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source: ntrip/branches/BNC_2.12/src/upload/bncrtnetuploadcaster.cpp@ 9081

Last change on this file since 9081 was 9081, checked in by stuerze, 4 years ago
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File size: 37.1 KB

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1	/* -------------------------------------------------------------------------
2	* BKG NTRIP Server
3	* -------------------------------------------------------------------------
4	*
5	* Class: bncRtnetUploadCaster
6	*
7	* Purpose: Connection to NTRIP Caster
8	*
9	* Author: L. Mervart
10	*
11	* Created: 29-Mar-2011
12	*
13	* Changes:
14	*
15	* -----------------------------------------------------------------------*/
16
17	#include <math.h>
18	#include "bncrtnetuploadcaster.h"
19	#include "bncsettings.h"
20	#include "bncephuser.h"
21	#include "bncclockrinex.h"
22	#include "bncsp3.h"
23	#include "gnss.h"
24
25	using namespace std;
26
27	// Constructor
28	////////////////////////////////////////////////////////////////////////////
29	bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
30	const QString& outHost, int outPort,
31	const QString& password,
32	const QString& crdTrafo, const QString& ssrFormat, bool CoM, const QString& sp3FileName,
33	const QString& rnxFileName, int PID, int SID, int IOD, int iRow) :
34	bncUploadCaster(mountpoint, outHost, outPort, password, iRow, 0) {
35
36	if (!mountpoint.isEmpty()) {
37	_casterID += mountpoint;
38	}
39	if (!outHost.isEmpty()) {
40	_casterID += " " + outHost;
41	if (outPort) {
42	_casterID += ":" + QString("%1").arg(outPort, 10);
43	}
44	}
45	if (!crdTrafo.isEmpty()) {
46	_casterID += " " + crdTrafo;
47	}
48	if (!sp3FileName.isEmpty()) {
49	_casterID += " " + sp3FileName;
50	}
51	if (!rnxFileName.isEmpty()) {
52	_casterID += " " + rnxFileName;
53	}
54
55	_crdTrafo = crdTrafo;
56
57	_ssrFormat = ssrFormat;
58	_ssrCorr = 0;
59	if (_ssrFormat == "IGS-SSR") {
60	_ssrCorr = new SsrCorrIgs();
61	}
62	else if (_ssrFormat == "RTCM-SSR") {
63	_ssrCorr = new SsrCorrRtcm();
64	}
65
66	_CoM = CoM;
67	_PID = PID;
68	_SID = SID;
69	_IOD = IOD;
70
71	// Member that receives the ephemeris
72	// ----------------------------------
73	_ephUser = new bncEphUser(true);
74
75	bncSettings settings;
76	QString intr = settings.value("uploadIntr").toString();
77	QStringList hlp = settings.value("cmbStreams").toStringList();
78	_samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toDouble();
79	if (hlp.size() > 1) { // combination stream upload
80	_samplRtcmClkCorr = settings.value("cmbSampl").toInt();
81	}
82	else { // single stream upload or sp3 file generation
83	_samplRtcmClkCorr = 5; // default
84	}
85	int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
86	int samplSp3 = settings.value("uploadSamplSp3").toInt() * 60;
87
88	if (_samplRtcmEphCorr == 0.0) {
89	_usedEph = 0;
90	}
91	else {
92	_usedEph = new QMap<QString, const t_eph*>;
93	}
94
95	// RINEX writer
96	// ------------
97	if (!rnxFileName.isEmpty()) {
98	_rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
99	}
100	else {
101	_rnx = 0;
102	}
103
104	// SP3 writer
105	// ----------
106	if (!sp3FileName.isEmpty()) {
107	_sp3 = new bncSP3(sp3FileName, intr, samplSp3);
108	}
109	else {
110	_sp3 = 0;
111	}
112
113	// Set Transformation Parameters
114	// -----------------------------
115	// Transformation Parameters from ITRF2014 to ETRF2000
116	// EUREF Technical Note 1 Relationship and Transformation between the ITRF and ETRF
117	// Zuheir Altamimi, June 28, 2018
118	if (_crdTrafo == "ETRF2000") {
