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bncrtnetuploadcaster.cpp@ 11140

Last change on this file since 11140 was 11140, checked in by stuerze, 7 days ago
General option 'Ephemeris streams' is added and valid for combination, upload of SSR corrections and SSR QC
File size: 54.9 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	_ephUser->useEphMounts("bncRtnetUploadCaster " + mountpoint);
87
88	bncSettings settings;
89	QString intr = settings.value("uploadIntr").toString();
90	QStringList hlp = settings.value("cmbStreams").toStringList();
91	_samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toString().split("sec").first().toDouble();
92
93	if (hlp.size() > 1) { // combination stream upload
94	_samplRtcmClkCorr = settings.value("cmbSampl").toString().split("sec").first().toDouble();
95	}
96	else { // single stream upload or sp3 file generation
97	_samplRtcmClkCorr = 5.0; // default
98	}
99	_samplRtcmVtec = 60.0;
100	_samplRtcmCrs = 60.0;
101	int samplSp3 = settings.value("uploadSamplSp3").toString().split("sec").first().toInt();
102	int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
103	int samplBiaSnx = settings.value("uploadSamplBiaSnx").toInt();
104
105	if (_samplRtcmEphCorr == 0.0) {
106	_usedEph = 0;
107	}
108	else {
109	_usedEph = new QMap<QString, const t_eph*>;
110	}
111
112	// RINEX writer
113	// ------------
114	if (!rnxFileName.isEmpty()) {
115	_rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
116	}
117	else {
118	_rnx = 0;
119	}
120
121	// SP3 writer
122	// ----------
123	if (!sp3FileName.isEmpty()) {
124	_sp3 = new bncSP3(sp3FileName, intr, samplSp3);
125	}
126	else {
127	_sp3 = 0;
128	}
129
130	// SINEX writer
131	// ------------
132	if (!bsxFileName.isEmpty()) {
133	_bsx = new bncBiasSinex(bsxFileName, intr, samplBiaSnx);
134	}
135	else {
136	_bsx = 0;
137	}
138
139
140	// Set Transformation Parameters
141	// -----------------------------
142	// Transformation Parameters from ITRF2014 to ETRF2000
143	// http://etrs89.ign.fr/pub/EUREF-TN-1-Mar-04-2024.pdf
144	if (_crdTrafoStr == "ETRF2000") {
145	_dx = 0.0552;
146	_dy = 0.0527;
147	_dz = -0.0836;
148
149	_dxr = 0.0001;
150	_dyr = 0.0001;
151	_dzr = -0.0019;
152
153	_ox = 0.002106;
154	_oy = 0.012740;
155	_oz = -0.020592;
156
157	_oxr = 0.000081;
158	_oyr = 0.000490;
159	_ozr = -0.000792;
160
161	_sc = 2.67;
162	_scr = 0.11;
163
164	_t0 = 2015.0;
165	}
166	// Transformation Parameters from ITRF2014 to GDA2020 (Ryan Ruddick, GA)
167	else if (_crdTrafoStr == "GDA2020") {
168	_dx = 0.0;
169	_dy = 0.0;
170	_dz = 0.0;
171
172	_dxr = 0.0;
173	_dyr = 0.0;
174	_dzr = 0.0;
175
176	_ox = 0.0;
177	_oy = 0.0;
178	_oz = 0.0;
179
180	_oxr = 0.00150379;
181	_oyr = 0.00118346;
182	_ozr = 0.00120716;
183
184	_sc = 0.0;
185	_scr = 0.0;
186
187	_t0 = 2020.0;
188	}
189	// Transformation Parameters from IGb14 to SIRGAS2000 (Thanks to Sonia Costa, BRA)
190	// June 29 2020: TX:-0.0027 m TY:-0.0025 m TZ:-0.0042 m SCL:1.20 (ppb) no rotations and no rates.*/
191	else if (_crdTrafoStr == "SIRGAS2000") {
192	_dx = -0.0027;
193	_dy = -0.0025;
194	_dz = -0.0042;
195
196	_dxr = 0.0;
197	_dyr = 0.0;
198	_dzr = 0.0;
199
200	_ox = 0.0;
201	_oy = 0.0;
202	_oz = 0.0;
203
204	_oxr = 0.0;
205	_oyr = 0.0;
206	_ozr = 0.0;
207
208	_sc = 1.2;
209	_scr = 0.0;
210	_t0 = 2000.0;
211	}
212	// Transformation Parameters from ITRF2014 to DREF91
213	else if (_crdTrafoStr == "DREF91") {
214	_dx = 0.0547;
215	_dy = 0.0522;
216	_dz = -0.0741;
217
218	_dxr = 0.0001;
219	_dyr = 0.0001;
220	_dzr = -0.0019;
221	// ERTF200 + rotation parameters (ETRF2000 => DREF91)
222	_ox = 0.001701 + 0.000658;
223	_oy = 0.010290 - 0.000208;
224	_oz = -0.016632 + 0.000755;
225
226	_oxr = 0.000081;
227	_oyr = 0.000490;
228	_ozr = -0.000729;
229
230	_sc = 2.12;
231	_scr = 0.11;
232
233	_t0 = 2010.0;
234	}
235	else if (_crdTrafoStr == "Custom") {
236	_dx = settings.value("trafo_dx").toDouble();
237	_dy = settings.value("trafo_dy").toDouble();
238	_dz = settings.value("trafo_dz").toDouble();
239	_dxr = settings.value("trafo_dxr").toDouble();
240	_dyr = settings.value("trafo_dyr").toDouble();
241	_dzr = settings.value("trafo_dzr").toDouble();
242	_ox = settings.value("trafo_ox").toDouble();
243	_oy = settings.value("trafo_oy").toDouble();
244	_oz = settings.value("trafo_oz").toDouble();
245	_oxr = settings.value("trafo_oxr").toDouble();
246	_oyr = settings.value("trafo_oyr").toDouble();
247	_ozr = settings.value("trafo_ozr").toDouble();
248	_sc = settings.value("trafo_sc").toDouble();
249	_scr = settings.value("trafo_scr").toDouble();
250	_t0 = settings.value("trafo_t0").toDouble();
251	}
252	// TODO: the following lines can be deleted if all parameters are updated regarding ITRF2020
253	if (_crdTrafoStr == "ETRF2000" \|\|
254	_crdTrafoStr == "GDA2020" \|\|
255	_crdTrafoStr == "DREF91" \|\|
256	_crdTrafoStr == "SIRGAS2000") {
257	// Transformation Parameters from ITRF2020 to ITRF2014
258	// from ITRF web site: https://itrf.ign.fr/en/solutions/transformations
259	_dx14 = -0.0014;
260	_dy14 = -0.0009;
261	_dz14 = 0.0014;
262	_dxr14 = 0.0;
263	_dyr14 = -0.0001;
264	_dzr14 = -0.0002;
265	_ox14 = 0.0;
266	_oy14 = 0.0;
267	_oz14 = 0.0;
268	_oxr14 = 0.0;
269	_oyr14 = 0.0;
270	_ozr14 = 0.0;
271	_sc14 = -0.42;
272	_scr14 = 0.0;
273	_t014 = 2015.0;
274	}
275	}
276
277	// Destructor
278	////////////////////////////////////////////////////////////////////////////
279	bncRtnetUploadCaster::~bncRtnetUploadCaster() {
280	if (isRunning()) {
281	wait();
282	}
283	delete _rnx;
284	delete _sp3;
285	delete _bsx;
286	delete _ephUser;
287	delete _usedEph;
288	delete _ssrCorr;
289	}
290
291	//
292	////////////////////////////////////////////////////////////////////////////
293	void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
294
295	QMutexLocker locker(&_mutex);
296
297	// Append to internal buffer
298	// -------------------------
299	_rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
300
301	// Select buffer part that contains last epoch
302	// -------------------------------------------
303	QStringList lines;
304	int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
305	if (iEpoBeg == -1) {
306	_rtnetStreamBuffer.clear();
307	return;
308	}
309	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
