Context Navigation

source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 10695

Last change on this file since 10695 was 10667, checked in by stuerze, 9 months ago
minor changes
File size: 50.8 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").toString().split("sec").first().toDouble();
88
89	if (hlp.size() > 1) { // combination stream upload
90	_samplRtcmClkCorr = settings.value("cmbSampl").toString().split("sec").first().toDouble();
91	}
92	else { // single stream upload or sp3 file generation
93	_samplRtcmClkCorr = 5.0; // default
94	}
95	_samplRtcmVtec = 60.0;
96	_samplRtcmCrs = 60.0;
97	int samplSp3 = settings.value("uploadSamplSp3").toString().split("sec").first().toInt();
98	int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
99	int samplBiaSnx = settings.value("uploadSamplBiaSnx").toInt();
100
101	if (_samplRtcmEphCorr == 0.0) {
102	_usedEph = 0;
103	}
104	else {
105	_usedEph = new QMap<QString, const t_eph*>;
106	}
107
108	// RINEX writer
109	// ------------
110	if (!rnxFileName.isEmpty()) {
111	_rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
112	}
113	else {
114	_rnx = 0;
115	}
116
117	// SP3 writer
118	// ----------
119	if (!sp3FileName.isEmpty()) {
120	_sp3 = new bncSP3(sp3FileName, intr, samplSp3);
121	}
122	else {
123	_sp3 = 0;
124	}
125
126	// SINEX writer
127	// ------------
128	if (!bsxFileName.isEmpty()) {
129	_bsx = new bncBiasSinex(bsxFileName, intr, samplBiaSnx);
130	}
131	else {
132	_bsx = 0;
133	}
134
135
136	// Set Transformation Parameters
137	// -----------------------------
138	// Transformation Parameters from ITRF2014 to ETRF2000
139	// http://etrs89.ign.fr/pub/EUREF-TN-1-Mar-04-2024.pdf
140	if (_crdTrafoStr == "ETRF2000") {
141	_dx = 0.0552;
142	_dy = 0.0527;
143	_dz = -0.0836;
144
145	_dxr = 0.0001;
146	_dyr = 0.0001;
147	_dzr = -0.0019;
148
149	_ox = 0.002106;
150	_oy = 0.012740;
151	_oz = -0.020592;
152
153	_oxr = 0.000081;
154	_oyr = 0.000490;
155	_ozr = -0.000792;
156
157	_sc = 2.67;
158	_scr = 0.11;
159
160	_t0 = 2015.0;
161	}
162	// Transformation Parameters from ITRF2014 to GDA2020 (Ryan Ruddick, GA)
163	else if (_crdTrafoStr == "GDA2020") {
164	_dx = 0.0;
165	_dy = 0.0;
166	_dz = 0.0;
167
168	_dxr = 0.0;
169	_dyr = 0.0;
170	_dzr = 0.0;
171
172	_ox = 0.0;
173	_oy = 0.0;
174	_oz = 0.0;
175
176	_oxr = 0.00150379;
177	_oyr = 0.00118346;
178	_ozr = 0.00120716;
179
180	_sc = 0.0;
181	_scr = 0.0;
182
183	_t0 = 2020.0;
184	}
185	// Transformation Parameters from IGb14 to SIRGAS2000 (Thanks to Sonia Costa, BRA)
186	// June 29 2020: TX:-0.0027 m TY:-0.0025 m TZ:-0.0042 m SCL:1.20 (ppb) no rotations and no rates.*/
187	else if (_crdTrafoStr == "SIRGAS2000") {
188	_dx = -0.0027;
189	_dy = -0.0025;
190	_dz = -0.0042;
191
192	_dxr = 0.0;
193	_dyr = 0.0;
194	_dzr = 0.0;
195
196	_ox = 0.0;
197	_oy = 0.0;
198	_oz = 0.0;
199
200	_oxr = 0.0;
201	_oyr = 0.0;
202	_ozr = 0.0;
203
204	_sc = 1.2;
205	_scr = 0.0;
206	_t0 = 2000.0;
207	}
208	// Transformation Parameters from ITRF2014 to DREF91
209	else if (_crdTrafoStr == "DREF91") {
210	_dx = 0.0547;
211	_dy = 0.0522;
212	_dz = -0.0741;
213
214	_dxr = 0.0001;
215	_dyr = 0.0001;
216	_dzr = -0.0019;
217	// ERTF200 + rotation parameters (ETRF2000 => DREF91)
218	_ox = 0.001701 + 0.000658;
219	_oy = 0.010290 - 0.000208;
220	_oz = -0.016632 + 0.000755;
221
222	_oxr = 0.000081;
223	_oyr = 0.000490;
224	_ozr = -0.000729;
225
226	_sc = 2.12;
227	_scr = 0.11;
228
229	_t0 = 2010.0;
230	}
231	else if (_crdTrafoStr == "Custom") {
232	_dx = settings.value("trafo_dx").toDouble();
233	_dy = settings.value("trafo_dy").toDouble();
234	_dz = settings.value("trafo_dz").toDouble();
235	_dxr = settings.value("trafo_dxr").toDouble();
236	_dyr = settings.value("trafo_dyr").toDouble();
237	_dzr = settings.value("trafo_dzr").toDouble();
238	_ox = settings.value("trafo_ox").toDouble();
239	_oy = settings.value("trafo_oy").toDouble();
240	_oz = settings.value("trafo_oz").toDouble();
241	_oxr = settings.value("trafo_oxr").toDouble();
242	_oyr = settings.value("trafo_oyr").toDouble();
243	_ozr = settings.value("trafo_ozr").toDouble();
244	_sc = settings.value("trafo_sc").toDouble();
245	_scr = settings.value("trafo_scr").toDouble();
246	_t0 = settings.value("trafo_t0").toDouble();
247	}
248	// TODO: the following lines can be deleted if all parameters are updated regarding ITRF2020
249	if (_crdTrafoStr == "ETRF2000" \|\|
250	_crdTrafoStr == "GDA2020" \|\|
251	_crdTrafoStr == "DREF91" \|\|
252	_crdTrafoStr == "SIRGAS2000") {
253	// Transformation Parameters from ITRF2020 to ITRF2014
254	// from ITRF web site: https://itrf.ign.fr/en/solutions/transformations
255	_dx14 = -0.0014;
256	_dy14 = -0.0009;
257	_dz14 = 0.0014;
258	_dxr14 = 0.0;
259	_dyr14 = -0.0001;
260	_dzr14 = -0.0002;
261	_ox14 = 0.0;
262	_oy14 = 0.0;
263	_oz14 = 0.0;
264	_oxr14 = 0.0;
265	_oyr14 = 0.0;
266	_ozr14 = 0.0;
267	_sc14 = -0.42;
268	_scr14 = 0.0;
269	_t014 = 2015.0;
270	}
271	}
272
273	// Destructor
274	////////////////////////////////////////////////////////////////////////////
275	bncRtnetUploadCaster::~bncRtnetUploadCaster() {
276	if (isRunning()) {
277	wait();
278	}
279	delete _rnx;
280	delete _sp3;
281	delete _bsx;
282	delete _ephUser;
283	delete _usedEph;
284	delete _ssrCorr;
285	}
286
287	//
288	////////////////////////////////////////////////////////////////////////////
