[3222] | 1 | /* -------------------------------------------------------------------------
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| 2 | * BKG NTRIP Server
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| 3 | * -------------------------------------------------------------------------
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| 4 | *
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[3224] | 5 | * Class: bncRtnetUploadCaster
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[3222] | 6 | *
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| 7 | * Purpose: Connection to NTRIP Caster
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| 8 | *
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| 9 | * Author: L. Mervart
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| 10 | *
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| 11 | * Created: 29-Mar-2011
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| 12 | *
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[5662] | 13 | * Changes:
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[3222] | 14 | *
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| 15 | * -----------------------------------------------------------------------*/
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| 16 |
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| 17 | #include <math.h>
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[5662] | 18 | #include "bncrtnetuploadcaster.h"
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[3222] | 19 | #include "bncsettings.h"
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[3224] | 20 | #include "bncephuser.h"
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[3222] | 21 | #include "bncclockrinex.h"
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| 22 | #include "bncsp3.h"
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[6812] | 23 | #include "gnss.h"
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[3222] | 24 |
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| 25 | using namespace std;
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| 26 |
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| 27 | // Constructor
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| 28 | ////////////////////////////////////////////////////////////////////////////
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[3224] | 29 | bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
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[3222] | 30 | const QString& outHost, int outPort,
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[5662] | 31 | const QString& password,
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| 32 | const QString& crdTrafo, bool CoM,
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[3222] | 33 | const QString& sp3FileName,
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| 34 | const QString& rnxFileName,
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[4111] | 35 | int PID, int SID, int IOD, int iRow) :
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[3273] | 36 | bncUploadCaster(mountpoint, outHost, outPort, password, iRow, 0) {
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[3224] | 37 |
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[5130] | 38 | if (!outHost.isEmpty()) {
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| 39 | _casterID += outHost;
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| 40 | }
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| 41 | if (!crdTrafo.isEmpty()) {
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| 42 | _casterID += " " + crdTrafo;
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| 43 | }
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| 44 | if (!sp3FileName.isEmpty()) {
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| 45 | _casterID += " " + sp3FileName;
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| 46 | }
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| 47 | if (!rnxFileName.isEmpty()) {
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| 48 | _casterID += " " + rnxFileName;
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| 49 | }
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| 50 |
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[3222] | 51 | _crdTrafo = crdTrafo;
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| 52 | _CoM = CoM;
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[4111] | 53 | _PID = PID;
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| 54 | _SID = SID;
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| 55 | _IOD = IOD;
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[3222] | 56 |
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[3224] | 57 | // Member that receives the ephemeris
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| 58 | // ----------------------------------
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[6441] | 59 | _ephUser = new bncEphUser(true);
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[3222] | 60 |
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[3272] | 61 | bncSettings settings;
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| 62 | QString intr = settings.value("uploadIntr").toString();
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[6559] | 63 | QStringList hlp = settings.value("combineStreams").toStringList();
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| 64 | _samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toDouble();
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| 65 | if (hlp.size() > 1) { // combination stream upload
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[6557] | 66 | _samplRtcmClkCorr = settings.value("cmbSampl").toInt();
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| 67 | } else { // single stream upload or sp3 file generation
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| 68 | _samplRtcmClkCorr = 5; // default
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| 69 | }
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| 70 | int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
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| 71 | int samplSp3 = settings.value("uploadSamplSp3").toInt() * 60;
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[4174] | 72 |
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| 73 | if (_samplRtcmEphCorr == 0.0) {
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[3753] | 74 | _usedEph = 0;
