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source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 10532

Last change on this file since 10532 was 10416, checked in by stuerze, 7 months ago
Transformation parameter ITRF2014 to ETRF2020 updated w.r.t. epoch 2015.0
File size: 42.7 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	_crdTrafo = 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 (_crdTrafo == "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 (_crdTrafo == "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 (_crdTrafo == "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 (_crdTrafo == "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 (_crdTrafo == "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 (_crdTrafo == "ETRF2000" \|\|
247	_crdTrafo == "GDA2020" \|\|
248	_crdTrafo == "DREF91" \|\|
249	_crdTrafo == "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	////////////////////////////////////////////////////////////////////////////
272	bncRtnetUploadCaster::~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	////////////////////////////////////////////////////////////////////////////
285	void 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', QString::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', QString::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	////////////////////////////////////////////////////////////////////////////
356	void 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	if (_ssrFormat == "RTCM-SSR") {
377	double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
378	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
379	}
380	else if (_ssrFormat == "IGS-SSR") {
381	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(epoTime.gpssec());
382	}
383	co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
384	co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
385	co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
386	if (_ssrFormat == "RTCM-SSR") {
387	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
388	}
389	else if (_ssrFormat == "IGS-SSR") {
390	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
391	}
392	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
393	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
394	co.SatRefDatum = _ssrCorr->DATUM_ITRF; // ToDo: to decode from RTNET format
395	co.SSRIOD = _IOD;
396	co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
397	co.SSRSolutionID = _SID;
398
399	struct SsrCorr::CodeBias bias;
400	memset(&bias, 0, sizeof(bias));
401	bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
402	bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
403	bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
404	bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
405	bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
406	bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
407	bias.SSRIOD = _IOD;
408	bias.SSRProviderID = _PID;
409	bias.SSRSolutionID = _SID;
410
411	struct SsrCorr::PhaseBias phasebias;
412	memset(&phasebias, 0, sizeof(phasebias));
413	unsigned int dispersiveBiasConsistenyIndicator = 0;
414	unsigned int mwConsistencyIndicator = 0;
415	phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
416	phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
417	phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
418	phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
419	phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
420	phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
421	phasebias.SSRIOD = _IOD;
422	phasebias.SSRProviderID = _PID;
423	phasebias.SSRSolutionID = _SID;
424
425	struct SsrCorr::VTEC vtec;
426	memset(&vtec, 0, sizeof(vtec));
427	vtec.EpochTime = static_cast<int>(epoTime.gpssec());
428	vtec.SSRIOD = _IOD;
429	vtec.SSRProviderID = _PID;
430	vtec.SSRSolutionID = _SID;
431
432	// Default Update Interval
433	// -----------------------
434	int clkUpdInd = 2; // 5 sec
435	int ephUpdInd = clkUpdInd; // default
436
437	if (!_samplRtcmEphCorr) {
438	_samplRtcmEphCorr = 5.0;
439	}
440
441	if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
442	ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
443	}
444	if (_samplRtcmClkCorr > 5.0) {
445	clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
446	}
447	if (_samplRtcmEphCorr > 5.0) {
448	ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
449	}
450
451	co.UpdateInterval = clkUpdInd;
452	bias.UpdateInterval = ephUpdInd;
453	phasebias.UpdateInterval = ephUpdInd;
454
455	for (int ii = 1; ii < epochLines.size(); ii++) {
456	QString key; // prn or key VTEC, IND (phase bias indicators)
