source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 6844

Last change on this file since 6844 was 6844, checked in by stuerze, 9 years ago

extension of the rtnetuploadcaster interface regarding RTCM SSR I messages (clock, orbit, code biases) for Galileo, QZSS, SBAS and BDS
File size: 42.1 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#include "gnss.h"
24
25using namespace std;
26
27// Constructor
28////////////////////////////////////////////////////////////////////////////
29bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
30 const QString& outHost, int outPort,
31 const QString& password,
32 const QString& crdTrafo, bool CoM,
33 const QString& sp3FileName,
34 const QString& rnxFileName,
35 int PID, int SID, int IOD, int iRow) :
36 bncUploadCaster(mountpoint, outHost, outPort, password, iRow, 0) {
37
38 if (!outHost.isEmpty()) {
39 _casterID += outHost;
40 }
41 if (!crdTrafo.isEmpty()) {
42 _casterID += " " + crdTrafo;
43 }
44 if (!sp3FileName.isEmpty()) {
45 _casterID += " " + sp3FileName;
46 }
47 if (!rnxFileName.isEmpty()) {
48 _casterID += " " + rnxFileName;
49 }
50
51 _crdTrafo = crdTrafo;
52 _CoM = CoM;
53 _PID = PID;
54 _SID = SID;
55 _IOD = IOD;
56
57 // Member that receives the ephemeris
58 // ----------------------------------
59 _ephUser = new bncEphUser(true);
60
61 bncSettings settings;
62 QString intr = settings.value("uploadIntr").toString();
63 QStringList hlp = settings.value("combineStreams").toStringList();
64 _samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toDouble();
65 if (hlp.size() > 1) { // combination stream upload
66 _samplRtcmClkCorr = settings.value("cmbSampl").toInt();
67 } else { // single stream upload or sp3 file generation
68 _samplRtcmClkCorr = 5; // default
69 }
70 int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
71 int samplSp3 = settings.value("uploadSamplSp3").toInt() * 60;
72
73 if (_samplRtcmEphCorr == 0.0) {
74 _usedEph = 0;
75 }
76 else {
77 _usedEph = new QMap<QString, const t_eph*>;
78 }
79
80 // RINEX writer
81 // ------------
82 if (!rnxFileName.isEmpty()) {
83 _rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
84 }
85 else {
86 _rnx = 0;
87 }
88
89 // SP3 writer
90 // ----------
91 if (!sp3FileName.isEmpty()) {
92 _sp3 = new bncSP3(sp3FileName, intr, samplSp3);
93 }
94 else {
95 _sp3 = 0;
96 }
97
98 // Set Transformation Parameters
99 // -----------------------------
100 if (_crdTrafo == "ETRF2000") {
101 _dx = 0.0521;
102 _dy = 0.0493;
103 _dz = -0.0585;
104 _dxr = 0.0001;
105 _dyr = 0.0001;
106 _dzr = -0.0018;
107 _ox = 0.000891;
108 _oy = 0.005390;
109 _oz = -0.008712;
110 _oxr = 0.000081;
111 _oyr = 0.000490;
112 _ozr = -0.000792;
113 _sc = 1.34;
114 _scr = 0.08;
115 _t0 = 2000.0;
116 }
117 else if (_crdTrafo == "NAD83") {
118 _dx = 0.99343;
119 _dy = -1.90331;
120 _dz = -0.52655;
121 _dxr = 0.00079;
122 _dyr = -0.00060;
123 _dzr = -0.00134;
124 _ox = -0.02591467;
125 _oy = -0.00942645;
126 _oz = -0.01159935;
127 _oxr = -0.00006667;
128 _oyr = 0.00075744;
129 _ozr = 0.00005133;
130 _sc = 1.71504;
131 _scr = -0.10201;
132 _t0 = 1997.0;
133 }
134 else if (_crdTrafo == "GDA94") {
135 _dx = -0.08468;
136 _dy = -0.01942;
137 _dz = 0.03201;
138 _dxr = 0.00142;
139 _dyr = 0.00134;
140 _dzr = 0.00090;
141 _ox = 0.0004254;
142 _oy = -0.0022578;
143 _oz = -0.0024015;
144 _oxr = -0.0015461;
145 _oyr = -0.0011820;
146 _ozr = -0.0011551;
147 _sc = 9.710;
148 _scr = 0.109;
149 _t0 = 1994.0;
150 }
151 else if (_crdTrafo == "SIRGAS2000") {
152 _dx = 0.0020;
153 _dy = 0.0041;
154 _dz = 0.0039;
155 _dxr = 0.0000;
156 _dyr = 0.0000;
157 _dzr = 0.0000;
158 _ox = 0.000170;
159 _oy = -0.000030;
160 _oz = 0.000070;
161 _oxr = 0.000000;
162 _oyr = 0.000000;
163 _ozr = 0.000000;
164 _sc = -1.000;
165 _scr = 0.000;
166 _t0 = 0000.0;
167 }
168 else if (_crdTrafo == "SIRGAS95") {
169 _dx = 0.0077;
170 _dy = 0.0058;
171 _dz = -0.0138;
172 _dxr = 0.0000;
173 _dyr = 0.0000;
174 _dzr = 0.0000;
175 _ox = 0.000000;
176 _oy = 0.000000;
177 _oz = -0.000030;
178 _oxr = 0.000000;
179 _oyr = 0.000000;
180 _ozr = 0.000000;
181 _sc = 1.570;
182 _scr = 0.000;
183 _t0 = 0000.0;
184 }
185 else if (_crdTrafo == "DREF91") {
186 _dx = -0.0118;
187 _dy = 0.1432;
188 _dz = -0.1117;
189 _dxr = 0.0001;
190 _dyr = 0.0001;
191 _dzr = -0.0018;
192 _ox = 0.003291;
193 _oy = 0.006190;
194 _oz = -0.011012;
195 _oxr = 0.000081;
196 _oyr = 0.000490;
197 _ozr = -0.000792;
