source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 10541

Last change on this file since 10541 was 10541, checked in by stuerze, 3 months ago

minor changes
File size: 45.9 KB
Line 
1/* -------------------------------------------------------------------------
2 * BKG NTRIP Server
3 * -------------------------------------------------------------------------
4 *
5 * Class: bncRtnetUploadCaster
6 *
7 * Purpose: Connection to NTRIP Caster
8 *
9 * Author: L. Mervart
10 *
11 * Created: 29-Mar-2011
12 *
13 * Changes:
14 *
15 * -----------------------------------------------------------------------*/
16
17#include <math.h>
18#include "bncrtnetuploadcaster.h"
19#include "bncsettings.h"
20#include "bncephuser.h"
21#include "bncclockrinex.h"
22#include "bncbiassinex.h"
23#include "bncsp3.h"
24#include "gnss.h"
25#include "bncutils.h"
26
27using namespace std;
28
29// Constructor
30////////////////////////////////////////////////////////////////////////////
31bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
32 const QString& outHost, int outPort,
33 const QString& ntripVersion,
34 const QString& userName, const QString& password,
35 const QString& crdTrafo, const QString& ssrFormat, bool CoM, const QString& sp3FileName,
36 const QString& rnxFileName, const QString& bsxFileName, int PID, int SID, int IOD, int iRow) :
37 bncUploadCaster(mountpoint, outHost, outPort, ntripVersion, userName, password, iRow, 0) {
38
39 if (!mountpoint.isEmpty()) {
40 _casterID += mountpoint;
41 }
42 if (!outHost.isEmpty()) {
43 _casterID += " " + outHost;
44 if (outPort) {
45 _casterID += ":" + QString("%1").arg(outPort, 10);
46 }
47 }
48 if (!crdTrafo.isEmpty()) {
49 _casterID += " " + crdTrafo;
50 }
51 if (!sp3FileName.isEmpty()) {
52 _casterID += " " + sp3FileName;
53 }
54 if (!rnxFileName.isEmpty()) {
55 _casterID += " " + rnxFileName;
56 }
57
58 if (!bsxFileName.isEmpty()) {
59 _casterID += " " + bsxFileName;
60 }
61
62 _crdTrafoStr = crdTrafo;
63
64 _ssrFormat = ssrFormat;
65
66 _ssrCorr = 0;
67 if (_ssrFormat == "IGS-SSR") {
68 _ssrCorr = new SsrCorrIgs();
69 }
70 else if (_ssrFormat == "RTCM-SSR") {
71 _ssrCorr = new SsrCorrRtcm();
72 }
73
74 _CoM = CoM;
75 _PID = PID;
76 _SID = SID;
77 _IOD = IOD;
78 _phaseBiasInformationDecoded = false;
79
80 // Member that receives the ephemeris
81 // ----------------------------------
82 _ephUser = new bncEphUser(true);
83
84 bncSettings settings;
85 QString intr = settings.value("uploadIntr").toString();
86 QStringList hlp = settings.value("cmbStreams").toStringList();
87 _samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toDouble();
88 if (hlp.size() > 1) { // combination stream upload
89 _samplRtcmClkCorr = settings.value("cmbSampl").toInt();
90 }
91 else { // single stream upload or sp3 file generation
92 _samplRtcmClkCorr = 5; // default
93 }
94 int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
95 int samplSp3 = settings.value("uploadSamplSp3").toString().split("sec").first().toInt();
96 int samplBiaSnx = settings.value("uploadSamplBiaSnx").toInt();
97
98 if (_samplRtcmEphCorr == 0.0) {
99 _usedEph = 0;
100 }
101 else {
102 _usedEph = new QMap<QString, const t_eph*>;
103 }
104
105 // RINEX writer
106 // ------------
107 if (!rnxFileName.isEmpty()) {
108 _rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
109 }
110 else {
111 _rnx = 0;
112 }
113
114 // SP3 writer
115 // ----------
116 if (!sp3FileName.isEmpty()) {
117 _sp3 = new bncSP3(sp3FileName, intr, samplSp3);
118 }
119 else {
120 _sp3 = 0;
121 }
122
123 // SINEX writer
124 // ------------
125 if (!bsxFileName.isEmpty()) {
126 _bsx = new bncBiasSinex(bsxFileName, intr, samplBiaSnx);
127 }
128 else {
129 _bsx = 0;
130 }
131
132
133 // Set Transformation Parameters
134 // -----------------------------
135 // Transformation Parameters from ITRF2014 to ETRF2000
136 // http://etrs89.ign.fr/pub/EUREF-TN-1-Mar-04-2024.pdf
137 if (_crdTrafoStr == "ETRF2000") {
138 _dx = 0.0552;
139 _dy = 0.0527;
140 _dz = -0.0836;
141
142 _dxr = 0.0001;
143 _dyr = 0.0001;
144 _dzr = -0.0019;
145
146 _ox = 0.002106;
147 _oy = 0.012740;
148 _oz = -0.020592;
149
150 _oxr = 0.000081;
151 _oyr = 0.000490;
152 _ozr = -0.000792;
153
154 _sc = 2.67;
155 _scr = 0.11;
156
157 _t0 = 2015.0;
158 }
159 // Transformation Parameters from ITRF2014 to GDA2020 (Ryan Ruddick, GA)
160 else if (_crdTrafoStr == "GDA2020") {
161 _dx = 0.0;
162 _dy = 0.0;
163 _dz = 0.0;
164
165 _dxr = 0.0;
166 _dyr = 0.0;
167 _dzr = 0.0;
168
169 _ox = 0.0;
170 _oy = 0.0;
171 _oz = 0.0;
172
173 _oxr = 0.00150379;
174 _oyr = 0.00118346;
175 _ozr = 0.00120716;
176
177 _sc = 0.0;
178 _scr = 0.0;
179
180 _t0 = 2020.0;
181 }
182 // Transformation Parameters from IGb14 to SIRGAS2000 (Thanks to Sonia Costa, BRA)
183 // June 29 2020: TX:-0.0027 m TY:-0.0025 m TZ:-0.0042 m SCL:1.20 (ppb) no rotations and no rates.*/
184 else if (_crdTrafoStr == "SIRGAS2000") {
185 _dx = -0.0027;
186 _dy = -0.0025;
187 _dz = -0.0042;
188
189 _dxr = 0.0;
190 _dyr = 0.0;
191 _dzr = 0.0;
192
193 _ox = 0.0;
194 _oy = 0.0;
195 _oz = 0.0;
196
197 _oxr = 0.0;
198 _oyr = 0.0;
199 _ozr = 0.0;
200
201 _sc = 1.2;
202 _scr = 0.0;
203 _t0 = 2000.0;
204 }
205 // Transformation Parameters from ITRF2014 to DREF91
206 else if (_crdTrafoStr == "DREF91") {
207 _dx = 0.0547;
208 _dy = 0.0522;
209 _dz = -0.0741;
210
211 _dxr = 0.0001;
212 _dyr = 0.0001;
213 _dzr = -0.0019;
214 // ERTF200 + rotation parameters (ETRF2000 => DREF91)
215 _ox = 0.001701 + 0.000658;
216 _oy = 0.010290 - 0.000208;
217 _oz = -0.016632 + 0.000755;
218
219 _oxr = 0.000081;
220 _oyr = 0.000490;
221 _ozr = -0.000729;
222
223 _sc = 2.12;
224 _scr = 0.11;
225
226 _t0 = 2010.0;
227 }
228 else if (_crdTrafoStr == "Custom") {
