByteArray)),
73 this, SLOT(slotError(const QByteArray)));
74
75 // Server listening for rtnet results
76 // ----------------------------------
77 _clkSocket = 0;
78 _clkServer = new QTcpServer;
79 _clkServer->listen(QHostAddress::Any, settings.value("clkPort").toInt());
80 connect(_clkServer, SIGNAL(newConnection()),this, SLOT(slotNewConnection()));
81
82 // Socket and file for outputting the results
83 // -------------------------------------------
84 for (int ic = 1; ic <= 6; ic++) {
85 QString mountpoint = settings.value(QString("mountpoint_%1").arg(ic)).toString();
86 QString outFileName = settings.value(QString("outFile_%1").arg(ic)).toString();
87 if (!mountpoint.isEmpty() || !outFileName.isEmpty()) {
88 _caster.push_back(new t_bnscaster(mountpoint, outFileName, ic));
89 connect(_caster.back(), SIGNAL(error(const QByteArray)),
90 this, SLOT(slotError(const QByteArray)));
91 connect(_caster.back(), SIGNAL(newMessage(const QByteArray)),
92 this, SLOT(slotMessage(const QByteArray)));
93 }
94 }
95
96 // Socket for outputting the Ephemerides
97 // -------------------------------------
98 QString mountpoint = settings.value("mountpoint_Eph").toString();
99 if (mountpoint.isEmpty()) {
100 _casterEph = 0;
101 }
102 else {
103 _casterEph = new t_bnscaster(mountpoint);
104 connect(_casterEph, SIGNAL(error(const QByteArray)),
105 this, SLOT(slotError(const QByteArray)));
106 connect(_casterEph, SIGNAL(newMessage(const QByteArray)),
107 this, SLOT(slotMessage(const QByteArray)));
108 }
109
110 // Log File
111 // --------
112 QIODevice::OpenMode oMode;
113 if (Qt::CheckState(settings.value("fileAppend").toInt()) == Qt::Checked) {
114 oMode = QIODevice::WriteOnly | QIODevice::Unbuffered | QIODevice::Append;
115 }
116 else {
117 oMode = QIODevice::WriteOnly | QIODevice::Unbuffered;
118 }
119
120 QString logFileName = settings.value("logFile").toString();
121 if (logFileName.isEmpty()) {
122 _logFile = 0;
123 _logStream = 0;
124 }
125 else {
126 _logFile = new QFile(logFileName);
127 if (_logFile->open(oMode)) {
128 _logStream = new QTextStream(_logFile);
129 }
130 else {
131 _logStream = 0;
132 }
133 }
134
135 // Echo input from RTNet into a file
136 // ---------------------------------
137 QString echoFileName = settings.value("inpEcho").toString();
138 if (echoFileName.isEmpty()) {
139 _echoFile = 0;
140 _echoStream = 0;
141 }
142 else {
143 _echoFile = new QFile(echoFileName);
144 if (_echoFile->open(oMode)) {
145 _echoStream = new QTextStream(_echoFile);
146 }
147 else {
148 _echoStream = 0;
149 }
150 }
151
152 // RINEX writer
153 // ------------
154 if ( settings.value("rnxPath").toString().isEmpty() ) {
155 _rnx = 0;
156 }
157 else {
158 QString prep = "BNS";
159 QString ext = ".clk";
160 QString path = settings.value("rnxPath").toString();
161 QString intr = settings.value("rnxIntr").toString();
162 int sampl = settings.value("rnxSampl").toInt();
163 _rnx = new bnsRinex(prep, ext, path, intr, sampl);
164 }
165
166 // SP3 writer
167 // ----------
168 if ( settings.value("sp3Path").toString().isEmpty() ) {
169 _sp3 = 0;
170 }
171 else {
172 QString prep = "BNS";
173 QString ext = ".sp3";
174 QString path = settings.value("sp3Path").toString();
