source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 6557

Last change on this file since 6557 was 6557, checked in by stuerze, 9 years ago

consider clock sampling for update indicator determination in case of combination
File size: 25.0 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 "bncsp3.h"
23
24extern "C" {
25# include "rtcm3torinex.h"
26}
27
28using namespace std;
29
30// Constructor
31////////////////////////////////////////////////////////////////////////////
32bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
33 const QString& outHost, int outPort,
34 const QString& password,
35 const QString& crdTrafo, bool CoM,
36 const QString& sp3FileName,
37 const QString& rnxFileName,
38 int PID, int SID, int IOD, int iRow) :
39 bncUploadCaster(mountpoint, outHost, outPort, password, iRow, 0) {
40
41 if (!outHost.isEmpty()) {
42 _casterID += outHost;
43 }
44 if (!crdTrafo.isEmpty()) {
45 _casterID += " " + crdTrafo;
46 }
47 if (!sp3FileName.isEmpty()) {
48 _casterID += " " + sp3FileName;
49 }
50 if (!rnxFileName.isEmpty()) {
51 _casterID += " " + rnxFileName;
52 }
53
54 _crdTrafo = crdTrafo;
55 _CoM = CoM;
56 _PID = PID;
57 _SID = SID;
58 _IOD = IOD;
59
60 // Member that receives the ephemeris
61 // ----------------------------------
62 _ephUser = new bncEphUser(true);
63
64 bncSettings settings;
65 QString intr = settings.value("uploadIntr").toString();
66 QStringList help = settings.value("combineStreams").toStringList();
67 if (help.size() > 1) { // combination stream upload
68 _samplRtcmClkCorr = settings.value("cmbSampl").toInt();
69 } else { // single stream upload or sp3 file generation
70 _samplRtcmClkCorr = 5; // default
71 }
72 _samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toDouble();
73 int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
74 int samplSp3 = settings.value("uploadSamplSp3").toInt() * 60;
75
76 if (_samplRtcmEphCorr == 0.0) {
77 _usedEph = 0;
78 }
79 else {
80 _usedEph = new QMap<QString, const t_eph*>;
81 }
82
83 // RINEX writer
84 // ------------
85 if (!rnxFileName.isEmpty()) {
86 _rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
87 }
88 else {
89 _rnx = 0;
90 }
91
92 // SP3 writer
93 // ----------
94 if (!sp3FileName.isEmpty()) {
95 _sp3 = new bncSP3(sp3FileName, intr, samplSp3);
96 }
97 else {
98 _sp3 = 0;
99 }
100
101 // Set Transformation Parameters
102 // -----------------------------
103 if (_crdTrafo == "ETRF2000") {
104 _dx = 0.0521;
105 _dy = 0.0493;
106 _dz = -0.0585;
107 _dxr = 0.0001;
108 _dyr = 0.0001;
109 _dzr = -0.0018;
110 _ox = 0.000891;
111 _oy = 0.005390;
112 _oz = -0.008712;
113 _oxr = 0.000081;
114 _oyr = 0.000490;
115 _ozr = -0.000792;
116 _sc = 1.34;
117 _scr = 0.08;
118 _t0 = 2000.0;
119 }
120 else if (_crdTrafo == "NAD83") {
121 _dx = 0.99343;
122 _dy = -1.90331;
123 _dz = -0.52655;
124 _dxr = 0.00079;
125 _dyr = -0.00060;
126 _dzr = -0.00134;
127 _ox = -0.02591467;
128 _oy = -0.00942645;
129 _oz = -0.01159935;
130 _oxr = -0.00006667;
131 _oyr = 0.00075744;
132 _ozr = 0.00005133;
133 _sc = 1.71504;
134 _scr = -0.10201;
135 _t0 = 1997.0;
136 }
137 else if (_crdTrafo == "GDA94") {
138 _dx = -0.08468;
139 _dy = -0.01942;
140 _dz = 0.03201;
141 _dxr = 0.00142;
142 _dyr = 0.00134;
143 _dzr = 0.00090;
144 _ox = 0.0004254;
145 _oy = -0.0022578;
