/* -------------------------------------------------------------------------
* BKG NTRIP Server
* -------------------------------------------------------------------------
*
* Class: bncRtnetUploadCaster
*
* Purpose: Connection to NTRIP Caster
*
* Author: L. Mervart
*
* Created: 29-Mar-2011
*
* Changes:
*
* -----------------------------------------------------------------------*/
#include <math.h>
#include "bncrtnetuploadcaster.h"
#include "bncsettings.h"
#include "bncephuser.h"
#include "bncclockrinex.h"
#include "bncsp3.h"
using namespace std;
// Constructor
////////////////////////////////////////////////////////////////////////////
bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
const QString& outHost, int outPort,
const QString& password,
const QString& crdTrafo, bool CoM,
const QString& sp3FileName,
const QString& rnxFileName,
const QString& outFileName, int iRow) :
bncUploadCaster(mountpoint, outHost, outPort, password, iRow, 0) {
_crdTrafo = crdTrafo;
_CoM = CoM;
// Member that receives the ephemeris
// ----------------------------------
_ephUser = new bncEphUser();
bncSettings settings;
QString intr = settings.value("uploadIntr").toString();
int sampl = settings.value("uploadSampl").toInt();
// Raw Output
// ----------
if (!outFileName.isEmpty()) {
_outFile = new bncoutf(outFileName, intr, sampl);
}
else {
_outFile = 0;
}
// RINEX writer
// ------------
if (!rnxFileName.isEmpty()) {
_rnx = new bncClockRinex(rnxFileName, intr, sampl);
}
else {
_rnx = 0;
}
// SP3 writer
// ----------
if (!sp3FileName.isEmpty()) {
_sp3 = new bncSP3(sp3FileName, intr, sampl);
}
else {
_sp3 = 0;
}
// Set Transformation Parameters
// -----------------------------
if (_crdTrafo == "ETRF2000") {
_dx = 0.0541;
_dy = 0.0502;
_dz = -0.0538;
_dxr = -0.0002;
_dyr = 0.0001;
_dzr = -0.0018;
_ox = 0.000891;
_oy = 0.005390;
_oz = -0.008712;
_oxr = 0.000081;
_oyr = 0.000490;
_ozr = -0.000792;
_sc = 0.40;
_scr = 0.08;
_t0 = 2000.0;
}
else if (_crdTrafo == "NAD83") {
_dx = 0.9963;
_dy = -1.9024;
_dz = -0.5210;
_dxr = 0.0005;
_dyr = -0.0006;
_dzr = -0.0013;
_ox = -0.025915;
_oy = -0.009426;
_oz = -0.011599;
_oxr = -0.000067;
_oyr = 0.000757;
_ozr = 0.000051;
_sc = 0.78;
_scr = -0.10;
_t0 = 1997.0;
}
else if (_crdTrafo == "GDA94") {
_dx = -0.07973;
_dy = -0.00686;
_dz = 0.03803;
_dxr = 0.00225;
_dyr = -0.00062;
_dzr = -0.00056;
_ox = 0.0000351;
_oy = -0.0021211;
_oz = -0.0021411;
_oxr = -0.0014707;
_oyr = -0.0011443;
_ozr = -0.0011701;
_sc = 6.636;
_scr = 0.294;
_t0 = 1994.0;
}
else if (_crdTrafo == "SIRGAS2000") {
_dx = -0.0051;
_dy = -0.0065;
_dz = -0.0099;
_dxr = 0.0000;
_dyr = 0.0000;
_dzr = 0.0000;
_ox = 0.000150;
_oy = 0.000020;
_oz = 0.000021;
_oxr = 0.000000;
_oyr = 0.000000;
_ozr = 0.000000;
_sc = 0.000;
_scr = 0.000;
_t0 = 0000.0;
}
else if (_crdTrafo == "SIRGAS95") {
_dx = 0.0077;
_dy = 0.0058;
_dz = -0.0138;
_dxr = 0.0000;
_dyr = 0.0000;
_dzr = 0.0000;
_ox = 0.000000;
_oy = 0.000000;
_oz = -0.000030;
_oxr = 0.000000;
_oyr = 0.000000;
_ozr = 0.000000;
_sc = 1.570;
_scr = 0.000;
_t0 = 0000.0;
}
else if (_crdTrafo == "Custom") {
bncSettings settings;
_dx = settings.value("trafo_dx").toDouble();
_dy = settings.value("trafo_dy").toDouble();
_dz = settings.value("trafo_dz").toDouble();
