[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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[9245] | 24 | #include "bncutils.h"
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[3222] | 25 |
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| 26 | using namespace std;
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| 27 |
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| 28 | // Constructor
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| 29 | ////////////////////////////////////////////////////////////////////////////
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[3224] | 30 | bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
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[8275] | 31 | const QString& outHost, int outPort,
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| 32 | const QString& ntripVersion,
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| 33 | const QString& userName, const QString& password,
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[9025] | 34 | const QString& crdTrafo, const QString& ssrFormat, bool CoM, const QString& sp3FileName,
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[6877] | 35 | const QString& rnxFileName, int PID, int SID, int IOD, int iRow) :
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[8275] | 36 | bncUploadCaster(mountpoint, outHost, outPort, ntripVersion, userName, password, iRow, 0) {
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[3224] | 37 |
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[8361] | 38 | if (!mountpoint.isEmpty()) {
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| 39 | _casterID += mountpoint;
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| 40 | }
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[5130] | 41 | if (!outHost.isEmpty()) {
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[8361] | 42 | _casterID += " " + outHost;
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| 43 | if (outPort) {
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| 44 | _casterID += ":" + QString("%1").arg(outPort, 10);
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| 45 | }
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[5130] | 46 | }
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| 47 | if (!crdTrafo.isEmpty()) {
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| 48 | _casterID += " " + crdTrafo;
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| 49 | }
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| 50 | if (!sp3FileName.isEmpty()) {
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| 51 | _casterID += " " + sp3FileName;
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| 52 | }
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| 53 | if (!rnxFileName.isEmpty()) {
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| 54 | _casterID += " " + rnxFileName;
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| 55 | }
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| 56 |
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[6877] | 57 | _crdTrafo = crdTrafo;
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[9025] | 58 |
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[9034] | 59 | _ssrFormat = ssrFormat;
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[9128] | 60 |
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[9025] | 61 | _ssrCorr = 0;
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[9033] | 62 | if (_ssrFormat == "IGS-SSR") {
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[9025] | 63 | _ssrCorr = new SsrCorrIgs();
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| 64 | }
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[9033] | 65 | else if (_ssrFormat == "RTCM-SSR") {
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[9025] | 66 | _ssrCorr = new SsrCorrRtcm();
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| 67 | }
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[9033] | 68 |
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[6877] | 69 | _CoM = CoM;
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| 70 | _PID = PID;
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| 71 | _SID = SID;
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| 72 | _IOD = IOD;
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[3222] | 73 |
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[3224] | 74 | // Member that receives the ephemeris
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| 75 | // ----------------------------------
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[6441] | 76 | _ephUser = new bncEphUser(true);
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[3222] | 77 |
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[3272] | 78 | bncSettings settings;
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[6877] | 79 | QString intr = settings.value("uploadIntr").toString();
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[7297] | 80 | QStringList hlp = settings.value("cmbStreams").toStringList();
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[6559] | 81 | _samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toDouble();
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| 82 | if (hlp.size() > 1) { // combination stream upload
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[6877] | 83 | _samplRtcmClkCorr = settings.value("cmbSampl").toInt();
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[6557] | 84 | }
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[6877] | 85 | else { // single stream upload or sp3 file generation
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| 86 | _samplRtcmClkCorr = 5; // default
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| 87 | }
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| 88 | int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
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| 89 | int samplSp3 = settings.value("uploadSamplSp3").toInt() * 60;
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[4174] | 90 |
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| 91 | if (_samplRtcmEphCorr == 0.0) {
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[3753] | 92 | _usedEph = 0;
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| 93 | }
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| 94 | else {
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[6442] | 95 | _usedEph = new QMap<QString, const t_eph*>;
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[3753] | 96 | }
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[3272] | 97 |
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[3222] | 98 | // RINEX writer
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| 99 | // ------------
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| 100 | if (!rnxFileName.isEmpty()) {
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[4174] | 101 | _rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
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[3222] | 102 | }
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| 103 | else {
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| 104 | _rnx = 0;
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| 105 | }
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| 106 |
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| 107 | // SP3 writer
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| 108 | // ----------
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| 109 | if (!sp3FileName.isEmpty()) {
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[4174] | 110 | _sp3 = new bncSP3(sp3FileName, intr, samplSp3);
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[3222] | 111 | }
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| 112 | else {
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| 113 | _sp3 = 0;
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| 114 | }
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| 115 |
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| 116 | // Set Transformation Parameters
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| 117 | // -----------------------------
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[8405] | 118 | // Transformation Parameters from ITRF2014 to ETRF2000
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[8720] | 119 | // EUREF Technical Note 1 Relationship and Transformation between the ITRF and ETRF
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| 120 | // Zuheir Altamimi, June 28, 2018