198 _sc = 12.24;
199 _scr = 0.08;
200 _t0 = 2000.0;
201 }
202 else if (_crdTrafo == "Custom") {
203 _dx = settings.value("trafo_dx").toDouble();
204 _dy = settings.value("trafo_dy").toDouble();
205 _dz = settings.value("trafo_dz").toDouble();
206 _dxr = settings.value("trafo_dxr").toDouble();
207 _dyr = settings.value("trafo_dyr").toDouble();
208 _dzr = settings.value("trafo_dzr").toDouble();
209 _ox = settings.value("trafo_ox").toDouble();
210 _oy = settings.value("trafo_oy").toDouble();
211 _oz = settings.value("trafo_oz").toDouble();
212 _oxr = settings.value("trafo_oxr").toDouble();
213 _oyr = settings.value("trafo_oyr").toDouble();
214 _ozr = settings.value("trafo_ozr").toDouble();
215 _sc = settings.value("trafo_sc").toDouble();
216 _scr = settings.value("trafo_scr").toDouble();
217 _t0 = settings.value("trafo_t0").toDouble();
218 }
219}
220
221// Destructor
222////////////////////////////////////////////////////////////////////////////
223bncRtnetUploadCaster::~bncRtnetUploadCaster() {
224 if (isRunning()) {
225 wait();
226 }
227 delete _rnx;
228 delete _sp3;
229 delete _ephUser;
230 delete _usedEph;
231}
232
233//
234////////////////////////////////////////////////////////////////////////////
235void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
236
237 QMutexLocker locker(&_mutex);
238
239 // Append to internal buffer
240 // -------------------------
241 _rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
242
243 // Select buffer part that contains last epoch
244 // -------------------------------------------
245 QStringList lines;
246 int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
247 if (iEpoBeg == -1) {
248 _rtnetStreamBuffer.clear();
249 return;
250 }
251 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
252
253 int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
254 if (iEpoEnd == -1) {
255 return;
256 }
257 else {
258 lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', QString::SkipEmptyParts);
259 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd+3);
260 }
261
262 if (lines.size() < 2) {
263 return;
264 }
265
266 // Keep the last unfinished line in buffer
267 // ---------------------------------------
268 int iLastEOL = _rtnetStreamBuffer.lastIndexOf('\n');
269 if (iLastEOL != -1) {
270 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iLastEOL+1);
271 }
272
273 // Read first line (with epoch time)
274 // ---------------------------------
275 QTextStream in(lines[0].toAscii());
276 QString hlp;
277 int year, month, day, hour, min;
278 double sec;
279 in >> hlp >> year >> month >> day >> hour >> min >> sec;
280 bncTime epoTime; epoTime.set( year, month, day, hour, min, sec);
281
282 emit(newMessage("bncRtnetUploadCaster: decode " +
283 QByteArray(epoTime.datestr().c_str()) + " " +
284 QByteArray(epoTime.timestr().c_str()) + " " +
285 _casterID.toAscii(), false));
286
287 struct ClockOrbit co;
288 memset(&co, 0, sizeof(co));
289 co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
290 double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
291 co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
292
293 co.Supplied[COBOFS_CLOCK] = 1;
294 co.Supplied[COBOFS_ORBIT] = 1;
295 co.SatRefDatum = DATUM_ITRF;
296 co.SSRIOD = _IOD;
297 co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
298 co.SSRSolutionID = _SID;
299
300 struct CodeBias bias;
301 memset(&bias, 0, sizeof(bias));
302 bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
303 bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
304
305 // Default Update Interval
306 // -----------------------
307 int clkUpdInd = 2; // 5 sec
308 int ephUpdInd = clkUpdInd; // default
309
310 if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
311 ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
312 }
313 if (_samplRtcmClkCorr > 5.0) {
314 clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
315 }
316 if (_samplRtcmEphCorr > 5.0) {
317 ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
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
418 + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
419 ++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
420 }
421 else if (prn[0] == 'E') {
422 sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
423 + co.NumberOfSat[CLOCKORBIT_SATGALILEO];
424 ++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
425 }
426 else if (prn[0] == 'J') {