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| 75 | }
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| 76 | else {
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[6442] | 77 | _usedEph = new QMap<QString, const t_eph*>;
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[3753] | 78 | }
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[3272] | 79 |
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[3222] | 80 | // RINEX writer
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| 81 | // ------------
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| 82 | if (!rnxFileName.isEmpty()) {
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[4174] | 83 | _rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
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[3222] | 84 | }
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| 85 | else {
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| 86 | _rnx = 0;
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| 87 | }
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| 88 |
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| 89 | // SP3 writer
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| 90 | // ----------
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| 91 | if (!sp3FileName.isEmpty()) {
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[4174] | 92 | _sp3 = new bncSP3(sp3FileName, intr, samplSp3);
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[3222] | 93 | }
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| 94 | else {
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| 95 | _sp3 = 0;
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| 96 | }
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| 97 |
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| 98 | // Set Transformation Parameters
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| 99 | // -----------------------------
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| 100 | if (_crdTrafo == "ETRF2000") {
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[3890] | 101 | _dx = 0.0521;
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| 102 | _dy = 0.0493;
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| 103 | _dz = -0.0585;
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| 104 | _dxr = 0.0001;
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[3222] | 105 | _dyr = 0.0001;
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| 106 | _dzr = -0.0018;
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| 107 | _ox = 0.000891;
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| 108 | _oy = 0.005390;
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| 109 | _oz = -0.008712;
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| 110 | _oxr = 0.000081;
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| 111 | _oyr = 0.000490;
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| 112 | _ozr = -0.000792;
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[3890] | 113 | _sc = 1.34;
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[3222] | 114 | _scr = 0.08;
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| 115 | _t0 = 2000.0;
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| 116 | }
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| 117 | else if (_crdTrafo == "NAD83") {
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[5345] | 118 | _dx = 0.99343;
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| 119 | _dy = -1.90331;
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| 120 | _dz = -0.52655;
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| 121 | _dxr = 0.00079;
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| 122 | _dyr = -0.00060;
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| 123 | _dzr = -0.00134;
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| 124 | _ox = -0.02591467;
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| 125 | _oy = -0.00942645;
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| 126 | _oz = -0.01159935;
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| 127 | _oxr = -0.00006667;
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| 128 | _oyr = 0.00075744;
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| 129 | _ozr = 0.00005133;
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| 130 | _sc = 1.71504;
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[5348] | 131 | _scr = -0.10201;
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[5345] | 132 | _t0 = 1997.0;
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[3222] | 133 | }
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| 134 | else if (_crdTrafo == "GDA94") {
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[4963] | 135 | _dx = -0.08468;
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| 136 | _dy = -0.01942;
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| 137 | _dz = 0.03201;
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| 138 | _dxr = 0.00142;
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| 139 | _dyr = 0.00134;
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| 140 | _dzr = 0.00090;
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| 141 | _ox = 0.0004254;
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| 142 | _oy = -0.0022578;
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| 143 | _oz = -0.0024015;
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| 144 | _oxr = -0.0015461;
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| 145 | _oyr = -0.0011820;
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| 146 | _ozr = -0.0011551;
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| 147 | _sc = 9.710;
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| 148 | _scr = 0.109;
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[3222] | 149 | _t0 = 1994.0;
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| 150 | }
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| 151 | else if (_crdTrafo == "SIRGAS2000") {
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[4956] | 152 | _dx = 0.0020;
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| 153 | _dy = 0.0041;
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| 154 | _dz = 0.0039;
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[3222] | 155 | _dxr = 0.0000;
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| 156 | _dyr = 0.0000;
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| 157 | _dzr = 0.0000;
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[4956] | 158 | _ox = 0.000170;