146 _oz = -0.0024015;
147 _oxr = -0.0015461;
148 _oyr = -0.0011820;
149 _ozr = -0.0011551;
150 _sc = 9.710;
151 _scr = 0.109;
152 _t0 = 1994.0;
153 }
154 else if (_crdTrafo == "SIRGAS2000") {
155 _dx = 0.0020;
156 _dy = 0.0041;
157 _dz = 0.0039;
158 _dxr = 0.0000;
159 _dyr = 0.0000;
160 _dzr = 0.0000;
161 _ox = 0.000170;
162 _oy = -0.000030;
163 _oz = 0.000070;
164 _oxr = 0.000000;
165 _oyr = 0.000000;
166 _ozr = 0.000000;
167 _sc = -1.000;
168 _scr = 0.000;
169 _t0 = 0000.0;
170 }
171 else if (_crdTrafo == "SIRGAS95") {
172 _dx = 0.0077;
173 _dy = 0.0058;
174 _dz = -0.0138;
175 _dxr = 0.0000;
176 _dyr = 0.0000;
177 _dzr = 0.0000;
178 _ox = 0.000000;
179 _oy = 0.000000;
180 _oz = -0.000030;
181 _oxr = 0.000000;
182 _oyr = 0.000000;
183 _ozr = 0.000000;
184 _sc = 1.570;
185 _scr = 0.000;
186 _t0 = 0000.0;
187 }
188 else if (_crdTrafo == "DREF91") {
189 _dx = -0.0118;
190 _dy = 0.1432;
191 _dz = -0.1117;
192 _dxr = 0.0001;
193 _dyr = 0.0001;
194 _dzr = -0.0018;
195 _ox = 0.003291;
196 _oy = 0.006190;
197 _oz = -0.011012;
198 _oxr = 0.000081;
199 _oyr = 0.000490;
200 _ozr = -0.000792;
201 _sc = 12.24;
202 _scr = 0.08;
203 _t0 = 2000.0;
204 }
205 else if (_crdTrafo == "Custom") {
206 _dx = settings.value("trafo_dx").toDouble();
207 _dy = settings.value("trafo_dy").toDouble();
208 _dz = settings.value("trafo_dz").toDouble();
209 _dxr = settings.value("trafo_dxr").toDouble();
210 _dyr = settings.value("trafo_dyr").toDouble();
211 _dzr = settings.value("trafo_dzr").toDouble();
212 _ox = settings.value("trafo_ox").toDouble();
213 _oy = settings.value("trafo_oy").toDouble();
214 _oz = settings.value("trafo_oz").toDouble();
215 _oxr = settings.value("trafo_oxr").toDouble();
216 _oyr = settings.value("trafo_oyr").toDouble();
217 _ozr = settings.value("trafo_ozr").toDouble();
218 _sc = settings.value("trafo_sc").toDouble();
219 _scr = settings.value("trafo_scr").toDouble();
220 _t0 = settings.value("trafo_t0").toDouble();
221 }
222}
223
224// Destructor
225////////////////////////////////////////////////////////////////////////////
226bncRtnetUploadCaster::~bncRtnetUploadCaster() {
227 if (isRunning()) {
228 wait();
229 }
230 delete _rnx;
231 delete _sp3;
232 delete _ephUser;
233 delete _usedEph;
234}
235
236//
237////////////////////////////////////////////////////////////////////////////
238void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
239
240 QMutexLocker locker(&_mutex);
241
242 // Append to internal buffer
243 // -------------------------
244 _rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
245
246 // Select buffer part that contains last epoch
247 // -------------------------------------------
248 QStringList lines;
249 int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
250 if (iEpoBeg == -1) {
251 _rtnetStreamBuffer.clear();
252 return;
253 }
254 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
255
256 int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
257 if (iEpoEnd == -1) {
258 return;
259 }
260 else {
261 lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', QString::SkipEmptyParts);
262 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd+3);
263 }
264
265 if (lines.size() < 2) {
266 return;
267 }
268
269 // Keep the last unfinished line in buffer
270 // ---------------------------------------