229 _dx = settings.value("trafo_dx").toDouble();
230 _dy = settings.value("trafo_dy").toDouble();
231 _dz = settings.value("trafo_dz").toDouble();
232 _dxr = settings.value("trafo_dxr").toDouble();
233 _dyr = settings.value("trafo_dyr").toDouble();
234 _dzr = settings.value("trafo_dzr").toDouble();
235 _ox = settings.value("trafo_ox").toDouble();
236 _oy = settings.value("trafo_oy").toDouble();
237 _oz = settings.value("trafo_oz").toDouble();
238 _oxr = settings.value("trafo_oxr").toDouble();
239 _oyr = settings.value("trafo_oyr").toDouble();
240 _ozr = settings.value("trafo_ozr").toDouble();
241 _sc = settings.value("trafo_sc").toDouble();
242 _scr = settings.value("trafo_scr").toDouble();
243 _t0 = settings.value("trafo_t0").toDouble();
244 }
245 // TODO: the following lines can be deleted if all parameters are updated regarding ITRF2020
246 if (_crdTrafoStr == "ETRF2000" ||
247 _crdTrafoStr == "GDA2020" ||
248 _crdTrafoStr == "DREF91" ||
249 _crdTrafoStr == "SIRGAS2000") {
250 // Transformation Parameters from ITRF2020 to ITRF2014
251 // from ITRF web site: https://itrf.ign.fr/en/solutions/transformations
252 _dx14 = -0.0014;
253 _dy14 = -0.0009;
254 _dz14 = 0.0014;
255 _dxr14 = 0.0;
256 _dyr14 = -0.0001;
257 _dzr14 = -0.0002;
258 _ox14 = 0.0;
259 _oy14 = 0.0;
260 _oz14 = 0.0;
261 _oxr14 = 0.0;
262 _oyr14 = 0.0;
263 _ozr14 = 0.0;
264 _sc14 = -0.42;
265 _scr14 = 0.0;
266 _t014 = 2015.0;
267 }
268}
269
270// Destructor
271////////////////////////////////////////////////////////////////////////////
272bncRtnetUploadCaster::~bncRtnetUploadCaster() {
273 if (isRunning()) {
274 wait();
275 }
276 delete _rnx;
277 delete _sp3;
278 delete _ephUser;
279 delete _usedEph;
280 delete _ssrCorr;
281}
282
283//
284////////////////////////////////////////////////////////////////////////////
285void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
286
287 QMutexLocker locker(&_mutex);
288
289 // Append to internal buffer
290 // -------------------------
291 _rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
292
293 // Select buffer part that contains last epoch
294 // -------------------------------------------
295
296 // Find the begin of last epoch
297 int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*');
298 if (iEpoBeg == -1) {
299 _rtnetStreamBuffer.clear();
300 emit(newMessage(QString("bncRtnetUploadCaster: no Epoch line found: %1").arg(_casterID).toLatin1(), false));
301 return;
302 }
303
304 // Find the begin of the first epoch
305 int iEpoBegEarlier = _rtnetStreamBuffer.indexOf('*');
306 if (iEpoBegEarlier != -1 && iEpoBegEarlier < iEpoBeg) {
307 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBegEarlier);
308 }
309 else {
310 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
311 }
312
313 // Find End of the last epoch
314 int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE");
315 if (iEpoEnd == -1) {
316 _rtnetStreamBuffer.clear();
317 emit(newMessage(QString("bncRtnetUploadCaster: no EOE found: %1").arg(_casterID).toLatin1(), false));
318 return;
319 }
320
321 QStringList lines;
322 // If there is there more than 1 epoch line in the buffer
323 while (_rtnetStreamBuffer.count('*') > 1) {
324 emit(newMessage(QString("bncRtnetUploadCaster: more than 1 epoch in buffer: %1").arg(_rtnetStreamBuffer.count('*')).toLatin1(), false));
325 QString rtnetStreamBuffer = _rtnetStreamBuffer;
326 int nextEpoch = rtnetStreamBuffer.indexOf('*');
327 int nextEpochEnd = rtnetStreamBuffer.indexOf("EOE");
328 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(1);
329 if (nextEpoch != -1 && nextEpoch < iEpoEnd) {
330 rtnetStreamBuffer = rtnetStreamBuffer.mid(nextEpoch, nextEpochEnd);
331 lines = rtnetStreamBuffer.split('\n', Qt::SkipEmptyParts);
332 if (lines.size() > 2) {
333 decodeRtnetEpoch(lines);
334 }
335 nextEpochEnd = _rtnetStreamBuffer.indexOf("EOE");
336 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(nextEpochEnd+3);
337 }
338 else if (nextEpoch != -1 && nextEpoch >= iEpoEnd) {
339 break;
340 }
341 }
342
343 lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', Qt::SkipEmptyParts);
344
345 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
346
347 if (lines.size() < 2) {
348 emit(newMessage(QString("bncRtnetUploadCaster: less than 2 lines to decode : %1").arg(_casterID).toLatin1(), false));
349 return;
350 }
351 decodeRtnetEpoch(lines);
352}
353
354//
355////////////////////////////////////////////////////////////////////////////
356void bncRtnetUploadCaster::decodeRtnetEpoch(QStringList epochLines) {
357
358 // Read first line (with epoch time)
359 // ---------------------------------
360 QTextStream in(epochLines[0].toLatin1());
361 QString hlp;
362 int year, month, day, hour, min;
363 double sec;
364 in >> hlp >> year >> month >> day >> hour >> min >> sec;
365 bncTime epoTime;
366 epoTime.set(year, month, day, hour, min, sec);
367
368 emit(newMessage(
369 "bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
370 + " " + QByteArray(epoTime.timestr().c_str()) + " "
371 + _casterID.toLatin1(), false));
372
373 struct SsrCorr::ClockOrbit co;
374 memset(&co, 0, sizeof(co));
375 co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
376 double gt = epoTime.gpssec() - gnumleap(year, month, day);
377 if (_ssrFormat == "RTCM-SSR") {
378 gt += 3 * 3600;
379 }
380 co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
381 co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
382 co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
383 co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
384 co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
385 co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
