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source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 9158

Last change on this file since 9158 was 9140, checked in by stuerze, 4 years ago
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File size: 37.6 KB

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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 "bncsp3.h"
23	#include "gnss.h"
24
25	using namespace std;
26
27	// Constructor
28	////////////////////////////////////////////////////////////////////////////
29	bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
30	const QString& outHost, int outPort,
31	const QString& ntripVersion,
32	const QString& userName, const QString& password,
33	const QString& crdTrafo, const QString& ssrFormat, bool CoM, const QString& sp3FileName,
34	const QString& rnxFileName, int PID, int SID, int IOD, int iRow) :
35	bncUploadCaster(mountpoint, outHost, outPort, ntripVersion, userName, password, iRow, 0) {
36
37	if (!mountpoint.isEmpty()) {
38	_casterID += mountpoint;
39	}
40	if (!outHost.isEmpty()) {
41	_casterID += " " + outHost;
42	if (outPort) {
43	_casterID += ":" + QString("%1").arg(outPort, 10);
44	}
45	}
46	if (!crdTrafo.isEmpty()) {
47	_casterID += " " + crdTrafo;
48	}
49	if (!sp3FileName.isEmpty()) {
50	_casterID += " " + sp3FileName;
51	}
52	if (!rnxFileName.isEmpty()) {
53	_casterID += " " + rnxFileName;
54	}
55
56	_crdTrafo = crdTrafo;
57
58	_ssrFormat = ssrFormat;
59
60	_ssrCorr = 0;
61	if (_ssrFormat == "IGS-SSR") {
62	_ssrCorr = new SsrCorrIgs();
63	}
64	else if (_ssrFormat == "RTCM-SSR") {
65	_ssrCorr = new SsrCorrRtcm();
66	}
67
68	_CoM = CoM;
69	_PID = PID;
70	_SID = SID;
71	_IOD = IOD;
72
73	// Member that receives the ephemeris
74	// ----------------------------------
75	_ephUser = new bncEphUser(true);
76
77	bncSettings settings;
78	QString intr = settings.value("uploadIntr").toString();
79	QStringList hlp = settings.value("cmbStreams").toStringList();
80	_samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toDouble();
81	if (hlp.size() > 1) { // combination stream upload
82	_samplRtcmClkCorr = settings.value("cmbSampl").toInt();
83	}
84	else { // single stream upload or sp3 file generation
85	_samplRtcmClkCorr = 5; // default
86	}
87	int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
88	int samplSp3 = settings.value("uploadSamplSp3").toInt() * 60;
89
90	if (_samplRtcmEphCorr == 0.0) {
91	_usedEph = 0;
92	}
93	else {
94	_usedEph = new QMap<QString, const t_eph*>;
95	}
96
97	// RINEX writer
98	// ------------
99	if (!rnxFileName.isEmpty()) {
100	_rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
101	}
102	else {
103	_rnx = 0;
104	}
105
106	// SP3 writer
107	// ----------
108	if (!sp3FileName.isEmpty()) {
109	_sp3 = new bncSP3(sp3FileName, intr, samplSp3);
110	}
111	else {
112	_sp3 = 0;
113	}
114
115	// Set Transformation Parameters
116	// -----------------------------
117	// Transformation Parameters from ITRF2014 to ETRF2000
118	// EUREF Technical Note 1 Relationship and Transformation between the ITRF and ETRF
119	// Zuheir Altamimi, June 28, 2018
120	if (_crdTrafo == "ETRF2000") {
121	_dx = 0.0547;
122	_dy = 0.0522;
123	_dz = -0.0741;
124
125	_dxr = 0.0001;
126	_dyr = 0.0001;
127	_dzr = -0.0019;
128
129	_ox = 0.001701;
130	_oy = 0.010290;
131	_oz = -0.016632;
132
133	_oxr = 0.000081;
134	_oyr = 0.000490;
135	_ozr = -0.000729;
136
137	_sc = 2.12;
138	_scr = 0.11;
139
140	_t0 = 2010.0;
141	}
142	// Transformation Parameters from ITRF2014 to GDA2020 (Ryan Ruddick, GA)
