source: ntrip/branches/BNC_2.12/src/upload/bncrtnetuploadcaster.cpp@ 9190

Last change on this file since 9190 was 9190, checked in by stuerze, 20 months ago

small bug fixed

File size: 38.4 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 _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 _phaseBiasInformationDecoded = true;
546 in >> numVal >> pbSat.yawRate;
547 }
548 else if (key == "PhaseBias") {
549 _phaseBiasInformationDecoded = true;
550 in >> numVal;
551 for (int ii = 0; ii < numVal; ii++) {
552 phaseBiasSignal pb;
553 in >> pb.type >> pb.bias >> pb.integerIndicator
554 >> pb.wlIndicator >> pb.discontinuityCounter;
555 phaseBiasList.append(pb);
556 }
557 }
558 else {
559 in >> numVal;
560 for (int ii = 0; ii < numVal; ii++) {
561 double dummy;
562 in >> dummy;
563 }
564 emit(newMessage(" RTNET format error: "
565 + lines[ii].toAscii(), false));
566 }
567 }
568
569 struct SsrCorr::ClockOrbit::SatData* sd = 0;
570 if (prn.system() == 'G') {
571 sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
572 ++co.NumberOfSat[CLOCKORBIT_SATGPS];
573 }
574 else if (prn.system() == 'R') {
575 sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
576 ++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
577 }
578 else if (prn.system() == 'E') {
579 sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
580 + co.NumberOfSat[CLOCKORBIT_SATGALILEO];
581 ++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
582 }
583 else if (prn.system() == 'J') {
584 sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
585 + CLOCKORBIT_NUMGALILEO
586 + co.NumberOfSat[CLOCKORBIT_SATQZSS];
587 ++co.NumberOfSat[CLOCKORBIT_SATQZSS];
588 }
589 else if (prn.system() == 'S') {
590 sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
591 + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
592 + co.NumberOfSat[CLOCKORBIT_SATSBAS];
593 ++co.NumberOfSat[CLOCKORBIT_SATSBAS];
594 }
595 else if (prn.system() == 'C') {
596 sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
597 + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
598 + CLOCKORBIT_NUMSBAS
599 + co.NumberOfSat[CLOCKORBIT_SATBDS];
600 ++co.NumberOfSat[CLOCKORBIT_SATBDS];
601 }
602 if (sd) {
603 QString outLine;
604 t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
605 rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
606 if (irc != success) {/*
607 // very few cases: check states bad and unhealthy are excluded earlier
608 sd->ID = prnStr.mid(1).toInt(); // to prevent G00, R00 entries
609 sd->IOD = eph->IOD();
610 */
611 continue;
612 }
613 }
614
615 // Code Biases
616 // -----------
617 struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
618 if (!codeBiases.isEmpty()) {
619 if (prn.system() == 'G') {
620 biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
621 ++bias.NumberOfSat[CLOCKORBIT_SATGPS];
622 }
623 else if (prn.system() == 'R') {
624 biasSat = bias.Sat + CLOCKORBIT_NUMGPS
625 + bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
626 ++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
627 }
628 else if (prn.system() == 'E') {
629 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
630 + bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
631 ++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
632 }
633 else if (prn.system() == 'J') {
634 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
635 + CLOCKORBIT_NUMGALILEO
636 + bias.NumberOfSat[CLOCKORBIT_SATQZSS];
637 ++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
638 }
639 else if (prn.system() == 'S') {
640 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
641 + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
642 + bias.NumberOfSat[CLOCKORBIT_SATSBAS];
643 ++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
644 }
645 else if (prn.system() == 'C') {
646 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
647 + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
648 + CLOCKORBIT_NUMSBAS
649 + bias.NumberOfSat[CLOCKORBIT_SATBDS];
650 ++bias.NumberOfSat[CLOCKORBIT_SATBDS];
651 }
652 }
653
654 if (biasSat) {
655 biasSat->ID = prn.number();
656 biasSat->NumberOfCodeBiases = 0;
657 QMapIterator<QString, double> it(codeBiases);
658 while (it.hasNext()) {
659 it.next();
660 int ii = biasSat->NumberOfCodeBiases;
661 if (ii >= CLOCKORBIT_NUMBIAS)
662 break;
663 SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
664 if (type != _ssrCorr->RESERVED) {
665 biasSat->NumberOfCodeBiases += 1;
666 biasSat->Biases[ii].Type = type;
667 biasSat->Biases[ii].Bias = it.value();
668 }
669 }
670 }
671
672 // Phase Biases
673 // ------------
674 struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
675 if (prn.system() == 'G') {
676 phasebiasSat = phasebias.Sat
677 + phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
678 ++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
679 }
680 else if (prn.system() == 'R') {
681 phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
682 + phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
683 ++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
684 }
685 else if (prn.system() == 'E') {
686 phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
687 + phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
688 ++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
689 }
690 else if (prn.system() == 'J') {
691 phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
692 + CLOCKORBIT_NUMGALILEO