386 co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
387 (_crdTrafoStr == "IGS20") ?
388 co.SatRefDatum = _ssrCorr->DATUM_ITRF :
389 co.SatRefDatum = _ssrCorr->DATUM_LOCAL;
390 co.SSRIOD = _IOD;
391 co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
392 co.SSRSolutionID = _SID;
393 if (_ssrFormat == "RTCM-SSR") {
394 co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
395 }
396 else if (_ssrFormat == "IGS-SSR") {
397 co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
398 }
399 co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
400 co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
401
402
403 t_serviceCrs serviceCrs;
404 t_rtcmCrs rtcmCrs;
405 if (_crdTrafoStr == "IGS20") {
406 serviceCrs._CE = serviceCrs._coordinateEpoch = 0;
407 int nc = _crdTrafoStr.length();
408 if (nc > 31) {nc = 31;}
409 for (int i = 0; i < nc; i++) {
410 serviceCrs._name[i] =
411 rtcmCrs._name[i] = _crdTrafoStr.toStdString()[i];
412 }
413 serviceCrs._name[nc] = 0;
414 rtcmCrs._name[nc] = 0;
415 rtcmCrs._anchor = 0; // global CRS
416 rtcmCrs._plateNumber = 0; // unknown
417 rtcmCrs._databaseLinks << "ISO.DATUM.979" << "ISO.CRS:980";
418 }
419 else {
420 if (_crdTrafoStr != "Custom") {
421 serviceCrs._coordinateEpoch = _t0;
422 serviceCrs.setCEFromCoordinateEpoch();
423 int nc = _crdTrafoStr.length();
424 if (nc > 31) {nc = 31;}
425 for (int i = 0; i < nc; i++) {
426 serviceCrs._name[i] = _crdTrafoStr.toStdString()[i];
427 }
428 serviceCrs._name[nc] = 0;
429 QString rtcmcrsname = _crdTrafoStr + QString("(%1)").arg(_t0,4,'d',0);
430 nc = rtcmcrsname.length();
431 if (nc > 31) {nc = 31;}
432 for (int i = 0; i < nc; i++) {
433 rtcmCrs._name[i] = rtcmcrsname.toStdString()[i];
434 }
435 rtcmCrs._name[nc] = 0;
436 if (_crdTrafoStr == "ETRF2000") {
437 rtcmCrs._anchor = 1; // plate-fixed CRS
438 rtcmCrs._plateNumber = 7; // Eurasia
439 rtcmCrs._databaseLinks << "ISO.DATUM.187" << "ISO.CRS:260" << "ISO.CRS:457"
440 << "EPSG.DATUM:1186" << "EPSG.CRS:7930" << "EPSG.CRS:7931";
441 }
442 else if (_crdTrafoStr == "DREF91") {
443 rtcmCrs._anchor = 1; // plate-fixed CRS
444 rtcmCrs._plateNumber = 7; // Eurasia
445 }
446 else if (_crdTrafoStr == "GDA2020") {
447 rtcmCrs._anchor = 1; // plate-fixed CRS
448 rtcmCrs._plateNumber = 4; // Australia
449 rtcmCrs._databaseLinks << "ISO.DATUM.186" << "ISO.CRS:404" << "ISO.CRS:329"
450 << "EPSG.DATUM:1168" << "EPSG.CRS:7842" << "EPSG.CRS:7843";
451 }
452 else if (_crdTrafoStr == "SIRGAS2000") {
453 rtcmCrs._anchor = 1; // plate-fixed CRS
454 rtcmCrs._plateNumber = 12; // S.America
455 rtcmCrs._databaseLinks << "ISO.DATUM:169" << "ISO.CRS:384" << "ISO.CRS:313"
456 << "EPSG.DATUM:6674" << "EPSG.CRS:4988" << "EPSG.CRS:4989";
457 }
458 }
459 }
460
461
462 struct SsrCorr::CodeBias bias;
463 memset(&bias, 0, sizeof(bias));
464 bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
465 bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
466 bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
467 bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
468 bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
469 bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
470 bias.SSRIOD = _IOD;
471 bias.SSRProviderID = _PID;
472 bias.SSRSolutionID = _SID;
473
474 struct SsrCorr::PhaseBias phasebias;
475 memset(&phasebias, 0, sizeof(phasebias));
476 unsigned int dispersiveBiasConsistenyIndicator = 0;
477 unsigned int mwConsistencyIndicator = 0;
478 phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
479 phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
480 phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
481 phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
482 phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
483 phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
484 phasebias.SSRIOD = _IOD;
485 phasebias.SSRProviderID = _PID;
486 phasebias.SSRSolutionID = _SID;
487
488 struct SsrCorr::VTEC vtec;
489 memset(&vtec, 0, sizeof(vtec));
490 vtec.EpochTime = static_cast<int>(epoTime.gpssec());
491 vtec.SSRIOD = _IOD;
492 vtec.SSRProviderID = _PID;
493 vtec.SSRSolutionID = _SID;
494
495 // Default Update Interval
496 // -----------------------
497 int clkUpdInd = 2; // 5 sec
498 int ephUpdInd = clkUpdInd; // default
499
500 if (!_samplRtcmEphCorr) {
501 _samplRtcmEphCorr = 5.0;
502 }
503
504 if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
505 ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
506 }
507 if (_samplRtcmClkCorr > 5.0) {
508 clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
509 }
510 if (_samplRtcmEphCorr > 5.0) {
511 ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
512 }
513
514 co.UpdateInterval = clkUpdInd;
515 bias.UpdateInterval = ephUpdInd;
516 phasebias.UpdateInterval = ephUpdInd;
517
518 for (int ii = 1; ii < epochLines.size(); ii++) {
519 QString key; // prn or key VTEC, IND (phase bias indicators)
520 double rtnUra = 0.0; // [m]
521 ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
522 ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
523 ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
524 ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
525 ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
526 t_prn prn;
527
528 QTextStream in(epochLines[ii].toLatin1());
529
530 in >> key;
531
532 // non-satellite specific parameters
533 if (key.contains("IND", Qt::CaseSensitive)) {
534 in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
535 continue;
536 }
537 // non-satellite specific parameters
538 if (key.contains("VTEC", Qt::CaseSensitive)) {
539 double ui;
540 in >> ui >> vtec.NumLayers;
541 vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
542 for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