457	double rtnUra = 0.0; // [m]
458	ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
459	ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
460	ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
461	ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
462	ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
463	t_prn prn;
464
465	QTextStream in(epochLines[ii].toLatin1());
466
467	in >> key;
468
469	// non-satellite specific parameters
470	if (key.contains("IND", Qt::CaseSensitive)) {
471	in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
472	continue;
473	}
474	// non-satellite specific parameters
475	if (key.contains("VTEC", Qt::CaseSensitive)) {
476	double ui;
477	in >> ui >> vtec.NumLayers;
478	vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
479	for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
480	int dummy;
481	in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
482	>> vtec.Layers[ll].Height;
483	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
484	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
485	in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
486	}
487	}
488	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
489	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
490	in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
491	}
492	}
493	}
494	continue;
495	}
496	// satellite specific parameters
497	char sys = key.mid(0, 1).at(0).toLatin1();
498	int number = key.mid(1, 2).toInt();
499	int flags = 0;
500	if (sys == 'E') { // I/NAV
501	flags = 1;
502	}
503	if (number == 0) {
504	continue;
505	}
506	prn.set(sys, number, flags);
507	QString prnInternalStr = QString::fromStdString(prn.toInternalString());
508	QString prnStr = QString::fromStdString(prn.toString());
509
510	const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
511	const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
512	const t_eph* eph = ephLast;
513	if (eph) {
514
515	// Use previous ephemeris if the last one is too recent
516	// ----------------------------------------------------
517	const int MINAGE = 60; // seconds
518	if (ephPrev && eph->receptDateTime().isValid() &&
519	eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
520	eph = ephPrev;
521	}
522
523	// Make sure the clock messages refer to same IOD as orbit messages
524	// ----------------------------------------------------------------
525	if (_usedEph) {
526	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
527	(*_usedEph)[prnInternalStr] = eph;
528	}
529	else {
530	eph = 0;
531	if (_usedEph->contains(prnInternalStr)) {
532	const t_eph* usedEph = _usedEph->value(prnInternalStr);
533	if (usedEph == ephLast) {
534	eph = ephLast;
535	}
536	else if (usedEph == ephPrev) {
537	eph = ephPrev;
538	}
539	}
540	}
541	}
542	}
543
544	QDateTime now = currentDateAndTimeGPS();
545	bncTime currentTime(now.toString(Qt::ISODate).toStdString());
546	if (eph &&
547	!outDatedBcep(eph, currentTime) && // detected from storage because of no update
548	eph->checkState() != t_eph::bad &&
549	eph->checkState() != t_eph::unhealthy &&
550	eph->checkState() != t_eph::outdated) { // detected during reception (bncephuser)
551	QMap<QString, double> codeBiases;
552	QList<phaseBiasSignal> phaseBiasList;
553	phaseBiasesSat pbSat;
554	_phaseBiasInformationDecoded = false;
555
556	while (true) {
557	QString key;
558	int numVal = 0;
559	in >> key;
560	if (in.status() != QTextStream::Ok) {
561	break;
562	}
563	if (key == "APC") {
564	in >> numVal;
565	rtnAPC.ReSize(3); rtnAPC = 0.0;
566	for (int ii = 0; ii < numVal; ii++) {
567	in >> rtnAPC[ii];
568	}
569	}
570	else if (key == "Ura") {
571	in >> numVal;
572	if (numVal == 1)
573	in >> rtnUra;
574	}
575	else if (key == "Clk") {
576	in >> numVal;
577	rtnClk.ReSize(3); rtnClk = 0.0;
578	for (int ii = 0; ii < numVal; ii++) {
579	in >> rtnClk[ii];
580	}
581	}
582	else if (key == "ClkSig") {
583	in >> numVal;
584	rtnClkSig.ReSize(3); rtnClkSig = 0.0;
585	for (int ii = 0; ii < numVal; ii++) {
586	in >> rtnClkSig[ii];
587	}
588	}
589	else if (key == "Vel") {
590	in >> numVal;
591	rtnVel.ReSize(3); rtnVel = 0.0;
592	for (int ii = 0; ii < numVal; ii++) {
593	in >> rtnVel[ii];
594	}
595	}
596	else if (key == "CoM") {
597	in >> numVal;
598	rtnCoM.ReSize(3); rtnCoM = 0.0;
599	for (int ii = 0; ii < numVal; ii++) {
600	in >> rtnCoM[ii];
601	}
602	}
603	else if (key == "CodeBias") {
604	in >> numVal;
605	for (int ii = 0; ii < numVal; ii++) {
606	QString type;
607	double value;
608	in >> type >> value;
609	codeBiases[type] = value;
610	}
611	}
612	else if (key == "YawAngle") {
613	_phaseBiasInformationDecoded = true;
614	in >> numVal >> pbSat.yawAngle;