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| 159 | _oy = -0.000030;
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| 160 | _oz = 0.000070;
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[3222] | 161 | _oxr = 0.000000;
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| 162 | _oyr = 0.000000;
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| 163 | _ozr = 0.000000;
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[5662] | 164 | _sc = -1.000;
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[3222] | 165 | _scr = 0.000;
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| 166 | _t0 = 0000.0;
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| 167 | }
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| 168 | else if (_crdTrafo == "SIRGAS95") {
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| 169 | _dx = 0.0077;
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| 170 | _dy = 0.0058;
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| 171 | _dz = -0.0138;
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| 172 | _dxr = 0.0000;
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| 173 | _dyr = 0.0000;
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| 174 | _dzr = 0.0000;
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| 175 | _ox = 0.000000;
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| 176 | _oy = 0.000000;
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| 177 | _oz = -0.000030;
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| 178 | _oxr = 0.000000;
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| 179 | _oyr = 0.000000;
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| 180 | _ozr = 0.000000;
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| 181 | _sc = 1.570;
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| 182 | _scr = 0.000;
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| 183 | _t0 = 0000.0;
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| 184 | }
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[5347] | 185 | else if (_crdTrafo == "DREF91") {
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[5340] | 186 | _dx = -0.0118;
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| 187 | _dy = 0.1432;
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| 188 | _dz = -0.1117;
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| 189 | _dxr = 0.0001;
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| 190 | _dyr = 0.0001;
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| 191 | _dzr = -0.0018;
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| 192 | _ox = 0.003291;
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| 193 | _oy = 0.006190;
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| 194 | _oz = -0.011012;
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| 195 | _oxr = 0.000081;
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| 196 | _oyr = 0.000490;
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| 197 | _ozr = -0.000792;
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| 198 | _sc = 12.24;
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| 199 | _scr = 0.08;
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| 200 | _t0 = 2000.0;
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| 201 | }
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[3222] | 202 | else if (_crdTrafo == "Custom") {
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| 203 | _dx = settings.value("trafo_dx").toDouble();
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| 204 | _dy = settings.value("trafo_dy").toDouble();
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| 205 | _dz = settings.value("trafo_dz").toDouble();
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| 206 | _dxr = settings.value("trafo_dxr").toDouble();
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| 207 | _dyr = settings.value("trafo_dyr").toDouble();
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| 208 | _dzr = settings.value("trafo_dzr").toDouble();
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| 209 | _ox = settings.value("trafo_ox").toDouble();
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| 210 | _oy = settings.value("trafo_oy").toDouble();
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| 211 | _oz = settings.value("trafo_oz").toDouble();
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| 212 | _oxr = settings.value("trafo_oxr").toDouble();
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| 213 | _oyr = settings.value("trafo_oyr").toDouble();
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| 214 | _ozr = settings.value("trafo_ozr").toDouble();
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| 215 | _sc = settings.value("trafo_sc").toDouble();
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| 216 | _scr = settings.value("trafo_scr").toDouble();
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| 217 | _t0 = settings.value("trafo_t0").toDouble();
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| 218 | }
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| 219 | }
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| 220 |
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| 221 | // Destructor
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| 222 | ////////////////////////////////////////////////////////////////////////////
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[3224] | 223 | bncRtnetUploadCaster::~bncRtnetUploadCaster() {
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[3222] | 224 | if (isRunning()) {
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| 225 | wait();
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| 226 | }
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| 227 | delete _rnx;
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| 228 | delete _sp3;
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| 229 | delete _ephUser;
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[3753] | 230 | delete _usedEph;
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[3222] | 231 | }
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| 232 |
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[5662] | 233 | //
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[3222] | 234 | ////////////////////////////////////////////////////////////////////////////
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[3224] | 235 | void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
