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bncrtnetuploadcaster.cpp@ 10628

Last change on this file since 10628 was 10616, checked in by stuerze, 2 weeks ago
bug fixes regarding RTNET decoder
File size: 44.9 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
27	using namespace std;
28
29	// Constructor
30	////////////////////////////////////////////////////////////////////////////
31	bncRtnetUploadCaster::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	_samplRtcmVtec = 60.0;
95	_samplRtcmCrs = 60.0;
96	int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
97	int samplSp3 = settings.value("uploadSamplSp3").toString().split("sec").first().toInt();
98	int samplBiaSnx = settings.value("uploadSamplBiaSnx").toInt();
99
100	if (_samplRtcmEphCorr == 0.0) {
101	_usedEph = 0;
102	}
103	else {
104	_usedEph = new QMap<QString, const t_eph*>;
105	}
106
107	// RINEX writer
108	// ------------
109	if (!rnxFileName.isEmpty()) {
110	_rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
111	}
112	else {
113	_rnx = 0;
114	}
115
116	// SP3 writer
117	// ----------
118	if (!sp3FileName.isEmpty()) {
119	_sp3 = new bncSP3(sp3FileName, intr, samplSp3);
120	}
121	else {
122	_sp3 = 0;
123	}
124
125	// SINEX writer
126	// ------------
127	if (!bsxFileName.isEmpty()) {
128	_bsx = new bncBiasSinex(bsxFileName, intr, samplBiaSnx);
129	}
130	else {
131	_bsx = 0;
132	}
133
134
135	// Set Transformation Parameters
136	// -----------------------------
137	// Transformation Parameters from ITRF2014 to ETRF2000
138	// http://etrs89.ign.fr/pub/EUREF-TN-1-Mar-04-2024.pdf
139	if (_crdTrafoStr == "ETRF2000") {
140	_dx = 0.0552;
141	_dy = 0.0527;
142	_dz = -0.0836;
143
144	_dxr = 0.0001;
145	_dyr = 0.0001;
146	_dzr = -0.0019;
147
148	_ox = 0.002106;
149	_oy = 0.012740;
150	_oz = -0.020592;
151
152	_oxr = 0.000081;
153	_oyr = 0.000490;
154	_ozr = -0.000792;
155
156	_sc = 2.67;
157	_scr = 0.11;
158
159	_t0 = 2015.0;
160	}
161	// Transformation Parameters from ITRF2014 to GDA2020 (Ryan Ruddick, GA)
162	else if (_crdTrafoStr == "GDA2020") {
163	_dx = 0.0;
164	_dy = 0.0;
165	_dz = 0.0;
166
167	_dxr = 0.0;
168	_dyr = 0.0;
169	_dzr = 0.0;
170
171	_ox = 0.0;
172	_oy = 0.0;
173	_oz = 0.0;
174
175	_oxr = 0.00150379;
176	_oyr = 0.00118346;
177	_ozr = 0.00120716;
178
179	_sc = 0.0;
180	_scr = 0.0;
181
182	_t0 = 2020.0;
183	}
184	// Transformation Parameters from IGb14 to SIRGAS2000 (Thanks to Sonia Costa, BRA)
185	// June 29 2020: TX:-0.0027 m TY:-0.0025 m TZ:-0.0042 m SCL:1.20 (ppb) no rotations and no rates.*/
186	else if (_crdTrafoStr == "SIRGAS2000") {
187	_dx = -0.0027;
188	_dy = -0.0025;
189	_dz = -0.0042;
190
191	_dxr = 0.0;
192	_dyr = 0.0;
193	_dzr = 0.0;
194
195	_ox = 0.0;
196	_oy = 0.0;
197	_oz = 0.0;
198
199	_oxr = 0.0;
200	_oyr = 0.0;
201	_ozr = 0.0;
202
203	_sc = 1.2;
204	_scr = 0.0;
205	_t0 = 2000.0;
206	}
207	// Transformation Parameters from ITRF2014 to DREF91
208	else if (_crdTrafoStr == "DREF91") {
209	_dx = 0.0547;
210	_dy = 0.0522;
211	_dz = -0.0741;
212
213	_dxr = 0.0001;
214	_dyr = 0.0001;
215	_dzr = -0.0019;
216	// ERTF200 + rotation parameters (ETRF2000 => DREF91)
217	_ox = 0.001701 + 0.000658;
218	_oy = 0.010290 - 0.000208;
219	_oz = -0.016632 + 0.000755;
220
221	_oxr = 0.000081;
222	_oyr = 0.000490;
223	_ozr = -0.000729;
224
225	_sc = 2.12;
226	_scr = 0.11;
227
228	_t0 = 2010.0;
229	}
230	else if (_crdTrafoStr == "Custom") {
231	_dx = settings.value("trafo_dx").toDouble();
232	_dy = settings.value("trafo_dy").toDouble();
233	_dz = settings.value("trafo_dz").toDouble();
234	_dxr = settings.value("trafo_dxr").toDouble();
235	_dyr = settings.value("trafo_dyr").toDouble();
236	_dzr = settings.value("trafo_dzr").toDouble();
237	_ox = settings.value("trafo_ox").toDouble();
238	_oy = settings.value("trafo_oy").toDouble();
239	_oz = settings.value("trafo_oz").toDouble();
240	_oxr = settings.value("trafo_oxr").toDouble();
241	_oyr = settings.value("trafo_oyr").toDouble();
