source: ntrip/trunk/BNC/combination/bnccomb.cpp@ 3426

Last change on this file since 3426 was 3426, checked in by mervart, 13 years ago
File size: 21.0 KB
Line 
1/* -------------------------------------------------------------------------
2 * BKG NTRIP Client
3 * -------------------------------------------------------------------------
4 *
5 * Class: bncComb
6 *
7 * Purpose: Combinations of Orbit/Clock Corrections
8 *
9 * Author: L. Mervart
10 *
11 * Created: 22-Jan-2011
12 *
13 * Changes:
14 *
15 * -----------------------------------------------------------------------*/
16
17#include <newmatio.h>
18#include <iomanip>
19#include <sstream>
20
21#include "bnccomb.h"
22#include "bncapp.h"
23#include "upload/bncrtnetdecoder.h"
24#include "bncsettings.h"
25#include "bncmodel.h"
26#include "bncutils.h"
27#include "bncpppclient.h"
28#include "bncsp3.h"
29#include "bncantex.h"
30#include "bnctides.h"
31
32using namespace std;
33
34const int MAXPRN_GPS = 32;
35
36// Constructor
37////////////////////////////////////////////////////////////////////////////
38cmbParam::cmbParam(cmbParam::parType type_, int index_,
39 const QString& ac_, const QString& prn_,
40 double sig_0_, double sig_P_) {
41
42 type = type_;
43 index = index_;
44 AC = ac_;
45 prn = prn_;
46 sig_0 = sig_0_;
47 sig_P = sig_P_;
48 xx = 0.0;
49}
50
51// Destructor
52////////////////////////////////////////////////////////////////////////////
53cmbParam::~cmbParam() {
54}
55
56// Partial
57////////////////////////////////////////////////////////////////////////////
58double cmbParam::partial(const QString& AC_, t_corr* corr) {
59
60 if (type == AC_offset) {
61 if (AC == AC_) {
62 return 1.0;
63 }
64 }
65 else if (type == Sat_offset) {
66 if (AC == AC_ && prn == corr->prn) {
67 return 1.0;
68 }
69 }
70 else if (type == clk) {
71 if (prn == corr->prn) {
72 return 1.0;
73 }
74 }
75
76 return 0.0;
77}
78
79//
80////////////////////////////////////////////////////////////////////////////
81QString cmbParam::toString() const {
82
83 QString outStr;
84
85 if (type == AC_offset) {
86 outStr = "AC offset " + AC;
87 }
88 else if (type == Sat_offset) {
89 outStr = "Sat Offset " + AC + " " + prn;
90 }
91 else if (type == clk) {
92 outStr = "Clk Corr " + prn;
93 }
94
95 return outStr;
96}
97
98// Constructor
99////////////////////////////////////////////////////////////////////////////
100bncComb::bncComb() {
101
102 bncSettings settings;
103
104 QStringList combineStreams = settings.value("combineStreams").toStringList();
105
106 if (combineStreams.size() >= 1 && !combineStreams[0].isEmpty()) {
107 QListIterator<QString> it(combineStreams);
108 while (it.hasNext()) {
109 QStringList hlp = it.next().split(" ");
110 cmbAC* newAC = new cmbAC();
111 newAC->mountPoint = hlp[0];
112 newAC->name = hlp[1];
113 newAC->weight = hlp[2].toDouble();
114 if (_masterAC.isEmpty()) {
115 _masterAC = newAC->name;
116 }
117 _ACs[newAC->mountPoint] = newAC;
118 }
119 }
120
121 _rtnetDecoder = 0;
122
123 connect(this, SIGNAL(newMessage(QByteArray,bool)),
124 ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
125
126
127 // A Priori Sigmas (in Meters)
128 // ---------------------------
129 double sigAC_0 = 1000.0;
130 double sigAC_P = 1000.0;
131 double sigSat_0 = 100.0;
132 double sigSat_P = 0.0;
133 double sigClk_0 = 100.0;
134 double sigClk_P = 100.0;
135
136 // Initialize Parameters (model: Clk_Corr = AC_Offset + Sat_Offset + Clk)
137 // ----------------------------------------------------------------------
