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source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 9033

Last change on this file since 9033 was 9033, checked in by stuerze, 4 years ago
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File size: 37.3 KB

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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
25	using namespace std;
26
27	// Constructor
28	////////////////////////////////////////////////////////////////////////////
29	bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
30	const QString& outHost, int outPort,
31	const QString& ntripVersion,
32	const QString& userName, const QString& password,
33	const QString& crdTrafo, const QString& ssrFormat, bool CoM, const QString& sp3FileName,
34	const QString& rnxFileName, int PID, int SID, int IOD, int iRow) :
35	bncUploadCaster(mountpoint, outHost, outPort, ntripVersion, userName, password, iRow, 0) {
36
37	if (!mountpoint.isEmpty()) {
38	_casterID += mountpoint;
39	}
40	if (!outHost.isEmpty()) {
41	_casterID += " " + outHost;
42	if (outPort) {
43	_casterID += ":" + QString("%1").arg(outPort, 10);
44	}
45	}
46	if (!crdTrafo.isEmpty()) {
47	_casterID += " " + crdTrafo;
48	}
49	if (!sp3FileName.isEmpty()) {
50	_casterID += " " + sp3FileName;
51	}
52	if (!rnxFileName.isEmpty()) {
53	_casterID += " " + rnxFileName;
54	}
55
56	_crdTrafo = crdTrafo;
57
58	_ssrFormat = ssrFormat;qDebug() << _ssrFormat;
59	_ssrCorr = 0;
60	if (_ssrFormat == "IGS-SSR") {
61	_ssrCorr = new SsrCorrIgs();
62	}
63	else if (_ssrFormat == "RTCM-SSR") {
64	_ssrCorr = new SsrCorrRtcm();
65	}
66
67	_CoM = CoM;
68	_PID = PID;
69	_SID = SID;
70	_IOD = IOD;
71
72	// Member that receives the ephemeris
73	// ----------------------------------
74	_ephUser = new bncEphUser(true);
75
76	bncSettings settings;
77	QString intr = settings.value("uploadIntr").toString();
78	QStringList hlp = settings.value("cmbStreams").toStringList();
79	_samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toDouble();
80	if (hlp.size() > 1) { // combination stream upload
81	_samplRtcmClkCorr = settings.value("cmbSampl").toInt();
82	}
83	else { // single stream upload or sp3 file generation
84	_samplRtcmClkCorr = 5; // default
85	}
86	int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
87	int samplSp3 = settings.value("uploadSamplSp3").toInt() * 60;
88
89	if (_samplRtcmEphCorr == 0.0) {
90	_usedEph = 0;
91	}
92	else {
93	_usedEph = new QMap<QString, const t_eph*>;
94	}
95
96	// RINEX writer
97	// ------------
98	if (!rnxFileName.isEmpty()) {
99	_rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
100	}
101	else {
102	_rnx = 0;
103	}
104
105	// SP3 writer
106	// ----------
107	if (!sp3FileName.isEmpty()) {
108	_sp3 = new bncSP3(sp3FileName, intr, samplSp3);
109	}
110	else {
111	_sp3 = 0;
112	}
113
114	// Set Transformation Parameters
115	// -----------------------------
116	// Transformation Parameters from ITRF2014 to ETRF2000
117	// EUREF Technical Note 1 Relationship and Transformation between the ITRF and ETRF
118	// Zuheir Altamimi, June 28, 2018
119	if (_crdTrafo == "ETRF2000") {
120	_dx = 0.0547;
121	_dy = 0.0522;
122	_dz = -0.0741;
123
124	_dxr = 0.0001;
125	_dyr = 0.0001;
126	_dzr = -0.0019;
127
128	_ox = 0.001701;
129	_oy = 0.010290;
130	_oz = -0.016632;
131
132	_oxr = 0.000081;
133	_oyr = 0.000490;
134	_ozr = -0.000729;