143	else if (_crdTrafo == "GDA2020") {
144	_dx = 0.0;
145	_dy = 0.0;
146	_dz = 0.0;
147
148	_dxr = 0.0;
149	_dyr = 0.0;
150	_dzr = 0.0;
151
152	_ox = 0.0;
153	_oy = 0.0;
154	_oz = 0.0;
155
156	_oxr = 0.00150379;
157	_oyr = 0.00118346;
158	_ozr = 0.00120716;
159
160	_sc = 0.0;
161	_scr = 0.0;
162
163	_t0 = 2020.0;
164	}
165	// Transformation Parameters from IGb14 to SIRGAS2000 (Thanks to Sonia Costa, BRA)
166	// June 29 2020: TX:-0.0027 m TY:-0.0025 m TZ:-0.0042 m SCL:1.20 (ppb) no rotations and no rates.*/
167	else if (_crdTrafo == "SIRGAS2000") {
168	_dx = -0.0027;
169	_dy = -0.0025;
170	_dz = -0.0042;
171
172	_dxr = 0.0000;
173	_dyr = 0.0000;
174	_dzr = 0.0000;
175
176	_ox = 0.000000;
177	_oy = 0.000000;
178	_oz = 0.000000;
179
180	_oxr = 0.000000;
181	_oyr = 0.000000;
182	_ozr = 0.000000;
183
184	_sc = 1.20000;
185	_scr = 0.00000;
186	_t0 = 2000.0;
187	}
188	// Transformation Parameters from ITRF2014 to DREF91
189	else if (_crdTrafo == "DREF91") {
190	_dx = 0.0547;
191	_dy = 0.0522;
192	_dz = -0.0741;
193
194	_dxr = 0.0001;
195	_dyr = 0.0001;
196	_dzr = -0.0019;
197	// ERTF200 + rotation parameters (ETRF200 => DREF91)
198	_ox = 0.001701 + 0.000658;
199	_oy = 0.010290 - 0.000208;
200	_oz = -0.016632 + 0.000755;
201
202	_oxr = 0.000081;
203	_oyr = 0.000490;
204	_ozr = -0.000729;
205
206	_sc = 2.12;
207	_scr = 0.11;
208
209	_t0 = 2010.0;
210	}
211	else if (_crdTrafo == "Custom") {
212	_dx = settings.value("trafo_dx").toDouble();
213	_dy = settings.value("trafo_dy").toDouble();
214	_dz = settings.value("trafo_dz").toDouble();
215	_dxr = settings.value("trafo_dxr").toDouble();
216	_dyr = settings.value("trafo_dyr").toDouble();
217	_dzr = settings.value("trafo_dzr").toDouble();
218	_ox = settings.value("trafo_ox").toDouble();
219	_oy = settings.value("trafo_oy").toDouble();
220	_oz = settings.value("trafo_oz").toDouble();
221	_oxr = settings.value("trafo_oxr").toDouble();
222	_oyr = settings.value("trafo_oyr").toDouble();
223	_ozr = settings.value("trafo_ozr").toDouble();
224	_sc = settings.value("trafo_sc").toDouble();
225	_scr = settings.value("trafo_scr").toDouble();
226	_t0 = settings.value("trafo_t0").toDouble();
227	}
228	}
229
230	// Destructor
231	////////////////////////////////////////////////////////////////////////////
232	bncRtnetUploadCaster::~bncRtnetUploadCaster() {
233	if (isRunning()) {
234	wait();
235	}
236	delete _rnx;
237	delete _sp3;
238	delete _ephUser;
239	delete _usedEph;
240	delete _ssrCorr;
241	}
242
243	//
244	////////////////////////////////////////////////////////////////////////////
245	void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
246
247	QMutexLocker locker(&_mutex);
248
249	// Append to internal buffer
250	// -------------------------
251	_rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
252
253	// Select buffer part that contains last epoch
254	// -------------------------------------------
255	QStringList lines;
256	int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
257	if (iEpoBeg == -1) {
258	_rtnetStreamBuffer.clear();
259	return;
260	}
261	int iEpoBegEarlier = _rtnetStreamBuffer.indexOf('*');
262	if (iEpoBegEarlier != -1 && iEpoBegEarlier < iEpoBeg) { // are there two epoch lines in buffer?
263	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBegEarlier);
264	}
265	else {
266	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
267	}
268	int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
269	if (iEpoEnd == -1) {
270	return;
271	}
272
273	while (_rtnetStreamBuffer.count('*') > 1) { // is there more than 1 epoch line in buffer?