242	_ozr = settings.value("trafo_ozr").toDouble();
243	_sc = settings.value("trafo_sc").toDouble();
244	_scr = settings.value("trafo_scr").toDouble();
245	_t0 = settings.value("trafo_t0").toDouble();
246	}
247	// TODO: the following lines can be deleted if all parameters are updated regarding ITRF2020
248	if (_crdTrafoStr == "ETRF2000" \|\|
249	_crdTrafoStr == "GDA2020" \|\|
250	_crdTrafoStr == "DREF91" \|\|
251	_crdTrafoStr == "SIRGAS2000") {
252	// Transformation Parameters from ITRF2020 to ITRF2014
253	// from ITRF web site: https://itrf.ign.fr/en/solutions/transformations
254	_dx14 = -0.0014;
255	_dy14 = -0.0009;
256	_dz14 = 0.0014;
257	_dxr14 = 0.0;
258	_dyr14 = -0.0001;
259	_dzr14 = -0.0002;
260	_ox14 = 0.0;
261	_oy14 = 0.0;
262	_oz14 = 0.0;
263	_oxr14 = 0.0;
264	_oyr14 = 0.0;
265	_ozr14 = 0.0;
266	_sc14 = -0.42;
267	_scr14 = 0.0;
268	_t014 = 2015.0;
269	}
270	}
271
272	// Destructor
273	////////////////////////////////////////////////////////////////////////////
274	bncRtnetUploadCaster::~bncRtnetUploadCaster() {
275	if (isRunning()) {
276	wait();
277	}
278	delete _rnx;
279	delete _sp3;
280	delete _ephUser;
281	delete _usedEph;
282	delete _ssrCorr;
283	}
284
285	//
286	////////////////////////////////////////////////////////////////////////////
287	void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
288
289	QMutexLocker locker(&_mutex);
290
291	// Append to internal buffer
292	// -------------------------
293	_rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
294
295	// Select buffer part that contains last epoch
296	// -------------------------------------------
297	QStringList lines;
298	int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
299	if (iEpoBeg == -1) {
300	_rtnetStreamBuffer.clear();
301	return;
302	}
303	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
304
305	int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
306	if (iEpoEnd == -1) {
307	return;
308	}
309	else {
310	lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', Qt::SkipEmptyParts);
311	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd+3);
312	}
313
314	if (lines.size() < 2) {
315	emit(newMessage(
316	"bncRtnetUploadCaster: less than 2 lines to decode " + _casterID.toLatin1(), false));
317	return;
318	}
319
320	// Keep the last unfinished line in buffer
321	// ---------------------------------------
322	int iLastEOL = _rtnetStreamBuffer.lastIndexOf('\n');
323	if (iLastEOL != -1) {
324	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iLastEOL+1);
325	}
326
327	decodeRtnetEpoch(lines);
328	}
329
330	//
331	////////////////////////////////////////////////////////////////////////////
332	void bncRtnetUploadCaster::decodeRtnetEpoch(QStringList epochLines) {
333
334	// Read first line (with epoch time)
335	// ---------------------------------
336	QTextStream in(epochLines[0].toLatin1());
337	QString hlp;
338	int year, month, day, hour, min;
339	double sec;
340	in >> hlp >> year >> month >> day >> hour >> min >> sec;
341	bncTime epoTime;
342	epoTime.set(year, month, day, hour, min, sec);//cout << epoTime.timestr().c_str() << endl;
343
344	emit(newMessage(
345	"bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
346	+ " " + QByteArray(epoTime.timestr().c_str()) + " "
347	+ _casterID.toLatin1(), false));
348
349	struct SsrCorr::ClockOrbit co;
350	memset(&co, 0, sizeof(co));
351	co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
352	double gt = epoTime.gpssec() - gnumleap(year, month, day);
353	if (_ssrFormat == "RTCM-SSR") {
354	gt += 3 * 3600;
355	}
356	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
357	co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
358	co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
359	co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
360	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
361	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
362	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
363	(_crdTrafoStr == "IGS20") ?