175 QString intr = settings.value("sp3Intr").toString();
176 int sampl = settings.value("sp3Sampl").toInt();
177 _sp3 = new bnsSP3(prep, ext, path, intr, sampl);
178 }
179}
180
181// Destructor
182////////////////////////////////////////////////////////////////////////////
183t_bns::~t_bns() {
184 deleteBnsEph();
185 delete _clkServer;
186 delete _clkSocket;
187 for (int ic = 0; ic < _caster.size(); ic++) {
188 delete _caster.at(ic);
189 }
190 delete _casterEph;
191 delete _logStream;
192 delete _logFile;
193 delete _echoStream;
194 delete _echoFile;
195 QMapIterator<QString, t_ephPair*> it(_ephList);
196 while (it.hasNext()) {
197 it.next();
198 delete it.value();
199 }
200 delete _rnx;
201 delete _sp3;
202}
203
204// Delete bns thread
205////////////////////////////////////////////////////////////////////////////
206void t_bns::deleteBnsEph() {
207 if (_bnseph) {
208 _bnseph->terminate();
209 _bnseph->wait(100);
210 delete _bnseph;
211 _bnseph = 0;
212 }
213}
214
215// Write a Program Message
216////////////////////////////////////////////////////////////////////////////
217void t_bns::slotMessage(const QByteArray msg) {
218 if (_logStream) {
219 QString txt = QDateTime::currentDateTime().toUTC().toString("yy-MM-dd hh:mm:ss ");
220 *_logStream << txt << msg << endl;
221 _logStream->flush();
222 }
223 emit(newMessage(msg));
224}
225
226// Write a Program Message
227////////////////////////////////////////////////////////////////////////////
228void t_bns::slotError(const QByteArray msg) {
229 if (_logStream) {
230 *_logStream << msg << endl;
231 _logStream->flush();
232 }
233 deleteBnsEph();
234 emit(error(msg));
235}
236
237// New Connection
238////////////////////////////////////////////////////////////////////////////
239void t_bns::slotNewConnection() {
240//slotMessage("t_bns::slotNewConnection");
241 slotMessage("Clocks & orbits port: Waiting for client to connect"); // weber
242 delete _clkSocket;
243 _clkSocket = _clkServer->nextPendingConnection();
244}
245
246//
247////////////////////////////////////////////////////////////////////////////
248void t_bns::slotNewEph(t_eph* ep, int nBytes) {
249
250 QMutexLocker locker(&_mutex);
251
252 emit(newEphBytes(nBytes));
253
254 // Output Ephemerides as they are
255 // ------------------------------
256 if (_casterEph) {
257 _casterEph->open();
258 unsigned char Array[67];
259 int size = ep->RTCM3(Array);
260 if (size > 0) {
261 _casterEph->write((char*) Array, size);
262 emit(newOutEphBytes(size));
263 }
264 //// QByteArray buffer = "New Ephemeris " + ep->prn().toAscii() + "\n";
265 //// _casterEph->write(buffer.data(), buffer.length());
266 //// int len = buffer.length();
267 //// if (len > 0) {
268 //// emit(newOutEphBytes(len));
269 //// }
270 }
271
272 t_ephPair* pair;
273 if ( !_ephList.contains(ep->prn()) ) {
274 pair = new t_ephPair();
275 _ephList.insert(ep->prn(), pair);
276 }
277 else {
278 pair = _ephList[ep->prn()];
279 }
280
281 if (pair->eph == 0) {
282 pair->eph = ep;
283 }
284 else {
285 if (ep->isNewerThan(pair->eph)) {
286 delete pair->oldEph;
287 pair->oldEph = pair->eph;
288 pair->eph = ep;
289 }
290 else {
291 delete ep;
292 }
293 }
294}
295
296// Start
297////////////////////////////////////////////////////////////////////////////