119	_dx = 0.0547;
120	_dy = 0.0522;
121	_dz = -0.0741;
122
123	_dxr = 0.0001;
124	_dyr = 0.0001;
125	_dzr = -0.0019;
126
127	_ox = 0.001701;
128	_oy = 0.010290;
129	_oz = -0.016632;
130
131	_oxr = 0.000081;
132	_oyr = 0.000490;
133	_ozr = -0.000729;
134
135	_sc = 2.12;
136	_scr = 0.11;
137
138	_t0 = 2010.0;
139	}
140	// Transformation Parameters from ITRF2014 to GDA2020 (Ryan Ruddick, GA)
141	else if (_crdTrafo == "GDA2020") {
142	_dx = 0.0;
143	_dy = 0.0;
144	_dz = 0.0;
145
146	_dxr = 0.0;
147	_dyr = 0.0;
148	_dzr = 0.0;
149
150	_ox = 0.0;
151	_oy = 0.0;
152	_oz = 0.0;
153
154	_oxr = 0.00150379;
155	_oyr = 0.00118346;
156	_ozr = 0.00120716;
157
158	_sc = 0.0;
159	_scr = 0.0;
160
161	_t0 = 2020.0;
162	}
163	// Transformation Parameters from IGb14 to SIRGAS2000 (Thanks to Sonia Costa, BRA)
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.*/
165	else if (_crdTrafo == "SIRGAS2000") {
166	_dx = -0.0027;
167	_dy = -0.0025;
168	_dz = -0.0042;
169
170	_dxr = 0.0000;
171	_dyr = 0.0000;
172	_dzr = 0.0000;
173
174	_ox = 0.000000;
175	_oy = 0.000000;
176	_oz = 0.000000;
177
178	_oxr = 0.000000;
179	_oyr = 0.000000;
180	_ozr = 0.000000;
181
182	_sc = 1.20000;
183	_scr = 0.00000;
184	_t0 = 2000.0;
185	}
186	// Transformation Parameters from ITRF2014 to DREF91
187	else if (_crdTrafo == "DREF91") {
188	_dx = 0.0547;
189	_dy = 0.0522;
190	_dz = -0.0741;
191
192	_dxr = 0.0001;
193	_dyr = 0.0001;
194	_dzr = -0.0019;
195	// ERTF200 + rotation parameters (ETRF200 => DREF91)
196	_ox = 0.001701 + 0.000658;
197	_oy = 0.010290 - 0.000208;
198	_oz = -0.016632 + 0.000755;
199
200	_oxr = 0.000081;
201	_oyr = 0.000490;
202	_ozr = -0.000729;
203
204	_sc = 2.12;
205	_scr = 0.11;
206
207	_t0 = 2010.0;
208	}
209	else if (_crdTrafo == "Custom") {
210	_dx = settings.value("trafo_dx").toDouble();
211	_dy = settings.value("trafo_dy").toDouble();
212	_dz = settings.value("trafo_dz").toDouble();
213	_dxr = settings.value("trafo_dxr").toDouble();
214	_dyr = settings.value("trafo_dyr").toDouble();
215	_dzr = settings.value("trafo_dzr").toDouble();
216	_ox = settings.value("trafo_ox").toDouble();
217	_oy = settings.value("trafo_oy").toDouble();
218	_oz = settings.value("trafo_oz").toDouble();
219	_oxr = settings.value("trafo_oxr").toDouble();
220	_oyr = settings.value("trafo_oyr").toDouble();
221	_ozr = settings.value("trafo_ozr").toDouble();
222	_sc = settings.value("trafo_sc").toDouble();
223	_scr = settings.value("trafo_scr").toDouble();
224	_t0 = settings.value("trafo_t0").toDouble();
225	}
226	}
227
228	// Destructor
229	////////////////////////////////////////////////////////////////////////////
230	bncRtnetUploadCaster::~bncRtnetUploadCaster() {
231	if (isRunning()) {
232	wait();
233	}
234	delete _rnx;
235	delete _sp3;
236	delete _ephUser;
237	delete _usedEph;
238	delete _ssrCorr;
239	}
240
241	//
242	////////////////////////////////////////////////////////////////////////////
243	void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
244
245	QMutexLocker locker(&_mutex);
246
247	// Append to internal buffer
248	// -------------------------
249	_rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
250
251	// Select buffer part that contains last epoch
252	// -------------------------------------------
253	QStringList lines;
254	int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
255	if (iEpoBeg == -1) {
256	_rtnetStreamBuffer.clear();
257	return;
258	}
259	int iEpoBegEarlier = _rtnetStreamBuffer.indexOf('*');
260	if (iEpoBegEarlier != -1 && iEpoBegEarlier < iEpoBeg) { // are there two epoch lines in buffer?