289	void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
290
291	QMutexLocker locker(&_mutex);
292
293	// Append to internal buffer
294	// -------------------------
295	_rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
296
297	// Select buffer part that contains last epoch
298	// -------------------------------------------
299	QStringList lines;
300	int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
301	if (iEpoBeg == -1) {
302	_rtnetStreamBuffer.clear();
303	return;
304	}
305	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
306
307	int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
308	if (iEpoEnd == -1) {
309	return;
310	}
311	else {
312	lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', Qt::SkipEmptyParts);
313	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
314	}
315
316	if (lines.size() < 2) {
317	emit(newMessage(
318	"bncRtnetUploadCaster: less than 2 lines to decode " + _casterID.toLatin1(), false));
319	return;
320	}
321
322	// Keep the last unfinished line in buffer
323	// ---------------------------------------
324	int iLastEOL = _rtnetStreamBuffer.lastIndexOf('\n');
325	if (iLastEOL != -1) {
326	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iLastEOL + 1);
327	}
328
329
330	// Read first line (with epoch time)
331	// ---------------------------------
332	//QTextStream in(lines[0].toLatin1());
333	QTextStream in(&lines[0], QIODevice::ReadOnly);
334	QString hlp;
335	int year, month, day, hour, min;
336	double sec;
337	in >> hlp >> year >> month >> day >> hour >> min >> sec;
338	bncTime epoTime;
339	epoTime.set(year, month, day, hour, min, sec);
340
341	emit(newMessage(
342	"bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
343	+ " " + QByteArray(epoTime.timestr().c_str()) + " "
344	+ _casterID.toLatin1(), false));
345
346	struct SsrCorr::ClockOrbit co;
347	memset(&co, 0, sizeof(co));
348	co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
349	double gt = epoTime.gpssec() - gnumleap(year, month, day);
350	if (_ssrFormat == "RTCM-SSR") {
351	gt += 3 * 3600;
352	}
353	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
354	co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
355	co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
356	co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
357	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
358	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
359	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
360	(_crdTrafoStr == "IGS20") ?
361	co.SatRefDatum = _ssrCorr->DATUM_ITRF :
362	co.SatRefDatum = _ssrCorr->DATUM_LOCAL;
363	co.SSRIOD = _IOD;
364	co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
365	co.SSRSolutionID = _SID;
366	if (_ssrFormat == "RTCM-SSR") {
367	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
368	}
369	else if (_ssrFormat == "IGS-SSR") {
370	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
371	}
372	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
373	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
374
375
376	t_serviceCrs serviceCrs;
377	t_rtcmCrs rtcmCrs;
378	if (_crdTrafoStr == "IGS20") {
379	serviceCrs._CE = serviceCrs._coordinateEpoch = 0;
380	int nc = _crdTrafoStr.length();
381	if (nc > 31) { nc = 31; }
382	for (int i = 0; i < nc; i++) {
383	serviceCrs._name[i] =
384	rtcmCrs._name[i] = _crdTrafoStr.toStdString()[i];
385	}
386	serviceCrs._name[nc] = 0;
387	rtcmCrs._name[nc] = 0;
388	rtcmCrs._anchor = 0; // global CRS
389	rtcmCrs._plateNumber = 0; // unknown
390	rtcmCrs._databaseLinks << "ISO.DATUM.979" << "ISO.CRS:980";
391	}
392	else {
393	if (_crdTrafoStr != "Custom") {
394	serviceCrs._coordinateEpoch = _t0;
395	serviceCrs.setCEFromCoordinateEpoch();
396	int nc = _crdTrafoStr.length();
397	if (nc > 31) { nc = 31; }
398	for (int i = 0; i < nc; i++) {
399	serviceCrs._name[i] = _crdTrafoStr.toStdString()[i];
400	}
401	serviceCrs._name[nc] = 0;
402	QString rtcmcrsname = _crdTrafoStr + QString("(%1)").arg(_t0, 4, 'd', 0);
403	nc = rtcmcrsname.length();
404	if (nc > 31) { nc = 31; }
405	for (int i = 0; i < nc; i++) {
406	rtcmCrs._name[i] = rtcmcrsname.toStdString()[i];
407	}
408	rtcmCrs._name[nc] = 0;
409	if (_crdTrafoStr == "ETRF2000") {
410	rtcmCrs._anchor = 1; // plate-fixed CRS
411	rtcmCrs._plateNumber = 7; // Eurasia
412	rtcmCrs._databaseLinks << "ISO.DATUM.187" << "ISO.CRS:260" << "ISO.CRS:457"
413	<< "EPSG.DATUM:1186" << "EPSG.CRS:7930" << "EPSG.CRS:7931";
414	}
415	else if (_crdTrafoStr == "DREF91") {
416	rtcmCrs._anchor = 1; // plate-fixed CRS
417	rtcmCrs._plateNumber = 7; // Eurasia
418	}
419	else if (_crdTrafoStr == "GDA2020") {
420	rtcmCrs._anchor = 1; // plate-fixed CRS
421	rtcmCrs._plateNumber = 4; // Australia
422	rtcmCrs._databaseLinks << "ISO.DATUM.186" << "ISO.CRS:404" << "ISO.CRS:329"
423	<< "EPSG.DATUM:1168" << "EPSG.CRS:7842" << "EPSG.CRS:7843";
424	}
425	else if (_crdTrafoStr == "SIRGAS2000") {
426	rtcmCrs._anchor = 1; // plate-fixed CRS
427	rtcmCrs._plateNumber = 12; // S.America
428	rtcmCrs._databaseLinks << "ISO.DATUM:169" << "ISO.CRS:384" << "ISO.CRS:313"
429	<< "EPSG.DATUM:6674" << "EPSG.CRS:4988" << "EPSG.CRS:4989";
430	}
431	}
432	}
433
434	struct SsrCorr::CodeBias bias;
435	memset(&bias, 0, sizeof(bias));
436	bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
437	bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
