[3222] | 1 | /* -------------------------------------------------------------------------
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| 2 | * BKG NTRIP Server
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| 3 | * -------------------------------------------------------------------------
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| 4 | *
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[3224] | 5 | * Class: bncRtnetUploadCaster
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[3222] | 6 | *
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| 7 | * Purpose: Connection to NTRIP Caster
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| 8 | *
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| 9 | * Author: L. Mervart
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| 10 | *
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| 11 | * Created: 29-Mar-2011
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| 12 | *
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[5662] | 13 | * Changes:
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[3222] | 14 | *
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| 15 | * -----------------------------------------------------------------------*/
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| 16 |
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| 17 | #include <math.h>
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[5662] | 18 | #include "bncrtnetuploadcaster.h"
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[3222] | 19 | #include "bncsettings.h"
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[3224] | 20 | #include "bncephuser.h"
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[3222] | 21 | #include "bncclockrinex.h"
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| 22 | #include "bncsp3.h"
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[6812] | 23 | #include "gnss.h"
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[3222] | 24 |
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| 25 | using namespace std;
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| 26 |
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| 27 | // Constructor
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| 28 | ////////////////////////////////////////////////////////////////////////////
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[3224] | 29 | bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
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[9036] | 30 | const QString& outHost, int outPort,
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| 31 | const QString& password,
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| 32 | const QString& crdTrafo, const QString& ssrFormat, bool CoM, const QString& sp3FileName,
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[6877] | 33 | const QString& rnxFileName, int PID, int SID, int IOD, int iRow) :
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| 34 | bncUploadCaster(mountpoint, outHost, outPort, password, iRow, 0) {
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[3224] | 35 |
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[8362] | 36 | if (!mountpoint.isEmpty()) {
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| 37 | _casterID += mountpoint;
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| 38 | }
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[5130] | 39 | if (!outHost.isEmpty()) {
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[8362] | 40 | _casterID += " " + outHost;
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| 41 | if (outPort) {
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| 42 | _casterID += ":" + QString("%1").arg(outPort, 10);
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| 43 | }
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[5130] | 44 | }
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| 45 | if (!crdTrafo.isEmpty()) {
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| 46 | _casterID += " " + crdTrafo;
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| 47 | }
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| 48 | if (!sp3FileName.isEmpty()) {
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| 49 | _casterID += " " + sp3FileName;
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| 50 | }
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| 51 | if (!rnxFileName.isEmpty()) {
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| 52 | _casterID += " " + rnxFileName;
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| 53 | }
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| 54 |
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[6877] | 55 | _crdTrafo = crdTrafo;
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[9036] | 56 |
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| 57 | _ssrFormat = ssrFormat;
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| 58 | _ssrCorr = 0;
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[9081] | 59 | if (_ssrFormat == "IGS-SSR") {
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[9036] | 60 | _ssrCorr = new SsrCorrIgs();
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| 61 | }
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[9081] | 62 | else if (_ssrFormat == "RTCM-SSR") {
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[9036] | 63 | _ssrCorr = new SsrCorrRtcm();
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| 64 | }
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| 65 |
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[6877] | 66 | _CoM = CoM;
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| 67 | _PID = PID;
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| 68 | _SID = SID;
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| 69 | _IOD = IOD;
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[3222] | 70 |
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[3224] | 71 | // Member that receives the ephemeris
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| 72 | // ----------------------------------
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[6441] | 73 | _ephUser = new bncEphUser(true);
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[3222] | 74 |
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[3272] | 75 | bncSettings settings;
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[6877] | 76 | QString intr = settings.value("uploadIntr").toString();
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[7297] | 77 | QStringList hlp = settings.value("cmbStreams").toStringList();
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[6559] | 78 | _samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toDouble();
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| 79 | if (hlp.size() > 1) { // combination stream upload
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[6877] | 80 | _samplRtcmClkCorr = settings.value("cmbSampl").toInt();
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[6557] | 81 | }
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[6877] | 82 | else { // single stream upload or sp3 file generation
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| 83 | _samplRtcmClkCorr = 5; // default
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| 84 | }
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| 85 | int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
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| 86 | int samplSp3 = settings.value("uploadSamplSp3").toInt() * 60;
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[4174] | 87 |
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| 88 | if (_samplRtcmEphCorr == 0.0) {
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[3753] | 89 | _usedEph = 0;
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| 90 | }
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| 91 | else {
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[6442] | 92 | _usedEph = new QMap<QString, const t_eph*>;
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[3753] | 93 | }
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[3272] | 94 |
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[3222] | 95 | // RINEX writer
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| 96 | // ------------
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| 97 | if (!rnxFileName.isEmpty()) {
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[4174] | 98 | _rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
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[3222] | 99 | }
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| 100 | else {
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| 101 | _rnx = 0;
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| 102 | }
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| 103 |
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| 104 | // SP3 writer
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| 105 | // ----------
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| 106 | if (!sp3FileName.isEmpty()) {
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[4174] | 107 | _sp3 = new bncSP3(sp3FileName, intr, samplSp3);
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[3222] | 108 | }
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| 109 | else {
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| 110 | _sp3 = 0;
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| 111 | }
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| 112 |
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| 113 | // Set Transformation Parameters
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| 114 | // -----------------------------
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[8411] | 115 | // Transformation Parameters from ITRF2014 to ETRF2000
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[8712] | 116 | // EUREF Technical Note 1 Relationship and Transformation between the ITRF and ETRF
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| 117 | // Zuheir Altamimi, June 28, 2018
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[6877] | 118 | if (_crdTrafo == "ETRF2000") {
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[8712] | 119 | _dx = 0.0547;
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| 120 | _dy = 0.0522;
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| 121 | _dz = -0.0741;
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[8710] | 122 |
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[8101] | 123 | _dxr = 0.0001;
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| 124 | _dyr = 0.0001;
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[8411] | 125 | _dzr = -0.0019;
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[8710] | 126 |
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[8712] | 127 | _ox = 0.001701;
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| 128 | _oy = 0.010290;
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| 129 | _oz = -0.016632;
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[8710] | 130 |
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[8712] | 131 | _oxr = 0.000081;
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| 132 | _oyr = 0.000490;
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| 133 | _ozr = -0.000729;
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[8710] | 134 |
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[8712] | 135 | _sc = 2.12;
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| 136 | _scr = 0.11;
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[8710] | 137 |
