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source: ntrip/branches/BNC_2.12/src/upload/bncrtnetuploadcaster.cpp@ 9351

Last change on this file since 9351 was 9351, checked in by stuerze, 3 years ago
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File size: 39.1 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	#include "bncutils.h"
25
26	using namespace std;
27
28	// Constructor
29	////////////////////////////////////////////////////////////////////////////
30	bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
31	const QString& outHost, int outPort,
32	const QString& password,
33	const QString& crdTrafo, const QString& ssrFormat, bool CoM, const QString& sp3FileName,
34	const QString& rnxFileName, int PID, int SID, int IOD, int iRow) :
35	bncUploadCaster(mountpoint, outHost, outPort, password, iRow, 0) {
36
37	if (!mountpoint.isEmpty()) {
38	_casterID += mountpoint;
39	}
40	if (!outHost.isEmpty()) {
41	_casterID += " " + outHost;
42	if (outPort) {
43	_casterID += ":" + QString("%1").arg(outPort, 10);
44	}
45	}
46	if (!crdTrafo.isEmpty()) {
47	_casterID += " " + crdTrafo;
48	}
49	if (!sp3FileName.isEmpty()) {
50	_casterID += " " + sp3FileName;
51	}
52	if (!rnxFileName.isEmpty()) {
53	_casterID += " " + rnxFileName;
54	}
55
56	_crdTrafo = crdTrafo;
57
58	_ssrFormat = ssrFormat;
59
60	_ssrCorr = 0;
61	if (_ssrFormat == "IGS-SSR") {
62	_ssrCorr = new SsrCorrIgs();
63	}
64	else if (_ssrFormat == "RTCM-SSR") {
65	_ssrCorr = new SsrCorrRtcm();
66	}
67
68	_CoM = CoM;
69	_PID = PID;
70	_SID = SID;
71	_IOD = IOD;
72
73	// Member that receives the ephemeris
74	// ----------------------------------
75	_ephUser = new bncEphUser(true);
76
77	bncSettings settings;
78	QString intr = settings.value("uploadIntr").toString();
79	QStringList hlp = settings.value("cmbStreams").toStringList();
80	_samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toDouble();
81	if (hlp.size() > 1) { // combination stream upload
82	_samplRtcmClkCorr = settings.value("cmbSampl").toInt();
83	}
84	else { // single stream upload or sp3 file generation
85	_samplRtcmClkCorr = 5; // default
86	}
87	int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
88	int samplSp3 = settings.value("uploadSamplSp3").toInt() * 60;
89
90	if (_samplRtcmEphCorr == 0.0) {
91	_usedEph = 0;
92	}
93	else {
94	_usedEph = new QMap<QString, const t_eph*>;
95	}
96
97	// RINEX writer
98	// ------------
99	if (!rnxFileName.isEmpty()) {
100	_rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
101	}
102	else {
103	_rnx = 0;
104	}
105
106	// SP3 writer
107	// ----------
108	if (!sp3FileName.isEmpty()) {
109	_sp3 = new bncSP3(sp3FileName, intr, samplSp3);
110	}
111	else {
112	_sp3 = 0;
113	}
114
115	// Set Transformation Parameters
116	// -----------------------------
117	// Transformation Parameters from ITRF2014 to ETRF2000
118	// EUREF Technical Note 1 Relationship and Transformation between the ITRF and ETRF
119	// Zuheir Altamimi, June 28, 2018
120	if (_crdTrafo == "ETRF2000") {
121	_dx = 0.0547;
122	_dy = 0.0522;
123	_dz = -0.0741;
124
125	_dxr = 0.0001;
126	_dyr = 0.0001;
127	_dzr = -0.0019;
128
129	_ox = 0.001701;
130	_oy = 0.010290;
131	_oz = -0.016632;
132
133	_oxr = 0.000081;
134	_oyr = 0.000490;
135	_ozr = -0.000729;
136
137	_sc = 2.12;
138	_scr = 0.11;
139
140	_t0 = 2010.0;
141	}
142	// Transformation Parameters from ITRF2014 to GDA2020 (Ryan Ruddick, GA)
143	else if (_crdTrafo == "GDA2020") {
144	_dx = 0.0;
145	_dy = 0.0;
146	_dz = 0.0;
147