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[6877] | 121 | if (_crdTrafo == "ETRF2000") {
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[8720] | 122 | _dx = 0.0547;
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| 123 | _dy = 0.0522;
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| 124 | _dz = -0.0741;
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| 125 |
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[8094] | 126 | _dxr = 0.0001;
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| 127 | _dyr = 0.0001;
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[8405] | 128 | _dzr = -0.0019;
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[8720] | 129 |
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| 130 | _ox = 0.001701;
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| 131 | _oy = 0.010290;
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| 132 | _oz = -0.016632;
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| 133 |
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| 134 | _oxr = 0.000081;
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| 135 | _oyr = 0.000490;
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| 136 | _ozr = -0.000729;
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| 137 |
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| 138 | _sc = 2.12;
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[8405] | 139 | _scr = 0.11;
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[8720] | 140 |
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| 141 | _t0 = 2010.0;
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[3222] | 142 | }
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[8094] | 143 | // Transformation Parameters from ITRF2014 to GDA2020 (Ryan Ruddick, GA)
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| 144 | else if (_crdTrafo == "GDA2020") {
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| 145 | _dx = 0.0;
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| 146 | _dy = 0.0;
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| 147 | _dz = 0.0;
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[8720] | 148 |
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[8094] | 149 | _dxr = 0.0;
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| 150 | _dyr = 0.0;
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| 151 | _dzr = 0.0;
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[8720] | 152 |
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[8094] | 153 | _ox = 0.0;
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| 154 | _oy = 0.0;
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| 155 | _oz = 0.0;
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[8720] | 156 |
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[8094] | 157 | _oxr = 0.00150379;
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| 158 | _oyr = 0.00118346;
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| 159 | _ozr = 0.00120716;
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[8720] | 160 |
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[8094] | 161 | _sc = 0.0;
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| 162 | _scr = 0.0;
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[8720] | 163 |
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[8094] | 164 | _t0 = 2020.0;
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[3222] | 165 | }
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[8962] | 166 | // Transformation Parameters from IGb14 to SIRGAS2000 (Thanks to Sonia Costa, BRA)
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| 167 | // June 29 2020: TX:-0.0027 m TY:-0.0025 m TZ:-0.0042 m SCL:1.20 (ppb) no rotations and no rates.*/
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[8094] | 168 | else if (_crdTrafo == "SIRGAS2000") {
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[8962] | 169 | _dx = -0.0027;
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| 170 | _dy = -0.0025;
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| 171 | _dz = -0.0042;
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[8720] | 172 |
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[8094] | 173 | _dxr = 0.0000;
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| 174 | _dyr = 0.0000;
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| 175 | _dzr = 0.0000;
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[8720] | 176 |
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| 177 | _ox = 0.000000;
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| 178 | _oy = 0.000000;
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| 179 | _oz = 0.000000;
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| 180 |
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[8094] | 181 | _oxr = 0.000000;
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| 182 | _oyr = 0.000000;
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| 183 | _ozr = 0.000000;
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[8720] | 184 |
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[8962] | 185 | _sc = 1.20000;
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[8720] | 186 | _scr = 0.00000;
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| 187 | _t0 = 2000.0;
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[3222] | 188 | }
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[8405] | 189 | // Transformation Parameters from ITRF2014 to DREF91
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[5347] | 190 | else if (_crdTrafo == "DREF91") {
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[8720] | 191 | _dx = 0.0547;
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| 192 | _dy = 0.0522;
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| 193 | _dz = -0.0741;
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| 194 |
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[8094] | 195 | _dxr = 0.0001;
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| 196 | _dyr = 0.0001;
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[8405] | 197 | _dzr = -0.0019;
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[8720] | 198 | // ERTF200 + rotation parameters (ETRF200 => DREF91)
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| 199 | _ox = 0.001701 + 0.000658;
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| 200 | _oy = 0.010290 - 0.000208;
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| 201 | _oz = -0.016632 + 0.000755;
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| 202 |
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| 203 | _oxr = 0.000081;
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| 204 | _oyr = 0.000490;
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| 205 | _ozr = -0.000729;
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| 206 |
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| 207 | _sc = 2.12;
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[8405] | 208 | _scr = 0.11;
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[8720] | 209 |
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| 210 | _t0 = 2010.0;
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[5340] | 211 | }
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[3222] | 212 | else if (_crdTrafo == "Custom") {
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[6877] | 213 | _dx = settings.value("trafo_dx").toDouble();
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| 214 | _dy = settings.value("trafo_dy").toDouble();
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| 215 | _dz = settings.value("trafo_dz").toDouble();
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[3222] | 216 | _dxr = settings.value("trafo_dxr").toDouble();
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| 217 | _dyr = settings.value("trafo_dyr").toDouble();
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| 218 | _dzr = settings.value("trafo_dzr").toDouble();
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[6877] | 219 | _ox = settings.value("trafo_ox").toDouble();
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| 220 | _oy = settings.value("trafo_oy").toDouble();
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| 221 | _oz = settings.value("trafo_oz").toDouble();
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[3222] | 222 | _oxr = settings.value("trafo_oxr").toDouble();
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| 223 | _oyr = settings.value("trafo_oyr").toDouble();
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| 224 | _ozr = settings.value("trafo_ozr").toDouble();