364	co.SatRefDatum = _ssrCorr->DATUM_ITRF :
365	co.SatRefDatum = _ssrCorr->DATUM_LOCAL;
366	co.SSRIOD = _IOD;
367	co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
368	co.SSRSolutionID = _SID;
369	if (_ssrFormat == "RTCM-SSR") {
370	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
371	}
372	else if (_ssrFormat == "IGS-SSR") {
373	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
374	}
375	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
376	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
377
378
379	t_serviceCrs serviceCrs;
380	t_rtcmCrs rtcmCrs;
381	if (_crdTrafoStr == "IGS20") {
382	serviceCrs._CE = serviceCrs._coordinateEpoch = 0;
383	int nc = _crdTrafoStr.length();
384	if (nc > 31) {nc = 31;}
385	for (int i = 0; i < nc; i++) {
386	serviceCrs._name[i] =
387	rtcmCrs._name[i] = _crdTrafoStr.toStdString()[i];
388	}
389	serviceCrs._name[nc] = 0;
390	rtcmCrs._name[nc] = 0;
391	rtcmCrs._anchor = 0; // global CRS
392	rtcmCrs._plateNumber = 0; // unknown
393	rtcmCrs._databaseLinks << "ISO.DATUM.979" << "ISO.CRS:980";
394	}
395	else {
396	if (_crdTrafoStr != "Custom") {
397	serviceCrs._coordinateEpoch = _t0;
398	serviceCrs.setCEFromCoordinateEpoch();
399	int nc = _crdTrafoStr.length();
400	if (nc > 31) {nc = 31;}
401	for (int i = 0; i < nc; i++) {
402	serviceCrs._name[i] = _crdTrafoStr.toStdString()[i];
403	}
404	serviceCrs._name[nc] = 0;
405	QString rtcmcrsname = _crdTrafoStr + QString("(%1)").arg(_t0,4,'d',0);
406	nc = rtcmcrsname.length();
407	if (nc > 31) {nc = 31;}
408	for (int i = 0; i < nc; i++) {
409	rtcmCrs._name[i] = rtcmcrsname.toStdString()[i];
410	}
411	rtcmCrs._name[nc] = 0;
412	if (_crdTrafoStr == "ETRF2000") {
413	rtcmCrs._anchor = 1; // plate-fixed CRS
414	rtcmCrs._plateNumber = 7; // Eurasia
415	rtcmCrs._databaseLinks << "ISO.DATUM.187" << "ISO.CRS:260" << "ISO.CRS:457"
416	<< "EPSG.DATUM:1186" << "EPSG.CRS:7930" << "EPSG.CRS:7931";
417	}
418	else if (_crdTrafoStr == "DREF91") {
419	rtcmCrs._anchor = 1; // plate-fixed CRS
420	rtcmCrs._plateNumber = 7; // Eurasia
421	}
422	else if (_crdTrafoStr == "GDA2020") {
423	rtcmCrs._anchor = 1; // plate-fixed CRS
424	rtcmCrs._plateNumber = 4; // Australia
425	rtcmCrs._databaseLinks << "ISO.DATUM.186" << "ISO.CRS:404" << "ISO.CRS:329"
426	<< "EPSG.DATUM:1168" << "EPSG.CRS:7842" << "EPSG.CRS:7843";
427	}
428	else if (_crdTrafoStr == "SIRGAS2000") {
429	rtcmCrs._anchor = 1; // plate-fixed CRS
430	rtcmCrs._plateNumber = 12; // S.America
431	rtcmCrs._databaseLinks << "ISO.DATUM:169" << "ISO.CRS:384" << "ISO.CRS:313"
432	<< "EPSG.DATUM:6674" << "EPSG.CRS:4988" << "EPSG.CRS:4989";
433	}
434	}
435	}
436
437	struct SsrCorr::CodeBias bias;
438	memset(&bias, 0, sizeof(bias));
439	bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
440	bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
441	bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
442	bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
443	bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
444	bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
445	bias.SSRIOD = _IOD;
446	bias.SSRProviderID = _PID;
447	bias.SSRSolutionID = _SID;
448
449	struct SsrCorr::PhaseBias phasebias;
450	memset(&phasebias, 0, sizeof(phasebias));
451	unsigned int dispersiveBiasConsistenyIndicator = 0;
452	unsigned int mwConsistencyIndicator = 0;
453	phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
454	phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
455	phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
456	phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
457	phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
458	phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
459	phasebias.SSRIOD = _IOD;
460	phasebias.SSRProviderID = _PID;
461	phasebias.SSRSolutionID = _SID;
462
463	struct SsrCorr::VTEC vtec;
464	memset(&vtec, 0, sizeof(vtec));
465	vtec.EpochTime = static_cast<int>(epoTime.gpssec());
466	vtec.SSRIOD = _IOD;
467	vtec.SSRProviderID = _PID;
468	vtec.SSRSolutionID = _SID;
469
470	// Default Update Interval
471	// -----------------------
472	int clkUpdInd = 2; // 5 sec
473	int ephUpdInd = clkUpdInd; // default
474
475	if (!_samplRtcmEphCorr) {
476	_samplRtcmEphCorr = 5.0;
477	}
478
479	if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
480	ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
481	}
482	if (_samplRtcmClkCorr > 5.0) {
483	clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
484	}
485	if (_samplRtcmEphCorr > 5.0) {
486	ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
487	}
488
489	co.UpdateInterval = clkUpdInd;
490	bias.UpdateInterval = ephUpdInd;
491	phasebias.UpdateInterval = ephUpdInd;
492
493	for (int ii = 1; ii < epochLines.size(); ii++) {
494	QString key; // prn or key VTEC, IND (phase bias indicators)
495	double rtnUra = 0.0; // [m]
496	ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
497	ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
498	ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
499	ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
500	ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
501
502	QTextStream in(epochLines[ii].toLatin1());
503
504	in >> key;
505
506	// non-satellite specific parameters
507	if (key.contains("IND", Qt::CaseSensitive)) {
508	in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
509	continue;
510	}
511	// non-satellite specific parameters
512	if (key.contains("VTEC", Qt::CaseSensitive)) {
513	double ui;
514	in >> ui >> vtec.NumLayers;
515	vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
516	for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
517	int dummy;
518	in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