427 sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS + CLOCKORBIT_NUMGALILEO
428 + co.NumberOfSat[CLOCKORBIT_SATQZSS];
429 ++co.NumberOfSat[CLOCKORBIT_SATQZSS];
430 }
431 else if (prn[0] == 'S') {
432 sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS + CLOCKORBIT_NUMGALILEO
433 + CLOCKORBIT_NUMQZSS
434 + co.NumberOfSat[CLOCKORBIT_SATSBAS];
435 ++co.NumberOfSat[CLOCKORBIT_SATSBAS];
436 }
437 else if (prn[0] == 'C') {
438 sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS + CLOCKORBIT_NUMGALILEO
439 + CLOCKORBIT_NUMQZSS + CLOCKORBIT_NUMSBAS
440 + co.NumberOfSat[CLOCKORBIT_SATBDS];
441 ++co.NumberOfSat[CLOCKORBIT_SATBDS];
442 }
443 if (sd) {
444 QString outLine;
445 processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prn,
446 rtnAPC, rtnClk, rtnVel, rtnCoM, sd, outLine);
447 }
448
449 struct CodeBias::BiasSat* biasSat = 0;
450 if (prn[0] == 'G') {
451 biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
452 ++bias.NumberOfSat[CLOCKORBIT_SATGPS];
453 }
454 else if (prn[0] == 'R') {
455 biasSat = bias.Sat + CLOCKORBIT_NUMGPS
456 + bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
457 ++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
458 }
459 else if (prn[0] == 'E') {
460 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
461 + bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
462 ++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
463 }
464 else if (prn[0] == 'J') {
465 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS + CLOCKORBIT_NUMGALILEO
466 + bias.NumberOfSat[CLOCKORBIT_SATQZSS];
467 ++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
468 }
469 else if (prn[0] == 'S') {
470 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS + CLOCKORBIT_NUMGALILEO
471 + CLOCKORBIT_NUMQZSS
472 + bias.NumberOfSat[CLOCKORBIT_SATSBAS];
473 ++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
474 }
475 else if (prn[0] == 'C') {
476 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS + CLOCKORBIT_NUMGALILEO
477 + CLOCKORBIT_NUMQZSS + CLOCKORBIT_NUMSBAS
478 + bias.NumberOfSat[CLOCKORBIT_SATBDS];
479 ++bias.NumberOfSat[CLOCKORBIT_SATBDS];
480 }
481
482 // Code Biases
483 // -----------
484 if (biasSat) {
485 biasSat->ID = prn.mid(1).toInt();
486 biasSat->NumberOfCodeBiases = 0;
487 if (prn[0] == 'G') {
488 QMapIterator<QString, double> it(codeBiases);
489 while (it.hasNext()) {
490 it.next();
491 if (it.key() == "1C") {
492 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
493 biasSat->NumberOfCodeBiases += 1;
494 biasSat->Biases[ii].Type = CODETYPEGPS_L1_CA;
495 biasSat->Biases[ii].Bias = it.value();
496 }
497 else if (it.key() == "1P") {
498 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
499 biasSat->NumberOfCodeBiases += 1;
500 biasSat->Biases[ii].Type = CODETYPEGPS_L1_P;
501 biasSat->Biases[ii].Bias = it.value();
502 }
503 else if (it.key() == "1W") {
504 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
505 biasSat->NumberOfCodeBiases += 1;
506 biasSat->Biases[ii].Type = CODETYPEGPS_L1_Z;
507 biasSat->Biases[ii].Bias = it.value();
508 }
509 else if (it.key() == "2C") {
510 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
511 biasSat->NumberOfCodeBiases += 1;
512 biasSat->Biases[ii].Type = CODETYPEGPS_L2_CA;
513 biasSat->Biases[ii].Bias = it.value();
514 }
515 else if (it.key() == "2D") {
516 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
517 biasSat->NumberOfCodeBiases += 1;
518 biasSat->Biases[ii].Type = CODETYPEGPS_SEMI_CODELESS;
519 biasSat->Biases[ii].Bias = it.value();
520 }
521 else if (it.key() == "2S") {
522 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
523 biasSat->NumberOfCodeBiases += 1;
524 biasSat->Biases[ii].Type = CODETYPEGPS_L2_CM;
525 biasSat->Biases[ii].Bias = it.value();
526 }
527 else if (it.key() == "2L") {
528 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
529 biasSat->NumberOfCodeBiases += 1;
530 biasSat->Biases[ii].Type = CODETYPEGPS_L2_CL;
531 biasSat->Biases[ii].Bias = it.value();
532 }
533 else if (it.key() == "2X") {
534 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
535 biasSat->NumberOfCodeBiases += 1;
536 biasSat->Biases[ii].Type = CODETYPEGPS_L2_CML;
537 biasSat->Biases[ii].Bias = it.value();
538 }
539 else if (it.key() == "2P") {
540 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
541 biasSat->NumberOfCodeBiases += 1;
542 biasSat->Biases[ii].Type = CODETYPEGPS_L2_P;