271 int iLastEOL = _rtnetStreamBuffer.lastIndexOf('\n');
272 if (iLastEOL != -1) {
273 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iLastEOL+1);
274 }
275
276 // Read first line (with epoch time)
277 // ---------------------------------
278 QTextStream in(lines[0].toAscii());
279 QString hlp;
280 int year, month, day, hour, min;
281 double sec;
282 in >> hlp >> year >> month >> day >> hour >> min >> sec;
283 bncTime epoTime; epoTime.set( year, month, day, hour, min, sec);
284
285 emit(newMessage("bncRtnetUploadCaster: decode " +
286 QByteArray(epoTime.datestr().c_str()) + " " +
287 QByteArray(epoTime.timestr().c_str()) + " " +
288 _casterID.toAscii(), false));
289
290 struct ClockOrbit co;
291 memset(&co, 0, sizeof(co));
292 co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
293 double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
294 co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
295
296 co.Supplied[COBOFS_CLOCK] = 1;
297 co.Supplied[COBOFS_ORBIT] = 1;
298 co.SatRefDatum = DATUM_ITRF;
299 co.SSRIOD = _IOD;
300 co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
301 co.SSRSolutionID = _SID;
302
303 struct CodeBias bias;
304 memset(&bias, 0, sizeof(bias));
305 bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
306 bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
307
308 // Default Update Interval
309 // -----------------------
310 int clkUpdInd = 2; // 5 sec
311 int ephUpdInd = clkUpdInd; // default
312
313 if (_samplRtcmEphCorr != 5) {
314 ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
315 }
316 if (_samplRtcmClkCorr != 5) {
317 clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
318 }
319
320 co.UpdateInterval = clkUpdInd;
321 bias.UpdateInterval = clkUpdInd;
322
323 for (int ii = 1; ii < lines.size(); ii++) {
324
325 QString prn;
326 ColumnVector rtnAPC;
327 ColumnVector rtnVel;
328 ColumnVector rtnCoM;
329 double rtnClk;
330
331 QTextStream in(lines[ii].toAscii());
332
333 in >> prn;
334
335 const t_eph* ephLast = _ephUser->ephLast(prn);
336 const t_eph* ephPrev = _ephUser->ephPrev(prn);
337 const t_eph* eph = ephLast;
338
339 if (eph) {
340
341 // Use previous ephemeris if the last one is too recent
342 // ----------------------------------------------------
343 const int MINAGE = 60; // seconds
344 if (ephPrev && eph->receptDateTime().isValid() &&
345 eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
346 eph = ephPrev;
347 }
348
349 // Make sure the clock messages refer to same IOD as orbit messages
350 // ----------------------------------------------------------------
351 if (_usedEph) {
352 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
353 (*_usedEph)[prn] = eph;
354 }
355 else {
356 eph = 0;
357 if (_usedEph->contains(prn)) {
358 const t_eph* usedEph = _usedEph->value(prn);
359 if (usedEph == ephLast) {
360 eph = ephLast;
361 }
362 else if (usedEph == ephPrev) {
363 eph = ephPrev;
364 }
365 }
366 }
367 }
368 }
369
370 if (eph) {
371
372 QMap<QString, double> codeBiases;
373
374 while (true) {
375 QString key;
376 int numVal = 0;
377 in >> key >> numVal;
378 if (in.status() != QTextStream::Ok) {
379 break;
380 }
381 if (key == "APC") {
382 rtnAPC.ReSize(3);
383 in >> rtnAPC[0] >> rtnAPC[1] >> rtnAPC[2];
384 }
385 else if (key == "Clk") {