_dxr = settings.value("trafo_dxr").toDouble();
_dyr = settings.value("trafo_dyr").toDouble();
_dzr = settings.value("trafo_dzr").toDouble();
_ox = settings.value("trafo_ox").toDouble();
_oy = settings.value("trafo_oy").toDouble();
_oz = settings.value("trafo_oz").toDouble();
_oxr = settings.value("trafo_oxr").toDouble();
_oyr = settings.value("trafo_oyr").toDouble();
_ozr = settings.value("trafo_ozr").toDouble();
_sc = settings.value("trafo_sc").toDouble();
_scr = settings.value("trafo_scr").toDouble();
_t0 = settings.value("trafo_t0").toDouble();
}
}
// Destructor
////////////////////////////////////////////////////////////////////////////
bncRtnetUploadCaster::~bncRtnetUploadCaster() {
if (isRunning()) {
wait();
}
delete _outFile;
delete _rnx;
delete _sp3;
delete _ephUser;
}
//
////////////////////////////////////////////////////////////////////////////
void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
QMutexLocker locker(&_mutex);
// Append to internal buffer
// -------------------------
_rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
// Select buffer part that contains last epoch
// -------------------------------------------
QStringList lines;
int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
if (iEpoBeg == -1) {
_rtnetStreamBuffer.clear();
return;
}
_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
if (iEpoEnd == -1) {
return;
}
else {
lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', QString::SkipEmptyParts);
_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd+3);
}
if (lines.size() < 2) {
return;
}
// Keep the last unfinished line in buffer
// ---------------------------------------
int iLastEOL = _rtnetStreamBuffer.lastIndexOf('\n');
if (iLastEOL != -1) {
_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iLastEOL+1);
}
// Read first line (with epoch time)
// ---------------------------------
QTextStream in(lines[0].toAscii());
QString hlp;
int year, month, day, hour, min;
double sec;
in >> hlp >> year >> month >> day >> hour >> min >> sec;
bncTime epoTime; epoTime.set( year, month, day, hour, min, sec);
struct ClockOrbit co;
memset(&co, 0, sizeof(co));
co.GPSEpochTime = static_cast<int>(epoTime.gpssec());
co.GLONASSEpochTime = static_cast<int>(fmod(epoTime.gpssec(), 86400.0))
+ 3 * 3600 - gnumleap(year, month, day);
co.ClockDataSupplied = 1;
co.OrbitDataSupplied = 1;
co.SatRefDatum = DATUM_ITRF;
struct Bias bias;
memset(&bias, 0, sizeof(bias));
bias.GPSEpochTime = co.GPSEpochTime;
bias.GLONASSEpochTime = co.GLONASSEpochTime;
for (int ii = 1; ii < lines.size(); ii++) {
QString prn;
ColumnVector xx(14); xx = 0.0;
QTextStream in(lines[ii].toAscii());
in >> prn;
if (prn[0] == 'P') {
prn.remove(0,1);
}
const bncEphUser::t_ephPair* ephPair = _ephUser->ephPair(prn);
if (ephPair) {
t_eph* eph = ephPair->last;
// receptDateTime() not (yet?) defined
// if (ephPair->prev &&
// eph->receptDateTime().secsTo(QDateTime::currentDateTime()) < 60) {
// eph = ephPair->prev;
// }
in >> xx(1) >> xx(2) >> xx(3) >> xx(4) >> xx(5)
>> xx(6) >> xx(7) >> xx(8) >> xx(9) >> xx(10)
>> xx(11) >> xx(12) >> xx(13) >> xx(14);
xx(1) *= 1e3; // x-crd
xx(2) *= 1e3; // y-crd
xx(3) *= 1e3; // z-crd
xx(4) *= 1e-6; // clk
xx(5) *= 1e-6; // rel. corr.