438	bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
439	bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
440	bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
441	bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
442	bias.SSRIOD = _IOD;
443	bias.SSRProviderID = _PID;
444	bias.SSRSolutionID = _SID;
445
446	struct SsrCorr::PhaseBias phasebias;
447	memset(&phasebias, 0, sizeof(phasebias));
448	unsigned int dispersiveBiasConsistenyIndicator = 0;
449	unsigned int mwConsistencyIndicator = 0;
450	phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
451	phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
452	phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
453	phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
454	phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
455	phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
456	phasebias.SSRIOD = _IOD;
457	phasebias.SSRProviderID = _PID;
458	phasebias.SSRSolutionID = _SID;
459
460	struct SsrCorr::VTEC vtec;
461	memset(&vtec, 0, sizeof(vtec));
462	vtec.EpochTime = static_cast<int>(epoTime.gpssec());
463	vtec.SSRIOD = _IOD;
464	vtec.SSRProviderID = _PID;
465	vtec.SSRSolutionID = _SID;
466
467	// Update Interval
468	// ---------------
469
470	if (_samplRtcmEphCorr == 0.0) {// combined orb and clock
471	_samplRtcmEphCorr = _samplRtcmClkCorr = 5.0;
472	}
473	int clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
474	int ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
475
476	co.UpdateInterval = clkUpdInd;
477	bias.UpdateInterval = ephUpdInd;
478	phasebias.UpdateInterval = ephUpdInd;
479
480	for (int ii = 1; ii < lines.size(); ii++) {
481	QString key; // prn or key VTEC, IND (phase bias indicators)
482	double rtnUra = 0.0; // [m]
483	ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
484	ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
485	ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
486	ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
487	ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
488
489	//QTextStream in(lines[ii].toLatin1());
490	QTextStream in(&lines[ii], QIODevice::ReadOnly);
491	in >> key;
492
493	// non-satellite specific parameters
494	if (key.contains("IND", Qt::CaseSensitive)) {
495	in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
496	continue;
497	}
498	// non-satellite specific parameters
499	if (key.contains("VTEC", Qt::CaseSensitive)) {
500	double ui;
501	in >> ui >> vtec.NumLayers;
502	vtec.UpdateInterval = (unsigned int)determineUpdateInd(ui);
503	for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
504	int dummy;
505	in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
506	>> vtec.Layers[ll].Height;
507	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
508	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
509	in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
510	}
511	}
512	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
513	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
514	in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
515	}
516	}
517	}
518	continue;
519	}
520	// satellite specific parameters
521	t_prn prn;
522	char sys = key.mid(0, 1).at(0).toLatin1();
523	int num = key.mid(1, 2).toInt();
524	int flag = t_corrSSR::getSsrNavTypeFlag(sys, num);
525	if (!num) {
526	continue;
527	}
528	prn.set(sys, num, flag);
529	QString prnInternalStr = QString::fromStdString(prn.toInternalString());
530	QString prnStr = QString::fromStdString(prn.toString());
531
532	const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
533	const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
534	const t_eph* eph = ephLast;
535	if (eph) {
536
537	// Use previous ephemeris if the last one is too recent
538	// ----------------------------------------------------
539	const int MINAGE = 60; // seconds
540	if (ephPrev && eph->receptDateTime().isValid() &&
541	eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
542	eph = ephPrev;
543	}
544
545	// Make sure the clock messages refer to same IOD as orbit messages
546	// ----------------------------------------------------------------
547	if (_usedEph) {
548	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
549	(*_usedEph)[prnInternalStr] = eph;
550	}
551	else {
552	eph = 0;
553	if (_usedEph->contains(prnInternalStr)) {
554	const t_eph* usedEph = _usedEph->value(prnInternalStr);
555	if (usedEph == ephLast) {
556	eph = ephLast;
557	}
558	else if (usedEph == ephPrev) {
559	eph = ephPrev;
560	}
561	}
562	}
563	}
564	}
565
566	QDateTime now = currentDateAndTimeGPS();
567	bncTime currentTime(now.toString(Qt::ISODate).toStdString());
568	if (eph &&
569	!outDatedBcep(eph, currentTime) && // detected from storage because of no update
570	eph->checkState() != t_eph::bad &&
571	eph->checkState() != t_eph::unhealthy &&
572	eph->checkState() != t_eph::outdated) { // detected during reception (bncephuser)
573	QMap<QString, double> codeBiases;
574	QList<phaseBiasSignal> phaseBiasList;
575	phaseBiasesSat pbSat;
576	_phaseBiasInformationDecoded = false;
577
578	while (true) {
579	QString key;
580	int numVal = 0;
581	in >> key;
582	if (in.status() != QTextStream::Ok) {
583	break;
584	}
585	if (key == "APC") {
586	in >> numVal;
587	rtnAPC.ReSize(3); rtnAPC = 0.0;
588	for (int ii = 0; ii < numVal; ii++) {