135
136	_sc = 2.12;
137	_scr = 0.11;
138
139	_t0 = 2010.0;
140	}
141	// Transformation Parameters from ITRF2014 to GDA2020 (Ryan Ruddick, GA)
142	else if (_crdTrafo == "GDA2020") {
143	_dx = 0.0;
144	_dy = 0.0;
145	_dz = 0.0;
146
147	_dxr = 0.0;
148	_dyr = 0.0;
149	_dzr = 0.0;
150
151	_ox = 0.0;
152	_oy = 0.0;
153	_oz = 0.0;
154
155	_oxr = 0.00150379;
156	_oyr = 0.00118346;
157	_ozr = 0.00120716;
158
159	_sc = 0.0;
160	_scr = 0.0;
161
162	_t0 = 2020.0;
163	}
164	// Transformation Parameters from IGb14 to SIRGAS2000 (Thanks to Sonia Costa, BRA)
165	// June 29 2020: TX:-0.0027 m TY:-0.0025 m TZ:-0.0042 m SCL:1.20 (ppb) no rotations and no rates.*/
166	else if (_crdTrafo == "SIRGAS2000") {
167	_dx = -0.0027;
168	_dy = -0.0025;
169	_dz = -0.0042;
170
171	_dxr = 0.0000;
172	_dyr = 0.0000;
173	_dzr = 0.0000;
174
175	_ox = 0.000000;
176	_oy = 0.000000;
177	_oz = 0.000000;
178
179	_oxr = 0.000000;
180	_oyr = 0.000000;
181	_ozr = 0.000000;
182
183	_sc = 1.20000;
184	_scr = 0.00000;
185	_t0 = 2000.0;
186	}
187	// Transformation Parameters from ITRF2014 to DREF91
188	else if (_crdTrafo == "DREF91") {
189	_dx = 0.0547;
190	_dy = 0.0522;
191	_dz = -0.0741;
192
193	_dxr = 0.0001;
194	_dyr = 0.0001;
195	_dzr = -0.0019;
196	// ERTF200 + rotation parameters (ETRF200 => DREF91)
197	_ox = 0.001701 + 0.000658;
198	_oy = 0.010290 - 0.000208;
199	_oz = -0.016632 + 0.000755;
200
201	_oxr = 0.000081;
202	_oyr = 0.000490;
203	_ozr = -0.000729;
204
205	_sc = 2.12;
206	_scr = 0.11;
207
208	_t0 = 2010.0;
209	}
210	else if (_crdTrafo == "Custom") {
211	_dx = settings.value("trafo_dx").toDouble();
212	_dy = settings.value("trafo_dy").toDouble();
213	_dz = settings.value("trafo_dz").toDouble();
214	_dxr = settings.value("trafo_dxr").toDouble();
215	_dyr = settings.value("trafo_dyr").toDouble();
216	_dzr = settings.value("trafo_dzr").toDouble();
217	_ox = settings.value("trafo_ox").toDouble();
218	_oy = settings.value("trafo_oy").toDouble();
219	_oz = settings.value("trafo_oz").toDouble();
220	_oxr = settings.value("trafo_oxr").toDouble();
221	_oyr = settings.value("trafo_oyr").toDouble();
222	_ozr = settings.value("trafo_ozr").toDouble();
223	_sc = settings.value("trafo_sc").toDouble();
224	_scr = settings.value("trafo_scr").toDouble();
225	_t0 = settings.value("trafo_t0").toDouble();
226	}
227	}
228
229	// Destructor
230	////////////////////////////////////////////////////////////////////////////
231	bncRtnetUploadCaster::~bncRtnetUploadCaster() {
232	if (isRunning()) {
233	wait();
234	}
235	delete _rnx;
236	delete _sp3;
237	delete _ephUser;
238	delete _usedEph;
239	delete _ssrCorr;
240	}
241
242	//
243	////////////////////////////////////////////////////////////////////////////
244	void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
245
246	QMutexLocker locker(&_mutex);
247
248	// Append to internal buffer
249	// -------------------------
250	_rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
251
252	// Select buffer part that contains last epoch
253	// -------------------------------------------
254	QStringList lines;
255	int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
256	if (iEpoBeg == -1) {
257	_rtnetStreamBuffer.clear();
258	return;
259	}
260	int iEpoBegEarlier = _rtnetStreamBuffer.indexOf('*');
261	if (iEpoBegEarlier != -1 && iEpoBegEarlier < iEpoBeg) { // are there two epoch lines in buffer?