693 + phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
694 ++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
695 }
696 else if (prn.system() == 'S') {
697 phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
698 + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
699 + phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
700 ++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
701 }
702 else if (prn.system() == 'C') {
703 phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
704 + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
705 + CLOCKORBIT_NUMSBAS
706 + phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
707 ++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
708 }
709
710 if (phasebiasSat && _phaseBiasInformationDecoded) {
711 phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
712 phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
713 phasebiasSat->ID = prn.number();
714 phasebiasSat->NumberOfPhaseBiases = 0;
715 phasebiasSat->YawAngle = pbSat.yawAngle;
716 phasebiasSat->YawRate = pbSat.yawRate;
717 QListIterator<phaseBiasSignal> it(phaseBiasList);
718 while (it.hasNext()) {
719 const phaseBiasSignal &pbSig = it.next();
720 int ii = phasebiasSat->NumberOfPhaseBiases;
721 if (ii >= CLOCKORBIT_NUMBIAS)
722 break;
723 SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
724 if (type != _ssrCorr->RESERVED) {
725 phasebiasSat->NumberOfPhaseBiases += 1;
726 phasebiasSat->Biases[ii].Type = type;
727 phasebiasSat->Biases[ii].Bias = pbSig.bias;
728 phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
729 phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
730 phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
731 }
732 }
733 }
734 }
735 }
736
737 QByteArray hlpBufferCo;
738
739 // Orbit and Clock Corrections together
740 // ------------------------------------
741 if (_samplRtcmEphCorr == 0.0) {
742 if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
743 || co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
744 || co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
745 || co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
746 || co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
747 || co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
748 char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
749 int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
750 if (len > 0) {
751 hlpBufferCo = QByteArray(obuffer, len);
752 }
753 }
754 }
755
756 // Orbit and Clock Corrections separately
757 // --------------------------------------
758 else {
759 if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
760 char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
761 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
762 co.UpdateInterval = ephUpdInd;
763 int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer,
764 sizeof(obuffer));
765 co.UpdateInterval = clkUpdInd;
766 if (len1 > 0) {
767 hlpBufferCo += QByteArray(obuffer, len1);
768 }
769 }
770 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 ||
771 co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 ||
772 co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 ||
773 co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
774 co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
775 int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer,
776 sizeof(obuffer));
777 if (len2 > 0) {
778 hlpBufferCo += QByteArray(obuffer, len2);
779 }
780 }
781 if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
782 char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
783 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
784 co.UpdateInterval = ephUpdInd;
785 int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer,
786 sizeof(obuffer));
787 co.UpdateInterval = clkUpdInd;
788 if (len1 > 0) {
789 hlpBufferCo += QByteArray(obuffer, len1);
790 }
791 }
792 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 ||
793 co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 ||
794 co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
795 co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
796 int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer,
797 sizeof(obuffer));
798 if (len2 > 0) {
799 hlpBufferCo += QByteArray(obuffer, len2);
800 }
801 }
802 if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
803 char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
804 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
805 co.UpdateInterval = ephUpdInd;
806 int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer,
807 sizeof(obuffer));
808 co.UpdateInterval = clkUpdInd;
809 if (len1 > 0) {
810 hlpBufferCo += QByteArray(obuffer, len1);
811 }
812 }
813 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 ||
814 co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
815 co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
816 int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer,
817 sizeof(obuffer));
818 if (len2 > 0) {
819 hlpBufferCo += QByteArray(obuffer, len2);
820 }
821 }
822 if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
823 char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
824 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
825 co.UpdateInterval = ephUpdInd;
826 int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer,
827 sizeof(obuffer));
828 co.UpdateInterval = clkUpdInd;
829 if (len1 > 0) {
830 hlpBufferCo += QByteArray(obuffer, len1);