589	in >> rtnAPC[ii];
590	}
591	}
592	else if (key == "Ura") {
593	in >> numVal;
594	if (numVal == 1)
595	in >> rtnUra;
596	}
597	else if (key == "Clk") {
598	in >> numVal;
599	rtnClk.ReSize(3); rtnClk = 0.0;
600	for (int ii = 0; ii < numVal; ii++) {
601	in >> rtnClk[ii];
602	}
603	}
604	else if (key == "ClkSig") {
605	in >> numVal;
606	rtnClkSig.ReSize(3); rtnClkSig = 0.0;
607	for (int ii = 0; ii < numVal; ii++) {
608	in >> rtnClkSig[ii];
609	}
610	}
611	else if (key == "Vel") {
612	in >> numVal;
613	rtnVel.ReSize(3); rtnVel = 0.0;
614	for (int ii = 0; ii < numVal; ii++) {
615	in >> rtnVel[ii];
616	}
617	}
618	else if (key == "CoM") {
619	in >> numVal;
620	rtnCoM.ReSize(3); rtnCoM = 0.0;
621	for (int ii = 0; ii < numVal; ii++) {
622	in >> rtnCoM[ii];
623	}
624	}
625	else if (key == "CodeBias") {
626	in >> numVal;
627	for (int ii = 0; ii < numVal; ii++) {
628	QString type;
629	double value;
630	in >> type >> value;
631	codeBiases[type] = value;
632	}
633	}
634	else if (key == "YawAngle") {
635	_phaseBiasInformationDecoded = true;
636	in >> numVal >> pbSat.yawAngle;
637	if (pbSat.yawAngle < 0.0) {
638	pbSat.yawAngle += (2 * M_PI);
639	}
640	else if (pbSat.yawAngle > 2 * M_PI) {
641	pbSat.yawAngle -= (2 * M_PI);
642	}
643	}
644	else if (key == "YawRate") {
645	_phaseBiasInformationDecoded = true;
646	in >> numVal >> pbSat.yawRate;
647	}
648	else if (key == "PhaseBias") {
649	_phaseBiasInformationDecoded = true;
650	in >> numVal;
651	for (int ii = 0; ii < numVal; ii++) {
652	phaseBiasSignal pb;
653	in >> pb.type >> pb.bias >> pb.integerIndicator
654	>> pb.wlIndicator >> pb.discontinuityCounter;
655	phaseBiasList.append(pb);
656	}
657	}
658	else {
659	in >> numVal;
660	for (int ii = 0; ii < numVal; ii++) {
661	double dummy;
662	in >> dummy;
663	}
664	emit(newMessage(" RTNET format error: "
665	+ lines[ii].toLatin1(), false));
666	break;
667	}
668	}
669
670	struct SsrCorr::ClockOrbit::SatData* sd = 0;
671	if (prn.system() == 'G') {
672	sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
673	++co.NumberOfSat[CLOCKORBIT_SATGPS];
674	}
675	else if (prn.system() == 'R') {
676	sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
677	++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
678	}
679	else if (prn.system() == 'E') {
680	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
681	+ co.NumberOfSat[CLOCKORBIT_SATGALILEO];
682	++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
683	}
684	else if (prn.system() == 'J') {
685	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
686	+ CLOCKORBIT_NUMGALILEO
687	+ co.NumberOfSat[CLOCKORBIT_SATQZSS];
688	++co.NumberOfSat[CLOCKORBIT_SATQZSS];
689	}
690	else if (prn.system() == 'S') {
691	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
692	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
693	+ co.NumberOfSat[CLOCKORBIT_SATSBAS];
694	++co.NumberOfSat[CLOCKORBIT_SATSBAS];
695	}
696	else if (prn.system() == 'C') {
697	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
698	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
699	+ CLOCKORBIT_NUMSBAS
700	+ co.NumberOfSat[CLOCKORBIT_SATBDS];
701	++co.NumberOfSat[CLOCKORBIT_SATBDS];
702	}
703	if (sd) {
704	QString outLine;
705	t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
706	rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
707	if (irc != success) {
708	continue;
709	}
710	}
711
712	// Code Biases
713	// -----------
714	struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
715	if (!codeBiases.isEmpty()) {
716	if (prn.system() == 'G') {
717	biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
718	++bias.NumberOfSat[CLOCKORBIT_SATGPS];
719	}
720	else if (prn.system() == 'R') {
721	biasSat = bias.Sat + CLOCKORBIT_NUMGPS
722	+ bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
723	++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
724	}
725	else if (prn.system() == 'E') {
726	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
727	+ bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
728	++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
729	}
730	else if (prn.system() == 'J') {
731	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
732	+ CLOCKORBIT_NUMGALILEO
733	+ bias.NumberOfSat[CLOCKORBIT_SATQZSS];
734	++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
735	}
736	else if (prn.system() == 'S') {
737	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
738	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
739	+ bias.NumberOfSat[CLOCKORBIT_SATSBAS];
740	++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
741	}
742	else if (prn.system() == 'C') {
743	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
744	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
745	+ CLOCKORBIT_NUMSBAS
746	+ bias.NumberOfSat[CLOCKORBIT_SATBDS];
747	++bias.NumberOfSat[CLOCKORBIT_SATBDS];
748	}
749	}
750
751	if (biasSat) {
752	biasSat->ID = prn.number();
753	biasSat->NumberOfCodeBiases = 0;
754	QMapIterator<QString, double> it(codeBiases);
755	while (it.hasNext()) {
756	it.next();
757	int ii = biasSat->NumberOfCodeBiases;
758	if (ii >= CLOCKORBIT_NUMBIAS)
759	break;
760	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
761	if (type != _ssrCorr->RESERVED) {
762	biasSat->NumberOfCodeBiases += 1;
763	biasSat->Biases[ii].Type = type;
764	biasSat->Biases[ii].Bias = it.value();
