source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 6559

Last change on this file since 6559 was 6559, checked in by stuerze, 9 years ago

minor changes
File size: 25.1 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 hlp = settings.value("combineStreams").toStringList();
67 _samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toDouble();
68 if (hlp.size() > 1) { // combination stream upload
69 _samplRtcmClkCorr = settings.value("cmbSampl").toInt();
70 } else { // single stream upload or sp3 file generation
71 _samplRtcmClkCorr = 5; // default
72 }
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 (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
314 ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
315 }
316 if (_samplRtcmClkCorr > 5.0) {
317 clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
318 }
319 if (_samplRtcmEphCorr > 5.0) {
320 ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
321 }
322
323 co.UpdateInterval = clkUpdInd;
324 bias.UpdateInterval = clkUpdInd;
325
326 for (int ii = 1; ii < lines.size(); ii++) {
327
328 QString prn;
329 ColumnVector rtnAPC;
330 ColumnVector rtnVel;
331 ColumnVector rtnCoM;
332 double rtnClk;
333
334 QTextStream in(lines[ii].toAscii());
335
336 in >> prn;
337
338 const t_eph* ephLast = _ephUser->ephLast(prn);
339 const t_eph* ephPrev = _ephUser->ephPrev(prn);
340 const t_eph* eph = ephLast;
341
342 if (eph) {
343
344 // Use previous ephemeris if the last one is too recent
345 // ----------------------------------------------------
346 const int MINAGE = 60; // seconds
347 if (ephPrev && eph->receptDateTime().isValid() &&
348 eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
349 eph = ephPrev;
350 }
351
352 // Make sure the clock messages refer to same IOD as orbit messages
353 // ----------------------------------------------------------------
354 if (_usedEph) {
355 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
356 (*_usedEph)[prn] = eph;
357 }
358 else {
359 eph = 0;
360 if (_usedEph->contains(prn)) {
361 const t_eph* usedEph = _usedEph->value(prn);
362 if (usedEph == ephLast) {
363 eph = ephLast;
364 }
365 else if (usedEph == ephPrev) {
366 eph = ephPrev;
367 }
368 }
369 }
370 }
371 }
372
373 if (eph) {
374
375 QMap<QString, double> codeBiases;
376
377 while (true) {
378 QString key;
379 int numVal = 0;
380 in >> key >> numVal;
381 if (in.status() != QTextStream::Ok) {
382 break;
383 }
384 if (key == "APC") {
385 rtnAPC.ReSize(3);
386 in >> rtnAPC[0] >> rtnAPC[1] >> rtnAPC[2];
387 }
388 else if (key == "Clk") {
389 in >> rtnClk;
390 }
391 else if (key == "Vel") {
392 rtnVel.ReSize(3);
393 in >> rtnVel[0] >> rtnVel[1] >> rtnVel[2];
394 }
395 else if (key == "CoM") {
396 rtnCoM.ReSize(3);
397 in >> rtnCoM[0] >> rtnCoM[1] >> rtnCoM[2];
398 }
399 else if (key == "CodeBias") {
400 for (int ii = 0; ii < numVal; ii++) {
401 QString type;
402 double value;
403 in >> type >> value;
404 codeBiases[type] = value;
405 }
406 }
407 else {
408 for (int ii = 0; ii < numVal; ii++) {
409 double dummy;
410 in >> dummy;
411 }
412 }
413 }
414 struct ClockOrbit::SatData* sd = 0;
415 if (prn[0] == 'G') {
416 sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
417 ++co.NumberOfSat[CLOCKORBIT_SATGPS];
418 }
419 else if (prn[0] == 'R') {
420 sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
421 ++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
422 }
423 if (sd) {
424 QString outLine;
425 processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prn,
426 rtnAPC, rtnClk, rtnVel, rtnCoM, sd, outLine);
427 }
428
429 struct CodeBias::BiasSat* biasSat = 0;
430 if (prn[0] == 'G') {
431 biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
432 ++bias.NumberOfSat[CLOCKORBIT_SATGPS];
433 }
434 else if (prn[0] == 'R') {
435 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
436 ++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
437 }
438
439 // Code Biases
440 // -----------