138 int nextPar = 0;
139 QMapIterator<QString, cmbAC*> it(_ACs);
140 while (it.hasNext()) {
141 it.next();
142 cmbAC* AC = it.value();
143 _params.push_back(new cmbParam(cmbParam::AC_offset, ++nextPar,
144 AC->name, "", sigAC_0, sigAC_P));
145 for (int iGps = 1; iGps <= MAXPRN_GPS; iGps++) {
146 QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
147 _params.push_back(new cmbParam(cmbParam::Sat_offset, ++nextPar,
148 AC->name, prn, sigSat_0, sigSat_P));
149 }
150 }
151 for (int iGps = 1; iGps <= MAXPRN_GPS; iGps++) {
152 QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
153 _params.push_back(new cmbParam(cmbParam::clk, ++nextPar, "", prn,
154 sigClk_0, sigClk_P));
155 }
156
157 // Initialize Variance-Covariance Matrix
158 // -------------------------------------
159 _QQ.ReSize(_params.size());
160 _QQ = 0.0;
161 for (int iPar = 1; iPar <= _params.size(); iPar++) {
162 cmbParam* pp = _params[iPar-1];
163 _QQ(iPar,iPar) = pp->sig_0 * pp->sig_0;
164 }
165
166 // ANTEX File
167 // ----------
168 _antex = 0;
169 QString antexFileName = settings.value("pppAntex").toString();
170 if (!antexFileName.isEmpty()) {
171 _antex = new bncAntex();
172 if (_antex->readFile(antexFileName) != success) {
173 emit newMessage("wrong ANTEX file", true);
174 delete _antex;
175 _antex = 0;
176 }
177 }
178
179 // Not yet regularized
180 // -------------------
181 _firstReg = false;
182
183 // Maximal Residuum
184 // ----------------
185 _MAXRES = settings.value("cmbMaxres").toDouble();
186 if (_MAXRES <= 0.0) {
187 _MAXRES = 999.0;
188 }
189}
190
191// Destructor
192////////////////////////////////////////////////////////////////////////////
193bncComb::~bncComb() {
194 QMapIterator<QString, cmbAC*> it(_ACs);
195 while (it.hasNext()) {
196 it.next();
197 delete it.value();
198 }
199 delete _rtnetDecoder;
200 delete _antex;
201 for (int iPar = 1; iPar <= _params.size(); iPar++) {
202 delete _params[iPar-1];
203 }
204}
205
206// Read and store one correction line
207////////////////////////////////////////////////////////////////////////////
208void bncComb::processCorrLine(const QString& staID, const QString& line) {
209 QMutexLocker locker(&_mutex);
210
211 // Find the relevant instance of cmbAC class
212 // -----------------------------------------
213 if (_ACs.find(staID) == _ACs.end()) {
214 return;
215 }
216 cmbAC* AC = _ACs[staID];
217
218 // Read the Correction
219 // -------------------
220 t_corr* newCorr = new t_corr();
221 if (!newCorr->readLine(line) == success) {
222 delete newCorr;
223 return;
224 }
225
226 // Check Modulo Time
227 // -----------------
228 const int moduloTime = 10;
229 if (int(newCorr->tt.gpssec()) % moduloTime != 0.0) {
230 delete newCorr;
231 return;
232 }
233
234 // Remember last correction time
235 // -----------------------------
236 if (!_lastCorrTime.valid() || _lastCorrTime < newCorr->tt) {
237 _lastCorrTime = newCorr->tt;
238 }
239
240 bncTime processTime = _lastCorrTime - 1.5 * moduloTime;
241
242 // Delete old corrections
243 // ----------------------
244 if (newCorr->tt < processTime) {
245 delete newCorr;
246 return;
247 }
248
249 // Check the Ephemeris
250 //--------------------
251 if (_eph.find(newCorr->prn) == _eph.end()) {
252 delete newCorr;
253 return;
254 }
255 else {
256 t_eph* lastEph = _eph[newCorr->prn]->last;
257 t_eph* prevEph = _eph[newCorr->prn]->prev;
258 if (lastEph && lastEph->IOD() == newCorr->iod) {
259 newCorr->eph = lastEph;
260 }