148	_dxr = 0.0;
149	_dyr = 0.0;
150	_dzr = 0.0;
151
152	_ox = 0.0;
153	_oy = 0.0;
154	_oz = 0.0;
155
156	_oxr = 0.00150379;
157	_oyr = 0.00118346;
158	_ozr = 0.00120716;
159
160	_sc = 0.0;
161	_scr = 0.0;
162
163	_t0 = 2020.0;
164	}
165	// Transformation Parameters from IGb14 to SIRGAS2000 (Thanks to Sonia Costa, BRA)
166	// June 29 2020: TX:-0.0027 m TY:-0.0025 m TZ:-0.0042 m SCL:1.20 (ppb) no rotations and no rates.*/
167	else if (_crdTrafo == "SIRGAS2000") {
168	_dx = -0.0027;
169	_dy = -0.0025;
170	_dz = -0.0042;
171
172	_dxr = 0.0000;
173	_dyr = 0.0000;
174	_dzr = 0.0000;
175
176	_ox = 0.000000;
177	_oy = 0.000000;
178	_oz = 0.000000;
179
180	_oxr = 0.000000;
181	_oyr = 0.000000;
182	_ozr = 0.000000;
183
184	_sc = 1.20000;
185	_scr = 0.00000;
186	_t0 = 2000.0;
187	}
188	// Transformation Parameters from ITRF2014 to DREF91
189	else if (_crdTrafo == "DREF91") {
190	_dx = 0.0547;
191	_dy = 0.0522;
192	_dz = -0.0741;
193
194	_dxr = 0.0001;
195	_dyr = 0.0001;
196	_dzr = -0.0019;
197	// ERTF200 + rotation parameters (ETRF200 => DREF91)
198	_ox = 0.001701 + 0.000658;
199	_oy = 0.010290 - 0.000208;
200	_oz = -0.016632 + 0.000755;
201
202	_oxr = 0.000081;
203	_oyr = 0.000490;
204	_ozr = -0.000729;
205
206	_sc = 2.12;
207	_scr = 0.11;
208
209	_t0 = 2010.0;
210	}
211	else if (_crdTrafo == "Custom") {
212	_dx = settings.value("trafo_dx").toDouble();
213	_dy = settings.value("trafo_dy").toDouble();
214	_dz = settings.value("trafo_dz").toDouble();
215	_dxr = settings.value("trafo_dxr").toDouble();
216	_dyr = settings.value("trafo_dyr").toDouble();
217	_dzr = settings.value("trafo_dzr").toDouble();
218	_ox = settings.value("trafo_ox").toDouble();
219	_oy = settings.value("trafo_oy").toDouble();
220	_oz = settings.value("trafo_oz").toDouble();
221	_oxr = settings.value("trafo_oxr").toDouble();
222	_oyr = settings.value("trafo_oyr").toDouble();
223	_ozr = settings.value("trafo_ozr").toDouble();
224	_sc = settings.value("trafo_sc").toDouble();
225	_scr = settings.value("trafo_scr").toDouble();
226	_t0 = settings.value("trafo_t0").toDouble();
227	}
228	}
229
230	// Destructor
231	////////////////////////////////////////////////////////////////////////////
232	bncRtnetUploadCaster::~bncRtnetUploadCaster() {
233	if (isRunning()) {
234	wait();
235	}
236	delete _rnx;
237	delete _sp3;
238	delete _ephUser;
239	delete _usedEph;
240	delete _ssrCorr;
241	}
242
243	//
244	////////////////////////////////////////////////////////////////////////////
245	void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
246
247	QMutexLocker locker(&_mutex);
248
249	// Append to internal buffer
250	// -------------------------
251	_rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
252
253	// Select buffer part that contains last epoch
254	// -------------------------------------------
255	QStringList lines;
256	int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
257	if (iEpoBeg == -1) {
258	_rtnetStreamBuffer.clear();
259	return;
260	}
261	int iEpoBegEarlier = _rtnetStreamBuffer.indexOf('*');
262	if (iEpoBegEarlier != -1 && iEpoBegEarlier < iEpoBeg) { // are there two epoch lines in buffer?
263	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBegEarlier);
264	}
265	else {
266	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
267	}
268	int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
269	if (iEpoEnd == -1) {
270	return;
271	}
272
273	while (_rtnetStreamBuffer.count('*') > 1) { // is there more than 1 epoch line in buffer?