298void t_bns::run() {
299
300 slotMessage("============ Start BNS ============");
301
302 // Start Thread that retrieves broadcast Ephemeris
303 // -----------------------------------------------
304 _bnseph->start();
305
306 // Endless loop
307 // ------------
308 while (true) {
309
310 if (_clkSocket && _clkSocket->thread() != currentThread()) {
311 emit(moveSocket(currentThread()));
312 }
313
314 if (_clkSocket && _clkSocket->state() == QAbstractSocket::ConnectedState) {
315 if ( _clkSocket->canReadLine()) {
316 readEpoch();
317 }
318 else {
319 _clkSocket->waitForReadyRead(10);
320 }
321 }
322 else {
323 msleep(10);
324 }
325 }
326}
327
328//
329////////////////////////////////////////////////////////////////////////////
330void t_bns::readEpoch() {
331
332 bnsSettings settings;
333
334 // Read the first line (if not already read)
335 // -----------------------------------------
336 if (_clkLine.indexOf('*') == -1) {
337 _clkLine = _clkSocket->readLine();
338 if (_echoStream) {
339 *_echoStream << _clkLine;
340 _echoStream->flush();
341 }
342 emit(newClkBytes(_clkLine.length()));
343 }
344
345 if (_clkLine.indexOf('*') == -1) {
346 return;
347 }
348
349 QTextStream in(_clkLine);
350
351 QString hlp;
352 int year, month, day, hour, min;
353 double sec;
354 in >> hlp >> year >> month >> day >> hour >> min >> sec;
355
356 int GPSweek;
357 double GPSweeks;
358
359 GPSweekFromYMDhms(year, month, day, hour, min, sec, GPSweek, GPSweeks);
360
361 QStringList prns;
362
363 // Loop over all satellites
364 // ------------------------
365 QStringList lines;
366 for (;;) {
367 if (!_clkSocket->canReadLine()) {
368 break;
369 }
370 _clkLine = _clkSocket->readLine();
371 if (_echoStream) {
372 *_echoStream << _clkLine;
373 _echoStream->flush();
374 }
375 if (_clkLine[0] == '*') {
376 return;
377 }
378 if (_clkLine[0] == 'P') {
379 _clkLine.remove(0,1);
380 lines.push_back(_clkLine);
381 }
382 }
383
384 if (lines.size() > 0) {
385
386 QStringList prns;
387
388 for (int ic = 0; ic < _caster.size(); ic++) {
389 _caster.at(ic)->open();
390
391 for (int oldEph = 0; oldEph <= 0; oldEph++) { // TODO: handle old ephemeris
392
393 struct ClockOrbit co;
394 memset(&co, 0, sizeof(co));
395 co.GPSEpochTime = (int)GPSweeks;
396 co.GLONASSEpochTime = (int)fmod(GPSweeks, 86400.0)
397 + 3 * 3600 - gnumleap(year, month, day);
398 co.ClockDataSupplied = 1;
399 co.OrbitDataSupplied = 1;
400 co.SatRefDatum = DATUM_ITRF;
401
402 struct Bias bias;
403 memset(&bias, 0, sizeof(bias));
404 bias.GPSEpochTime = (int)GPSweeks;
405 bias.GLONASSEpochTime = (int)fmod(GPSweeks, 86400.0)
406 + 3 * 3600 - gnumleap(year, month, day);
407
408 for (int ii = 0; ii < lines.size(); ii++) {
409
410 QString prn;
411 ColumnVector xx(14); xx = 0.0;
412 t_eph* ep = 0;
413
414 if (oldEph == 0 && ic == 0) {
415 QTextStream in(lines[ii].toAscii());
416 in >> prn;
417 prns << prn;
418 if ( _ephList.contains(prn) ) {
419 in >> xx(1) >> xx(2) >> xx(3) >> xx(4) >> xx(5)
420 >> xx(6) >> xx(7) >> xx(8) >> xx(9) >> xx(10)
421 >> xx(11) >> xx(12) >> xx(13) >> xx(14);
422 xx(1) *= 1e3; // x-crd
423 xx(2) *= 1e3; // y-crd
424 xx(3) *= 1e3; // z-crd
425 xx(4) *= 1e-6; // clk
426 xx(5) *= 1e-6; // rel. corr.
