source: ntrip/branches/BNC_2.12/src/upload/bncrtnetuploadcaster.cpp@ 9127

Last change on this file since 9127 was 9127, checked in by stuerze, 20 months ago

minor changes regarding ssr, long mountpoint names and latency

File size: 37.3 KB
Line 
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
25using namespace std;
26
27// Constructor
28////////////////////////////////////////////////////////////////////////////
29bncRtnetUploadCaster::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
59 _ssrCorr = 0;
60 if (_ssrFormat == "IGS-SSR") {
61 _ssrCorr = new SsrCorrIgs();
62 }
63 else if (_ssrFormat == "RTCM-SSR") {
64 _ssrCorr = new SsrCorrRtcm();
65 }
66
67 _CoM = CoM;
68 _PID = PID;
69 _SID = SID;
70 _IOD = IOD;
71
72 // Member that receives the ephemeris
73 // ----------------------------------
74 _ephUser = new bncEphUser(true);
75
76 bncSettings settings;
77 QString intr = settings.value("uploadIntr").toString();
78 QStringList hlp = settings.value("cmbStreams").toStringList();
79 _samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toDouble();
80 if (hlp.size() > 1) { // combination stream upload
81 _samplRtcmClkCorr = settings.value("cmbSampl").toInt();
82 }
83 else { // single stream upload or sp3 file generation
84 _samplRtcmClkCorr = 5; // default
85 }
86 int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
87 int samplSp3 = settings.value("uploadSamplSp3").toInt() * 60;
88
89 if (_samplRtcmEphCorr == 0.0) {
90 _usedEph = 0;
91 }
92 else {
93 _usedEph = new QMap<QString, const t_eph*>;
94 }
95
96 // RINEX writer
97 // ------------
98 if (!rnxFileName.isEmpty()) {
99 _rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
100 }
101 else {
102 _rnx = 0;
103 }
104
105 // SP3 writer
106 // ----------
107 if (!sp3FileName.isEmpty()) {
108 _sp3 = new bncSP3(sp3FileName, intr, samplSp3);
109 }
110 else {
111 _sp3 = 0;
112 }
113
114 // Set Transformation Parameters
115 // -----------------------------
116 // Transformation Parameters from ITRF2014 to ETRF2000
117 // EUREF Technical Note 1 Relationship and Transformation between the ITRF and ETRF
118 // Zuheir Altamimi, June 28, 2018
119 if (_crdTrafo == "ETRF2000") {
120 _dx = 0.0547;
121 _dy = 0.0522;
122 _dz = -0.0741;
123
124 _dxr = 0.0001;
125 _dyr = 0.0001;
126 _dzr = -0.0019;
127
128 _ox = 0.001701;
129 _oy = 0.010290;
130 _oz = -0.016632;
131
132 _oxr = 0.000081;
133 _oyr = 0.000490;
134 _ozr = -0.000729;
135
136 _sc = 2.12;
137 _scr = 0.11;
138
139 _t0 = 2010.0;
140 }
141 // Transformation Parameters from ITRF2014 to GDA2020 (Ryan Ruddick, GA)
142 else if (_crdTrafo == "GDA2020") {
143 _dx = 0.0;
144 _dy = 0.0;
145 _dz = 0.0;
146
147 _dxr = 0.0;
148 _dyr = 0.0;
149 _dzr = 0.0;
150
151 _ox = 0.0;
152 _oy = 0.0;
153 _oz = 0.0;
154
155 _oxr = 0.00150379;
156 _oyr = 0.00118346;
157 _ozr = 0.00120716;
158
159 _sc = 0.0;
160 _scr = 0.0;
161
162 _t0 = 2020.0;
163 }
164 // Transformation Parameters from IGb14 to SIRGAS2000 (Thanks to Sonia Costa, BRA)
165 // June 29 2020: TX:-0.0027 m TY:-0.0025 m TZ:-0.0042 m SCL:1.20 (ppb) no rotations and no rates.*/