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[5662] | 236 |
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[3222] | 237 | QMutexLocker locker(&_mutex);
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| 238 |
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[3230] | 239 | // Append to internal buffer
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| 240 | // -------------------------
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[3222] | 241 | _rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
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[3230] | 242 |
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| 243 | // Select buffer part that contains last epoch
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| 244 | // -------------------------------------------
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| 245 | QStringList lines;
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| 246 | int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
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| 247 | if (iEpoBeg == -1) {
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[3226] | 248 | _rtnetStreamBuffer.clear();
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| 249 | return;
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[3222] | 250 | }
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[3230] | 251 | _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
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| 252 |
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| 253 | int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
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| 254 | if (iEpoEnd == -1) {
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| 255 | return;
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| 256 | }
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[3226] | 257 | else {
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[3230] | 258 | lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', QString::SkipEmptyParts);
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| 259 | _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd+3);
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[3226] | 260 | }
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[3222] | 261 |
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[3226] | 262 | if (lines.size() < 2) {
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[3222] | 263 | return;
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| 264 | }
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| 265 |
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[3226] | 266 | // Keep the last unfinished line in buffer
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| 267 | // ---------------------------------------
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| 268 | int iLastEOL = _rtnetStreamBuffer.lastIndexOf('\n');
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| 269 | if (iLastEOL != -1) {
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| 270 | _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iLastEOL+1);
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| 271 | }
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| 272 |
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| 273 | // Read first line (with epoch time)
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| 274 | // ---------------------------------
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| 275 | QTextStream in(lines[0].toAscii());
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| 276 | QString hlp;
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| 277 | int year, month, day, hour, min;
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| 278 | double sec;
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| 279 | in >> hlp >> year >> month >> day >> hour >> min >> sec;
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| 280 | bncTime epoTime; epoTime.set( year, month, day, hour, min, sec);
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| 281 |
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[5662] | 282 | emit(newMessage("bncRtnetUploadCaster: decode " +
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[5131] | 283 | QByteArray(epoTime.datestr().c_str()) + " " +
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[5662] | 284 | QByteArray(epoTime.timestr().c_str()) + " " +
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[5132] | 285 | _casterID.toAscii(), false));
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[4808] | 286 |
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[3222] | 287 | struct ClockOrbit co;
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| 288 | memset(&co, 0, sizeof(co));
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[5672] | 289 | co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
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| 290 | double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
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| 291 | co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
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| 292 |
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[5666] | 293 | co.Supplied[COBOFS_CLOCK] = 1;
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| 294 | co.Supplied[COBOFS_ORBIT] = 1;
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[3222] | 295 | co.SatRefDatum = DATUM_ITRF;
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[4111] | 296 | co.SSRIOD = _IOD;
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| 297 | co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
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| 298 | co.SSRSolutionID = _SID;
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[5662] | 299 |
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[5666] | 300 | struct CodeBias bias;
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[3222] | 301 | memset(&bias, 0, sizeof(bias));
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[5666] | 302 | bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
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| 303 | bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
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[5662] | 304 |
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[4753] | 305 | // Default Update Interval
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| 306 | // -----------------------