765	if (_bsx) {
766	QString obsCode = 'C' + it.key();
767	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, it.value());
768	}
769	}
770	}
771	}
772
773	// Phase Biases
774	// ------------
775	struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
776	if (prn.system() == 'G') {
777	phasebiasSat = phasebias.Sat
778	+ phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
779	++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
780	}
781	else if (prn.system() == 'R') {
782	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
783	+ phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
784	++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
785	}
786	else if (prn.system() == 'E') {
787	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
788	+ phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
789	++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
790	}
791	else if (prn.system() == 'J') {
792	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
793	+ CLOCKORBIT_NUMGALILEO
794	+ phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
795	++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
796	}
797	else if (prn.system() == 'S') {
798	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
799	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
800	+ phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
801	++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
802	}
803	else if (prn.system() == 'C') {
804	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
805	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
806	+ CLOCKORBIT_NUMSBAS
807	+ phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
808	++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
809	}
810
811	if (phasebiasSat && _phaseBiasInformationDecoded) {
812	phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
813	phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
814	phasebiasSat->ID = prn.number();
815	phasebiasSat->NumberOfPhaseBiases = 0;
816	phasebiasSat->YawAngle = pbSat.yawAngle;
817	phasebiasSat->YawRate = pbSat.yawRate;
818	QListIterator<phaseBiasSignal> it(phaseBiasList);
819	while (it.hasNext()) {
820	const phaseBiasSignal& pbSig = it.next();
821	int ii = phasebiasSat->NumberOfPhaseBiases;
822	if (ii >= CLOCKORBIT_NUMBIAS)
823	break;
824	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
825	if (type != _ssrCorr->RESERVED) {
826	phasebiasSat->NumberOfPhaseBiases += 1;
827	phasebiasSat->Biases[ii].Type = type;
828	phasebiasSat->Biases[ii].Bias = pbSig.bias;
829	phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
830	phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
831	phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
832	if (_bsx) {
833	QString obsCode = 'L' + pbSig.type;
834	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, pbSig.bias);
835	}
836	}
837	}
838	}
839	}
840	}
841
842	QByteArray hlpBufferCo;
843	char obuffer[CLOCKORBIT_BUFFERSIZE];
844	size_t len = 0;
845
846	// Orbit and Clock Corrections together
847	// ------------------------------------
848	if (_samplRtcmEphCorr == _samplRtcmClkCorr) {
849	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
850	\|\| co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
851	\|\| co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
852	\|\| co.NumberOfSat[CLOCKORBIT_SATBDS] > 0
853	\|\| co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
854	\|\| co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
855	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
856	memset(obuffer, 0, sizeof(obuffer));
857	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
858	if (len > 0) {
859	hlpBufferCo = QByteArray(obuffer, int(len));
860	}
861	}
862	}
863	}
864
865	// Orbit and Clock Corrections separately
866	// --------------------------------------
867	else {
868	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
869	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
870	co.UpdateInterval = ephUpdInd;
871	memset(obuffer, 0, sizeof(obuffer));
872	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer, sizeof(obuffer));
873	if (len > 0) {
874	hlpBufferCo += QByteArray(obuffer, int(len));
875	}
876	}
877	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 \|\|
878	co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
879	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 \|\|
880	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
881	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) ? 1 : 0;
882	if (fmod(epoTime.gpssec(), _samplRtcmClkCorr) == 0.0) {
883	co.UpdateInterval = clkUpdInd;
884	memset(obuffer, 0, sizeof(obuffer));
885	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer, sizeof(obuffer));
886	if (len > 0) {
887	hlpBufferCo += QByteArray(obuffer, int(len));
888	}
889	}
890	}
891	if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
892	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
893	co.UpdateInterval = ephUpdInd;
894	memset(obuffer, 0, sizeof(obuffer));
895	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer, sizeof(obuffer));
896	if (len > 0) {
897	hlpBufferCo += QByteArray(obuffer, int(len));
898	}
899	}
900	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
901	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 \|\|
902	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