543 int dummy;
544 in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
545 >> vtec.Layers[ll].Height;
546 for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
547 for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
548 in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
549 }
550 }
551 for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
552 for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
553 in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
554 }
555 }
556 }
557 continue;
558 }
559 // satellite specific parameters
560 char sys = key.mid(0, 1).at(0).toLatin1();
561 int number = key.mid(1, 2).toInt();
562 int flags = 0;
563 if (sys == 'E') { // I/NAV
564 flags = 1;
565 }
566 if (number == 0) {
567 continue;
568 }
569 prn.set(sys, number, flags);
570 QString prnInternalStr = QString::fromStdString(prn.toInternalString());
571 QString prnStr = QString::fromStdString(prn.toString());
572
573 const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
574 const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
575 const t_eph* eph = ephLast;
576 if (eph) {
577
578 // Use previous ephemeris if the last one is too recent
579 // ----------------------------------------------------
580 const int MINAGE = 60; // seconds
581 if (ephPrev && eph->receptDateTime().isValid() &&
582 eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
583 eph = ephPrev;
584 }
585
586 // Make sure the clock messages refer to same IOD as orbit messages
587 // ----------------------------------------------------------------
588 if (_usedEph) {
589 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
590 (*_usedEph)[prnInternalStr] = eph;
591 }
592 else {
593 eph = 0;
594 if (_usedEph->contains(prnInternalStr)) {
595 const t_eph* usedEph = _usedEph->value(prnInternalStr);
596 if (usedEph == ephLast) {
597 eph = ephLast;
598 }
599 else if (usedEph == ephPrev) {
600 eph = ephPrev;
601 }
602 }
603 }
604 }
605 }
606
607 QDateTime now = currentDateAndTimeGPS();
608 bncTime currentTime(now.toString(Qt::ISODate).toStdString());
609 if (eph &&
610 !outDatedBcep(eph, currentTime) && // detected from storage because of no update
611 eph->checkState() != t_eph::bad &&
612 eph->checkState() != t_eph::unhealthy &&
613 eph->checkState() != t_eph::outdated) { // detected during reception (bncephuser)
614 QMap<QString, double> codeBiases;
615 QList<phaseBiasSignal> phaseBiasList;
616 phaseBiasesSat pbSat;
617 _phaseBiasInformationDecoded = false;
618
619 while (true) {
620 QString key;
621 int numVal = 0;
622 in >> key;
623 if (in.status() != QTextStream::Ok) {
624 break;
625 }
626 if (key == "APC") {
627 in >> numVal;
628 rtnAPC.ReSize(3); rtnAPC = 0.0;
629 for (int ii = 0; ii < numVal; ii++) {
630 in >> rtnAPC[ii];
631 }
632 }
633 else if (key == "Ura") {
634 in >> numVal;
635 if (numVal == 1)
636 in >> rtnUra;
637 }
638 else if (key == "Clk") {
639 in >> numVal;
640 rtnClk.ReSize(3); rtnClk = 0.0;
641 for (int ii = 0; ii < numVal; ii++) {
642 in >> rtnClk[ii];
643 }
644 }
645 else if (key == "ClkSig") {
646 in >> numVal;
647 rtnClkSig.ReSize(3); rtnClkSig = 0.0;
648 for (int ii = 0; ii < numVal; ii++) {
649 in >> rtnClkSig[ii];
650 }
651 }
652 else if (key == "Vel") {
653 in >> numVal;
654 rtnVel.ReSize(3); rtnVel = 0.0;
655 for (int ii = 0; ii < numVal; ii++) {
656 in >> rtnVel[ii];
657 }
658 }
659 else if (key == "CoM") {
660 in >> numVal;
661 rtnCoM.ReSize(3); rtnCoM = 0.0;
662 for (int ii = 0; ii < numVal; ii++) {
663 in >> rtnCoM[ii];
664 }
665 }
666 else if (key == "CodeBias") {
667 in >> numVal;
668 for (int ii = 0; ii < numVal; ii++) {
669 QString type;
670 double value;
671 in >> type >> value;
672 codeBiases[type] = value;
673 }
674 }
675 else if (key == "YawAngle") {
676 _phaseBiasInformationDecoded = true;
677 in >> numVal >> pbSat.yawAngle;
678 if (pbSat.yawAngle < 0.0) {
679 pbSat.yawAngle += (2*M_PI);
680 }
681 else if (pbSat.yawAngle > 2*M_PI) {
682 pbSat.yawAngle -= (2*M_PI);
683 }
684 }
685 else if (key == "YawRate") {
686 _phaseBiasInformationDecoded = true;
687 in >> numVal >> pbSat.yawRate;
688 }
689 else if (key == "PhaseBias") {
690 _phaseBiasInformationDecoded = true;
691 in >> numVal;
692 for (int ii = 0; ii < numVal; ii++) {
693 phaseBiasSignal pb;
694 in >> pb.type >> pb.bias >> pb.integerIndicator
695 >> pb.wlIndicator >> pb.discontinuityCounter;
696 phaseBiasList.append(pb);
697 }
698 }
699 else {
700 in >> numVal;
701 for (int ii = 0; ii < numVal; ii++) {
702 double dummy;
703 in >> dummy;
704 }
705 emit(newMessage(" RTNET format error: "
706 + epochLines[ii].toLatin1(), false));
707 break;
708 }
709 }
710
711 struct SsrCorr::ClockOrbit::SatData* sd = 0;
712 if (prn.system() == 'G') {
713 sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
714 ++co.NumberOfSat[CLOCKORBIT_SATGPS];
715 }
716 else if (prn.system() == 'R') {
717 sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
718 ++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
719 }
720 else if (prn.system() == 'E') {
721 sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
722 + co.NumberOfSat[CLOCKORBIT_SATGALILEO];
723 ++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
724 }
725 else if (prn.system() == 'J') {
726 sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
727 + CLOCKORBIT_NUMGALILEO
728 + co.NumberOfSat[CLOCKORBIT_SATQZSS];
729 ++co.NumberOfSat[CLOCKORBIT_SATQZSS];
730 }
731 else if (prn.system() == 'S') {
732 sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
733 + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
734 + co.NumberOfSat[CLOCKORBIT_SATSBAS];
735 ++co.NumberOfSat[CLOCKORBIT_SATSBAS];
736 }
737 else if (prn.system() == 'C') {