519	>> vtec.Layers[ll].Height;
520	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
521	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
522	in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
523	}
524	}
525	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
526	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
527	in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
528	}
529	}
530	}
531	continue;
532	}
533	// satellite specific parameters
534	t_prn prn;
535	char sys = key.mid(0, 1).at(0).toLatin1();
536	int num = key.mid(1, 2).toInt();
537	int flag = t_corrSSR::getSsrNavTypeFlag(sys, num);
538	if (!num) {
539	continue;
540	}
541	prn.set(sys, num, flag);
542	QString prnInternalStr = QString::fromStdString(prn.toInternalString());
543	QString prnStr = QString::fromStdString(prn.toString());
544
545	const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
546	const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
547	const t_eph* eph = ephLast;
548	if (eph) {
549
550	// Use previous ephemeris if the last one is too recent
551	// ----------------------------------------------------
552	const int MINAGE = 60; // seconds
553	if (ephPrev && eph->receptDateTime().isValid() &&
554	eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
555	eph = ephPrev;
556	}
557
558	// Make sure the clock messages refer to same IOD as orbit messages
559	// ----------------------------------------------------------------
560	if (_usedEph) {
561	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
562	(*_usedEph)[prnInternalStr] = eph;
563	}
564	else {
565	eph = 0;
566	if (_usedEph->contains(prnInternalStr)) {
567	const t_eph* usedEph = _usedEph->value(prnInternalStr);
568	if (usedEph == ephLast) {
569	eph = ephLast;
570	}
571	else if (usedEph == ephPrev) {
572	eph = ephPrev;
573	}
574	}
575	}
576	}
577	}
578
579	QDateTime now = currentDateAndTimeGPS();
580	bncTime currentTime(now.toString(Qt::ISODate).toStdString());
581	if (eph &&
582	!outDatedBcep(eph, currentTime) && // detected from storage because of no update
583	eph->checkState() != t_eph::bad &&
584	eph->checkState() != t_eph::unhealthy &&
585	eph->checkState() != t_eph::outdated) { // detected during reception (bncephuser)
586	QMap<QString, double> codeBiases;
587	QList<phaseBiasSignal> phaseBiasList;
588	phaseBiasesSat pbSat;
589	_phaseBiasInformationDecoded = false;
590
591	while (true) {
592	QString key;
593	int numVal = 0;
594	in >> key;
595	if (in.status() != QTextStream::Ok) {
596	break;
597	}
598	if (key == "APC") {
599	in >> numVal;
600	rtnAPC.ReSize(3); rtnAPC = 0.0;
601	for (int ii = 0; ii < numVal; ii++) {
602	in >> rtnAPC[ii];
603	}
604	}
605	else if (key == "Ura") {
606	in >> numVal;
607	if (numVal == 1)
608	in >> rtnUra;
609	}
610	else if (key == "Clk") {
611	in >> numVal;
612	rtnClk.ReSize(3); rtnClk = 0.0;
613	for (int ii = 0; ii < numVal; ii++) {
614	in >> rtnClk[ii];
615	}
616	}
617	else if (key == "ClkSig") {
618	in >> numVal;
619	rtnClkSig.ReSize(3); rtnClkSig = 0.0;
620	for (int ii = 0; ii < numVal; ii++) {
621	in >> rtnClkSig[ii];
622	}
623	}
624	else if (key == "Vel") {
625	in >> numVal;
626	rtnVel.ReSize(3); rtnVel = 0.0;
627	for (int ii = 0; ii < numVal; ii++) {
628	in >> rtnVel[ii];
629	}
630	}
631	else if (key == "CoM") {
632	in >> numVal;
633	rtnCoM.ReSize(3); rtnCoM = 0.0;
634	for (int ii = 0; ii < numVal; ii++) {
635	in >> rtnCoM[ii];
636	}
637	}
638	else if (key == "CodeBias") {
639	in >> numVal;
640	for (int ii = 0; ii < numVal; ii++) {
641	QString type;
642	double value;
643	in >> type >> value;
644	codeBiases[type] = value;
645	}
646	}
647	else if (key == "YawAngle") {
648	_phaseBiasInformationDecoded = true;
649	in >> numVal >> pbSat.yawAngle;
650	if (pbSat.yawAngle < 0.0) {
651	pbSat.yawAngle += (2*M_PI);
652	}
653	else if (pbSat.yawAngle > 2*M_PI) {
654	pbSat.yawAngle -= (2*M_PI);
655	}
656	}
657	else if (key == "YawRate") {
658	_phaseBiasInformationDecoded = true;
659	in >> numVal >> pbSat.yawRate;
660	}
661	else if (key == "PhaseBias") {
662	_phaseBiasInformationDecoded = true;
663	in >> numVal;
664	for (int ii = 0; ii < numVal; ii++) {
665	phaseBiasSignal pb;
666	in >> pb.type >> pb.bias >> pb.integerIndicator
667	>> pb.wlIndicator >> pb.discontinuityCounter;
668	phaseBiasList.append(pb);
669	}
670	}
671	else {
672	in >> numVal;
673	for (int ii = 0; ii < numVal; ii++) {
674	double dummy;
675	in >> dummy;
676	}
677	emit(newMessage(" RTNET format error: "
678	+ epochLines[ii].toLatin1(), false));
679	break;
680	}
681	}
682
683	struct SsrCorr::ClockOrbit::SatData* sd = 0;
684	if (prn.system() == 'G') {
685	sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
686	++co.NumberOfSat[CLOCKORBIT_SATGPS];
687	}
688	else if (prn.system() == 'R') {
689	sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
690	++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
691	}
692	else if (prn.system() == 'E') {
693	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
694	+ co.NumberOfSat[CLOCKORBIT_SATGALILEO];
695	++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
696	}
697	else if (prn.system() == 'J') {
698	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
699	+ CLOCKORBIT_NUMGALILEO
700	+ co.NumberOfSat[CLOCKORBIT_SATQZSS];
701	++co.NumberOfSat[CLOCKORBIT_SATQZSS];
702	}
703	else if (prn.system() == 'S') {
704	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
705	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
706	+ co.NumberOfSat[CLOCKORBIT_SATSBAS];
707	++co.NumberOfSat[CLOCKORBIT_SATSBAS];
708	}
709	else if (prn.system() == 'C') {
710	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
711	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
712	+ CLOCKORBIT_NUMSBAS