427 // xx(6), xx(7), xx(8) ... PhaseCent - CoM
428 // xx(9) .. P1-C1 DCB, xx(10) ... P1-P2 DCB
429 // xx(11) ... dT
430 xx(12) *= 1e3; // x-crd at time + dT
431 xx(13) *= 1e3; // y-crd at time + dT
432 xx(14) *= 1e3; // z-crd at time + dT
433
434 t_ephPair* pair = _ephList[prn];
435 pair->xx = xx;
436 ep = pair->eph;
437 }
438 }
439 else {
440 prn = prns[ii];
441 if ( _ephList.contains(prn) ) {
442 t_ephPair* pair = _ephList[prn];
443 prn = pair->eph->prn();
444 xx = pair->xx;
445 if (oldEph) {
446 ep = pair->oldEph;
447 }
448 else {
449 ep = pair->eph;
450 }
451 }
452 }
453
454 if (ep != 0) {
455 struct ClockOrbit::SatData* sd = 0;
456 if (prn[0] == 'G') {
457 sd = co.Sat + co.NumberOfGPSSat;
458 ++co.NumberOfGPSSat;
459 }
460 else if (prn[0] == 'R') {
461 sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
462 ++co.NumberOfGLONASSSat;
463 }
464 if (sd) {
465 QString outLine;
466 processSatellite(oldEph, ic, _caster.at(ic)->crdTrafo(),
467 _caster.at(ic)->CoM(), ep,
468 GPSweek, GPSweeks, prn, xx, sd, outLine);
469 _caster.at(ic)->printAscii(outLine);
470 }
471
472 struct Bias::BiasSat* biasSat = 0;
473 if (prn[0] == 'G') {
474 biasSat = bias.Sat + bias.NumberOfGPSSat;
475 ++bias.NumberOfGPSSat;
476 }
477// else if (prn[0] == 'R') {
478// biasSat = bias.Sat + CLOCKORBIT_NUMGPS + bias.NumberOfGLONASSSat;
479// ++bias.NumberOfGLONASSSat;
480// }
481
482 if (biasSat) {
483 biasSat->ID = prn.mid(1).toInt();
484 biasSat->NumberOfCodeBiases = 3;
485 if (prn[0] == 'G') {
486 biasSat->Biases[0].Type = CODETYPEGPS_L1_P;
487 biasSat->Biases[0].Bias = 0.0;
488 biasSat->Biases[1].Type = CODETYPEGPS_L1_CA;
489 biasSat->Biases[1].Bias = -xx(9) / 0.299792458; // - IGS P1C1 DCB
490 biasSat->Biases[2].Type = CODETYPEGPS_L2_P;
491 biasSat->Biases[2].Bias = -xx(10) / 0.299792458; // - IGS P1P2 DCB
492 }
493 else if (prn[0] == 'R') {
494 biasSat->Biases[0].Type = CODETYPEGLONASS_L1_P;
495 biasSat->Biases[0].Bias = 0.0;
496 biasSat->Biases[1].Type = CODETYPEGLONASS_L1_CA;
497 biasSat->Biases[1].Bias = -xx(9) / 0.299792458; // - IGS P1C1 DCB
498 biasSat->Biases[2].Type = CODETYPEGLONASS_L2_P;
499 biasSat->Biases[2].Bias = -xx(10) / 0.299792458; // - IGS P1P2 DCB
500 }
501 }
502 }
503 }
504
505 if ( _caster.at(ic)->usedSocket() &&
506 (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) ) {
507 char obuffer[CLOCKORBIT_BUFFERSIZE];
508
509 if (_caster.at(ic)->CoM()) {
510 co.SatRefPoint = POINT_CENTER;
511 }
512 else {
513 co.SatRefPoint = POINT_IONOFREE;
514 }
515
516 int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
517 if (len > 0) {
518 if (_caster.at(ic)->ic() == 1) { emit(newOutBytes1(len));}
519 if (_caster.at(ic)->ic() == 2) { emit(newOutBytes2(len));}
520 if (_caster.at(ic)->ic() == 3) { emit(newOutBytes3(len));}
521 if (_caster.at(ic)->ic() == 4) { emit(newOutBytes4(len));}
522 if (_caster.at(ic)->ic() == 5) { emit(newOutBytes5(len));}
523 if (_caster.at(ic)->ic() == 6) { emit(newOutBytes6(len));}