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[8712] | 138 | _t0 = 2010.0;
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[3222] | 139 | }
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[8101] | 140 | // Transformation Parameters from ITRF2014 to GDA2020 (Ryan Ruddick, GA)
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| 141 | else if (_crdTrafo == "GDA2020") {
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| 142 | _dx = 0.0;
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| 143 | _dy = 0.0;
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| 144 | _dz = 0.0;
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[8710] | 145 |
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[8101] | 146 | _dxr = 0.0;
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| 147 | _dyr = 0.0;
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| 148 | _dzr = 0.0;
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[8710] | 149 |
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[8101] | 150 | _ox = 0.0;
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| 151 | _oy = 0.0;
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| 152 | _oz = 0.0;
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[8710] | 153 |
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[8101] | 154 | _oxr = 0.00150379;
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| 155 | _oyr = 0.00118346;
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| 156 | _ozr = 0.00120716;
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[8710] | 157 |
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[8101] | 158 | _sc = 0.0;
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| 159 | _scr = 0.0;
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[8710] | 160 |
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[8101] | 161 | _t0 = 2020.0;
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[3222] | 162 | }
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[8987] | 163 | // Transformation Parameters from IGb14 to SIRGAS2000 (Thanks to Sonia Costa, BRA)
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| 164 | // June 29 2020: TX:-0.0027 m TY:-0.0025 m TZ:-0.0042 m SCL:1.20 (ppb) no rotations and no rates.*/
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[8101] | 165 | else if (_crdTrafo == "SIRGAS2000") {
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[8987] | 166 | _dx = -0.0027;
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| 167 | _dy = -0.0025;
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| 168 | _dz = -0.0042;
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[8710] | 169 |
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[8101] | 170 | _dxr = 0.0000;
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| 171 | _dyr = 0.0000;
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| 172 | _dzr = 0.0000;
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[8710] | 173 |
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| 174 | _ox = 0.000000;
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| 175 | _oy = 0.000000;
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| 176 | _oz = 0.000000;
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| 177 |
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[8101] | 178 | _oxr = 0.000000;
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| 179 | _oyr = 0.000000;
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| 180 | _ozr = 0.000000;
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[8710] | 181 |
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[8987] | 182 | _sc = 1.20000;
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[8710] | 183 | _scr = 0.00000;
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| 184 | _t0 = 2000.0;
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[3222] | 185 | }
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[8411] | 186 | // Transformation Parameters from ITRF2014 to DREF91
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[5347] | 187 | else if (_crdTrafo == "DREF91") {
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[8719] | 188 | _dx = 0.0547;
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| 189 | _dy = 0.0522;
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| 190 | _dz = -0.0741;
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[8710] | 191 |
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[8101] | 192 | _dxr = 0.0001;
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| 193 | _dyr = 0.0001;
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[8411] | 194 | _dzr = -0.0019;
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[8719] | 195 | // ERTF200 + rotation parameters (ETRF200 => DREF91)
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| 196 | _ox = 0.001701 + 0.000658;
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| 197 | _oy = 0.010290 - 0.000208;
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| 198 | _oz = -0.016632 + 0.000755;
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[8710] | 199 |
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[8719] | 200 | _oxr = 0.000081;
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| 201 | _oyr = 0.000490;
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| 202 | _ozr = -0.000729;
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[8710] | 203 |
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[8719] | 204 | _sc = 2.12;
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| 205 | _scr = 0.11;
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[8710] | 206 |
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[8719] | 207 | _t0 = 2010.0;
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[5340] | 208 | }
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[3222] | 209 | else if (_crdTrafo == "Custom") {
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[6877] | 210 | _dx = settings.value("trafo_dx").toDouble();
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| 211 | _dy = settings.value("trafo_dy").toDouble();
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| 212 | _dz = settings.value("trafo_dz").toDouble();
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[3222] | 213 | _dxr = settings.value("trafo_dxr").toDouble();
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| 214 | _dyr = settings.value("trafo_dyr").toDouble();
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| 215 | _dzr = settings.value("trafo_dzr").toDouble();
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[6877] | 216 | _ox = settings.value("trafo_ox").toDouble();
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| 217 | _oy = settings.value("trafo_oy").toDouble();
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| 218 | _oz = settings.value("trafo_oz").toDouble();
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[3222] | 219 | _oxr = settings.value("trafo_oxr").toDouble();
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| 220 | _oyr = settings.value("trafo_oyr").toDouble();
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| 221 | _ozr = settings.value("trafo_ozr").toDouble();
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[6877] | 222 | _sc = settings.value("trafo_sc").toDouble();
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[3222] | 223 | _scr = settings.value("trafo_scr").toDouble();
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[6877] | 224 | _t0 = settings.value("trafo_t0").toDouble();
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[3222] | 225 | }
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| 226 | }
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| 227 |
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| 228 | // Destructor
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| 229 | ////////////////////////////////////////////////////////////////////////////
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[3224] | 230 | bncRtnetUploadCaster::~bncRtnetUploadCaster() {
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[3222] | 231 | if (isRunning()) {
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| 232 | wait();
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| 233 | }
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| 234 | delete _rnx;
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| 235 | delete _sp3;
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| 236 | delete _ephUser;
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[3753] | 237 | delete _usedEph;
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[9036] | 238 | delete _ssrCorr;
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[3222] | 239 | }
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| 240 |
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[5662] | 241 | //
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[3222] | 242 | ////////////////////////////////////////////////////////////////////////////
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[3224] | 243 | void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
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[5662] | 244 |
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[3222] | 245 | QMutexLocker locker(&_mutex);
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| 246 |
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[3230] | 247 | // Append to internal buffer
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| 248 | // -------------------------
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[3222] | 249 | _rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
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[3230] | 250 |
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| 251 | // Select buffer part that contains last epoch
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| 252 | // -------------------------------------------
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| 253 | QStringList lines;
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| 254 | int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
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| 255 | if (iEpoBeg == -1) {
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[3226] | 256 | _rtnetStreamBuffer.clear();
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| 257 | return;
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[3222] | 258 | }
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[8753] | 259 | int iEpoBegEarlier = _rtnetStreamBuffer.indexOf('*');
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| 260 | if (iEpoBegEarlier != -1 && iEpoBegEarlier < iEpoBeg) { // are there two epoch lines in buffer?
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| 261 | _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBegEarlier);
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| 262 | }
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| 263 | else {
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[6896] | 264 | _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
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| 265 | }
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[8753] | 266 | int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
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[3230] | 267 | if (iEpoEnd == -1) {
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| 268 | return;
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| 269 | }
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[8753] | 270 |
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| 271 | while (_rtnetStreamBuffer.count('*') > 1) { // is there more than 1 epoch line in buffer?