274	QString rtnetStreamBuffer = _rtnetStreamBuffer.mid(1);
275	int nextEpoch = rtnetStreamBuffer.indexOf('*');
276	if (nextEpoch != -1 && nextEpoch < iEpoEnd) {
277	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(nextEpoch);
278	}
279	else if (nextEpoch != -1 && nextEpoch >= iEpoEnd) {
280	break;
281	}
282	}
283
284	lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n',
285	QString::SkipEmptyParts);
286	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
287
288	if (lines.size() < 2) {
289	return;
290	}
291
292	// Read first line (with epoch time)
293	// ---------------------------------
294	QTextStream in(lines[0].toAscii());
295	QString hlp;
296	int year, month, day, hour, min;
297	double sec;
298	in >> hlp >> year >> month >> day >> hour >> min >> sec;
299	bncTime epoTime;
300	epoTime.set(year, month, day, hour, min, sec);
301
302	emit(newMessage(
303	"bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
304	+ " " + QByteArray(epoTime.timestr().c_str()) + " "
305	+ _casterID.toAscii(), false));
306
307	struct SsrCorr::ClockOrbit co;
308	memset(&co, 0, sizeof(co));
309	co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
310	if (_ssrFormat == "RTCM-SSR") {
311	double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
312	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
313	}
314	else if (_ssrFormat == "IGS-SSR") {
315	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(epoTime.gpssec());
316	}
317	co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
318	co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
319	co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
320	if (_ssrFormat == "RTCM-SSR") {
321	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
322	}
323	else if (_ssrFormat == "IGS-SSR") {
324	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
325	}
326	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
327	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
328	co.SatRefDatum = _ssrCorr->DATUM_ITRF;
329	co.SSRIOD = _IOD;
330	co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
331	co.SSRSolutionID = _SID;
332
333	struct SsrCorr::CodeBias bias;
334	memset(&bias, 0, sizeof(bias));
335	bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
336	bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
337	bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
338	bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
339	bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
340	bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
341	bias.SSRIOD = _IOD;
342	bias.SSRProviderID = _PID;
343	bias.SSRSolutionID = _SID;
344
345	struct SsrCorr::PhaseBias phasebias;
346	memset(&phasebias, 0, sizeof(phasebias));
347	unsigned int dispersiveBiasConsistenyIndicator = 0;
348	unsigned int mwConsistencyIndicator = 0;
349	phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
350	phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
351	phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
352	phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
353	phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
354	phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
355	phasebias.SSRIOD = _IOD;
356	phasebias.SSRProviderID = _PID;
357	phasebias.SSRSolutionID = _SID;
358
359	struct SsrCorr::VTEC vtec;
360	memset(&vtec, 0, sizeof(vtec));
361	vtec.EpochTime = static_cast<int>(epoTime.gpssec());
362	vtec.SSRIOD = _IOD;
363	vtec.SSRProviderID = _PID;
364	vtec.SSRSolutionID = _SID;
365
366	// Default Update Interval
367	// -----------------------
368	int clkUpdInd = 2; // 5 sec
369	int ephUpdInd = clkUpdInd; // default
370
371	if (!_samplRtcmEphCorr) {
372	_samplRtcmEphCorr = 5.0;
373	}
374
375	if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
376	ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
377	}
378	if (_samplRtcmClkCorr > 5.0) {
379	clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
380	}
381	if (_samplRtcmEphCorr > 5.0) {
382	ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
383	}
384
385	co.UpdateInterval = clkUpdInd;
386	bias.UpdateInterval = ephUpdInd;
387	phasebias.UpdateInterval = ephUpdInd;
388
389	for (int ii = 1; ii < lines.size(); ii++) {
390	QString key; // prn or key VTEC, IND (phase bias indicators)
391	double rtnUra = 0.0; // [m]
392	ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
393	ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
394	ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
395	ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
396	ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
397	t_prn prn;
398
399	QTextStream in(lines[ii].toAscii());
400	in >> key;
401
402	// non-satellite specific parameters
403	if (key.contains("IND", Qt::CaseSensitive)) {
404	in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
405	continue;
406	}
407	// non-satellite specific parameters
408	if (key.contains("VTEC", Qt::CaseSensitive)) {
409	double ui;
410	in >> ui >> vtec.NumLayers;
411	vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