441 if (biasSat) {
442 biasSat->ID = prn.mid(1).toInt();
443 biasSat->NumberOfCodeBiases = 0;
444 if (prn[0] == 'G') {
445 QMapIterator<QString, double> it(codeBiases);
446 while (it.hasNext()) {
447 it.next();
448 if (it.key() == "1C") {
449 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
450 biasSat->NumberOfCodeBiases += 1;
451 biasSat->Biases[ii].Type = CODETYPEGPS_L1_CA;
452 biasSat->Biases[ii].Bias = it.value();
453 }
454 else if (it.key() == "1C") {
455 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
456 biasSat->NumberOfCodeBiases += 1;
457 biasSat->Biases[ii].Type = CODETYPEGPS_L1_CA;
458 biasSat->Biases[ii].Bias = it.value();
459 }
460 else if (it.key() == "1P") {
461 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
462 biasSat->NumberOfCodeBiases += 1;
463 biasSat->Biases[ii].Type = CODETYPEGPS_L1_P;
464 biasSat->Biases[ii].Bias = it.value();
465 }
466 else if (it.key() == "1W") {
467 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
468 biasSat->NumberOfCodeBiases += 1;
469 biasSat->Biases[ii].Type = CODETYPEGPS_L1_Z;
470 biasSat->Biases[ii].Bias = it.value();
471 }
472 else if (it.key() == "2C") {
473 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
474 biasSat->NumberOfCodeBiases += 1;
475 biasSat->Biases[ii].Type = CODETYPEGPS_L2_CA;
476 biasSat->Biases[ii].Bias = it.value();
477 }
478 else if (it.key() == "2D") {
479 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
480 biasSat->NumberOfCodeBiases += 1;
481 biasSat->Biases[ii].Type = CODETYPEGPS_SEMI_CODELESS;
482 biasSat->Biases[ii].Bias = it.value();
483 }
484 else if (it.key() == "2S") {
485 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
486 biasSat->NumberOfCodeBiases += 1;
487 biasSat->Biases[ii].Type = CODETYPEGPS_L2_CM;
488 biasSat->Biases[ii].Bias = it.value();
489 }
490 else if (it.key() == "2L") {
491 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
492 biasSat->NumberOfCodeBiases += 1;
493 biasSat->Biases[ii].Type = CODETYPEGPS_L2_CL;
494 biasSat->Biases[ii].Bias = it.value();
495 }
496 else if (it.key() == "2X") {
497 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
498 biasSat->NumberOfCodeBiases += 1;
499 biasSat->Biases[ii].Type = CODETYPEGPS_L2_CML;
500 biasSat->Biases[ii].Bias = it.value();
501 }
502 else if (it.key() == "2P") {
503 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
504 biasSat->NumberOfCodeBiases += 1;
505 biasSat->Biases[ii].Type = CODETYPEGPS_L2_P;
506 biasSat->Biases[ii].Bias = it.value();
507 }
508 else if (it.key() == "2W") {
509 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
510 biasSat->NumberOfCodeBiases += 1;
511 biasSat->Biases[ii].Type = CODETYPEGPS_L2_Z;
512 biasSat->Biases[ii].Bias = it.value();
513 }
514 else if (it.key() == "5I") {
515 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
516 biasSat->NumberOfCodeBiases += 1;
517 biasSat->Biases[ii].Type = CODETYPEGPS_L5_I;
518 biasSat->Biases[ii].Bias = it.value();
519 }
520 else if (it.key() == "5Q") {
521 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
522 biasSat->NumberOfCodeBiases += 1;
523 biasSat->Biases[ii].Type = CODETYPEGPS_L5_Q;
524 biasSat->Biases[ii].Bias = it.value();
525 }
526 }
527 }
528 else if (prn[0] == 'R') {
529 QMapIterator<QString, double> it(codeBiases);
530 while (it.hasNext()) {
531 it.next();
532 if (it.key() == "1C") {
533 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
534 biasSat->NumberOfCodeBiases += 1;
535 biasSat->Biases[ii].Type = CODETYPEGLONASS_L1_CA;
536 biasSat->Biases[ii].Bias = it.value();
537 }
538 else if (it.key() == "1P") {
539 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
540 biasSat->NumberOfCodeBiases += 1;
541 biasSat->Biases[ii].Type = CODETYPEGLONASS_L1_P;
542 biasSat->Biases[ii].Bias = it.value();
543 }
544 else if (it.key() == "2C") {
545 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
546 biasSat->NumberOfCodeBiases += 1;
547 biasSat->Biases[ii].Type = CODETYPEGLONASS_L2_CA;