543 biasSat->Biases[ii].Bias = it.value();
544 }
545 else if (it.key() == "2W") {
546 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
547 biasSat->NumberOfCodeBiases += 1;
548 biasSat->Biases[ii].Type = CODETYPEGPS_L2_Z;
549 biasSat->Biases[ii].Bias = it.value();
550 }
551 else if (it.key() == "5I") {
552 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
553 biasSat->NumberOfCodeBiases += 1;
554 biasSat->Biases[ii].Type = CODETYPEGPS_L5_I;
555 biasSat->Biases[ii].Bias = it.value();
556 }
557 else if (it.key() == "5Q") {
558 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
559 biasSat->NumberOfCodeBiases += 1;
560 biasSat->Biases[ii].Type = CODETYPEGPS_L5_Q;
561 biasSat->Biases[ii].Bias = it.value();
562 }
563 else if (it.key() == "5X") {
564 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
565 biasSat->NumberOfCodeBiases += 1;
566 biasSat->Biases[ii].Type = CODETYPEGPS_L5_IQ;
567 biasSat->Biases[ii].Bias = it.value();
568 }
569 }
570 }
571 else if (prn[0] == 'R') {
572 QMapIterator<QString, double> it(codeBiases);
573 while (it.hasNext()) {
574 it.next();
575 if (it.key() == "1C") {
576 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
577 biasSat->NumberOfCodeBiases += 1;
578 biasSat->Biases[ii].Type = CODETYPEGLONASS_L1_CA;
579 biasSat->Biases[ii].Bias = it.value();
580 }
581 else if (it.key() == "1P") {
582 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
583 biasSat->NumberOfCodeBiases += 1;
584 biasSat->Biases[ii].Type = CODETYPEGLONASS_L1_P;
585 biasSat->Biases[ii].Bias = it.value();
586 }
587 else if (it.key() == "2C") {
588 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
589 biasSat->NumberOfCodeBiases += 1;
590 biasSat->Biases[ii].Type = CODETYPEGLONASS_L2_CA;
591 biasSat->Biases[ii].Bias = it.value();
592 }
593 else if (it.key() == "2P") {
594 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
595 biasSat->NumberOfCodeBiases += 1;
596 biasSat->Biases[ii].Type = CODETYPEGLONASS_L2_P;
597 biasSat->Biases[ii].Bias = it.value();
598 }
599 }
600 }
601 else if (prn[0] == 'E') {
602 QMapIterator<QString, double> it(codeBiases);
603 while (it.hasNext()) {
604 it.next();
605 if (it.key() == "1A") {
606 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
607 biasSat->NumberOfCodeBiases += 1;
608 biasSat->Biases[ii].Type = CODETYPEGALILEO_E1_A;
609 biasSat->Biases[ii].Bias = it.value();
610 }
611 else if (it.key() == "1B") {
612 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
613 biasSat->NumberOfCodeBiases += 1;
614 biasSat->Biases[ii].Type = CODETYPEGALILEO_E1_B;
615 biasSat->Biases[ii].Bias = it.value();
616 }
617 else if (it.key() == "1C") {
618 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
619 biasSat->NumberOfCodeBiases += 1;
620 biasSat->Biases[ii].Type = CODETYPEGALILEO_E1_C;
621 biasSat->Biases[ii].Bias = it.value();
622 }
623 else if (it.key() == "5I") {
624 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
625 biasSat->NumberOfCodeBiases += 1;
626 biasSat->Biases[ii].Type = CODETYPEGALILEO_E5A_I;
627 biasSat->Biases[ii].Bias = it.value();
628 }
629 else if (it.key() == "5Q") {
630 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
631 biasSat->NumberOfCodeBiases += 1;
632 biasSat->Biases[ii].Type = CODETYPEGALILEO_E5A_Q;
633 biasSat->Biases[ii].Bias = it.value();
634 }
635 else if (it.key() == "7I") {
636 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
637 biasSat->NumberOfCodeBiases += 1;
638 biasSat->Biases[ii].Type = CODETYPEGALILEO_E5B_I;
639 biasSat->Biases[ii].Bias = it.value();
640 }
641 else if (it.key() == "7Q") {
642 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
643 biasSat->NumberOfCodeBiases += 1;
644 biasSat->Biases[ii].Type = CODETYPEGALILEO_E5B_Q;
645 biasSat->Biases[ii].Bias = it.value();
646 }
647 else if (it.key() == "8I") {
648 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
649 biasSat->NumberOfCodeBiases += 1;
650 biasSat->Biases[ii].Type = CODETYPEGALILEO_E5_I;
651 biasSat->Biases[ii].Bias = it.value();
652 }
653 else if (it.key() == "8Q") {
654 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
655 biasSat->NumberOfCodeBiases += 1;
656 biasSat->Biases[ii].Type = CODETYPEGALILEO_E5_Q;
657 biasSat->Biases[ii].Bias = it.value();
658 }
659 else if (it.key() == "6A") {
660 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
661 biasSat->NumberOfCodeBiases += 1;
662 biasSat->Biases[ii].Type = CODETYPEGALILEO_E6_A;