261	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBegEarlier);
262	}
263	else {
264	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
265	}
266	int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
267	if (iEpoEnd == -1) {
268	return;
269	}
270
271	while (_rtnetStreamBuffer.count('*') > 1) { // is there more than 1 epoch line in buffer?
272	QString rtnetStreamBuffer = _rtnetStreamBuffer.mid(1);
273	int nextEpoch = rtnetStreamBuffer.indexOf('*');
274	if (nextEpoch != -1 && nextEpoch < iEpoEnd) {
275	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(nextEpoch);
276	}
277	else if (nextEpoch != -1 && nextEpoch >= iEpoEnd) {
278	break;
279	}
280	}
281
282	lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n',
283	QString::SkipEmptyParts);
284	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
285
286	if (lines.size() < 2) {
287	return;
288	}
289
290	// Read first line (with epoch time)
291	// ---------------------------------
292	QTextStream in(lines[0].toAscii());
293	QString hlp;
294	int year, month, day, hour, min;
295	double sec;
296	in >> hlp >> year >> month >> day >> hour >> min >> sec;
297	bncTime epoTime;
298	epoTime.set(year, month, day, hour, min, sec);
299
300	emit(newMessage(
301	"bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
302	+ " " + QByteArray(epoTime.timestr().c_str()) + " "
303	+ _casterID.toAscii(), false));
304
305	struct SsrCorr::ClockOrbit co;
306	memset(&co, 0, sizeof(co));
307	co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
308	if (_ssrFormat == "RTCM-SSR") {
309	double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
310	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
311	}
312	else if (_ssrFormat == "IGS-SSR") {
313	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(epoTime.gpssec());
314	}
315	co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
316	co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
317	co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
318	if (_ssrFormat == "RTCM-SSR") {
319	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
320	}
321	else if (_ssrFormat == "IGS-SSR") {
322	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
323	}
324	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
325	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
326	co.SatRefDatum = _ssrCorr->DATUM_ITRF;
327	co.SSRIOD = _IOD;
328	co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
329	co.SSRSolutionID = _SID;
330
331	struct SsrCorr::CodeBias bias;
332	memset(&bias, 0, sizeof(bias));
333	bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
334	bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
335	bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
336	bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
337	bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
338	bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
339	bias.SSRIOD = _IOD;
340	bias.SSRProviderID = _PID;
341	bias.SSRSolutionID = _SID;
342
343	struct SsrCorr::PhaseBias phasebias;
344	memset(&phasebias, 0, sizeof(phasebias));
345	unsigned int dispersiveBiasConsistenyIndicator = 0;
346	unsigned int mwConsistencyIndicator = 0;
347	phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
348	phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
349	phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
350	phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
351	phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
352	phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
353	phasebias.SSRIOD = _IOD;
354	phasebias.SSRProviderID = _PID;
355	phasebias.SSRSolutionID = _SID;
356
357	struct SsrCorr::VTEC vtec;
358	memset(&vtec, 0, sizeof(vtec));
359	vtec.EpochTime = static_cast<int>(epoTime.gpssec());
360	vtec.SSRIOD = _IOD;
361	vtec.SSRProviderID = _PID;
362	vtec.SSRSolutionID = _SID;
363
364	// Default Update Interval
365	// -----------------------
366	int clkUpdInd = 2; // 5 sec
367	int ephUpdInd = clkUpdInd; // default
368
369	if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
370	ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
371	}
372	if (_samplRtcmClkCorr > 5.0) {