274	QString rtnetStreamBuffer = _rtnetStreamBuffer.mid(1);
275	int nextEpoch = rtnetStreamBuffer.indexOf('*');
276	if (nextEpoch != -1 && nextEpoch < iEpoEnd) {
277	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(nextEpoch);
278	}
279	else if (nextEpoch != -1 && nextEpoch >= iEpoEnd) {
280	break;
281	}
282	}
283
284	lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n',
285	QString::SkipEmptyParts);
286	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
287
288	if (lines.size() < 2) {
289	return;
290	}
291
292	// Read first line (with epoch time)
293	// ---------------------------------
294	QTextStream in(lines[0].toLatin1());
295	QString hlp;
296	int year, month, day, hour, min;
297	double sec;
298	in >> hlp >> year >> month >> day >> hour >> min >> sec;
299	bncTime epoTime;
300	epoTime.set(year, month, day, hour, min, sec);
301
302	emit(newMessage(
303	"bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
304	+ " " + QByteArray(epoTime.timestr().c_str()) + " "
305	+ _casterID.toLatin1(), false));
306
307	struct SsrCorr::ClockOrbit co;
308	memset(&co, 0, sizeof(co));
309	co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
310	if (_ssrFormat == "RTCM-SSR") {
311	double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
312	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
313	}
314	else if (_ssrFormat == "IGS-SSR") {
315	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(epoTime.gpssec());
316	}
317	co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
318	co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
319	co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
320	if (_ssrFormat == "RTCM-SSR") {
321	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
322	}
323	else if (_ssrFormat == "IGS-SSR") {
324	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
325	}
326	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
327	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
328	co.SatRefDatum = _ssrCorr->DATUM_ITRF; // ToDo: to decode from RTNET format
329	co.SSRIOD = _IOD;
330	co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
331	co.SSRSolutionID = _SID;
332
333	struct SsrCorr::CodeBias bias;
334	memset(&bias, 0, sizeof(bias));
335	bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
336	bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
337	bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
338	bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
339	bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
340	bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
341	bias.SSRIOD = _IOD;
342	bias.SSRProviderID = _PID;
343	bias.SSRSolutionID = _SID;
344
345	struct SsrCorr::PhaseBias phasebias;
346	memset(&phasebias, 0, sizeof(phasebias));
347	unsigned int dispersiveBiasConsistenyIndicator = 0;
348	unsigned int mwConsistencyIndicator = 0;
349	phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
350	phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
351	phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
352	phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
353	phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
354	phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
355	phasebias.SSRIOD = _IOD;
356	phasebias.SSRProviderID = _PID;
357	phasebias.SSRSolutionID = _SID;
358
359	struct SsrCorr::VTEC vtec;
360	memset(&vtec, 0, sizeof(vtec));
361	vtec.EpochTime = static_cast<int>(epoTime.gpssec());
362	vtec.SSRIOD = _IOD;
363	vtec.SSRProviderID = _PID;
364	vtec.SSRSolutionID = _SID;
365
366	// Default Update Interval
367	// -----------------------
368	int clkUpdInd = 2; // 5 sec
369	int ephUpdInd = clkUpdInd; // default
370
371	if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
372	ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
373	}
374	if (_samplRtcmClkCorr > 5.0) {
375	clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
376	}
377	if (_samplRtcmEphCorr > 5.0) {
378	ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
379	}
380
381	co.UpdateInterval = clkUpdInd;
382	bias.UpdateInterval = ephUpdInd;
383	phasebias.UpdateInterval = ephUpdInd;
384
385	for (int ii = 1; ii < lines.size(); ii++) {
386	QString key; // prn or key VTEC, IND (phase bias indicators)
387	double rtnUra = 0.0; // [m]
388	ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
389	ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
390	ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
391	ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
392	ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
393	t_prn prn;
394
395	QTextStream in(lines[ii].toLatin1());
396
397	in >> key;
398
399	// non-satellite specific parameters
400	if (key.contains("IND", Qt::CaseSensitive)) {
401	in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
402	continue;
403	}
404	// non-satellite specific parameters