831 }
832 }
833 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
834 co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
835 int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer,
836 sizeof(obuffer));
837 if (len2 > 0) {
838 hlpBufferCo += QByteArray(obuffer, len2);
839 }
840 }
841 if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
842 char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
843 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
844 co.UpdateInterval = ephUpdInd;
845 int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer,
846 sizeof(obuffer));
847 co.UpdateInterval = clkUpdInd;
848 if (len1 > 0) {
849 hlpBufferCo += QByteArray(obuffer, len1);
850 }
851 }
852 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
853 int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
854 sizeof(obuffer));
855 if (len2 > 0) {
856 hlpBufferCo += QByteArray(obuffer, len2);
857 }
858 }
859 if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
860 char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
861 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
862 co.UpdateInterval = ephUpdInd;
863 int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer,
864 sizeof(obuffer));
865 co.UpdateInterval = clkUpdInd;
866 if (len1 > 0) {
867 hlpBufferCo += QByteArray(obuffer, len1);
868 }
869 }
870 int mmsg = 0;
871 int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer,
872 sizeof(obuffer));
873 if (len2 > 0) {
874 hlpBufferCo += QByteArray(obuffer, len2);
875 }
876 }
877 }
878
879 // Code Biases
880 // -----------
881 QByteArray hlpBufferBias;
882 if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
883 || bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
884 || bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
885 || bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
886 || bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
887 || bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
888 char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
889 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
890 int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
891 if (len > 0) {
892 hlpBufferBias = QByteArray(obuffer, len);
893 }
894 }
895 }
896
897 // Phase Biases
898 // ------------
899 QByteArray hlpBufferPhaseBias;
900 if ((phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
901 || phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
902 || phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
903 || phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
904 || phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
905 || phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0)
906 && (_phaseBiasInformationDecoded)) {
907 char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
908 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
909 int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
910 if (len > 0) {
911 hlpBufferPhaseBias = QByteArray(obuffer, len);
912 }
913 }
914 }
915
916 // VTEC
917 // ----
918 QByteArray hlpBufferVtec;
919 if (vtec.NumLayers > 0) {
920 char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
921 int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
922 if (len > 0) {
923 hlpBufferVtec = QByteArray(obuffer, len);
924 }
925 }
926
927 _outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias
928 + hlpBufferVtec;
929}
930
931//
932////////////////////////////////////////////////////////////////////////////
933t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
934 double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
935 double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
936 const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
937 struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
938
939 // Broadcast Position and Velocity
940 // -------------------------------
941 ColumnVector xB(6);
942 ColumnVector vB(3);
943 t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
944
945 if (irc != success) {
946 return irc;
947 }
948
949 // Precise Position
950 // ----------------
951 ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
952
953 if (xP.size() == 0) {
954 return failure;
955 }
956
957 double dc = 0.0;
958 if (_crdTrafo != "IGS14") {
959 crdTrafo(GPSweek, xP, dc);
960 }
961
962 // Difference in xyz
963 // -----------------
964 ColumnVector dx = xB.Rows(1, 3) - xP;
965 ColumnVector dv = vB - rtnVel;
966
967 // Difference in RSW
968 // -----------------
969 ColumnVector rsw(3);
970 XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
971
972 ColumnVector dotRsw(3);
973 XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
974
975 // Clock Correction
976 // ----------------
977 double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
978 double dClkA1 = 0.0;
979 if (rtnClk(2)) {
980 dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
981 }
982 double dClkA2 = 0.0;
983 if (rtnClk(3)) {
984 dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
985 }
986
987 if (sd) {
988 sd->ID = prn.mid(1).toInt();
989 sd->IOD = eph->IOD();
990 sd->Clock.DeltaA0 = dClkA0;
991 sd->Clock.DeltaA1 = dClkA1;
992 sd->Clock.DeltaA2 = dClkA2;
993 sd->UserRangeAccuracy = rtnUra;
994 sd->Orbit.DeltaRadial = rsw(1);
995 sd->Orbit.DeltaAlongTrack = rsw(2);
996 sd->Orbit.DeltaCrossTrack = rsw(3);
997 sd->Orbit.DotDeltaRadial = dotRsw(1);
998 sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