738 sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
739 + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
740 + CLOCKORBIT_NUMSBAS
741 + co.NumberOfSat[CLOCKORBIT_SATBDS];
742 ++co.NumberOfSat[CLOCKORBIT_SATBDS];
743 }
744 if (sd) {
745 QString outLine;
746 t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
747 rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
748 if (irc != success) {
749 continue;
750 }
751 }
752
753 // Code Biases
754 // -----------
755 struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
756 if (!codeBiases.isEmpty()) {
757 if (prn.system() == 'G') {
758 biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
759 ++bias.NumberOfSat[CLOCKORBIT_SATGPS];
760 }
761 else if (prn.system() == 'R') {
762 biasSat = bias.Sat + CLOCKORBIT_NUMGPS
763 + bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
764 ++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
765 }
766 else if (prn.system() == 'E') {
767 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
768 + bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
769 ++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
770 }
771 else if (prn.system() == 'J') {
772 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
773 + CLOCKORBIT_NUMGALILEO
774 + bias.NumberOfSat[CLOCKORBIT_SATQZSS];
775 ++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
776 }
777 else if (prn.system() == 'S') {
778 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
779 + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
780 + bias.NumberOfSat[CLOCKORBIT_SATSBAS];
781 ++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
782 }
783 else if (prn.system() == 'C') {
784 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
785 + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
786 + CLOCKORBIT_NUMSBAS
787 + bias.NumberOfSat[CLOCKORBIT_SATBDS];
788 ++bias.NumberOfSat[CLOCKORBIT_SATBDS];
789 }
790 }
791
792 if (biasSat) {
793 biasSat->ID = prn.number();
794 biasSat->NumberOfCodeBiases = 0;
795 QMapIterator<QString, double> it(codeBiases);
796 while (it.hasNext()) {
797 it.next();
798 int ii = biasSat->NumberOfCodeBiases;
799 if (ii >= CLOCKORBIT_NUMBIAS)
800 break;
801 SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
802 if (type != _ssrCorr->RESERVED) {
803 biasSat->NumberOfCodeBiases += 1;
804 biasSat->Biases[ii].Type = type;
805 biasSat->Biases[ii].Bias = it.value();
806 if (_bsx) {
807 QString obsCode = 'C' + it.key();
808 _bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, it.value());
809 }
810 }
811 }
812 }
813
814 // Phase Biases
815 // ------------
816 struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
817 if (prn.system() == 'G') {
818 phasebiasSat = phasebias.Sat
819 + phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
820 ++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
821 }
822 else if (prn.system() == 'R') {
823 phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
824 + phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
825 ++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
826 }
827 else if (prn.system() == 'E') {
828 phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
829 + phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
830 ++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
831 }
832 else if (prn.system() == 'J') {
833 phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
834 + CLOCKORBIT_NUMGALILEO
835 + phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
836 ++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
837 }
838 else if (prn.system() == 'S') {
839 phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
840 + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
841 + phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
842 ++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
843 }
844 else if (prn.system() == 'C') {
845 phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
846 + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
847 + CLOCKORBIT_NUMSBAS
848 + phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
849 ++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
850 }
851
852 if (phasebiasSat && _phaseBiasInformationDecoded) {
853 phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
854 phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
855 phasebiasSat->ID = prn.number();
856 phasebiasSat->NumberOfPhaseBiases = 0;
857 phasebiasSat->YawAngle = pbSat.yawAngle;
858 phasebiasSat->YawRate = pbSat.yawRate;
859 QListIterator<phaseBiasSignal> it(phaseBiasList);
860 while (it.hasNext()) {
861 const phaseBiasSignal &pbSig = it.next();
862 int ii = phasebiasSat->NumberOfPhaseBiases;
863 if (ii >= CLOCKORBIT_NUMBIAS)
864 break;
865 SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
866 if (type != _ssrCorr->RESERVED) {
867 phasebiasSat->NumberOfPhaseBiases += 1;
868 phasebiasSat->Biases[ii].Type = type;
869 phasebiasSat->Biases[ii].Bias = pbSig.bias;
870 phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
871 phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
872 phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
873 if (_bsx) {
874 QString obsCode = 'L' + pbSig.type;
875 _bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, pbSig.bias);
876 }
877 }
878 }
879 }
880 }
881 }
882
883 QByteArray hlpBufferCo;
884
885 // Orbit and Clock Corrections together
886 // ------------------------------------
887 if (_samplRtcmEphCorr == _samplRtcmClkCorr) {
888 if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
889 || co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
890 || co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
891 || co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