373	clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
374	}
375	if (_samplRtcmEphCorr > 5.0) {
376	ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
377	}
378
379	co.UpdateInterval = clkUpdInd;
380	bias.UpdateInterval = clkUpdInd;
381	phasebias.UpdateInterval = clkUpdInd;
382
383	for (int ii = 1; ii < lines.size(); ii++) {
384	QString key; // prn or key VTEC, IND (phase bias indicators)
385	double rtnUra = 0.0; // [m]
386	ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
387	ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
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]
391	t_prn prn;
392
393	QTextStream in(lines[ii].toAscii());
394	in >> key;
395
396	// non-satellite specific parameters
397	if (key.contains("IND", Qt::CaseSensitive)) {
398	in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
399	continue;
400	}
401	// non-satellite specific parameters
402	if (key.contains("VTEC", Qt::CaseSensitive)) {
403	double ui;
404	in >> ui >> vtec.NumLayers;
405	vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
406	for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
407	int dummy;
408	in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
409	>> vtec.Layers[ll].Height;
410	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
411	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
412	in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
413	}
414	}
415	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
416	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
417	in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
418	}
419	}
420	}
421	continue;
422	}
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	}
430	prn.set(sys, number, flags);
431	QString prnInternalStr = QString::fromStdString(prn.toInternalString());
432	QString prnStr = QString::fromStdString(prn.toString());
433
434	const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
435	const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
436	const t_eph* eph = ephLast;
437	if (eph) {
438
439	// Use previous ephemeris if the last one is too recent
440	// ----------------------------------------------------
441	const int MINAGE = 60; // seconds
442	if (ephPrev && eph->receptDateTime().isValid()
443	&& eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
444	eph = ephPrev;
445	}
446
447	// Make sure the clock messages refer to same IOD as orbit messages
448	// ----------------------------------------------------------------
449	if (_usedEph) {
450	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
451	(*_usedEph)[prnInternalStr] = eph;
452	}
453	else {
454	eph = 0;
455	if (_usedEph->contains(prnInternalStr)) {
456	const t_eph* usedEph = _usedEph->value(prnInternalStr);
457	if (usedEph == ephLast) {
458	eph = ephLast;
459	}
460	else if (usedEph == ephPrev) {
461	eph = ephPrev;
462	}
463	}
464	}
465	}
466	}
467
468	if (eph &&
469	eph->checkState() != t_eph::bad &&
470	eph->checkState() != t_eph::unhealthy &&
471	eph->checkState() != t_eph::outdated) {
472	QMap<QString, double> codeBiases;
473	QList<phaseBiasSignal> phaseBiasList;
474	phaseBiasesSat pbSat;
475
476	while (true) {
477	QString key;
478	int numVal = 0;
479	in >> key;
480	if (in.status() != QTextStream::Ok) {
481	break;
482	}
483	if (key == "APC") {
484	in >> numVal;
485	rtnAPC.ReSize(3); rtnAPC = 0.0;
486	for (int ii = 0; ii < numVal; ii++) {
487	in >> rtnAPC[ii];
488	}
489	}
490	else if (key == "Ura") {
491	in >> numVal;
492	if (numVal == 1)
493	in >> rtnUra;
494	}
495	else if (key == "Clk") {
496	in >> numVal;
497	rtnClk.ReSize(3); rtnClk = 0.0;
498	for (int ii = 0; ii < numVal; ii++) {
499	in >> rtnClk[ii];
500	}
501	}
502	else if (key == "ClkSig") {
503	in >> numVal;
504	rtnClkSig.ReSize(3); rtnClkSig = 0.0;
505	for (int ii = 0; ii < numVal; ii++) {
506	in >> rtnClkSig[ii];
507	}
508	}
509	else if (key == "Vel") {
510	in >> numVal;
511	rtnVel.ReSize(3); rtnVel = 0.0;
512	for (int ii = 0; ii < numVal; ii++) {
513	in >> rtnVel[ii];
514	}
515	}
516	else if (key == "CoM") {
517	in >> numVal;
518	rtnCoM.ReSize(3); rtnCoM = 0.0;
519	for (int ii = 0; ii < numVal; ii++) {
520	in >> rtnCoM[ii];
521	}