386 in >> rtnClk;
387 }
388 else if (key == "Vel") {
389 rtnVel.ReSize(3);
390 in >> rtnVel[0] >> rtnVel[1] >> rtnVel[2];
391 }
392 else if (key == "CoM") {
393 rtnCoM.ReSize(3);
394 in >> rtnCoM[0] >> rtnCoM[1] >> rtnCoM[2];
395 }
396 else if (key == "CodeBias") {
397 for (int ii = 0; ii < numVal; ii++) {
398 QString type;
399 double value;
400 in >> type >> value;
401 codeBiases[type] = value;
402 }
403 }
404 else {
405 for (int ii = 0; ii < numVal; ii++) {
406 double dummy;
407 in >> dummy;
408 }
409 }
410 }
411 struct ClockOrbit::SatData* sd = 0;
412 if (prn[0] == 'G') {
413 sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
414 ++co.NumberOfSat[CLOCKORBIT_SATGPS];
415 }
416 else if (prn[0] == 'R') {
417 sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
418 ++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
419 }
420 if (sd) {
421 QString outLine;
422 processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prn,
423 rtnAPC, rtnClk, rtnVel, rtnCoM, sd, outLine);
424 }
425
426 struct CodeBias::BiasSat* biasSat = 0;
427 if (prn[0] == 'G') {
428 biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
429 ++bias.NumberOfSat[CLOCKORBIT_SATGPS];
430 }
431 else if (prn[0] == 'R') {
432 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
433 ++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
434 }
435
436 // Code Biases
437 // -----------
438 if (biasSat) {
439 biasSat->ID = prn.mid(1).toInt();
440 biasSat->NumberOfCodeBiases = 0;
441 if (prn[0] == 'G') {
442 QMapIterator<QString, double> it(codeBiases);
443 while (it.hasNext()) {
444 it.next();
445 if (it.key() == "1C") {
446 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
447 biasSat->NumberOfCodeBiases += 1;
448 biasSat->Biases[ii].Type = CODETYPEGPS_L1_CA;
449 biasSat->Biases[ii].Bias = it.value();
450 }
451 else if (it.key() == "1C") {
452 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
453 biasSat->NumberOfCodeBiases += 1;
454 biasSat->Biases[ii].Type = CODETYPEGPS_L1_CA;
455 biasSat->Biases[ii].Bias = it.value();
456 }
457 else if (it.key() == "1P") {
458 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
459 biasSat->NumberOfCodeBiases += 1;
460 biasSat->Biases[ii].Type = CODETYPEGPS_L1_P;
461 biasSat->Biases[ii].Bias = it.value();
462 }
463 else if (it.key() == "1W") {
464 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
465 biasSat->NumberOfCodeBiases += 1;
466 biasSat->Biases[ii].Type = CODETYPEGPS_L1_Z;
467 biasSat->Biases[ii].Bias = it.value();
468 }
469 else if (it.key() == "2C") {
470 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
471 biasSat->NumberOfCodeBiases += 1;
472 biasSat->Biases[ii].Type = CODETYPEGPS_L2_CA;
473 biasSat->Biases[ii].Bias = it.value();
474 }
475 else if (it.key() == "2D") {
476 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
477 biasSat->NumberOfCodeBiases += 1;
478 biasSat->Biases[ii].Type = CODETYPEGPS_SEMI_CODELESS;
479 biasSat->Biases[ii].Bias = it.value();
480 }
481 else if (it.key() == "2S") {
482 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
483 biasSat->NumberOfCodeBiases += 1;
484 biasSat->Biases[ii].Type = CODETYPEGPS_L2_CM;
485 biasSat->Biases[ii].Bias = it.value();
486 }
487 else if (it.key() == "2L") {
488 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