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[6877] | 225 | _sc = settings.value("trafo_sc").toDouble();
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[3222] | 226 | _scr = settings.value("trafo_scr").toDouble();
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[6877] | 227 | _t0 = settings.value("trafo_t0").toDouble();
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[3222] | 228 | }
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| 229 | }
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| 230 |
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| 231 | // Destructor
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| 232 | ////////////////////////////////////////////////////////////////////////////
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[3224] | 233 | bncRtnetUploadCaster::~bncRtnetUploadCaster() {
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[3222] | 234 | if (isRunning()) {
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| 235 | wait();
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| 236 | }
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| 237 | delete _rnx;
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| 238 | delete _sp3;
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| 239 | delete _ephUser;
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[3753] | 240 | delete _usedEph;
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[9025] | 241 | delete _ssrCorr;
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[3222] | 242 | }
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| 243 |
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[5662] | 244 | //
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[3222] | 245 | ////////////////////////////////////////////////////////////////////////////
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[9032] | 246 | void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
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| 247 |
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[3222] | 248 | QMutexLocker locker(&_mutex);
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| 249 |
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[3230] | 250 | // Append to internal buffer
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| 251 | // -------------------------
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[3222] | 252 | _rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
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[3230] | 253 |
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| 254 | // Select buffer part that contains last epoch
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| 255 | // -------------------------------------------
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| 256 | QStringList lines;
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| 257 | int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
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| 258 | if (iEpoBeg == -1) {
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[3226] | 259 | _rtnetStreamBuffer.clear();
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| 260 | return;
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[3222] | 261 | }
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[8755] | 262 | int iEpoBegEarlier = _rtnetStreamBuffer.indexOf('*');
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| 263 | if (iEpoBegEarlier != -1 && iEpoBegEarlier < iEpoBeg) { // are there two epoch lines in buffer?
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| 264 | _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBegEarlier);
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| 265 | }
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[6896] | 266 | else {
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| 267 | _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
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| 268 | }
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[8755] | 269 | int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
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[3230] | 270 | if (iEpoEnd == -1) {
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| 271 | return;
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| 272 | }
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[8755] | 273 |
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| 274 | while (_rtnetStreamBuffer.count('*') > 1) { // is there more than 1 epoch line in buffer?
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| 275 | QString rtnetStreamBuffer = _rtnetStreamBuffer.mid(1);
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| 276 | int nextEpoch = rtnetStreamBuffer.indexOf('*');
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[8982] | 277 | if (nextEpoch != -1 && nextEpoch < iEpoEnd) {
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[8755] | 278 | _rtnetStreamBuffer = _rtnetStreamBuffer.mid(nextEpoch);
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| 279 | }
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[8761] | 280 | else if (nextEpoch != -1 && nextEpoch >= iEpoEnd) {
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| 281 | break;
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| 282 | }
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[3226] | 283 | }
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[3222] | 284 |
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[8904] | 285 | lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n',
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[8755] | 286 | QString::SkipEmptyParts);
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| 287 | _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
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| 288 |
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[3226] | 289 | if (lines.size() < 2) {
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[3222] | 290 | return;
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| 291 | }
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| 292 |
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[3226] | 293 | // Read first line (with epoch time)
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| 294 | // ---------------------------------
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[8204] | 295 | QTextStream in(lines[0].toLatin1());
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[3226] | 296 | QString hlp;
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[6877] | 297 | int year, month, day, hour, min;
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| 298 | double sec;
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[3226] | 299 | in >> hlp >> year >> month >> day >> hour >> min >> sec;
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[6877] | 300 | bncTime epoTime;
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| 301 | epoTime.set(year, month, day, hour, min, sec);
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[3226] | 302 |
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[6877] | 303 | emit(newMessage(
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| 304 | "bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
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| 305 | + " " + QByteArray(epoTime.timestr().c_str()) + " "
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[8204] | 306 | + _casterID.toLatin1(), false));
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[4808] | 307 |
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[9025] | 308 | struct SsrCorr::ClockOrbit co;
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[3222] | 309 | memset(&co, 0, sizeof(co));
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[8991] | 310 | co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
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[9025] | 311 | if (_ssrFormat == "RTCM-SSR") {
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| 312 | double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
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| 313 | co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
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| 314 | }
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| 315 | else if (_ssrFormat == "IGS-SSR") {
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| 316 | co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(epoTime.gpssec());