892 || co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
893 || co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
894 char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
895 int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
896 if (len > 0) {
897 hlpBufferCo = QByteArray(obuffer, len);
898 }
899 }
900 }
901
902 // Orbit and Clock Corrections separately
903 // --------------------------------------
904 else {
905 if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
906 char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
907 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
908 co.UpdateInterval = ephUpdInd;
909 int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer, sizeof(obuffer));
910 co.UpdateInterval = clkUpdInd;
911 if (len1 > 0) {
912 hlpBufferCo += QByteArray(obuffer, len1);
913 }
914 }
915 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 ||
916 co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 ||
917 co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 ||
918 co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
919 co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
920 int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer, sizeof(obuffer));
921 if (len2 > 0) {
922 hlpBufferCo += QByteArray(obuffer, len2);
923 }
924 }
925 if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
926 char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
927 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
928 co.UpdateInterval = ephUpdInd;
929 int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer, sizeof(obuffer));
930 co.UpdateInterval = clkUpdInd;
931 if (len1 > 0) {
932 hlpBufferCo += QByteArray(obuffer, len1);
933 }
934 }
935 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 ||
936 co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 ||
937 co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
938 co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
939 int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer, sizeof(obuffer));
940 if (len2 > 0) {
941 hlpBufferCo += QByteArray(obuffer, len2);
942 }
943 }
944 if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
945 char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
946 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
947 co.UpdateInterval = ephUpdInd;
948 int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer, sizeof(obuffer));
949 co.UpdateInterval = clkUpdInd;
950 if (len1 > 0) {
951 hlpBufferCo += QByteArray(obuffer, len1);
952 }
953 }
954 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 ||
955 co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
956 co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
957 int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer, sizeof(obuffer));
958 if (len2 > 0) {
959 hlpBufferCo += QByteArray(obuffer, len2);
960 }
961 }
962 if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
963 char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
964 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
965 co.UpdateInterval = ephUpdInd;
966 int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer, sizeof(obuffer));
967 co.UpdateInterval = clkUpdInd;
968 if (len1 > 0) {
969 hlpBufferCo += QByteArray(obuffer, len1);
970 }
971 }
972 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
973 co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
974 int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer, sizeof(obuffer));
975 if (len2 > 0) {
976 hlpBufferCo += QByteArray(obuffer, len2);
977 }
978 }
979 if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
980 char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
981 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
982 co.UpdateInterval = ephUpdInd;
983 int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer, sizeof(obuffer));
984 co.UpdateInterval = clkUpdInd;
985 if (len1 > 0) {
986 hlpBufferCo += QByteArray(obuffer, len1);
987 }
988 }
989 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
990 int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
991 sizeof(obuffer));
992 if (len2 > 0) {
993 hlpBufferCo += QByteArray(obuffer, len2);
994 }
995 }
996 if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
997 char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
998 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
999 co.UpdateInterval = ephUpdInd;
1000 int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer, sizeof(obuffer));
1001 co.UpdateInterval = clkUpdInd;
1002 if (len1 > 0) {
1003 hlpBufferCo += QByteArray(obuffer, len1);
1004 }
1005 }
1006 int mmsg = 0;
1007 int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer, sizeof(obuffer));
1008 if (len2 > 0) {
1009 hlpBufferCo += QByteArray(obuffer, len2);
1010 }
1011 }
1012 }
1013
1014 // Code Biases
1015 // -----------
1016 QByteArray hlpBufferBias;
1017 if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
1018 || bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
1019 || bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
1020 || bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
1021 || bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
1022 || bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
1023 char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
1024 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
1025 int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
1026 if (len > 0) {
1027 hlpBufferBias = QByteArray(obuffer, len);
1028 }
1029 }
1030 }
1031
1032 // Phase Biases
1033 // ------------
1034 QByteArray hlpBufferPhaseBias;
1035 if ((phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