405	if (key.contains("VTEC", Qt::CaseSensitive)) {
406	double ui;
407	in >> ui >> vtec.NumLayers;
408	vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
409	for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
410	int dummy;
411	in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
412	>> vtec.Layers[ll].Height;
413	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
414	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
415	in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
416	}
417	}
418	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
419	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
420	in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
421	}
422	}
423	}
424	continue;
425	}
426	// satellite specific parameters
427	char sys = key.mid(0, 1).at(0).toLatin1();
428	int number = key.mid(1, 2).toInt();
429	int flags = 0;
430	if (sys == 'E') { // I/NAV
431	flags = 1;
432	}
433	prn.set(sys, number, flags);
434	QString prnInternalStr = QString::fromStdString(prn.toInternalString());
435	QString prnStr = QString::fromStdString(prn.toString());
436
437	const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
438	const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
439	const t_eph* eph = ephLast;
440	if (eph) {
441
442	// Use previous ephemeris if the last one is too recent
443	// ----------------------------------------------------
444	const int MINAGE = 60; // seconds
445	if (ephPrev && eph->receptDateTime().isValid()
446	&& eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
447	eph = ephPrev;
448	}
449
450	// Make sure the clock messages refer to same IOD as orbit messages
451	// ----------------------------------------------------------------
452	if (_usedEph) {
453	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
454	(*_usedEph)[prnInternalStr] = eph;
455	}
456	else {
457	eph = 0;
458	if (_usedEph->contains(prnInternalStr)) {
459	const t_eph* usedEph = _usedEph->value(prnInternalStr);
460	if (usedEph == ephLast) {
461	eph = ephLast;
462	}
463	else if (usedEph == ephPrev) {
464	eph = ephPrev;
465	}
466	}
467	}
468	}
469	}
470
471	if (eph &&
472	eph->checkState() != t_eph::bad &&
473	eph->checkState() != t_eph::unhealthy &&
474	eph->checkState() != t_eph::outdated) {
475	QMap<QString, double> codeBiases;
476	QList<phaseBiasSignal> phaseBiasList;
477	phaseBiasesSat pbSat;
478	_phaseBiasInformationDecoded = false;
479
480	while (true) {
481	QString key;
482	int numVal = 0;
483	in >> key;
484	if (in.status() != QTextStream::Ok) {
485	break;
486	}
487	if (key == "APC") {
488	in >> numVal;
489	rtnAPC.ReSize(3); rtnAPC = 0.0;
490	for (int ii = 0; ii < numVal; ii++) {
491	in >> rtnAPC[ii];
492	}
493	}
494	else if (key == "Ura") {
495	in >> numVal;
496	if (numVal == 1)
497	in >> rtnUra;
498	}
499	else if (key == "Clk") {
500	in >> numVal;
501	rtnClk.ReSize(3); rtnClk = 0.0;
502	for (int ii = 0; ii < numVal; ii++) {
503	in >> rtnClk[ii];
504	}
505	}
506	else if (key == "ClkSig") {
507	in >> numVal;
508	rtnClkSig.ReSize(3); rtnClkSig = 0.0;
509	for (int ii = 0; ii < numVal; ii++) {
510	in >> rtnClkSig[ii];
511	}
512	}
513	else if (key == "Vel") {
514	in >> numVal;
515	rtnVel.ReSize(3); rtnVel = 0.0;
516	for (int ii = 0; ii < numVal; ii++) {
517	in >> rtnVel[ii];
518	}
519	}
520	else if (key == "CoM") {
521	in >> numVal;
522	rtnCoM.ReSize(3); rtnCoM = 0.0;
523	for (int ii = 0; ii < numVal; ii++) {
524	in >> rtnCoM[ii];
525	}
526	}
527	else if (key == "CodeBias") {
528	in >> numVal;
529	for (int ii = 0; ii < numVal; ii++) {
530	QString type;
531	double value;
532	in >> type >> value;
533	codeBiases[type] = value;
534	}
535	}
536	else if (key == "YawAngle") {
537	_phaseBiasInformationDecoded = true;
538	in >> numVal >> pbSat.yawAngle;
539	if (pbSat.yawAngle < 0.0) {
540	pbSat.yawAngle += (2*M_PI);
541	}
542	else if (pbSat.yawAngle > 2*M_PI) {
543	pbSat.yawAngle -= (2*M_PI);
544	}
545	}
546	else if (key == "YawRate") {
547	_phaseBiasInformationDecoded = true;
548	in >> numVal >> pbSat.yawRate;
549	}
550	else if (key == "PhaseBias") {
551	_phaseBiasInformationDecoded = true;
552	in >> numVal;
553	for (int ii = 0; ii < numVal; ii++) {
554	phaseBiasSignal pb;
555	in >> pb.type >> pb.bias >> pb.integerIndicator
556	>> pb.wlIndicator >> pb.discontinuityCounter;
557	phaseBiasList.append(pb);
558	}
559	}
560	else {
561	in >> numVal;
562	for (int ii = 0; ii < numVal; ii++) {
563	double dummy;
564	in >> dummy;
565	}
566	emit(newMessage(" RTNET format error: "
567	+ lines[ii].toLatin1(), false));
568	}
569	}
570
571	struct SsrCorr::ClockOrbit::SatData* sd = 0;
572	if (prn.system() == 'G') {
573	sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
574	++co.NumberOfSat[CLOCKORBIT_SATGPS];
575	}
576	else if (prn.system() == 'R') {
577	sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