262	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBegEarlier);
263	}
264	else {
265	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
266	}
267	int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
268	if (iEpoEnd == -1) {
269	return;
270	}
271
272	while (_rtnetStreamBuffer.count('*') > 1) { // is there more than 1 epoch line in buffer?
273	QString rtnetStreamBuffer = _rtnetStreamBuffer.mid(1);
274	int nextEpoch = rtnetStreamBuffer.indexOf('*');
275	if (nextEpoch != -1 && nextEpoch < iEpoEnd) {
276	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(nextEpoch);
277	}
278	else if (nextEpoch != -1 && nextEpoch >= iEpoEnd) {
279	break;
280	}
281	}
282
283	lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n',
284	QString::SkipEmptyParts);
285	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
286
287	if (lines.size() < 2) {
288	return;
289	}
290
291	// Read first line (with epoch time)
292	// ---------------------------------
293	QTextStream in(lines[0].toLatin1());
294	QString hlp;
295	int year, month, day, hour, min;
296	double sec;
297	in >> hlp >> year >> month >> day >> hour >> min >> sec;
298	bncTime epoTime;
299	epoTime.set(year, month, day, hour, min, sec);
300
301	emit(newMessage(
302	"bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
303	+ " " + QByteArray(epoTime.timestr().c_str()) + " "
304	+ _casterID.toLatin1(), false));
305
306	struct SsrCorr::ClockOrbit co;
307	memset(&co, 0, sizeof(co));
308	co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
309	if (_ssrFormat == "RTCM-SSR") {
310	double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
311	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
312	}
313	else if (_ssrFormat == "IGS-SSR") {
314	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(epoTime.gpssec());
315	}
316	co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
317	co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
318	co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
319	if (_ssrFormat == "RTCM-SSR") {
320	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
321	}
322	else if (_ssrFormat == "IGS-SSR") {
323	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
324	}
325	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
326	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
327	co.SatRefDatum = _ssrCorr->DATUM_ITRF; // ToDo: to decode from RTNET format
328	co.SSRIOD = _IOD;
329	co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
330	co.SSRSolutionID = _SID;
331
332	struct SsrCorr::CodeBias bias;
333	memset(&bias, 0, sizeof(bias));
334	bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
335	bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
336	bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
337	bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
338	bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
339	bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
340	bias.SSRIOD = _IOD;
341	bias.SSRProviderID = _PID;
342	bias.SSRSolutionID = _SID;
343
344	struct SsrCorr::PhaseBias phasebias;
345	memset(&phasebias, 0, sizeof(phasebias));
346	unsigned int dispersiveBiasConsistenyIndicator = 0;
347	unsigned int mwConsistencyIndicator = 0;
348	phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
349	phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
350	phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
351	phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
352	phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
353	phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
354	phasebias.SSRIOD = _IOD;
355	phasebias.SSRProviderID = _PID;
356	phasebias.SSRSolutionID = _SID;
357
358	struct SsrCorr::VTEC vtec;
359	memset(&vtec, 0, sizeof(vtec));
360	vtec.EpochTime = static_cast<int>(epoTime.gpssec());
361	vtec.SSRIOD = _IOD;
362	vtec.SSRProviderID = _PID;
363	vtec.SSRSolutionID = _SID;
364
365	// Default Update Interval
366	// -----------------------
367	int clkUpdInd = 2; // 5 sec
368	int ephUpdInd = clkUpdInd; // default
369
370	if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
371	ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
372	}
373	if (_samplRtcmClkCorr > 5.0) {
374	clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
375	}
376	if (_samplRtcmEphCorr > 5.0) {
377	ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
378	}
379
380	co.UpdateInterval = clkUpdInd;
381	bias.UpdateInterval = clkUpdInd;
382	phasebias.UpdateInterval = clkUpdInd;
383
384	for (int ii = 1; ii < lines.size(); ii++) {
385	QString key; // prn or key VTEC, IND (phase bias indicators)
386	double rtnUra = 0.0; // [m]
387	ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
388	ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