1036 || phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
1037 || phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
1038 || phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
1039 || phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
1040 || phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0)
1041 && (_phaseBiasInformationDecoded)) {
1042 char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
1043 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
1044 int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
1045 if (len > 0) {
1046 hlpBufferPhaseBias = QByteArray(obuffer, len);
1047 }
1048 }
1049 }
1050
1051 // VTEC
1052 // ----
1053 QByteArray hlpBufferVtec;
1054 if (vtec.NumLayers > 0) {
1055 char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
1056 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
1057 int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
1058 if (len > 0) {
1059 hlpBufferVtec = QByteArray(obuffer, len);
1060 }
1061 }
1062 }
1063
1064 // Service CRS
1065 // -----------
1066 QByteArray hlpBufferServiceCrs;
1067 if (sizeof(serviceCrs._name) > 0) {
1068 char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
1069 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
1070 int len = t_crsEncoder::RTCM3(serviceCrs, obuffer, sizeof(obuffer));
1071 if (len > 0) {
1072 hlpBufferServiceCrs = QByteArray(obuffer, len);
1073 }
1074 }
1075 }
1076
1077 // RTCM CRS
1078 // --------
1079 QByteArray hlpBufferRtcmCrs;
1080 if (sizeof(rtcmCrs._name) > 0) {
1081 char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
1082 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
1083 int len = t_crsEncoder::RTCM3(rtcmCrs, obuffer, sizeof(obuffer));
1084 if (len > 0) {
1085 hlpBufferRtcmCrs = QByteArray(obuffer, len);
1086 }
1087 }
1088 }
1089
1090 // Create OutBuffer
1091 // ----------------
1092 _outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias + hlpBufferVtec
1093 + hlpBufferServiceCrs + hlpBufferRtcmCrs + '\0';
1094}
1095//
1096////////////////////////////////////////////////////////////////////////////
1097t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
1098 double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
1099 double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
1100 const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
1101 struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
1102
1103 // Broadcast Position and Velocity
1104 // -------------------------------
1105 ColumnVector xB(6);
1106 ColumnVector vB(3);
1107 t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
1108
1109 if (irc != success) {
1110 return irc;
1111 }
1112
1113 // Precise Position
1114 // ----------------
1115 ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
1116
1117 if (xP.size() == 0) {
1118 return failure;
1119 }
1120
1121 double dc = 0.0;
1122 if (_crdTrafoStr != "IGS20") {
1123 crdTrafo14(GPSweek, xP, dc); // ITRF2020 => ITRF2014
1124 crdTrafo(GPSweek, xP, dc); // ITRF2014 to other reference frames
1125 }
1126
1127 // Difference in xyz
1128 // -----------------
1129 ColumnVector dx = xB.Rows(1, 3) - xP;
1130 ColumnVector dv = vB - rtnVel;
1131
1132 // Difference in RSW
1133 // -----------------
1134 ColumnVector rsw(3);
1135 XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
1136
1137 ColumnVector dotRsw(3);
1138 XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
1139
1140 // Clock Correction
1141 // ----------------
1142 double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
1143 double dClkA1 = 0.0;
1144 if (rtnClk(2)) {
1145 dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
1146 }
1147 double dClkA2 = 0.0;
1148 if (rtnClk(3)) {
1149 dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
1150 }
1151
1152 if (sd) {
1153 sd->ID = prn.mid(1).toInt();
1154 sd->IOD = eph->IOD();
1155 sd->Clock.DeltaA0 = dClkA0;
1156 sd->Clock.DeltaA1 = dClkA1;
1157 sd->Clock.DeltaA2 = dClkA2;
1158 sd->UserRangeAccuracy = rtnUra;
1159 sd->Orbit.DeltaRadial = rsw(1);
1160 sd->Orbit.DeltaAlongTrack = rsw(2);
1161 sd->Orbit.DeltaCrossTrack = rsw(3);
1162 sd->Orbit.DotDeltaRadial = dotRsw(1);
1163 sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
1164 sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
1165
1166 if (corrIsOutOfRange(sd)) {
1167 return failure;
1168 }
1169 }
1170
1171 outLine = QString().asprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
1172 GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
1173 rsw(1), rsw(2), rsw(3)); //fprintf(stderr, "%s\n", outLine.toStdString().c_str());
1174
1175 // RTNET full clock for RINEX and SP3 file
1176 // ---------------------------------------
1177 double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1178 double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1179 double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1180 double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² = -/s]
1181
1182 if (_rnx) {
1183 double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1184 int s = rtnClkSig.size();
1185 switch (s) {
1186 case 1:
1187 clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1188 clkRnxRateSig = 0.0; // [s/s = -]
1189 clkRnxAccSig = 0.0; // [s/s² ) -/s]
1190 break;
1191 case 2:
1192 clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1193 clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1194 clkRnxAccSig = 0.0; // [s/s² ) -/s]
1195 break;
1196 case 3:
1197 clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1198 clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1199 clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1200 break;
1201 }