522	}
523	else if (key == "CodeBias") {
524	in >> numVal;
525	for (int ii = 0; ii < numVal; ii++) {
526	QString type;
527	double value;
528	in >> type >> value;
529	codeBiases[type] = value;
530	}
531	}
532	else if (key == "YawAngle") {
533	in >> numVal >> pbSat.yawAngle;
534	if (pbSat.yawAngle < 0.0) {
535	pbSat.yawAngle += (2*M_PI);
536	}
537	else if (pbSat.yawAngle > 2*M_PI) {
538	pbSat.yawAngle -= (2*M_PI);
539	}
540	}
541	else if (key == "YawRate") {
542	in >> numVal >> pbSat.yawRate;
543	}
544	else if (key == "PhaseBias") {
545	in >> numVal;
546	for (int ii = 0; ii < numVal; ii++) {
547	phaseBiasSignal pb;
548	in >> pb.type >> pb.bias >> pb.integerIndicator
549	>> pb.wlIndicator >> pb.discontinuityCounter;
550	phaseBiasList.append(pb);
551	}
552	}
553	else {
554	in >> numVal;
555	for (int ii = 0; ii < numVal; ii++) {
556	double dummy;
557	in >> dummy;
558	}
559	emit(newMessage(" RTNET format error: "
560	+ lines[ii].toAscii(), false));
561	}
562	}
563
564	struct SsrCorr::ClockOrbit::SatData* sd = 0;
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
575	+ co.NumberOfSat[CLOCKORBIT_SATGALILEO];
576	++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
577	}
578	else if (prn.system() == 'J') {
579	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
580	+ CLOCKORBIT_NUMGALILEO
581	+ co.NumberOfSat[CLOCKORBIT_SATQZSS];
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
592	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
593	+ CLOCKORBIT_NUMSBAS
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
608	// Code Biases
609	// -----------
610	struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
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
618	+ bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
619	++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
620	}
621	else if (prn.system() == 'E') {
622	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
623	+ bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
624	++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
625	}
626	else if (prn.system() == 'J') {
627	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
628	+ CLOCKORBIT_NUMGALILEO
629	+ bias.NumberOfSat[CLOCKORBIT_SATQZSS];
630	++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
631	}
632	else if (prn.system() == 'S') {
633	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
634	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
635	+ bias.NumberOfSat[CLOCKORBIT_SATSBAS];
636	++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
637	}
638	else if (prn.system() == 'C') {
639	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
640	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
641	+ CLOCKORBIT_NUMSBAS
642	+ bias.NumberOfSat[CLOCKORBIT_SATBDS];
643	++bias.NumberOfSat[CLOCKORBIT_SATBDS];
644	}
645	}
646
647	if (biasSat) {
648	biasSat->ID = prn.number();
649	biasSat->NumberOfCodeBiases = 0;
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();
661	}
662	}
663	}
664
665	// Phase Biases
666	// ------------
667	struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
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	}
702
703	if (phasebiasSat) {
704	phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
705	phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
706	phasebiasSat->ID = prn.number();
707	phasebiasSat->NumberOfPhaseBiases = 0;
708	phasebiasSat->YawAngle = pbSat.yawAngle;
709	phasebiasSat->YawRate = pbSat.yawRate;
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;
724	}
725	}
726	}
727	}
728	}
729
730	QByteArray hlpBufferCo;
731
732	// Orbit and Clock Corrections together
733	// ------------------------------------
734	if (_samplRtcmEphCorr == 0.0) {
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) {
741	char obuffer[CLOCKORBIT_BUFFERSIZE];
742	int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
743	if (len > 0) {
744	hlpBufferCo = QByteArray(obuffer, len);
745	}
746	}
747	}
748
749	// Orbit and Clock Corrections separately
750	// --------------------------------------
751	else {
752	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
753	char obuffer[CLOCKORBIT_BUFFERSIZE];