412	for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
413	int dummy;
414	in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
415	>> vtec.Layers[ll].Height;
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].Cosinus[iDeg][iOrd];
419	}
420	}
421	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
422	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
423	in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
424	}
425	}
426	}
427	continue;
428	}
429	// satellite specific parameters
430	char sys = key.mid(0, 1).at(0).toAscii();
431	int number = key.mid(1, 2).toInt();
432	int flags = 0;
433	if (sys == 'E') { // I/NAV
434	flags = 1;
435	}
436	prn.set(sys, number, flags);
437	QString prnInternalStr = QString::fromStdString(prn.toInternalString());
438	QString prnStr = QString::fromStdString(prn.toString());
439
440	const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
441	const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
442	const t_eph* eph = ephLast;
443	if (eph) {
444
445	// Use previous ephemeris if the last one is too recent
446	// ----------------------------------------------------
447	const int MINAGE = 60; // seconds
448	if (ephPrev && eph->receptDateTime().isValid()
449	&& eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
450	eph = ephPrev;
451	}
452
453	// Make sure the clock messages refer to same IOD as orbit messages
454	// ----------------------------------------------------------------
455	if (_usedEph) {
456	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
457	(*_usedEph)[prnInternalStr] = eph;
458	}
459	else {
460	eph = 0;
461	if (_usedEph->contains(prnInternalStr)) {
462	const t_eph* usedEph = _usedEph->value(prnInternalStr);
463	if (usedEph == ephLast) {
464	eph = ephLast;
465	}
466	else if (usedEph == ephPrev) {
467	eph = ephPrev;
468	}
469	}
470	}
471	}
472
473	if (!outDatedBcep(eph) && // detected from storage because of no update
474	eph->checkState() != t_eph::bad &&
475	eph->checkState() != t_eph::unhealthy &&
476	eph->checkState() != t_eph::outdated) { // detected during reception (bncephuser)
477	QMap<QString, double> codeBiases;
478	QList<phaseBiasSignal> phaseBiasList;
479	phaseBiasesSat pbSat;
480	_phaseBiasInformationDecoded = false;
481
482	while (true) {
483	QString key;
484	int numVal = 0;
485	in >> key;
486	if (in.status() != QTextStream::Ok) {
487	break;
488	}
489	if (key == "APC") {
490	in >> numVal;
491	rtnAPC.ReSize(3); rtnAPC = 0.0;
492	for (int ii = 0; ii < numVal; ii++) {
493	in >> rtnAPC[ii];
494	}
495	}
496	else if (key == "Ura") {
497	in >> numVal;
498	if (numVal == 1)
499	in >> rtnUra;
500	}
501	else if (key == "Clk") {
502	in >> numVal;
503	rtnClk.ReSize(3); rtnClk = 0.0;
504	for (int ii = 0; ii < numVal; ii++) {
505	in >> rtnClk[ii];
506	}
507	}
508	else if (key == "ClkSig") {
509	in >> numVal;
510	rtnClkSig.ReSize(3); rtnClkSig = 0.0;
511	for (int ii = 0; ii < numVal; ii++) {
512	in >> rtnClkSig[ii];
513	}
514	}
515	else if (key == "Vel") {
516	in >> numVal;
517	rtnVel.ReSize(3); rtnVel = 0.0;
518	for (int ii = 0; ii < numVal; ii++) {
519	in >> rtnVel[ii];
520	}
521	}
522	else if (key == "CoM") {
523	in >> numVal;
524	rtnCoM.ReSize(3); rtnCoM = 0.0;
525	for (int ii = 0; ii < numVal; ii++) {
526	in >> rtnCoM[ii];
527	}
528	}
529	else if (key == "CodeBias") {
530	in >> numVal;
531	for (int ii = 0; ii < numVal; ii++) {
532	QString type;
533	double value;
534	in >> type >> value;
535	codeBiases[type] = value;
536	}
537	}
538	else if (key == "YawAngle") {
539	_phaseBiasInformationDecoded = true;
540	in >> numVal >> pbSat.yawAngle;
541	if (pbSat.yawAngle < 0.0) {
542	pbSat.yawAngle += (2*M_PI);
543	}
544	else if (pbSat.yawAngle > 2*M_PI) {
545	pbSat.yawAngle -= (2*M_PI);
546	}
547	}
548	else if (key == "YawRate") {
549	_phaseBiasInformationDecoded = true;
550	in >> numVal >> pbSat.yawRate;
551	}
552	else if (key == "PhaseBias") {
553	_phaseBiasInformationDecoded = true;
554	in >> numVal;
555	for (int ii = 0; ii < numVal; ii++) {
556	phaseBiasSignal pb;
557	in >> pb.type >> pb.bias >> pb.integerIndicator
558	>> pb.wlIndicator >> pb.discontinuityCounter;
559	phaseBiasList.append(pb);
560	}
561	}
562	else {
563	in >> numVal;
564	for (int ii = 0; ii < numVal; ii++) {
565	double dummy;
566	in >> dummy;
567	}
568	emit(newMessage(" RTNET format error: "
569	+ lines[ii].toAscii(), false));
570	}
571	}
572
573	struct SsrCorr::ClockOrbit::SatData* sd = 0;
574	if (prn.system() == 'G') {
575	sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
576	++co.NumberOfSat[CLOCKORBIT_SATGPS];
577	}
578	else if (prn.system() == 'R') {
579	sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
580	++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
581	}
582	else if (prn.system() == 'E') {
583	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
584	+ co.NumberOfSat[CLOCKORBIT_SATGALILEO];
585	++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
586	}
587	else if (prn.system() == 'J') {
588	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