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| 272 | QString rtnetStreamBuffer = _rtnetStreamBuffer.mid(1);
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| 273 | int nextEpoch = rtnetStreamBuffer.indexOf('*');
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[8759] | 274 | if (nextEpoch != -1 && nextEpoch < iEpoEnd) {
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[8753] | 275 | _rtnetStreamBuffer = _rtnetStreamBuffer.mid(nextEpoch);
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| 276 | }
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[8759] | 277 | else if (nextEpoch != -1 && nextEpoch >= iEpoEnd) {
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| 278 | break;
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| 279 | }
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[3226] | 280 | }
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[3222] | 281 |
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[8759] | 282 | lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n',
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[8753] | 283 | QString::SkipEmptyParts);
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| 284 | _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
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| 285 |
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[3226] | 286 | if (lines.size() < 2) {
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[3222] | 287 | return;
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| 288 | }
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| 289 |
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[3226] | 290 | // Read first line (with epoch time)
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| 291 | // ---------------------------------
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| 292 | QTextStream in(lines[0].toAscii());
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| 293 | QString hlp;
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[6877] | 294 | int year, month, day, hour, min;
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| 295 | double sec;
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[3226] | 296 | in >> hlp >> year >> month >> day >> hour >> min >> sec;
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[6877] | 297 | bncTime epoTime;
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| 298 | epoTime.set(year, month, day, hour, min, sec);
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[3226] | 299 |
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[6877] | 300 | emit(newMessage(
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| 301 | "bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
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| 302 | + " " + QByteArray(epoTime.timestr().c_str()) + " "
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| 303 | + _casterID.toAscii(), false));
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[4808] | 304 |
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[9036] | 305 | struct SsrCorr::ClockOrbit co;
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[3222] | 306 | memset(&co, 0, sizeof(co));
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[5672] | 307 | co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
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[9036] | 308 | if (_ssrFormat == "RTCM-SSR") {
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| 309 | double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
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| 310 | co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
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| 311 | }
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| 312 | else if (_ssrFormat == "IGS-SSR") {
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| 313 | co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(epoTime.gpssec());
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| 314 | }
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[6846] | 315 | co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
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[9036] | 316 | co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
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| 317 | co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
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| 318 | if (_ssrFormat == "RTCM-SSR") {
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| 319 | co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
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| 320 | }
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| 321 | else if (_ssrFormat == "IGS-SSR") {
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| 322 | co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
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| 323 | }
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| 324 | co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
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| 325 | co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
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| 326 | co.SatRefDatum = _ssrCorr->DATUM_ITRF;
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| 327 | co.SSRIOD = _IOD;
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[6850] | 328 | co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
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| 329 | co.SSRSolutionID = _SID;
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[5662] | 330 |
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[9036] | 331 | struct SsrCorr::CodeBias bias;
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[3222] | 332 | memset(&bias, 0, sizeof(bias));
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[9036] | 333 | bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
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[5666] | 334 | bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
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[6846] | 335 | bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
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[9036] | 336 | bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
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| 337 | bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
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| 338 | bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
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| 339 | bias.SSRIOD = _IOD;
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[6850] | 340 | bias.SSRProviderID = _PID;
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| 341 | bias.SSRSolutionID = _SID;
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[5662] | 342 |
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[9036] | 343 | struct SsrCorr::PhaseBias phasebias;
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[6850] | 344 | memset(&phasebias, 0, sizeof(phasebias));
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[8018] | 345 | unsigned int dispersiveBiasConsistenyIndicator = 0;
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| 346 | unsigned int mwConsistencyIndicator = 0;
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[9036] | 347 | phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