166 else if (_crdTrafo == "SIRGAS2000") {
167 _dx = -0.0027;
168 _dy = -0.0025;
169 _dz = -0.0042;
170
171 _dxr = 0.0000;
172 _dyr = 0.0000;
173 _dzr = 0.0000;
174
175 _ox = 0.000000;
176 _oy = 0.000000;
177 _oz = 0.000000;
178
179 _oxr = 0.000000;
180 _oyr = 0.000000;
181 _ozr = 0.000000;
182
183 _sc = 1.20000;
184 _scr = 0.00000;
185 _t0 = 2000.0;
186 }
187 // Transformation Parameters from ITRF2014 to DREF91
188 else if (_crdTrafo == "DREF91") {
189 _dx = 0.0547;
190 _dy = 0.0522;
191 _dz = -0.0741;
192
193 _dxr = 0.0001;
194 _dyr = 0.0001;
195 _dzr = -0.0019;
196 // ERTF200 + rotation parameters (ETRF200 => DREF91)
197 _ox = 0.001701 + 0.000658;
198 _oy = 0.010290 - 0.000208;
199 _oz = -0.016632 + 0.000755;
200
201 _oxr = 0.000081;
202 _oyr = 0.000490;
203 _ozr = -0.000729;
204
205 _sc = 2.12;
206 _scr = 0.11;
207
208 _t0 = 2010.0;
209 }
210 else if (_crdTrafo == "Custom") {
211 _dx = settings.value("trafo_dx").toDouble();
212 _dy = settings.value("trafo_dy").toDouble();
213 _dz = settings.value("trafo_dz").toDouble();
214 _dxr = settings.value("trafo_dxr").toDouble();
215 _dyr = settings.value("trafo_dyr").toDouble();
216 _dzr = settings.value("trafo_dzr").toDouble();
217 _ox = settings.value("trafo_ox").toDouble();
218 _oy = settings.value("trafo_oy").toDouble();
219 _oz = settings.value("trafo_oz").toDouble();
220 _oxr = settings.value("trafo_oxr").toDouble();
221 _oyr = settings.value("trafo_oyr").toDouble();
222 _ozr = settings.value("trafo_ozr").toDouble();
223 _sc = settings.value("trafo_sc").toDouble();
224 _scr = settings.value("trafo_scr").toDouble();
225 _t0 = settings.value("trafo_t0").toDouble();
226 }
227}
228
229// Destructor
230////////////////////////////////////////////////////////////////////////////
231bncRtnetUploadCaster::~bncRtnetUploadCaster() {
232 if (isRunning()) {
233 wait();
234 }
235 delete _rnx;
236 delete _sp3;
237 delete _ephUser;
238 delete _usedEph;
239 delete _ssrCorr;
240}
241
242//
243////////////////////////////////////////////////////////////////////////////
244void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
245
246 QMutexLocker locker(&_mutex);
247
248 // Append to internal buffer
249 // -------------------------
250 _rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
251
252 // Select buffer part that contains last epoch
253 // -------------------------------------------
254 QStringList lines;
255 int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
256 if (iEpoBeg == -1) {
257 _rtnetStreamBuffer.clear();
258 return;
259 }
260 int iEpoBegEarlier = _rtnetStreamBuffer.indexOf('*');
261 if (iEpoBegEarlier != -1 && iEpoBegEarlier < iEpoBeg) { // are there two epoch lines in buffer?
262 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBegEarlier);
263 }
264 else {
265 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
266 }
267 int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
268 if (iEpoEnd == -1) {
269 return;
270 }
271
272 while (_rtnetStreamBuffer.count('*') > 1) { // is there more than 1 epoch line in buffer?