548 biasSat->Biases[ii].Bias = it.value();
549 }
550 else if (it.key() == "2P") {
551 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
552 biasSat->NumberOfCodeBiases += 1;
553 biasSat->Biases[ii].Type = CODETYPEGLONASS_L2_P;
554 biasSat->Biases[ii].Bias = it.value();
555 }
556 }
557 }
558 }
559 }
560 }
561
562 QByteArray hlpBufferCo;
563
564 // Orbit and Clock Corrections together
565 // ------------------------------------
566 if (_samplRtcmEphCorr == 0.0) {
567 if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0 || co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
568 char obuffer[CLOCKORBIT_BUFFERSIZE];
569 int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
570 if (len > 0) {
571 hlpBufferCo = QByteArray(obuffer, len);
572 }
573 }
574 }
575
576 // Orbit and Clock Corrections separately
577 // --------------------------------------
578 else {
579 if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
580 char obuffer[CLOCKORBIT_BUFFERSIZE];
581 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
582 co.UpdateInterval = ephUpdInd;
583 int len1 = MakeClockOrbit(&co, COTYPE_GPSORBIT, 1, obuffer, sizeof(obuffer));
584 co.UpdateInterval = clkUpdInd;
585 if (len1 > 0) {
586 hlpBufferCo += QByteArray(obuffer, len1);
587 }
588 }
589 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) ? 1 : 0;
590 int len2 = MakeClockOrbit(&co, COTYPE_GPSCLOCK, mmsg, obuffer, sizeof(obuffer));
591 if (len2 > 0) {
592 hlpBufferCo += QByteArray(obuffer, len2);
593 }
594 }
595 if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
596 char obuffer[CLOCKORBIT_BUFFERSIZE];
597 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
598 co.UpdateInterval = ephUpdInd;
599 int len1 = MakeClockOrbit(&co, COTYPE_GLONASSORBIT, 1, obuffer, sizeof(obuffer));
600 co.UpdateInterval = clkUpdInd;
601 if (len1 > 0) {
602 hlpBufferCo += QByteArray(obuffer, len1);
603 }
604 }
605 int len2 = MakeClockOrbit(&co, COTYPE_GLONASSCLOCK, 0, obuffer, sizeof(obuffer));
606 if (len2 > 0) {
607 hlpBufferCo += QByteArray(obuffer, len2);
608 }
609 }
610 }
611
612 // Biases
613 // ------
614 QByteArray hlpBufferBias;
615 if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0 || bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
616 char obuffer[CLOCKORBIT_BUFFERSIZE];
617 int len = MakeCodeBias(&bias, BTYPE_AUTO, 0, obuffer, sizeof(obuffer));
618 if (len > 0) {
619 hlpBufferBias = QByteArray(obuffer, len);
620 }
621 }
622
623 _outBuffer += hlpBufferCo + hlpBufferBias;
624}
625
626//
627////////////////////////////////////////////////////////////////////////////
628void bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
629 double GPSweeks, const QString& prn,
630 const ColumnVector& rtnAPC,
631 double rtnClk,
632 const ColumnVector& rtnVel,
633 const ColumnVector& rtnCoM,
634 struct ClockOrbit::SatData* sd,
635 QString& outLine) {
636
637 // Broadcast Position and Velocity
638 // -------------------------------
639 ColumnVector xB(4);
640 ColumnVector vB(3);
641 eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
642
643 // Precise Position
644 // ----------------
645 ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
646
647 double dc = 0.0;
648 if (_crdTrafo != "IGS08") {
649 crdTrafo(GPSweek, xP, dc);
650 }
651
652 // Difference in xyz
653 // -----------------
654 ColumnVector dx = xB.Rows(1,3) - xP;
655 ColumnVector dv = vB - rtnVel;
656
657 // Difference in RSW
658 // -----------------
659 ColumnVector rsw(3);
660 XYZ_to_RSW(xB.Rows(1,3), vB, dx, rsw);
661
662 ColumnVector dotRsw(3);
663 XYZ_to_RSW(xB.Rows(1,3), vB, dv, dotRsw);
664
665 // Clock Correction
666 // ----------------
667 double dClk = rtnClk - (xB(4) - dc) * t_CST::c;
668
669 if (sd) {
670 sd->ID = prn.mid(1).toInt();
671 sd->IOD = eph->IOD();
672 sd->Clock.DeltaA0 = dClk;
673 sd->Clock.DeltaA1 = 0.0; // TODO
674 sd->Clock.DeltaA2 = 0.0; // TODO
675 sd->Orbit.DeltaRadial = rsw(1);