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[6850] | 348 | phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
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| 349 | phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
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[9036] | 350 | phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
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| 351 | phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
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| 352 | phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
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| 353 | phasebias.SSRIOD = _IOD;
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[6850] | 354 | phasebias.SSRProviderID = _PID;
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| 355 | phasebias.SSRSolutionID = _SID;
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| 356 |
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[9036] | 357 | struct SsrCorr::VTEC vtec;
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[6860] | 358 | memset(&vtec, 0, sizeof(vtec));
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| 359 | vtec.EpochTime = static_cast<int>(epoTime.gpssec());
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[9036] | 360 | vtec.SSRIOD = _IOD;
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[6860] | 361 | vtec.SSRProviderID = _PID;
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---|
| 362 | vtec.SSRSolutionID = _SID;
|
---|
| 363 |
|
---|
[4753] | 364 | // Default Update Interval
|
---|
| 365 | // -----------------------
|
---|
[4754] | 366 | int clkUpdInd = 2; // 5 sec
|
---|
| 367 | int ephUpdInd = clkUpdInd; // default
|
---|
[6557] | 368 |
|
---|
[6559] | 369 | if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
|
---|
| 370 | ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
|
---|
[4754] | 371 | }
|
---|
[6559] | 372 | if (_samplRtcmClkCorr > 5.0) {
|
---|
[6557] | 373 | clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
|
---|
[4754] | 374 | }
|
---|
[6559] | 375 | if (_samplRtcmEphCorr > 5.0) {
|
---|
| 376 | ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
|
---|
| 377 | }
|
---|
[4753] | 378 |
|
---|
[6877] | 379 | co.UpdateInterval = clkUpdInd;
|
---|
[4754] | 380 | bias.UpdateInterval = clkUpdInd;
|
---|
[6850] | 381 | phasebias.UpdateInterval = clkUpdInd;
|
---|
[4753] | 382 |
|
---|
[8754] | 383 | for (int ii = 1; ii < lines.size(); ii++) {
|
---|
[6877] | 384 | QString key; // prn or key VTEC, IND (phase bias indicators)
|
---|
[8570] | 385 | double rtnUra = 0.0; // [m]
|
---|
| 386 | ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
|
---|
[8680] | 387 | ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
|
---|
[8570] | 388 | ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
|
---|
| 389 | ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
|
---|
| 390 | ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
|
---|
[6877] | 391 | t_prn prn;
|
---|
[8543] | 392 |
|
---|
[3222] | 393 | QTextStream in(lines[ii].toAscii());
|
---|
[6876] | 394 | in >> key;
|
---|
[3222] | 395 |
|
---|
[6860] | 396 | // non-satellite specific parameters
|
---|
[6877] | 397 | if (key.contains("IND", Qt::CaseSensitive)) {
|
---|
[8018] | 398 | in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
|
---|
[6860] | 399 | continue;
|
---|
| 400 | }
|
---|
[6893] | 401 | // non-satellite specific parameters
|
---|
[6876] | 402 | if (key.contains("VTEC", Qt::CaseSensitive)) {
|
---|
[6897] | 403 | double ui;
|
---|
| 404 | in >> ui >> vtec.NumLayers;
|
---|
| 405 | vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
|
---|
[6860] | 406 | for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
|
---|
| 407 | int dummy;
|
---|
| 408 | in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
|
---|
[6877] | 409 | >> vtec.Layers[ll].Height;
|
---|
[6879] | 410 | for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
|
---|
| 411 | for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
|
---|
[6860] | 412 | in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
|
---|
| 413 | }
|
---|
| 414 | }
|
---|
[6879] | 415 | for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
|
---|
| 416 | for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
|
---|
[6860] | 417 | in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
|
---|
| 418 | }
|
---|
| 419 | }
|
---|
| 420 | }
|
---|
| 421 | continue;
|
---|
| 422 | }
|
---|
[6877] | 423 | // satellite specific parameters
|
---|
| 424 | char sys = key.mid(0, 1).at(0).toAscii();
|
---|
| 425 | int number = key.mid(1, 2).toInt();
|
---|
| 426 | int flags = 0;
|
---|
| 427 | if (sys == 'E') { // I/NAV
|
---|
| 428 | flags = 1;
|
---|
| 429 | }
|
---|
[6876] | 430 | prn.set(sys, number, flags);
|
---|
| 431 | QString prnInternalStr = QString::fromStdString(prn.toInternalString());
|
---|
[6877] | 432 | QString prnStr = QString::fromStdString(prn.toString());
|
---|
| 433 |
|
---|
[6876] | 434 | const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
|
---|
| 435 | const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
|
---|
[6877] | 436 | const t_eph* eph = ephLast;
|
---|
[6442] | 437 | if (eph) {
|
---|
[3754] | 438 |
|
---|
[4098] | 439 | // Use previous ephemeris if the last one is too recent
|
---|
| 440 | // ----------------------------------------------------
|
---|
| 441 | const int MINAGE = 60; // seconds
|
---|
[6877] | 442 | if (ephPrev && eph->receptDateTime().isValid()
|
---|
| 443 | && eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
|
---|
[6442] | 444 | eph = ephPrev;
|
---|
[4098] | 445 | }
|
---|
[3754] | 446 |
|
---|
[3753] | 447 | // Make sure the clock messages refer to same IOD as orbit messages
|
---|
| 448 | // ----------------------------------------------------------------
|
---|
| 449 | if (_usedEph) {
|
---|
[4174] | 450 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
---|
[6876] | 451 | (*_usedEph)[prnInternalStr] = eph;
|
---|
[3753] | 452 | }
|
---|
| 453 | else {
|
---|
| 454 | eph = 0;
|
---|
[6876] | 455 | if (_usedEph->contains(prnInternalStr)) {
|
---|
| 456 | const t_eph* usedEph = _usedEph->value(prnInternalStr);
|
---|
[6877] | 457 | if (usedEph == ephLast) {
|
---|
[6442] | 458 | eph = ephLast;
|
---|
[3753] | 459 | }
|
---|
[6442] | 460 | else if (usedEph == ephPrev) {
|
---|
| 461 | eph = ephPrev;
|
---|
[3753] | 462 | }
|
---|
| 463 | }
|
---|
| 464 | }
|
---|
| 465 | }
|
---|
| 466 | }
|
---|
| 467 |
|
---|
[8582] | 468 | if (eph &&
|
---|
| 469 | eph->checkState() != t_eph::bad &&
|
---|
[8648] | 470 | eph->checkState() != t_eph::unhealthy &&
|
---|
| 471 | eph->checkState() != t_eph::outdated) {
|
---|
[5503] | 472 | QMap<QString, double> codeBiases;
|
---|
[6851] | 473 | QList<phaseBiasSignal> phaseBiasList;
|
---|
| 474 | phaseBiasesSat pbSat;
|
---|
[5503] | 475 |
|
---|
[4991] | 476 | while (true) {
|
---|
| 477 | QString key;
|
---|
[6877] | 478 | int numVal = 0;
|
---|
[6850] | 479 | in >> key;
|
---|
[4991] | 480 | if (in.status() != QTextStream::Ok) {
|
---|
| 481 | break;
|
---|
| 482 | }
|
---|
[6877] | 483 | if (key == "APC") {
|
---|
[6850] | 484 | in >> numVal;
|
---|
[8570] | 485 | rtnAPC.ReSize(3); rtnAPC = 0.0;
|
---|
[6850] | 486 | for (int ii = 0; ii < numVal; ii++) {
|
---|
| 487 | in >> rtnAPC[ii];
|
---|
| 488 | }
|
---|
[4991] | 489 | }
|
---|
[8484] | 490 | else if (key == "Ura") {
|
---|
[6850] | 491 | in >> numVal;
|
---|
[6877] | 492 | if (numVal == 1)
|