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[4754] | 307 | int clkUpdInd = 2; // 5 sec
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| 308 | int ephUpdInd = clkUpdInd; // default
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[6557] | 309 |
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[6559] | 310 | if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
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| 311 | ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
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[4754] | 312 | }
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[6559] | 313 | if (_samplRtcmClkCorr > 5.0) {
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[6557] | 314 | clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
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[4754] | 315 | }
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[6559] | 316 | if (_samplRtcmEphCorr > 5.0) {
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| 317 | ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
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| 318 | }
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[4753] | 319 |
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[4754] | 320 | co.UpdateInterval = clkUpdInd;
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| 321 | bias.UpdateInterval = clkUpdInd;
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[4753] | 322 |
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[3226] | 323 | for (int ii = 1; ii < lines.size(); ii++) {
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[5662] | 324 |
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[3222] | 325 | QString prn;
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[4991] | 326 | ColumnVector rtnAPC;
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| 327 | ColumnVector rtnVel;
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| 328 | ColumnVector rtnCoM;
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| 329 | double rtnClk;
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[5662] | 330 |
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[3222] | 331 | QTextStream in(lines[ii].toAscii());
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| 332 |
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| 333 | in >> prn;
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| 334 |
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[6442] | 335 | const t_eph* ephLast = _ephUser->ephLast(prn);
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| 336 | const t_eph* ephPrev = _ephUser->ephPrev(prn);
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| 337 | const t_eph* eph = ephLast;
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[3222] | 338 |
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[6442] | 339 | if (eph) {
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[3754] | 340 |
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[4098] | 341 | // Use previous ephemeris if the last one is too recent
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| 342 | // ----------------------------------------------------
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| 343 | const int MINAGE = 60; // seconds
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[6442] | 344 | if (ephPrev && eph->receptDateTime().isValid() &&
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[4098] | 345 | eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
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[6442] | 346 | eph = ephPrev;
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[4098] | 347 | }
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[3754] | 348 |
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[3753] | 349 | // Make sure the clock messages refer to same IOD as orbit messages
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| 350 | // ----------------------------------------------------------------
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| 351 | if (_usedEph) {
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[4174] | 352 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
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[3753] | 353 | (*_usedEph)[prn] = eph;
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| 354 | }
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| 355 | else {
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| 356 | eph = 0;
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| 357 | if (_usedEph->contains(prn)) {
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[6442] | 358 | const t_eph* usedEph = _usedEph->value(prn);
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| 359 | if (usedEph == ephLast) {
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| 360 | eph = ephLast;
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[3753] | 361 | }
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[6442] | 362 | else if (usedEph == ephPrev) {
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| 363 | eph = ephPrev;
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[3753] | 364 | }
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| 365 | }
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| 366 | }
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| 367 | }
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| 368 | }
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| 369 |
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| 370 | if (eph) {
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| 371 |
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[5503] | 372 | QMap<QString, double> codeBiases;
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| 373 |
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[4991] | 374 | while (true) {
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| 375 | QString key;
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| 376 | int numVal = 0;
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| 377 | in >> key >> numVal;
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| 378 | if (in.status() != QTextStream::Ok) {
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| 379 | break;
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| 380 | }
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| 381 | if (key == "APC") {
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| 382 | rtnAPC.ReSize(3);