389	ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
390	ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
391	ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
392	t_prn prn;
393
394	QTextStream in(lines[ii].toLatin1());
395
396	in >> key;
397
398	// non-satellite specific parameters
399	if (key.contains("IND", Qt::CaseSensitive)) {
400	in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
401	continue;
402	}
403	// non-satellite specific parameters
404	if (key.contains("VTEC", Qt::CaseSensitive)) {
405	double ui;
406	in >> ui >> vtec.NumLayers;
407	vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
408	for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
409	int dummy;
410	in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
411	>> vtec.Layers[ll].Height;
412	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
413	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
414	in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
415	}
416	}
417	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
418	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
419	in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
420	}
421	}
422	}
423	continue;
424	}
425	// satellite specific parameters
426	char sys = key.mid(0, 1).at(0).toLatin1();
427	int number = key.mid(1, 2).toInt();
428	int flags = 0;
429	if (sys == 'E') { // I/NAV
430	flags = 1;
431	}
432	prn.set(sys, number, flags);
433	QString prnInternalStr = QString::fromStdString(prn.toInternalString());
434	QString prnStr = QString::fromStdString(prn.toString());
435
436	const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
437	const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
438	const t_eph* eph = ephLast;
439	if (eph) {
440
441	// Use previous ephemeris if the last one is too recent
442	// ----------------------------------------------------
443	const int MINAGE = 60; // seconds
444	if (ephPrev && eph->receptDateTime().isValid()
445	&& eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
446	eph = ephPrev;
447	}
448
449	// Make sure the clock messages refer to same IOD as orbit messages
450	// ----------------------------------------------------------------
451	if (_usedEph) {
452	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
453	(*_usedEph)[prnInternalStr] = eph;
454	}
455	else {
456	eph = 0;
457	if (_usedEph->contains(prnInternalStr)) {
458	const t_eph* usedEph = _usedEph->value(prnInternalStr);
459	if (usedEph == ephLast) {
460	eph = ephLast;
461	}
462	else if (usedEph == ephPrev) {
463	eph = ephPrev;
464	}
465	}
466	}
467	}
468	}
469
470	if (eph &&
471	eph->checkState() != t_eph::bad &&
472	eph->checkState() != t_eph::unhealthy &&
473	eph->checkState() != t_eph::outdated) {
474	QMap<QString, double> codeBiases;
475	QList<phaseBiasSignal> phaseBiasList;
476	phaseBiasesSat pbSat;
477
478	while (true) {
479	QString key;
480	int numVal = 0;
481	in >> key;
482	if (in.status() != QTextStream::Ok) {
483	break;
484	}
485	if (key == "APC") {
486	in >> numVal;
487	rtnAPC.ReSize(3); rtnAPC = 0.0;
488	for (int ii = 0; ii < numVal; ii++) {
489	in >> rtnAPC[ii];
490	}
491	}
492	else if (key == "Ura") {
493	in >> numVal;
494	if (numVal == 1)
495	in >> rtnUra;
496	}
497	else if (key == "Clk") {
498	in >> numVal;
499	rtnClk.ReSize(3); rtnClk = 0.0;
500	for (int ii = 0; ii < numVal; ii++) {
501	in >> rtnClk[ii];
502	}
503	}
504	else if (key == "ClkSig") {
505	in >> numVal;
506	rtnClkSig.ReSize(3); rtnClkSig = 0.0;
507	for (int ii = 0; ii < numVal; ii++) {
508	in >> rtnClkSig[ii];
509	}
510	}
511	else if (key == "Vel") {
512	in >> numVal;
513	rtnVel.ReSize(3); rtnVel = 0.0;
514	for (int ii = 0; ii < numVal; ii++) {
515	in >> rtnVel[ii];
516	}
517	}
518	else if (key == "CoM") {
519	in >> numVal;
520	rtnCoM.ReSize(3); rtnCoM = 0.0;
521	for (int ii = 0; ii < numVal; ii++) {
522	in >> rtnCoM[ii];
523	}
524	}
525	else if (key == "CodeBias") {
526	in >> numVal;
527	for (int ii = 0; ii < numVal; ii++) {
528	QString type;
529	double value;
530	in >> type >> value;
531	codeBiases[type] = value;
532	}
533	}
534	else if (key == "YawAngle") {
535	in >> numVal >> pbSat.yawAngle;
536	if (pbSat.yawAngle < 0.0) {
537	pbSat.yawAngle += (2*M_PI);
538	}
539	else if (pbSat.yawAngle > 2*M_PI) {
540	pbSat.yawAngle -= (2*M_PI);
541	}
542	}
543	else if (key == "YawRate") {
544	in >> numVal >> pbSat.yawRate;
545	}
546	else if (key == "PhaseBias") {
547	in >> numVal;
548	for (int ii = 0; ii < numVal; ii++) {
549	phaseBiasSignal pb;
550	in >> pb.type >> pb.bias >> pb.integerIndicator
551	>> pb.wlIndicator >> pb.discontinuityCounter;
552	phaseBiasList.append(pb);
553	}
554	}
555	else {
556	in >> numVal;
557	for (int ii = 0; ii < numVal; ii++) {
558	double dummy;