---|
[8484] | 493 | in >> rtnUra;
|
---|
[4991] | 494 | }
|
---|
[8484] | 495 | else if (key == "Clk") {
|
---|
| 496 | in >> numVal;
|
---|
[8570] | 497 | rtnClk.ReSize(3); rtnClk = 0.0;
|
---|
[8484] | 498 | for (int ii = 0; ii < numVal; ii++) {
|
---|
| 499 | in >> rtnClk[ii];
|
---|
| 500 | }
|
---|
| 501 | }
|
---|
| 502 | else if (key == "ClkSig") {
|
---|
| 503 | in >> numVal;
|
---|
[8570] | 504 | rtnClkSig.ReSize(3); rtnClkSig = 0.0;
|
---|
[8484] | 505 | for (int ii = 0; ii < numVal; ii++) {
|
---|
| 506 | in >> rtnClkSig[ii];
|
---|
| 507 | }
|
---|
| 508 | }
|
---|
[4991] | 509 | else if (key == "Vel") {
|
---|
[6850] | 510 | in >> numVal;
|
---|
[8570] | 511 | rtnVel.ReSize(3); rtnVel = 0.0;
|
---|
[6850] | 512 | for (int ii = 0; ii < numVal; ii++) {
|
---|
| 513 | in >> rtnVel[ii];
|
---|
| 514 | }
|
---|
[4991] | 515 | }
|
---|
| 516 | else if (key == "CoM") {
|
---|
[6850] | 517 | in >> numVal;
|
---|
[8570] | 518 | rtnCoM.ReSize(3); rtnCoM = 0.0;
|
---|
[6850] | 519 | for (int ii = 0; ii < numVal; ii++) {
|
---|
| 520 | in >> rtnCoM[ii];
|
---|
| 521 | }
|
---|
[4991] | 522 | }
|
---|
[5503] | 523 | else if (key == "CodeBias") {
|
---|
[6850] | 524 | in >> numVal;
|
---|
[5503] | 525 | for (int ii = 0; ii < numVal; ii++) {
|
---|
| 526 | QString type;
|
---|
[6877] | 527 | double value;
|
---|
[5503] | 528 | in >> type >> value;
|
---|
| 529 | codeBiases[type] = value;
|
---|
| 530 | }
|
---|
| 531 | }
|
---|
[6857] | 532 | else if (key == "YawAngle") {
|
---|
[8018] | 533 | in >> numVal >> pbSat.yawAngle;
|
---|
| 534 | if (pbSat.yawAngle < 0.0) {
|
---|
| 535 | pbSat.yawAngle += (2*M_PI);
|
---|
[6975] | 536 | }
|
---|
[8018] | 537 | else if (pbSat.yawAngle > 2*M_PI) {
|
---|
| 538 | pbSat.yawAngle -= (2*M_PI);
|
---|
[6975] | 539 | }
|
---|
[6851] | 540 | }
|
---|
[6857] | 541 | else if (key == "YawRate") {
|
---|
[8018] | 542 | in >> numVal >> pbSat.yawRate;
|
---|
[6851] | 543 | }
|
---|
[6850] | 544 | else if (key == "PhaseBias") {
|
---|
| 545 | in >> numVal;
|
---|
| 546 | for (int ii = 0; ii < numVal; ii++) {
|
---|
[6851] | 547 | phaseBiasSignal pb;
|
---|
[8018] | 548 | in >> pb.type >> pb.bias >> pb.integerIndicator
|
---|
| 549 | >> pb.wlIndicator >> pb.discontinuityCounter;
|
---|
[6851] | 550 | phaseBiasList.append(pb);
|
---|
[6850] | 551 | }
|
---|
| 552 | }
|
---|
[4991] | 553 | else {
|
---|
[8686] | 554 | in >> numVal;
|
---|
| 555 | for (int ii = 0; ii < numVal; ii++) {
|
---|
| 556 | double dummy;
|
---|
| 557 | in >> dummy;
|
---|
| 558 | }
|
---|
[8541] | 559 | emit(newMessage(" RTNET format error: "
|
---|
| 560 | + lines[ii].toAscii(), false));
|
---|
[4991] | 561 | }
|
---|
[5662] | 562 | }
|
---|
[6850] | 563 |
|
---|
[9036] | 564 | struct SsrCorr::ClockOrbit::SatData* sd = 0;
|
---|
[8649] | 565 | if (prn.system() == 'G') {
|
---|
| 566 | sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
|
---|
| 567 | ++co.NumberOfSat[CLOCKORBIT_SATGPS];
|
---|
| 568 | }
|
---|
| 569 | else if (prn.system() == 'R') {
|
---|
| 570 | sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
|
---|
| 571 | ++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
|
---|
| 572 | }
|
---|
| 573 | else if (prn.system() == 'E') {
|
---|
| 574 | sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
[8987] | 575 | + co.NumberOfSat[CLOCKORBIT_SATGALILEO];
|
---|
[8649] | 576 | ++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
|
---|
| 577 | }
|
---|
| 578 | else if (prn.system() == 'J') {
|
---|
| 579 | sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
[8987] | 580 | + CLOCKORBIT_NUMGALILEO
|
---|
| 581 | + co.NumberOfSat[CLOCKORBIT_SATQZSS];
|
---|
[8649] | 582 | ++co.NumberOfSat[CLOCKORBIT_SATQZSS];
|
---|
| 583 | }
|
---|
| 584 | else if (prn.system() == 'S') {
|
---|
| 585 | sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
| 586 | + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
|
---|
| 587 | + co.NumberOfSat[CLOCKORBIT_SATSBAS];
|
---|
| 588 | ++co.NumberOfSat[CLOCKORBIT_SATSBAS];
|
---|
| 589 | }
|
---|
| 590 | else if (prn.system() == 'C') {
|
---|
| 591 | sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
[8987] | 592 | + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
|
---|
| 593 | + CLOCKORBIT_NUMSBAS
|
---|
[8649] | 594 | + co.NumberOfSat[CLOCKORBIT_SATBDS];
|
---|
| 595 | ++co.NumberOfSat[CLOCKORBIT_SATBDS];
|
---|
| 596 | }
|
---|
| 597 | if (sd) {
|
---|
| 598 | QString outLine;
|
---|
| 599 | t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
|
---|
| 600 | rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
|
---|
| 601 | if (irc != success) {
|
---|
| 602 | // very few cases: check states bad and unhealthy are excluded earlier
|
---|
| 603 | sd->ID = prnStr.mid(1).toInt(); // to prevent G00, R00 entries
|
---|
| 604 | sd->IOD = eph->IOD();
|
---|
| 605 | }
|
---|
| 606 | }
|
---|
| 607 |
|
---|
[6850] | 608 | // Code Biases
|
---|
| 609 | // -----------
|
---|
[9036] | 610 | struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
|
---|
[6877] | 611 | if (!codeBiases.isEmpty()) {
|
---|
| 612 | if (prn.system() == 'G') {
|
---|
| 613 | biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
|
---|
| 614 | ++bias.NumberOfSat[CLOCKORBIT_SATGPS];
|
---|
| 615 | }
|
---|
| 616 | else if (prn.system() == 'R') {
|
---|
| 617 | biasSat = bias.Sat + CLOCKORBIT_NUMGPS
|
---|
[8987] | 618 | + bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
|
---|
[6877] | 619 | ++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
|
---|
| 620 | }
|
---|
| 621 | else if (prn.system() == 'E') {
|
---|
| 622 | biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
[8987] | 623 | + bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
|
---|
[6877] | 624 | ++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
|
---|
| 625 | }
|
---|
| 626 | else if (prn.system() == 'J') {
|
---|
| 627 | biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
[8987] | 628 | + CLOCKORBIT_NUMGALILEO
|
---|
| 629 | + bias.NumberOfSat[CLOCKORBIT_SATQZSS];
|
---|
[6877] | 630 | ++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
|
---|
| 631 | }
|
---|
| 632 | else if (prn.system() == 'S') {
|
---|
| 633 | biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
[8987] | 634 | + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
|
---|
| 635 | + bias.NumberOfSat[CLOCKORBIT_SATSBAS];
|
---|
[6877] | 636 | ++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
|
---|
| 637 | }
|
---|
| 638 | else if (prn.system() == 'C') {
|
---|
| 639 | biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
[8987] | 640 | + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
|
---|
| 641 | + CLOCKORBIT_NUMSBAS
|
---|
| 642 | + bias.NumberOfSat[CLOCKORBIT_SATBDS];
|
---|
[6877] | 643 | ++bias.NumberOfSat[CLOCKORBIT_SATBDS];
|
---|
| 644 | }
|
---|
[3222] | 645 | }
|
---|
[5662] | 646 |
|
---|
[3222] | 647 | if (biasSat) {
|
---|
[6876] | 648 | biasSat->ID = prn.number();
|
---|
[5503] | 649 | biasSat->NumberOfCodeBiases = 0;
|
---|
[9036] | 650 | QMapIterator<QString, double> it(codeBiases);
|
---|
| 651 | while (it.hasNext()) {
|
---|
| 652 | it.next();
|
---|
| 653 | int ii = biasSat->NumberOfCodeBiases;
|
---|
| 654 | if (ii >= CLOCKORBIT_NUMBIAS)
|
---|
| 655 | break;
|
---|
| 656 | SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
|
---|
| 657 | if (type != _ssrCorr->RESERVED) {
|
---|
| 658 | biasSat->NumberOfCodeBiases += 1;
|
---|
| 659 | biasSat->Biases[ii].Type = type;
|
---|
| 660 | biasSat->Biases[ii].Bias = it.value();