713	+ co.NumberOfSat[CLOCKORBIT_SATBDS];
714	++co.NumberOfSat[CLOCKORBIT_SATBDS];
715	}
716	if (sd) {
717	QString outLine;
718	t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
719	rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
720	if (irc != success) {
721	continue;
722	}
723	}
724
725	// Code Biases
726	// -----------
727	struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
728	if (!codeBiases.isEmpty()) {
729	if (prn.system() == 'G') {
730	biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
731	++bias.NumberOfSat[CLOCKORBIT_SATGPS];
732	}
733	else if (prn.system() == 'R') {
734	biasSat = bias.Sat + CLOCKORBIT_NUMGPS
735	+ bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
736	++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
737	}
738	else if (prn.system() == 'E') {
739	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
740	+ bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
741	++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
742	}
743	else if (prn.system() == 'J') {
744	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
745	+ CLOCKORBIT_NUMGALILEO
746	+ bias.NumberOfSat[CLOCKORBIT_SATQZSS];
747	++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
748	}
749	else if (prn.system() == 'S') {
750	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
751	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
752	+ bias.NumberOfSat[CLOCKORBIT_SATSBAS];
753	++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
754	}
755	else if (prn.system() == 'C') {
756	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
757	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
758	+ CLOCKORBIT_NUMSBAS
759	+ bias.NumberOfSat[CLOCKORBIT_SATBDS];
760	++bias.NumberOfSat[CLOCKORBIT_SATBDS];
761	}
762	}
763
764	if (biasSat) {
765	biasSat->ID = prn.number();
766	biasSat->NumberOfCodeBiases = 0;
767	QMapIterator<QString, double> it(codeBiases);
768	while (it.hasNext()) {
769	it.next();
770	int ii = biasSat->NumberOfCodeBiases;
771	if (ii >= CLOCKORBIT_NUMBIAS)
772	break;
773	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
774	if (type != _ssrCorr->RESERVED) {
775	biasSat->NumberOfCodeBiases += 1;
776	biasSat->Biases[ii].Type = type;
777	biasSat->Biases[ii].Bias = it.value();
778	if (_bsx) {
779	QString obsCode = 'C' + it.key();
780	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, it.value());
781	}
782	}
783	}
784	}
785
786	// Phase Biases
787	// ------------
788	struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
789	if (prn.system() == 'G') {
790	phasebiasSat = phasebias.Sat
791	+ phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
792	++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
793	}
794	else if (prn.system() == 'R') {
795	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
796	+ phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
797	++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
798	}
799	else if (prn.system() == 'E') {
800	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
801	+ phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
802	++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
803	}
804	else if (prn.system() == 'J') {
805	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
806	+ CLOCKORBIT_NUMGALILEO
807	+ phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
808	++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
809	}
810	else if (prn.system() == 'S') {
811	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
812	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
813	+ phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
814	++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
815	}
816	else if (prn.system() == 'C') {
817	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
818	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
819	+ CLOCKORBIT_NUMSBAS
820	+ phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
821	++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
822	}
823
824	if (phasebiasSat && _phaseBiasInformationDecoded) {
825	phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
826	phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
827	phasebiasSat->ID = prn.number();
828	phasebiasSat->NumberOfPhaseBiases = 0;
829	phasebiasSat->YawAngle = pbSat.yawAngle;
830	phasebiasSat->YawRate = pbSat.yawRate;
831	QListIterator<phaseBiasSignal> it(phaseBiasList);
832	while (it.hasNext()) {
833	const phaseBiasSignal &pbSig = it.next();
834	int ii = phasebiasSat->NumberOfPhaseBiases;
835	if (ii >= CLOCKORBIT_NUMBIAS)
836	break;
837	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
838	if (type != _ssrCorr->RESERVED) {
839	phasebiasSat->NumberOfPhaseBiases += 1;
840	phasebiasSat->Biases[ii].Type = type;
841	phasebiasSat->Biases[ii].Bias = pbSig.bias;
842	phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
843	phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
844	phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
845	if (_bsx) {
846	QString obsCode = 'L' + pbSig.type;
847	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, pbSig.bias);
848	}
849	}
850	}
851	}
852	}
853	}
854
855	QByteArray hlpBufferCo;
856
857	// Orbit and Clock Corrections together
858	// ------------------------------------
859	if (_samplRtcmEphCorr == _samplRtcmClkCorr) {
860	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
861	\|\| co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
862	\|\| co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
863	\|\| co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
864	\|\| co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
865	\|\| co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