273 QString rtnetStreamBuffer = _rtnetStreamBuffer.mid(1);
274 int nextEpoch = rtnetStreamBuffer.indexOf('*');
275 if (nextEpoch != -1 && nextEpoch < iEpoEnd) {
276 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(nextEpoch);
277 }
278 else if (nextEpoch != -1 && nextEpoch >= iEpoEnd) {
279 break;
280 }
281 }
282
283 lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n',
284 QString::SkipEmptyParts);
285 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
286
287 if (lines.size() < 2) {
288 return;
289 }
290
291 // Read first line (with epoch time)
292 // ---------------------------------
293 QTextStream in(lines[0].toAscii());
294 QString hlp;
295 int year, month, day, hour, min;
296 double sec;
297 in >> hlp >> year >> month >> day >> hour >> min >> sec;
298 bncTime epoTime;
299 epoTime.set(year, month, day, hour, min, sec);
300
301 emit(newMessage(
302 "bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
303 + " " + QByteArray(epoTime.timestr().c_str()) + " "
304 + _casterID.toAscii(), false));
305
306 struct SsrCorr::ClockOrbit co;
307 memset(&co, 0, sizeof(co));
308 co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
309 if (_ssrFormat == "RTCM-SSR") {
310 double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
311 co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
312 }
313 else if (_ssrFormat == "IGS-SSR") {
314 co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(epoTime.gpssec());
315 }
316 co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
317 co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
318 co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
319 if (_ssrFormat == "RTCM-SSR") {
320 co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
321 }
322 else if (_ssrFormat == "IGS-SSR") {
323 co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
324 }
325 co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
326 co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
327 co.SatRefDatum = _ssrCorr->DATUM_ITRF;
328 co.SSRIOD = _IOD;
329 co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
330 co.SSRSolutionID = _SID;
331
332 struct SsrCorr::CodeBias bias;
333 memset(&bias, 0, sizeof(bias));
334 bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
335 bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
336 bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
337 bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
338 bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
339 bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
340 bias.SSRIOD = _IOD;
341 bias.SSRProviderID = _PID;
342 bias.SSRSolutionID = _SID;
343
344 struct SsrCorr::PhaseBias phasebias;
345 memset(&phasebias, 0, sizeof(phasebias));
346 unsigned int dispersiveBiasConsistenyIndicator = 0;
347 unsigned int mwConsistencyIndicator = 0;
348 phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
349 phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
350 phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
351 phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
352 phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
353 phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
354 phasebias.SSRIOD = _IOD;
355 phasebias.SSRProviderID = _PID;
356 phasebias.SSRSolutionID = _SID;
357
358 struct SsrCorr::VTEC vtec;
359 memset(&vtec, 0, sizeof(vtec));
360 vtec.EpochTime = static_cast<int>(epoTime.gpssec());
361 vtec.SSRIOD = _IOD;
362 vtec.SSRProviderID = _PID;
363 vtec.SSRSolutionID = _SID;
364
365 // Default Update Interval
366 // -----------------------
367 int clkUpdInd = 2; // 5 sec
368 int ephUpdInd = clkUpdInd; // default
369
370 if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
371 ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
372 }
373 if (_samplRtcmClkCorr > 5.0) {
374 clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
375 }
376 if (_samplRtcmEphCorr > 5.0) {
377 ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
378 }
379
380 co.UpdateInterval = clkUpdInd;
381 bias.UpdateInterval = ephUpdInd;
382 phasebias.UpdateInterval = ephUpdInd;
383
384 for (int ii = 1; ii < lines.size(); ii++) {
385 QString key; // prn or key VTEC, IND (phase bias indicators)
386 double rtnUra = 0.0; // [m]
387 ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
388 ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
389 ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
390 ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
391 ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
392 t_prn prn;
393
394 QTextStream in(lines[ii].toAscii());
395 in >> key;
396
397 // non-satellite specific parameters
398 if (key.contains("IND", Qt::CaseSensitive)) {
399 in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
400 continue;
401 }
402 // non-satellite specific parameters