663 biasSat->Biases[ii].Bias = it.value();
664 }
665 else if (it.key() == "6B") {
666 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
667 biasSat->NumberOfCodeBiases += 1;
668 biasSat->Biases[ii].Type = CODETYPEGALILEO_E6_B;
669 biasSat->Biases[ii].Bias = it.value();
670 }
671 else if (it.key() == "6C") {
672 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
673 biasSat->NumberOfCodeBiases += 1;
674 biasSat->Biases[ii].Type = CODETYPEGALILEO_E6_C;
675 biasSat->Biases[ii].Bias = it.value();
676 }
677 }
678 }
679 else if (prn[0] == 'J') {
680 QMapIterator<QString, double> it(codeBiases);
681 while (it.hasNext()) {
682 it.next();
683 if (it.key() == "1C") {
684 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
685 biasSat->NumberOfCodeBiases += 1;
686 biasSat->Biases[ii].Type = CODETYPEQZSS_L1_CA;
687 biasSat->Biases[ii].Bias = it.value();
688 }
689 else if (it.key() == "1S") {
690 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
691 biasSat->NumberOfCodeBiases += 1;
692 biasSat->Biases[ii].Type = CODETYPEQZSS_L1C_D;
693 biasSat->Biases[ii].Bias = it.value();
694 }
695 else if (it.key() == "1L") {
696 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
697 biasSat->NumberOfCodeBiases += 1;
698 biasSat->Biases[ii].Type = CODETYPEQZSS_L1C_P;
699 biasSat->Biases[ii].Bias = it.value();
700 }
701 else if (it.key() == "1X") {
702 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
703 biasSat->NumberOfCodeBiases += 1;
704 biasSat->Biases[ii].Type = CODETYPEQZSS_L1C_DP;
705 biasSat->Biases[ii].Bias = it.value();
706 }
707 else if (it.key() == "2S") {
708 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
709 biasSat->NumberOfCodeBiases += 1;
710 biasSat->Biases[ii].Type = CODETYPEQZSS_L2_CM;
711 biasSat->Biases[ii].Bias = it.value();
712 }
713 else if (it.key() == "2L") {
714 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
715 biasSat->NumberOfCodeBiases += 1;
716 biasSat->Biases[ii].Type = CODETYPEQZSS_L2_CL;
717 biasSat->Biases[ii].Bias = it.value();
718 }
719 else if (it.key() == "2X") {
720 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
721 biasSat->NumberOfCodeBiases += 1;
722 biasSat->Biases[ii].Type = CODETYPEQZSS_L2_CML;
723 biasSat->Biases[ii].Bias = it.value();
724 }
725 else if (it.key() == "5I") {
726 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
727 biasSat->NumberOfCodeBiases += 1;
728 biasSat->Biases[ii].Type = CODETYPEQZSS_L5_I;
729 biasSat->Biases[ii].Bias = it.value();
730 }
731 else if (it.key() == "5Q") {
732 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
733 biasSat->NumberOfCodeBiases += 1;
734 biasSat->Biases[ii].Type = CODETYPEQZSS_L5_Q;
735 biasSat->Biases[ii].Bias = it.value();
736 }
737 else if (it.key() == "5X") {
738 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
739 biasSat->NumberOfCodeBiases += 1;
740 biasSat->Biases[ii].Type = CODETYPEQZSS_L5_IQ;
741 biasSat->Biases[ii].Bias = it.value();
742 }
743 else if (it.key() == "6S") {
744 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
745 biasSat->NumberOfCodeBiases += 1;
746 biasSat->Biases[ii].Type = CODETYPEQZSS_LEX_S;
747 biasSat->Biases[ii].Bias = it.value();
748 }
749 else if (it.key() == "6L") {
750 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
751 biasSat->NumberOfCodeBiases += 1;
752 biasSat->Biases[ii].Type = CODETYPEQZSS_LEX_L;
753 biasSat->Biases[ii].Bias = it.value();
754 }
755 else if (it.key() == "6X") {
756 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
757 biasSat->NumberOfCodeBiases += 1;
758 biasSat->Biases[ii].Type = CODETYPEQZSS_LEX_SL;
759 biasSat->Biases[ii].Bias = it.value();
760 }
761 }
762 }
763 else if (prn[0] == 'S') {
764 QMapIterator<QString, double> it(codeBiases);
765 while (it.hasNext()) {
766 it.next();
767 if (it.key() == "1C") {
768 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
769 biasSat->NumberOfCodeBiases += 1;
770 biasSat->Biases[ii].Type = CODETYPE_SBAS_L1_CA;
771 biasSat->Biases[ii].Bias = it.value();
772 }
773 else if (it.key() == "5I") {
774 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
775 biasSat->NumberOfCodeBiases += 1;
776 biasSat->Biases[ii].Type = CODETYPE_SBAS_L5_I;
777 biasSat->Biases[ii].Bias = it.value();
778 }
779 else if (it.key() == "5Q") {
780 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
781 biasSat->NumberOfCodeBiases += 1;
782 biasSat->Biases[ii].Type = CODETYPE_SBAS_L5_Q;