615	if (pbSat.yawAngle < 0.0) {
616	pbSat.yawAngle += (2*M_PI);
617	}
618	else if (pbSat.yawAngle > 2*M_PI) {
619	pbSat.yawAngle -= (2*M_PI);
620	}
621	}
622	else if (key == "YawRate") {
623	_phaseBiasInformationDecoded = true;
624	in >> numVal >> pbSat.yawRate;
625	}
626	else if (key == "PhaseBias") {
627	_phaseBiasInformationDecoded = true;
628	in >> numVal;
629	for (int ii = 0; ii < numVal; ii++) {
630	phaseBiasSignal pb;
631	in >> pb.type >> pb.bias >> pb.integerIndicator
632	>> pb.wlIndicator >> pb.discontinuityCounter;
633	phaseBiasList.append(pb);
634	}
635	}
636	else {
637	in >> numVal;
638	for (int ii = 0; ii < numVal; ii++) {
639	double dummy;
640	in >> dummy;
641	}
642	emit(newMessage(" RTNET format error: "
643	+ epochLines[ii].toLatin1(), false));
644	break;
645	}
646	}
647
648	struct SsrCorr::ClockOrbit::SatData* sd = 0;
649	if (prn.system() == 'G') {
650	sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
651	++co.NumberOfSat[CLOCKORBIT_SATGPS];
652	}
653	else if (prn.system() == 'R') {
654	sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
655	++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
656	}
657	else if (prn.system() == 'E') {
658	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
659	+ co.NumberOfSat[CLOCKORBIT_SATGALILEO];
660	++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
661	}
662	else if (prn.system() == 'J') {
663	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
664	+ CLOCKORBIT_NUMGALILEO
665	+ co.NumberOfSat[CLOCKORBIT_SATQZSS];
666	++co.NumberOfSat[CLOCKORBIT_SATQZSS];
667	}
668	else if (prn.system() == 'S') {
669	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
670	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
671	+ co.NumberOfSat[CLOCKORBIT_SATSBAS];
672	++co.NumberOfSat[CLOCKORBIT_SATSBAS];
673	}
674	else if (prn.system() == 'C') {
675	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
676	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
677	+ CLOCKORBIT_NUMSBAS
678	+ co.NumberOfSat[CLOCKORBIT_SATBDS];
679	++co.NumberOfSat[CLOCKORBIT_SATBDS];
680	}
681	if (sd) {
682	QString outLine;
683	t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
684	rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
685	if (irc != success) {
686	continue;
687	}
688	}
689
690	// Code Biases
691	// -----------
692	struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
693	if (!codeBiases.isEmpty()) {
694	if (prn.system() == 'G') {
695	biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
696	++bias.NumberOfSat[CLOCKORBIT_SATGPS];
697	}
698	else if (prn.system() == 'R') {
699	biasSat = bias.Sat + CLOCKORBIT_NUMGPS
700	+ bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
701	++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
702	}
703	else if (prn.system() == 'E') {
704	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
705	+ bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
706	++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
707	}
708	else if (prn.system() == 'J') {
709	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
710	+ CLOCKORBIT_NUMGALILEO
711	+ bias.NumberOfSat[CLOCKORBIT_SATQZSS];
712	++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
713	}
714	else if (prn.system() == 'S') {
715	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
716	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
717	+ bias.NumberOfSat[CLOCKORBIT_SATSBAS];
718	++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
719	}
720	else if (prn.system() == 'C') {
721	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
722	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
723	+ CLOCKORBIT_NUMSBAS
724	+ bias.NumberOfSat[CLOCKORBIT_SATBDS];
725	++bias.NumberOfSat[CLOCKORBIT_SATBDS];
726	}
727	}
728
729	if (biasSat) {
730	biasSat->ID = prn.number();
731	biasSat->NumberOfCodeBiases = 0;
732	QMapIterator<QString, double> it(codeBiases);
733	while (it.hasNext()) {
734	it.next();
735	int ii = biasSat->NumberOfCodeBiases;
736	if (ii >= CLOCKORBIT_NUMBIAS)
737	break;
738	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
739	if (type != _ssrCorr->RESERVED) {
740	biasSat->NumberOfCodeBiases += 1;
741	biasSat->Biases[ii].Type = type;
742	biasSat->Biases[ii].Bias = it.value();
743	if (_bsx) {
744	QString obsCode = 'C' + it.key();
745	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, it.value());
746	}
747	}
748	}
749	}
750
751	// Phase Biases
752	// ------------
753	struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
754	if (prn.system() == 'G') {
755	phasebiasSat = phasebias.Sat
756	+ phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