676 sd->Orbit.DeltaAlongTrack = rsw(2);
677 sd->Orbit.DeltaCrossTrack = rsw(3);
678 sd->Orbit.DotDeltaRadial = dotRsw(1);
679 sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
680 sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
681 }
682
683 outLine.sprintf("%d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n",
684 GPSweek, GPSweeks, eph->prn().toString().c_str(),
685 eph->IOD(), dClk, rsw(1), rsw(2), rsw(3));
686
687 double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
688 double sp3Clk = (rtnClk - relativity) / t_CST::c; // in seconds
689
690 if (_rnx) {
691 _rnx->write(GPSweek, GPSweeks, prn, sp3Clk);
692 }
693 if (_sp3) {
694 _sp3->write(GPSweek, GPSweeks, prn, rtnCoM, sp3Clk);
695 }
696}
697
698// Transform Coordinates
699////////////////////////////////////////////////////////////////////////////
700void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
701 double& dc) {
702
703 // Current epoch minus 2000.0 in years
704 // ------------------------------------
705 double dt = (GPSWeek - (1042.0+6.0/7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
706
707 ColumnVector dx(3);
708
709 dx(1) = _dx + dt * _dxr;
710 dx(2) = _dy + dt * _dyr;
711 dx(3) = _dz + dt * _dzr;
712
713 static const double arcSec = 180.0 * 3600.0 / M_PI;
714
715 double ox = (_ox + dt * _oxr) / arcSec;
716 double oy = (_oy + dt * _oyr) / arcSec;
717 double oz = (_oz + dt * _ozr) / arcSec;
718
719 double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
720
721 // Specify approximate center of area
722 // ----------------------------------
723 ColumnVector meanSta(3);
724
725 if (_crdTrafo == "ETRF2000") {
726 meanSta(1) = 3661090.0;
727 meanSta(2) = 845230.0;
728 meanSta(3) = 5136850.0;
729 }
730 else if (_crdTrafo == "NAD83") {
731 meanSta(1) = -1092950.0;
732 meanSta(2) = -4383600.0;
733 meanSta(3) = 4487420.0;
734 }
735 else if (_crdTrafo == "GDA94") {
736 meanSta(1) = -4052050.0;
737 meanSta(2) = 4212840.0;
738 meanSta(3) = -2545110.0;
739 }
740 else if (_crdTrafo == "SIRGAS2000") {
741 meanSta(1) = 3740860.0;
742 meanSta(2) = -4964290.0;
743 meanSta(3) = -1425420.0;
744 }
745 else if (_crdTrafo == "SIRGAS95") {
746 meanSta(1) = 3135390.0;
747 meanSta(2) = -5017670.0;
748 meanSta(3) = -2374440.0;
749 }
750 else if (_crdTrafo == "DREF91") {
751 meanSta(1) = 3959579.0;
752 meanSta(2) = 721719.0;
753 meanSta(3) = 4931539.0;
754 }
755 else if (_crdTrafo == "Custom") {
756 meanSta(1) = 0.0; // TODO
757 meanSta(2) = 0.0; // TODO
758 meanSta(3) = 0.0; // TODO
759 }
760
761 // Clock correction proportional to topocentric distance to satellites
762 // -------------------------------------------------------------------
763 double rho = (xyz - meanSta).norm_Frobenius();
764 dc = rho * (sc - 1.0) / sc / t_CST::c;
765
766 Matrix rMat(3,3);
767 rMat(1,1) = 1.0;
768 rMat(1,2) = -oz;
769 rMat(1,3) = oy;
770 rMat(2,1) = oz;
771 rMat(2,2) = 1.0;
772 rMat(2,3) = -ox;
773 rMat(3,1) = -oy;
774 rMat(3,2) = ox;
775 rMat(3,3) = 1.0;
776
777 xyz = sc * rMat * xyz + dx;
778}
779
780int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
781
782 if (samplingRate == 10.0) {
783 return 3;
784 }
785 else if (samplingRate == 15.0) {
786 return 4;
787 }
788 else if (samplingRate == 30.0) {
789 return 5;
790 }
791 else if (samplingRate == 60.0) {
792 return 6;
793 }
794 else if (samplingRate == 120.0) {
795 return 7;
796 }
797 else if (samplingRate == 240.0) {
798 return 8;
799 }
800 else if (samplingRate == 300.0) {
801 return 9;
802 }
803 else if (samplingRate == 600.0) {
804 return 10;
805 }
806 else if (samplingRate == 900.0) {
807 return 11;
808 }
809 else if (samplingRate == 1800.0) {
810 return 12;
811 }
812 else if (samplingRate == 3600.0) {
813 return 13;
814 }
815 else if (samplingRate == 7200.0) {
816 return 14;
817 }
818 else if (samplingRate == 10800.0) {
819 return 15;
820 }
821 return 2;// default
822}
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