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| 383 | in >> rtnAPC[0] >> rtnAPC[1] >> rtnAPC[2];
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| 384 | }
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| 385 | else if (key == "Clk") {
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| 386 | in >> rtnClk;
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| 387 | }
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| 388 | else if (key == "Vel") {
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| 389 | rtnVel.ReSize(3);
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| 390 | in >> rtnVel[0] >> rtnVel[1] >> rtnVel[2];
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| 391 | }
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| 392 | else if (key == "CoM") {
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| 393 | rtnCoM.ReSize(3);
|
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| 394 | in >> rtnCoM[0] >> rtnCoM[1] >> rtnCoM[2];
|
---|
| 395 | }
|
---|
[5503] | 396 | else if (key == "CodeBias") {
|
---|
| 397 | for (int ii = 0; ii < numVal; ii++) {
|
---|
| 398 | QString type;
|
---|
| 399 | double value;
|
---|
| 400 | in >> type >> value;
|
---|
| 401 | codeBiases[type] = value;
|
---|
| 402 | }
|
---|
| 403 | }
|
---|
[4991] | 404 | else {
|
---|
| 405 | for (int ii = 0; ii < numVal; ii++) {
|
---|
| 406 | double dummy;
|
---|
| 407 | in >> dummy;
|
---|
| 408 | }
|
---|
| 409 | }
|
---|
[5662] | 410 | }
|
---|
[3222] | 411 | struct ClockOrbit::SatData* sd = 0;
|
---|
| 412 | if (prn[0] == 'G') {
|
---|
[5666] | 413 | sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
|
---|
| 414 | ++co.NumberOfSat[CLOCKORBIT_SATGPS];
|
---|
[3222] | 415 | }
|
---|
| 416 | else if (prn[0] == 'R') {
|
---|
[5666] | 417 | sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
|
---|
| 418 | ++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
|
---|
[3222] | 419 | }
|
---|
| 420 | if (sd) {
|
---|
| 421 | QString outLine;
|
---|
[5662] | 422 | processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prn,
|
---|
[4991] | 423 | rtnAPC, rtnClk, rtnVel, rtnCoM, sd, outLine);
|
---|
[3222] | 424 | }
|
---|
[5662] | 425 |
|
---|
[5666] | 426 | struct CodeBias::BiasSat* biasSat = 0;
|
---|
[3222] | 427 | if (prn[0] == 'G') {
|
---|
[5666] | 428 | biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
|
---|
| 429 | ++bias.NumberOfSat[CLOCKORBIT_SATGPS];
|
---|
[3222] | 430 | }
|
---|
| 431 | else if (prn[0] == 'R') {
|
---|
[5666] | 432 | biasSat = bias.Sat + CLOCKORBIT_NUMGPS + bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
|
---|
| 433 | ++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
|
---|
[3222] | 434 | }
|
---|
[5662] | 435 |
|
---|
[5503] | 436 | // Code Biases
|
---|
| 437 | // -----------
|
---|
[3222] | 438 | if (biasSat) {
|
---|
| 439 | biasSat->ID = prn.mid(1).toInt();
|
---|
[5503] | 440 | biasSat->NumberOfCodeBiases = 0;
|
---|
[3222] | 441 | if (prn[0] == 'G') {
|
---|
[5503] | 442 | QMapIterator<QString, double> it(codeBiases);
|
---|
| 443 | while (it.hasNext()) {
|
---|
| 444 | it.next();
|
---|
[5504] | 445 | if (it.key() == "1C") {
|
---|
[5503] | 446 | int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
|
---|
| 447 | biasSat->NumberOfCodeBiases += 1;
|
---|
| 448 | biasSat->Biases[ii].Type = CODETYPEGPS_L1_CA;
|
---|
| 449 | biasSat->Biases[ii].Bias = it.value();
|
---|
| 450 | }
|
---|
[5504] | 451 | else if (it.key() == "1C") {
|
---|
[5503] | 452 | int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
|
---|
| 453 | biasSat->NumberOfCodeBiases += 1;
|
---|
| 454 | biasSat->Biases[ii].Type = CODETYPEGPS_L1_CA;
|
---|
| 455 | biasSat->Biases[ii].Bias = it.value();
|
---|
| 456 | }
|
---|
[5504] | 457 | else if (it.key() == "1P") {
|
---|
[5503] | 458 | int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
|
---|
| 459 | biasSat->NumberOfCodeBiases += 1;
|
---|
| 460 | biasSat->Biases[ii].Type = CODETYPEGPS_L1_P;
|
---|
| 461 | biasSat->Biases[ii].Bias = it.value();
|
---|
| 462 | }
|
---|
[5504] | 463 | else if (it.key() == "1W") {
|
---|
[5503] | 464 | int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
|
---|
| 465 | biasSat->NumberOfCodeBiases += 1;
|
---|
| 466 | biasSat->Biases[ii].Type = CODETYPEGPS_L1_Z;
|
---|
| 467 | biasSat->Biases[ii].Bias = it.value();
|
---|
| 468 | }
|
---|
[5504] | 469 | else if (it.key() == "2C") {
|
---|
[5503] | 470 | int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
|
---|
| 471 | biasSat->NumberOfCodeBiases += 1;
|
---|
| 472 | biasSat->Biases[ii].Type = CODETYPEGPS_L2_CA;
|
---|
| 473 | biasSat->Biases[ii].Bias = it.value();
|
---|
| 474 | }
|
---|
[5504] | 475 | else if (it.key() == "2D") {
|
---|
[5503] | 476 | int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
|
---|
| 477 | biasSat->NumberOfCodeBiases += 1;
|
---|
| 478 | biasSat->Biases[ii].Type = CODETYPEGPS_SEMI_CODELESS;
|
---|
| 479 | biasSat->Biases[ii].Bias = it.value();
|
---|
| 480 | }
|
---|
[5504] | 481 | else if (it.key() == "2S") {
|
---|
[5503] | 482 | int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
|
---|
| 483 | biasSat->NumberOfCodeBiases += 1;
|
---|
| 484 | biasSat->Biases[ii].Type = CODETYPEGPS_L2_CM;
|
---|
| 485 | biasSat->Biases[ii].Bias = it.value();
|
---|
| 486 | }
|
---|
[5504] | 487 | else if (it.key() == "2L") {
|
---|
[5503] | 488 | int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
|
---|
| 489 | biasSat->NumberOfCodeBiases += 1;
|
---|
| 490 | biasSat->Biases[ii].Type = CODETYPEGPS_L2_CL;
|
---|
| 491 | biasSat->Biases[ii].Bias = it.value();
|
---|
| 492 | }
|
---|
[5504] | 493 | else if (it.key() == "2X") {
|
---|
[5503] | 494 | int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
|
---|
| 495 | biasSat->NumberOfCodeBiases += 1;
|
---|
| 496 | biasSat->Biases[ii].Type = CODETYPEGPS_L2_CML;
|
---|
| 497 | biasSat->Biases[ii].Bias = it.value();
|
---|
| 498 | }
|
---|
[5504] | 499 | else if (it.key() == "2P") {
|
---|
[5503] | 500 | int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
|
---|
| 501 | biasSat->NumberOfCodeBiases += 1;
|
---|
| 502 | biasSat->Biases[ii].Type = CODETYPEGPS_L2_P;
|
---|
| 503 | biasSat->Biases[ii].Bias = it.value();
|
---|
| 504 | }
|
---|
[5510] | 505 | else if (it.key() == "2W") {
|
---|
[5503] | 506 | int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
|
---|
| 507 | biasSat->NumberOfCodeBiases += 1;
|
---|
| 508 | biasSat->Biases[ii].Type = CODETYPEGPS_L2_Z;
|
---|
| 509 | biasSat->Biases[ii].Bias = it.value();
|
---|
| 510 | }
|
---|
[5504] | 511 | else if (it.key() == "5I") {
|
---|