489 biasSat->NumberOfCodeBiases += 1;
490 biasSat->Biases[ii].Type = CODETYPEGPS_L2_CL;
491 biasSat->Biases[ii].Bias = it.value();
492 }
493 else if (it.key() == "2X") {
494 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
495 biasSat->NumberOfCodeBiases += 1;
496 biasSat->Biases[ii].Type = CODETYPEGPS_L2_CML;
497 biasSat->Biases[ii].Bias = it.value();
498 }
499 else if (it.key() == "2P") {
500 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
501 biasSat->NumberOfCodeBiases += 1;
502 biasSat->Biases[ii].Type = CODETYPEGPS_L2_P;
503 biasSat->Biases[ii].Bias = it.value();
504 }
505 else if (it.key() == "2W") {
506 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
507 biasSat->NumberOfCodeBiases += 1;
508 biasSat->Biases[ii].Type = CODETYPEGPS_L2_Z;
509 biasSat->Biases[ii].Bias = it.value();
510 }
511 else if (it.key() == "5I") {
512 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
513 biasSat->NumberOfCodeBiases += 1;
514 biasSat->Biases[ii].Type = CODETYPEGPS_L5_I;
515 biasSat->Biases[ii].Bias = it.value();
516 }
517 else if (it.key() == "5Q") {
518 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
519 biasSat->NumberOfCodeBiases += 1;
520 biasSat->Biases[ii].Type = CODETYPEGPS_L5_Q;
521 biasSat->Biases[ii].Bias = it.value();
522 }
523 }
524 }
525 else if (prn[0] == 'R') {
526 QMapIterator<QString, double> it(codeBiases);
527 while (it.hasNext()) {
528 it.next();
529 if (it.key() == "1C") {
530 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
531 biasSat->NumberOfCodeBiases += 1;
532 biasSat->Biases[ii].Type = CODETYPEGLONASS_L1_CA;
533 biasSat->Biases[ii].Bias = it.value();
534 }
535 else if (it.key() == "1P") {
536 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
537 biasSat->NumberOfCodeBiases += 1;
538 biasSat->Biases[ii].Type = CODETYPEGLONASS_L1_P;
539 biasSat->Biases[ii].Bias = it.value();
540 }
541 else if (it.key() == "2C") {
542 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
543 biasSat->NumberOfCodeBiases += 1;
544 biasSat->Biases[ii].Type = CODETYPEGLONASS_L2_CA;
545 biasSat->Biases[ii].Bias = it.value();
546 }
547 else if (it.key() == "2P") {
548 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
549 biasSat->NumberOfCodeBiases += 1;
550 biasSat->Biases[ii].Type = CODETYPEGLONASS_L2_P;
551 biasSat->Biases[ii].Bias = it.value();
552 }
553 }
554 }
555 }
556 }
557 }
558
559 QByteArray hlpBufferCo;
560
561 // Orbit and Clock Corrections together
562 // ------------------------------------
563 if (_samplRtcmEphCorr == 0.0) {
564 if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0 || co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
565 char obuffer[CLOCKORBIT_BUFFERSIZE];
566 int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
567 if (len > 0) {
568 hlpBufferCo = QByteArray(obuffer, len);
569 }
570 }
571 }
572
573 // Orbit and Clock Corrections separately
574 // --------------------------------------
575 else {
576 if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
577 char obuffer[CLOCKORBIT_BUFFERSIZE];
578 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
579 co.UpdateInterval = ephUpdInd;
580 int len1 = MakeClockOrbit(&co, COTYPE_GPSORBIT, 1, obuffer, sizeof(obuffer));
581 co.UpdateInterval = clkUpdInd;
582 if (len1 > 0) {
583 hlpBufferCo += QByteArray(obuffer, len1);