903	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) ? 1 : 0;
904	if (fmod(epoTime.gpssec(), _samplRtcmClkCorr) == 0.0) {
905	co.UpdateInterval = clkUpdInd;
906	memset(obuffer, 0, sizeof(obuffer));
907	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer, sizeof(obuffer));
908	if (len > 0) {
909	hlpBufferCo += QByteArray(obuffer, int(len));
910	}
911	}
912	}
913	if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
914	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
915	co.UpdateInterval = ephUpdInd;
916	memset(obuffer, 0, sizeof(obuffer));
917	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer, sizeof(obuffer));
918	if (len > 0) {
919	hlpBufferCo += QByteArray(obuffer, int(len));
920	}
921	}
922	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 \|\|
923	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
924	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) ? 1 : 0;
925	if (fmod(epoTime.gpssec(), _samplRtcmClkCorr) == 0.0) {
926	co.UpdateInterval = clkUpdInd;
927	memset(obuffer, 0, sizeof(obuffer));
928	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer, sizeof(obuffer));
929	if (len > 0) {
930	hlpBufferCo += QByteArray(obuffer, int(len));
931	}
932	}
933	}
934	if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
935	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
936	co.UpdateInterval = ephUpdInd;
937	memset(obuffer, 0, sizeof(obuffer));
938	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer, sizeof(obuffer));
939	if (len > 0) {
940	hlpBufferCo += QByteArray(obuffer, int(len));
941	}
942	}
943	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
944	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) ? 1 : 0;
945	if (fmod(epoTime.gpssec(), _samplRtcmClkCorr) == 0.0) {
946	co.UpdateInterval = clkUpdInd;
947	memset(obuffer, 0, sizeof(obuffer));
948	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer, sizeof(obuffer));
949	if (len > 0) {
950	hlpBufferCo += QByteArray(obuffer, int(len));
951	}
952	}
953	}
954	if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
955	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
956	co.UpdateInterval = ephUpdInd;
957	memset(obuffer, 0, sizeof(obuffer));
958	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer, sizeof(obuffer));
959	if (len > 0) {
960	hlpBufferCo += QByteArray(obuffer, int(len));
961	}
962	}
963	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) ? 1 : 0;
964	if (fmod(epoTime.gpssec(), _samplRtcmClkCorr) == 0.0) {
965	co.UpdateInterval = clkUpdInd;
966	memset(obuffer, 0, sizeof(obuffer));
967	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer, sizeof(obuffer));
968	if (len > 0) {
969	hlpBufferCo += QByteArray(obuffer, int(len));
970	}
971	}
972	}
973	if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
974	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
975	co.UpdateInterval = ephUpdInd;
976	memset(obuffer, 0, sizeof(obuffer));
977	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer, sizeof(obuffer));
978	co.UpdateInterval = clkUpdInd;
979	if (len > 0) {
980	hlpBufferCo += QByteArray(obuffer, int(len));
981	}
982	}
983	int mmsg = 0;
984	if (fmod(epoTime.gpssec(), _samplRtcmClkCorr) == 0.0) {
985	co.UpdateInterval = clkUpdInd;
986	memset(obuffer, 0, sizeof(obuffer));
987	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer, sizeof(obuffer));
988	if (len > 0) {
989	hlpBufferCo += QByteArray(obuffer, int(len));
990	}
991	}
992	}
993	}
994
995	// Code Biases
996	// -----------
997	QByteArray hlpBufferBias;
998	if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
999	\|\| bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
1000	\|\| bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
1001	\|\| bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0
1002	\|\| bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
1003	\|\| bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
1004	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
1005	memset(obuffer, 0, sizeof(obuffer));
1006	len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
1007	if (len > 0) {
1008	hlpBufferBias = QByteArray(obuffer, int(len));
1009	}
1010	}
1011	}
1012
1013	// Phase Biases
1014	// ------------
1015	QByteArray hlpBufferPhaseBias;
1016	if ((phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
1017	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
1018	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
1019	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0
1020	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
1021	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) && (_phaseBiasInformationDecoded)) {
1022	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
1023	memset(obuffer, 0, sizeof(obuffer));
1024	len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
1025	if (len > 0) {
1026	hlpBufferPhaseBias = QByteArray(obuffer, int(len));
1027	}
1028	}
1029	}
1030
1031	// VTEC
1032	// ----
1033	QByteArray hlpBufferVtec;
1034	if (vtec.NumLayers > 0) {
1035	if (fmod(epoTime.gpssec(), _samplRtcmVtec) == 0.0) {
1036	memset(obuffer, 0, sizeof(obuffer));
1037	len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
1038	if (len > 0) {
1039	hlpBufferVtec = QByteArray(obuffer, int(len));
1040	}
1041	}
1042	}
1043
1044	// Service CRS
1045	// -----------