754	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
755	co.UpdateInterval = ephUpdInd;
756	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer,
757	sizeof(obuffer));
758	co.UpdateInterval = clkUpdInd;
759	if (len1 > 0) {
760	hlpBufferCo += QByteArray(obuffer, len1);
761	}
762	}
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;
768	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer,
769	sizeof(obuffer));
770	if (len2 > 0) {
771	hlpBufferCo += QByteArray(obuffer, len2);
772	}
773	}
774	if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
775	char obuffer[CLOCKORBIT_BUFFERSIZE];
776	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
777	co.UpdateInterval = ephUpdInd;
778	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer,
779	sizeof(obuffer));
780	co.UpdateInterval = clkUpdInd;
781	if (len1 > 0) {
782	hlpBufferCo += QByteArray(obuffer, len1);
783	}
784	}
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;
789	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer,
790	sizeof(obuffer));
791	if (len2 > 0) {
792	hlpBufferCo += QByteArray(obuffer, len2);
793	}
794	}
795	if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
796	char obuffer[CLOCKORBIT_BUFFERSIZE];
797	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
798	co.UpdateInterval = ephUpdInd;
799	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer,
800	sizeof(obuffer));
801	co.UpdateInterval = clkUpdInd;
802	if (len1 > 0) {
803	hlpBufferCo += QByteArray(obuffer, len1);
804	}
805	}
806	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
807	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
808	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
809	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer,
810	sizeof(obuffer));
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;
819	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer,
820	sizeof(obuffer));
821	co.UpdateInterval = clkUpdInd;
822	if (len1 > 0) {
823	hlpBufferCo += QByteArray(obuffer, len1);
824	}
825	}
826	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
827	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
828	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer,
829	sizeof(obuffer));
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;
838	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer,
839	sizeof(obuffer));
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;
846	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
847	sizeof(obuffer));
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;
856	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer,
857	sizeof(obuffer));
858	co.UpdateInterval = clkUpdInd;
859	if (len1 > 0) {
860	hlpBufferCo += QByteArray(obuffer, len1);
861	}
862	}
863	int mmsg = 0;
864	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer,
865	sizeof(obuffer));
866	if (len2 > 0) {
867	hlpBufferCo += QByteArray(obuffer, len2);
868	}
869	}
870	}
871
872	// Code Biases
873	// -----------
874	QByteArray hlpBufferBias;
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) {
881	char obuffer[CLOCKORBIT_BUFFERSIZE];
882	int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
883	if (len > 0) {
884	hlpBufferBias = QByteArray(obuffer, len);
885	}
886	}
887
888	// Phase Biases
889	// ------------
890	QByteArray hlpBufferPhaseBias;
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) {
897	char obuffer[CLOCKORBIT_BUFFERSIZE];
898	int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer,
899	sizeof(obuffer));
900	if (len > 0) {
901	hlpBufferPhaseBias = QByteArray(obuffer, len);
902	}
903	}
904
905	// VTEC
906	// ----
907	QByteArray hlpBufferVtec;
908	if (vtec.NumLayers > 0) {
909	char obuffer[CLOCKORBIT_BUFFERSIZE];
910	int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
911	if (len > 0) {
912	hlpBufferVtec = QByteArray(obuffer, len);
913	}
914	}
915
916	_outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias
917	+ hlpBufferVtec;
918	}
919
920	//
921	////////////////////////////////////////////////////////////////////////////
922	t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
923	double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