589	+ CLOCKORBIT_NUMGALILEO
590	+ co.NumberOfSat[CLOCKORBIT_SATQZSS];
591	++co.NumberOfSat[CLOCKORBIT_SATQZSS];
592	}
593	else if (prn.system() == 'S') {
594	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
595	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
596	+ co.NumberOfSat[CLOCKORBIT_SATSBAS];
597	++co.NumberOfSat[CLOCKORBIT_SATSBAS];
598	}
599	else if (prn.system() == 'C') {
600	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
601	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
602	+ CLOCKORBIT_NUMSBAS
603	+ co.NumberOfSat[CLOCKORBIT_SATBDS];
604	++co.NumberOfSat[CLOCKORBIT_SATBDS];
605	}
606	if (sd) {
607	QString outLine;
608	t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
609	rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
610	if (irc != success) {/*
611	// very few cases: check states bad and unhealthy are excluded earlier
612	sd->ID = prnStr.mid(1).toInt(); // to prevent G00, R00 entries
613	sd->IOD = eph->IOD();
614	*/
615	continue;
616	}
617	}
618
619	// Code Biases
620	// -----------
621	struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
622	if (!codeBiases.isEmpty()) {
623	if (prn.system() == 'G') {
624	biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
625	++bias.NumberOfSat[CLOCKORBIT_SATGPS];
626	}
627	else if (prn.system() == 'R') {
628	biasSat = bias.Sat + CLOCKORBIT_NUMGPS
629	+ bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
630	++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
631	}
632	else if (prn.system() == 'E') {
633	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
634	+ bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
635	++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
636	}
637	else if (prn.system() == 'J') {
638	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
639	+ CLOCKORBIT_NUMGALILEO
640	+ bias.NumberOfSat[CLOCKORBIT_SATQZSS];
641	++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
642	}
643	else if (prn.system() == 'S') {
644	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
645	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
646	+ bias.NumberOfSat[CLOCKORBIT_SATSBAS];
647	++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
648	}
649	else if (prn.system() == 'C') {
650	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
651	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
652	+ CLOCKORBIT_NUMSBAS
653	+ bias.NumberOfSat[CLOCKORBIT_SATBDS];
654	++bias.NumberOfSat[CLOCKORBIT_SATBDS];
655	}
656	}
657
658	if (biasSat) {
659	biasSat->ID = prn.number();
660	biasSat->NumberOfCodeBiases = 0;
661	QMapIterator<QString, double> it(codeBiases);
662	while (it.hasNext()) {
663	it.next();
664	int ii = biasSat->NumberOfCodeBiases;
665	if (ii >= CLOCKORBIT_NUMBIAS)
666	break;
667	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
668	if (type != _ssrCorr->RESERVED) {
669	biasSat->NumberOfCodeBiases += 1;
670	biasSat->Biases[ii].Type = type;
671	biasSat->Biases[ii].Bias = it.value();
672	}
673	}
674	}
675
676	// Phase Biases
677	// ------------
678	struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
679	if (prn.system() == 'G') {
680	phasebiasSat = phasebias.Sat
681	+ phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
682	++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
683	}
684	else if (prn.system() == 'R') {
685	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
686	+ phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
687	++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
688	}
689	else if (prn.system() == 'E') {
690	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
691	+ phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
692	++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
693	}
694	else if (prn.system() == 'J') {
695	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
696	+ CLOCKORBIT_NUMGALILEO
697	+ phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
698	++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
699	}
700	else if (prn.system() == 'S') {
701	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
702	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
703	+ phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
704	++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
705	}
706	else if (prn.system() == 'C') {
707	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
708	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
709	+ CLOCKORBIT_NUMSBAS
710	+ phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
711	++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
712	}
713
714	if (phasebiasSat && _phaseBiasInformationDecoded) {
715	phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
716	phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
717	phasebiasSat->ID = prn.number();
718	phasebiasSat->NumberOfPhaseBiases = 0;
719	phasebiasSat->YawAngle = pbSat.yawAngle;
720	phasebiasSat->YawRate = pbSat.yawRate;
721	QListIterator<phaseBiasSignal> it(phaseBiasList);
722	while (it.hasNext()) {
723	const phaseBiasSignal &pbSig = it.next();