783 biasSat->Biases[ii].Bias = it.value();
784 }
785 else if (it.key() == "5X") {
786 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
787 biasSat->NumberOfCodeBiases += 1;
788 biasSat->Biases[ii].Type = CODETYPE_SBAS_L5_IQ;
789 biasSat->Biases[ii].Bias = it.value();
790 }
791 }
792 }
793 else if (prn[0] == 'C') {
794 QMapIterator<QString, double> it(codeBiases);
795 while (it.hasNext()) {
796 it.next();
797 if (it.key() == "2I") {
798 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
799 biasSat->NumberOfCodeBiases += 1;
800 biasSat->Biases[ii].Type = CODETYPE_BDS_B1_I;
801 biasSat->Biases[ii].Bias = it.value();
802 }
803 else if (it.key() == "2Q") {
804 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
805 biasSat->NumberOfCodeBiases += 1;
806 biasSat->Biases[ii].Type = CODETYPE_BDS_B1_Q;
807 biasSat->Biases[ii].Bias = it.value();
808 }
809 else if (it.key() == "2X") {
810 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
811 biasSat->NumberOfCodeBiases += 1;
812 biasSat->Biases[ii].Type = CODETYPE_BDS_B1_IQ;
813 biasSat->Biases[ii].Bias = it.value();
814 }
815 else if (it.key() == "6I") {
816 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
817 biasSat->NumberOfCodeBiases += 1;
818 biasSat->Biases[ii].Type = CODETYPE_BDS_B3_I;
819 biasSat->Biases[ii].Bias = it.value();
820 }
821 else if (it.key() == "6Q") {
822 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
823 biasSat->NumberOfCodeBiases += 1;
824 biasSat->Biases[ii].Type = CODETYPE_BDS_B3_Q;
825 biasSat->Biases[ii].Bias = it.value();
826 }
827 else if (it.key() == "6X") {
828 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
829 biasSat->NumberOfCodeBiases += 1;
830 biasSat->Biases[ii].Type = CODETYPE_BDS_B3_IQ;
831 biasSat->Biases[ii].Bias = it.value();
832 }
833 else if (it.key() == "7I") {
834 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
835 biasSat->NumberOfCodeBiases += 1;
836 biasSat->Biases[ii].Type = CODETYPE_BDS_B2_I;
837 biasSat->Biases[ii].Bias = it.value();
838 }
839 else if (it.key() == "7Q") {
840 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
841 biasSat->NumberOfCodeBiases += 1;
842 biasSat->Biases[ii].Type = CODETYPE_BDS_B2_Q;
843 biasSat->Biases[ii].Bias = it.value();
844 }
845 else if (it.key() == "7X") {
846 int ii = biasSat->NumberOfCodeBiases; if (ii >= CLOCKORBIT_NUMBIAS) break;
847 biasSat->NumberOfCodeBiases += 1;
848 biasSat->Biases[ii].Type = CODETYPE_BDS_B2_IQ;
849 biasSat->Biases[ii].Bias = it.value();
850 }
851 }
852 }
853 }
854 }
855 }
856
857 QByteArray hlpBufferCo;
858
859 // Orbit and Clock Corrections together
860 // ------------------------------------
861 if (_samplRtcmEphCorr == 0.0) {
862 if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0 ||
863 co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 ||
864 co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 ||
865 co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 ||
866 co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
867 co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
868 char obuffer[CLOCKORBIT_BUFFERSIZE];
869 int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
870 if (len > 0) {
871 hlpBufferCo = QByteArray(obuffer, len);
872 }
873 }
874 }
875
876 // Orbit and Clock Corrections separately
877 // --------------------------------------
878 else {
879 if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
880 char obuffer[CLOCKORBIT_BUFFERSIZE];
881 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
882 co.UpdateInterval = ephUpdInd;
883 int len1 = MakeClockOrbit(&co, COTYPE_GPSORBIT, 1, obuffer, sizeof(obuffer));
884 co.UpdateInterval = clkUpdInd;
885 if (len1 > 0) {
886 hlpBufferCo += QByteArray(obuffer, len1);
887 }
888 }
889 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) ? 1 : 0;
890 int len2 = MakeClockOrbit(&co, COTYPE_GPSCLOCK, mmsg, obuffer, sizeof(obuffer));
891 if (len2 > 0) {
892 hlpBufferCo += QByteArray(obuffer, len2);
893 }
894 }
895 if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
896 char obuffer[CLOCKORBIT_BUFFERSIZE];
897 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
898 co.UpdateInterval = ephUpdInd;
899 int len1 = MakeClockOrbit(&co, COTYPE_GLONASSORBIT, 1, obuffer, sizeof(obuffer));
900 co.UpdateInterval = clkUpdInd;
901 if (len1 > 0) {
902 hlpBufferCo += QByteArray(obuffer, len1);
903 }
904 }
905 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) ? 1 : 0;