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| 317 | }
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[6846] | 318 | co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
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[9025] | 319 | co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
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| 320 | co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
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| 321 | if (_ssrFormat == "RTCM-SSR") {
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| 322 | co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
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| 323 | }
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| 324 | else if (_ssrFormat == "IGS-SSR") {
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| 325 | co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
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| 326 | }
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| 327 | co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
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| 328 | co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
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| 329 | co.SatRefDatum = _ssrCorr->DATUM_ITRF; // ToDo: to decode from RTNET format
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| 330 | co.SSRIOD = _IOD;
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[6850] | 331 | co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
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| 332 | co.SSRSolutionID = _SID;
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[5662] | 333 |
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[9025] | 334 | struct SsrCorr::CodeBias bias;
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[3222] | 335 | memset(&bias, 0, sizeof(bias));
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[9025] | 336 | bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
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[5666] | 337 | bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
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[6846] | 338 | bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
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[9025] | 339 | bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
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| 340 | bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
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| 341 | bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
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| 342 | bias.SSRIOD = _IOD;
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[6850] | 343 | bias.SSRProviderID = _PID;
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| 344 | bias.SSRSolutionID = _SID;
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[5662] | 345 |
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[9025] | 346 | struct SsrCorr::PhaseBias phasebias;
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[6850] | 347 | memset(&phasebias, 0, sizeof(phasebias));
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[8017] | 348 | unsigned int dispersiveBiasConsistenyIndicator = 0;
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| 349 | unsigned int mwConsistencyIndicator = 0;
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[9025] | 350 | phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
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[6850] | 351 | phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
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| 352 | phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
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[9025] | 353 | phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
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| 354 | phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
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| 355 | phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
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| 356 | phasebias.SSRIOD = _IOD;
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[6850] | 357 | phasebias.SSRProviderID = _PID;
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| 358 | phasebias.SSRSolutionID = _SID;
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| 359 |
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[9025] | 360 | struct SsrCorr::VTEC vtec;
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[6860] | 361 | memset(&vtec, 0, sizeof(vtec));
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| 362 | vtec.EpochTime = static_cast<int>(epoTime.gpssec());
|
---|
[9025] | 363 | vtec.SSRIOD = _IOD;
|
---|
[6860] | 364 | vtec.SSRProviderID = _PID;
|
---|
| 365 | vtec.SSRSolutionID = _SID;
|
---|
| 366 |
|
---|
[4753] | 367 | // Default Update Interval
|
---|
| 368 | // -----------------------
|
---|
[4754] | 369 | int clkUpdInd = 2; // 5 sec
|
---|
| 370 | int ephUpdInd = clkUpdInd; // default
|
---|
[6557] | 371 |
|
---|
[6559] | 372 | if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
|
---|
| 373 | ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
|
---|
[4754] | 374 | }
|
---|
[6559] | 375 | if (_samplRtcmClkCorr > 5.0) {
|
---|
[6557] | 376 | clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
|
---|
[4754] | 377 | }
|
---|
[6559] | 378 | if (_samplRtcmEphCorr > 5.0) {
|
---|
| 379 | ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
|
---|
| 380 | }
|
---|
[4753] | 381 |
|
---|
[6877] | 382 | co.UpdateInterval = clkUpdInd;
|
---|
[9124] | 383 | bias.UpdateInterval = ephUpdInd;
|
---|
| 384 | phasebias.UpdateInterval = ephUpdInd;
|
---|
[4753] | 385 |
|
---|
[3226] | 386 | for (int ii = 1; ii < lines.size(); ii++) {
|
---|
[6877] | 387 | QString key; // prn or key VTEC, IND (phase bias indicators)
|
---|
[9247] | 388 | double rtnUra = 0.0; // [m]
|
---|
[8679] | 389 | ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
|
---|
| 390 | ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
|
---|
| 391 | ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
|
---|
| 392 | ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
|
---|
| 393 | ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
|
---|
[6877] | 394 | t_prn prn;
|
---|
[5662] | 395 |
|
---|
[8204] | 396 | QTextStream in(lines[ii].toLatin1());
|
---|
[3222] | 397 |
|
---|
[6876] | 398 | in >> key;
|
---|
[3222] | 399 |
|
---|
[6860] | 400 | // non-satellite specific parameters
|
---|
[6877] | 401 | if (key.contains("IND", Qt::CaseSensitive)) {
|
---|
[8017] | 402 | in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
|
---|
[6860] | 403 | continue;
|
---|
| 404 | }
|
---|
[6893] | 405 | // non-satellite specific parameters
|
---|
[6876] | 406 | if (key.contains("VTEC", Qt::CaseSensitive)) {
|
---|
[6897] | 407 | double ui;
|
---|
| 408 | in >> ui >> vtec.NumLayers;
|
---|
| 409 | vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
|
---|
[6860] | 410 | for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
|
---|
| 411 | int dummy;
|
---|
| 412 | in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
|
---|
[6877] | 413 | >> vtec.Layers[ll].Height;
|
---|
[6879] | 414 | for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
|
---|
| 415 | for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
|
---|
[6860] | 416 | in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
|
---|
| 417 | }
|
---|
| 418 | }
|
---|
[6879] | 419 | for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
|
---|
| 420 | for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
|
---|
[6860] | 421 | in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
|
---|
| 422 | }
|
---|
| 423 | }
|
---|
| 424 | }
|
---|
| 425 | continue;
|
---|
| 426 | }
|
---|
[6877] | 427 | // satellite specific parameters
|
---|
[8204] | 428 | char sys = key.mid(0, 1).at(0).toLatin1();
|
---|
[6877] | 429 | int number = key.mid(1, 2).toInt();
|
---|
| 430 | int flags = 0;
|
---|
| 431 | if (sys == 'E') { // I/NAV
|
---|
| 432 | flags = 1;
|
---|
| 433 | }
|
---|
[6876] | 434 | prn.set(sys, number, flags);
|
---|
| 435 | QString prnInternalStr = QString::fromStdString(prn.toInternalString());
|
---|
[6877] | 436 | QString prnStr = QString::fromStdString(prn.toString());
|
---|
| 437 |
|
---|
[6876] | 438 | const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
|
---|
| 439 | const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
|
---|
[6877] | 440 | const t_eph* eph = ephLast;
|
---|
[6442] | 441 | if (eph) {