261 else if (prevEph && prevEph->IOD() == newCorr->iod) {
262 newCorr->eph = prevEph;
263 }
264 else {
265 delete newCorr;
266 return;
267 }
268 }
269
270 // Process all older Epochs (if there are any)
271 // -------------------------------------------
272 QList<cmbEpoch*> epochsToProcess;
273 QMapIterator<QString, cmbAC*> itAC(_ACs);
274 while (itAC.hasNext()) {
275 itAC.next();
276 cmbAC* AC = itAC.value();
277 QMutableListIterator<cmbEpoch*> itEpo(AC->epochs);
278 while (itEpo.hasNext()) {
279 cmbEpoch* epoch = itEpo.next();
280 if (epoch->time <= processTime) {
281 epochsToProcess.append(epoch);
282 itEpo.remove();
283 }
284 }
285 }
286
287 if (epochsToProcess.size()) {
288 processEpochs(epochsToProcess);
289 }
290
291 // Find/Create the instance of cmbEpoch class
292 // ------------------------------------------
293 cmbEpoch* newEpoch = 0;
294 QListIterator<cmbEpoch*> it(AC->epochs);
295 while (it.hasNext()) {
296 cmbEpoch* hlpEpoch = it.next();
297 if (hlpEpoch->time == newCorr->tt) {
298 newEpoch = hlpEpoch;
299 break;
300 }
301 }
302 if (newEpoch == 0) {
303 newEpoch = new cmbEpoch(AC->name);
304 newEpoch->time = newCorr->tt;
305 AC->epochs.append(newEpoch);
306 }
307
308 // Merge or add the correction
309 // ---------------------------
310 if (newEpoch->corr.find(newCorr->prn) != newEpoch->corr.end()) {
311 newEpoch->corr[newCorr->prn]->readLine(line); // merge (multiple messages)
312 delete newCorr;
313 }
314 else {
315 newEpoch->corr[newCorr->prn] = newCorr;
316 }
317}
318
319// Change the correction so that it refers to last received ephemeris
320////////////////////////////////////////////////////////////////////////////
321void bncComb::switchToLastEph(const t_eph* lastEph, t_corr* corr) {
322
323 ColumnVector oldXC(4);
324 ColumnVector oldVV(3);
325 corr->eph->position(corr->tt.gpsw(), corr->tt.gpssec(),
326 oldXC.data(), oldVV.data());
327
328 ColumnVector newXC(4);
329 ColumnVector newVV(3);
330 lastEph->position(corr->tt.gpsw(), corr->tt.gpssec(),
331 newXC.data(), newVV.data());
332
333 ColumnVector dX = newXC.Rows(1,3) - oldXC.Rows(1,3);
334 ColumnVector dV = newVV - oldVV;
335 double dC = newXC(4) - oldXC(4);
336
337 ColumnVector dRAO(3);
338 XYZ_to_RSW(newXC.Rows(1,3), newVV, dX, dRAO);
339
340 ColumnVector dDotRAO(3);
341 XYZ_to_RSW(newXC.Rows(1,3), newVV, dV, dDotRAO);
342
343 QString msg = "switch " + corr->prn
344 + QString(" %1 -> %2 %3").arg(corr->iod,3)
345 .arg(lastEph->IOD(),3).arg(dC*t_CST::c, 8, 'f', 4);
346
347 emit newMessage(msg.toAscii(), false);
348
349 corr->iod = lastEph->IOD();
350 corr->eph = lastEph;
351 corr->rao += dRAO;
352 corr->dotRao += dDotRAO;
353 corr->dClk -= dC;
354}
355
356// Process Epochs
357////////////////////////////////////////////////////////////////////////////
358void bncComb::processEpochs(const QList<cmbEpoch*>& epochs) {
359
360 _log.clear();
361
362 QTextStream out(&_log, QIODevice::WriteOnly);
363
364 out << endl << "Combination:" << endl
365 << "------------------------------" << endl;
366
367 // Check whether master AC present
368 // -------------------------------
369 if (epochs.first()->acName != _masterAC) {
370 if (true) { // version with master switch
371 cmbEpoch* epo = epochs.first();
372 bncTime epoTime = epo->time;
373 out << "Switching Master AC "
374 << epo->acName.toAscii().data() << " --> "
375 << _masterAC.toAscii().data() << " "
376 << epoTime.datestr().c_str() << " "
377 << epoTime.timestr().c_str() << endl;
378 _masterAC = epo->acName;