757	++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
758	}
759	else if (prn.system() == 'R') {
760	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
761	+ phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
762	++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
763	}
764	else if (prn.system() == 'E') {
765	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
766	+ phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
767	++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
768	}
769	else if (prn.system() == 'J') {
770	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
771	+ CLOCKORBIT_NUMGALILEO
772	+ phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
773	++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
774	}
775	else if (prn.system() == 'S') {
776	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
777	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
778	+ phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
779	++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
780	}
781	else if (prn.system() == 'C') {
782	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
783	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
784	+ CLOCKORBIT_NUMSBAS
785	+ phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
786	++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
787	}
788
789	if (phasebiasSat && _phaseBiasInformationDecoded) {
790	phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
791	phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
792	phasebiasSat->ID = prn.number();
793	phasebiasSat->NumberOfPhaseBiases = 0;
794	phasebiasSat->YawAngle = pbSat.yawAngle;
795	phasebiasSat->YawRate = pbSat.yawRate;
796	QListIterator<phaseBiasSignal> it(phaseBiasList);
797	while (it.hasNext()) {
798	const phaseBiasSignal &pbSig = it.next();
799	int ii = phasebiasSat->NumberOfPhaseBiases;
800	if (ii >= CLOCKORBIT_NUMBIAS)
801	break;
802	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
803	if (type != _ssrCorr->RESERVED) {
804	phasebiasSat->NumberOfPhaseBiases += 1;
805	phasebiasSat->Biases[ii].Type = type;
806	phasebiasSat->Biases[ii].Bias = pbSig.bias;
807	phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
808	phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
809	phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
810	if (_bsx) {
811	QString obsCode = 'L' + pbSig.type;
812	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, pbSig.bias);
813	}
814	}
815	}
816	}
817	}
818	}
819
820	QByteArray hlpBufferCo;
821
822	// Orbit and Clock Corrections together
823	// ------------------------------------
824	if (_samplRtcmEphCorr == _samplRtcmClkCorr) {
825	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
826	\|\| co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
827	\|\| co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
828	\|\| co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
829	\|\| co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
830	\|\| co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
831	char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
832	int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
833	if (len > 0) {
834	hlpBufferCo = QByteArray(obuffer, len);
835	}
836	}
837	}
838
839	// Orbit and Clock Corrections separately
840	// --------------------------------------
841	else {
842	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
843	char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
844	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
845	co.UpdateInterval = ephUpdInd;
846	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer, sizeof(obuffer));
847	co.UpdateInterval = clkUpdInd;
848	if (len1 > 0) {
849	hlpBufferCo += QByteArray(obuffer, len1);
850	}
851	}
852	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 \|\|
853	co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
854	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
855	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
856	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
857	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer, sizeof(obuffer));
858	if (len2 > 0) {
859	hlpBufferCo += QByteArray(obuffer, len2);
860	}
861	}
862	if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
863	char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
864	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
865	co.UpdateInterval = ephUpdInd;
866	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer, sizeof(obuffer));
867	co.UpdateInterval = clkUpdInd;
868	if (len1 > 0) {
869	hlpBufferCo += QByteArray(obuffer, len1);
870	}
871	}
872	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