|
---|
[3754] | 442 |
|
---|
[4098] | 443 | // Use previous ephemeris if the last one is too recent
|
---|
| 444 | // ----------------------------------------------------
|
---|
| 445 | const int MINAGE = 60; // seconds
|
---|
[6877] | 446 | if (ephPrev && eph->receptDateTime().isValid()
|
---|
| 447 | && eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
|
---|
[6442] | 448 | eph = ephPrev;
|
---|
[4098] | 449 | }
|
---|
[3754] | 450 |
|
---|
[3753] | 451 | // Make sure the clock messages refer to same IOD as orbit messages
|
---|
| 452 | // ----------------------------------------------------------------
|
---|
| 453 | if (_usedEph) {
|
---|
[4174] | 454 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
---|
[6876] | 455 | (*_usedEph)[prnInternalStr] = eph;
|
---|
[3753] | 456 | }
|
---|
| 457 | else {
|
---|
| 458 | eph = 0;
|
---|
[6876] | 459 | if (_usedEph->contains(prnInternalStr)) {
|
---|
| 460 | const t_eph* usedEph = _usedEph->value(prnInternalStr);
|
---|
[6877] | 461 | if (usedEph == ephLast) {
|
---|
[6442] | 462 | eph = ephLast;
|
---|
[3753] | 463 | }
|
---|
[6442] | 464 | else if (usedEph == ephPrev) {
|
---|
| 465 | eph = ephPrev;
|
---|
[3753] | 466 | }
|
---|
| 467 | }
|
---|
| 468 | }
|
---|
| 469 | }
|
---|
| 470 | }
|
---|
| 471 |
|
---|
[9245] | 472 | if (eph && !outDatedBcep(eph) && // detected from storage because of no update
|
---|
| 473 | eph->checkState() != t_eph::bad &&
|
---|
[8679] | 474 | eph->checkState() != t_eph::unhealthy &&
|
---|
[9245] | 475 | eph->checkState() != t_eph::outdated) { // detected during reception (bncephuser)
|
---|
[5503] | 476 | QMap<QString, double> codeBiases;
|
---|
[6851] | 477 | QList<phaseBiasSignal> phaseBiasList;
|
---|
| 478 | phaseBiasesSat pbSat;
|
---|
[9128] | 479 | _phaseBiasInformationDecoded = false;
|
---|
[5503] | 480 |
|
---|
[4991] | 481 | while (true) {
|
---|
| 482 | QString key;
|
---|
[6877] | 483 | int numVal = 0;
|
---|
[9032] | 484 | in >> key;
|
---|
[4991] | 485 | if (in.status() != QTextStream::Ok) {
|
---|
| 486 | break;
|
---|
| 487 | }
|
---|
[6877] | 488 | if (key == "APC") {
|
---|
[6850] | 489 | in >> numVal;
|
---|
[8679] | 490 | rtnAPC.ReSize(3); rtnAPC = 0.0;
|
---|
[6850] | 491 | for (int ii = 0; ii < numVal; ii++) {
|
---|
| 492 | in >> rtnAPC[ii];
|
---|
| 493 | }
|
---|
[4991] | 494 | }
|
---|
[8483] | 495 | else if (key == "Ura") {
|
---|
[6850] | 496 | in >> numVal;
|
---|
[6877] | 497 | if (numVal == 1)
|
---|
[8483] | 498 | in >> rtnUra;
|
---|
[4991] | 499 | }
|
---|
[8483] | 500 | else if (key == "Clk") {
|
---|
| 501 | in >> numVal;
|
---|
[8679] | 502 | rtnClk.ReSize(3); rtnClk = 0.0;
|
---|
[8483] | 503 | for (int ii = 0; ii < numVal; ii++) {
|
---|
| 504 | in >> rtnClk[ii];
|
---|
| 505 | }
|
---|
| 506 | }
|
---|
| 507 | else if (key == "ClkSig") {
|
---|
| 508 | in >> numVal;
|
---|
[8679] | 509 | rtnClkSig.ReSize(3); rtnClkSig = 0.0;
|
---|
[8483] | 510 | for (int ii = 0; ii < numVal; ii++) {
|
---|
| 511 | in >> rtnClkSig[ii];
|
---|
| 512 | }
|
---|
| 513 | }
|
---|
[4991] | 514 | else if (key == "Vel") {
|
---|
[6850] | 515 | in >> numVal;
|
---|
[8679] | 516 | rtnVel.ReSize(3); rtnVel = 0.0;
|
---|
[6850] | 517 | for (int ii = 0; ii < numVal; ii++) {
|
---|
| 518 | in >> rtnVel[ii];
|
---|
| 519 | }
|
---|
[4991] | 520 | }
|
---|
| 521 | else if (key == "CoM") {
|
---|
[6850] | 522 | in >> numVal;
|
---|
[8679] | 523 | rtnCoM.ReSize(3); rtnCoM = 0.0;
|
---|
[6850] | 524 | for (int ii = 0; ii < numVal; ii++) {
|
---|
| 525 | in >> rtnCoM[ii];
|
---|
| 526 | }
|
---|
[4991] | 527 | }
|
---|
[5503] | 528 | else if (key == "CodeBias") {
|
---|
[6850] | 529 | in >> numVal;
|
---|
[5503] | 530 | for (int ii = 0; ii < numVal; ii++) {
|
---|
| 531 | QString type;
|
---|
[6877] | 532 | double value;
|
---|
[5503] | 533 | in >> type >> value;
|
---|
| 534 | codeBiases[type] = value;
|
---|
| 535 | }
|
---|
| 536 | }
|
---|
[6857] | 537 | else if (key == "YawAngle") {
|
---|
[9128] | 538 | _phaseBiasInformationDecoded = true;
|
---|
[8017] | 539 | in >> numVal >> pbSat.yawAngle;
|
---|
| 540 | if (pbSat.yawAngle < 0.0) {
|
---|
| 541 | pbSat.yawAngle += (2*M_PI);
|
---|
[6975] | 542 | }
|
---|
[8017] | 543 | else if (pbSat.yawAngle > 2*M_PI) {
|
---|
| 544 | pbSat.yawAngle -= (2*M_PI);
|
---|
[6975] | 545 | }
|
---|
[6851] | 546 | }
|
---|
[6857] | 547 | else if (key == "YawRate") {
|
---|
[9128] | 548 | _phaseBiasInformationDecoded = true;
|
---|
[8017] | 549 | in >> numVal >> pbSat.yawRate;
|
---|
[6851] | 550 | }
|
---|
[6850] | 551 | else if (key == "PhaseBias") {
|
---|
[9128] | 552 | _phaseBiasInformationDecoded = true;
|
---|
[6850] | 553 | in >> numVal;
|
---|
| 554 | for (int ii = 0; ii < numVal; ii++) {
|
---|
[6851] | 555 | phaseBiasSignal pb;
|
---|
[8017] | 556 | in >> pb.type >> pb.bias >> pb.integerIndicator
|
---|
| 557 | >> pb.wlIndicator >> pb.discontinuityCounter;
|
---|
[6851] | 558 | phaseBiasList.append(pb);
|
---|
[6850] | 559 | }
|
---|
| 560 | }
|
---|
[4991] | 561 | else {
|
---|
[8689] | 562 | in >> numVal;
|
---|
| 563 | for (int ii = 0; ii < numVal; ii++) {
|
---|
| 564 | double dummy;
|
---|
| 565 | in >> dummy;
|
---|
| 566 | }
|
---|
[8542] | 567 | emit(newMessage(" RTNET format error: "
|
---|
| 568 | + lines[ii].toLatin1(), false));
|
---|
[4991] | 569 | }
|
---|
[5662] | 570 | }
|
---|
[6850] | 571 |
|
---|
[9025] | 572 | struct SsrCorr::ClockOrbit::SatData* sd = 0;
|
---|
[6877] | 573 | if (prn.system() == 'G') {
|
---|
[5666] | 574 | sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
|
---|
| 575 | ++co.NumberOfSat[CLOCKORBIT_SATGPS];
|
---|
[3222] | 576 | }
|
---|
[6876] | 577 | else if (prn.system() == 'R') {
|
---|
[6877] | 578 | sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
|
---|
[5666] | 579 | ++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
|
---|
[3222] | 580 | }
|
---|
[6876] | 581 | else if (prn.system() == 'E') {
|
---|
[6844] | 582 | sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
[8967] | 583 | + co.NumberOfSat[CLOCKORBIT_SATGALILEO];
|
---|
[6844] | 584 | ++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
|
---|
| 585 | }
|
---|
[6876] | 586 | else if (prn.system() == 'J') {
|
---|
[6877] | 587 | sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
[8967] | 588 | + CLOCKORBIT_NUMGALILEO
|
---|
[8982] | 589 | + co.NumberOfSat[CLOCKORBIT_SATQZSS];
|
---|
[6844] | 590 | ++co.NumberOfSat[CLOCKORBIT_SATQZSS];
|
---|
| 591 | }
|
---|
[8980] | 592 | else if (prn.system() == 'S') {
|
---|
| 593 | sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
| 594 | + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
|
---|
| 595 | + co.NumberOfSat[CLOCKORBIT_SATSBAS];
|
---|
| 596 | ++co.NumberOfSat[CLOCKORBIT_SATSBAS];
|
---|
| 597 | }
|
---|
[8967] | 598 | else if (prn.system() == 'C') {
|
---|
| 599 | sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
[8980] | 600 | + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
|
---|
| 601 | + CLOCKORBIT_NUMSBAS
|
---|
| 602 | + co.NumberOfSat[CLOCKORBIT_SATBDS];
|
---|
[8967] | 603 | ++co.NumberOfSat[CLOCKORBIT_SATBDS];
|
---|
| 604 | }
|
---|
[3222] | 605 | if (sd) {
|
---|
| 606 | QString outLine;
|
---|
[8542] | 607 | t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
|
---|
| 608 | rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
|
---|
[9179] | 609 | if (irc != success) {/*
|
---|
[8679] | 610 | // very few cases: check states bad and unhealthy are excluded earlier
|
---|
| 611 | sd->ID = prnStr.mid(1).toInt(); // to prevent G00, R00 entries
|
---|
| 612 | sd->IOD = eph->IOD();
|
---|
[9179] | 613 | */
|
---|
| 614 | continue;
|
---|
[8542] | 615 | }
|
---|
[3222] | 616 | }
|
---|
[5662] | 617 |
|
---|
[6850] | 618 | // Code Biases
|
---|
| 619 | // -----------
|
---|
[9025] | 620 | struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
|
---|
[6877] | 621 | if (!codeBiases.isEmpty()) {
|
---|
| 622 | if (prn.system() == 'G') {
|
---|
| 623 | biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
|
---|
| 624 | ++bias.NumberOfSat[CLOCKORBIT_SATGPS];
|
---|
| 625 | }
|
---|
| 626 | else if (prn.system() == 'R') {
|
---|
| 627 | biasSat = bias.Sat + CLOCKORBIT_NUMGPS
|
---|
[8967] | 628 | + bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
|
---|
[6877] | 629 | ++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
|
---|
| 630 | }
|
---|
| 631 | else if (prn.system() == 'E') {
|
---|
| 632 | biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
[8982] | 633 | + bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
|
---|
[6877] | 634 | ++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