379 }
380 else { // original version
381 QListIterator<cmbEpoch*> itEpo(epochs);
382 while (itEpo.hasNext()) {
383 cmbEpoch* epo = itEpo.next();
384 bncTime epoTime = epo->time;
385 out << epo->acName.toAscii().data() << " "
386 << epoTime.datestr().c_str() << " "
387 << epoTime.timestr().c_str() << endl;
388 delete epo;
389 }
390 out << "Missing Master AC" << endl;
391 emit newMessage(_log, false);
392 return;
393 }
394 }
395
396 // Predict Parameters Values, Add White Noise
397 // ------------------------------------------
398 for (int iPar = 1; iPar <= _params.size(); iPar++) {
399 cmbParam* pp = _params[iPar-1];
400 if (pp->sig_P != 0.0) {
401 pp->xx = 0.0;
402 for (int jj = 1; jj <= _params.size(); jj++) {
403 _QQ(iPar, jj) = 0.0;
404 }
405 _QQ(iPar,iPar) = pp->sig_P * pp->sig_P;
406 }
407 }
408
409 bncTime resTime = epochs.first()->time;
410 QMap<QString, t_corr*> resCorr;
411
412 int nPar = _params.size();
413 int nObs = 0;
414
415 ColumnVector x0(nPar);
416 for (int iPar = 1; iPar <= _params.size(); iPar++) {
417 cmbParam* pp = _params[iPar-1];
418 x0(iPar) = pp->xx;
419 }
420
421 // Count Observations
422 // ------------------
423 QListIterator<cmbEpoch*> itEpo(epochs);
424 while (itEpo.hasNext()) {
425 cmbEpoch* epo = itEpo.next();
426 bncTime epoTime = epo->time;
427 out << epo->acName.toAscii().data() << " "
428 << epoTime.datestr().c_str() << " "
429 << epoTime.timestr().c_str() << endl;
430
431 QMutableMapIterator<QString, t_corr*> itCorr(epo->corr);
432 while (itCorr.hasNext()) {
433 itCorr.next();
434 t_corr* corr = itCorr.value();
435
436 // Switch to last ephemeris
437 // ------------------------
438 t_eph* lastEph = _eph[corr->prn]->last;
439 if (lastEph == corr->eph) {
440 ++nObs;
441 }
442 else {
443 if (corr->eph == _eph[corr->prn]->prev) {
444 switchToLastEph(lastEph, corr);
445 ++nObs;
446 }
447 else {
448 itCorr.remove();
449 }
450 }
451 }
452 }
453
454 if (nObs > 0) {
455 const double Pl = 1.0 / (0.05 * 0.05);
456
457 const int nCon = (_firstReg == false) ? 1 + MAXPRN_GPS : 1;
458 Matrix AA(nObs+nCon, nPar); AA = 0.0;
459 ColumnVector ll(nObs+nCon); ll = 0.0;
460 DiagonalMatrix PP(nObs+nCon); PP = Pl;
461
462 int iObs = 0;
463 QListIterator<cmbEpoch*> itEpo(epochs);
464 QVector<t_llInfo> llInfo(ll.Nrows());
465 while (itEpo.hasNext()) {
466 cmbEpoch* epo = itEpo.next();
467 QMapIterator<QString, t_corr*> itCorr(epo->corr);
468
469 while (itCorr.hasNext()) {
470 itCorr.next();
471 ++iObs;
472 t_corr* corr = itCorr.value();
473
474 if (epo->acName == _masterAC) {
475 resCorr[corr->prn] = new t_corr(*corr);
476 }
477
478 for (int iPar = 1; iPar <= _params.size(); iPar++) {
479 cmbParam* pp = _params[iPar-1];
480 AA(iObs, iPar) = pp->partial(epo->acName, corr);
481 }
482
483 ll(iObs) = corr->dClk * t_CST::c - DotProduct(AA.Row(iObs), x0);
484 llInfo[iObs-1].AC = epo->acName;
485 llInfo[iObs-1].prn = corr->prn;
486 }
487 }
488
489 // Regularization
490 // --------------
491 const double Ph = 1.e6;
492 int iCond = 1;
493 PP(nObs+iCond) = Ph;
494 llInfo[nObs+iCond-1].AC = "regularization";
495 for (int iPar = 1; iPar <= _params.size(); iPar++) {
496 cmbParam* pp = _params[iPar-1];
497 if (pp->type == cmbParam::clk &&
498 AA.Column(iPar).maximum_absolute_value() > 0.0) {
499 AA(nObs+iCond, iPar) = 1.0;
500 }
501 }
502
503 if (!_firstReg) {
504 _firstReg = true;
505 for (int iGps = 1; iGps <= MAXPRN_GPS; iGps++) {
506 ++iCond;
507 QString prn = QString("G%1").arg(iGps, 2, 10, QChar('0'));