873	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
874	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
875	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
876	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer, sizeof(obuffer));
877	if (len2 > 0) {
878	hlpBufferCo += QByteArray(obuffer, len2);
879	}
880	}
881	if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
882	char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
883	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
884	co.UpdateInterval = ephUpdInd;
885	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer, sizeof(obuffer));
886	co.UpdateInterval = clkUpdInd;
887	if (len1 > 0) {
888	hlpBufferCo += QByteArray(obuffer, len1);
889	}
890	}
891	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
892	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
893	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
894	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer, sizeof(obuffer));
895	if (len2 > 0) {
896	hlpBufferCo += QByteArray(obuffer, len2);
897	}
898	}
899	if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
900	char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
901	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
902	co.UpdateInterval = ephUpdInd;
903	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer, sizeof(obuffer));
904	co.UpdateInterval = clkUpdInd;
905	if (len1 > 0) {
906	hlpBufferCo += QByteArray(obuffer, len1);
907	}
908	}
909	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
910	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
911	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer, sizeof(obuffer));
912	if (len2 > 0) {
913	hlpBufferCo += QByteArray(obuffer, len2);
914	}
915	}
916	if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 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_SBASORBIT, 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_SATBDS] > 0) ? 1 : 0;
927	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
928	sizeof(obuffer));
929	if (len2 > 0) {
930	hlpBufferCo += QByteArray(obuffer, len2);
931	}
932	}
933	if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
934	char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
935	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
936	co.UpdateInterval = ephUpdInd;
937	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer, sizeof(obuffer));
938	co.UpdateInterval = clkUpdInd;
939	if (len1 > 0) {
940	hlpBufferCo += QByteArray(obuffer, len1);
941	}
942	}
943	int mmsg = 0;
944	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer, sizeof(obuffer));
945	if (len2 > 0) {
946	hlpBufferCo += QByteArray(obuffer, len2);
947	}
948	}
949	}
950
951	// Code Biases
952	// -----------
953	QByteArray hlpBufferBias;
954	if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
955	\|\| bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
956	\|\| bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
957	\|\| bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
958	\|\| bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
959	\|\| bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
960	char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
961	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
962	int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
963	if (len > 0) {
964	hlpBufferBias = QByteArray(obuffer, len);
965	}
966	}
967	}
968
969	// Phase Biases
970	// ------------
971	QByteArray hlpBufferPhaseBias;
972	if ((phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
973	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
974	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
975	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
976	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
977	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0)
978	&& (_phaseBiasInformationDecoded)) {
979	char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
980	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
981	int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
982	if (len > 0) {
983	hlpBufferPhaseBias = QByteArray(obuffer, len);
984	}
985	}
986	}
987
988	// VTEC
989	// ----
990	QByteArray hlpBufferVtec;
991	if (vtec.NumLayers > 0) {
992	char obuffer[CLOCKORBIT_BUFFERSIZE] = {'\0'};
993	int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
994	if (len > 0) {
995	hlpBufferVtec = QByteArray(obuffer, len);
996	}
997	}
998
999	_outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias + hlpBufferVtec + '\0';
1000	}
1001	//
1002	////////////////////////////////////////////////////////////////////////////