559	in >> dummy;
560	}
561	emit(newMessage(" RTNET format error: "
562	+ lines[ii].toLatin1(), false));
563	}
564	}
565
566	struct SsrCorr::ClockOrbit::SatData* sd = 0;
567	if (prn.system() == 'G') {
568	sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
569	++co.NumberOfSat[CLOCKORBIT_SATGPS];
570	}
571	else if (prn.system() == 'R') {
572	sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
573	++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
574	}
575	else if (prn.system() == 'E') {
576	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
577	+ co.NumberOfSat[CLOCKORBIT_SATGALILEO];
578	++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
579	}
580	else if (prn.system() == 'J') {
581	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
582	+ CLOCKORBIT_NUMGALILEO
583	+ co.NumberOfSat[CLOCKORBIT_SATQZSS];
584	++co.NumberOfSat[CLOCKORBIT_SATQZSS];
585	}
586	else if (prn.system() == 'S') {
587	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
588	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
589	+ co.NumberOfSat[CLOCKORBIT_SATSBAS];
590	++co.NumberOfSat[CLOCKORBIT_SATSBAS];
591	}
592	else if (prn.system() == 'C') {
593	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
594	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
595	+ CLOCKORBIT_NUMSBAS
596	+ co.NumberOfSat[CLOCKORBIT_SATBDS];
597	++co.NumberOfSat[CLOCKORBIT_SATBDS];
598	}
599	if (sd) {
600	QString outLine;
601	t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
602	rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
603	if (irc != success) {
604	// very few cases: check states bad and unhealthy are excluded earlier
605	sd->ID = prnStr.mid(1).toInt(); // to prevent G00, R00 entries
606	sd->IOD = eph->IOD();
607	}
608	}
609
610	// Code Biases
611	// -----------
612	struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
613	if (!codeBiases.isEmpty()) {
614	if (prn.system() == 'G') {
615	biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
616	++bias.NumberOfSat[CLOCKORBIT_SATGPS];
617	}
618	else if (prn.system() == 'R') {
619	biasSat = bias.Sat + CLOCKORBIT_NUMGPS
620	+ bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
621	++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
622	}
623	else if (prn.system() == 'E') {
624	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
625	+ bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
626	++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
627	}
628	else if (prn.system() == 'J') {
629	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
630	+ CLOCKORBIT_NUMGALILEO
631	+ bias.NumberOfSat[CLOCKORBIT_SATQZSS];
632	++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
633	}
634	else if (prn.system() == 'S') {
635	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
636	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
637	+ bias.NumberOfSat[CLOCKORBIT_SATSBAS];
638	++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
639	}
640	else if (prn.system() == 'C') {
641	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
642	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
643	+ CLOCKORBIT_NUMSBAS
644	+ bias.NumberOfSat[CLOCKORBIT_SATBDS];
645	++bias.NumberOfSat[CLOCKORBIT_SATBDS];
646	}
647	}
648
649	if (biasSat) {
650	biasSat->ID = prn.number();
651	biasSat->NumberOfCodeBiases = 0;
652	QMapIterator<QString, double> it(codeBiases);
653	while (it.hasNext()) {
654	it.next();
655	int ii = biasSat->NumberOfCodeBiases;
656	if (ii >= CLOCKORBIT_NUMBIAS)
657	break;
658	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
659	if (type != _ssrCorr->RESERVED) {
660	biasSat->NumberOfCodeBiases += 1;
661	biasSat->Biases[ii].Type = type;
662	biasSat->Biases[ii].Bias = it.value();
663	}
664	}
665	}
666
667	// Phase Biases
668	// ------------
669	struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
670	if (prn.system() == 'G') {
671	phasebiasSat = phasebias.Sat
672	+ phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
673	++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
674	}
675	else if (prn.system() == 'R') {
676	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
677	+ phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
678	++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
679	}
680	else if (prn.system() == 'E') {
681	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
682	+ phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
683	++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
684	}
685	else if (prn.system() == 'J') {
686	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
687	+ CLOCKORBIT_NUMGALILEO
688	+ phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
689	++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
690	}