310
311	int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
312	if (iEpoEnd == -1) {
313	return;
314	}
315	else {
316	lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', Qt::SkipEmptyParts);
317	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
318	}
319
320	if (lines.size() < 2) {
321	emit(newMessage(
322	"bncRtnetUploadCaster: less than 2 lines to decode " + _casterID.toLatin1(), false));
323	return;
324	}
325
326	// Keep the last unfinished line in buffer
327	// ---------------------------------------
328	int iLastEOL = _rtnetStreamBuffer.lastIndexOf('\n');
329	if (iLastEOL != -1) {
330	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iLastEOL + 1);
331	}
332
333
334	// Read first line (with epoch time)
335	// ---------------------------------
336	//QTextStream in(lines[0].toLatin1());
337	QTextStream in(&lines[0], QIODevice::ReadOnly);
338	QString hlp;
339	int year, month, day, hour, min;
340	double sec;
341	in >> hlp >> year >> month >> day >> hour >> min >> sec;
342	bncTime epoTime;
343	epoTime.set(year, month, day, hour, min, sec);
344
345	emit(newMessage(
346	"bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
347	+ " " + QByteArray(epoTime.timestr().c_str()) + " "
348	+ _casterID.toLatin1(), false));
349
350	struct SsrCorr::ClockOrbit co;
351	memset(&co, 0, sizeof(co));
352	co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
353	if (_ssrFormat == "IGS-SSR") {
354	// SSR Epoch Time (IDF003) in one continuous time scale for all GNSS:
355	// GPS seconds of week also for GLONASS and BDS (IGS SSR v1.00)
356	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(epoTime.gpssec());
357	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
358	}
359	else {
360	// RTCM-SSR (old and new): GLONASS Epoch Time DF386, seconds since the
361	// beginning of the GLONASS day (GLONASS time = UTC(SU) + 3h)
362	double gt = epoTime.gpssec() - gnumleap(year, month, day) + 3 * 3600;
363	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
364	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
365	}
366	co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
367	co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
368	co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
369	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
370	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
371	(_crdTrafoStr == "IGS20") ?
372	co.SatRefDatum = _ssrCorr->DATUM_ITRF :
373	co.SatRefDatum = _ssrCorr->DATUM_LOCAL;
374	co.SSRIOD = _IOD;
375	co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
376	co.SSRSolutionID = _SID;
377	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
378	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
379
380	t_serviceCrs serviceCrs;
381	t_rtcmCrs rtcmCrs;
382	if (_crdTrafoStr == "IGS20") {
383	serviceCrs._CE = serviceCrs._coordinateEpoch = 0;
384	int nc = _crdTrafoStr.length();
385	if (nc > 31) { nc = 31; }
386	for (int i = 0; i < nc; i++) {
387	serviceCrs._name[i] =
388	rtcmCrs._name[i] = _crdTrafoStr.toStdString()[i];
389	}
390	serviceCrs._name[nc] = 0;
391	rtcmCrs._name[nc] = 0;
392	rtcmCrs._anchor = 0; // global CRS
393	rtcmCrs._plateNumber = 0; // unknown
394	rtcmCrs._databaseLinks << "ISO.DATUM.979" << "ISO.CRS:980";
395	}
396	else {
397	if (_crdTrafoStr != "Custom") {
398	serviceCrs._coordinateEpoch = _t0;
399	serviceCrs.setCEFromCoordinateEpoch();
400	int nc = _crdTrafoStr.length();
401	if (nc > 31) { nc = 31; }
402	for (int i = 0; i < nc; i++) {
403	serviceCrs._name[i] = _crdTrafoStr.toStdString()[i];
404	}
405	serviceCrs._name[nc] = 0;
406	QString rtcmcrsname = _crdTrafoStr + QString("(%1)").arg(_t0, 4, 'd', 0);
407	nc = rtcmcrsname.length();
408	if (nc > 31) { nc = 31; }
409	for (int i = 0; i < nc; i++) {
410	rtcmCrs._name[i] = rtcmcrsname.toStdString()[i];
411	}
412	rtcmCrs._name[nc] = 0;
413	if (_crdTrafoStr == "ETRF2000") {
414	rtcmCrs._anchor = 1; // plate-fixed CRS
415	rtcmCrs._plateNumber = 7; // Eurasia
416	rtcmCrs._databaseLinks << "ISO.DATUM.187" << "ISO.CRS:260" << "ISO.CRS:457"
417	<< "EPSG.DATUM:1186" << "EPSG.CRS:7930" << "EPSG.CRS:7931";
418	}
419	else if (_crdTrafoStr == "DREF91") {
420	rtcmCrs._anchor = 1; // plate-fixed CRS
421	rtcmCrs._plateNumber = 7; // Eurasia
422	}
423	else if (_crdTrafoStr == "GDA2020") {
424	rtcmCrs._anchor = 1; // plate-fixed CRS
425	rtcmCrs._plateNumber = 4; // Australia
426	rtcmCrs._databaseLinks << "ISO.DATUM.186" << "ISO.CRS:404" << "ISO.CRS:329"
427	<< "EPSG.DATUM:1168" << "EPSG.CRS:7842" << "EPSG.CRS:7843";
428	}
429	else if (_crdTrafoStr == "SIRGAS2000") {
430	rtcmCrs._anchor = 1; // plate-fixed CRS
431	rtcmCrs._plateNumber = 12; // S.America
432	rtcmCrs._databaseLinks << "ISO.DATUM:169" << "ISO.CRS:384" << "ISO.CRS:313"
433	<< "EPSG.DATUM:6674" << "EPSG.CRS:4988" << "EPSG.CRS:4989";
434	}
435	}
436	}
437
438	struct SsrCorr::CodeBias bias;
439	memset(&bias, 0, sizeof(bias));
440	bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
441	bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
442	bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
443	bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
444	bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
445	bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
446	bias.SSRIOD = _IOD;
447	bias.SSRProviderID = _PID;
448	bias.SSRSolutionID = _SID;
449
450	struct SsrCorr::PhaseBias phasebias;
451	memset(&phasebias, 0, sizeof(phasebias));
452	unsigned int dispersiveBiasConsistenyIndicator = 0;
453	unsigned int mwConsistencyIndicator = 0;
454	phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
455	phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
456	phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
457	phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
458	phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
459	phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
460	phasebias.SSRIOD = _IOD;
461	phasebias.SSRProviderID = _PID;
462	phasebias.SSRSolutionID = _SID;
463
464	struct SsrCorr::VTEC vtec;
465	memset(&vtec, 0, sizeof(vtec));
466	vtec.EpochTime = static_cast<int>(epoTime.gpssec());
467	vtec.SSRIOD = _IOD;
468	vtec.SSRProviderID = _PID;
469	vtec.SSRSolutionID = _SID;