403 if (key.contains("VTEC", Qt::CaseSensitive)) {
404 double ui;
405 in >> ui >> vtec.NumLayers;
406 vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
407 for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
408 int dummy;
409 in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
410 >> vtec.Layers[ll].Height;
411 for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
412 for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
413 in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
414 }
415 }
416 for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
417 for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
418 in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
419 }
420 }
421 }
422 continue;
423 }
424 // satellite specific parameters
425 char sys = key.mid(0, 1).at(0).toAscii();
426 int number = key.mid(1, 2).toInt();
427 int flags = 0;
428 if (sys == 'E') { // I/NAV
429 flags = 1;
430 }
431 prn.set(sys, number, flags);
432 QString prnInternalStr = QString::fromStdString(prn.toInternalString());
433 QString prnStr = QString::fromStdString(prn.toString());
434
435 const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
436 const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
437 const t_eph* eph = ephLast;
438 if (eph) {
439
440 // Use previous ephemeris if the last one is too recent
441 // ----------------------------------------------------
442 const int MINAGE = 60; // seconds
443 if (ephPrev && eph->receptDateTime().isValid()
444 && eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
445 eph = ephPrev;
446 }
447
448 // Make sure the clock messages refer to same IOD as orbit messages
449 // ----------------------------------------------------------------
450 if (_usedEph) {
451 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
452 (*_usedEph)[prnInternalStr] = eph;
453 }
454 else {
455 eph = 0;
456 if (_usedEph->contains(prnInternalStr)) {
457 const t_eph* usedEph = _usedEph->value(prnInternalStr);
458 if (usedEph == ephLast) {
459 eph = ephLast;
460 }
461 else if (usedEph == ephPrev) {
462 eph = ephPrev;
463 }
464 }
465 }
466 }
467 }
468
469 if (eph &&
470 eph->checkState() != t_eph::bad &&
471 eph->checkState() != t_eph::unhealthy &&
472 eph->checkState() != t_eph::outdated) {
473 QMap<QString, double> codeBiases;
474 QList<phaseBiasSignal> phaseBiasList;
475 phaseBiasesSat pbSat;
476 bool phaseBiasInformationDecoded = false;
477
478 while (true) {
479 QString key;
480 int numVal = 0;
481 in >> key;
482 if (in.status() != QTextStream::Ok) {
483 break;
484 }
485 if (key == "APC") {
486 in >> numVal;
487 rtnAPC.ReSize(3); rtnAPC = 0.0;
488 for (int ii = 0; ii < numVal; ii++) {
489 in >> rtnAPC[ii];
490 }
491 }
492 else if (key == "Ura") {
493 in >> numVal;
494 if (numVal == 1)
495 in >> rtnUra;
496 }
497 else if (key == "Clk") {
498 in >> numVal;
499 rtnClk.ReSize(3); rtnClk = 0.0;
500 for (int ii = 0; ii < numVal; ii++) {
501 in >> rtnClk[ii];
502 }
503 }
504 else if (key == "ClkSig") {
505 in >> numVal;
506 rtnClkSig.ReSize(3); rtnClkSig = 0.0;
507 for (int ii = 0; ii < numVal; ii++) {
508 in >> rtnClkSig[ii];
509 }
510 }
511 else if (key == "Vel") {
512 in >> numVal;
513 rtnVel.ReSize(3); rtnVel = 0.0;
514 for (int ii = 0; ii < numVal; ii++) {
515 in >> rtnVel[ii];
516 }
517 }
518 else if (key == "CoM") {
519 in >> numVal;
520 rtnCoM.ReSize(3); rtnCoM = 0.0;
521 for (int ii = 0; ii < numVal; ii++) {
522 in >> rtnCoM[ii];
523 }
524 }
525 else if (key == "CodeBias") {
526 in >> numVal;
527 for (int ii = 0; ii < numVal; ii++) {
528 QString type;
529 double value;
530 in >> type >> value;
531 codeBiases[type] = value;
532 }
533 }
534 else if (key == "YawAngle") {
535 phaseBiasInformationDecoded = true;
536 in >> numVal >> pbSat.yawAngle;
537 if (pbSat.yawAngle < 0.0) {
538 pbSat.yawAngle += (2*M_PI);
539 }
540 else if (pbSat.yawAngle > 2*M_PI) {
541 pbSat.yawAngle -= (2*M_PI);
542 }
543 }
544 else if (key == "YawRate") {
545 in >> numVal >> pbSat.yawRate;
546 }
547 else if (key == "PhaseBias") {
548 phaseBiasInformationDecoded = true;
549 in >> numVal;
550 for (int ii = 0; ii < numVal; ii++) {
551 phaseBiasSignal pb;
552 in >> pb.type >> pb.bias >> pb.integerIndicator
553 >> pb.wlIndicator >> pb.discontinuityCounter;
554 phaseBiasList.append(pb);
555 }
556 }
557 else {
558 in >> numVal;
559 for (int ii = 0; ii < numVal; ii++) {
560 double dummy;
561 in >> dummy;
562 }
563 emit(newMessage(" RTNET format error: "
564 + lines[ii].toAscii(), false));
565 }
566 }
567
568 struct SsrCorr::ClockOrbit::SatData* sd = 0;
569 if (prn.system() == 'G') {
570 sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
571 ++co.NumberOfSat[CLOCKORBIT_SATGPS];
572 }
573 else if (prn.system() == 'R') {
574 sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
575 ++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