924	double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
925	const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
926	struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
927
928	// Broadcast Position and Velocity
929	// -------------------------------
930	ColumnVector xB(6);
931	ColumnVector vB(3);
932	t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
933
934	if (irc != success) {
935	return irc;
936	}
937
938	// Precise Position
939	// ----------------
940	ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
941
942	if (xP.size() == 0) {
943	return failure;
944	}
945
946	double dc = 0.0;
947	if (_crdTrafo != "IGS14") {
948	crdTrafo(GPSweek, xP, dc);
949	}
950
951	// Difference in xyz
952	// -----------------
953	ColumnVector dx = xB.Rows(1, 3) - xP;
954	ColumnVector dv = vB - rtnVel;
955
956	// Difference in RSW
957	// -----------------
958	ColumnVector rsw(3);
959	XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
960
961	ColumnVector dotRsw(3);
962	XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
963
964	// Clock Correction
965	// ----------------
966	double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
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	}
975
976	if (sd) {
977	sd->ID = prn.mid(1).toInt();
978	sd->IOD = eph->IOD();
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);
984	sd->Orbit.DeltaAlongTrack = rsw(2);
985	sd->Orbit.DeltaCrossTrack = rsw(3);
986	sd->Orbit.DotDeltaRadial = dotRsw(1);
987	sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
988	sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
989	}
990
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));
994
995	// RTNET full clock for RINEX and SP3 file
996	// ---------------------------------------
997	double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
998	double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
999	double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1000	double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² ) -/s]
1001
1002	if (_rnx) {
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	}
1022	_rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1023	clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1024	}
1025	if (_sp3) {
1026	_sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1027	}
1028	return success;
1029	}
1030
1031	// Transform Coordinates
1032	////////////////////////////////////////////////////////////////////////////
1033	void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1034	double& dc) {
1035
1036	// Current epoch minus 2000.0 in years
1037	// ------------------------------------
1038	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
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
1052	double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1053
1054	// Specify approximate center of area
1055	// ----------------------------------
1056	ColumnVector meanSta(3);
1057
1058	if (_crdTrafo == "ETRF2000") {
1059	meanSta(1) = 3661090.0;
1060	meanSta(2) = 845230.0;
1061	meanSta(3) = 5136850.0;
1062	}
1063	else if (_crdTrafo == "GDA2020") {
1064	meanSta(1) = -4052050.0;
1065	meanSta(2) = 4212840.0;
1066	meanSta(3) = -2545110.0;
1067	}
1068	else if (_crdTrafo == "SIRGAS2000") {
1069	meanSta(1) = 3740860.0;
1070	meanSta(2) = -4964290.0;
1071	meanSta(3) = -1425420.0;
1072	}
1073	else if (_crdTrafo == "DREF91") {
1074	meanSta(1) = 3959579.0;
1075	meanSta(2) = 721719.0;
1076	meanSta(3) = 4931539.0;
1077	}
1078	else if (_crdTrafo == "Custom") {
1079	meanSta(1) = 0.0; // TODO
1080	meanSta(2) = 0.0; // TODO
1081	meanSta(3) = 0.0; // TODO
1082	}
1083
1084	// Clock correction proportional to topocentric distance to satellites
1085	// -------------------------------------------------------------------
1086	double rho = (xyz - meanSta).norm_Frobenius();
1087	dc = rho * (sc - 1.0) / sc / t_CST::c;
1088
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;
1099
1100	xyz = sc * rMat * xyz + dx;
1101	}
1102
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	}
1144	return 2; // default
1145	}

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