[5503] | 512 | int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
|
---|
| 513 | biasSat->NumberOfCodeBiases += 1;
|
---|
| 514 | biasSat->Biases[ii].Type = CODETYPEGPS_L5_I;
|
---|
| 515 | biasSat->Biases[ii].Bias = it.value();
|
---|
| 516 | }
|
---|
[5504] | 517 | else if (it.key() == "5Q") {
|
---|
[5503] | 518 | int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
|
---|
| 519 | biasSat->NumberOfCodeBiases += 1;
|
---|
| 520 | biasSat->Biases[ii].Type = CODETYPEGPS_L5_Q;
|
---|
| 521 | biasSat->Biases[ii].Bias = it.value();
|
---|
| 522 | }
|
---|
| 523 | }
|
---|
[3222] | 524 | }
|
---|
| 525 | else if (prn[0] == 'R') {
|
---|
[5503] | 526 | QMapIterator<QString, double> it(codeBiases);
|
---|
| 527 | while (it.hasNext()) {
|
---|
| 528 | it.next();
|
---|
[5504] | 529 | if (it.key() == "1C") {
|
---|
[5503] | 530 | int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
|
---|
| 531 | biasSat->NumberOfCodeBiases += 1;
|
---|
| 532 | biasSat->Biases[ii].Type = CODETYPEGLONASS_L1_CA;
|
---|
| 533 | biasSat->Biases[ii].Bias = it.value();
|
---|
| 534 | }
|
---|
[5504] | 535 | else if (it.key() == "1P") {
|
---|
[5503] | 536 | int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
|
---|
| 537 | biasSat->NumberOfCodeBiases += 1;
|
---|
| 538 | biasSat->Biases[ii].Type = CODETYPEGLONASS_L1_P;
|
---|
| 539 | biasSat->Biases[ii].Bias = it.value();
|
---|
| 540 | }
|
---|
[5504] | 541 | else if (it.key() == "2C") {
|
---|
[5503] | 542 | int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
|
---|
| 543 | biasSat->NumberOfCodeBiases += 1;
|
---|
| 544 | biasSat->Biases[ii].Type = CODETYPEGLONASS_L2_CA;
|
---|
| 545 | biasSat->Biases[ii].Bias = it.value();
|
---|
| 546 | }
|
---|
[5504] | 547 | else if (it.key() == "2P") {
|
---|
[5503] | 548 | int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
|
---|
| 549 | biasSat->NumberOfCodeBiases += 1;
|
---|
| 550 | biasSat->Biases[ii].Type = CODETYPEGLONASS_L2_P;
|
---|
| 551 | biasSat->Biases[ii].Bias = it.value();
|
---|
| 552 | }
|
---|
| 553 | }
|
---|
[3222] | 554 | }
|
---|
| 555 | }
|
---|
| 556 | }
|
---|
| 557 | }
|
---|
[3227] | 558 |
|
---|
[5662] | 559 | QByteArray hlpBufferCo;
|
---|
[3493] | 560 |
|
---|
| 561 | // Orbit and Clock Corrections together
|
---|
| 562 | // ------------------------------------
|
---|
[4174] | 563 | if (_samplRtcmEphCorr == 0.0) {
|
---|
[5666] | 564 | if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0 || co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
|
---|
[3493] | 565 | char obuffer[CLOCKORBIT_BUFFERSIZE];
|
---|
| 566 | int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
|
---|
| 567 | if (len > 0) {
|
---|
| 568 | hlpBufferCo = QByteArray(obuffer, len);
|
---|
| 569 | }
|
---|
[3222] | 570 | }
|
---|
| 571 | }
|
---|
[3493] | 572 |
|
---|
| 573 | // Orbit and Clock Corrections separately
|
---|
| 574 | // --------------------------------------
|
---|
| 575 | else {
|
---|
[5666] | 576 | if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
|
---|
[3493] | 577 | char obuffer[CLOCKORBIT_BUFFERSIZE];
|
---|
[4174] | 578 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
---|
[4754] | 579 | co.UpdateInterval = ephUpdInd;
|
---|
[3591] | 580 | int len1 = MakeClockOrbit(&co, COTYPE_GPSORBIT, 1, obuffer, sizeof(obuffer));
|
---|
[4754] | 581 | co.UpdateInterval = clkUpdInd;
|
---|
[3493] | 582 | if (len1 > 0) {
|
---|
| 583 | hlpBufferCo += QByteArray(obuffer, len1);
|
---|
| 584 | }
|
---|
| 585 | }
|
---|
[5666] | 586 | int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) ? 1 : 0;
|
---|
[3591] | 587 | int len2 = MakeClockOrbit(&co, COTYPE_GPSCLOCK, mmsg, obuffer, sizeof(obuffer));
|
---|
[3493] | 588 | if (len2 > 0) {
|
---|
| 589 | hlpBufferCo += QByteArray(obuffer, len2);
|
---|
| 590 | }
|
---|
| 591 | }
|
---|
[5666] | 592 | if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
|
---|
[3493] | 593 | char obuffer[CLOCKORBIT_BUFFERSIZE];
|
---|
[4174] | 594 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
---|
[4754] | 595 | co.UpdateInterval = ephUpdInd;
|
---|
[3591] | 596 | int len1 = MakeClockOrbit(&co, COTYPE_GLONASSORBIT, 1, obuffer, sizeof(obuffer));
|
---|
[4754] | 597 | co.UpdateInterval = clkUpdInd;
|
---|
[3493] | 598 | if (len1 > 0) {
|
---|
| 599 | hlpBufferCo += QByteArray(obuffer, len1);
|
---|
| 600 | }
|
---|
| 601 | }
|
---|
| 602 | int len2 = MakeClockOrbit(&co, COTYPE_GLONASSCLOCK, 0, obuffer, sizeof(obuffer));
|
---|
| 603 | if (len2 > 0) {
|
---|
| 604 | hlpBufferCo += QByteArray(obuffer, len2);
|
---|
| 605 | }
|
---|
| 606 | }
|
---|
| 607 | }
|
---|
[5662] | 608 |
|
---|
[3493] | 609 | // Biases
|
---|
| 610 | // ------
|
---|
[5662] | 611 | QByteArray hlpBufferBias;
|
---|
[5666] | 612 | if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0 || bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
|
---|
[3222] | 613 | char obuffer[CLOCKORBIT_BUFFERSIZE];
|
---|
[5666] | 614 | int len = MakeCodeBias(&bias, BTYPE_AUTO, 0, obuffer, sizeof(obuffer));
|
---|
[3222] | 615 | if (len > 0) {
|
---|
[3227] | 616 | hlpBufferBias = QByteArray(obuffer, len);
|
---|
[3222] | 617 | }
|
---|
| 618 | }
|
---|
[3227] | 619 |
|
---|
[4808] | 620 | _outBuffer += hlpBufferCo + hlpBufferBias;
|
---|
[3222] | 621 | }
|
---|
| 622 |
|
---|
[5662] | 623 | //
|
---|
[3222] | 624 | ////////////////////////////////////////////////////////////////////////////
|
---|
[6442] | 625 | void bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
|
---|
[4991] | 626 | double GPSweeks, const QString& prn,
|
---|
| 627 | const ColumnVector& rtnAPC,
|
---|
| 628 | double rtnClk,
|
---|
| 629 | const ColumnVector& rtnVel,
|
---|
| 630 | const ColumnVector& rtnCoM,
|
---|
| 631 | struct ClockOrbit::SatData* sd,
|
---|
| 632 | QString& outLine) {
|
---|
[3222] | 633 |
|
---|
[4930] | 634 | // Broadcast Position and Velocity
|
---|
| 635 | // -------------------------------
|
---|
| 636 | ColumnVector xB(4);
|
---|
| 637 | ColumnVector vB(3);
|
---|
[6109] | 638 | eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
|
---|
[5662] | 639 |
|
---|
[4991] | 640 | // Precise Position
|
---|
| 641 | // ----------------
|
---|
| 642 | ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
|
---|
[3222] | 643 |
|
---|
[5662] | 644 | double dc = 0.0;
|
---|
[4930] | 645 | if (_crdTrafo != "IGS08") {
|
---|
| 646 | crdTrafo(GPSweek, xP, dc);
|
---|
| 647 | }
|
---|
[5662] | 648 |
|
---|
[4930] | 649 | // Difference in xyz
|
---|
| 650 | // -----------------
|
---|
| 651 | ColumnVector dx = xB.Rows(1,3) - xP;
|
---|