576 }
577 else if (prn.system() == 'E') {
578 sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
579 + co.NumberOfSat[CLOCKORBIT_SATGALILEO];
580 ++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
581 }
582 else if (prn.system() == 'J') {
583 sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
584 + CLOCKORBIT_NUMGALILEO
585 + co.NumberOfSat[CLOCKORBIT_SATQZSS];
586 ++co.NumberOfSat[CLOCKORBIT_SATQZSS];
587 }
588 else if (prn.system() == 'S') {
589 sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
590 + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
591 + co.NumberOfSat[CLOCKORBIT_SATSBAS];
592 ++co.NumberOfSat[CLOCKORBIT_SATSBAS];
593 }
594 else if (prn.system() == 'C') {
595 sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
596 + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
597 + CLOCKORBIT_NUMSBAS
598 + co.NumberOfSat[CLOCKORBIT_SATBDS];
599 ++co.NumberOfSat[CLOCKORBIT_SATBDS];
600 }
601 if (sd) {
602 QString outLine;
603 t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
604 rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
605 if (irc != success) {
606 // very few cases: check states bad and unhealthy are excluded earlier
607 sd->ID = prnStr.mid(1).toInt(); // to prevent G00, R00 entries
608 sd->IOD = eph->IOD();
609 }
610 }
611
612 // Code Biases
613 // -----------
614 struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
615 if (!codeBiases.isEmpty()) {
616 if (prn.system() == 'G') {
617 biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
618 ++bias.NumberOfSat[CLOCKORBIT_SATGPS];
619 }
620 else if (prn.system() == 'R') {
621 biasSat = bias.Sat + CLOCKORBIT_NUMGPS
622 + bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
623 ++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
624 }
625 else if (prn.system() == 'E') {
626 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
627 + bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
628 ++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
629 }
630 else if (prn.system() == 'J') {
631 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
632 + CLOCKORBIT_NUMGALILEO
633 + bias.NumberOfSat[CLOCKORBIT_SATQZSS];
634 ++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
635 }
636 else if (prn.system() == 'S') {
637 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
638 + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
639 + bias.NumberOfSat[CLOCKORBIT_SATSBAS];
640 ++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
641 }
642 else if (prn.system() == 'C') {
643 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
644 + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
645 + CLOCKORBIT_NUMSBAS
646 + bias.NumberOfSat[CLOCKORBIT_SATBDS];
647 ++bias.NumberOfSat[CLOCKORBIT_SATBDS];
648 }
649 }
650
651 if (biasSat) {
652 biasSat->ID = prn.number();
653 biasSat->NumberOfCodeBiases = 0;
654 QMapIterator<QString, double> it(codeBiases);
655 while (it.hasNext()) {
656 it.next();
657 int ii = biasSat->NumberOfCodeBiases;
658 if (ii >= CLOCKORBIT_NUMBIAS)
659 break;
660 SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
661 if (type != _ssrCorr->RESERVED) {
662 biasSat->NumberOfCodeBiases += 1;
663 biasSat->Biases[ii].Type = type;
664 biasSat->Biases[ii].Bias = it.value();
665 }
666 }
667 }
668
669 // Phase Biases
670 // ------------
671 struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
672 if (prn.system() == 'G') {
673 phasebiasSat = phasebias.Sat
674 + phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
675 ++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
676 }
677 else if (prn.system() == 'R') {
678 phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
679 + phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
680 ++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
681 }
682 else if (prn.system() == 'E') {
683 phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
684 + phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
685 ++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
686 }
687 else if (prn.system() == 'J') {
688 phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
689 + CLOCKORBIT_NUMGALILEO
690 + phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
691 ++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
692 }
693 else if (prn.system() == 'S') {
694 phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
695 + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
696 + phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
697 ++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
698 }
699 else if (prn.system() == 'C') {
700 phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
701 + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
702 + CLOCKORBIT_NUMSBAS
703 + phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
