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bncrtnetuploadcaster.cpp@ 10754

Last change on this file since 10754 was 10754, checked in by stuerze, 3 months ago
initial preparation for adding the new RTCM-SSR format
File size: 50.9 KB

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

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source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 10754

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