470
471	// Update Interval
472	// ---------------
473
474	if (_samplRtcmEphCorr == 0.0) {// combined orb and clock
475	_samplRtcmEphCorr = _samplRtcmClkCorr = 5.0;
476	}
477	int clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
478	int ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
479
480	co.UpdateInterval = clkUpdInd;
481	bias.UpdateInterval = ephUpdInd;
482	phasebias.UpdateInterval = ephUpdInd;
483
484	for (int ii = 1; ii < lines.size(); ii++) {
485	QString key; // prn or key VTEC, IND (phase bias indicators)
486	double rtnUra = 0.0; // [m]
487	ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
488	ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
489	ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
490	ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
491	ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
492
493	//QTextStream in(lines[ii].toLatin1());
494	QTextStream in(&lines[ii], QIODevice::ReadOnly);
495	in >> key;
496
497	// non-satellite specific parameters
498	if (key.contains("IND", Qt::CaseSensitive)) {
499	in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
500	continue;
501	}
502	// non-satellite specific parameters
503	if (key.contains("VTEC", Qt::CaseSensitive)) {
504	double ui;
505	in >> ui >> vtec.NumLayers;
506	vtec.UpdateInterval = (unsigned int)determineUpdateInd(ui);
507	if (vtec.NumLayers > VTEC_NUMIONOLAYERS) {
508	vtec.NumLayers = 0;
509	}
510	for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
511	int dummy;
512	in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
513	>> vtec.Layers[ll].Height;
514	if (vtec.Layers[ll].Degree < 1 \|\| vtec.Layers[ll].Degree > VTEC_MAXIONODEGREE \|\|
515	vtec.Layers[ll].Order < 1 \|\| vtec.Layers[ll].Order > VTEC_MAXIONOORDER) {
516	vtec.NumLayers = 0;
517	break;
518	}
519	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
520	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
521	in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
522	}
523	}
524	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
525	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
526	in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
527	}
528	}
529	}
530	continue;
531	}
532	// satellite specific parameters
533	t_prn prn;
534	char sys = key.mid(0, 1).at(0).toLatin1();
535	int num = key.mid(1, 2).toInt();
536	int flag = t_corrSSR::getSsrNavTypeFlag(sys, num);
537	if (!num) {
538	continue;
539	}
540	prn.set(sys, num, flag);
541	QString prnInternalStr = QString::fromStdString(prn.toInternalString());
542	QString prnStr = QString::fromStdString(prn.toString());
543
544	const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
545	const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
546	const t_eph* eph = ephLast;
547	if (eph) {
548
549	// Use previous ephemeris if the last one is too recent
550	// ----------------------------------------------------
551	const int MINAGE = 60; // seconds
552	if (ephPrev && eph->receptDateTime().isValid() &&
553	eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
554	eph = ephPrev;
555	}
556
557	// Make sure the clock messages refer to same IOD as orbit messages
558	// ----------------------------------------------------------------
559	// The ephemeris is selected at the first correction epoch of each
560	// sampling interval: the grid epoch itself for corrections on the
561	// sampling grid, otherwise (e.g. Galileo HAS at ...:02, ...:12)
562	// the first epoch after it, which previously never selected one
563	if (_usedEph) {
564	bool select = (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0);
565	if (!select && _samplRtcmEphCorr > 0.0) {
566	select = !_usedEphEpoch.valid() \|\| epoTime == _usedEphEpoch \|\|
567	epoTime.gpsw() != _usedEphEpoch.gpsw() \|\|
568	floor(epoTime.gpssec() / _samplRtcmEphCorr) !=
569	floor(_usedEphEpoch.gpssec() / _samplRtcmEphCorr);
570	}
571	if (select) {
572	(*_usedEph)[prnInternalStr] = eph;
573	_usedEphEpoch = epoTime;
574	}
575	else {
576	eph = 0;
577	if (_usedEph->contains(prnInternalStr)) {
578	const t_eph* usedEph = _usedEph->value(prnInternalStr);
579	if (usedEph == ephLast) {
580	eph = ephLast;
581	}
582	else if (usedEph == ephPrev) {
583	eph = ephPrev;
584	}
585	}
586	}
587	}
588	}
589
590	QDateTime now = currentDateAndTimeGPS();
591	bncTime currentTime(now.toString(Qt::ISODate).toStdString());
592	if (eph &&
593	!outDatedBcep(eph, currentTime) && // detected from storage because of no update
594	eph->checkState() != t_eph::bad &&
595	eph->checkState() != t_eph::unhealthy &&
596	eph->checkState() != t_eph::outdated) { // detected during reception (bncephuser)
597	QMap<QString, double> codeBiases;
598	QList<phaseBiasSignal> phaseBiasList;
599	phaseBiasesSat pbSat;
600	_phaseBiasInformationDecoded = false;
601
602	while (true) {
603	QString key;
604	int numVal = 0;
605	in >> key;
606	if (in.status() != QTextStream::Ok) {
607	break;
608	}
609	if (key == "APC") {
610	in >> numVal;
611	rtnAPC.ReSize(3); rtnAPC = 0.0;
612	for (int ii = 0; ii < numVal; ii++) {
613	in >> rtnAPC[ii];
614	}
615	}
616	else if (key == "Ura") {
617	in >> numVal;
618	if (numVal == 1)
619	in >> rtnUra;
620	}
621	else if (key == "Clk") {
622	in >> numVal;
623	rtnClk.ReSize(3); rtnClk = 0.0;
624	for (int ii = 0; ii < numVal; ii++) {
625	in >> rtnClk[ii];
626	}
627	}
628	else if (key == "ClkSig") {
629	in >> numVal;
630	rtnClkSig.ReSize(3); rtnClkSig = 0.0;
631	for (int ii = 0; ii < numVal; ii++) {
632	in >> rtnClkSig[ii];
633	}
634	}
635	else if (key == "Vel") {
636	in >> numVal;
637	rtnVel.ReSize(3); rtnVel = 0.0;
638	for (int ii = 0; ii < numVal; ii++) {
639	in >> rtnVel[ii];
640	}
641	}
642	else if (key == "CoM") {
643	in >> numVal;
644	rtnCoM.ReSize(3); rtnCoM = 0.0;
645	for (int ii = 0; ii < numVal; ii++) {
646	in >> rtnCoM[ii];
647	}
648	}
649	else if (key == "CodeBias") {
650	in >> numVal;
651	for (int ii = 0; ii < numVal; ii++) {
652	QString type;
653	double value;
654	in >> type >> value;
655	codeBiases[type] = value;
656	}
657	}
658	else if (key == "YawAngle") {
659	_phaseBiasInformationDecoded = true;
660	in >> numVal >> pbSat.yawAngle;
661	if (pbSat.yawAngle < 0.0) {
662	pbSat.yawAngle += (2 * M_PI);
663	}
664	else if (pbSat.yawAngle > 2 * M_PI) {