578	++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
579	}
580	else if (prn.system() == 'E') {
581	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
582	+ co.NumberOfSat[CLOCKORBIT_SATGALILEO];
583	++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
584	}
585	else if (prn.system() == 'J') {
586	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
587	+ CLOCKORBIT_NUMGALILEO
588	+ co.NumberOfSat[CLOCKORBIT_SATQZSS];
589	++co.NumberOfSat[CLOCKORBIT_SATQZSS];
590	}
591	else if (prn.system() == 'S') {
592	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
593	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
594	+ co.NumberOfSat[CLOCKORBIT_SATSBAS];
595	++co.NumberOfSat[CLOCKORBIT_SATSBAS];
596	}
597	else if (prn.system() == 'C') {
598	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
599	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
600	+ CLOCKORBIT_NUMSBAS
601	+ co.NumberOfSat[CLOCKORBIT_SATBDS];
602	++co.NumberOfSat[CLOCKORBIT_SATBDS];
603	}
604	if (sd) {
605	QString outLine;
606	t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
607	rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
608	if (irc != success) {
609	// very few cases: check states bad and unhealthy are excluded earlier
610	sd->ID = prnStr.mid(1).toInt(); // to prevent G00, R00 entries
611	sd->IOD = eph->IOD();
612	}
613	}
614
615	// Code Biases
616	// -----------
617	struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
618	if (!codeBiases.isEmpty()) {
619	if (prn.system() == 'G') {
620	biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
621	++bias.NumberOfSat[CLOCKORBIT_SATGPS];
622	}
623	else if (prn.system() == 'R') {
624	biasSat = bias.Sat + CLOCKORBIT_NUMGPS
625	+ bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
626	++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
627	}
628	else if (prn.system() == 'E') {
629	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
630	+ bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
631	++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
632	}
633	else if (prn.system() == 'J') {
634	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
635	+ CLOCKORBIT_NUMGALILEO
636	+ bias.NumberOfSat[CLOCKORBIT_SATQZSS];
637	++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
638	}
639	else if (prn.system() == 'S') {
640	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
641	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
642	+ bias.NumberOfSat[CLOCKORBIT_SATSBAS];
643	++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
644	}
645	else if (prn.system() == 'C') {
646	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
647	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
648	+ CLOCKORBIT_NUMSBAS
649	+ bias.NumberOfSat[CLOCKORBIT_SATBDS];
650	++bias.NumberOfSat[CLOCKORBIT_SATBDS];
651	}
652	}
653
654	if (biasSat) {
655	biasSat->ID = prn.number();
656	biasSat->NumberOfCodeBiases = 0;
657	QMapIterator<QString, double> it(codeBiases);
658	while (it.hasNext()) {
659	it.next();
660	int ii = biasSat->NumberOfCodeBiases;
661	if (ii >= CLOCKORBIT_NUMBIAS)
662	break;
663	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
664	if (type != _ssrCorr->RESERVED) {
665	biasSat->NumberOfCodeBiases += 1;
666	biasSat->Biases[ii].Type = type;
667	biasSat->Biases[ii].Bias = it.value();
668	}
669	}
670	}
671
672	// Phase Biases
673	// ------------
674	struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
675	if (prn.system() == 'G') {
676	phasebiasSat = phasebias.Sat
677	+ phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
678	++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
679	}
680	else if (prn.system() == 'R') {
681	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
682	+ phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
683	++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
684	}
685	else if (prn.system() == 'E') {
686	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
687	+ phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
688	++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
689	}
690	else if (prn.system() == 'J') {
691	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
692	+ CLOCKORBIT_NUMGALILEO
693	+ phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
694	++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
695	}
696	else if (prn.system() == 'S') {
697	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
698	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
699	+ phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
700	++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
701	}
702	else if (prn.system() == 'C') {
703	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
704	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
705	+ CLOCKORBIT_NUMSBAS
706	+ phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