|
---|
[5503] | 661 | }
|
---|
[3222] | 662 | }
|
---|
| 663 | }
|
---|
[9036] | 664 |
|
---|
[6850] | 665 | // Phase Biases
|
---|
| 666 | // ------------
|
---|
[9036] | 667 | struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
|
---|
[8987] | 668 | if (prn.system() == 'G') {
|
---|
| 669 | phasebiasSat = phasebias.Sat
|
---|
| 670 | + phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
|
---|
| 671 | ++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
|
---|
| 672 | }
|
---|
| 673 | else if (prn.system() == 'R') {
|
---|
| 674 | phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
|
---|
| 675 | + phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
|
---|
| 676 | ++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
|
---|
| 677 | }
|
---|
| 678 | else if (prn.system() == 'E') {
|
---|
| 679 | phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
| 680 | + phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
|
---|
| 681 | ++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
|
---|
| 682 | }
|
---|
| 683 | else if (prn.system() == 'J') {
|
---|
| 684 | phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
| 685 | + CLOCKORBIT_NUMGALILEO
|
---|
| 686 | + phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
|
---|
| 687 | ++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
|
---|
| 688 | }
|
---|
| 689 | else if (prn.system() == 'S') {
|
---|
| 690 | phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
| 691 | + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
|
---|
| 692 | + phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
|
---|
| 693 | ++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
|
---|
| 694 | }
|
---|
| 695 | else if (prn.system() == 'C') {
|
---|
| 696 | phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
| 697 | + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
|
---|
| 698 | + CLOCKORBIT_NUMSBAS
|
---|
| 699 | + phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
|
---|
| 700 | ++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
|
---|
| 701 | }
|
---|
[6850] | 702 |
|
---|
| 703 | if (phasebiasSat) {
|
---|
[8018] | 704 | phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
|
---|
| 705 | phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
|
---|
[6876] | 706 | phasebiasSat->ID = prn.number();
|
---|
[6850] | 707 | phasebiasSat->NumberOfPhaseBiases = 0;
|
---|
[8018] | 708 | phasebiasSat->YawAngle = pbSat.yawAngle;
|
---|
| 709 | phasebiasSat->YawRate = pbSat.yawRate;
|
---|
[9036] | 710 | QListIterator<phaseBiasSignal> it(phaseBiasList);
|
---|
| 711 | while (it.hasNext()) {
|
---|
| 712 | const phaseBiasSignal &pbSig = it.next();
|
---|
| 713 | int ii = phasebiasSat->NumberOfPhaseBiases;
|
---|
| 714 | if (ii >= CLOCKORBIT_NUMBIAS)
|
---|
| 715 | break;
|
---|
| 716 | SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
|
---|
| 717 | if (type != _ssrCorr->RESERVED) {
|
---|
| 718 | phasebiasSat->NumberOfPhaseBiases += 1;
|
---|
| 719 | phasebiasSat->Biases[ii].Type = type;
|
---|
| 720 | phasebiasSat->Biases[ii].Bias = pbSig.bias;
|
---|
| 721 | phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
|
---|
| 722 | phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
|
---|
| 723 | phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
|
---|
[6850] | 724 | }
|
---|
| 725 | }
|
---|
| 726 | }
|
---|
[3222] | 727 | }
|
---|
| 728 | }
|
---|
[3227] | 729 |
|
---|
[5662] | 730 | QByteArray hlpBufferCo;
|
---|
[3493] | 731 |
|
---|
| 732 | // Orbit and Clock Corrections together
|
---|
| 733 | // ------------------------------------
|
---|
[4174] | 734 | if (_samplRtcmEphCorr == 0.0) {
|
---|
[6877] | 735 | if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
|
---|
| 736 | || co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
|
---|
| 737 | || co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
|
---|
| 738 | || co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
|
---|
| 739 | || co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
|
---|
| 740 | || co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
|
---|
[3493] | 741 | char obuffer[CLOCKORBIT_BUFFERSIZE];
|
---|
[9036] | 742 | int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
|
---|
[3493] | 743 | if (len > 0) {
|
---|
| 744 | hlpBufferCo = QByteArray(obuffer, len);
|
---|
| 745 | }
|
---|
[3222] | 746 | }
|
---|
| 747 | }
|
---|
[3493] | 748 |
|
---|
| 749 | // Orbit and Clock Corrections separately
|
---|
| 750 | // --------------------------------------
|
---|
| 751 | else {
|
---|
[5666] | 752 | if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
|
---|
[3493] | 753 | char obuffer[CLOCKORBIT_BUFFERSIZE];
|
---|
[4174] | 754 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
---|
[4754] | 755 | co.UpdateInterval = ephUpdInd;
|
---|
[9036] | 756 | int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer,
|
---|
[6877] | 757 | sizeof(obuffer));
|
---|
[4754] | 758 | co.UpdateInterval = clkUpdInd;
|
---|
[3493] | 759 | if (len1 > 0) {
|
---|
| 760 | hlpBufferCo += QByteArray(obuffer, len1);
|
---|
| 761 | }
|
---|
| 762 | }
|
---|
[8807] | 763 | int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 ||
|
---|
| 764 | co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 ||
|
---|
| 765 | co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 ||
|
---|
| 766 | co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
|
---|
| 767 | co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
|
---|
[9036] | 768 | int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer,
|
---|
[6877] | 769 | sizeof(obuffer));
|
---|
[3493] | 770 | if (len2 > 0) {
|
---|
| 771 | hlpBufferCo += QByteArray(obuffer, len2);
|
---|
| 772 | }
|
---|
| 773 | }
|
---|
[5666] | 774 | if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
|
---|
[3493] | 775 | char obuffer[CLOCKORBIT_BUFFERSIZE];
|
---|
[4174] | 776 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
---|
[4754] | 777 | co.UpdateInterval = ephUpdInd;
|
---|
[9036] | 778 | int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer,
|
---|
[6877] | 779 | sizeof(obuffer));
|
---|
[4754] | 780 | co.UpdateInterval = clkUpdInd;
|
---|
[3493] | 781 | if (len1 > 0) {
|
---|
| 782 | hlpBufferCo += QByteArray(obuffer, len1);
|
---|
| 783 | }
|
---|
| 784 | }
|
---|
[8807] | 785 | int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 ||
|
---|
| 786 | co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 ||
|
---|
| 787 | co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
|
---|
| 788 | co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
|
---|
[9036] | 789 | int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer,
|
---|
[6877] | 790 | sizeof(obuffer));
|
---|
[3493] | 791 | if (len2 > 0) {
|
---|
| 792 | hlpBufferCo += QByteArray(obuffer, len2);
|
---|
| 793 | }
|
---|
| 794 | }
|
---|
[6844] | 795 | if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
|
---|
| 796 | char obuffer[CLOCKORBIT_BUFFERSIZE];
|
---|
| 797 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
---|
| 798 | co.UpdateInterval = ephUpdInd;
|
---|
[9036] | 799 | int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer,
|
---|
[6877] | 800 | sizeof(obuffer));
|
---|
[6844] | 801 | co.UpdateInterval = clkUpdInd;
|
---|
| 802 | if (len1 > 0) {
|
---|
| 803 | hlpBufferCo += QByteArray(obuffer, len1);
|
---|
| 804 | }
|
---|
| 805 | }
|
---|
[8807] | 806 | int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 ||