665	pbSat.yawAngle -= (2 * M_PI);
666	}
667	}
668	else if (key == "YawRate") {
669	_phaseBiasInformationDecoded = true;
670	in >> numVal >> pbSat.yawRate;
671	}
672	else if (key == "PhaseBias") {
673	_phaseBiasInformationDecoded = true;
674	in >> numVal;
675	for (int ii = 0; ii < numVal; ii++) {
676	phaseBiasSignal pb;
677	in >> pb.type >> pb.bias >> pb.integerIndicator
678	>> pb.wlIndicator >> pb.discontinuityCounter;
679	phaseBiasList.append(pb);
680	}
681	}
682	else {
683	in >> numVal;
684	for (int ii = 0; ii < numVal; ii++) {
685	double dummy;
686	in >> dummy;
687	}
688	emit(newMessage(" RTNET format error: "
689	+ lines[ii].toLatin1(), false));
690	break;
691	}
692	}
693
694	struct SsrCorr::ClockOrbit::SatData* sd = 0;
695	if (prn.system() == 'G') {
696	sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
697	++co.NumberOfSat[CLOCKORBIT_SATGPS];
698	}
699	else if (prn.system() == 'R') {
700	sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
701	++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
702	}
703	else if (prn.system() == 'E') {
704	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
705	+ co.NumberOfSat[CLOCKORBIT_SATGALILEO];
706	++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
707	}
708	else if (prn.system() == 'J') {
709	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
710	+ CLOCKORBIT_NUMGALILEO
711	+ co.NumberOfSat[CLOCKORBIT_SATQZSS];
712	++co.NumberOfSat[CLOCKORBIT_SATQZSS];
713	}
714	else if (prn.system() == 'S') {
715	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
716	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
717	+ co.NumberOfSat[CLOCKORBIT_SATSBAS];
718	++co.NumberOfSat[CLOCKORBIT_SATSBAS];
719	}
720	else if (prn.system() == 'C') {
721	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
722	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
723	+ CLOCKORBIT_NUMSBAS
724	+ co.NumberOfSat[CLOCKORBIT_SATBDS];
725	++co.NumberOfSat[CLOCKORBIT_SATBDS];
726	}
727	if (sd) {
728	QString outLine;
729	t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
730	rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
731	if (irc != success) {
732	continue;
733	}
734	}
735
736	// Code Biases
737	// -----------
738	struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
739	if (!codeBiases.isEmpty()) {
740	if (prn.system() == 'G') {
741	biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
742	++bias.NumberOfSat[CLOCKORBIT_SATGPS];
743	}
744	else if (prn.system() == 'R') {
745	biasSat = bias.Sat + CLOCKORBIT_NUMGPS
746	+ bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
747	++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
748	}
749	else if (prn.system() == 'E') {
750	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
751	+ bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
752	++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
753	}
754	else if (prn.system() == 'J') {
755	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
756	+ CLOCKORBIT_NUMGALILEO
757	+ bias.NumberOfSat[CLOCKORBIT_SATQZSS];
758	++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
759	}
760	else if (prn.system() == 'S') {
761	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
762	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
763	+ bias.NumberOfSat[CLOCKORBIT_SATSBAS];
764	++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
765	}
766	else if (prn.system() == 'C') {
767	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
768	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
769	+ CLOCKORBIT_NUMSBAS
770	+ bias.NumberOfSat[CLOCKORBIT_SATBDS];
771	++bias.NumberOfSat[CLOCKORBIT_SATBDS];
772	}
773	}
774
775	if (biasSat) {
776	biasSat->ID = prn.number();
777	biasSat->NumberOfCodeBiases = 0;
778	QMapIterator<QString, double> it(codeBiases);
779	while (it.hasNext()) {
780	it.next();
781	int ii = biasSat->NumberOfCodeBiases;
782	if (ii >= CLOCKORBIT_NUMBIAS)
783	break;
784	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
785	if (type != _ssrCorr->CODETYPE_RESERVED) {
786	biasSat->NumberOfCodeBiases += 1;
787	biasSat->Biases[ii].Type = type;
788	biasSat->Biases[ii].Bias = it.value();
789	if (_bsx) {
790	QString obsCode = 'C' + it.key();
791	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, it.value());
792	}
793	}
794	}
795	}
796
797	// Phase Biases
798	// ------------
799	struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
800	if (prn.system() == 'G') {
801	phasebiasSat = phasebias.Sat
802	+ phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
803	++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
804	}
805	else if (prn.system() == 'R') {
806	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
807	+ phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
808	++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
809	}
810	else if (prn.system() == 'E') {
811	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
812	+ phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
813	++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
814	}
815	else if (prn.system() == 'J') {
816	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
817	+ CLOCKORBIT_NUMGALILEO
818	+ phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
819	++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
820	}
821	else if (prn.system() == 'S') {
822	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
823	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
824	+ phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
825	++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
826	}
827	else if (prn.system() == 'C') {
828	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
829	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
830	+ CLOCKORBIT_NUMSBAS
831	+ phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
832	++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
833	}
834
835	if (phasebiasSat && _phaseBiasInformationDecoded) {
836	phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
837	phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
838	phasebiasSat->ID = prn.number();
839	phasebiasSat->NumberOfPhaseBiases = 0;
840	phasebiasSat->YawAngle = pbSat.yawAngle;
841	phasebiasSat->YawRate = pbSat.yawRate;