|
---|
| 635 | }
|
---|
| 636 | else if (prn.system() == 'J') {
|
---|
| 637 | biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
[8967] | 638 | + CLOCKORBIT_NUMGALILEO
|
---|
[8982] | 639 | + bias.NumberOfSat[CLOCKORBIT_SATQZSS];
|
---|
[6877] | 640 | ++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
|
---|
| 641 | }
|
---|
| 642 | else if (prn.system() == 'S') {
|
---|
| 643 | biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
[8982] | 644 | + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
|
---|
[8967] | 645 | + bias.NumberOfSat[CLOCKORBIT_SATSBAS];
|
---|
[6877] | 646 | ++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
|
---|
| 647 | }
|
---|
[8982] | 648 | else if (prn.system() == 'C') {
|
---|
| 649 | biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
[8983] | 650 | + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
|
---|
[8982] | 651 | + CLOCKORBIT_NUMSBAS
|
---|
| 652 | + bias.NumberOfSat[CLOCKORBIT_SATBDS];
|
---|
| 653 | ++bias.NumberOfSat[CLOCKORBIT_SATBDS];
|
---|
| 654 | }
|
---|
[3222] | 655 | }
|
---|
[5662] | 656 |
|
---|
[3222] | 657 | if (biasSat) {
|
---|
[6876] | 658 | biasSat->ID = prn.number();
|
---|
[5503] | 659 | biasSat->NumberOfCodeBiases = 0;
|
---|
[9025] | 660 | QMapIterator<QString, double> it(codeBiases);
|
---|
| 661 | while (it.hasNext()) {
|
---|
| 662 | it.next();
|
---|
| 663 | int ii = biasSat->NumberOfCodeBiases;
|
---|
| 664 | if (ii >= CLOCKORBIT_NUMBIAS)
|
---|
| 665 | break;
|
---|
| 666 | SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
|
---|
| 667 | if (type != _ssrCorr->RESERVED) {
|
---|
| 668 | biasSat->NumberOfCodeBiases += 1;
|
---|
| 669 | biasSat->Biases[ii].Type = type;
|
---|
| 670 | biasSat->Biases[ii].Bias = it.value();
|
---|
[5503] | 671 | }
|
---|
[3222] | 672 | }
|
---|
| 673 | }
|
---|
[8944] | 674 |
|
---|
[6850] | 675 | // Phase Biases
|
---|
| 676 | // ------------
|
---|
[9025] | 677 | struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
|
---|
[8986] | 678 | if (prn.system() == 'G') {
|
---|
| 679 | phasebiasSat = phasebias.Sat
|
---|
| 680 | + phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
|
---|
| 681 | ++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
|
---|
| 682 | }
|
---|
| 683 | else if (prn.system() == 'R') {
|
---|
| 684 | phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
|
---|
| 685 | + phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
|
---|
| 686 | ++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
|
---|
| 687 | }
|
---|
| 688 | else if (prn.system() == 'E') {
|
---|
| 689 | phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
| 690 | + phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
|
---|
| 691 | ++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
|
---|
| 692 | }
|
---|
| 693 | else if (prn.system() == 'J') {
|
---|
| 694 | phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
| 695 | + CLOCKORBIT_NUMGALILEO
|
---|
| 696 | + phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
|
---|
| 697 | ++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
|
---|
| 698 | }
|
---|
| 699 | else if (prn.system() == 'S') {
|
---|
| 700 | phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
| 701 | + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
|
---|
| 702 | + phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
|
---|
| 703 | ++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
|
---|
| 704 | }
|
---|
| 705 | else if (prn.system() == 'C') {
|
---|
| 706 | phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
|
---|
| 707 | + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
|
---|
| 708 | + CLOCKORBIT_NUMSBAS
|
---|
| 709 | + phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
|
---|
| 710 | ++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
|
---|
| 711 | }
|
---|
[6850] | 712 |
|
---|
[9128] | 713 | if (phasebiasSat && _phaseBiasInformationDecoded) {
|
---|
[8017] | 714 | phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
|
---|
| 715 | phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
|
---|
[6876] | 716 | phasebiasSat->ID = prn.number();
|
---|
[6850] | 717 | phasebiasSat->NumberOfPhaseBiases = 0;
|
---|
[8017] | 718 | phasebiasSat->YawAngle = pbSat.yawAngle;
|
---|
| 719 | phasebiasSat->YawRate = pbSat.yawRate;
|
---|
[9025] | 720 | QListIterator<phaseBiasSignal> it(phaseBiasList);
|
---|
| 721 | while (it.hasNext()) {
|
---|
| 722 | const phaseBiasSignal &pbSig = it.next();
|
---|
| 723 | int ii = phasebiasSat->NumberOfPhaseBiases;
|
---|
| 724 | if (ii >= CLOCKORBIT_NUMBIAS)
|
---|
| 725 | break;
|
---|
| 726 | SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
|
---|
| 727 | if (type != _ssrCorr->RESERVED) {
|
---|
| 728 | phasebiasSat->NumberOfPhaseBiases += 1;
|
---|
| 729 | phasebiasSat->Biases[ii].Type = type;
|
---|
| 730 | phasebiasSat->Biases[ii].Bias = pbSig.bias;
|
---|
| 731 | phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
|
---|
| 732 | phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
|
---|
| 733 | phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
|
---|
[6850] | 734 | }
|
---|
| 735 | }
|
---|
| 736 | }
|
---|
[3222] | 737 | }
|
---|
| 738 | }
|
---|
[3227] | 739 |
|
---|
[5662] | 740 | QByteArray hlpBufferCo;
|
---|
[3493] | 741 |
|
---|
| 742 | // Orbit and Clock Corrections together
|
---|
| 743 | // ------------------------------------
|
---|
[4174] | 744 | if (_samplRtcmEphCorr == 0.0) {
|
---|
[6877] | 745 | if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
|
---|
| 746 | || co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
|
---|
| 747 | || co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
|
---|
| 748 | || co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
|
---|
| 749 | || co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
|
---|
| 750 | || co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
|
---|
[9189] | 751 | char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
|
---|
[9025] | 752 | int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
|
---|
[3493] | 753 | if (len > 0) {
|
---|
| 754 | hlpBufferCo = QByteArray(obuffer, len);
|
---|
| 755 | }
|
---|
[3222] | 756 | }
|
---|
| 757 | }
|
---|
[3493] | 758 |
|
---|
| 759 | // Orbit and Clock Corrections separately
|
---|
| 760 | // --------------------------------------
|
---|
| 761 | else {
|
---|
[5666] | 762 | if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
|
---|
[9189] | 763 | char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
|
---|
[4174] | 764 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
---|
[4754] | 765 | co.UpdateInterval = ephUpdInd;
|
---|
[9025] | 766 | int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer,
|
---|
[6877] | 767 | sizeof(obuffer));
|
---|
[4754] | 768 | co.UpdateInterval = clkUpdInd;
|
---|
[3493] | 769 | if (len1 > 0) {
|
---|
| 770 | hlpBufferCo += QByteArray(obuffer, len1);
|
---|
| 771 | }
|
---|
| 772 | }
|
---|
[8808] | 773 | int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 ||
|
---|
| 774 | co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 ||
|
---|
| 775 | co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 ||
|
---|
| 776 | co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
|
---|
| 777 | co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
|
---|
[9025] | 778 | int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer,
|
---|
[6877] | 779 | sizeof(obuffer));
|
---|
[3493] | 780 | if (len2 > 0) {
|
---|
| 781 | hlpBufferCo += QByteArray(obuffer, len2);
|
---|
| 782 | }
|
---|
| 783 | }
|
---|
[5666] | 784 | if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
|
---|
[9189] | 785 | char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
|
---|
[4174] | 786 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
---|
[4754] | 787 | co.UpdateInterval = ephUpdInd;
|
---|
[9025] | 788 | int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer,
|
---|
[6877] | 789 | sizeof(obuffer));
|
---|
[4754] | 790 | co.UpdateInterval = clkUpdInd;
|
---|
[3493] | 791 | if (len1 > 0) {
|
---|
| 792 | hlpBufferCo += QByteArray(obuffer, len1);
|
---|
| 793 | }
|
---|
| 794 | }
|
---|
[8808] | 795 | int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 ||
|
---|
| 796 | co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 ||
|
---|
| 797 | co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
|
---|
| 798 | co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
|
---|
[9025] | 799 | int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer,
|
---|
[6877] | 800 | sizeof(obuffer));
|
---|
[3493] | 801 | if (len2 > 0) {