724	int ii = phasebiasSat->NumberOfPhaseBiases;
725	if (ii >= CLOCKORBIT_NUMBIAS)
726	break;
727	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
728	if (type != _ssrCorr->RESERVED) {
729	phasebiasSat->NumberOfPhaseBiases += 1;
730	phasebiasSat->Biases[ii].Type = type;
731	phasebiasSat->Biases[ii].Bias = pbSig.bias;
732	phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
733	phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
734	phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
735	}
736	}
737	}
738	}
739	}
740	}
741
742	QByteArray hlpBufferCo;
743
744	// Orbit and Clock Corrections together
745	// ------------------------------------
746	if (_samplRtcmEphCorr == _samplRtcmClkCorr) {
747	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
748	\|\| co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
749	\|\| co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
750	\|\| co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
751	\|\| co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
752	\|\| co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
753	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
754	int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
755	if (len > 0) {
756	hlpBufferCo = QByteArray(obuffer, len);
757	}
758	}
759	}
760
761	// Orbit and Clock Corrections separately
762	// --------------------------------------
763	else {
764	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
765	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
766	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
767	co.UpdateInterval = ephUpdInd;
768	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer,
769	sizeof(obuffer));
770	co.UpdateInterval = clkUpdInd;
771	if (len1 > 0) {
772	hlpBufferCo += QByteArray(obuffer, len1);
773	}
774	}
775	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 \|\|
776	co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
777	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
778	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
779	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
780	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer,
781	sizeof(obuffer));
782	if (len2 > 0) {
783	hlpBufferCo += QByteArray(obuffer, len2);
784	}
785	}
786	if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
787	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
788	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
789	co.UpdateInterval = ephUpdInd;
790	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer,
791	sizeof(obuffer));
792	co.UpdateInterval = clkUpdInd;
793	if (len1 > 0) {
794	hlpBufferCo += QByteArray(obuffer, len1);
795	}
796	}
797	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
798	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
799	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
800	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
801	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer,
802	sizeof(obuffer));
803	if (len2 > 0) {
804	hlpBufferCo += QByteArray(obuffer, len2);
805	}
806	}
807	if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
808	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
809	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
810	co.UpdateInterval = ephUpdInd;
811	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer,
812	sizeof(obuffer));
813	co.UpdateInterval = clkUpdInd;
814	if (len1 > 0) {
815	hlpBufferCo += QByteArray(obuffer, len1);
816	}
817	}
818	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
819	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
820	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
821	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer,
822	sizeof(obuffer));
823	if (len2 > 0) {
824	hlpBufferCo += QByteArray(obuffer, len2);
825	}
826	}
827	if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
828	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
829	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
830	co.UpdateInterval = ephUpdInd;
831	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer,
832	sizeof(obuffer));
833	co.UpdateInterval = clkUpdInd;
834	if (len1 > 0) {
835	hlpBufferCo += QByteArray(obuffer, len1);
836	}
837	}
838	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
839	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
840	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer,
841	sizeof(obuffer));
842	if (len2 > 0) {
843	hlpBufferCo += QByteArray(obuffer, len2);
844	}
845	}
846	if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
847	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
848	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
849	co.UpdateInterval = ephUpdInd;
850	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer,
851	sizeof(obuffer));
852	co.UpdateInterval = clkUpdInd;
853	if (len1 > 0) {
854	hlpBufferCo += QByteArray(obuffer, len1);
855	}
856	}
857	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
858	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