906 int len2 = MakeClockOrbit(&co, COTYPE_GLONASSCLOCK, mmsg, obuffer, sizeof(obuffer));
907 if (len2 > 0) {
908 hlpBufferCo += QByteArray(obuffer, len2);
909 }
910 }
911 if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
912 char obuffer[CLOCKORBIT_BUFFERSIZE];
913 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
914 co.UpdateInterval = ephUpdInd;
915 int len1 = MakeClockOrbit(&co, COTYPE_GALILEOORBIT, 1, obuffer, sizeof(obuffer));
916 co.UpdateInterval = clkUpdInd;
917 if (len1 > 0) {
918 hlpBufferCo += QByteArray(obuffer, len1);
919 }
920 }
921 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) ? 1 : 0;
922 int len2 = MakeClockOrbit(&co, COTYPE_GALILEOCLOCK, mmsg, obuffer, sizeof(obuffer));
923 if (len2 > 0) {
924 hlpBufferCo += QByteArray(obuffer, len2);
925 }
926 }
927 if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
928 char obuffer[CLOCKORBIT_BUFFERSIZE];
929 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
930 co.UpdateInterval = ephUpdInd;
931 int len1 = MakeClockOrbit(&co, COTYPE_QZSSORBIT, 1, obuffer, sizeof(obuffer));
932 co.UpdateInterval = clkUpdInd;
933 if (len1 > 0) {
934 hlpBufferCo += QByteArray(obuffer, len1);
935 }
936 }
937 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) ? 1 : 0;
938 int len2 = MakeClockOrbit(&co, COTYPE_QZSSCLOCK, mmsg, obuffer, sizeof(obuffer));
939 if (len2 > 0) {
940 hlpBufferCo += QByteArray(obuffer, len2);
941 }
942 }
943 if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
944 char obuffer[CLOCKORBIT_BUFFERSIZE];
945 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
946 co.UpdateInterval = ephUpdInd;
947 int len1 = MakeClockOrbit(&co, COTYPE_SBASORBIT, 1, obuffer, sizeof(obuffer));
948 co.UpdateInterval = clkUpdInd;
949 if (len1 > 0) {
950 hlpBufferCo += QByteArray(obuffer, len1);
951 }
952 }
953 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
954 int len2 = MakeClockOrbit(&co, COTYPE_SBASCLOCK, mmsg, obuffer, sizeof(obuffer));
955 if (len2 > 0) {
956 hlpBufferCo += QByteArray(obuffer, len2);
957 }
958 }
959 if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
960 char obuffer[CLOCKORBIT_BUFFERSIZE];
961 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
962 co.UpdateInterval = ephUpdInd;
963 int len1 = MakeClockOrbit(&co, COTYPE_BDSORBIT, 1, obuffer, sizeof(obuffer));
964 co.UpdateInterval = clkUpdInd;
965 if (len1 > 0) {
966 hlpBufferCo += QByteArray(obuffer, len1);
967 }
968 }
969 int len2 = MakeClockOrbit(&co, COTYPE_BDSCLOCK, 0, obuffer, sizeof(obuffer));
970 if (len2 > 0) {
971 hlpBufferCo += QByteArray(obuffer, len2);
972 }
973 }
974 }
975
976 // Biases
977 // ------
978 QByteArray hlpBufferBias;
979 if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0 ||
980 bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 ||
981 bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 ||
982 bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 ||
983 bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
984 bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) {
985 char obuffer[CLOCKORBIT_BUFFERSIZE];
986 int len = MakeCodeBias(&bias, BTYPE_AUTO, 0, obuffer, sizeof(obuffer));
987 if (len > 0) {
988 hlpBufferBias = QByteArray(obuffer, len);
989 }
990 }
991
992 _outBuffer += hlpBufferCo + hlpBufferBias;
993}
994
995//
996////////////////////////////////////////////////////////////////////////////
997void bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
998 double GPSweeks, const QString& prn,
999 const ColumnVector& rtnAPC,
1000 double rtnClk,
1001 const ColumnVector& rtnVel,
1002 const ColumnVector& rtnCoM,
1003 struct ClockOrbit::SatData* sd,
1004 QString& outLine) {
1005
1006 // Broadcast Position and Velocity
1007 // -------------------------------
1008 ColumnVector xB(4);
1009 ColumnVector vB(3);
1010 eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
1011
1012 // Precise Position
1013 // ----------------
1014 ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
1015
1016 double dc = 0.0;
1017 if (_crdTrafo != "IGS08") {
1018 crdTrafo(GPSweek, xP, dc);
1019 }
1020
1021 // Difference in xyz
1022 // -----------------
1023 ColumnVector dx = xB.Rows(1,3) - xP;
1024 ColumnVector dv = vB - rtnVel;
1025
1026 // Difference in RSW
1027 // -----------------
1028 ColumnVector rsw(3);
1029 XYZ_to_RSW(xB.Rows(1,3), vB, dx, rsw);
1030
1031 ColumnVector dotRsw(3);
1032 XYZ_to_RSW(xB.Rows(1,3), vB, dv, dotRsw);