707	++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
708	}
709
710	if (phasebiasSat && _phaseBiasInformationDecoded) {
711	phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
712	phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
713	phasebiasSat->ID = prn.number();
714	phasebiasSat->NumberOfPhaseBiases = 0;
715	phasebiasSat->YawAngle = pbSat.yawAngle;
716	phasebiasSat->YawRate = pbSat.yawRate;
717	QListIterator<phaseBiasSignal> it(phaseBiasList);
718	while (it.hasNext()) {
719	const phaseBiasSignal &pbSig = it.next();
720	int ii = phasebiasSat->NumberOfPhaseBiases;
721	if (ii >= CLOCKORBIT_NUMBIAS)
722	break;
723	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
724	if (type != _ssrCorr->RESERVED) {
725	phasebiasSat->NumberOfPhaseBiases += 1;
726	phasebiasSat->Biases[ii].Type = type;
727	phasebiasSat->Biases[ii].Bias = pbSig.bias;
728	phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
729	phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
730	phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
731	}
732	}
733	}
734	}
735	}
736
737	QByteArray hlpBufferCo;
738
739	// Orbit and Clock Corrections together
740	// ------------------------------------
741	if (_samplRtcmEphCorr == 0.0) {
742	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
743	\|\| co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
744	\|\| co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
745	\|\| co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
746	\|\| co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
747	\|\| co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
748	char obuffer[CLOCKORBIT_BUFFERSIZE];
749	int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
750	if (len > 0) {
751	hlpBufferCo = QByteArray(obuffer, len);
752	}
753	}
754	}
755
756	// Orbit and Clock Corrections separately
757	// --------------------------------------
758	else {
759	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
760	char obuffer[CLOCKORBIT_BUFFERSIZE];
761	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
762	co.UpdateInterval = ephUpdInd;
763	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer,
764	sizeof(obuffer));
765	co.UpdateInterval = clkUpdInd;
766	if (len1 > 0) {
767	hlpBufferCo += QByteArray(obuffer, len1);
768	}
769	}
770	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 \|\|
771	co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
772	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
773	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
774	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
775	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer,
776	sizeof(obuffer));
777	if (len2 > 0) {
778	hlpBufferCo += QByteArray(obuffer, len2);
779	}
780	}
781	if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
782	char obuffer[CLOCKORBIT_BUFFERSIZE];
783	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
784	co.UpdateInterval = ephUpdInd;
785	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer,
786	sizeof(obuffer));
787	co.UpdateInterval = clkUpdInd;
788	if (len1 > 0) {
789	hlpBufferCo += QByteArray(obuffer, len1);
790	}
791	}
792	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
793	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
794	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
795	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
796	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer,
797	sizeof(obuffer));
798	if (len2 > 0) {
799	hlpBufferCo += QByteArray(obuffer, len2);
800	}
801	}
802	if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
803	char obuffer[CLOCKORBIT_BUFFERSIZE];
804	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
805	co.UpdateInterval = ephUpdInd;
806	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer,
807	sizeof(obuffer));
808	co.UpdateInterval = clkUpdInd;
809	if (len1 > 0) {
810	hlpBufferCo += QByteArray(obuffer, len1);
811	}
812	}
813	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
814	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
815	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
816	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer,
817	sizeof(obuffer));
818	if (len2 > 0) {
819	hlpBufferCo += QByteArray(obuffer, len2);
820	}
821	}
822	if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
823	char obuffer[CLOCKORBIT_BUFFERSIZE];
824	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
825	co.UpdateInterval = ephUpdInd;
826	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer,
827	sizeof(obuffer));
828	co.UpdateInterval = clkUpdInd;
829	if (len1 > 0) {
830	hlpBufferCo += QByteArray(obuffer, len1);
831	}
832	}
833	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
834	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
835	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer,
836	sizeof(obuffer));