584 }
585 }
586 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) ? 1 : 0;
587 int len2 = MakeClockOrbit(&co, COTYPE_GPSCLOCK, mmsg, obuffer, sizeof(obuffer));
588 if (len2 > 0) {
589 hlpBufferCo += QByteArray(obuffer, len2);
590 }
591 }
592 if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
593 char obuffer[CLOCKORBIT_BUFFERSIZE];
594 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
595 co.UpdateInterval = ephUpdInd;
596 int len1 = MakeClockOrbit(&co, COTYPE_GLONASSORBIT, 1, obuffer, sizeof(obuffer));
597 co.UpdateInterval = clkUpdInd;
598 if (len1 > 0) {
599 hlpBufferCo += QByteArray(obuffer, len1);
600 }
601 }
602 int len2 = MakeClockOrbit(&co, COTYPE_GLONASSCLOCK, 0, obuffer, sizeof(obuffer));
603 if (len2 > 0) {
604 hlpBufferCo += QByteArray(obuffer, len2);
605 }
606 }
607 }
608
609 // Biases
610 // ------
611 QByteArray hlpBufferBias;
612 if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0 || bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
613 char obuffer[CLOCKORBIT_BUFFERSIZE];
614 int len = MakeCodeBias(&bias, BTYPE_AUTO, 0, obuffer, sizeof(obuffer));
615 if (len > 0) {
616 hlpBufferBias = QByteArray(obuffer, len);
617 }
618 }
619
620 _outBuffer += hlpBufferCo + hlpBufferBias;
621}
622
623//
624////////////////////////////////////////////////////////////////////////////
625void bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
626 double GPSweeks, const QString& prn,
627 const ColumnVector& rtnAPC,
628 double rtnClk,
629 const ColumnVector& rtnVel,
630 const ColumnVector& rtnCoM,
631 struct ClockOrbit::SatData* sd,
632 QString& outLine) {
633
634 // Broadcast Position and Velocity
635 // -------------------------------
636 ColumnVector xB(4);
637 ColumnVector vB(3);
638 eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
639
640 // Precise Position
641 // ----------------
642 ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
643
644 double dc = 0.0;
645 if (_crdTrafo != "IGS08") {
646 crdTrafo(GPSweek, xP, dc);
647 }
648
649 // Difference in xyz
650 // -----------------
651 ColumnVector dx = xB.Rows(1,3) - xP;
652 ColumnVector dv = vB - rtnVel;
653
654 // Difference in RSW
655 // -----------------
656 ColumnVector rsw(3);
657 XYZ_to_RSW(xB.Rows(1,3), vB, dx, rsw);
658
659 ColumnVector dotRsw(3);
660 XYZ_to_RSW(xB.Rows(1,3), vB, dv, dotRsw);
661
662 // Clock Correction
663 // ----------------
664 double dClk = rtnClk - (xB(4) - dc) * t_CST::c;
665
666 if (sd) {
667 sd->ID = prn.mid(1).toInt();
668 sd->IOD = eph->IOD();
669 sd->Clock.DeltaA0 = dClk;
670 sd->Clock.DeltaA1 = 0.0; // TODO
671 sd->Clock.DeltaA2 = 0.0; // TODO
672 sd->Orbit.DeltaRadial = rsw(1);
673 sd->Orbit.DeltaAlongTrack = rsw(2);
674 sd->Orbit.DeltaCrossTrack = rsw(3);
675 sd->Orbit.DotDeltaRadial = dotRsw(1);
676 sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
677 sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
678 }
679
680 outLine.sprintf("%d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n",
681 GPSweek, GPSweeks, eph->prn().toString().c_str(),
682 eph->IOD(), dClk, rsw(1), rsw(2), rsw(3));
683
684 double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
685 double sp3Clk = (rtnClk - relativity) / t_CST::c; // in seconds
686
687 if (_rnx) {
688 _rnx->write(GPSweek, GPSweeks, prn, sp3Clk);