|
---|
| 802 | hlpBufferCo += QByteArray(obuffer, len2);
|
---|
| 803 | }
|
---|
| 804 | }
|
---|
[6844] | 805 | if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
|
---|
[9189] | 806 | char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
|
---|
[6844] | 807 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
---|
| 808 | co.UpdateInterval = ephUpdInd;
|
---|
[9025] | 809 | int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer,
|
---|
[6877] | 810 | sizeof(obuffer));
|
---|
[6844] | 811 | co.UpdateInterval = clkUpdInd;
|
---|
| 812 | if (len1 > 0) {
|
---|
| 813 | hlpBufferCo += QByteArray(obuffer, len1);
|
---|
| 814 | }
|
---|
| 815 | }
|
---|
[8808] | 816 | int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 ||
|
---|
| 817 | co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
|
---|
| 818 | co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
|
---|
[9025] | 819 | int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer,
|
---|
[6877] | 820 | sizeof(obuffer));
|
---|
[6844] | 821 | if (len2 > 0) {
|
---|
| 822 | hlpBufferCo += QByteArray(obuffer, len2);
|
---|
| 823 | }
|
---|
| 824 | }
|
---|
| 825 | if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
|
---|
[9189] | 826 | char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
|
---|
[6844] | 827 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
---|
| 828 | co.UpdateInterval = ephUpdInd;
|
---|
[9025] | 829 | int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer,
|
---|
[6877] | 830 | sizeof(obuffer));
|
---|
[6844] | 831 | co.UpdateInterval = clkUpdInd;
|
---|
| 832 | if (len1 > 0) {
|
---|
| 833 | hlpBufferCo += QByteArray(obuffer, len1);
|
---|
| 834 | }
|
---|
| 835 | }
|
---|
[8808] | 836 | int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
|
---|
| 837 | co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
|
---|
[9025] | 838 | int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer,
|
---|
[6877] | 839 | sizeof(obuffer));
|
---|
[6844] | 840 | if (len2 > 0) {
|
---|
| 841 | hlpBufferCo += QByteArray(obuffer, len2);
|
---|
| 842 | }
|
---|
| 843 | }
|
---|
| 844 | if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
|
---|
[9189] | 845 | char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
|
---|
[6844] | 846 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
---|
| 847 | co.UpdateInterval = ephUpdInd;
|
---|
[9025] | 848 | int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer,
|
---|
[6877] | 849 | sizeof(obuffer));
|
---|
[6844] | 850 | co.UpdateInterval = clkUpdInd;
|
---|
| 851 | if (len1 > 0) {
|
---|
| 852 | hlpBufferCo += QByteArray(obuffer, len1);
|
---|
| 853 | }
|
---|
| 854 | }
|
---|
| 855 | int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
|
---|
[9025] | 856 | int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
|
---|
[6877] | 857 | sizeof(obuffer));
|
---|
[6844] | 858 | if (len2 > 0) {
|
---|
| 859 | hlpBufferCo += QByteArray(obuffer, len2);
|
---|
| 860 | }
|
---|
| 861 | }
|
---|
| 862 | if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
|
---|
[9189] | 863 | char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
|
---|
[6844] | 864 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
---|
| 865 | co.UpdateInterval = ephUpdInd;
|
---|
[9025] | 866 | int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer,
|
---|
[6877] | 867 | sizeof(obuffer));
|
---|
[6844] | 868 | co.UpdateInterval = clkUpdInd;
|
---|
| 869 | if (len1 > 0) {
|
---|
| 870 | hlpBufferCo += QByteArray(obuffer, len1);
|
---|
| 871 | }
|
---|
| 872 | }
|
---|
[8808] | 873 | int mmsg = 0;
|
---|
[9025] | 874 | int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer,
|
---|
[6877] | 875 | sizeof(obuffer));
|
---|
[6844] | 876 | if (len2 > 0) {
|
---|
| 877 | hlpBufferCo += QByteArray(obuffer, len2);
|
---|
| 878 | }
|
---|
| 879 | }
|
---|
[3493] | 880 | }
|
---|
[5662] | 881 |
|
---|
[6850] | 882 | // Code Biases
|
---|
| 883 | // -----------
|
---|
[5662] | 884 | QByteArray hlpBufferBias;
|
---|
[6877] | 885 | if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
|
---|
| 886 | || bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
|
---|
| 887 | || bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
|
---|
| 888 | || bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
|
---|
| 889 | || bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
|
---|
| 890 | || bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
|
---|
[9189] | 891 | char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
|
---|
[9140] | 892 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
---|
| 893 | int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
|
---|
| 894 | if (len > 0) {
|
---|
| 895 | hlpBufferBias = QByteArray(obuffer, len);
|
---|
| 896 | }
|
---|
[3222] | 897 | }
|
---|
| 898 | }
|
---|
[3227] | 899 |
|
---|
[6850] | 900 | // Phase Biases
|
---|
| 901 | // ------------
|
---|
| 902 | QByteArray hlpBufferPhaseBias;
|
---|
[9128] | 903 | if ((phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
|
---|
[6877] | 904 | || phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
|
---|
| 905 | || phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
|
---|
| 906 | || phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
|
---|
| 907 | || phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
|
---|
[9129] | 908 | || phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0)
|
---|
| 909 | && (_phaseBiasInformationDecoded)) {
|
---|
[9189] | 910 | char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
|
---|
[9140] | 911 | if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
|
---|
| 912 | int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
|
---|
| 913 | if (len > 0) {
|
---|
| 914 | hlpBufferPhaseBias = QByteArray(obuffer, len);
|
---|
| 915 | }
|
---|
[6850] | 916 | }
|
---|
| 917 | }
|
---|
| 918 |
|
---|
| 919 | // VTEC
|
---|
| 920 | // ----
|
---|
| 921 | QByteArray hlpBufferVtec;
|
---|
[6860] | 922 | if (vtec.NumLayers > 0) {
|
---|
[9189] | 923 | char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
|
---|
[9025] | 924 | int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
|
---|
[6860] | 925 | if (len > 0) {
|
---|
| 926 | hlpBufferVtec = QByteArray(obuffer, len);
|
---|
| 927 | }
|
---|
| 928 | }
|
---|
[6850] | 929 |
|
---|
[6877] | 930 | _outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias
|
---|
[9203] | 931 | + hlpBufferVtec + '\0';
|
---|
[3222] | 932 | }
|
---|
| 933 |
|
---|
[5662] | 934 | //
|
---|
[3222] | 935 | ////////////////////////////////////////////////////////////////////////////
|
---|
[8542] | 936 | t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
|
---|
[6877] | 937 | double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
|
---|
[8483] | 938 | double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
|
---|
| 939 | const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
|
---|
[9025] | 940 | struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
|
---|
[3222] | 941 |
|
---|
[4930] | 942 | // Broadcast Position and Velocity
|
---|
| 943 | // -------------------------------
|
---|
[8542] | 944 | ColumnVector xB(6);
|
---|
[4930] | 945 | ColumnVector vB(3);
|
---|
[8542] | 946 | t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
|
---|
[5662] | 947 |
|
---|
[8542] | 948 | if (irc != success) {
|
---|
| 949 | return irc;
|
---|
| 950 | }
|
---|
| 951 |
|
---|
[4991] | 952 | // Precise Position
|
---|
| 953 | // ----------------
|
---|
| 954 | ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
|
---|
[3222] | 955 |
|
---|
[8542] | 956 | if (xP.size() == 0) {
|
---|
| 957 | return failure;
|
---|
| 958 | }
|
---|
| 959 |
|
---|
[5662] | 960 | double dc = 0.0;
|
---|
[8405] | 961 | if (_crdTrafo != "IGS14") {
|
---|
[8145] | 962 | crdTrafo(GPSweek, xP, dc);
|
---|
[8094] | 963 | }
|
---|
[5662] | 964 |
|
---|
[4930] | 965 | // Difference in xyz
|
---|
| 966 | // -----------------
|
---|
[6877] | 967 | ColumnVector dx = xB.Rows(1, 3) - xP;
|
---|
| 968 | ColumnVector dv = vB - rtnVel;
|
---|
[5662] | 969 |
|
---|
[4930] | 970 | // Difference in RSW
|
---|
| 971 | // -----------------
|
---|
[3222] | 972 | ColumnVector rsw(3);
|
---|
[6877] | 973 | XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
|
---|
[3222] | 974 |
|
---|
[4930] | 975 | ColumnVector dotRsw(3);
|
---|
[6877] | 976 | XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
|
---|
[3222] | 977 |
|
---|
[4930] | 978 | // Clock Correction
|
---|
| 979 | // ----------------
|
---|
[8499] | 980 | double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
|
---|