|
---|
| 807 | co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
|
---|
| 808 | co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
|
---|
[9036] | 809 | int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer,
|
---|
[6877] | 810 | sizeof(obuffer));
|
---|
[6844] | 811 | if (len2 > 0) {
|
---|
| 812 | hlpBufferCo += QByteArray(obuffer, len2);
|
---|
| 813 | }
|
---|
| 814 | }
|
---|
| 815 | if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
|
---|
| 816 | char obuffer[CLOCKORBIT_BUFFERSIZE];
|
---|
| 817 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
---|
| 818 | co.UpdateInterval = ephUpdInd;
|
---|
[9036] | 819 | int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer,
|
---|
[6877] | 820 | sizeof(obuffer));
|
---|
[6844] | 821 | co.UpdateInterval = clkUpdInd;
|
---|
| 822 | if (len1 > 0) {
|
---|
| 823 | hlpBufferCo += QByteArray(obuffer, len1);
|
---|
| 824 | }
|
---|
| 825 | }
|
---|
[8807] | 826 | int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
|
---|
| 827 | co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
|
---|
[9036] | 828 | int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer,
|
---|
[6877] | 829 | sizeof(obuffer));
|
---|
[6844] | 830 | if (len2 > 0) {
|
---|
| 831 | hlpBufferCo += QByteArray(obuffer, len2);
|
---|
| 832 | }
|
---|
| 833 | }
|
---|
| 834 | if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
|
---|
| 835 | char obuffer[CLOCKORBIT_BUFFERSIZE];
|
---|
| 836 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
---|
| 837 | co.UpdateInterval = ephUpdInd;
|
---|
[9036] | 838 | int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer,
|
---|
[6877] | 839 | sizeof(obuffer));
|
---|
[6844] | 840 | co.UpdateInterval = clkUpdInd;
|
---|
| 841 | if (len1 > 0) {
|
---|
| 842 | hlpBufferCo += QByteArray(obuffer, len1);
|
---|
| 843 | }
|
---|
| 844 | }
|
---|
| 845 | int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
|
---|
[9036] | 846 | int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
|
---|
[6877] | 847 | sizeof(obuffer));
|
---|
[6844] | 848 | if (len2 > 0) {
|
---|
| 849 | hlpBufferCo += QByteArray(obuffer, len2);
|
---|
| 850 | }
|
---|
| 851 | }
|
---|
| 852 | if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
|
---|
| 853 | char obuffer[CLOCKORBIT_BUFFERSIZE];
|
---|
| 854 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
---|
| 855 | co.UpdateInterval = ephUpdInd;
|
---|
[9036] | 856 | int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer,
|
---|
[6877] | 857 | sizeof(obuffer));
|
---|
[6844] | 858 | co.UpdateInterval = clkUpdInd;
|
---|
| 859 | if (len1 > 0) {
|
---|
| 860 | hlpBufferCo += QByteArray(obuffer, len1);
|
---|
| 861 | }
|
---|
| 862 | }
|
---|
[8807] | 863 | int mmsg = 0;
|
---|
[9036] | 864 | int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer,
|
---|
[6877] | 865 | sizeof(obuffer));
|
---|
[6844] | 866 | if (len2 > 0) {
|
---|
| 867 | hlpBufferCo += QByteArray(obuffer, len2);
|
---|
| 868 | }
|
---|
| 869 | }
|
---|
[3493] | 870 | }
|
---|
[5662] | 871 |
|
---|
[6850] | 872 | // Code Biases
|
---|
| 873 | // -----------
|
---|
[5662] | 874 | QByteArray hlpBufferBias;
|
---|
[6877] | 875 | if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
|
---|
| 876 | || bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
|
---|
| 877 | || bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
|
---|
| 878 | || bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
|
---|
| 879 | || bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
|
---|
| 880 | || bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
|
---|
[3222] | 881 | char obuffer[CLOCKORBIT_BUFFERSIZE];
|
---|
[9036] | 882 | int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
|
---|
[3222] | 883 | if (len > 0) {
|
---|
[3227] | 884 | hlpBufferBias = QByteArray(obuffer, len);
|
---|
[3222] | 885 | }
|
---|
| 886 | }
|
---|
[3227] | 887 |
|
---|
[6850] | 888 | // Phase Biases
|
---|
| 889 | // ------------
|
---|
| 890 | QByteArray hlpBufferPhaseBias;
|
---|
[6877] | 891 | if (phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
|
---|
| 892 | || phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
|
---|
| 893 | || phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
|
---|
| 894 | || phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
|
---|
| 895 | || phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
|
---|
| 896 | || phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
|
---|
[6850] | 897 | char obuffer[CLOCKORBIT_BUFFERSIZE];
|
---|
[9036] | 898 | int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer,
|
---|
[6877] | 899 | sizeof(obuffer));
|
---|
[6850] | 900 | if (len > 0) {
|
---|
| 901 | hlpBufferPhaseBias = QByteArray(obuffer, len);
|
---|
| 902 | }
|
---|
| 903 | }
|
---|
| 904 |
|
---|
| 905 | // VTEC
|
---|
| 906 | // ----
|
---|
| 907 | QByteArray hlpBufferVtec;
|
---|
[6860] | 908 | if (vtec.NumLayers > 0) {
|
---|
| 909 | char obuffer[CLOCKORBIT_BUFFERSIZE];
|
---|
[9036] | 910 | int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
|
---|
[6860] | 911 | if (len > 0) {
|
---|
| 912 | hlpBufferVtec = QByteArray(obuffer, len);
|
---|
| 913 | }
|
---|
| 914 | }
|
---|
[6850] | 915 |
|
---|
[6877] | 916 | _outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias
|
---|
| 917 | + hlpBufferVtec;
|
---|
[3222] | 918 | }
|
---|
| 919 |
|
---|
[5662] | 920 | //
|
---|
[3222] | 921 | ////////////////////////////////////////////////////////////////////////////
|
---|
[8541] | 922 | t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
|
---|
[6877] | 923 | double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
|
---|
[8484] | 924 | double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
|
---|
| 925 | const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
|
---|
[9036] | 926 | struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
|
---|
[3222] | 927 |
|
---|
[4930] | 928 | // Broadcast Position and Velocity
|
---|
| 929 | // -------------------------------
|
---|
[8541] | 930 | ColumnVector xB(6);
|
---|
[4930] | 931 | ColumnVector vB(3);
|
---|
[8541] | 932 | t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
|
---|
[5662] | 933 |
|
---|
[8541] | 934 | if (irc != success) {
|
---|
| 935 | return irc;
|
---|
| 936 | }
|
---|
| 937 |
|
---|
[4991] | 938 | // Precise Position
|
---|
| 939 | // ----------------
|
---|
| 940 | ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
|
---|
[3222] | 941 |
|
---|
[8541] | 942 | if (xP.size() == 0) {
|
---|
| 943 | return failure;
|
---|
| 944 | }
|
---|
| 945 |
|
---|
[5662] | 946 | double dc = 0.0;
|
---|
[8411] | 947 | if (_crdTrafo != "IGS14") {
|
---|
[8146] | 948 | crdTrafo(GPSweek, xP, dc);
|
---|
[8101] | 949 | }
|
---|
[5662] | 950 |
|
---|
[4930] | 951 | // Difference in xyz
|
---|
| 952 | // -----------------
|
---|
[6877] | 953 | ColumnVector dx = xB.Rows(1, 3) - xP;
|
---|
| 954 | ColumnVector dv = vB - rtnVel;
|
---|
[5662] | 955 |
|
---|
[4930] | 956 | // Difference in RSW
|
---|
| 957 | // -----------------
|
---|
[3222] | 958 | ColumnVector rsw(3);
|
---|
[6877] | 959 | XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
|
---|
[3222] | 960 |
|
---|
[4930] | 961 | ColumnVector dotRsw(3);
|
---|
[6877] | 962 | XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
|
---|
[3222] | 963 |
|
---|
[4930] | 964 | // Clock Correction
|
---|
| 965 | // ----------------
|
---|
[8498] | 966 | double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