704 ++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
705 }
706
707 if (phasebiasSat && phaseBiasInformationDecoded) {
708 phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
709 phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
710 phasebiasSat->ID = prn.number();
711 phasebiasSat->NumberOfPhaseBiases = 0;
712 phasebiasSat->YawAngle = pbSat.yawAngle;
713 phasebiasSat->YawRate = pbSat.yawRate;
714 QListIterator<phaseBiasSignal> it(phaseBiasList);
715 while (it.hasNext()) {
716 const phaseBiasSignal &pbSig = it.next();
717 int ii = phasebiasSat->NumberOfPhaseBiases;
718 if (ii >= CLOCKORBIT_NUMBIAS)
719 break;
720 SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
721 if (type != _ssrCorr->RESERVED) {
722 phasebiasSat->NumberOfPhaseBiases += 1;
723 phasebiasSat->Biases[ii].Type = type;
724 phasebiasSat->Biases[ii].Bias = pbSig.bias;
725 phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
726 phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
727 phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
728 }
729 }
730 }
731 }
732 }
733
734 QByteArray hlpBufferCo;
735
736 // Orbit and Clock Corrections together
737 // ------------------------------------
738 if (_samplRtcmEphCorr == 0.0) {
739 if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
740 || co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
741 || co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
742 || co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
743 || co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
744 || co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
745 char obuffer[CLOCKORBIT_BUFFERSIZE];
746 int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
747 if (len > 0) {
748 hlpBufferCo = QByteArray(obuffer, len);
749 }
750 }
751 }
752
753 // Orbit and Clock Corrections separately
754 // --------------------------------------
755 else {
756 if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
757 char obuffer[CLOCKORBIT_BUFFERSIZE];
758 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
759 co.UpdateInterval = ephUpdInd;
760 int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer,
761 sizeof(obuffer));
762 co.UpdateInterval = clkUpdInd;
763 if (len1 > 0) {
764 hlpBufferCo += QByteArray(obuffer, len1);
765 }
766 }
767 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 ||
768 co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 ||
769 co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 ||
770 co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
771 co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
772 int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer,
773 sizeof(obuffer));
774 if (len2 > 0) {
775 hlpBufferCo += QByteArray(obuffer, len2);
776 }
777 }
778 if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
779 char obuffer[CLOCKORBIT_BUFFERSIZE];
780 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
781 co.UpdateInterval = ephUpdInd;
782 int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer,
783 sizeof(obuffer));
784 co.UpdateInterval = clkUpdInd;
785 if (len1 > 0) {
786 hlpBufferCo += QByteArray(obuffer, len1);
787 }
788 }
789 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 ||
790 co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 ||
791 co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
792 co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
793 int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer,
794 sizeof(obuffer));
795 if (len2 > 0) {
796 hlpBufferCo += QByteArray(obuffer, len2);
797 }
798 }
799 if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
800 char obuffer[CLOCKORBIT_BUFFERSIZE];
801 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
802 co.UpdateInterval = ephUpdInd;
803 int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer,
804 sizeof(obuffer));
805 co.UpdateInterval = clkUpdInd;
806 if (len1 > 0) {
807 hlpBufferCo += QByteArray(obuffer, len1);
808 }
809 }
810 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 ||
811 co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
812 co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
813 int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer,
814 sizeof(obuffer));
815 if (len2 > 0) {
816 hlpBufferCo += QByteArray(obuffer, len2);
817 }
818 }
819 if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
820 char obuffer[CLOCKORBIT_BUFFERSIZE];
821 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
822 co.UpdateInterval = ephUpdInd;
823 int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer,
824 sizeof(obuffer));
825 co.UpdateInterval = clkUpdInd;
826 if (len1 > 0) {
827 hlpBufferCo += QByteArray(obuffer, len1);
828 }
829 }
830 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
831 co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