859	sizeof(obuffer));
860	if (len2 > 0) {
861	hlpBufferCo += QByteArray(obuffer, len2);
862	}
863	}
864	if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
865	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
866	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
867	co.UpdateInterval = ephUpdInd;
868	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer,
869	sizeof(obuffer));
870	co.UpdateInterval = clkUpdInd;
871	if (len1 > 0) {
872	hlpBufferCo += QByteArray(obuffer, len1);
873	}
874	}
875	int mmsg = 0;
876	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer,
877	sizeof(obuffer));
878	if (len2 > 0) {
879	hlpBufferCo += QByteArray(obuffer, len2);
880	}
881	}
882	}
883
884	// Code Biases
885	// -----------
886	QByteArray hlpBufferBias;
887	if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
888	\|\| bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
889	\|\| bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
890	\|\| bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
891	\|\| bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
892	\|\| bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
893	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
894	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
895	int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
896	if (len > 0) {
897	hlpBufferBias = QByteArray(obuffer, len);
898	}
899	}
900	}
901
902	// Phase Biases
903	// ------------
904	QByteArray hlpBufferPhaseBias;
905	if ((phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
906	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
907	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
908	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
909	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
910	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0)
911	&& (_phaseBiasInformationDecoded)) {
912	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
913	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
914	int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
915	if (len > 0) {
916	hlpBufferPhaseBias = QByteArray(obuffer, len);
917	}
918	}
919	}
920
921	// VTEC
922	// ----
923	QByteArray hlpBufferVtec;
924	if (vtec.NumLayers > 0) {
925	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
926	int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
927	if (len > 0) {
928	hlpBufferVtec = QByteArray(obuffer, len);
929	}
930	}
931
932	_outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias
933	+ hlpBufferVtec + '\0';
934	}
935
936	//
937	////////////////////////////////////////////////////////////////////////////
938	t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
939	double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
940	double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
941	const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
942	struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
943
944	// Broadcast Position and Velocity
945	// -------------------------------
946	ColumnVector xB(6);
947	ColumnVector vB(3);
948	t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
949
950	if (irc != success) {
951	return irc;
952	}
953
954	// Precise Position
955	// ----------------
956	ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
957
958	if (xP.size() == 0) {
959	return failure;
960	}
961
962	double dc = 0.0;
963	if (_crdTrafo != "IGS14") {
964	crdTrafo(GPSweek, xP, dc);
965	}
966
967	// Difference in xyz
968	// -----------------
969	ColumnVector dx = xB.Rows(1, 3) - xP;
970	ColumnVector dv = vB - rtnVel;
971
972	// Difference in RSW
973	// -----------------
974	ColumnVector rsw(3);
975	XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
976
977	ColumnVector dotRsw(3);
978	XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
979
980	// Clock Correction
981	// ----------------
982	double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
983	double dClkA1 = 0.0;
984	if (rtnClk(2)) {
985	dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
986	}
987	double dClkA2 = 0.0;
988	if (rtnClk(3)) {
989	dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
990	}
991
992	if (sd) {
993	sd->ID = prn.mid(1).toInt();
994	sd->IOD = eph->IOD();
995	sd->Clock.DeltaA0 = dClkA0;
996	sd->Clock.DeltaA1 = dClkA1;
997	sd->Clock.DeltaA2 = dClkA2;
998	sd->UserRangeAccuracy = rtnUra;
999	sd->Orbit.DeltaRadial = rsw(1);
1000	sd->Orbit.DeltaAlongTrack = rsw(2);
1001	sd->Orbit.DeltaCrossTrack = rsw(3);
1002	sd->Orbit.DotDeltaRadial = dotRsw(1);
1003	sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
1004	sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
1005
1006	if (corrIsOutOfRange(sd)) {
1007	return failure;
1008	}
1009	}
1010
1011	outLine.sprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
1012	GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
1013	rsw(1), rsw(2), rsw(3)); //fprintf(stderr, "%s\n", outLine.toStdString().c_str());
1014
1015	// RTNET full clock for RINEX and SP3 file
1016	// ---------------------------------------
1017	double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1018	double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1019	double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1020	double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² ) -/s]
1021
1022	if (_rnx) {
1023	double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1024	int s = rtnClkSig.size();
1025	switch (s) {
1026	case 1:
1027	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1028	clkRnxRateSig = 0.0; // [s/s = -]
1029	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1030	break;
1031	case 2:
1032	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1033	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1034	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1035	break;
1036	case 3:
1037	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1038	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1039	clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1040	break;
1041	}
1042	_rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1043	clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1044	}
1045	if (_sp3) {
1046	_sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1047	}
1048	return success;
1049	}
1050
1051	// Transform Coordinates
1052	////////////////////////////////////////////////////////////////////////////
1053	void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1054	double& dc) {
1055
1056	// Current epoch minus 2000.0 in years
1057	// ------------------------------------
1058	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1059
1060	ColumnVector dx(3);
1061
1062	dx(1) = _dx + dt * _dxr;
1063	dx(2) = _dy + dt * _dyr;
1064	dx(3) = _dz + dt * _dzr;
1065
1066	static const double arcSec = 180.0 * 3600.0 / M_PI;
1067
1068	double ox = (_ox + dt * _oxr) / arcSec;
1069	double oy = (_oy + dt * _oyr) / arcSec;
1070	double oz = (_oz + dt * _ozr) / arcSec;
1071
1072	double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1073
1074	// Specify approximate center of area
1075	// ----------------------------------
1076	ColumnVector meanSta(3);
1077
1078	if (_crdTrafo == "ETRF2000") {
1079	meanSta(1) = 3661090.0;
1080	meanSta(2) = 845230.0;
1081	meanSta(3) = 5136850.0;
1082	}
1083	else if (_crdTrafo == "GDA2020") {
1084	meanSta(1) = -4052050.0;
1085	meanSta(2) = 4212840.0;
1086	meanSta(3) = -2545110.0;
1087	}
1088	else if (_crdTrafo == "SIRGAS2000") {
1089	meanSta(1) = 3740860.0;
1090	meanSta(2) = -4964290.0;
1091	meanSta(3) = -1425420.0;
1092	}
1093	else if (_crdTrafo == "DREF91") {
1094	meanSta(1) = 3959579.0;
1095	meanSta(2) = 721719.0;
1096	meanSta(3) = 4931539.0;
1097	}
1098	else if (_crdTrafo == "Custom") {
1099	meanSta(1) = 0.0; // TODO
1100	meanSta(2) = 0.0; // TODO
1101	meanSta(3) = 0.0; // TODO
1102	}
1103
1104	// Clock correction proportional to topocentric distance to satellites
1105	// -------------------------------------------------------------------
1106	double rho = (xyz - meanSta).norm_Frobenius();
1107	dc = rho * (sc - 1.0) / sc / t_CST::c;
1108
1109	Matrix rMat(3, 3);
1110	rMat(1, 1) = 1.0;
1111	rMat(1, 2) = -oz;
1112	rMat(1, 3) = oy;
1113	rMat(2, 1) = oz;
1114	rMat(2, 2) = 1.0;
1115	rMat(2, 3) = -ox;
1116	rMat(3, 1) = -oy;
1117	rMat(3, 2) = ox;
1118	rMat(3, 3) = 1.0;
1119
1120	xyz = sc * rMat * xyz + dx;
1121	}
1122
1123	int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1124
1125	if (samplingRate == 10.0) {
1126	return 3;
1127	}
1128	else if (samplingRate == 15.0) {
1129	return 4;
1130	}
1131	else if (samplingRate == 30.0) {
1132	return 5;
1133	}
1134	else if (samplingRate == 60.0) {
1135	return 6;
1136	}
1137	else if (samplingRate == 120.0) {
1138	return 7;
1139	}
1140	else if (samplingRate == 240.0) {
1141	return 8;
1142	}
1143	else if (samplingRate == 300.0) {
1144	return 9;
1145	}
1146	else if (samplingRate == 600.0) {
1147	return 10;
1148	}
1149	else if (samplingRate == 900.0) {
1150	return 11;
1151	}
1152	else if (samplingRate == 1800.0) {
1153	return 12;
1154	}
1155	else if (samplingRate == 3600.0) {
1156	return 13;
1157	}
1158	else if (samplingRate == 7200.0) {
1159	return 14;
1160	}
1161	else if (samplingRate == 10800.0) {
1162	return 15;
1163	}
1164	return 2; // default
1165	}
1166
1167	bool bncRtnetUploadCaster::corrIsOutOfRange(struct SsrCorr::ClockOrbit::SatData* sd) {
1168
1169	if (fabs(sd->Clock.DeltaA0) > 209.7151) {return true;}
1170	if (fabs(sd->Clock.DeltaA1) > 1.048575) {return true;}
1171	if (fabs(sd->Clock.DeltaA2) > 1.34217726) {return true;}
1172
1173	if (fabs(sd->Orbit.DeltaRadial) > 209.7151) {return true;}
1174	if (fabs(sd->Orbit.DeltaAlongTrack) > 209.7148) {return true;}
1175	if (fabs(sd->Orbit.DeltaCrossTrack) > 209.7148) {return true;}
1176
1177	if (fabs(sd->Orbit.DotDeltaRadial) > 1.048575) {return true;}
1178	if (fabs(sd->Orbit.DotDeltaAlongTrack) > 1.048572) {return true;}
1179	if (fabs(sd->Orbit.DotDeltaCrossTrack) > 1.048572) {return true;}
1180
1181	return false;
1182	}

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