// xx(6), xx(7), xx(8) ... PhaseCent - CoM
// xx(9) ... P1-C1 DCB in meters
// xx(10) ... P1-P2 DCB in meters
// xx(11) ... dT
xx(12) *= 1e3; // x-crd at time + dT
xx(13) *= 1e3; // y-crd at time + dT
xx(14) *= 1e3; // z-crd at time + dT
struct ClockOrbit::SatData* sd = 0;
if (prn[0] == 'G') {
sd = co.Sat + co.NumberOfGPSSat;
++co.NumberOfGPSSat;
}
else if (prn[0] == 'R') {
sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
++co.NumberOfGLONASSSat;
}
if (sd) {
QString outLine;
processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prn,
xx, sd, outLine);
if (_outFile) {
_outFile->write(epoTime.gpsw(), epoTime.gpssec(), outLine);
}
}
struct Bias::BiasSat* biasSat = 0;
if (prn[0] == 'G') {
biasSat = bias.Sat + bias.NumberOfGPSSat;
++bias.NumberOfGPSSat;
}
else if (prn[0] == 'R') {
biasSat = bias.Sat + CLOCKORBIT_NUMGPS + bias.NumberOfGLONASSSat;
++bias.NumberOfGLONASSSat;
}
// Coefficient of Ionosphere-Free LC
// ---------------------------------
const static double a_L1_GPS = 2.54572778;
const static double a_L2_GPS = -1.54572778;
const static double a_L1_Glo = 2.53125000;
const static double a_L2_Glo = -1.53125000;
if (biasSat) {
biasSat->ID = prn.mid(1).toInt();
biasSat->NumberOfCodeBiases = 3;
if (prn[0] == 'G') {
biasSat->Biases[0].Type = CODETYPEGPS_L1_Z;
biasSat->Biases[0].Bias = - a_L2_GPS * xx(10);
biasSat->Biases[1].Type = CODETYPEGPS_L1_CA;
biasSat->Biases[1].Bias = - a_L2_GPS * xx(10) + xx(9);
biasSat->Biases[2].Type = CODETYPEGPS_L2_Z;
biasSat->Biases[2].Bias = a_L1_GPS * xx(10);
}
else if (prn[0] == 'R') {
biasSat->Biases[0].Type = CODETYPEGLONASS_L1_P;
biasSat->Biases[0].Bias = - a_L2_Glo * xx(10);
biasSat->Biases[1].Type = CODETYPEGLONASS_L1_CA;
biasSat->Biases[1].Bias = - a_L2_Glo * xx(10) + xx(9);
biasSat->Biases[2].Type = CODETYPEGLONASS_L2_P;
biasSat->Biases[2].Bias = a_L1_Glo * xx(10);
}
}
}
}
QByteArray hlpBufferCo;
const double ORBIT_RATE = 0.0;
// Orbit and Clock Corrections together
// ------------------------------------
if (ORBIT_RATE == 0.0) {
if (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) {
char obuffer[CLOCKORBIT_BUFFERSIZE];
int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
if (len > 0) {
hlpBufferCo = QByteArray(obuffer, len);
}
}
}
// Orbit and Clock Corrections separately
// --------------------------------------
else {
if (co.NumberOfGPSSat > 0) {
char obuffer[CLOCKORBIT_BUFFERSIZE];
if (fmod(epoTime.gpssec(), ORBIT_RATE) == 0.0) {
int len1 = MakeClockOrbit(&co, COTYPE_GPSORBIT, 0, obuffer, sizeof(obuffer));
if (len1 > 0) {
hlpBufferCo += QByteArray(obuffer, len1);
}
}
int len2 = MakeClockOrbit(&co, COTYPE_GPSCLOCK, 0, obuffer, sizeof(obuffer));
if (len2 > 0) {
hlpBufferCo += QByteArray(obuffer, len2);
}
}
if (co.NumberOfGLONASSSat > 0) {
char obuffer[CLOCKORBIT_BUFFERSIZE];
if (fmod(epoTime.gpssec(), ORBIT_RATE) == 0.0) {
int len1 = MakeClockOrbit(&co, COTYPE_GLONASSORBIT, 0, obuffer, sizeof(obuffer));
if (len1 > 0) {
hlpBufferCo += QByteArray(obuffer, len1);
}
}
int len2 = MakeClockOrbit(&co, COTYPE_GLONASSCLOCK, 0, obuffer, sizeof(obuffer));
if (len2 > 0) {