1202 _rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1203 clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1204 }
1205 if (_sp3) {
1206 _sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1207 }
1208 return success;
1209}
1210
1211// Transform Coordinates
1212////////////////////////////////////////////////////////////////////////////
1213void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1214 double& dc) {
1215
1216 // Current epoch minus 2000.0 in years
1217 // ------------------------------------
1218 double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1219
1220 ColumnVector dx(3);
1221
1222 dx(1) = _dx + dt * _dxr;
1223 dx(2) = _dy + dt * _dyr;
1224 dx(3) = _dz + dt * _dzr;
1225
1226 static const double arcSec = 180.0 * 3600.0 / M_PI;
1227
1228 double ox = (_ox + dt * _oxr) / arcSec;
1229 double oy = (_oy + dt * _oyr) / arcSec;
1230 double oz = (_oz + dt * _ozr) / arcSec;
1231
1232 double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1233
1234 // Specify approximate center of area
1235 // ----------------------------------
1236 ColumnVector meanSta(3);
1237
1238 if (_crdTrafoStr == "ETRF2000") {
1239 meanSta(1) = 3661090.0;
1240 meanSta(2) = 845230.0;
1241 meanSta(3) = 5136850.0;
1242 }
1243 else if (_crdTrafoStr == "GDA2020") {
1244 meanSta(1) = -4052050.0;
1245 meanSta(2) = 4212840.0;
1246 meanSta(3) = -2545110.0;
1247 }
1248 else if (_crdTrafoStr == "SIRGAS2000") {
1249 meanSta(1) = 3740860.0;
1250 meanSta(2) = -4964290.0;
1251 meanSta(3) = -1425420.0;
1252 }
1253 else if (_crdTrafoStr == "DREF91") {
1254 meanSta(1) = 3959579.0;
1255 meanSta(2) = 721719.0;
1256 meanSta(3) = 4931539.0;
1257 }
1258 else if (_crdTrafoStr == "Custom") {
1259 meanSta(1) = 0.0;
1260 meanSta(2) = 0.0;
1261 meanSta(3) = 0.0;
1262 }
1263
1264 // Clock correction proportional to topocentric distance to satellites
1265 // -------------------------------------------------------------------
1266 double rho = (xyz - meanSta).NormFrobenius();
1267 dc = rho * (sc - 1.0) / sc / t_CST::c;
1268
1269 Matrix rMat(3, 3);
1270 rMat(1, 1) = 1.0;
1271 rMat(1, 2) = -oz;
1272 rMat(1, 3) = oy;
1273 rMat(2, 1) = oz;
1274 rMat(2, 2) = 1.0;
1275 rMat(2, 3) = -ox;
1276 rMat(3, 1) = -oy;
1277 rMat(3, 2) = ox;
1278 rMat(3, 3) = 1.0;
1279
1280 xyz = sc * rMat * xyz + dx;
1281}
1282
1283// Transform Coordinates
1284////////////////////////////////////////////////////////////////////////////
1285void bncRtnetUploadCaster::crdTrafo14(int GPSWeek, ColumnVector& xyz,
1286 double& dc) {
1287
1288 // Current epoch minus 2000.0 in years
1289 // ------------------------------------
1290 double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1291
1292 ColumnVector dx(3);
1293
1294 dx(1) = _dx14 + dt * _dxr14;
1295 dx(2) = _dy14 + dt * _dyr14;
1296 dx(3) = _dz14 + dt * _dzr14;
1297
1298 static const double arcSec = 180.0 * 3600.0 / M_PI;
1299
1300 double ox = (_ox14 + dt * _oxr14) / arcSec;
1301 double oy = (_oy14 + dt * _oyr14) / arcSec;
1302 double oz = (_oz14 + dt * _ozr14) / arcSec;
1303
1304 double sc = 1.0 + _sc14 * 1e-9 + dt * _scr14 * 1e-9;
1305
1306 // Specify approximate center of area
1307 // ----------------------------------
1308 ColumnVector meanSta(3);
1309 meanSta(1) = 0.0; // TODO
1310 meanSta(2) = 0.0; // TODO
1311 meanSta(3) = 0.0; // TODO
1312
1313 // Clock correction proportional to topocentric distance to satellites
1314 // -------------------------------------------------------------------
1315 double rho = (xyz - meanSta).NormFrobenius();
1316 dc = rho * (sc - 1.0) / sc / t_CST::c;
1317
1318 Matrix rMat(3, 3);
1319 rMat(1, 1) = 1.0;
1320 rMat(1, 2) = -oz;
1321 rMat(1, 3) = oy;
1322 rMat(2, 1) = oz;
1323 rMat(2, 2) = 1.0;
1324 rMat(2, 3) = -ox;
1325 rMat(3, 1) = -oy;
1326 rMat(3, 2) = ox;
1327 rMat(3, 3) = 1.0;
1328
1329 xyz = sc * rMat * xyz + dx;
1330}
1331
1332// Update Interval
1333////////////////////////////////////////////////////////////////////////////
1334int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1335
1336 if (samplingRate == 10.0) {
1337 return 3;
1338 }
1339 else if (samplingRate == 15.0) {
1340 return 4;
1341 }
1342 else if (samplingRate == 30.0) {
1343 return 5;
1344 }
1345 else if (samplingRate == 60.0) {
1346 return 6;
1347 }
1348 else if (samplingRate == 120.0) {
1349 return 7;
1350 }
1351 else if (samplingRate == 240.0) {
1352 return 8;
1353 }
1354 else if (samplingRate == 300.0) {
1355 return 9;
1356 }
1357 else if (samplingRate == 600.0) {
1358 return 10;
1359 }
1360 else if (samplingRate == 900.0) {
1361 return 11;
1362 }
1363 else if (samplingRate == 1800.0) {
1364 return 12;
1365 }
1366 else if (samplingRate == 3600.0) {
1367 return 13;
1368 }
1369 else if (samplingRate == 7200.0) {
1370 return 14;
1371 }
1372 else if (samplingRate == 10800.0) {
1373 return 15;
1374 }
1375 return 2; // default
1376}
1377
1378// Check corrections
1379////////////////////////////////////////////////////////////////////////////
1380bool bncRtnetUploadCaster::corrIsOutOfRange(struct SsrCorr::ClockOrbit::SatData* sd) {
1381
1382 if (fabs(sd->Clock.DeltaA0) > 209.7151) {return true;}
1383 if (fabs(sd->Clock.DeltaA1) > 1.048575) {return true;}
1384 if (fabs(sd->Clock.DeltaA2) > 1.34217726) {return true;}
1385
1386 if (fabs(sd->Orbit.DeltaRadial) > 209.7151) {return true;}
1387 if (fabs(sd->Orbit.DeltaAlongTrack) > 209.7148) {return true;}
1388 if (fabs(sd->Orbit.DeltaCrossTrack) > 209.7148) {return true;}
1389
1390 if (fabs(sd->Orbit.DotDeltaRadial) > 1.048575) {return true;}
1391 if (fabs(sd->Orbit.DotDeltaAlongTrack) > 1.048572) {return true;}
1392 if (fabs(sd->Orbit.DotDeltaCrossTrack) > 1.048572) {return true;}
1393 return false;
1394}
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