508 PP(nObs+1+iGps) = Ph;
509 llInfo[nObs+iGps].AC = "regularization";
510 llInfo[nObs+iGps].prn = prn;
511 for (int iPar = 1; iPar <= _params.size(); iPar++) {
512 cmbParam* pp = _params[iPar-1];
513 if (pp->type == cmbParam::Sat_offset && pp->prn == prn) {
514 AA(nObs+iCond, iPar) = 1.0;
515 }
516 }
517 }
518 }
519
520 ColumnVector dx;
521 SymmetricMatrix QQ_sav = _QQ;
522
523 for (int ii = 1; ii < 10; ii++) {
524 bncModel::kalman(AA, ll, PP, _QQ, dx);
525 ColumnVector vv = ll - AA * dx;
526
527 int maxResIndex;
528 double maxRes = vv.maximum_absolute_value1(maxResIndex);
529 out.setRealNumberNotation(QTextStream::FixedNotation);
530 out.setRealNumberPrecision(3);
531 out << resTime.datestr().c_str() << " " << resTime.timestr().c_str()
532 << " Maximum Residuum " << maxRes << ' '
533 << llInfo[maxResIndex-1].AC << ' ' << llInfo[maxResIndex-1].prn;
534
535 if (maxRes > _MAXRES) {
536 for (int iPar = 1; iPar <= _params.size(); iPar++) {
537 cmbParam* pp = _params[iPar-1];
538 if (pp->type == cmbParam::Sat_offset &&
539 pp->AC == llInfo[maxResIndex-1].AC &&
540 pp->prn == llInfo[maxResIndex-1].prn) {
541 QQ_sav.Row(iPar) = 0.0;
542 QQ_sav.Column(iPar) = 0.0;
543 QQ_sav(iPar,iPar) = pp->sig_0 * pp->sig_0;
544 }
545 }
546
547 out << " Outlier" << endl;
548 _QQ = QQ_sav;
549 AA.Row(maxResIndex) = 0.0;
550 ll.Row(maxResIndex) = 0.0;
551 }
552 else {
553 out << " OK" << endl;
554 break;
555 }
556 }
557
558 for (int iPar = 1; iPar <= _params.size(); iPar++) {
559 cmbParam* pp = _params[iPar-1];
560 pp->xx += dx(iPar);
561 if (pp->type == cmbParam::clk) {
562 if (resCorr.find(pp->prn) != resCorr.end()) {
563 resCorr[pp->prn]->dClk = pp->xx / t_CST::c;
564 }
565 }
566 out << resTime.datestr().c_str() << " "
567 << resTime.timestr().c_str() << " ";
568 out.setRealNumberNotation(QTextStream::FixedNotation);
569 out.setFieldWidth(8);
570 out.setRealNumberPrecision(4);
571 out << pp->toString() << " "
572 << pp->xx << " +- " << sqrt(_QQ(pp->index,pp->index)) << endl;
573 out.setFieldWidth(0);
574 }
575 }
576
577 printResults(out, resTime, resCorr);
578 dumpResults(resTime, resCorr);
579
580 emit newMessage(_log, false);
581
582 QListIterator<cmbEpoch*> itEpo2(epochs);
583 while (itEpo2.hasNext()) {
584 cmbEpoch* epo = itEpo2.next();
585 delete epo;
586 }
587}
588
589// Print results
590////////////////////////////////////////////////////////////////////////////
591void bncComb::printResults(QTextStream& out, const bncTime& resTime,
592 const QMap<QString, t_corr*>& resCorr) {
593
594 QMapIterator<QString, t_corr*> it(resCorr);
595 while (it.hasNext()) {
596 it.next();
597 t_corr* corr = it.value();
598 const t_eph* eph = corr->eph;
599 if (eph) {
600 double xx, yy, zz, cc;
601 eph->position(resTime.gpsw(), resTime.gpssec(), xx, yy, zz, cc);
602
603 out << resTime.datestr().c_str() << " "
604 << resTime.timestr().c_str() << " ";
605 out.setFieldWidth(3);
606 out << "Full Clock " << corr->prn << " " << corr->iod << " ";
607 out.setFieldWidth(14);
608 out << (cc + corr->dClk) * t_CST::c << endl;
609 out.setFieldWidth(0);
610 }
611 else {
612 out << "bncComb::printResuls bug" << endl;
613 }
614 }
615}
616
617// Send results to RTNet Decoder and directly to PPP Client
618////////////////////////////////////////////////////////////////////////////
619void bncComb::dumpResults(const bncTime& resTime,
620 const QMap<QString, t_corr*>& resCorr) {
621
622 ostringstream out; out.setf(std::ios::fixed);
623 QStringList corrLines;
624