842	QListIterator<phaseBiasSignal> it(phaseBiasList);
843	while (it.hasNext()) {
844	const phaseBiasSignal& pbSig = it.next();
845	int ii = phasebiasSat->NumberOfPhaseBiases;
846	if (ii >= CLOCKORBIT_NUMBIAS)
847	break;
848	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
849	if (type != _ssrCorr->PBEXTTYPE_RESERVED) {
850	phasebiasSat->NumberOfPhaseBiases += 1;
851	phasebiasSat->Biases[ii].Type = type;
852	phasebiasSat->Biases[ii].Bias = pbSig.bias;
853	phasebiasSat->Biases[ii].IntegerIndicator = pbSig.integerIndicator;
854	phasebiasSat->Biases[ii].WidelaneGroupIndicator = pbSig.wlIndicator;
855	phasebiasSat->Biases[ii].DiscontinuityCounter = pbSig.discontinuityCounter;
856	if (_bsx) {
857	QString obsCode = 'L' + pbSig.type;
858	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, pbSig.bias);
859	}
860	}
861	}
862	}
863	}
864	}
865
866	QByteArray hlpBufferCo;
867	char obuffer[CLOCKORBIT_BUFFERSIZE];
868	size_t len = 0;
869
870	// Orbit and Clock Corrections together
871	// ------------------------------------
872	if (_samplRtcmEphCorr == _samplRtcmClkCorr) {
873	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
874	\|\| co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
875	\|\| co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
876	\|\| co.NumberOfSat[CLOCKORBIT_SATBDS] > 0
877	\|\| co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
878	\|\| co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
879	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
880	memset(obuffer, 0, sizeof(obuffer));
881	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
882	if (len > 0) {
883	hlpBufferCo = QByteArray(obuffer, int(len));
884	}
885	}
886	}
887	}
888
889	// Orbit and Clock Corrections separately
890	// --------------------------------------
891	else {
892	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
893	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
894	co.UpdateInterval = ephUpdInd;
895	memset(obuffer, 0, sizeof(obuffer));
896	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer, sizeof(obuffer));
897	if (len > 0) {
898	hlpBufferCo += QByteArray(obuffer, int(len));
899	}
900	}
901	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 \|\|
902	co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
903	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 \|\|
904	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
905	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) ? 1 : 0;
906	if (fmod(epoTime.gpssec(), _samplRtcmClkCorr) == 0.0) {
907	co.UpdateInterval = clkUpdInd;
908	memset(obuffer, 0, sizeof(obuffer));
909	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer, sizeof(obuffer));
910	if (len > 0) {
911	hlpBufferCo += QByteArray(obuffer, int(len));
912	}
913	}
914	}
915	if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
916	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
917	co.UpdateInterval = ephUpdInd;
918	memset(obuffer, 0, sizeof(obuffer));
919	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer, sizeof(obuffer));
920	if (len > 0) {
921	hlpBufferCo += QByteArray(obuffer, int(len));
922	}
923	}
924	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
925	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_GLONASSCLOCK, mmsg, obuffer, sizeof(obuffer));
932	if (len > 0) {
933	hlpBufferCo += QByteArray(obuffer, int(len));
934	}
935	}
936	}
937	if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 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_GALILEOORBIT, 1, obuffer, sizeof(obuffer));
942	if (len > 0) {
943	hlpBufferCo += QByteArray(obuffer, int(len));
944	}
945	}
946	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 \|\|
947	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
948	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) ? 1 : 0;
949	if (fmod(epoTime.gpssec(), _samplRtcmClkCorr) == 0.0) {
950	co.UpdateInterval = clkUpdInd;
951	memset(obuffer, 0, sizeof(obuffer));
952	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer, sizeof(obuffer));
953	if (len > 0) {
954	hlpBufferCo += QByteArray(obuffer, int(len));
955	}
956	}
957	}
958	if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
959	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
960	co.UpdateInterval = ephUpdInd;
961	memset(obuffer, 0, sizeof(obuffer));
962	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer, sizeof(obuffer));
963	if (len > 0) {
964	hlpBufferCo += QByteArray(obuffer, int(len));
965	}
966	}
967	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
968	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) ? 1 : 0;
969	if (fmod(epoTime.gpssec(), _samplRtcmClkCorr) == 0.0) {
970	co.UpdateInterval = clkUpdInd;
971	memset(obuffer, 0, sizeof(obuffer));
972	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer, sizeof(obuffer));
973	if (len > 0) {
974	hlpBufferCo += QByteArray(obuffer, int(len));
975	}
976	}
977	}
978	if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
979	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
980	co.UpdateInterval = ephUpdInd;
981	memset(obuffer, 0, sizeof(obuffer));
982	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer, sizeof(obuffer));
983	if (len > 0) {
984	hlpBufferCo += QByteArray(obuffer, int(len));
985	}
986	}
987	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) ? 1 : 0;
988	if (fmod(epoTime.gpssec(), _samplRtcmClkCorr) == 0.0) {
989	co.UpdateInterval = clkUpdInd;
990	memset(obuffer, 0, sizeof(obuffer));
991	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer, sizeof(obuffer));
992	if (len > 0) {
993	hlpBufferCo += QByteArray(obuffer, int(len));
994	}
995	}
996	}
997	if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
998	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
999	co.UpdateInterval = ephUpdInd;
1000	memset(obuffer, 0, sizeof(obuffer));
1001	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer, sizeof(obuffer));
1002	co.UpdateInterval = clkUpdInd;
1003	if (len > 0) {
1004	hlpBufferCo += QByteArray(obuffer, int(len));
1005	}
1006	}
1007	int mmsg = 0;
1008	if (fmod(epoTime.gpssec(), _samplRtcmClkCorr) == 0.0) {
1009	co.UpdateInterval = clkUpdInd;
1010	memset(obuffer, 0, sizeof(obuffer));