832 int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer,
833 sizeof(obuffer));
834 if (len2 > 0) {
835 hlpBufferCo += QByteArray(obuffer, len2);
836 }
837 }
838 if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
839 char obuffer[CLOCKORBIT_BUFFERSIZE];
840 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
841 co.UpdateInterval = ephUpdInd;
842 int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer,
843 sizeof(obuffer));
844 co.UpdateInterval = clkUpdInd;
845 if (len1 > 0) {
846 hlpBufferCo += QByteArray(obuffer, len1);
847 }
848 }
849 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
850 int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
851 sizeof(obuffer));
852 if (len2 > 0) {
853 hlpBufferCo += QByteArray(obuffer, len2);
854 }
855 }
856 if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
857 char obuffer[CLOCKORBIT_BUFFERSIZE];
858 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
859 co.UpdateInterval = ephUpdInd;
860 int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer,
861 sizeof(obuffer));
862 co.UpdateInterval = clkUpdInd;
863 if (len1 > 0) {
864 hlpBufferCo += QByteArray(obuffer, len1);
865 }
866 }
867 int mmsg = 0;
868 int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer,
869 sizeof(obuffer));
870 if (len2 > 0) {
871 hlpBufferCo += QByteArray(obuffer, len2);
872 }
873 }
874 }
875
876 // Code Biases
877 // -----------
878 QByteArray hlpBufferBias;
879 if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
880 || bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
881 || bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
882 || bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
883 || bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
884 || bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
885 char obuffer[CLOCKORBIT_BUFFERSIZE];
886 int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
887 if (len > 0) {
888 hlpBufferBias = QByteArray(obuffer, len);
889 }
890 }
891
892 // Phase Biases
893 // ------------
894 QByteArray hlpBufferPhaseBias;
895 if (phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
896 || phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
897 || phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
898 || phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
899 || phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
900 || phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
901 char obuffer[CLOCKORBIT_BUFFERSIZE];
902 int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer,
903 sizeof(obuffer));
904 if (len > 0) {
905 hlpBufferPhaseBias = QByteArray(obuffer, len);
906 }
907 }
908
909 // VTEC
910 // ----
911 QByteArray hlpBufferVtec;
912 if (vtec.NumLayers > 0) {
913 char obuffer[CLOCKORBIT_BUFFERSIZE];
914 int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
915 if (len > 0) {
916 hlpBufferVtec = QByteArray(obuffer, len);
917 }
918 }
919
920 _outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias
921 + hlpBufferVtec;
922}
923
924//
925////////////////////////////////////////////////////////////////////////////
926t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
927 double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
928 double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
929 const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
930 struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
931
932 // Broadcast Position and Velocity
933 // -------------------------------
934 ColumnVector xB(6);
935 ColumnVector vB(3);
936 t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
937
938 if (irc != success) {
939 return irc;
940 }
941
942 // Precise Position
943 // ----------------
944 ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
945
946 if (xP.size() == 0) {
947 return failure;
948 }
949
950 double dc = 0.0;
951 if (_crdTrafo != "IGS14") {
952 crdTrafo(GPSweek, xP, dc);
953 }
954
955 // Difference in xyz
956 // -----------------
957 ColumnVector dx = xB.Rows(1, 3) - xP;
958 ColumnVector dv = vB - rtnVel;
959
960 // Difference in RSW
961 // -----------------
962 ColumnVector rsw(3);
963 XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
964
965 ColumnVector dotRsw(3);
966 XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
967
968 // Clock Correction
969 // ----------------
970 double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
971 double dClkA1 = 0.0;
972 if (rtnClk(2)) {
973 dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
974 }
975 double dClkA2 = 0.0;
976 if (rtnClk(3)) {
977 dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
978 }
979
980 if (sd) {
981 sd->ID = prn.mid(1).toInt();
982 sd->IOD = eph->IOD();
983 sd->Clock.DeltaA0 = dClkA0;
984 sd->Clock.DeltaA1 = dClkA1;
985 sd->Clock.DeltaA2 = dClkA2;