1033
1034 // Clock Correction
1035 // ----------------
1036 double dClk = rtnClk - (xB(4) - dc) * t_CST::c;
1037
1038 if (sd) {
1039 sd->ID = prn.mid(1).toInt();
1040 sd->IOD = eph->IOD();
1041 sd->Clock.DeltaA0 = dClk;
1042 sd->Clock.DeltaA1 = 0.0; // TODO
1043 sd->Clock.DeltaA2 = 0.0; // TODO
1044 sd->Orbit.DeltaRadial = rsw(1);
1045 sd->Orbit.DeltaAlongTrack = rsw(2);
1046 sd->Orbit.DeltaCrossTrack = rsw(3);
1047 sd->Orbit.DotDeltaRadial = dotRsw(1);
1048 sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
1049 sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
1050 }
1051
1052 outLine.sprintf("%d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n",
1053 GPSweek, GPSweeks, eph->prn().toString().c_str(),
1054 eph->IOD(), dClk, rsw(1), rsw(2), rsw(3));
1055
1056 double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1057 double sp3Clk = (rtnClk - relativity) / t_CST::c; // in seconds
1058
1059 if (_rnx) {
1060 _rnx->write(GPSweek, GPSweeks, prn, sp3Clk);
1061 }
1062 if (_sp3) {
1063 _sp3->write(GPSweek, GPSweeks, prn, rtnCoM, sp3Clk);
1064 }
1065}
1066
1067// Transform Coordinates
1068////////////////////////////////////////////////////////////////////////////
1069void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1070 double& dc) {
1071
1072 // Current epoch minus 2000.0 in years
1073 // ------------------------------------
1074 double dt = (GPSWeek - (1042.0+6.0/7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1075
1076 ColumnVector dx(3);
1077
1078 dx(1) = _dx + dt * _dxr;
1079 dx(2) = _dy + dt * _dyr;
1080 dx(3) = _dz + dt * _dzr;
1081
1082 static const double arcSec = 180.0 * 3600.0 / M_PI;
1083
1084 double ox = (_ox + dt * _oxr) / arcSec;
1085 double oy = (_oy + dt * _oyr) / arcSec;
1086 double oz = (_oz + dt * _ozr) / arcSec;
1087
1088 double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1089
1090 // Specify approximate center of area
1091 // ----------------------------------
1092 ColumnVector meanSta(3);
1093
1094 if (_crdTrafo == "ETRF2000") {
1095 meanSta(1) = 3661090.0;
1096 meanSta(2) = 845230.0;
1097 meanSta(3) = 5136850.0;
1098 }
1099 else if (_crdTrafo == "NAD83") {
1100 meanSta(1) = -1092950.0;
1101 meanSta(2) = -4383600.0;
1102 meanSta(3) = 4487420.0;
1103 }
1104 else if (_crdTrafo == "GDA94") {
1105 meanSta(1) = -4052050.0;
1106 meanSta(2) = 4212840.0;
1107 meanSta(3) = -2545110.0;
1108 }
1109 else if (_crdTrafo == "SIRGAS2000") {
1110 meanSta(1) = 3740860.0;
1111 meanSta(2) = -4964290.0;
1112 meanSta(3) = -1425420.0;
1113 }
1114 else if (_crdTrafo == "SIRGAS95") {
1115 meanSta(1) = 3135390.0;
1116 meanSta(2) = -5017670.0;
1117 meanSta(3) = -2374440.0;
1118 }
1119 else if (_crdTrafo == "DREF91") {
1120 meanSta(1) = 3959579.0;
1121 meanSta(2) = 721719.0;
1122 meanSta(3) = 4931539.0;
1123 }
1124 else if (_crdTrafo == "Custom") {
1125 meanSta(1) = 0.0; // TODO
1126 meanSta(2) = 0.0; // TODO
1127 meanSta(3) = 0.0; // TODO
1128 }
1129
1130 // Clock correction proportional to topocentric distance to satellites
1131 // -------------------------------------------------------------------
1132 double rho = (xyz - meanSta).norm_Frobenius();
1133 dc = rho * (sc - 1.0) / sc / t_CST::c;
1134
1135 Matrix rMat(3,3);
1136 rMat(1,1) = 1.0;
1137 rMat(1,2) = -oz;
1138 rMat(1,3) = oy;
1139 rMat(2,1) = oz;
1140 rMat(2,2) = 1.0;
1141 rMat(2,3) = -ox;
1142 rMat(3,1) = -oy;
1143 rMat(3,2) = ox;
1144 rMat(3,3) = 1.0;
1145
1146 xyz = sc * rMat * xyz + dx;
1147}
1148
1149int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1150
1151 if (samplingRate == 10.0) {
1152 return 3;
1153 }
1154 else if (samplingRate == 15.0) {
1155 return 4;
1156 }
1157 else if (samplingRate == 30.0) {
1158 return 5;
1159 }
1160 else if (samplingRate == 60.0) {
1161 return 6;
1162 }
1163 else if (samplingRate == 120.0) {
1164 return 7;
1165 }
1166 else if (samplingRate == 240.0) {
1167 return 8;
1168 }
1169 else if (samplingRate == 300.0) {
1170 return 9;
1171 }
1172 else if (samplingRate == 600.0) {
1173 return 10;
1174 }
1175 else if (samplingRate == 900.0) {
1176 return 11;
1177 }
1178 else if (samplingRate == 1800.0) {
1179 return 12;
1180 }
1181 else if (samplingRate == 3600.0) {
1182 return 13;
1183 }
1184 else if (samplingRate == 7200.0) {
1185 return 14;
1186 }
1187 else if (samplingRate == 10800.0) {
1188 return 15;
1189 }
1190 return 2;// default
1191}
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