999 sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
1000
1001 if (corrIsOutOfRange(sd)) {
1002 return failure;
1003 }
1004 }
1005
1006 outLine.sprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
1007 GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
1008 rsw(1), rsw(2), rsw(3)); //fprintf(stderr, "%s\n", outLine.toStdString().c_str());
1009
1010 // RTNET full clock for RINEX and SP3 file
1011 // ---------------------------------------
1012 double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1013 double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1014 double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1015 double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² ) -/s]
1016
1017 if (_rnx) {
1018 double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1019 int s = rtnClkSig.size();
1020 switch (s) {
1021 case 1:
1022 clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1023 clkRnxRateSig = 0.0; // [s/s = -]
1024 clkRnxAccSig = 0.0; // [s/s² ) -/s]
1025 break;
1026 case 2:
1027 clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1028 clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1029 clkRnxAccSig = 0.0; // [s/s² ) -/s]
1030 break;
1031 case 3:
1032 clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1033 clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1034 clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1035 break;
1036 }
1037 _rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1038 clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1039 }
1040 if (_sp3) {
1041 _sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1042 }
1043 return success;
1044}
1045
1046// Transform Coordinates
1047////////////////////////////////////////////////////////////////////////////
1048void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1049 double& dc) {
1050
1051 // Current epoch minus 2000.0 in years
1052 // ------------------------------------
1053 double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1054
1055 ColumnVector dx(3);
1056
1057 dx(1) = _dx + dt * _dxr;
1058 dx(2) = _dy + dt * _dyr;
1059 dx(3) = _dz + dt * _dzr;
1060
1061 static const double arcSec = 180.0 * 3600.0 / M_PI;
1062
1063 double ox = (_ox + dt * _oxr) / arcSec;
1064 double oy = (_oy + dt * _oyr) / arcSec;
1065 double oz = (_oz + dt * _ozr) / arcSec;
1066
1067 double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1068
1069 // Specify approximate center of area
1070 // ----------------------------------
1071 ColumnVector meanSta(3);
1072
1073 if (_crdTrafo == "ETRF2000") {
1074 meanSta(1) = 3661090.0;
1075 meanSta(2) = 845230.0;
1076 meanSta(3) = 5136850.0;
1077 }
1078 else if (_crdTrafo == "GDA2020") {
1079 meanSta(1) = -4052050.0;
1080 meanSta(2) = 4212840.0;
1081 meanSta(3) = -2545110.0;
1082 }
1083 else if (_crdTrafo == "SIRGAS2000") {
1084 meanSta(1) = 3740860.0;
1085 meanSta(2) = -4964290.0;
1086 meanSta(3) = -1425420.0;
1087 }
1088 else if (_crdTrafo == "DREF91") {
1089 meanSta(1) = 3959579.0;
1090 meanSta(2) = 721719.0;
1091 meanSta(3) = 4931539.0;
1092 }
1093 else if (_crdTrafo == "Custom") {
1094 meanSta(1) = 0.0; // TODO
1095 meanSta(2) = 0.0; // TODO
1096 meanSta(3) = 0.0; // TODO
1097 }
1098
1099 // Clock correction proportional to topocentric distance to satellites
1100 // -------------------------------------------------------------------
1101 double rho = (xyz - meanSta).norm_Frobenius();
1102 dc = rho * (sc - 1.0) / sc / t_CST::c;
1103
1104 Matrix rMat(3, 3);
1105 rMat(1, 1) = 1.0;
1106 rMat(1, 2) = -oz;
1107 rMat(1, 3) = oy;
1108 rMat(2, 1) = oz;
1109 rMat(2, 2) = 1.0;
1110 rMat(2, 3) = -ox;
1111 rMat(3, 1) = -oy;
1112 rMat(3, 2) = ox;
1113 rMat(3, 3) = 1.0;
1114
1115 xyz = sc * rMat * xyz + dx;
1116}
1117
1118int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1119
1120 if (samplingRate == 10.0) {
1121 return 3;
1122 }
1123 else if (samplingRate == 15.0) {
1124 return 4;
1125 }
1126 else if (samplingRate == 30.0) {
1127 return 5;
1128 }
1129 else if (samplingRate == 60.0) {
1130 return 6;
1131 }
1132 else if (samplingRate == 120.0) {
1133 return 7;
1134 }
1135 else if (samplingRate == 240.0) {
1136 return 8;
1137 }
1138 else if (samplingRate == 300.0) {
1139 return 9;
1140 }
1141 else if (samplingRate == 600.0) {
1142 return 10;
1143 }
1144 else if (samplingRate == 900.0) {
1145 return 11;
1146 }
1147 else if (samplingRate == 1800.0) {
1148 return 12;
1149 }
1150 else if (samplingRate == 3600.0) {
1151 return 13;
1152 }
1153 else if (samplingRate == 7200.0) {
1154 return 14;
1155 }
1156 else if (samplingRate == 10800.0) {
1157 return 15;
1158 }
1159 return 2; // default
1160}
1161
1162bool bncRtnetUploadCaster::corrIsOutOfRange(struct SsrCorr::ClockOrbit::SatData* sd) {
1163
1164 if (fabs(sd->Clock.DeltaA0) > 209.7151) {return true;}
1165 if (fabs(sd->Clock.DeltaA1) > 1.048575) {return true;}
1166 if (fabs(sd->Clock.DeltaA2) > 1.34217726) {return true;}
1167
1168 if (fabs(sd->Orbit.DeltaRadial) > 209.7151) {return true;}
1169 if (fabs(sd->Orbit.DeltaAlongTrack) > 209.7148) {return true;}
1170 if (fabs(sd->Orbit.DeltaCrossTrack) > 209.7148) {return true;}
1171
1172 if (fabs(sd->Orbit.DotDeltaRadial) > 1.048575) {return true;}
1173 if (fabs(sd->Orbit.DotDeltaAlongTrack) > 1.048572) {return true;}
1174 if (fabs(sd->Orbit.DotDeltaCrossTrack) > 1.048572) {return true;}
1175
1176 return false;
1177}
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