689 }
690 if (_sp3) {
691 _sp3->write(GPSweek, GPSweeks, prn, rtnCoM, sp3Clk);
692 }
693}
694
695// Transform Coordinates
696////////////////////////////////////////////////////////////////////////////
697void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
698 double& dc) {
699
700 // Current epoch minus 2000.0 in years
701 // ------------------------------------
702 double dt = (GPSWeek - (1042.0+6.0/7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
703
704 ColumnVector dx(3);
705
706 dx(1) = _dx + dt * _dxr;
707 dx(2) = _dy + dt * _dyr;
708 dx(3) = _dz + dt * _dzr;
709
710 static const double arcSec = 180.0 * 3600.0 / M_PI;
711
712 double ox = (_ox + dt * _oxr) / arcSec;
713 double oy = (_oy + dt * _oyr) / arcSec;
714 double oz = (_oz + dt * _ozr) / arcSec;
715
716 double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
717
718 // Specify approximate center of area
719 // ----------------------------------
720 ColumnVector meanSta(3);
721
722 if (_crdTrafo == "ETRF2000") {
723 meanSta(1) = 3661090.0;
724 meanSta(2) = 845230.0;
725 meanSta(3) = 5136850.0;
726 }
727 else if (_crdTrafo == "NAD83") {
728 meanSta(1) = -1092950.0;
729 meanSta(2) = -4383600.0;
730 meanSta(3) = 4487420.0;
731 }
732 else if (_crdTrafo == "GDA94") {
733 meanSta(1) = -4052050.0;
734 meanSta(2) = 4212840.0;
735 meanSta(3) = -2545110.0;
736 }
737 else if (_crdTrafo == "SIRGAS2000") {
738 meanSta(1) = 3740860.0;
739 meanSta(2) = -4964290.0;
740 meanSta(3) = -1425420.0;
741 }
742 else if (_crdTrafo == "SIRGAS95") {
743 meanSta(1) = 3135390.0;
744 meanSta(2) = -5017670.0;
745 meanSta(3) = -2374440.0;
746 }
747 else if (_crdTrafo == "DREF91") {
748 meanSta(1) = 3959579.0;
749 meanSta(2) = 721719.0;
750 meanSta(3) = 4931539.0;
751 }
752 else if (_crdTrafo == "Custom") {
753 meanSta(1) = 0.0; // TODO
754 meanSta(2) = 0.0; // TODO
755 meanSta(3) = 0.0; // TODO
756 }
757
758 // Clock correction proportional to topocentric distance to satellites
759 // -------------------------------------------------------------------
760 double rho = (xyz - meanSta).norm_Frobenius();
761 dc = rho * (sc - 1.0) / sc / t_CST::c;
762
763 Matrix rMat(3,3);
764 rMat(1,1) = 1.0;
765 rMat(1,2) = -oz;
766 rMat(1,3) = oy;
767 rMat(2,1) = oz;
768 rMat(2,2) = 1.0;
769 rMat(2,3) = -ox;
770 rMat(3,1) = -oy;
771 rMat(3,2) = ox;
772 rMat(3,3) = 1.0;
773
774 xyz = sc * rMat * xyz + dx;
775}
776
777int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
778
779 if (samplingRate == 10.0) {
780 return 3;
781 }
782 else if (samplingRate == 15.0) {
783 return 4;
784 }
785 else if (samplingRate == 30.0) {
786 return 5;
787 }
788 else if (samplingRate == 60.0) {
789 return 6;
790 }
791 else if (samplingRate == 120.0) {
792 return 7;
793 }
794 else if (samplingRate == 240.0) {
795 return 8;
796 }
797 else if (samplingRate == 300.0) {
798 return 9;
799 }
800 else if (samplingRate == 600.0) {
801 return 10;
802 }
803 else if (samplingRate == 900.0) {
804 return 11;
805 }
806 else if (samplingRate == 1800.0) {
807 return 12;
808 }
809 else if (samplingRate == 3600.0) {
810 return 13;
811 }
812 else if (samplingRate == 7200.0) {
813 return 14;
814 }
815 else if (samplingRate == 10800.0) {
816 return 15;
817 }
818 return 2;// default
819}
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