625 unsigned year, month, day, hour, minute;
626 double sec;
627 resTime.civil_date(year, month, day);
628 resTime.civil_time(hour, minute, sec);
629
630 out << "* "
631 << setw(4) << year << " "
632 << setw(2) << month << " "
633 << setw(2) << day << " "
634 << setw(2) << hour << " "
635 << setw(2) << minute << " "
636 << setw(12) << setprecision(8) << sec << " "
637 << endl;
638
639 QMapIterator<QString, t_corr*> it(resCorr);
640 while (it.hasNext()) {
641 it.next();
642 t_corr* corr = it.value();
643
644 double dT = 60.0;
645
646 for (int iTime = 1; iTime <= 2; iTime++) {
647
648 bncTime time12 = (iTime == 1) ? resTime : resTime + dT;
649
650 ColumnVector xc(4);
651 ColumnVector vv(3);
652 corr->eph->position(time12.gpsw(), time12.gpssec(),
653 xc.data(), vv.data());
654 bncPPPclient::applyCorr(time12, corr, xc, vv);
655
656 // Relativistic Correction
657 // -----------------------
658 double relCorr = - 2.0 * DotProduct(xc.Rows(1,3),vv) / t_CST::c / t_CST::c;
659 xc(4) -= relCorr;
660
661 // Code Biases
662 // -----------
663 double dcbP1C1 = 0.0;
664 double dcbP1P2 = 0.0;
665
666 // Correction Phase Center --> CoM
667 // -------------------------------
668 ColumnVector dx(3); dx = 0.0;
669 if (_antex) {
670 double Mjd = time12.mjd() + time12.daysec()/86400.0;
671 if (_antex->satCoMcorrection(corr->prn, Mjd, xc.Rows(1,3), dx) == success) {
672 xc(1) -= dx(1);
673 xc(2) -= dx(2);
674 xc(3) -= dx(3);
675 }
676 else {
677 cout << "antenna not found" << endl;
678 }
679 }
680
681 if (iTime == 1) {
682 out << 'P' << corr->prn.toAscii().data()
683 << setw(14) << setprecision(6) << xc(1) / 1000.0
684 << setw(14) << setprecision(6) << xc(2) / 1000.0
685 << setw(14) << setprecision(6) << xc(3) / 1000.0
686 << setw(14) << setprecision(6) << xc(4) * 1e6
687 << setw(14) << setprecision(6) << relCorr * 1e6
688 << setw(8) << setprecision(3) << dx(1)
689 << setw(8) << setprecision(3) << dx(2)
690 << setw(8) << setprecision(3) << dx(3)
691 << setw(8) << setprecision(3) << dcbP1C1
692 << setw(8) << setprecision(3) << dcbP1P2
693 << setw(6) << setprecision(1) << dT;
694
695 QString line;
696 int messageType = COTYPE_GPSCOMBINED;
697 int updateInt = 0;
698 line.sprintf("%d %d %d %.1f %s"
699 " %3d"
700 " %8.3f %8.3f %8.3f %8.3f"
701 " %10.5f %10.5f %10.5f %10.5f"
702 " %10.5f %10.5f %10.5f %10.5f INTERNAL",
703 messageType, updateInt, time12.gpsw(), time12.gpssec(),
704 corr->prn.toAscii().data(),
705 corr->iod,
706 corr->dClk * t_CST::c,
707 corr->rao[0],
708 corr->rao[1],
709 corr->rao[2],
710 corr->dotDClk * t_CST::c,
711 corr->dotRao[0],
712 corr->dotRao[1],
713 corr->dotRao[2],
714 corr->dotDotDClk * t_CST::c,
715 corr->dotDotRao[0],
716 corr->dotDotRao[1],
717 corr->dotDotRao[2]);
718 corrLines << line;
719 }
720 else {
721 out << setw(14) << setprecision(6) << xc(1) / 1000.0
722 << setw(14) << setprecision(6) << xc(2) / 1000.0
723 << setw(14) << setprecision(6) << xc(3) / 1000.0 << endl;
724 }
725 }
726
727 delete corr;
728 }
729 out << "EOE" << endl; // End Of Epoch flag
730
731 if (!_rtnetDecoder) {
732 _rtnetDecoder = new bncRtnetDecoder();
733 }
734
735 vector<string> errmsg;
736 _rtnetDecoder->Decode((char*) out.str().data(), out.str().size(), errmsg);
737
738 // Optionally send new Corrections to PPP
739 // --------------------------------------
740 bncApp* app = (bncApp*) qApp;
741 if (app->_bncPPPclient) {
742 app->_bncPPPclient->slotNewCorrections(corrLines);
743 }
744}
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