524 _caster.at(ic)->write(obuffer, len);
525 }
526 }
527
528 if ( _caster.at(ic)->usedSocket() &&
529 (bias.NumberOfGPSSat > 0 || bias.NumberOfGLONASSSat > 0) ) {
530 char obuffer[CLOCKORBIT_BUFFERSIZE];
531 int len = MakeBias(&bias, BTYPE_AUTO, 0, obuffer, sizeof(obuffer));
532 if (len > 0) {
533 _caster.at(ic)->write(obuffer, len);
534 }
535 }
536 }
537 }
538 }
539}
540
541//
542////////////////////////////////////////////////////////////////////////////
543void t_bns::processSatellite(int oldEph, int iCaster, const QString trafo,
544 bool CoM, t_eph* ep, int GPSweek,
545 double GPSweeks, const QString& prn,
546 const ColumnVector& xx,
547 struct ClockOrbit::SatData* sd,
548 QString& outLine) {
549
550 const double secPerWeek = 7.0 * 86400.0;
551
552 ColumnVector rsw(3);
553 ColumnVector rsw2(3);
554 double dClk;
555
556 for (int ii = 1; ii <= 2; ++ii) {
557
558 int GPSweek12 = GPSweek;
559 double GPSweeks12 = GPSweeks;
560 if (ii == 2) {
561 GPSweeks12 += xx(11);
562 if (GPSweeks12 > secPerWeek) {
563 GPSweek12 += 1;
564 GPSweeks12 -= secPerWeek;
565 }
566 }
567
568 ColumnVector xB(4);
569 ColumnVector vv(3);
570
571 ep->position(GPSweek12, GPSweeks12, xB, vv);
572
573 ColumnVector xyz;
574 if (ii == 1) {
575 xyz = xx.Rows(1,3);
576 }
577 else {
578 xyz = xx.Rows(12,14);
579 }
580
581 // Correction Center of Mass -> Antenna Phase Center
582 // -------------------------------------------------
583 if (! CoM) {
584 xyz(1) += xx(6);
585 xyz(2) += xx(7);
586 xyz(3) += xx(8);
587 }
588
589 if (trafo != "IGS05") {
590 crdTrafo(GPSweek12, xyz, trafo);
591 }
592
593 ColumnVector dx = xB.Rows(1,3) - xyz;
594
595 if (ii == 1) {
596 XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw);
597 dClk = (xB(4) - xx(4)) * 299792458.0;
598 }
599 else {
600 XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw2);
601 }
602 }
603
604 if (sd) {
605 sd->ID = prn.mid(1).toInt();
606 sd->IOD = ep->IOD();
607 sd->Clock.DeltaA0 = dClk;
608 sd->Orbit.DeltaRadial = rsw(1);
609 sd->Orbit.DeltaAlongTrack = rsw(2);
610 sd->Orbit.DeltaCrossTrack = rsw(3);
611 sd->Orbit.DotDeltaRadial = (rsw2(1) - rsw(1)) / xx(11);
612 sd->Orbit.DotDeltaAlongTrack = (rsw2(2) - rsw(2)) / xx(11);
613 sd->Orbit.DotDeltaCrossTrack = (rsw2(3) - rsw(3)) / xx(11);
614 }
615
616 char oldCh = (oldEph ? '!' : ' ');
617 outLine.sprintf("%c %d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n",
618 oldCh, GPSweek, GPSweeks, ep->prn().toAscii().data(),
619 ep->IOD(), dClk, rsw(1), rsw(2), rsw(3));
620
621 if (!oldEph && iCaster == 0) {
622 if (_rnx) {
623 _rnx->write(GPSweek, GPSweeks, prn, xx);
624 }
625 if (_sp3) {
626 _sp3->write(GPSweek, GPSweeks, prn, xx);
627 }
628 }
629}
630
631//
632////////////////////////////////////////////////////////////////////////////
633void t_bns::slotMoveSocket(QThread* tt) {
634 _clkSocket->setParent(0);
635 _clkSocket->moveToThread(tt);
636//slotMessage("bns::slotMoveSocket");