837	if (len2 > 0) {
838	hlpBufferCo += QByteArray(obuffer, len2);
839	}
840	}
841	if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
842	char obuffer[CLOCKORBIT_BUFFERSIZE];
843	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
844	co.UpdateInterval = ephUpdInd;
845	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer,
846	sizeof(obuffer));
847	co.UpdateInterval = clkUpdInd;
848	if (len1 > 0) {
849	hlpBufferCo += QByteArray(obuffer, len1);
850	}
851	}
852	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
853	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
854	sizeof(obuffer));
855	if (len2 > 0) {
856	hlpBufferCo += QByteArray(obuffer, len2);
857	}
858	}
859	if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
860	char obuffer[CLOCKORBIT_BUFFERSIZE];
861	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
862	co.UpdateInterval = ephUpdInd;
863	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer,
864	sizeof(obuffer));
865	co.UpdateInterval = clkUpdInd;
866	if (len1 > 0) {
867	hlpBufferCo += QByteArray(obuffer, len1);
868	}
869	}
870	int mmsg = 0;
871	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer,
872	sizeof(obuffer));
873	if (len2 > 0) {
874	hlpBufferCo += QByteArray(obuffer, len2);
875	}
876	}
877	}
878
879	// Code Biases
880	// -----------
881	QByteArray hlpBufferBias;
882	if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
883	\|\| bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
884	\|\| bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
885	\|\| bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
886	\|\| bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
887	\|\| bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
888	char obuffer[CLOCKORBIT_BUFFERSIZE];
889	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
890	int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
891	if (len > 0) {
892	hlpBufferBias = QByteArray(obuffer, len);
893	}
894	}
895	}
896
897	// Phase Biases
898	// ------------
899	QByteArray hlpBufferPhaseBias;
900	if ((phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
901	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
902	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
903	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
904	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
905	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0)
906	&& (_phaseBiasInformationDecoded)) {
907	char obuffer[CLOCKORBIT_BUFFERSIZE];
908	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
909	int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
910	if (len > 0) {
911	hlpBufferPhaseBias = QByteArray(obuffer, len);
912	}
913	}
914	}
915
916	// VTEC
917	// ----
918	QByteArray hlpBufferVtec;
919	if (vtec.NumLayers > 0) {
920	char obuffer[CLOCKORBIT_BUFFERSIZE];
921	int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
922	if (len > 0) {
923	hlpBufferVtec = QByteArray(obuffer, len);
924	}
925	}
926
927	_outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias
928	+ hlpBufferVtec;
929	}
930
931	//
932	////////////////////////////////////////////////////////////////////////////
933	t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
934	double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
935	double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
936	const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
937	struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
938
939	// Broadcast Position and Velocity
940	// -------------------------------
941	ColumnVector xB(6);
942	ColumnVector vB(3);
943	t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
944
945	if (irc != success) {
946	return irc;
947	}
948
949	// Precise Position
950	// ----------------
951	ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
952
953	if (xP.size() == 0) {
954	return failure;
955	}
956
957	double dc = 0.0;
958	if (_crdTrafo != "IGS14") {
959	crdTrafo(GPSweek, xP, dc);
960	}
961
962	// Difference in xyz
963	// -----------------
964	ColumnVector dx = xB.Rows(1, 3) - xP;
965	ColumnVector dv = vB - rtnVel;
966
967	// Difference in RSW
968	// -----------------
969	ColumnVector rsw(3);
970	XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
971
972	ColumnVector dotRsw(3);
973	XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
974
975	// Clock Correction
976	// ----------------
977	double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
978	double dClkA1 = 0.0;
979	if (rtnClk(2)) {
980	dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
981	}
982	double dClkA2 = 0.0;
983	if (rtnClk(3)) {
984	dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
985	}
986
987	if (sd) {
988	sd->ID = prn.mid(1).toInt();
989	sd->IOD = eph->IOD();
990	sd->Clock.DeltaA0 = dClkA0;
991	sd->Clock.DeltaA1 = dClkA1;
992	sd->Clock.DeltaA2 = dClkA2;