1011	len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer, sizeof(obuffer));
1012	if (len > 0) {
1013	hlpBufferCo += QByteArray(obuffer, int(len));
1014	}
1015	}
1016	}
1017	}
1018
1019	// Code Biases
1020	// -----------
1021	QByteArray hlpBufferBias;
1022	if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
1023	\|\| bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
1024	\|\| bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
1025	\|\| bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0
1026	\|\| bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
1027	\|\| bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
1028	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
1029	memset(obuffer, 0, sizeof(obuffer));
1030	len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
1031	if (len > 0) {
1032	hlpBufferBias = QByteArray(obuffer, int(len));
1033	}
1034	}
1035	}
1036
1037	// Phase Biases
1038	// ------------
1039	QByteArray hlpBufferPhaseBias;
1040	if ((phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
1041	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
1042	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
1043	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0
1044	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
1045	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) && (_phaseBiasInformationDecoded)) {
1046	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
1047	memset(obuffer, 0, sizeof(obuffer));
1048	len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
1049	if (len > 0) {
1050	hlpBufferPhaseBias = QByteArray(obuffer, int(len));
1051	}
1052	}
1053	}
1054
1055	// VTEC
1056	// ----
1057	QByteArray hlpBufferVtec;
1058	if (vtec.NumLayers > 0) {
1059	if (fmod(epoTime.gpssec(), _samplRtcmVtec) == 0.0) {
1060	memset(obuffer, 0, sizeof(obuffer));
1061	len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
1062	if (len > 0) {
1063	hlpBufferVtec = QByteArray(obuffer, int(len));
1064	}
1065	}
1066	}
1067
1068	// Service CRS
1069	// -----------
1070	QByteArray hlpBufferServiceCrs;
1071	if (serviceCrs._name[0]) { // no CRS messages for a custom transformation
1072	if (fmod(epoTime.gpssec(), _samplRtcmCrs) == 0.0) {
1073	memset(obuffer, 0, sizeof(obuffer));
1074	len = t_crsEncoder::RTCM3(serviceCrs, obuffer, sizeof(obuffer));
1075	if (len > 0) {
1076	hlpBufferServiceCrs = QByteArray(obuffer, int(len));
1077	}
1078	}
1079	}
1080
1081	// RTCM CRS
1082	// --------
1083	QByteArray hlpBufferRtcmCrs;
1084	if (rtcmCrs._name[0]) {
1085	if (fmod(epoTime.gpssec(), _samplRtcmCrs) == 0.0) {
1086	memset(obuffer, 0, sizeof(obuffer));
1087	len = t_crsEncoder::RTCM3(rtcmCrs, obuffer, sizeof(obuffer));
1088	if (len > 0) {
1089	hlpBufferRtcmCrs = QByteArray(obuffer, int(len));
1090	}
1091	}
1092	}
1093
1094	// Create OutBuffer
1095	// ----------------
1096	_outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias + hlpBufferVtec
1097	+ hlpBufferServiceCrs + hlpBufferRtcmCrs + '\0';
1098	}
1099	//
1100	////////////////////////////////////////////////////////////////////////////
1101	t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
1102	double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
1103	double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
1104	const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
1105	struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
1106
1107	// Broadcast Position and Velocity
1108	// -------------------------------
1109	ColumnVector xB(6);
1110	ColumnVector vB(3);
1111	t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
1112
1113	if (irc != success) {
1114	return irc;
1115	}
1116
1117	// Precise Position
1118	// ----------------
1119	ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
1120
1121	if (xP.size() == 0) {
1122	return failure;
1123	}
1124
1125	double dc = 0.0;
1126	if (_crdTrafoStr != "IGS20") {
1127	crdTrafo14(GPSweek, xP, dc); // ITRF2020 => ITRF2014
1128	crdTrafo(GPSweek, xP, dc); // ITRF2014 to other reference frames
1129	}
1130
1131	// Difference in xyz
1132	// -----------------
1133	ColumnVector dx = xB.Rows(1, 3) - xP;
1134	ColumnVector dv = vB - rtnVel;
1135
1136	// Difference in RSW
1137	// -----------------
1138	ColumnVector rsw(3);
1139	XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
1140
1141	ColumnVector dotRsw(3);
1142	XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
1143
1144	// Clock Correction
1145	// ----------------
1146	double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
1147	double dClkA1 = 0.0;
1148	if (rtnClk(2)) {
1149	dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
1150	}
1151	double dClkA2 = 0.0;
1152	if (rtnClk(3)) {
1153	dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
1154	}
1155
1156	if (sd) {
1157	sd->ID = prn.mid(1).toInt();
1158	sd->IOD = eph->IOD();
1159	sd->Clock.DeltaA0 = dClkA0;
1160	sd->Clock.DeltaA1 = dClkA1;
1161	sd->Clock.DeltaA2 = dClkA2;
1162	sd->UserRangeAccuracy = rtnUra;
1163	sd->Orbit.DeltaRadial = rsw(1);
1164	sd->Orbit.DeltaAlongTrack = rsw(2);
1165	sd->Orbit.DeltaCrossTrack = rsw(3);
1166	sd->Orbit.DotDeltaRadial = dotRsw(1);
1167	sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
1168	sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
1169
1170	if (corrIsOutOfRange(sd)) {
1171	emit(newMessage(QString("bncRtnetUploadCaster: SSR parameter is out of its defined range").toLatin1(), false));
1172	return failure;
1173	}
1174	}
1175
1176	outLine = QString().asprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
1177	GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
1178	rsw(1), rsw(2), rsw(3)); //fprintf(stderr, "%s\n", outLine.toStdString().c_str());
1179
1180	// RTNET full clock for RINEX and SP3 file
1181	// ---------------------------------------
1182	// Always use CoM (the position actually written to the SP3/RINEX clock
1183	// file) here, independent of the APC/CoM and reference frame settings
1184	// that govern the uploaded SSR Broadcast Correction stream. Otherwise
1185	// the saved clock value would depend on those settings even though the
1186	// saved position does not, making the SP3/CLK output internally
1187	// inconsistent and non-reproducible across differently configured SSR streams.