637 slotMessage("Clocks & orbits port: Socket moved to thread"); // weber
638}
639
640// Transform Coordinates
641////////////////////////////////////////////////////////////////////////////
642void t_bns::crdTrafo(int GPSWeek, ColumnVector& xyz, const QString trafo) {
643
644 bnsSettings settings;
645
646 if (trafo == "ETRF2000") {
647 _dx = 0.0541;
648 _dy = 0.0502;
649 _dz = -0.0538;
650 _dxr = -0.0002;
651 _dyr = 0.0001;
652 _dzr = -0.0018;
653 _ox = 0.000891;
654 _oy = 0.005390;
655 _oz = -0.008712;
656 _oxr = 0.000081;
657 _oyr = 0.000490;
658 _ozr = -0.000792;
659 _sc = 0.40;
660 _scr = 0.08;
661 _t0 = 2000.0;
662 }
663 else if (trafo == "NAD83") {
664 _dx = 0.9963;
665 _dy = -1.9024;
666 _dz = -0.5210;
667 _dxr = 0.0005;
668 _dyr = -0.0006;
669 _dzr = -0.0013;
670 _ox = 0.025915;
671 _oy = 0.009426;
672 _oz = 0.011599;
673 _oxr = 0.000067;
674 _oyr = -0.000757;
675 _ozr = -0.000051;
676 _sc = 0.78;
677 _scr = -0.10;
678 _t0 = 1997.0;
679 }
680 else if (trafo == "GDA94") {
681 _dx = -0.0761;
682 _dy = -0.0101;
683 _dz = 0.0444;
684 _dxr = 0.0110;
685 _dyr = -0.0045;
686 _dzr = -0.0174;
687 _ox = 0.008765;
688 _oy = 0.009361;
689 _oz = 0.009325;
690 _oxr = 0.001034;
691 _oyr = 0.000671;
692 _ozr = 0.001039;
693 _sc = 7.935;
694 _scr = -0.538;
695 _t0 = 2000.0;
696 }
697 else if (trafo == "Custom") {
698 _dx = settings.value("trafo_dx").toDouble();
699 _dy = settings.value("trafo_dy").toDouble();
700 _dz = settings.value("trafo_dz").toDouble();
701 _dxr = settings.value("trafo_dxr").toDouble();
702 _dyr = settings.value("trafo_dyr").toDouble();
703 _dzr = settings.value("trafo_dzr").toDouble();
704 _ox = settings.value("trafo_ox").toDouble();
705 _oy = settings.value("trafo_oy").toDouble();
706 _oz = settings.value("trafo_oz").toDouble();
707 _oxr = settings.value("trafo_oxr").toDouble();
708 _oyr = settings.value("trafo_oyr").toDouble();
709 _ozr = settings.value("trafo_ozr").toDouble();
710 _sc = settings.value("trafo_sc").toDouble();
711 _scr = settings.value("trafo_scr").toDouble();
712 _t0 = settings.value("trafo_t0").toDouble();
713 }
714
715 // Current epoch minus 2000.0 in years
716 // ------------------------------------
717 double dt = (GPSWeek - (1042.0+6.0/7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
718
719 ColumnVector dx(3);
720
721 dx(1) = _dx + dt * _dxr;
722 dx(2) = _dy + dt * _dyr;
723 dx(3) = _dz + dt * _dzr;
724
725 static const double arcSec = 180.0 * 3600.0 / M_PI;
726
727 double ox = (_ox + dt * _oxr) / arcSec;
728 double oy = (_oy + dt * _oyr) / arcSec;
729 double oz = (_oz + dt * _ozr) / arcSec;
730
731 double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
732
733 Matrix rMat(3,3);
734 rMat(1,1) = 1.0;
735 rMat(1,2) = -oz;
736 rMat(1,3) = oy;
737 rMat(2,1) = oz;
738 rMat(2,2) = 1.0;
739 rMat(2,3) = -ox;
740 rMat(3,1) = -oy;
741 rMat(3,2) = ox;
742 rMat(3,3) = 1.0;
743
744 xyz = sc * rMat * xyz + dx;
745}
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