1003	t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
1004	double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
1005	double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
1006	const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
1007	struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
1008
1009	// Broadcast Position and Velocity
1010	// -------------------------------
1011	ColumnVector xB(6);
1012	ColumnVector vB(3);
1013	t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
1014
1015	if (irc != success) {
1016	return irc;
1017	}
1018
1019	// Precise Position
1020	// ----------------
1021	ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
1022
1023	if (xP.size() == 0) {
1024	return failure;
1025	}
1026
1027	double dc = 0.0;
1028	if (_crdTrafo != "IGS20") {
1029	crdTrafo14(GPSweek, xP, dc); // ITRF2020 => ITRF2014
1030	crdTrafo(GPSweek, xP, dc); // ITRF2014 to other reference frames
1031	}
1032
1033	// Difference in xyz
1034	// -----------------
1035	ColumnVector dx = xB.Rows(1, 3) - xP;
1036	ColumnVector dv = vB - rtnVel;
1037
1038	// Difference in RSW
1039	// -----------------
1040	ColumnVector rsw(3);
1041	XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
1042
1043	ColumnVector dotRsw(3);
1044	XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
1045
1046	// Clock Correction
1047	// ----------------
1048	double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
1049	double dClkA1 = 0.0;
1050	if (rtnClk(2)) {
1051	dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
1052	}
1053	double dClkA2 = 0.0;
1054	if (rtnClk(3)) {
1055	dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
1056	}
1057
1058	if (sd) {
1059	sd->ID = prn.mid(1).toInt();
1060	sd->IOD = eph->IOD();
1061	sd->Clock.DeltaA0 = dClkA0;
1062	sd->Clock.DeltaA1 = dClkA1;
1063	sd->Clock.DeltaA2 = dClkA2;
1064	sd->UserRangeAccuracy = rtnUra;
1065	sd->Orbit.DeltaRadial = rsw(1);
1066	sd->Orbit.DeltaAlongTrack = rsw(2);
1067	sd->Orbit.DeltaCrossTrack = rsw(3);
1068	sd->Orbit.DotDeltaRadial = dotRsw(1);
1069	sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
1070	sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
1071
1072	if (corrIsOutOfRange(sd)) {
1073	return failure;
1074	}
1075	}
1076
1077	outLine = QString().asprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
1078	GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
1079	rsw(1), rsw(2), rsw(3)); //fprintf(stderr, "%s\n", outLine.toStdString().c_str());
1080
1081	// RTNET full clock for RINEX and SP3 file
1082	// ---------------------------------------
1083	double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1084	double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1085	double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1086	double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² = -/s]
1087
1088	if (_rnx) {
1089	double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1090	int s = rtnClkSig.size();
1091	switch (s) {
1092	case 1:
1093	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1094	clkRnxRateSig = 0.0; // [s/s = -]
1095	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1096	break;
1097	case 2:
1098	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1099	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1100	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1101	break;
1102	case 3:
1103	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1104	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1105	clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1106	break;
1107	}
1108	_rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1109	clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1110	}
1111	if (_sp3) {
1112	_sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1113	}
1114	return success;
1115	}
1116
1117	// Transform Coordinates
1118	////////////////////////////////////////////////////////////////////////////
1119	void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1120	double& dc) {
1121
1122	// Current epoch minus 2000.0 in years
1123	// ------------------------------------
1124	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1125
1126	ColumnVector dx(3);
1127
1128	dx(1) = _dx + dt * _dxr;
1129	dx(2) = _dy + dt * _dyr;
1130	dx(3) = _dz + dt * _dzr;
1131
1132	static const double arcSec = 180.0 * 3600.0 / M_PI;
1133
1134	double ox = (_ox + dt * _oxr) / arcSec;
1135	double oy = (_oy + dt * _oyr) / arcSec;
1136	double oz = (_oz + dt * _ozr) / arcSec;
1137
1138	double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1139
1140	// Specify approximate center of area
1141	// ----------------------------------