986 sd->UserRangeAccuracy = rtnUra;
987 sd->Orbit.DeltaRadial = rsw(1);
988 sd->Orbit.DeltaAlongTrack = rsw(2);
989 sd->Orbit.DeltaCrossTrack = rsw(3);
990 sd->Orbit.DotDeltaRadial = dotRsw(1);
991 sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
992 sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
993 }
994
995 outLine.sprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
996 GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
997 rsw(1), rsw(2), rsw(3));
998
999 // RTNET full clock for RINEX and SP3 file
1000 // ---------------------------------------
1001 double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1002 double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1003 double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1004 double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² ) -/s]
1005
1006 if (_rnx) {
1007 double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1008 int s = rtnClkSig.size();
1009 switch (s) {
1010 case 1:
1011 clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1012 clkRnxRateSig = 0.0; // [s/s = -]
1013 clkRnxAccSig = 0.0; // [s/s² ) -/s]
1014 break;
1015 case 2:
1016 clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1017 clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1018 clkRnxAccSig = 0.0; // [s/s² ) -/s]
1019 break;
1020 case 3:
1021 clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1022 clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1023 clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1024 break;
1025 }
1026 _rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1027 clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1028 }
1029 if (_sp3) {
1030 _sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1031 }
1032 return success;
1033}
1034
1035// Transform Coordinates
1036////////////////////////////////////////////////////////////////////////////
1037void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1038 double& dc) {
1039
1040 // Current epoch minus 2000.0 in years
1041 // ------------------------------------
1042 double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1043
1044 ColumnVector dx(3);
1045
1046 dx(1) = _dx + dt * _dxr;
1047 dx(2) = _dy + dt * _dyr;
1048 dx(3) = _dz + dt * _dzr;
1049
1050 static const double arcSec = 180.0 * 3600.0 / M_PI;
1051
1052 double ox = (_ox + dt * _oxr) / arcSec;
1053 double oy = (_oy + dt * _oyr) / arcSec;
1054 double oz = (_oz + dt * _ozr) / arcSec;
1055
1056 double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1057
1058 // Specify approximate center of area
1059 // ----------------------------------
1060 ColumnVector meanSta(3);
1061
1062 if (_crdTrafo == "ETRF2000") {
1063 meanSta(1) = 3661090.0;
1064 meanSta(2) = 845230.0;
1065 meanSta(3) = 5136850.0;
1066 }
1067 else if (_crdTrafo == "GDA2020") {
1068 meanSta(1) = -4052050.0;
1069 meanSta(2) = 4212840.0;
1070 meanSta(3) = -2545110.0;
1071 }
1072 else if (_crdTrafo == "SIRGAS2000") {
1073 meanSta(1) = 3740860.0;
1074 meanSta(2) = -4964290.0;
1075 meanSta(3) = -1425420.0;
1076 }
1077 else if (_crdTrafo == "DREF91") {
1078 meanSta(1) = 3959579.0;
1079 meanSta(2) = 721719.0;
1080 meanSta(3) = 4931539.0;
1081 }
1082 else if (_crdTrafo == "Custom") {
1083 meanSta(1) = 0.0; // TODO
1084 meanSta(2) = 0.0; // TODO
1085 meanSta(3) = 0.0; // TODO
1086 }
1087
1088 // Clock correction proportional to topocentric distance to satellites
1089 // -------------------------------------------------------------------
1090 double rho = (xyz - meanSta).norm_Frobenius();
1091 dc = rho * (sc - 1.0) / sc / t_CST::c;
1092
1093 Matrix rMat(3, 3);
1094 rMat(1, 1) = 1.0;
1095 rMat(1, 2) = -oz;
1096 rMat(1, 3) = oy;
1097 rMat(2, 1) = oz;
1098 rMat(2, 2) = 1.0;
1099 rMat(2, 3) = -ox;
1100 rMat(3, 1) = -oy;
1101 rMat(3, 2) = ox;
1102 rMat(3, 3) = 1.0;
1103
1104 xyz = sc * rMat * xyz + dx;
1105}
1106
1107int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1108
1109 if (samplingRate == 10.0) {
1110 return 3;
1111 }
1112 else if (samplingRate == 15.0) {
1113 return 4;
1114 }
1115 else if (samplingRate == 30.0) {
1116 return 5;
1117 }
1118 else if (samplingRate == 60.0) {
1119 return 6;
1120 }
1121 else if (samplingRate == 120.0) {
1122 return 7;
1123 }
1124 else if (samplingRate == 240.0) {
1125 return 8;
1126 }
1127 else if (samplingRate == 300.0) {
1128 return 9;
1129 }
1130 else if (samplingRate == 600.0) {
1131 return 10;
1132 }
1133 else if (samplingRate == 900.0) {
1134 return 11;
1135 }
1136 else if (samplingRate == 1800.0) {
1137 return 12;
1138 }
1139 else if (samplingRate == 3600.0) {
1140 return 13;
1141 }
1142 else if (samplingRate == 7200.0) {
1143 return 14;
1144 }
1145 else if (samplingRate == 10800.0) {
1146 return 15;
1147 }
1148 return 2; // default
1149}
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