1188	double relativity = -2.0 * DotProduct(rtnCoM, rtnVel) / t_CST::c;
1189	double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1190	double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1191	double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² = -/s]
1192
1193	// Corrections on epochs off the output sampling grid (e.g. Galileo HAS
1194	// at ...:02, ...:12) are written at the nearest grid epoch, see gridEpoch;
1195	// the clock is propagated with its rate, the orbit via the broadcast
1196	// orbit at the grid epoch plus the (slowly varying) difference
1197	// precise - broadcast at the correction epoch
1198	// -----------------------------------------------------------------------
1199	bncTime tt(GPSweek, GPSweeks);
1200	bncTime tg;
1201	double clkRate = (clkRnxRate != 0.0) ? clkRnxRate : xB(5);
1202
1203	if (_rnx && gridEpoch(_rnx->sampl(), tt, tg, _rnxGridEpo, _rnxGridSrc)) {
1204	double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1205	int s = rtnClkSig.size();
1206	switch (s) {
1207	case 1:
1208	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1209	clkRnxRateSig = 0.0; // [s/s = -]
1210	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1211	break;
1212	case 2:
1213	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1214	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1215	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1216	break;
1217	case 3:
1218	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1219	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1220	clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1221	break;
1222	}
1223	_rnx->write(tg.gpsw(), tg.gpssec(), prn, clkRnx + clkRate * (tg - tt),
1224	clkRnxRate, clkRnxAcc, clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1225	}
1226	if (_sp3 && gridEpoch(_sp3->sampl(), tt, tg, _sp3GridEpo, _sp3GridSrc)) {
1227	ColumnVector xyz = rtnCoM;
1228	ColumnVector vel = rtnVel;
1229	if (!(tg == tt)) {
1230	ColumnVector xBg(6);
1231	ColumnVector vBg(3);
1232	if (eph->getCrd(tg, xBg, vBg, false) != success) {
1233	return success;
1234	}
1235	xyz = xBg.Rows(1, 3) + (rtnCoM - xB.Rows(1, 3));
1236	vel = vBg + (rtnVel - vB);
1237	}
1238	_sp3->write(tg.gpsw(), tg.gpssec(), prn, xyz, clkRnx + clkRate * (tg - tt),
1239	vel, clkRnxRate);
1240	}
1241	return success;
1242	}
1243
1244	// Output epoch for SP3/CLK files with sampling interval sampl [s]: the
1245	// correction epoch itself if it is on the sampling grid, otherwise the
1246	// preceding grid epoch if at most 5 s (and less than half the sampling
1247	// interval) earlier. Only preceding grid epochs are used, so a correction
1248	// epoch on the grid always arrives first and takes precedence. Each grid
1249	// epoch is derived from one correction epoch only.
1250	////////////////////////////////////////////////////////////////////////////
1251	bool bncRtnetUploadCaster::gridEpoch(int sampl, const bncTime& tt, bncTime& tg,
1252	bncTime& lastGrid, bncTime& lastSrc) const {
1253	if (sampl <= 0) {
1254	tg = tt;
1255	return true;
1256	}
1257	double sec = tt.gpssec();
1258	double back = sec - floor(sec / sampl) * sampl; // [0, sampl)
1259	if (back > 1.e-6 && (back > 5.0 \|\| back >= 0.5 * sampl)) {
1260	return false;
1261	}
1262	tg = (back <= 1.e-6) ? tt : tt - back;
1263	if (lastGrid.valid() && tg == lastGrid && !(tt == lastSrc)) {
1264	return false;
1265	}
1266	lastGrid = tg;
1267	lastSrc = tt;
1268	return true;
1269	}
1270
1271	// Transform Coordinates
1272	////////////////////////////////////////////////////////////////////////////
1273	void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1274	double& dc) {
1275
1276	// Current epoch minus 2000.0 in years
1277	// ------------------------------------
1278	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1279
1280	ColumnVector dx(3);
1281
1282	dx(1) = _dx + dt * _dxr;
1283	dx(2) = _dy + dt * _dyr;
1284	dx(3) = _dz + dt * _dzr;
1285
1286	static const double arcSec = 180.0 * 3600.0 / M_PI;
1287
1288	double ox = (_ox + dt * _oxr) / arcSec;
1289	double oy = (_oy + dt * _oyr) / arcSec;
1290	double oz = (_oz + dt * _ozr) / arcSec;
1291
1292	double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1293
1294	// Specify approximate center of area
1295	// ----------------------------------
1296	ColumnVector meanSta(3);
1297
1298	if (_crdTrafoStr == "ETRF2000") {
1299	meanSta(1) = 3661090.0;
1300	meanSta(2) = 845230.0;
1301	meanSta(3) = 5136850.0;
1302	}
1303	else if (_crdTrafoStr == "GDA2020") {
1304	meanSta(1) = -4052050.0;
1305	meanSta(2) = 4212840.0;
1306	meanSta(3) = -2545110.0;
1307	}
1308	else if (_crdTrafoStr == "SIRGAS2000") {