866	char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
867	int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
868	if (len > 0) {
869	hlpBufferCo = QByteArray(obuffer, len);
870	}
871	}
872	}
873
874	// Orbit and Clock Corrections separately
875	// --------------------------------------
876	else {
877	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
878	char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
879	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
880	co.UpdateInterval = ephUpdInd;
881	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer, sizeof(obuffer));
882	co.UpdateInterval = clkUpdInd;
883	if (len1 > 0) {
884	hlpBufferCo += QByteArray(obuffer, len1);
885	}
886	}
887	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 \|\|
888	co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
889	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
890	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
891	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
892	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer, sizeof(obuffer));
893	if (len2 > 0) {
894	hlpBufferCo += QByteArray(obuffer, len2);
895	}
896	}
897	if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
898	char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
899	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
900	co.UpdateInterval = ephUpdInd;
901	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer, sizeof(obuffer));
902	co.UpdateInterval = clkUpdInd;
903	if (len1 > 0) {
904	hlpBufferCo += QByteArray(obuffer, len1);
905	}
906	}
907	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
908	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
909	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
910	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
911	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer, sizeof(obuffer));
912	if (len2 > 0) {
913	hlpBufferCo += QByteArray(obuffer, len2);
914	}
915	}
916	if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
917	char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
918	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
919	co.UpdateInterval = ephUpdInd;
920	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer, sizeof(obuffer));
921	co.UpdateInterval = clkUpdInd;
922	if (len1 > 0) {
923	hlpBufferCo += QByteArray(obuffer, len1);
924	}
925	}
926	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
927	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
928	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
929	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer, sizeof(obuffer));
930	if (len2 > 0) {
931	hlpBufferCo += QByteArray(obuffer, len2);
932	}
933	}
934	if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
935	char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
936	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
937	co.UpdateInterval = ephUpdInd;
938	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer, sizeof(obuffer));
939	co.UpdateInterval = clkUpdInd;
940	if (len1 > 0) {
941	hlpBufferCo += QByteArray(obuffer, len1);
942	}
943	}
944	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
945	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
946	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer, sizeof(obuffer));
947	if (len2 > 0) {
948	hlpBufferCo += QByteArray(obuffer, len2);
949	}
950	}
951	if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
952	char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
953	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
954	co.UpdateInterval = ephUpdInd;
955	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer, sizeof(obuffer));
956	co.UpdateInterval = clkUpdInd;
957	if (len1 > 0) {
958	hlpBufferCo += QByteArray(obuffer, len1);
959	}
960	}
961	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
962	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
963	sizeof(obuffer));
964	if (len2 > 0) {
965	hlpBufferCo += QByteArray(obuffer, len2);
966	}
967	}
968	if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
969	char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
970	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
971	co.UpdateInterval = ephUpdInd;
972	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer, sizeof(obuffer));
973	co.UpdateInterval = clkUpdInd;
974	if (len1 > 0) {
975	hlpBufferCo += QByteArray(obuffer, len1);
976	}
977	}
978	int mmsg = 0;
979	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer, sizeof(obuffer));
980	if (len2 > 0) {
981	hlpBufferCo += QByteArray(obuffer, len2);
982	}
983	}
984	}
985
986	// Code Biases
987	// -----------
988	QByteArray hlpBufferBias;
989	if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
990	\|\| bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
991	\|\| bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
992	\|\| bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
993	\|\| bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
994	\|\| bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
995	char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
996	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
997	int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
998	if (len > 0) {
999	hlpBufferBias = QByteArray(obuffer, len);
1000	}
1001	}
1002	}
1003
1004	// Phase Biases
1005	// ------------
1006	QByteArray hlpBufferPhaseBias;
1007	if ((phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
1008	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
1009	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
1010	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
1011	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