[8679] | 981 | double dClkA1 = 0.0;
|
---|
| 982 | if (rtnClk(2)) {
|
---|
[9126] | 983 | dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
|
---|
[8679] | 984 | }
|
---|
| 985 | double dClkA2 = 0.0;
|
---|
| 986 | if (rtnClk(3)) {
|
---|
[9126] | 987 | dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
|
---|
[8679] | 988 | }
|
---|
[3222] | 989 |
|
---|
| 990 | if (sd) {
|
---|
[6877] | 991 | sd->ID = prn.mid(1).toInt();
|
---|
| 992 | sd->IOD = eph->IOD();
|
---|
[8483] | 993 | sd->Clock.DeltaA0 = dClkA0;
|
---|
| 994 | sd->Clock.DeltaA1 = dClkA1;
|
---|
| 995 | sd->Clock.DeltaA2 = dClkA2;
|
---|
| 996 | sd->UserRangeAccuracy = rtnUra;
|
---|
| 997 | sd->Orbit.DeltaRadial = rsw(1);
|
---|
[6877] | 998 | sd->Orbit.DeltaAlongTrack = rsw(2);
|
---|
| 999 | sd->Orbit.DeltaCrossTrack = rsw(3);
|
---|
[8483] | 1000 | sd->Orbit.DotDeltaRadial = dotRsw(1);
|
---|
[4930] | 1001 | sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
|
---|
| 1002 | sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
|
---|
[9179] | 1003 |
|
---|
| 1004 | if (corrIsOutOfRange(sd)) {
|
---|
| 1005 | return failure;
|
---|
| 1006 | }
|
---|
[3222] | 1007 | }
|
---|
| 1008 |
|
---|
[8483] | 1009 | outLine.sprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
|
---|
| 1010 | GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
|
---|
[9179] | 1011 | rsw(1), rsw(2), rsw(3)); //fprintf(stderr, "%s\n", outLine.toStdString().c_str());
|
---|
[3222] | 1012 |
|
---|
[8499] | 1013 | // RTNET full clock for RINEX and SP3 file
|
---|
| 1014 | // ---------------------------------------
|
---|
[4991] | 1015 | double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
|
---|
[8499] | 1016 | double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
|
---|
[8483] | 1017 | double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
|
---|
| 1018 | double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² ) -/s]
|
---|
[4991] | 1019 |
|
---|
[3222] | 1020 | if (_rnx) {
|
---|
[8510] | 1021 | double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
|
---|
| 1022 | int s = rtnClkSig.size();
|
---|
| 1023 | switch (s) {
|
---|
| 1024 | case 1:
|
---|
| 1025 | clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
|
---|
| 1026 | clkRnxRateSig = 0.0; // [s/s = -]
|
---|
| 1027 | clkRnxAccSig = 0.0; // [s/s² ) -/s]
|
---|
| 1028 | break;
|
---|
| 1029 | case 2:
|
---|
| 1030 | clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
|
---|
| 1031 | clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
|
---|
| 1032 | clkRnxAccSig = 0.0; // [s/s² ) -/s]
|
---|
| 1033 | break;
|
---|
| 1034 | case 3:
|
---|
| 1035 | clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
|
---|
| 1036 | clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
|
---|
| 1037 | clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
|
---|
| 1038 | break;
|
---|
| 1039 | }
|
---|
[8483] | 1040 | _rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
|
---|
| 1041 | clkRnxSig, clkRnxRateSig, clkRnxAccSig);
|
---|
[3222] | 1042 | }
|
---|
| 1043 | if (_sp3) {
|
---|
[8483] | 1044 | _sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
|
---|
[3222] | 1045 | }
|
---|
[8542] | 1046 | return success;
|
---|
[3222] | 1047 | }
|
---|
| 1048 |
|
---|
| 1049 | // Transform Coordinates
|
---|
| 1050 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5662] | 1051 | void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
|
---|
[6877] | 1052 | double& dc) {
|
---|
[3222] | 1053 |
|
---|
| 1054 | // Current epoch minus 2000.0 in years
|
---|
| 1055 | // ------------------------------------
|
---|
[6877] | 1056 | double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
|
---|
[3222] | 1057 |
|
---|
| 1058 | ColumnVector dx(3);
|
---|
| 1059 |
|
---|
| 1060 | dx(1) = _dx + dt * _dxr;
|
---|
| 1061 | dx(2) = _dy + dt * _dyr;
|
---|
| 1062 | dx(3) = _dz + dt * _dzr;
|
---|
| 1063 |
|
---|
| 1064 | static const double arcSec = 180.0 * 3600.0 / M_PI;
|
---|
| 1065 |
|
---|
| 1066 | double ox = (_ox + dt * _oxr) / arcSec;
|
---|
| 1067 | double oy = (_oy + dt * _oyr) / arcSec;
|
---|
| 1068 | double oz = (_oz + dt * _ozr) / arcSec;
|
---|
| 1069 |
|
---|
| 1070 | double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
|
---|
| 1071 |
|
---|
[4912] | 1072 | // Specify approximate center of area
|
---|
| 1073 | // ----------------------------------
|
---|
| 1074 | ColumnVector meanSta(3);
|
---|
| 1075 |
|
---|
[6877] | 1076 | if (_crdTrafo == "ETRF2000") {
|
---|
| 1077 | meanSta(1) = 3661090.0;
|
---|
| 1078 | meanSta(2) = 845230.0;
|
---|
| 1079 | meanSta(3) = 5136850.0;
|
---|
[4908] | 1080 | }
|
---|
[8094] | 1081 | else if (_crdTrafo == "GDA2020") {
|
---|
[4973] | 1082 | meanSta(1) = -4052050.0;
|
---|
[6877] | 1083 | meanSta(2) = 4212840.0;
|
---|
[4973] | 1084 | meanSta(3) = -2545110.0;
|
---|
[4912] | 1085 | }
|
---|
| 1086 | else if (_crdTrafo == "SIRGAS2000") {
|
---|
[6877] | 1087 | meanSta(1) = 3740860.0;
|
---|
[4973] | 1088 | meanSta(2) = -4964290.0;
|
---|
| 1089 | meanSta(3) = -1425420.0;
|
---|
[4912] | 1090 | }
|
---|
[5343] | 1091 | else if (_crdTrafo == "DREF91") {
|
---|
[6877] | 1092 | meanSta(1) = 3959579.0;
|
---|
| 1093 | meanSta(2) = 721719.0;
|
---|
| 1094 | meanSta(3) = 4931539.0;
|
---|
[5343] | 1095 | }
|
---|
[4912] | 1096 | else if (_crdTrafo == "Custom") {
|
---|
[6877] | 1097 | meanSta(1) = 0.0; // TODO
|
---|
| 1098 | meanSta(2) = 0.0; // TODO
|
---|
| 1099 | meanSta(3) = 0.0; // TODO
|
---|
[4912] | 1100 | }
|
---|
[4908] | 1101 |
|
---|
[4912] | 1102 | // Clock correction proportional to topocentric distance to satellites
|
---|
| 1103 | // -------------------------------------------------------------------
|
---|
[8904] | 1104 | double rho = (xyz - meanSta).NormFrobenius();
|
---|
[4913] | 1105 | dc = rho * (sc - 1.0) / sc / t_CST::c;
|
---|
[4908] | 1106 |
|
---|
[6877] | 1107 | Matrix rMat(3, 3);
|
---|
| 1108 | rMat(1, 1) = 1.0;
|
---|
| 1109 | rMat(1, 2) = -oz;
|
---|
| 1110 | rMat(1, 3) = oy;
|
---|
| 1111 | rMat(2, 1) = oz;
|
---|
| 1112 | rMat(2, 2) = 1.0;
|
---|
| 1113 | rMat(2, 3) = -ox;
|
---|
| 1114 | rMat(3, 1) = -oy;
|
---|
| 1115 | rMat(3, 2) = ox;
|
---|
| 1116 | rMat(3, 3) = 1.0;
|
---|
[3222] | 1117 |
|
---|
| 1118 | xyz = sc * rMat * xyz + dx;
|
---|
| 1119 | }
|
---|
| 1120 |
|
---|
[6557] | 1121 | int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
|
---|
| 1122 |
|
---|
| 1123 | if (samplingRate == 10.0) {
|
---|
| 1124 | return 3;
|
---|
| 1125 | }
|
---|
| 1126 | else if (samplingRate == 15.0) {
|
---|
| 1127 | return 4;
|
---|
| 1128 | }
|
---|
| 1129 | else if (samplingRate == 30.0) {
|
---|
| 1130 | return 5;
|
---|
| 1131 | }
|
---|
| 1132 | else if (samplingRate == 60.0) {
|
---|
| 1133 | return 6;
|
---|
| 1134 | }
|
---|
| 1135 | else if (samplingRate == 120.0) {
|
---|
| 1136 | return 7;
|
---|
| 1137 | }
|
---|
| 1138 | else if (samplingRate == 240.0) {
|
---|
| 1139 | return 8;
|
---|
| 1140 | }
|
---|
| 1141 | else if (samplingRate == 300.0) {
|
---|
| 1142 | return 9;
|
---|
| 1143 | }
|
---|
| 1144 | else if (samplingRate == 600.0) {
|
---|
| 1145 | return 10;
|
---|
| 1146 | }
|
---|
| 1147 | else if (samplingRate == 900.0) {
|
---|
| 1148 | return 11;
|
---|
| 1149 | }
|
---|
| 1150 | else if (samplingRate == 1800.0) {
|
---|
| 1151 | return 12;
|
---|
| 1152 | }
|
---|
| 1153 | else if (samplingRate == 3600.0) {
|
---|
| 1154 | return 13;
|
---|
| 1155 | }
|
---|
| 1156 | else if (samplingRate == 7200.0) {
|
---|
| 1157 | return 14;
|
---|
| 1158 | }
|
---|
| 1159 | else if (samplingRate == 10800.0) {
|
---|
| 1160 | return 15;
|
---|
| 1161 | }
|
---|
[6877] | 1162 | return 2; // default
|
---|
[6557] | 1163 | }
|
---|
[9179] | 1164 |
|
---|
| 1165 | bool bncRtnetUploadCaster::corrIsOutOfRange(struct SsrCorr::ClockOrbit::SatData* sd) {
|
---|
| 1166 |
|
---|
| 1167 | if (fabs(sd->Clock.DeltaA0) > 209.7151) {return true;}
|
---|
| 1168 | if (fabs(sd->Clock.DeltaA1) > 1.048575) {return true;}
|
---|
| 1169 | if (fabs(sd->Clock.DeltaA2) > 1.34217726) {return true;}
|
---|
| 1170 |
|
---|
| 1171 | if (fabs(sd->Orbit.DeltaRadial) > 209.7151) {return true;}
|
---|
| 1172 | if (fabs(sd->Orbit.DeltaAlongTrack) > 209.7148) {return true;}
|
---|
| 1173 | if (fabs(sd->Orbit.DeltaCrossTrack) > 209.7148) {return true;}
|
---|
| 1174 |
|
---|
| 1175 | if (fabs(sd->Orbit.DotDeltaRadial) > 1.048575) {return true;}
|
---|
| 1176 | if (fabs(sd->Orbit.DotDeltaAlongTrack) > 1.048572) {return true;}
|
---|
| 1177 | if (fabs(sd->Orbit.DotDeltaCrossTrack) > 1.048572) {return true;}
|
---|
| 1178 |
|
---|
| 1179 | return false;
|
---|
[9247] | 1180 | } |
---|