691	else if (prn.system() == 'S') {
692	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
693	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
694	+ phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
695	++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
696	}
697	else if (prn.system() == 'C') {
698	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
699	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
700	+ CLOCKORBIT_NUMSBAS
701	+ phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
702	++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
703	}
704
705	if (phasebiasSat) {
706	phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
707	phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
708	phasebiasSat->ID = prn.number();
709	phasebiasSat->NumberOfPhaseBiases = 0;
710	phasebiasSat->YawAngle = pbSat.yawAngle;
711	phasebiasSat->YawRate = pbSat.yawRate;
712	QListIterator<phaseBiasSignal> it(phaseBiasList);
713	while (it.hasNext()) {
714	const phaseBiasSignal &pbSig = it.next();
715	int ii = phasebiasSat->NumberOfPhaseBiases;
716	if (ii >= CLOCKORBIT_NUMBIAS)
717	break;
718	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
719	if (type != _ssrCorr->RESERVED) {
720	phasebiasSat->NumberOfPhaseBiases += 1;
721	phasebiasSat->Biases[ii].Type = type;
722	phasebiasSat->Biases[ii].Bias = pbSig.bias;
723	phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
724	phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
725	phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
726	}
727	}
728	}
729	}
730	}
731
732	QByteArray hlpBufferCo;
733
734	// Orbit and Clock Corrections together
735	// ------------------------------------
736	if (_samplRtcmEphCorr == 0.0) {
737	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
738	\|\| co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
739	\|\| co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
740	\|\| co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
741	\|\| co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
742	\|\| co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
743	char obuffer[CLOCKORBIT_BUFFERSIZE];
744	int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
745	if (len > 0) {
746	hlpBufferCo = QByteArray(obuffer, len);
747	}
748	}
749	}
750
751	// Orbit and Clock Corrections separately
752	// --------------------------------------
753	else {
754	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
755	char obuffer[CLOCKORBIT_BUFFERSIZE];
756	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
757	co.UpdateInterval = ephUpdInd;
758	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer,
759	sizeof(obuffer));
760	co.UpdateInterval = clkUpdInd;
761	if (len1 > 0) {
762	hlpBufferCo += QByteArray(obuffer, len1);
763	}
764	}
765	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 \|\|
766	co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
767	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
768	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
769	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
770	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer,
771	sizeof(obuffer));
772	if (len2 > 0) {
773	hlpBufferCo += QByteArray(obuffer, len2);
774	}
775	}
776	if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
777	char obuffer[CLOCKORBIT_BUFFERSIZE];
778	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
779	co.UpdateInterval = ephUpdInd;
780	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer,
781	sizeof(obuffer));
782	co.UpdateInterval = clkUpdInd;
783	if (len1 > 0) {
784	hlpBufferCo += QByteArray(obuffer, len1);
785	}
786	}
787	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
788	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
789	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
790	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
791	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer,
792	sizeof(obuffer));
793	if (len2 > 0) {
794	hlpBufferCo += QByteArray(obuffer, len2);
795	}
796	}
797	if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
798	char obuffer[CLOCKORBIT_BUFFERSIZE];
799	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
800	co.UpdateInterval = ephUpdInd;
801	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer,
802	sizeof(obuffer));
803	co.UpdateInterval = clkUpdInd;
804	if (len1 > 0) {
805	hlpBufferCo += QByteArray(obuffer, len1);
806	}
807	}
808	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
809	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
810	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
811	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer,
812	sizeof(obuffer));
813	if (len2 > 0) {
814	hlpBufferCo += QByteArray(obuffer, len2);