1012	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0)
1013	&& (_phaseBiasInformationDecoded)) {
1014	char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
1015	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
1016	int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
1017	if (len > 0) {
1018	hlpBufferPhaseBias = QByteArray(obuffer, len);
1019	}
1020	}
1021	}
1022
1023	// VTEC
1024	// ----
1025	QByteArray hlpBufferVtec;
1026	if (vtec.NumLayers > 0) {
1027	char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
1028	if (fmod(epoTime.gpssec(), _samplRtcmVtec) == 0.0) {
1029	int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
1030	if (len > 0) {
1031	hlpBufferVtec = QByteArray(obuffer, len);
1032	}
1033	}
1034	}
1035
1036	// Service CRS
1037	// -----------
1038	QByteArray hlpBufferServiceCrs;
1039	if (sizeof(serviceCrs._name) > 0) {
1040	char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
1041	if (fmod(epoTime.gpssec(), _samplRtcmCrs) == 0.0) {
1042	int len = t_crsEncoder::RTCM3(serviceCrs, obuffer, sizeof(obuffer));
1043	if (len > 0) {
1044	hlpBufferServiceCrs = QByteArray(obuffer, len);
1045	}
1046	}
1047	}
1048
1049	// RTCM CRS
1050	// --------
1051	QByteArray hlpBufferRtcmCrs;
1052	if (sizeof(rtcmCrs._name) > 0) {
1053	char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
1054	if (fmod(epoTime.gpssec(), _samplRtcmCrs) == 0.0) {
1055	int len = t_crsEncoder::RTCM3(rtcmCrs, obuffer, sizeof(obuffer));
1056	if (len > 0) {
1057	hlpBufferRtcmCrs = QByteArray(obuffer, len);
1058	}
1059	}
1060	}
1061
1062	// Create OutBuffer
1063	// ----------------
1064	_outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias + hlpBufferVtec
1065	+ hlpBufferServiceCrs + hlpBufferRtcmCrs + '\0';
1066	}
1067	//
1068	////////////////////////////////////////////////////////////////////////////
1069	t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
1070	double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
1071	double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
1072	const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
1073	struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
1074
1075	// Broadcast Position and Velocity
1076	// -------------------------------
1077	ColumnVector xB(6);
1078	ColumnVector vB(3);
1079	t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
1080
1081	if (irc != success) {
1082	return irc;
1083	}
1084
1085	// Precise Position
1086	// ----------------
1087	ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
1088
1089	if (xP.size() == 0) {
1090	return failure;
1091	}
1092
1093	double dc = 0.0;
1094	if (_crdTrafoStr != "IGS20") {
1095	crdTrafo14(GPSweek, xP, dc); // ITRF2020 => ITRF2014
1096	crdTrafo(GPSweek, xP, dc); // ITRF2014 to other reference frames
1097	}
1098
1099	// Difference in xyz
1100	// -----------------
1101	ColumnVector dx = xB.Rows(1, 3) - xP;
1102	ColumnVector dv = vB - rtnVel;
1103
1104	// Difference in RSW
1105	// -----------------
1106	ColumnVector rsw(3);
1107	XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
1108
1109	ColumnVector dotRsw(3);
1110	XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
1111
1112	// Clock Correction
1113	// ----------------
1114	double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
1115	double dClkA1 = 0.0;
1116	if (rtnClk(2)) {
1117	dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
1118	}
1119	double dClkA2 = 0.0;
1120	if (rtnClk(3)) {
1121	dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
1122	}
1123
1124	if (sd) {
1125	sd->ID = prn.mid(1).toInt();
1126	sd->IOD = eph->IOD();
1127	sd->Clock.DeltaA0 = dClkA0;
1128	sd->Clock.DeltaA1 = dClkA1;
1129	sd->Clock.DeltaA2 = dClkA2;
1130	sd->UserRangeAccuracy = rtnUra;
1131	sd->Orbit.DeltaRadial = rsw(1);
1132	sd->Orbit.DeltaAlongTrack = rsw(2);
1133	sd->Orbit.DeltaCrossTrack = rsw(3);
1134	sd->Orbit.DotDeltaRadial = dotRsw(1);
1135	sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
1136	sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
1137
1138	if (corrIsOutOfRange(sd)) {
1139	emit(newMessage(QString("bncRtnetUploadCaster: SSR parameter is out of its defined range").toLatin1(), false));
1140	return failure;
1141	}
1142	}
1143
1144	outLine = QString().asprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
1145	GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
1146	rsw(1), rsw(2), rsw(3)); //fprintf(stderr, "%s\n", outLine.toStdString().c_str());
1147
1148	// RTNET full clock for RINEX and SP3 file
1149	// ---------------------------------------
1150	double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1151	double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1152	double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1153	double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² = -/s]
1154
1155	if (_rnx) {
1156	double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1157	int s = rtnClkSig.size();
1158	switch (s) {
1159	case 1:
1160	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1161	clkRnxRateSig = 0.0; // [s/s = -]
1162	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1163	break;
1164	case 2:
1165	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1166	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1167	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1168	break;
1169	case 3:
1170	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1171	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1172	clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1173	break;
1174	}
1175	_rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1176	clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1177	}
1178	if (_sp3) {
1179	_sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1180	}
1181	return success;
1182	}
1183
1184	// Transform Coordinates
1185	////////////////////////////////////////////////////////////////////////////
1186	void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1187	double& dc) {
1188
1189	// Current epoch minus 2000.0 in years
1190	// ------------------------------------
1191	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1192
1193	ColumnVector dx(3);
1194
1195	dx(1) = _dx + dt * _dxr;
1196	dx(2) = _dy + dt * _dyr;
1197	dx(3) = _dz + dt * _dzr;
1198
1199	static const double arcSec = 180.0 * 3600.0 / M_PI;
1200
1201	double ox = (_ox + dt * _oxr) / arcSec;
1202	double oy = (_oy + dt * _oyr) / arcSec;
1203	double oz = (_oz + dt * _ozr) / arcSec;
1204
1205	double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1206
1207	// Specify approximate center of area
1208	// ----------------------------------
1209	ColumnVector meanSta(3);
1210
1211	if (_crdTrafoStr == "ETRF2000") {
1212	meanSta(1) = 3661090.0;
1213	meanSta(2) = 845230.0;
1214	meanSta(3) = 5136850.0;
1215	}
1216	else if (_crdTrafoStr == "GDA2020") {
1217	meanSta(1) = -4052050.0;
1218	meanSta(2) = 4212840.0;
1219	meanSta(3) = -2545110.0;
1220	}
1221	else if (_crdTrafoStr == "SIRGAS2000") {
1222	meanSta(1) = 3740860.0;
1223	meanSta(2) = -4964290.0;
1224	meanSta(3) = -1425420.0;
1225	}
1226	else if (_crdTrafoStr == "DREF91") {
1227	meanSta(1) = 3959579.0;
1228	meanSta(2) = 721719.0;
1229	meanSta(3) = 4931539.0;
1230	}
1231	else if (_crdTrafoStr == "Custom") {
1232	meanSta(1) = 0.0;
1233	meanSta(2) = 0.0;
1234	meanSta(3) = 0.0;
1235	}
1236
1237	// Clock correction proportional to topocentric distance to satellites
1238	// -------------------------------------------------------------------
1239	double rho = (xyz - meanSta).NormFrobenius();
1240	dc = rho * (sc - 1.0) / sc / t_CST::c;
1241
1242	Matrix rMat(3, 3);
1243	rMat(1, 1) = 1.0;
1244	rMat(1, 2) = -oz;
1245	rMat(1, 3) = oy;
1246	rMat(2, 1) = oz;
1247	rMat(2, 2) = 1.0;
1248	rMat(2, 3) = -ox;
1249	rMat(3, 1) = -oy;
1250	rMat(3, 2) = ox;
1251	rMat(3, 3) = 1.0;
1252
1253	xyz = sc * rMat * xyz + dx;
1254	}
1255
1256	// Transform Coordinates
1257	////////////////////////////////////////////////////////////////////////////
1258	void bncRtnetUploadCaster::crdTrafo14(int GPSWeek, ColumnVector& xyz,
1259	double& dc) {
1260
1261	// Current epoch minus 2000.0 in years
1262	// ------------------------------------
1263	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1264
1265	ColumnVector dx(3);
1266
1267	dx(1) = _dx14 + dt * _dxr14;
1268	dx(2) = _dy14 + dt * _dyr14;
1269	dx(3) = _dz14 + dt * _dzr14;
1270
1271	static const double arcSec = 180.0 * 3600.0 / M_PI;
1272
1273	double ox = (_ox14 + dt * _oxr14) / arcSec;
1274	double oy = (_oy14 + dt * _oyr14) / arcSec;
1275	double oz = (_oz14 + dt * _ozr14) / arcSec;
1276
1277	double sc = 1.0 + _sc14 * 1e-9 + dt * _scr14 * 1e-9;
1278
1279	// Specify approximate center of area
1280	// ----------------------------------
1281	ColumnVector meanSta(3);
1282	meanSta(1) = 0.0; // TODO
1283	meanSta(2) = 0.0; // TODO
1284	meanSta(3) = 0.0; // TODO
1285
1286	// Clock correction proportional to topocentric distance to satellites
1287	// -------------------------------------------------------------------
1288	double rho = (xyz - meanSta).NormFrobenius();
1289	dc = rho * (sc - 1.0) / sc / t_CST::c;
1290
1291	Matrix rMat(3, 3);
1292	rMat(1, 1) = 1.0;
1293	rMat(1, 2) = -oz;
1294	rMat(1, 3) = oy;
1295	rMat(2, 1) = oz;
1296	rMat(2, 2) = 1.0;
1297	rMat(2, 3) = -ox;
1298	rMat(3, 1) = -oy;
1299	rMat(3, 2) = ox;
1300	rMat(3, 3) = 1.0;
1301
1302	xyz = sc * rMat * xyz + dx;
1303	}
1304
1305	// Update Interval
1306	////////////////////////////////////////////////////////////////////////////
1307	int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1308
1309	if (samplingRate == 10.0) {
1310	return 3;
1311	}
1312	else if (samplingRate == 15.0) {
1313	return 4;
1314	}
1315	else if (samplingRate == 30.0) {
1316	return 5;
1317	}
1318	else if (samplingRate == 60.0) {
1319	return 6;
1320	}
1321	else if (samplingRate == 120.0) {
1322	return 7;
1323	}
1324	else if (samplingRate == 240.0) {
1325	return 8;
1326	}
1327	else if (samplingRate == 300.0) {
1328	return 9;
1329	}
1330	else if (samplingRate == 600.0) {
1331	return 10;
1332	}
1333	else if (samplingRate == 900.0) {
1334	return 11;
1335	}
1336	else if (samplingRate == 1800.0) {
1337	return 12;
1338	}
1339	else if (samplingRate == 3600.0) {
1340	return 13;
1341	}
1342	else if (samplingRate == 7200.0) {
1343	return 14;
1344	}
1345	else if (samplingRate == 10800.0) {
1346	return 15;
1347	}
1348	return 2; // default
1349	}
1350
1351	// Check corrections
1352	////////////////////////////////////////////////////////////////////////////
1353	bool bncRtnetUploadCaster::corrIsOutOfRange(struct SsrCorr::ClockOrbit::SatData* sd) {
1354
1355	if (fabs(sd->Clock.DeltaA0) > 209.7151) {return true;}
1356	if (fabs(sd->Clock.DeltaA1) > 1.048575) {return true;}
1357	if (fabs(sd->Clock.DeltaA2) > 1.34217726) {return true;}
1358
1359	if (fabs(sd->Orbit.DeltaRadial) > 209.7151) {return true;}
1360	if (fabs(sd->Orbit.DeltaAlongTrack) > 209.7148) {return true;}
1361	if (fabs(sd->Orbit.DeltaCrossTrack) > 209.7148) {return true;}
1362
1363	if (fabs(sd->Orbit.DotDeltaRadial) > 1.048575) {return true;}
1364	if (fabs(sd->Orbit.DotDeltaAlongTrack) > 1.048572) {return true;}
1365	if (fabs(sd->Orbit.DotDeltaCrossTrack) > 1.048572) {return true;}
1366	return false;
1367	}

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source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 10628

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