1046	QByteArray hlpBufferServiceCrs;
1047	if (sizeof(serviceCrs._name) > 0) {
1048	if (fmod(epoTime.gpssec(), _samplRtcmCrs) == 0.0) {
1049	memset(obuffer, 0, sizeof(obuffer));
1050	len = t_crsEncoder::RTCM3(serviceCrs, obuffer, sizeof(obuffer));
1051	if (len > 0) {
1052	hlpBufferServiceCrs = QByteArray(obuffer, int(len));
1053	}
1054	}
1055	}
1056
1057	// RTCM CRS
1058	// --------
1059	QByteArray hlpBufferRtcmCrs;
1060	if (sizeof(rtcmCrs._name) > 0) {
1061	if (fmod(epoTime.gpssec(), _samplRtcmCrs) == 0.0) {
1062	memset(obuffer, 0, sizeof(obuffer));
1063	len = t_crsEncoder::RTCM3(rtcmCrs, obuffer, sizeof(obuffer));
1064	if (len > 0) {
1065	hlpBufferRtcmCrs = QByteArray(obuffer, int(len));
1066	}
1067	}
1068	}
1069
1070	// Create OutBuffer
1071	// ----------------
1072	_outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias + hlpBufferVtec
1073	+ hlpBufferServiceCrs + hlpBufferRtcmCrs + '\0';
1074	}
1075	//
1076	////////////////////////////////////////////////////////////////////////////
1077	t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
1078	double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
1079	double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
1080	const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
1081	struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
1082
1083	// Broadcast Position and Velocity
1084	// -------------------------------
1085	ColumnVector xB(6);
1086	ColumnVector vB(3);
1087	t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
1088
1089	if (irc != success) {
1090	return irc;
1091	}
1092
1093	// Precise Position
1094	// ----------------
1095	ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
1096
1097	if (xP.size() == 0) {
1098	return failure;
1099	}
1100
1101	double dc = 0.0;
1102	if (_crdTrafoStr != "IGS20") {
1103	crdTrafo14(GPSweek, xP, dc); // ITRF2020 => ITRF2014
1104	crdTrafo(GPSweek, xP, dc); // ITRF2014 to other reference frames
1105	}
1106
1107	// Difference in xyz
1108	// -----------------
1109	ColumnVector dx = xB.Rows(1, 3) - xP;
1110	ColumnVector dv = vB - rtnVel;
1111
1112	// Difference in RSW
1113	// -----------------
1114	ColumnVector rsw(3);
1115	XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
1116
1117	ColumnVector dotRsw(3);
1118	XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
1119
1120	// Clock Correction
1121	// ----------------
1122	double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
1123	double dClkA1 = 0.0;
1124	if (rtnClk(2)) {
1125	dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
1126	}
1127	double dClkA2 = 0.0;
1128	if (rtnClk(3)) {
1129	dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
1130	}
1131
1132	if (sd) {
1133	sd->ID = prn.mid(1).toInt();
1134	sd->IOD = eph->IOD();
1135	sd->Clock.DeltaA0 = dClkA0;
1136	sd->Clock.DeltaA1 = dClkA1;
1137	sd->Clock.DeltaA2 = dClkA2;
1138	sd->UserRangeAccuracy = rtnUra;
1139	sd->Orbit.DeltaRadial = rsw(1);
1140	sd->Orbit.DeltaAlongTrack = rsw(2);
1141	sd->Orbit.DeltaCrossTrack = rsw(3);
1142	sd->Orbit.DotDeltaRadial = dotRsw(1);
1143	sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
1144	sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
1145
1146	if (corrIsOutOfRange(sd)) {
1147	emit(newMessage(QString("bncRtnetUploadCaster: SSR parameter is out of its defined range").toLatin1(), false));
1148	return failure;
1149	}
1150	}
1151
1152	outLine = QString().asprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
1153	GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
1154	rsw(1), rsw(2), rsw(3)); //fprintf(stderr, "%s\n", outLine.toStdString().c_str());
1155
1156	// RTNET full clock for RINEX and SP3 file
1157	// ---------------------------------------
1158	double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1159	double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1160	double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1161	double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² = -/s]
1162
1163	if (_rnx) {
1164	double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1165	int s = rtnClkSig.size();
1166	switch (s) {
1167	case 1:
1168	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1169	clkRnxRateSig = 0.0; // [s/s = -]
1170	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1171	break;
1172	case 2:
1173	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1174	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1175	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1176	break;
1177	case 3:
1178	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1179	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1180	clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1181	break;
1182	}
1183	_rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1184	clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1185	}
1186	if (_sp3) {
1187	_sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1188	}
1189	return success;
1190	}
1191
1192	// Transform Coordinates
1193	////////////////////////////////////////////////////////////////////////////
1194	void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1195	double& dc) {
1196
1197	// Current epoch minus 2000.0 in years
1198	// ------------------------------------
1199	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1200
1201	ColumnVector dx(3);
1202
1203	dx(1) = _dx + dt * _dxr;