1142	ColumnVector meanSta(3);
1143
1144	if (_crdTrafo == "ETRF2000") {
1145	meanSta(1) = 3661090.0;
1146	meanSta(2) = 845230.0;
1147	meanSta(3) = 5136850.0;
1148	}
1149	else if (_crdTrafo == "GDA2020") {
1150	meanSta(1) = -4052050.0;
1151	meanSta(2) = 4212840.0;
1152	meanSta(3) = -2545110.0;
1153	}
1154	else if (_crdTrafo == "SIRGAS2000") {
1155	meanSta(1) = 3740860.0;
1156	meanSta(2) = -4964290.0;
1157	meanSta(3) = -1425420.0;
1158	}
1159	else if (_crdTrafo == "DREF91") {
1160	meanSta(1) = 3959579.0;
1161	meanSta(2) = 721719.0;
1162	meanSta(3) = 4931539.0;
1163	}
1164	else if (_crdTrafo == "Custom") {
1165	meanSta(1) = 0.0;
1166	meanSta(2) = 0.0;
1167	meanSta(3) = 0.0;
1168	}
1169
1170	// Clock correction proportional to topocentric distance to satellites
1171	// -------------------------------------------------------------------
1172	double rho = (xyz - meanSta).NormFrobenius();
1173	dc = rho * (sc - 1.0) / sc / t_CST::c;
1174
1175	Matrix rMat(3, 3);
1176	rMat(1, 1) = 1.0;
1177	rMat(1, 2) = -oz;
1178	rMat(1, 3) = oy;
1179	rMat(2, 1) = oz;
1180	rMat(2, 2) = 1.0;
1181	rMat(2, 3) = -ox;
1182	rMat(3, 1) = -oy;
1183	rMat(3, 2) = ox;
1184	rMat(3, 3) = 1.0;
1185
1186	xyz = sc * rMat * xyz + dx;
1187	}
1188
1189	// Transform Coordinates
1190	////////////////////////////////////////////////////////////////////////////
1191	void bncRtnetUploadCaster::crdTrafo14(int GPSWeek, ColumnVector& xyz,
1192	double& dc) {
1193
1194	// Current epoch minus 2000.0 in years
1195	// ------------------------------------
1196	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1197
1198	ColumnVector dx(3);
1199
1200	dx(1) = _dx14 + dt * _dxr14;
1201	dx(2) = _dy14 + dt * _dyr14;
1202	dx(3) = _dz14 + dt * _dzr14;
1203
1204	static const double arcSec = 180.0 * 3600.0 / M_PI;
1205
1206	double ox = (_ox14 + dt * _oxr14) / arcSec;
1207	double oy = (_oy14 + dt * _oyr14) / arcSec;
1208	double oz = (_oz14 + dt * _ozr14) / arcSec;
1209
1210	double sc = 1.0 + _sc14 * 1e-9 + dt * _scr14 * 1e-9;
1211
1212	// Specify approximate center of area
1213	// ----------------------------------
1214	ColumnVector meanSta(3);
1215	meanSta(1) = 0.0; // TODO
1216	meanSta(2) = 0.0; // TODO
1217	meanSta(3) = 0.0; // TODO
1218
1219	// Clock correction proportional to topocentric distance to satellites
1220	// -------------------------------------------------------------------
1221	double rho = (xyz - meanSta).NormFrobenius();
1222	dc = rho * (sc - 1.0) / sc / t_CST::c;
1223
1224	Matrix rMat(3, 3);
1225	rMat(1, 1) = 1.0;
1226	rMat(1, 2) = -oz;
1227	rMat(1, 3) = oy;
1228	rMat(2, 1) = oz;
1229	rMat(2, 2) = 1.0;
1230	rMat(2, 3) = -ox;
1231	rMat(3, 1) = -oy;
1232	rMat(3, 2) = ox;
1233	rMat(3, 3) = 1.0;
1234
1235	xyz = sc * rMat * xyz + dx;
1236	}
1237
1238	// Update Interval
1239	////////////////////////////////////////////////////////////////////////////
1240	int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1241
1242	if (samplingRate == 10.0) {
1243	return 3;
1244	}
1245	else if (samplingRate == 15.0) {
1246	return 4;
1247	}
1248	else if (samplingRate == 30.0) {
1249	return 5;
1250	}
1251	else if (samplingRate == 60.0) {
1252	return 6;
1253	}
1254	else if (samplingRate == 120.0) {
1255	return 7;
1256	}
1257	else if (samplingRate == 240.0) {
1258	return 8;
1259	}
1260	else if (samplingRate == 300.0) {
1261	return 9;
1262	}
1263	else if (samplingRate == 600.0) {
1264	return 10;
1265	}
1266	else if (samplingRate == 900.0) {
1267	return 11;
1268	}
1269	else if (samplingRate == 1800.0) {
1270	return 12;
1271	}
1272	else if (samplingRate == 3600.0) {
1273	return 13;
1274	}
1275	else if (samplingRate == 7200.0) {
1276	return 14;
1277	}
1278	else if (samplingRate == 10800.0) {
1279	return 15;
1280	}
1281	return 2; // default
1282	}
1283
1284	// Check corrections
1285	////////////////////////////////////////////////////////////////////////////
1286	bool bncRtnetUploadCaster::corrIsOutOfRange(struct SsrCorr::ClockOrbit::SatData* sd) {
1287
1288	if (fabs(sd->Clock.DeltaA0) > 209.7151) {return true;}
1289	if (fabs(sd->Clock.DeltaA1) > 1.048575) {return true;}
1290	if (fabs(sd->Clock.DeltaA2) > 1.34217726) {return true;}
1291
1292	if (fabs(sd->Orbit.DeltaRadial) > 209.7151) {return true;}
1293	if (fabs(sd->Orbit.DeltaAlongTrack) > 209.7148) {return true;}
1294	if (fabs(sd->Orbit.DeltaCrossTrack) > 209.7148) {return true;}
1295
1296	if (fabs(sd->Orbit.DotDeltaRadial) > 1.048575) {return true;}
1297	if (fabs(sd->Orbit.DotDeltaAlongTrack) > 1.048572) {return true;}
1298	if (fabs(sd->Orbit.DotDeltaCrossTrack) > 1.048572) {return true;}
1299	return false;
1300	}

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