|
---|
[8570] | 967 | double dClkA1 = 0.0;
|
---|
| 968 | if (rtnClk(2)) {
|
---|
| 969 | dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
|
---|
| 970 | }
|
---|
| 971 | double dClkA2 = 0.0;
|
---|
| 972 | if (rtnClk(3)) {
|
---|
| 973 | dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
|
---|
| 974 | }
|
---|
[3222] | 975 |
|
---|
| 976 | if (sd) {
|
---|
[6877] | 977 | sd->ID = prn.mid(1).toInt();
|
---|
| 978 | sd->IOD = eph->IOD();
|
---|
[8484] | 979 | sd->Clock.DeltaA0 = dClkA0;
|
---|
| 980 | sd->Clock.DeltaA1 = dClkA1;
|
---|
| 981 | sd->Clock.DeltaA2 = dClkA2;
|
---|
| 982 | sd->UserRangeAccuracy = rtnUra;
|
---|
| 983 | sd->Orbit.DeltaRadial = rsw(1);
|
---|
[6877] | 984 | sd->Orbit.DeltaAlongTrack = rsw(2);
|
---|
| 985 | sd->Orbit.DeltaCrossTrack = rsw(3);
|
---|
[8484] | 986 | sd->Orbit.DotDeltaRadial = dotRsw(1);
|
---|
[4930] | 987 | sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
|
---|
| 988 | sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
|
---|
[3222] | 989 | }
|
---|
| 990 |
|
---|
[8484] | 991 | outLine.sprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
|
---|
| 992 | GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
|
---|
| 993 | rsw(1), rsw(2), rsw(3));
|
---|
[3222] | 994 |
|
---|
[8498] | 995 | // RTNET full clock for RINEX and SP3 file
|
---|
| 996 | // ---------------------------------------
|
---|
[4991] | 997 | double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
|
---|
[8498] | 998 | double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
|
---|
[8484] | 999 | double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
|
---|
| 1000 | double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² ) -/s]
|
---|
[4991] | 1001 |
|
---|
[3222] | 1002 | if (_rnx) {
|
---|
[8509] | 1003 | double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
|
---|
| 1004 | int s = rtnClkSig.size();
|
---|
| 1005 | switch (s) {
|
---|
| 1006 | case 1:
|
---|
| 1007 | clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
|
---|
| 1008 | clkRnxRateSig = 0.0; // [s/s = -]
|
---|
| 1009 | clkRnxAccSig = 0.0; // [s/s² ) -/s]
|
---|
| 1010 | break;
|
---|
| 1011 | case 2:
|
---|
| 1012 | clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
|
---|
| 1013 | clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
|
---|
| 1014 | clkRnxAccSig = 0.0; // [s/s² ) -/s]
|
---|
| 1015 | break;
|
---|
| 1016 | case 3:
|
---|
| 1017 | clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
|
---|
| 1018 | clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
|
---|
| 1019 | clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
|
---|
| 1020 | break;
|
---|
| 1021 | }
|
---|
[8484] | 1022 | _rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
|
---|
| 1023 | clkRnxSig, clkRnxRateSig, clkRnxAccSig);
|
---|
[3222] | 1024 | }
|
---|
| 1025 | if (_sp3) {
|
---|
[8484] | 1026 | _sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
|
---|
[3222] | 1027 | }
|
---|
[8541] | 1028 | return success;
|
---|
[3222] | 1029 | }
|
---|
| 1030 |
|
---|
| 1031 | // Transform Coordinates
|
---|
| 1032 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5662] | 1033 | void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
|
---|
[6877] | 1034 | double& dc) {
|
---|
[3222] | 1035 |
|
---|
| 1036 | // Current epoch minus 2000.0 in years
|
---|
| 1037 | // ------------------------------------
|
---|
[6877] | 1038 | double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
|
---|
[3222] | 1039 |
|
---|
| 1040 | ColumnVector dx(3);
|
---|
| 1041 |
|
---|
| 1042 | dx(1) = _dx + dt * _dxr;
|
---|
| 1043 | dx(2) = _dy + dt * _dyr;
|
---|
| 1044 | dx(3) = _dz + dt * _dzr;
|
---|
| 1045 |
|
---|
| 1046 | static const double arcSec = 180.0 * 3600.0 / M_PI;
|
---|
| 1047 |
|
---|
| 1048 | double ox = (_ox + dt * _oxr) / arcSec;
|
---|
| 1049 | double oy = (_oy + dt * _oyr) / arcSec;
|
---|
| 1050 | double oz = (_oz + dt * _ozr) / arcSec;
|
---|
| 1051 |
|
---|
[8712] | 1052 | double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
|
---|
[3222] | 1053 |
|
---|
[4912] | 1054 | // Specify approximate center of area
|
---|
| 1055 | // ----------------------------------
|
---|
| 1056 | ColumnVector meanSta(3);
|
---|
| 1057 |
|
---|
[6877] | 1058 | if (_crdTrafo == "ETRF2000") {
|
---|
| 1059 | meanSta(1) = 3661090.0;
|
---|
| 1060 | meanSta(2) = 845230.0;
|
---|
| 1061 | meanSta(3) = 5136850.0;
|
---|
[4908] | 1062 | }
|
---|
[8101] | 1063 | else if (_crdTrafo == "GDA2020") {
|
---|
[4973] | 1064 | meanSta(1) = -4052050.0;
|
---|
[6877] | 1065 | meanSta(2) = 4212840.0;
|
---|
[4973] | 1066 | meanSta(3) = -2545110.0;
|
---|
[4912] | 1067 | }
|
---|
| 1068 | else if (_crdTrafo == "SIRGAS2000") {
|
---|
[6877] | 1069 | meanSta(1) = 3740860.0;
|
---|
[4973] | 1070 | meanSta(2) = -4964290.0;
|
---|
| 1071 | meanSta(3) = -1425420.0;
|
---|
[4912] | 1072 | }
|
---|
[5343] | 1073 | else if (_crdTrafo == "DREF91") {
|
---|
[6877] | 1074 | meanSta(1) = 3959579.0;
|
---|
| 1075 | meanSta(2) = 721719.0;
|
---|
| 1076 | meanSta(3) = 4931539.0;
|
---|
[5343] | 1077 | }
|
---|
[4912] | 1078 | else if (_crdTrafo == "Custom") {
|
---|
[6877] | 1079 | meanSta(1) = 0.0; // TODO
|
---|
| 1080 | meanSta(2) = 0.0; // TODO
|
---|
| 1081 | meanSta(3) = 0.0; // TODO
|
---|
[4912] | 1082 | }
|
---|
[8484] | 1083 |
|
---|
[4912] | 1084 | // Clock correction proportional to topocentric distance to satellites
|
---|
| 1085 | // -------------------------------------------------------------------
|
---|
| 1086 | double rho = (xyz - meanSta).norm_Frobenius();
|
---|
[4913] | 1087 | dc = rho * (sc - 1.0) / sc / t_CST::c;
|
---|
[4908] | 1088 |
|
---|
[6877] | 1089 | Matrix rMat(3, 3);
|
---|
| 1090 | rMat(1, 1) = 1.0;
|
---|
| 1091 | rMat(1, 2) = -oz;
|
---|
| 1092 | rMat(1, 3) = oy;
|
---|
| 1093 | rMat(2, 1) = oz;
|
---|
| 1094 | rMat(2, 2) = 1.0;
|
---|
| 1095 | rMat(2, 3) = -ox;
|
---|
| 1096 | rMat(3, 1) = -oy;
|
---|
| 1097 | rMat(3, 2) = ox;
|
---|
| 1098 | rMat(3, 3) = 1.0;
|
---|
[3222] | 1099 |
|
---|
| 1100 | xyz = sc * rMat * xyz + dx;
|
---|
| 1101 | }
|
---|
| 1102 |
|
---|
[6557] | 1103 | int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
|
---|
| 1104 |
|
---|
| 1105 | if (samplingRate == 10.0) {
|
---|
| 1106 | return 3;
|
---|
| 1107 | }
|
---|
| 1108 | else if (samplingRate == 15.0) {
|
---|
| 1109 | return 4;
|
---|
| 1110 | }
|
---|
| 1111 | else if (samplingRate == 30.0) {
|
---|
| 1112 | return 5;
|
---|
| 1113 | }
|
---|
| 1114 | else if (samplingRate == 60.0) {
|
---|
| 1115 | return 6;
|
---|
| 1116 | }
|
---|
| 1117 | else if (samplingRate == 120.0) {
|
---|
| 1118 | return 7;
|
---|
| 1119 | }
|
---|
| 1120 | else if (samplingRate == 240.0) {
|
---|
| 1121 | return 8;
|
---|
| 1122 | }
|
---|
| 1123 | else if (samplingRate == 300.0) {
|
---|
| 1124 | return 9;
|
---|
| 1125 | }
|
---|
| 1126 | else if (samplingRate == 600.0) {
|
---|
| 1127 | return 10;
|
---|
| 1128 | }
|
---|
| 1129 | else if (samplingRate == 900.0) {
|
---|
| 1130 | return 11;
|
---|
| 1131 | }
|
---|
| 1132 | else if (samplingRate == 1800.0) {
|
---|
| 1133 | return 12;
|
---|
| 1134 | }
|
---|
| 1135 | else if (samplingRate == 3600.0) {
|
---|
| 1136 | return 13;
|
---|
| 1137 | }
|
---|
| 1138 | else if (samplingRate == 7200.0) {
|
---|
| 1139 | return 14;
|
---|
| 1140 | }
|
---|
| 1141 | else if (samplingRate == 10800.0) {
|
---|
| 1142 | return 15;
|
---|
| 1143 | }
|
---|
[6877] | 1144 | return 2; // default
|
---|
[6557] | 1145 | }
|
---|