[4991] | 652 | ColumnVector dv = vB - rtnVel;
|
---|
[5662] | 653 |
|
---|
[4930] | 654 | // Difference in RSW
|
---|
| 655 | // -----------------
|
---|
[3222] | 656 | ColumnVector rsw(3);
|
---|
[4930] | 657 | XYZ_to_RSW(xB.Rows(1,3), vB, dx, rsw);
|
---|
[3222] | 658 |
|
---|
[4930] | 659 | ColumnVector dotRsw(3);
|
---|
| 660 | XYZ_to_RSW(xB.Rows(1,3), vB, dv, dotRsw);
|
---|
[3222] | 661 |
|
---|
[4930] | 662 | // Clock Correction
|
---|
| 663 | // ----------------
|
---|
[4991] | 664 | double dClk = rtnClk - (xB(4) - dc) * t_CST::c;
|
---|
[3222] | 665 |
|
---|
| 666 | if (sd) {
|
---|
[4930] | 667 | sd->ID = prn.mid(1).toInt();
|
---|
| 668 | sd->IOD = eph->IOD();
|
---|
| 669 | sd->Clock.DeltaA0 = dClk;
|
---|
[5655] | 670 | sd->Clock.DeltaA1 = 0.0; // TODO
|
---|
| 671 | sd->Clock.DeltaA2 = 0.0; // TODO
|
---|
[4930] | 672 | sd->Orbit.DeltaRadial = rsw(1);
|
---|
| 673 | sd->Orbit.DeltaAlongTrack = rsw(2);
|
---|
| 674 | sd->Orbit.DeltaCrossTrack = rsw(3);
|
---|
| 675 | sd->Orbit.DotDeltaRadial = dotRsw(1);
|
---|
| 676 | sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
|
---|
| 677 | sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
|
---|
[3222] | 678 | }
|
---|
| 679 |
|
---|
[5662] | 680 | outLine.sprintf("%d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n",
|
---|
[5776] | 681 | GPSweek, GPSweeks, eph->prn().toString().c_str(),
|
---|
[3222] | 682 | eph->IOD(), dClk, rsw(1), rsw(2), rsw(3));
|
---|
| 683 |
|
---|
[4991] | 684 | double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
|
---|
| 685 | double sp3Clk = (rtnClk - relativity) / t_CST::c; // in seconds
|
---|
| 686 |
|
---|
[3222] | 687 | if (_rnx) {
|
---|
[4991] | 688 | _rnx->write(GPSweek, GPSweeks, prn, sp3Clk);
|
---|
[3222] | 689 | }
|
---|
| 690 | if (_sp3) {
|
---|
[4991] | 691 | _sp3->write(GPSweek, GPSweeks, prn, rtnCoM, sp3Clk);
|
---|
[3222] | 692 | }
|
---|
| 693 | }
|
---|
| 694 |
|
---|
| 695 | // Transform Coordinates
|
---|
| 696 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5662] | 697 | void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
|
---|
[4803] | 698 | double& dc) {
|
---|
[3222] | 699 |
|
---|
| 700 | // Current epoch minus 2000.0 in years
|
---|
| 701 | // ------------------------------------
|
---|
| 702 | double dt = (GPSWeek - (1042.0+6.0/7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
|
---|
| 703 |
|
---|
| 704 | ColumnVector dx(3);
|
---|
| 705 |
|
---|
| 706 | dx(1) = _dx + dt * _dxr;
|
---|
| 707 | dx(2) = _dy + dt * _dyr;
|
---|
| 708 | dx(3) = _dz + dt * _dzr;
|
---|
| 709 |
|
---|
| 710 | static const double arcSec = 180.0 * 3600.0 / M_PI;
|
---|
| 711 |
|
---|
| 712 | double ox = (_ox + dt * _oxr) / arcSec;
|
---|
| 713 | double oy = (_oy + dt * _oyr) / arcSec;
|
---|
| 714 | double oz = (_oz + dt * _ozr) / arcSec;
|
---|
| 715 |
|
---|
| 716 | double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
|
---|
| 717 |
|
---|
[4912] | 718 | // Specify approximate center of area
|
---|
| 719 | // ----------------------------------
|
---|
| 720 | ColumnVector meanSta(3);
|
---|
| 721 |
|
---|
| 722 | if (_crdTrafo == "ETRF2000") {
|
---|
[4973] | 723 | meanSta(1) = 3661090.0;
|
---|
| 724 | meanSta(2) = 845230.0;
|
---|
| 725 | meanSta(3) = 5136850.0;
|
---|
[4908] | 726 | }
|
---|
[4912] | 727 | else if (_crdTrafo == "NAD83") {
|
---|
[4973] | 728 | meanSta(1) = -1092950.0;
|
---|
| 729 | meanSta(2) = -4383600.0;
|
---|
| 730 | meanSta(3) = 4487420.0;
|
---|
[4912] | 731 | }
|
---|
| 732 | else if (_crdTrafo == "GDA94") {
|
---|
[4973] | 733 | meanSta(1) = -4052050.0;
|
---|
| 734 | meanSta(2) = 4212840.0;
|
---|
| 735 | meanSta(3) = -2545110.0;
|
---|
[4912] | 736 | }
|
---|
| 737 | else if (_crdTrafo == "SIRGAS2000") {
|
---|
[4973] | 738 | meanSta(1) = 3740860.0;
|
---|
| 739 | meanSta(2) = -4964290.0;
|
---|
| 740 | meanSta(3) = -1425420.0;
|
---|
[4912] | 741 | }
|
---|
| 742 | else if (_crdTrafo == "SIRGAS95") {
|
---|
[4973] | 743 | meanSta(1) = 3135390.0;
|
---|
| 744 | meanSta(2) = -5017670.0;
|
---|
| 745 | meanSta(3) = -2374440.0;
|
---|
[4912] | 746 | }
|
---|
[5343] | 747 | else if (_crdTrafo == "DREF91") {
|
---|
| 748 | meanSta(1) = 3959579.0;
|
---|
| 749 | meanSta(2) = 721719.0;
|
---|
| 750 | meanSta(3) = 4931539.0;
|
---|
| 751 | }
|
---|
[4912] | 752 | else if (_crdTrafo == "Custom") {
|
---|
| 753 | meanSta(1) = 0.0; // TODO
|
---|
| 754 | meanSta(2) = 0.0; // TODO
|
---|
| 755 | meanSta(3) = 0.0; // TODO
|
---|
| 756 | }
|
---|
[4908] | 757 |
|
---|
[4912] | 758 | // Clock correction proportional to topocentric distance to satellites
|
---|
| 759 | // -------------------------------------------------------------------
|
---|
| 760 | double rho = (xyz - meanSta).norm_Frobenius();
|
---|
[4913] | 761 | dc = rho * (sc - 1.0) / sc / t_CST::c;
|
---|
[4908] | 762 |
|
---|
[3222] | 763 | Matrix rMat(3,3);
|
---|
| 764 | rMat(1,1) = 1.0;
|
---|
| 765 | rMat(1,2) = -oz;
|
---|
| 766 | rMat(1,3) = oy;
|
---|
| 767 | rMat(2,1) = oz;
|
---|
| 768 | rMat(2,2) = 1.0;
|
---|
| 769 | rMat(2,3) = -ox;
|
---|
| 770 | rMat(3,1) = -oy;
|
---|
| 771 | rMat(3,2) = ox;
|
---|
| 772 | rMat(3,3) = 1.0;
|
---|
| 773 |
|
---|
| 774 | xyz = sc * rMat * xyz + dx;
|
---|
| 775 | }
|
---|
| 776 |
|
---|
[6557] | 777 | int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
|
---|
| 778 |
|
---|
| 779 | if (samplingRate == 10.0) {
|
---|
| 780 | return 3;
|
---|
| 781 | }
|
---|
| 782 | else if (samplingRate == 15.0) {
|
---|
| 783 | return 4;
|
---|
| 784 | }
|
---|
| 785 | else if (samplingRate == 30.0) {
|
---|
| 786 | return 5;
|
---|
| 787 | }
|
---|
| 788 | else if (samplingRate == 60.0) {
|
---|
| 789 | return 6;
|
---|
| 790 | }
|
---|
| 791 | else if (samplingRate == 120.0) {
|
---|
| 792 | return 7;
|
---|
| 793 | }
|
---|
| 794 | else if (samplingRate == 240.0) {
|
---|
| 795 | return 8;
|
---|
| 796 | }
|
---|
| 797 | else if (samplingRate == 300.0) {
|
---|
| 798 | return 9;
|
---|
| 799 | }
|
---|
| 800 | else if (samplingRate == 600.0) {
|
---|
| 801 | return 10;
|
---|
| 802 | }
|
---|
| 803 | else if (samplingRate == 900.0) {
|
---|
| 804 | return 11;
|
---|
| 805 | }
|
---|
| 806 | else if (samplingRate == 1800.0) {
|
---|
| 807 | return 12;
|
---|
| 808 | }
|
---|
| 809 | else if (samplingRate == 3600.0) {
|
---|
| 810 | return 13;
|
---|
| 811 | }
|
---|
| 812 | else if (samplingRate == 7200.0) {
|
---|
| 813 | return 14;
|
---|
| 814 | }
|
---|
| 815 | else if (samplingRate == 10800.0) {
|
---|
| 816 | return 15;
|
---|
| 817 | }
|
---|
| 818 | return 2;// default
|
---|
| 819 | }
|
---|