815	}
816	}
817	if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
818	char obuffer[CLOCKORBIT_BUFFERSIZE];
819	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
820	co.UpdateInterval = ephUpdInd;
821	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer,
822	sizeof(obuffer));
823	co.UpdateInterval = clkUpdInd;
824	if (len1 > 0) {
825	hlpBufferCo += QByteArray(obuffer, len1);
826	}
827	}
828	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
829	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
830	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer,
831	sizeof(obuffer));
832	if (len2 > 0) {
833	hlpBufferCo += QByteArray(obuffer, len2);
834	}
835	}
836	if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
837	char obuffer[CLOCKORBIT_BUFFERSIZE];
838	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
839	co.UpdateInterval = ephUpdInd;
840	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer,
841	sizeof(obuffer));
842	co.UpdateInterval = clkUpdInd;
843	if (len1 > 0) {
844	hlpBufferCo += QByteArray(obuffer, len1);
845	}
846	}
847	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
848	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
849	sizeof(obuffer));
850	if (len2 > 0) {
851	hlpBufferCo += QByteArray(obuffer, len2);
852	}
853	}
854	if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
855	char obuffer[CLOCKORBIT_BUFFERSIZE];
856	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
857	co.UpdateInterval = ephUpdInd;
858	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer,
859	sizeof(obuffer));
860	co.UpdateInterval = clkUpdInd;
861	if (len1 > 0) {
862	hlpBufferCo += QByteArray(obuffer, len1);
863	}
864	}
865	int mmsg = 0;
866	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer,
867	sizeof(obuffer));
868	if (len2 > 0) {
869	hlpBufferCo += QByteArray(obuffer, len2);
870	}
871	}
872	}
873
874	// Code Biases
875	// -----------
876	QByteArray hlpBufferBias;
877	if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
878	\|\| bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
879	\|\| bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
880	\|\| bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
881	\|\| bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
882	\|\| bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
883	char obuffer[CLOCKORBIT_BUFFERSIZE];
884	int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
885	if (len > 0) {
886	hlpBufferBias = QByteArray(obuffer, len);
887	}
888	}
889
890	// Phase Biases
891	// ------------
892	QByteArray hlpBufferPhaseBias;
893	if (phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
894	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
895	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
896	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
897	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
898	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
899	char obuffer[CLOCKORBIT_BUFFERSIZE];
900	int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer,
901	sizeof(obuffer));
902	if (len > 0) {
903	hlpBufferPhaseBias = QByteArray(obuffer, len);
904	}
905	}
906
907	// VTEC
908	// ----
909	QByteArray hlpBufferVtec;
910	if (vtec.NumLayers > 0) {
911	char obuffer[CLOCKORBIT_BUFFERSIZE];
912	int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
913	if (len > 0) {
914	hlpBufferVtec = QByteArray(obuffer, len);
915	}
916	}
917
918	_outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias
919	+ hlpBufferVtec;
920	}
921
922	//
923	////////////////////////////////////////////////////////////////////////////
924	t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
925	double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
926	double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
927	const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
928	struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
929
930	// Broadcast Position and Velocity
931	// -------------------------------
932	ColumnVector xB(6);
933	ColumnVector vB(3);
934	t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
935
936	if (irc != success) {
937	return irc;
938	}
939
940	// Precise Position
941	// ----------------
942	ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
943
944	if (xP.size() == 0) {
945	return failure;
946	}
947
948	double dc = 0.0;
949	if (_crdTrafo != "IGS14") {
950	crdTrafo(GPSweek, xP, dc);
951	}
952
953	// Difference in xyz
954	// -----------------
955	ColumnVector dx = xB.Rows(1, 3) - xP;
956	ColumnVector dv = vB - rtnVel;
957
958	// Difference in RSW
959	// -----------------
960	ColumnVector rsw(3);
961	XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
962
963	ColumnVector dotRsw(3);