1204	dx(2) = _dy + dt * _dyr;
1205	dx(3) = _dz + dt * _dzr;
1206
1207	static const double arcSec = 180.0 * 3600.0 / M_PI;
1208
1209	double ox = (_ox + dt * _oxr) / arcSec;
1210	double oy = (_oy + dt * _oyr) / arcSec;
1211	double oz = (_oz + dt * _ozr) / arcSec;
1212
1213	double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1214
1215	// Specify approximate center of area
1216	// ----------------------------------
1217	ColumnVector meanSta(3);
1218
1219	if (_crdTrafoStr == "ETRF2000") {
1220	meanSta(1) = 3661090.0;
1221	meanSta(2) = 845230.0;
1222	meanSta(3) = 5136850.0;
1223	}
1224	else if (_crdTrafoStr == "GDA2020") {
1225	meanSta(1) = -4052050.0;
1226	meanSta(2) = 4212840.0;
1227	meanSta(3) = -2545110.0;
1228	}
1229	else if (_crdTrafoStr == "SIRGAS2000") {
1230	meanSta(1) = 3740860.0;
1231	meanSta(2) = -4964290.0;
1232	meanSta(3) = -1425420.0;
1233	}
1234	else if (_crdTrafoStr == "DREF91") {
1235	meanSta(1) = 3959579.0;
1236	meanSta(2) = 721719.0;
1237	meanSta(3) = 4931539.0;
1238	}
1239	else if (_crdTrafoStr == "Custom") {
1240	meanSta(1) = 0.0;
1241	meanSta(2) = 0.0;
1242	meanSta(3) = 0.0;
1243	}
1244
1245	// Clock correction proportional to topocentric distance to satellites
1246	// -------------------------------------------------------------------
1247	double rho = (xyz - meanSta).NormFrobenius();
1248	dc = rho * (sc - 1.0) / sc / t_CST::c;
1249
1250	Matrix rMat(3, 3);
1251	rMat(1, 1) = 1.0;
1252	rMat(1, 2) = -oz;
1253	rMat(1, 3) = oy;
1254	rMat(2, 1) = oz;
1255	rMat(2, 2) = 1.0;
1256	rMat(2, 3) = -ox;
1257	rMat(3, 1) = -oy;
1258	rMat(3, 2) = ox;
1259	rMat(3, 3) = 1.0;
1260
1261	xyz = sc * rMat * xyz + dx;
1262	}
1263
1264	// Transform Coordinates
1265	////////////////////////////////////////////////////////////////////////////
1266	void bncRtnetUploadCaster::crdTrafo14(int GPSWeek, ColumnVector& xyz,
1267	double& dc) {
1268
1269	// Current epoch minus 2000.0 in years
1270	// ------------------------------------
1271	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1272
1273	ColumnVector dx(3);
1274
1275	dx(1) = _dx14 + dt * _dxr14;
1276	dx(2) = _dy14 + dt * _dyr14;
1277	dx(3) = _dz14 + dt * _dzr14;
1278
1279	static const double arcSec = 180.0 * 3600.0 / M_PI;
1280
1281	double ox = (_ox14 + dt * _oxr14) / arcSec;
1282	double oy = (_oy14 + dt * _oyr14) / arcSec;
1283	double oz = (_oz14 + dt * _ozr14) / arcSec;
1284
1285	double sc = 1.0 + _sc14 * 1e-9 + dt * _scr14 * 1e-9;
1286
1287	// Specify approximate center of area
1288	// ----------------------------------
1289	ColumnVector meanSta(3);
1290	meanSta(1) = 0.0; // TODO
1291	meanSta(2) = 0.0; // TODO
1292	meanSta(3) = 0.0; // TODO
1293
1294	// Clock correction proportional to topocentric distance to satellites
1295	// -------------------------------------------------------------------
1296	double rho = (xyz - meanSta).NormFrobenius();
1297	dc = rho * (sc - 1.0) / sc / t_CST::c;
1298
1299	Matrix rMat(3, 3);
1300	rMat(1, 1) = 1.0;
1301	rMat(1, 2) = -oz;
1302	rMat(1, 3) = oy;
1303	rMat(2, 1) = oz;
1304	rMat(2, 2) = 1.0;
1305	rMat(2, 3) = -ox;
1306	rMat(3, 1) = -oy;
1307	rMat(3, 2) = ox;
1308	rMat(3, 3) = 1.0;
1309
1310	xyz = sc * rMat * xyz + dx;
1311	}
1312
1313	// Update Interval
1314	////////////////////////////////////////////////////////////////////////////
1315	int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1316
1317	if (samplingRate == 1.0) {
1318	return 0;
1319	}
1320	else if (samplingRate == 2.0) {
1321	return 1;
1322	}
1323	else if (samplingRate == 5.0) {
1324	return 2;
1325	}
1326	else if (samplingRate == 10.0) {
1327	return 3;
1328	}
1329	else if (samplingRate == 15.0) {
1330	return 4;
1331	}
1332	else if (samplingRate == 30.0) {
1333	return 5;
1334	}
1335	else if (samplingRate == 60.0) {
1336	return 6;
1337	}
1338	else if (samplingRate == 120.0) {
1339	return 7;
1340	}
1341	else if (samplingRate == 240.0) {
1342	return 8;
1343	}
1344	else if (samplingRate == 300.0) {
1345	return 9;
1346	}
1347	else if (samplingRate == 600.0) {
1348	return 10;
1349	}
1350	else if (samplingRate == 900.0) {
1351	return 11;
1352	}
1353	else if (samplingRate == 1800.0) {
1354	return 12;
1355	}
1356	else if (samplingRate == 3600.0) {
1357	return 13;
1358	}
1359	else if (samplingRate == 7200.0) {
1360	return 14;
1361	}
1362	else if (samplingRate == 10800.0) {
1363	return 15;
1364	}
1365	return 2; // default
1366	}
1367
1368	// Check corrections
1369	////////////////////////////////////////////////////////////////////////////
1370	bool bncRtnetUploadCaster::corrIsOutOfRange(struct SsrCorr::ClockOrbit::SatData* sd) {
1371
1372	if (fabs(sd->Clock.DeltaA0) > 209.7151) { return true; }
1373	if (fabs(sd->Clock.DeltaA1) > 1.048575) { return true; }
1374	if (fabs(sd->Clock.DeltaA2) > 1.34217726) { return true; }
1375
1376	if (fabs(sd->Orbit.DeltaRadial) > 209.7151) { return true; }
1377	if (fabs(sd->Orbit.DeltaAlongTrack) > 209.7148) { return true; }
1378	if (fabs(sd->Orbit.DeltaCrossTrack) > 209.7148) { return true; }
1379
1380	if (fabs(sd->Orbit.DotDeltaRadial) > 1.048575) { return true; }
1381	if (fabs(sd->Orbit.DotDeltaAlongTrack) > 1.048572) { return true; }
1382	if (fabs(sd->Orbit.DotDeltaCrossTrack) > 1.048572) { return true; }
1383	return false;
1384	}

Note: See TracBrowser for help on using the repository browser.

Download in other formats: