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source: ntrip/branches/BNC_2.13.beta/src/upload/bncrtnetuploadcaster.cpp@ 10132

Last change on this file since 10132 was 10095, checked in by stuerze, 19 months ago
allow 30 sec update rate for sp3 files
File size: 42.7 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 "bncbiassinex.h"
23	#include "bncsp3.h"
24	#include "gnss.h"
25	#include "bncutils.h"
26
27	using namespace std;
28
29	// Constructor
30	////////////////////////////////////////////////////////////////////////////
31	bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
32	const QString& outHost, int outPort,
33	const QString& ntripVersion,
34	const QString& userName, const QString& password,
35	const QString& crdTrafo, const QString& ssrFormat, bool CoM, const QString& sp3FileName,
36	const QString& rnxFileName, const QString& bsxFileName, int PID, int SID, int IOD, int iRow) :
37	bncUploadCaster(mountpoint, outHost, outPort, ntripVersion, userName, password, iRow, 0) {
38
39	if (!mountpoint.isEmpty()) {
40	_casterID += mountpoint;
41	}
42	if (!outHost.isEmpty()) {
43	_casterID += " " + outHost;
44	if (outPort) {
45	_casterID += ":" + QString("%1").arg(outPort, 10);
46	}
47	}
48	if (!crdTrafo.isEmpty()) {
49	_casterID += " " + crdTrafo;
50	}
51	if (!sp3FileName.isEmpty()) {
52	_casterID += " " + sp3FileName;
53	}
54	if (!rnxFileName.isEmpty()) {
55	_casterID += " " + rnxFileName;
56	}
57
58	if (!bsxFileName.isEmpty()) {
59	_casterID += " " + bsxFileName;
60	}
61
62	_crdTrafo = crdTrafo;
63
64	_ssrFormat = ssrFormat;
65
66	_ssrCorr = 0;
67	if (_ssrFormat == "IGS-SSR") {
68	_ssrCorr = new SsrCorrIgs();
69	}
70	else if (_ssrFormat == "RTCM-SSR") {
71	_ssrCorr = new SsrCorrRtcm();
72	}
73
74	_CoM = CoM;
75	_PID = PID;
76	_SID = SID;
77	_IOD = IOD;
78
79	// Member that receives the ephemeris
80	// ----------------------------------
81	_ephUser = new bncEphUser(true);
82
83	bncSettings settings;
84	QString intr = settings.value("uploadIntr").toString();
85	QStringList hlp = settings.value("cmbStreams").toStringList();
86	_samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toDouble();
87	if (hlp.size() > 1) { // combination stream upload
88	_samplRtcmClkCorr = settings.value("cmbSampl").toInt();
89	}
90	else { // single stream upload or sp3 file generation
91	_samplRtcmClkCorr = 5; // default
92	}
93	int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
94	int samplSp3 = settings.value("uploadSamplSp3").toString().split("sec").first().toInt();
95	int samplBiaSnx = settings.value("uploadSamplBiaSnx").toInt();
96
97	if (_samplRtcmEphCorr == 0.0) {
98	_usedEph = 0;
99	}
100	else {
101	_usedEph = new QMap<QString, const t_eph*>;
102	}
103
104	// RINEX writer
105	// ------------
106	if (!rnxFileName.isEmpty()) {
107	_rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
108	}
109	else {
110	_rnx = 0;
111	}
112
113	// SP3 writer
114	// ----------
115	if (!sp3FileName.isEmpty()) {
116	_sp3 = new bncSP3(sp3FileName, intr, samplSp3);
117	}
118	else {
119	_sp3 = 0;
120	}
121
122	// SINEX writer
123	// ------------
124	if (!bsxFileName.isEmpty()) {
125	_bsx = new bncBiasSinex(bsxFileName, intr, samplBiaSnx);
126	}
127	else {
128	_bsx = 0;
129	}
130
131
132	// Set Transformation Parameters
133	// -----------------------------
134	// Transformation Parameters from ITRF2014 to ETRF2000
135	// EUREF Technical Note 1 Relationship and Transformation between the ITRF and ETRF
136	// Zuheir Altamimi, June 28, 2018
137	if (_crdTrafo == "ETRF2000") {
138	_dx = 0.0547;
139	_dy = 0.0522;
140	_dz = -0.0741;
141
142	_dxr = 0.0001;
143	_dyr = 0.0001;
144	_dzr = -0.0019;
145
146	_ox = 0.001701;
147	_oy = 0.010290;
148	_oz = -0.016632;
149
150	_oxr = 0.000081;
151	_oyr = 0.000490;
152	_ozr = -0.000729;
153
154	_sc = 2.12;
155	_scr = 0.11;
156
157	_t0 = 2010.0;
158	}
159	// Transformation Parameters from ITRF2014 to GDA2020 (Ryan Ruddick, GA)
160	else if (_crdTrafo == "GDA2020") {
161	_dx = 0.0;
162	_dy = 0.0;
163	_dz = 0.0;
164
165	_dxr = 0.0;
166	_dyr = 0.0;
167	_dzr = 0.0;
168
169	_ox = 0.0;
170	_oy = 0.0;
171	_oz = 0.0;
172
173	_oxr = 0.00150379;
174	_oyr = 0.00118346;
175	_ozr = 0.00120716;
176
177	_sc = 0.0;
178	_scr = 0.0;
179
180	_t0 = 2020.0;
181	}
182	// Transformation Parameters from IGb14 to SIRGAS2000 (Thanks to Sonia Costa, BRA)
183	// June 29 2020: TX:-0.0027 m TY:-0.0025 m TZ:-0.0042 m SCL:1.20 (ppb) no rotations and no rates.*/
184	else if (_crdTrafo == "SIRGAS2000") {
185	_dx = -0.0027;
186	_dy = -0.0025;
187	_dz = -0.0042;
188
189	_dxr = 0.0;
190	_dyr = 0.0;
191	_dzr = 0.0;
192
193	_ox = 0.0;
194	_oy = 0.0;
195	_oz = 0.0;
196
197	_oxr = 0.0;
198	_oyr = 0.0;
199	_ozr = 0.0;
200
201	_sc = 1.2;
202	_scr = 0.0;
203	_t0 = 2000.0;
204	}
205	// Transformation Parameters from ITRF2014 to DREF91
206	else if (_crdTrafo == "DREF91") {
207	_dx = 0.0547;
208	_dy = 0.0522;
209	_dz = -0.0741;
210
211	_dxr = 0.0001;
212	_dyr = 0.0001;
213	_dzr = -0.0019;
214	// ERTF200 + rotation parameters (ETRF2000 => DREF91)
215	_ox = 0.001701 + 0.000658;
216	_oy = 0.010290 - 0.000208;
217	_oz = -0.016632 + 0.000755;
218
219	_oxr = 0.000081;
220	_oyr = 0.000490;
221	_ozr = -0.000729;
222
223	_sc = 2.12;
224	_scr = 0.11;
225
226	_t0 = 2010.0;
227	}
228	else if (_crdTrafo == "Custom") {
229	_dx = settings.value("trafo_dx").toDouble();
230	_dy = settings.value("trafo_dy").toDouble();
231	_dz = settings.value("trafo_dz").toDouble();
232	_dxr = settings.value("trafo_dxr").toDouble();
233	_dyr = settings.value("trafo_dyr").toDouble();
234	_dzr = settings.value("trafo_dzr").toDouble();
235	_ox = settings.value("trafo_ox").toDouble();
236	_oy = settings.value("trafo_oy").toDouble();
237	_oz = settings.value("trafo_oz").toDouble();
238	_oxr = settings.value("trafo_oxr").toDouble();
239	_oyr = settings.value("trafo_oyr").toDouble();
240	_ozr = settings.value("trafo_ozr").toDouble();
241	_sc = settings.value("trafo_sc").toDouble();
242	_scr = settings.value("trafo_scr").toDouble();
243	_t0 = settings.value("trafo_t0").toDouble();
244	}
245	// TODO: the following lines can be deleted if all parameters are updated regarding ITRF2020
246	if (_crdTrafo == "ETRF2000" \|\|
247	_crdTrafo == "GDA2020" \|\|
248	_crdTrafo == "DREF91" \|\|
249	_crdTrafo == "SIRGAS2000") {
250	// Transformation Parameters from ITRF2020 to ITRF2014
251	// from ITRF web site: https://itrf.ign.fr/en/solutions/transformations
252	_dx14 = -0.0014;
253	_dy14 = -0.0009;
254	_dz14 = 0.0014;
255	_dxr14 = 0.0;
256	_dyr14 = -0.0001;
257	_dzr14 = -0.0002;
258	_ox14 = 0.0;
259	_oy14 = 0.0;
260	_oz14 = 0.0;
261	_oxr14 = 0.0;
262	_oyr14 = 0.0;
263	_ozr14 = 0.0;
264	_sc14 = -0.42;
265	_scr14 = 0.0;
266	_t014 = 2015.0;
267	}
268	}
269
270	// Destructor
271	////////////////////////////////////////////////////////////////////////////
272	bncRtnetUploadCaster::~bncRtnetUploadCaster() {
273	if (isRunning()) {
274	wait();
275	}
276	delete _rnx;
277	delete _sp3;
278	delete _ephUser;
279	delete _usedEph;
280	delete _ssrCorr;
281	}
282
283	//
284	////////////////////////////////////////////////////////////////////////////
285	void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
286
287	QMutexLocker locker(&_mutex);
288
289	// Append to internal buffer
290	// -------------------------
291	_rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
292
293	// Select buffer part that contains last epoch
294	// -------------------------------------------
295
296	// Find the begin of last epoch
297	int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*');
298	if (iEpoBeg == -1) {
299	_rtnetStreamBuffer.clear();
300	emit(newMessage(QString("bncRtnetUploadCaster: no Epoch line found: %1").arg(_casterID).toLatin1(), false));
301	return;
302	}
303
304	// Find the begin of the first epoch
305	int iEpoBegEarlier = _rtnetStreamBuffer.indexOf('*');
306	if (iEpoBegEarlier != -1 && iEpoBegEarlier < iEpoBeg) {
307	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBegEarlier);
308	}
309	else {
310	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
311	}
312
313	// Find End of the last epoch
314	int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE");
315	if (iEpoEnd == -1) {
316	_rtnetStreamBuffer.clear();
317	emit(newMessage(QString("bncRtnetUploadCaster: no EOE found: %1").arg(_casterID).toLatin1(), false));
318	return;
319	}
320
321	QStringList lines;
322	// If there is there more than 1 epoch line in the buffer
323	while (_rtnetStreamBuffer.count('*') > 1) {
324	emit(newMessage(QString("bncRtnetUploadCaster: more than 1 epoch in buffer: %1").arg(_rtnetStreamBuffer.count('*')).toLatin1(), false));
325	QString rtnetStreamBuffer = _rtnetStreamBuffer;
326	int nextEpoch = rtnetStreamBuffer.indexOf('*');
327	int nextEpochEnd = rtnetStreamBuffer.indexOf("EOE");
328	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(1);
329	if (nextEpoch != -1 && nextEpoch < iEpoEnd) {
330	rtnetStreamBuffer = rtnetStreamBuffer.mid(nextEpoch, nextEpochEnd);
331	lines = rtnetStreamBuffer.split('\n', QString::SkipEmptyParts);
332	if (lines.size() > 2) {
333	decodeRtnetEpoch(lines);
334	}
335	nextEpochEnd = _rtnetStreamBuffer.indexOf("EOE");
336	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(nextEpochEnd+3);
337	}
338	else if (nextEpoch != -1 && nextEpoch >= iEpoEnd) {
339	break;
340	}
341	}
342
343	lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', QString::SkipEmptyParts);
344
345	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
346
347	if (lines.size() < 2) {
348	emit(newMessage(QString("bncRtnetUploadCaster: less than 2 lines to decode : %1").arg(_casterID).toLatin1(), false));
349	return;
350	}
351	decodeRtnetEpoch(lines);
352	}
353
354	//
355	////////////////////////////////////////////////////////////////////////////
356	void bncRtnetUploadCaster::decodeRtnetEpoch(QStringList epochLines) {
357
358	// Read first line (with epoch time)
359	// ---------------------------------
360	QTextStream in(epochLines[0].toLatin1());
361	QString hlp;
362	int year, month, day, hour, min;
363	double sec;
364	in >> hlp >> year >> month >> day >> hour >> min >> sec;
365	bncTime epoTime;
366	epoTime.set(year, month, day, hour, min, sec);
367
368	emit(newMessage(
369	"bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
370	+ " " + QByteArray(epoTime.timestr().c_str()) + " "
371	+ _casterID.toLatin1(), false));
372
373	struct SsrCorr::ClockOrbit co;
374	memset(&co, 0, sizeof(co));
375	co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
376	if (_ssrFormat == "RTCM-SSR") {
377	double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
378	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
379	}
380	else if (_ssrFormat == "IGS-SSR") {
381	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(epoTime.gpssec());
382	}
383	co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
384	co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
385	co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
386	if (_ssrFormat == "RTCM-SSR") {
387	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
388	}
389	else if (_ssrFormat == "IGS-SSR") {
390	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
391	}
392	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
393	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
394	co.SatRefDatum = _ssrCorr->DATUM_ITRF; // ToDo: to decode from RTNET format
395	co.SSRIOD = _IOD;
396	co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
397	co.SSRSolutionID = _SID;
398
399	struct SsrCorr::CodeBias bias;
400	memset(&bias, 0, sizeof(bias));
401	bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
402	bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
403	bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
404	bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
405	bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
406	bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
407	bias.SSRIOD = _IOD;
408	bias.SSRProviderID = _PID;
409	bias.SSRSolutionID = _SID;
410
411	struct SsrCorr::PhaseBias phasebias;
412	memset(&phasebias, 0, sizeof(phasebias));
413	unsigned int dispersiveBiasConsistenyIndicator = 0;
414	unsigned int mwConsistencyIndicator = 0;
415	phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
416	phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
417	phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
418	phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
419	phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
420	phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
421	phasebias.SSRIOD = _IOD;
422	phasebias.SSRProviderID = _PID;
423	phasebias.SSRSolutionID = _SID;
424
425	struct SsrCorr::VTEC vtec;
426	memset(&vtec, 0, sizeof(vtec));
427	vtec.EpochTime = static_cast<int>(epoTime.gpssec());
428	vtec.SSRIOD = _IOD;
429	vtec.SSRProviderID = _PID;
430	vtec.SSRSolutionID = _SID;
431
432	// Default Update Interval
433	// -----------------------
434	int clkUpdInd = 2; // 5 sec
435	int ephUpdInd = clkUpdInd; // default
436
437	if (!_samplRtcmEphCorr) {
438	_samplRtcmEphCorr = 5.0;
439	}
440
441	if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
442	ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
443	}
444	if (_samplRtcmClkCorr > 5.0) {
445	clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
446	}
447	if (_samplRtcmEphCorr > 5.0) {
448	ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
449	}
450
451	co.UpdateInterval = clkUpdInd;
452	bias.UpdateInterval = ephUpdInd;
453	phasebias.UpdateInterval = ephUpdInd;
454
455	for (int ii = 1; ii < epochLines.size(); ii++) {
456	QString key; // prn or key VTEC, IND (phase bias indicators)
457	double rtnUra = 0.0; // [m]
458	ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
459	ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
460	ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
461	ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
462	ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
463	t_prn prn;
464
465	QTextStream in(epochLines[ii].toLatin1());
466
467	in >> key;
468
469	// non-satellite specific parameters
470	if (key.contains("IND", Qt::CaseSensitive)) {
471	in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
472	continue;
473	}
474	// non-satellite specific parameters
475	if (key.contains("VTEC", Qt::CaseSensitive)) {
476	double ui;
477	in >> ui >> vtec.NumLayers;
478	vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
479	for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
480	int dummy;
481	in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
482	>> vtec.Layers[ll].Height;
483	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
484	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
485	in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
486	}
487	}
488	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
489	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
490	in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
491	}
492	}
493	}
494	continue;
495	}
496	// satellite specific parameters
497	char sys = key.mid(0, 1).at(0).toLatin1();
498	int number = key.mid(1, 2).toInt();
499	int flags = 0;
500	if (sys == 'E') { // I/NAV
501	flags = 1;
502	}
503	if (number == 0) {
504	continue;
505	}
506	prn.set(sys, number, flags);
507	QString prnInternalStr = QString::fromStdString(prn.toInternalString());
508	QString prnStr = QString::fromStdString(prn.toString());
509
510	const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
511	const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
512	const t_eph* eph = ephLast;
513	if (eph) {
514
515	// Use previous ephemeris if the last one is too recent
516	// ----------------------------------------------------
517	const int MINAGE = 60; // seconds
518	if (ephPrev && eph->receptDateTime().isValid()
519	&& eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
520	eph = ephPrev;
521	}
522
523	// Make sure the clock messages refer to same IOD as orbit messages
524	// ----------------------------------------------------------------
525	if (_usedEph) {
526	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
527	(*_usedEph)[prnInternalStr] = eph;
528	}
529	else {
530	eph = 0;
531	if (_usedEph->contains(prnInternalStr)) {
532	const t_eph* usedEph = _usedEph->value(prnInternalStr);
533	if (usedEph == ephLast) {
534	eph = ephLast;
535	}
536	else if (usedEph == ephPrev) {
537	eph = ephPrev;
538	}
539	}
540	}
541	}
542	}
543
544	if (eph &&
545	!outDatedBcep(eph) && // detected from storage because of no update
546	eph->checkState() != t_eph::bad &&
547	eph->checkState() != t_eph::unhealthy &&
548	eph->checkState() != t_eph::outdated) { // detected during reception (bncephuser)
549	QMap<QString, double> codeBiases;
550	QList<phaseBiasSignal> phaseBiasList;
551	phaseBiasesSat pbSat;
552	_phaseBiasInformationDecoded = false;
553
554	while (true) {
555	QString key;
556	int numVal = 0;
557	in >> key;
558	if (in.status() != QTextStream::Ok) {
559	break;
560	}
561	if (key == "APC") {
562	in >> numVal;
563	rtnAPC.ReSize(3); rtnAPC = 0.0;
564	for (int ii = 0; ii < numVal; ii++) {
565	in >> rtnAPC[ii];
566	}
567	}
568	else if (key == "Ura") {
569	in >> numVal;
570	if (numVal == 1)
571	in >> rtnUra;
572	}
573	else if (key == "Clk") {
574	in >> numVal;
575	rtnClk.ReSize(3); rtnClk = 0.0;
576	for (int ii = 0; ii < numVal; ii++) {
577	in >> rtnClk[ii];
578	}
579	}
580	else if (key == "ClkSig") {
581	in >> numVal;
582	rtnClkSig.ReSize(3); rtnClkSig = 0.0;
583	for (int ii = 0; ii < numVal; ii++) {
584	in >> rtnClkSig[ii];
585	}
586	}
587	else if (key == "Vel") {
588	in >> numVal;
589	rtnVel.ReSize(3); rtnVel = 0.0;
590	for (int ii = 0; ii < numVal; ii++) {
591	in >> rtnVel[ii];
592	}
593	}
594	else if (key == "CoM") {
595	in >> numVal;
596	rtnCoM.ReSize(3); rtnCoM = 0.0;
597	for (int ii = 0; ii < numVal; ii++) {
598	in >> rtnCoM[ii];
599	}
600	}
601	else if (key == "CodeBias") {
602	in >> numVal;
603	for (int ii = 0; ii < numVal; ii++) {
604	QString type;
605	double value;
606	in >> type >> value;
607	codeBiases[type] = value;
608	}
609	}
610	else if (key == "YawAngle") {
611	_phaseBiasInformationDecoded = true;
612	in >> numVal >> pbSat.yawAngle;
613	if (pbSat.yawAngle < 0.0) {
614	pbSat.yawAngle += (2*M_PI);
615	}
616	else if (pbSat.yawAngle > 2*M_PI) {
617	pbSat.yawAngle -= (2*M_PI);
618	}
619	}
620	else if (key == "YawRate") {
621	_phaseBiasInformationDecoded = true;
622	in >> numVal >> pbSat.yawRate;
623	}
624	else if (key == "PhaseBias") {
625	_phaseBiasInformationDecoded = true;
626	in >> numVal;
627	for (int ii = 0; ii < numVal; ii++) {
628	phaseBiasSignal pb;
629	in >> pb.type >> pb.bias >> pb.integerIndicator
630	>> pb.wlIndicator >> pb.discontinuityCounter;
631	phaseBiasList.append(pb);
632	}
633	}
634	else {
635	in >> numVal;
636	for (int ii = 0; ii < numVal; ii++) {
637	double dummy;
638	in >> dummy;
639	}
640	emit(newMessage(" RTNET format error: "
641	+ epochLines[ii].toLatin1(), false));
642	break;
643	}
644	}
645
646	struct SsrCorr::ClockOrbit::SatData* sd = 0;
647	if (prn.system() == 'G') {
648	sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
649	++co.NumberOfSat[CLOCKORBIT_SATGPS];
650	}
651	else if (prn.system() == 'R') {
652	sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
653	++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
654	}
655	else if (prn.system() == 'E') {
656	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
657	+ co.NumberOfSat[CLOCKORBIT_SATGALILEO];
658	++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
659	}
660	else if (prn.system() == 'J') {
661	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
662	+ CLOCKORBIT_NUMGALILEO
663	+ co.NumberOfSat[CLOCKORBIT_SATQZSS];
664	++co.NumberOfSat[CLOCKORBIT_SATQZSS];
665	}
666	else if (prn.system() == 'S') {
667	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
668	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
669	+ co.NumberOfSat[CLOCKORBIT_SATSBAS];
670	++co.NumberOfSat[CLOCKORBIT_SATSBAS];
671	}
672	else if (prn.system() == 'C') {
673	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
674	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
675	+ CLOCKORBIT_NUMSBAS
676	+ co.NumberOfSat[CLOCKORBIT_SATBDS];
677	++co.NumberOfSat[CLOCKORBIT_SATBDS];
678	}
679	if (sd) {
680	QString outLine;
681	t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
682	rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
683	if (irc != success) {
684	continue;
685	}
686	}
687
688	// Code Biases
689	// -----------
690	struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
691	if (!codeBiases.isEmpty()) {
692	if (prn.system() == 'G') {
693	biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
694	++bias.NumberOfSat[CLOCKORBIT_SATGPS];
695	}
696	else if (prn.system() == 'R') {
697	biasSat = bias.Sat + CLOCKORBIT_NUMGPS
698	+ bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
699	++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
700	}
701	else if (prn.system() == 'E') {
702	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
703	+ bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
704	++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
705	}
706	else if (prn.system() == 'J') {
707	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
708	+ CLOCKORBIT_NUMGALILEO
709	+ bias.NumberOfSat[CLOCKORBIT_SATQZSS];
710	++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
711	}
712	else if (prn.system() == 'S') {
713	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
714	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
715	+ bias.NumberOfSat[CLOCKORBIT_SATSBAS];
716	++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
717	}
718	else if (prn.system() == 'C') {
719	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
720	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
721	+ CLOCKORBIT_NUMSBAS
722	+ bias.NumberOfSat[CLOCKORBIT_SATBDS];
723	++bias.NumberOfSat[CLOCKORBIT_SATBDS];
724	}
725	}
726
727	if (biasSat) {
728	biasSat->ID = prn.number();
729	biasSat->NumberOfCodeBiases = 0;
730	QMapIterator<QString, double> it(codeBiases);
731	while (it.hasNext()) {
732	it.next();
733	int ii = biasSat->NumberOfCodeBiases;
734	if (ii >= CLOCKORBIT_NUMBIAS)
735	break;
736	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
737	if (type != _ssrCorr->RESERVED) {
738	biasSat->NumberOfCodeBiases += 1;
739	biasSat->Biases[ii].Type = type;
740	biasSat->Biases[ii].Bias = it.value();
741	if (_bsx) {
742	QString obsCode = 'C' + it.key();
743	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, it.value());
744	}
745	}
746	}
747	}
748
749	// Phase Biases
750	// ------------
751	struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
752	if (prn.system() == 'G') {
753	phasebiasSat = phasebias.Sat
754	+ phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
755	++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
756	}
757	else if (prn.system() == 'R') {
758	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
759	+ phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
760	++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
761	}
762	else if (prn.system() == 'E') {
763	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
764	+ phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
765	++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
766	}
767	else if (prn.system() == 'J') {
768	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
769	+ CLOCKORBIT_NUMGALILEO
770	+ phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
771	++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
772	}
773	else if (prn.system() == 'S') {
774	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
775	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
776	+ phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
777	++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
778	}
779	else if (prn.system() == 'C') {
780	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
781	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
782	+ CLOCKORBIT_NUMSBAS
783	+ phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
784	++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
785	}
786
787	if (phasebiasSat && _phaseBiasInformationDecoded) {
788	phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
789	phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
790	phasebiasSat->ID = prn.number();
791	phasebiasSat->NumberOfPhaseBiases = 0;
792	phasebiasSat->YawAngle = pbSat.yawAngle;
793	phasebiasSat->YawRate = pbSat.yawRate;
794	QListIterator<phaseBiasSignal> it(phaseBiasList);
795	while (it.hasNext()) {
796	const phaseBiasSignal &pbSig = it.next();
797	int ii = phasebiasSat->NumberOfPhaseBiases;
798	if (ii >= CLOCKORBIT_NUMBIAS)
799	break;
800	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
801	if (type != _ssrCorr->RESERVED) {
802	phasebiasSat->NumberOfPhaseBiases += 1;
803	phasebiasSat->Biases[ii].Type = type;
804	phasebiasSat->Biases[ii].Bias = pbSig.bias;
805	phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
806	phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
807	phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
808	if (_bsx) {
809	QString obsCode = 'L' + pbSig.type;
810	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, pbSig.bias);
811	}
812	}
813	}
814	}
815	}
816	}
817
818	QByteArray hlpBufferCo;
819
820	// Orbit and Clock Corrections together
821	// ------------------------------------
822	if (_samplRtcmEphCorr == _samplRtcmClkCorr) {
823	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
824	\|\| co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
825	\|\| co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
826	\|\| co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
827	\|\| co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
828	\|\| co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
829	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
830	int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
831	if (len > 0) {
832	hlpBufferCo = QByteArray(obuffer, len);
833	}
834	}
835	}
836
837	// Orbit and Clock Corrections separately
838	// --------------------------------------
839	else {
840	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
841	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
842	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
843	co.UpdateInterval = ephUpdInd;
844	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer,
845	sizeof(obuffer));
846	co.UpdateInterval = clkUpdInd;
847	if (len1 > 0) {
848	hlpBufferCo += QByteArray(obuffer, len1);
849	}
850	}
851	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 \|\|
852	co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
853	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
854	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
855	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
856	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer,
857	sizeof(obuffer));
858	if (len2 > 0) {
859	hlpBufferCo += QByteArray(obuffer, len2);
860	}
861	}
862	if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
863	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
864	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
865	co.UpdateInterval = ephUpdInd;
866	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer,
867	sizeof(obuffer));
868	co.UpdateInterval = clkUpdInd;
869	if (len1 > 0) {
870	hlpBufferCo += QByteArray(obuffer, len1);
871	}
872	}
873	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
874	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
875	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
876	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
877	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer,
878	sizeof(obuffer));
879	if (len2 > 0) {
880	hlpBufferCo += QByteArray(obuffer, len2);
881	}
882	}
883	if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
884	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
885	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
886	co.UpdateInterval = ephUpdInd;
887	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer,
888	sizeof(obuffer));
889	co.UpdateInterval = clkUpdInd;
890	if (len1 > 0) {
891	hlpBufferCo += QByteArray(obuffer, len1);
892	}
893	}
894	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
895	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
896	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
897	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer,
898	sizeof(obuffer));
899	if (len2 > 0) {
900	hlpBufferCo += QByteArray(obuffer, len2);
901	}
902	}
903	if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
904	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
905	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
906	co.UpdateInterval = ephUpdInd;
907	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer,
908	sizeof(obuffer));
909	co.UpdateInterval = clkUpdInd;
910	if (len1 > 0) {
911	hlpBufferCo += QByteArray(obuffer, len1);
912	}
913	}
914	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
915	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
916	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer,
917	sizeof(obuffer));
918	if (len2 > 0) {
919	hlpBufferCo += QByteArray(obuffer, len2);
920	}
921	}
922	if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
923	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
924	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
925	co.UpdateInterval = ephUpdInd;
926	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer,
927	sizeof(obuffer));
928	co.UpdateInterval = clkUpdInd;
929	if (len1 > 0) {
930	hlpBufferCo += QByteArray(obuffer, len1);
931	}
932	}
933	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
934	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
935	sizeof(obuffer));
936	if (len2 > 0) {
937	hlpBufferCo += QByteArray(obuffer, len2);
938	}
939	}
940	if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
941	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
942	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
943	co.UpdateInterval = ephUpdInd;
944	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer,
945	sizeof(obuffer));
946	co.UpdateInterval = clkUpdInd;
947	if (len1 > 0) {
948	hlpBufferCo += QByteArray(obuffer, len1);
949	}
950	}
951	int mmsg = 0;
952	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer,
953	sizeof(obuffer));
954	if (len2 > 0) {
955	hlpBufferCo += QByteArray(obuffer, len2);
956	}
957	}
958	}
959
960	// Code Biases
961	// -----------
962	QByteArray hlpBufferBias;
963	if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
964	\|\| bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
965	\|\| bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
966	\|\| bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
967	\|\| bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
968	\|\| bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
969	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
970	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
971	int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
972	if (len > 0) {
973	hlpBufferBias = QByteArray(obuffer, len);
974	}
975	}
976	}
977
978	// Phase Biases
979	// ------------
980	QByteArray hlpBufferPhaseBias;
981	if ((phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
982	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
983	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
984	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
985	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
986	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0)
987	&& (_phaseBiasInformationDecoded)) {
988	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
989	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
990	int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
991	if (len > 0) {
992	hlpBufferPhaseBias = QByteArray(obuffer, len);
993	}
994	}
995	}
996
997	// VTEC
998	// ----
999	QByteArray hlpBufferVtec;
1000	if (vtec.NumLayers > 0) {
1001	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
1002	int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
1003	if (len > 0) {
1004	hlpBufferVtec = QByteArray(obuffer, len);
1005	}
1006	}
1007
1008	_outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias + hlpBufferVtec + '\0';
1009	}
1010	//
1011	////////////////////////////////////////////////////////////////////////////
1012	t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
1013	double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
1014	double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
1015	const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
1016	struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
1017
1018	// Broadcast Position and Velocity
1019	// -------------------------------
1020	ColumnVector xB(6);
1021	ColumnVector vB(3);
1022	t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
1023
1024	if (irc != success) {
1025	return irc;
1026	}
1027
1028	// Precise Position
1029	// ----------------
1030	ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
1031
1032	if (xP.size() == 0) {
1033	return failure;
1034	}
1035
1036	double dc = 0.0;
1037	if (_crdTrafo != "IGS20") {
1038	crdTrafo14(GPSweek, xP, dc); // ITRF2020 => ITRF2014
1039	crdTrafo(GPSweek, xP, dc); // ITRF2014 to other reference frames
1040	}
1041
1042	// Difference in xyz
1043	// -----------------
1044	ColumnVector dx = xB.Rows(1, 3) - xP;
1045	ColumnVector dv = vB - rtnVel;
1046
1047	// Difference in RSW
1048	// -----------------
1049	ColumnVector rsw(3);
1050	XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
1051
1052	ColumnVector dotRsw(3);
1053	XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
1054
1055	// Clock Correction
1056	// ----------------
1057	double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
1058	double dClkA1 = 0.0;
1059	if (rtnClk(2)) {
1060	dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
1061	}
1062	double dClkA2 = 0.0;
1063	if (rtnClk(3)) {
1064	dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
1065	}
1066
1067	if (sd) {
1068	sd->ID = prn.mid(1).toInt();
1069	sd->IOD = eph->IOD();
1070	sd->Clock.DeltaA0 = dClkA0;
1071	sd->Clock.DeltaA1 = dClkA1;
1072	sd->Clock.DeltaA2 = dClkA2;
1073	sd->UserRangeAccuracy = rtnUra;
1074	sd->Orbit.DeltaRadial = rsw(1);
1075	sd->Orbit.DeltaAlongTrack = rsw(2);
1076	sd->Orbit.DeltaCrossTrack = rsw(3);
1077	sd->Orbit.DotDeltaRadial = dotRsw(1);
1078	sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
1079	sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
1080
1081	if (corrIsOutOfRange(sd)) {
1082	return failure;
1083	}
1084	}
1085
1086	outLine = QString().asprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
1087	GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
1088	rsw(1), rsw(2), rsw(3)); //fprintf(stderr, "%s\n", outLine.toStdString().c_str());
1089
1090	// RTNET full clock for RINEX and SP3 file
1091	// ---------------------------------------
1092	double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1093	double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1094	double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1095	double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² = -/s]
1096
1097	if (_rnx) {
1098	double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1099	int s = rtnClkSig.size();
1100	switch (s) {
1101	case 1:
1102	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1103	clkRnxRateSig = 0.0; // [s/s = -]
1104	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1105	break;
1106	case 2:
1107	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1108	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1109	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1110	break;
1111	case 3:
1112	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1113	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1114	clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1115	break;
1116	}
1117	_rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1118	clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1119	}
1120	if (_sp3) {
1121	_sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1122	}
1123	return success;
1124	}
1125
1126	// Transform Coordinates
1127	////////////////////////////////////////////////////////////////////////////
1128	void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1129	double& dc) {
1130
1131	// Current epoch minus 2000.0 in years
1132	// ------------------------------------
1133	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1134
1135	ColumnVector dx(3);
1136
1137	dx(1) = _dx + dt * _dxr;
1138	dx(2) = _dy + dt * _dyr;
1139	dx(3) = _dz + dt * _dzr;
1140
1141	static const double arcSec = 180.0 * 3600.0 / M_PI;
1142
1143	double ox = (_ox + dt * _oxr) / arcSec;
1144	double oy = (_oy + dt * _oyr) / arcSec;
1145	double oz = (_oz + dt * _ozr) / arcSec;
1146
1147	double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1148
1149	// Specify approximate center of area
1150	// ----------------------------------
1151	ColumnVector meanSta(3);
1152
1153	if (_crdTrafo == "ETRF2000") {
1154	meanSta(1) = 3661090.0;
1155	meanSta(2) = 845230.0;
1156	meanSta(3) = 5136850.0;
1157	}
1158	else if (_crdTrafo == "GDA2020") {
1159	meanSta(1) = -4052050.0;
1160	meanSta(2) = 4212840.0;
1161	meanSta(3) = -2545110.0;
1162	}
1163	else if (_crdTrafo == "SIRGAS2000") {
1164	meanSta(1) = 3740860.0;
1165	meanSta(2) = -4964290.0;
1166	meanSta(3) = -1425420.0;
1167	}
1168	else if (_crdTrafo == "DREF91") {
1169	meanSta(1) = 3959579.0;
1170	meanSta(2) = 721719.0;
1171	meanSta(3) = 4931539.0;
1172	}
1173	else if (_crdTrafo == "Custom") {
1174	meanSta(1) = 0.0;
1175	meanSta(2) = 0.0;
1176	meanSta(3) = 0.0;
1177	}
1178
1179	// Clock correction proportional to topocentric distance to satellites
1180	// -------------------------------------------------------------------
1181	double rho = (xyz - meanSta).NormFrobenius();
1182	dc = rho * (sc - 1.0) / sc / t_CST::c;
1183
1184	Matrix rMat(3, 3);
1185	rMat(1, 1) = 1.0;
1186	rMat(1, 2) = -oz;
1187	rMat(1, 3) = oy;
1188	rMat(2, 1) = oz;
1189	rMat(2, 2) = 1.0;
1190	rMat(2, 3) = -ox;
1191	rMat(3, 1) = -oy;
1192	rMat(3, 2) = ox;
1193	rMat(3, 3) = 1.0;
1194
1195	xyz = sc * rMat * xyz + dx;
1196	}
1197
1198	// Transform Coordinates
1199	////////////////////////////////////////////////////////////////////////////
1200	void bncRtnetUploadCaster::crdTrafo14(int GPSWeek, ColumnVector& xyz,
1201	double& dc) {
1202
1203	// Current epoch minus 2000.0 in years
1204	// ------------------------------------
1205	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1206
1207	ColumnVector dx(3);
1208
1209	dx(1) = _dx14 + dt * _dxr14;
1210	dx(2) = _dy14 + dt * _dyr14;
1211	dx(3) = _dz14 + dt * _dzr14;
1212
1213	static const double arcSec = 180.0 * 3600.0 / M_PI;
1214
1215	double ox = (_ox14 + dt * _oxr14) / arcSec;
1216	double oy = (_oy14 + dt * _oyr14) / arcSec;
1217	double oz = (_oz14 + dt * _ozr14) / arcSec;
1218
1219	double sc = 1.0 + _sc14 * 1e-9 + dt * _scr14 * 1e-9;
1220
1221	// Specify approximate center of area
1222	// ----------------------------------
1223	ColumnVector meanSta(3);
1224	meanSta(1) = 0.0; // TODO
1225	meanSta(2) = 0.0; // TODO
1226	meanSta(3) = 0.0; // TODO
1227
1228	// Clock correction proportional to topocentric distance to satellites
1229	// -------------------------------------------------------------------
1230	double rho = (xyz - meanSta).NormFrobenius();
1231	dc = rho * (sc - 1.0) / sc / t_CST::c;
1232
1233	Matrix rMat(3, 3);
1234	rMat(1, 1) = 1.0;
1235	rMat(1, 2) = -oz;
1236	rMat(1, 3) = oy;
1237	rMat(2, 1) = oz;
1238	rMat(2, 2) = 1.0;
1239	rMat(2, 3) = -ox;
1240	rMat(3, 1) = -oy;
1241	rMat(3, 2) = ox;
1242	rMat(3, 3) = 1.0;
1243
1244	xyz = sc * rMat * xyz + dx;
1245	}
1246
1247	// Update Interval
1248	////////////////////////////////////////////////////////////////////////////
1249	int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1250
1251	if (samplingRate == 10.0) {
1252	return 3;
1253	}
1254	else if (samplingRate == 15.0) {
1255	return 4;
1256	}
1257	else if (samplingRate == 30.0) {
1258	return 5;
1259	}
1260	else if (samplingRate == 60.0) {
1261	return 6;
1262	}
1263	else if (samplingRate == 120.0) {
1264	return 7;
1265	}
1266	else if (samplingRate == 240.0) {
1267	return 8;
1268	}
1269	else if (samplingRate == 300.0) {
1270	return 9;
1271	}
1272	else if (samplingRate == 600.0) {
1273	return 10;
1274	}
1275	else if (samplingRate == 900.0) {
1276	return 11;
1277	}
1278	else if (samplingRate == 1800.0) {
1279	return 12;
1280	}
1281	else if (samplingRate == 3600.0) {
1282	return 13;
1283	}
1284	else if (samplingRate == 7200.0) {
1285	return 14;
1286	}
1287	else if (samplingRate == 10800.0) {
1288	return 15;
1289	}
1290	return 2; // default
1291	}
1292
1293	// Check corrections
1294	////////////////////////////////////////////////////////////////////////////
1295	bool bncRtnetUploadCaster::corrIsOutOfRange(struct SsrCorr::ClockOrbit::SatData* sd) {
1296
1297	if (fabs(sd->Clock.DeltaA0) > 209.7151) {return true;}
1298	if (fabs(sd->Clock.DeltaA1) > 1.048575) {return true;}
1299	if (fabs(sd->Clock.DeltaA2) > 1.34217726) {return true;}
1300
1301	if (fabs(sd->Orbit.DeltaRadial) > 209.7151) {return true;}
1302	if (fabs(sd->Orbit.DeltaAlongTrack) > 209.7148) {return true;}
1303	if (fabs(sd->Orbit.DeltaCrossTrack) > 209.7148) {return true;}
1304
1305	if (fabs(sd->Orbit.DotDeltaRadial) > 1.048575) {return true;}
1306	if (fabs(sd->Orbit.DotDeltaAlongTrack) > 1.048572) {return true;}
1307	if (fabs(sd->Orbit.DotDeltaCrossTrack) > 1.048572) {return true;}
1308	return false;
1309	}

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