1309	meanSta(1) = 3740860.0;
1310	meanSta(2) = -4964290.0;
1311	meanSta(3) = -1425420.0;
1312	}
1313	else if (_crdTrafoStr == "DREF91") {
1314	meanSta(1) = 3959579.0;
1315	meanSta(2) = 721719.0;
1316	meanSta(3) = 4931539.0;
1317	}
1318	else if (_crdTrafoStr == "Custom") {
1319	meanSta(1) = 0.0;
1320	meanSta(2) = 0.0;
1321	meanSta(3) = 0.0;
1322	}
1323
1324	// Clock correction proportional to topocentric distance to satellites
1325	// -------------------------------------------------------------------
1326	double rho = (xyz - meanSta).NormFrobenius();
1327	dc = rho * (sc - 1.0) / sc / t_CST::c;
1328
1329	Matrix rMat(3, 3);
1330	rMat(1, 1) = 1.0;
1331	rMat(1, 2) = -oz;
1332	rMat(1, 3) = oy;
1333	rMat(2, 1) = oz;
1334	rMat(2, 2) = 1.0;
1335	rMat(2, 3) = -ox;
1336	rMat(3, 1) = -oy;
1337	rMat(3, 2) = ox;
1338	rMat(3, 3) = 1.0;
1339
1340	xyz = sc * rMat * xyz + dx;
1341	}
1342
1343	// Transform Coordinates
1344	////////////////////////////////////////////////////////////////////////////
1345	void bncRtnetUploadCaster::crdTrafo14(int GPSWeek, ColumnVector& xyz,
1346	double& dc) {
1347
1348	// Current epoch minus 2000.0 in years
1349	// ------------------------------------
1350	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1351
1352	ColumnVector dx(3);
1353
1354	dx(1) = _dx14 + dt * _dxr14;
1355	dx(2) = _dy14 + dt * _dyr14;
1356	dx(3) = _dz14 + dt * _dzr14;
1357
1358	static const double arcSec = 180.0 * 3600.0 / M_PI;
1359
1360	double ox = (_ox14 + dt * _oxr14) / arcSec;
1361	double oy = (_oy14 + dt * _oyr14) / arcSec;
1362	double oz = (_oz14 + dt * _ozr14) / arcSec;
1363
1364	double sc = 1.0 + _sc14 * 1e-9 + dt * _scr14 * 1e-9;
1365
1366	// Specify approximate center of area
1367	// ----------------------------------
1368	ColumnVector meanSta(3);
1369	meanSta(1) = 0.0; // TODO
1370	meanSta(2) = 0.0; // TODO
1371	meanSta(3) = 0.0; // TODO
1372
1373	// Clock correction proportional to topocentric distance to satellites
1374	// -------------------------------------------------------------------
1375	double rho = (xyz - meanSta).NormFrobenius();
1376	dc = rho * (sc - 1.0) / sc / t_CST::c;
1377
1378	Matrix rMat(3, 3);
1379	rMat(1, 1) = 1.0;
1380	rMat(1, 2) = -oz;
1381	rMat(1, 3) = oy;
1382	rMat(2, 1) = oz;
1383	rMat(2, 2) = 1.0;
1384	rMat(2, 3) = -ox;
1385	rMat(3, 1) = -oy;
1386	rMat(3, 2) = ox;
1387	rMat(3, 3) = 1.0;
1388
1389	xyz = sc * rMat * xyz + dx;
1390	}
1391
1392	// Update Interval
1393	////////////////////////////////////////////////////////////////////////////
1394	int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1395
1396	if (samplingRate == 1.0) {
1397	return 0;
1398	}
1399	else if (samplingRate == 2.0) {
1400	return 1;
1401	}
1402	else if (samplingRate == 5.0) {
1403	return 2;
1404	}
1405	else if (samplingRate == 10.0) {
1406	return 3;
1407	}
1408	else if (samplingRate == 15.0) {
1409	return 4;
1410	}
1411	else if (samplingRate == 30.0) {
1412	return 5;
1413	}
1414	else if (samplingRate == 60.0) {
1415	return 6;
1416	}
1417	else if (samplingRate == 120.0) {
1418	return 7;
1419	}
1420	else if (samplingRate == 240.0) {
1421	return 8;
1422	}
1423	else if (samplingRate == 300.0) {
1424	return 9;
1425	}
1426	else if (samplingRate == 600.0) {
1427	return 10;
1428	}
1429	else if (samplingRate == 900.0) {
1430	return 11;
1431	}
1432	else if (samplingRate == 1800.0) {
1433	return 12;
1434	}
1435	else if (samplingRate == 3600.0) {
1436	return 13;
1437	}
1438	else if (samplingRate == 7200.0) {
1439	return 14;
1440	}
1441	else if (samplingRate == 10800.0) {
1442	return 15;
1443	}
1444	return 2; // default
1445	}
1446
1447	// Check corrections
1448	////////////////////////////////////////////////////////////////////////////
1449	bool bncRtnetUploadCaster::corrIsOutOfRange(struct SsrCorr::ClockOrbit::SatData* sd) {
1450
1451	if (fabs(sd->Clock.DeltaA0) > 209.7151) { return true; }
1452	if (fabs(sd->Clock.DeltaA1) > 1.048575) { return true; }
1453	if (fabs(sd->Clock.DeltaA2) > 1.34217726) { return true; }
1454
1455	if (fabs(sd->Orbit.DeltaRadial) > 209.7151) { return true; }
1456	if (fabs(sd->Orbit.DeltaAlongTrack) > 209.7148) { return true; }
1457	if (fabs(sd->Orbit.DeltaCrossTrack) > 209.7148) { return true; }
1458
1459	if (fabs(sd->Orbit.DotDeltaRadial) > 1.048575) { return true; }
1460	if (fabs(sd->Orbit.DotDeltaAlongTrack) > 1.048572) { return true; }
1461	if (fabs(sd->Orbit.DotDeltaCrossTrack) > 1.048572) { return true; }
1462	return false;
1463	}

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source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 11140

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