hlpBufferCo += QByteArray(obuffer, len2);
}
}
}
// Biases
// ------
QByteArray hlpBufferBias;
if (bias.NumberOfGPSSat > 0 || bias.NumberOfGLONASSSat > 0) {
char obuffer[CLOCKORBIT_BUFFERSIZE];
int len = MakeBias(&bias, BTYPE_AUTO, 0, obuffer, sizeof(obuffer));
if (len > 0) {
hlpBufferBias = QByteArray(obuffer, len);
}
}
if (hlpBufferCo.size() > 0) {
_outBuffer = hlpBufferCo + hlpBufferBias;
}
}
//
////////////////////////////////////////////////////////////////////////////
void bncRtnetUploadCaster::processSatellite(t_eph* eph, int GPSweek,
double GPSweeks, const QString& prn,
const ColumnVector& xx,
struct ClockOrbit::SatData* sd,
QString& outLine) {
const double secPerWeek = 7.0 * 86400.0;
ColumnVector rsw(3);
ColumnVector rsw2(3);
double dClk;
for (int ii = 1; ii <= 2; ++ii) {
int GPSweek12 = GPSweek;
double GPSweeks12 = GPSweeks;
if (ii == 2) {
GPSweeks12 += xx(11);
if (GPSweeks12 > secPerWeek) {
GPSweek12 += 1;
GPSweeks12 -= secPerWeek;
}
}
ColumnVector xB(4);
ColumnVector vv(3);
eph->position(GPSweek12, GPSweeks12, xB.data(), vv.data());
ColumnVector xyz;
if (ii == 1) {
xyz = xx.Rows(1,3);
}
else {
xyz = xx.Rows(12,14);
}
// Correction Center of Mass -> Antenna Phase Center
// -------------------------------------------------
if (! _CoM) {
xyz(1) += xx(6);
xyz(2) += xx(7);
xyz(3) += xx(8);
}
if (_crdTrafo != "IGS05") {
crdTrafo(GPSweek12, xyz);
}
ColumnVector dx = xB.Rows(1,3) - xyz ;
if (ii == 1) {
XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw);
dClk = (xx(4) + xx(5) - xB(4)) * 299792458.0;
}
else {
XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw2);
}
}
if (sd) {
sd->ID = prn.mid(1).toInt();
sd->IOD = eph->IOD();
sd->Clock.DeltaA0 = dClk;
sd->Orbit.DeltaRadial = rsw(1);
sd->Orbit.DeltaAlongTrack = rsw(2);
sd->Orbit.DeltaCrossTrack = rsw(3);
sd->Orbit.DotDeltaRadial = (rsw2(1) - rsw(1)) / xx(11);
sd->Orbit.DotDeltaAlongTrack = (rsw2(2) - rsw(2)) / xx(11);
sd->Orbit.DotDeltaCrossTrack = (rsw2(3) - rsw(3)) / xx(11);
}
outLine.sprintf("%d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n",
GPSweek, GPSweeks, eph->prn().toAscii().data(),
eph->IOD(), dClk, rsw(1), rsw(2), rsw(3));
if (_rnx) {
_rnx->write(GPSweek, GPSweeks, prn, xx);
}
if (_sp3) {
_sp3->write(GPSweek, GPSweeks, prn, xx);
}
}
// Transform Coordinates
////////////////////////////////////////////////////////////////////////////
void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz) {
// Current epoch minus 2000.0 in years
// ------------------------------------
double dt = (GPSWeek - (1042.0+6.0/7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
ColumnVector dx(3);
dx(1) = _dx + dt * _dxr;
dx(2) = _dy + dt * _dyr;
dx(3) = _dz + dt * _dzr;
static const double arcSec = 180.0 * 3600.0 / M_PI;
double ox = (_ox + dt * _oxr) / arcSec;
double oy = (_oy + dt * _oyr) / arcSec;
double oz = (_oz + dt * _ozr) / arcSec;
double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
Matrix rMat(3,3);
rMat(1,1) = 1.0;
rMat(1,2) = -oz;
rMat(1,3) = oy;
rMat(2,1) = oz;
rMat(2,2) = 1.0;
rMat(2,3) = -ox;
rMat(3,1) = -oy;
rMat(3,2) = ox;
rMat(3,3) = 1.0;
xyz = sc * rMat * xyz + dx;
}