993	sd->UserRangeAccuracy = rtnUra;
994	sd->Orbit.DeltaRadial = rsw(1);
995	sd->Orbit.DeltaAlongTrack = rsw(2);
996	sd->Orbit.DeltaCrossTrack = rsw(3);
997	sd->Orbit.DotDeltaRadial = dotRsw(1);
998	sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
999	sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
1000	}
1001
1002	outLine.sprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
1003	GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
1004	rsw(1), rsw(2), rsw(3));
1005
1006	// RTNET full clock for RINEX and SP3 file
1007	// ---------------------------------------
1008	double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1009	double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1010	double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1011	double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² ) -/s]
1012
1013	if (_rnx) {
1014	double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1015	int s = rtnClkSig.size();
1016	switch (s) {
1017	case 1:
1018	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1019	clkRnxRateSig = 0.0; // [s/s = -]
1020	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1021	break;
1022	case 2:
1023	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1024	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1025	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1026	break;
1027	case 3:
1028	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1029	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1030	clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1031	break;
1032	}
1033	_rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1034	clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1035	}
1036	if (_sp3) {
1037	_sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1038	}
1039	return success;
1040	}
1041
1042	// Transform Coordinates
1043	////////////////////////////////////////////////////////////////////////////
1044	void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1045	double& dc) {
1046
1047	// Current epoch minus 2000.0 in years
1048	// ------------------------------------
1049	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1050
1051	ColumnVector dx(3);
1052
1053	dx(1) = _dx + dt * _dxr;
1054	dx(2) = _dy + dt * _dyr;
1055	dx(3) = _dz + dt * _dzr;
1056
1057	static const double arcSec = 180.0 * 3600.0 / M_PI;
1058
1059	double ox = (_ox + dt * _oxr) / arcSec;
1060	double oy = (_oy + dt * _oyr) / arcSec;
1061	double oz = (_oz + dt * _ozr) / arcSec;
1062
1063	double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1064
1065	// Specify approximate center of area
1066	// ----------------------------------
1067	ColumnVector meanSta(3);
1068
1069	if (_crdTrafo == "ETRF2000") {
1070	meanSta(1) = 3661090.0;
1071	meanSta(2) = 845230.0;
1072	meanSta(3) = 5136850.0;
1073	}
1074	else if (_crdTrafo == "GDA2020") {
1075	meanSta(1) = -4052050.0;
1076	meanSta(2) = 4212840.0;
1077	meanSta(3) = -2545110.0;
1078	}
1079	else if (_crdTrafo == "SIRGAS2000") {
1080	meanSta(1) = 3740860.0;
1081	meanSta(2) = -4964290.0;
1082	meanSta(3) = -1425420.0;
1083	}
1084	else if (_crdTrafo == "DREF91") {
1085	meanSta(1) = 3959579.0;
1086	meanSta(2) = 721719.0;
1087	meanSta(3) = 4931539.0;
1088	}
1089	else if (_crdTrafo == "Custom") {
1090	meanSta(1) = 0.0; // TODO
1091	meanSta(2) = 0.0; // TODO
1092	meanSta(3) = 0.0; // TODO
1093	}
1094
1095	// Clock correction proportional to topocentric distance to satellites
1096	// -------------------------------------------------------------------
1097	double rho = (xyz - meanSta).NormFrobenius();
1098	dc = rho * (sc - 1.0) / sc / t_CST::c;
1099
1100	Matrix rMat(3, 3);
1101	rMat(1, 1) = 1.0;
1102	rMat(1, 2) = -oz;
1103	rMat(1, 3) = oy;
1104	rMat(2, 1) = oz;
1105	rMat(2, 2) = 1.0;
1106	rMat(2, 3) = -ox;
1107	rMat(3, 1) = -oy;
1108	rMat(3, 2) = ox;
1109	rMat(3, 3) = 1.0;
1110
1111	xyz = sc * rMat * xyz + dx;
1112	}
1113
1114	int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1115
1116	if (samplingRate == 10.0) {
1117	return 3;
1118	}
1119	else if (samplingRate == 15.0) {
1120	return 4;
1121	}
1122	else if (samplingRate == 30.0) {
1123	return 5;
1124	}
1125	else if (samplingRate == 60.0) {
1126	return 6;
1127	}
1128	else if (samplingRate == 120.0) {
1129	return 7;
1130	}
1131	else if (samplingRate == 240.0) {
1132	return 8;
1133	}
1134	else if (samplingRate == 300.0) {
1135	return 9;
1136	}
1137	else if (samplingRate == 600.0) {
1138	return 10;
1139	}
1140	else if (samplingRate == 900.0) {
1141	return 11;
1142	}
1143	else if (samplingRate == 1800.0) {
1144	return 12;
1145	}
1146	else if (samplingRate == 3600.0) {
1147	return 13;
1148	}
1149	else if (samplingRate == 7200.0) {
1150	return 14;
1151	}
1152	else if (samplingRate == 10800.0) {
1153	return 15;
1154	}
1155	return 2; // default
1156	}

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