964	XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
965
966	// Clock Correction
967	// ----------------
968	double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
969	double dClkA1 = 0.0;
970	if (rtnClk(2)) {
971	dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
972	}
973	double dClkA2 = 0.0;
974	if (rtnClk(3)) {
975	dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
976	}
977
978	if (sd) {
979	sd->ID = prn.mid(1).toInt();
980	sd->IOD = eph->IOD();
981	sd->Clock.DeltaA0 = dClkA0;
982	sd->Clock.DeltaA1 = dClkA1;
983	sd->Clock.DeltaA2 = dClkA2;
984	sd->UserRangeAccuracy = rtnUra;
985	sd->Orbit.DeltaRadial = rsw(1);
986	sd->Orbit.DeltaAlongTrack = rsw(2);
987	sd->Orbit.DeltaCrossTrack = rsw(3);
988	sd->Orbit.DotDeltaRadial = dotRsw(1);
989	sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
990	sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
991	}
992
993	outLine.sprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
994	GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
995	rsw(1), rsw(2), rsw(3));
996
997	// RTNET full clock for RINEX and SP3 file
998	// ---------------------------------------
999	double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1000	double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1001	double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1002	double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² ) -/s]
1003
1004	if (_rnx) {
1005	double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1006	int s = rtnClkSig.size();
1007	switch (s) {
1008	case 1:
1009	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1010	clkRnxRateSig = 0.0; // [s/s = -]
1011	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1012	break;
1013	case 2:
1014	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1015	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1016	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1017	break;
1018	case 3:
1019	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1020	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1021	clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1022	break;
1023	}
1024	_rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1025	clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1026	}
1027	if (_sp3) {
1028	_sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1029	}
1030	return success;
1031	}
1032
1033	// Transform Coordinates
1034	////////////////////////////////////////////////////////////////////////////
1035	void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1036	double& dc) {
1037
1038	// Current epoch minus 2000.0 in years
1039	// ------------------------------------
1040	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1041
1042	ColumnVector dx(3);
1043
1044	dx(1) = _dx + dt * _dxr;
1045	dx(2) = _dy + dt * _dyr;
1046	dx(3) = _dz + dt * _dzr;
1047
1048	static const double arcSec = 180.0 * 3600.0 / M_PI;
1049
1050	double ox = (_ox + dt * _oxr) / arcSec;
1051	double oy = (_oy + dt * _oyr) / arcSec;
1052	double oz = (_oz + dt * _ozr) / arcSec;
1053
1054	double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1055
1056	// Specify approximate center of area
1057	// ----------------------------------
1058	ColumnVector meanSta(3);
1059
1060	if (_crdTrafo == "ETRF2000") {
1061	meanSta(1) = 3661090.0;
1062	meanSta(2) = 845230.0;
1063	meanSta(3) = 5136850.0;
1064	}
1065	else if (_crdTrafo == "GDA2020") {
1066	meanSta(1) = -4052050.0;
1067	meanSta(2) = 4212840.0;
1068	meanSta(3) = -2545110.0;
1069	}
1070	else if (_crdTrafo == "SIRGAS2000") {
1071	meanSta(1) = 3740860.0;
1072	meanSta(2) = -4964290.0;
1073	meanSta(3) = -1425420.0;
1074	}
1075	else if (_crdTrafo == "DREF91") {
1076	meanSta(1) = 3959579.0;
1077	meanSta(2) = 721719.0;
1078	meanSta(3) = 4931539.0;
1079	}
1080	else if (_crdTrafo == "Custom") {
1081	meanSta(1) = 0.0; // TODO
1082	meanSta(2) = 0.0; // TODO
1083	meanSta(3) = 0.0; // TODO
1084	}
1085
1086	// Clock correction proportional to topocentric distance to satellites
1087	// -------------------------------------------------------------------
1088	double rho = (xyz - meanSta).NormFrobenius();
1089	dc = rho * (sc - 1.0) / sc / t_CST::c;
1090
1091	Matrix rMat(3, 3);
1092	rMat(1, 1) = 1.0;
1093	rMat(1, 2) = -oz;
1094	rMat(1, 3) = oy;
1095	rMat(2, 1) = oz;
1096	rMat(2, 2) = 1.0;
1097	rMat(2, 3) = -ox;
1098	rMat(3, 1) = -oy;
1099	rMat(3, 2) = ox;
1100	rMat(3, 3) = 1.0;
1101
1102	xyz = sc * rMat * xyz + dx;
1103	}
1104
1105	int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1106
1107	if (samplingRate == 10.0) {
1108	return 3;
1109	}
1110	else if (samplingRate == 15.0) {
1111	return 4;
1112	}
1113	else if (samplingRate == 30.0) {
1114	return 5;
1115	}
1116	else if (samplingRate == 60.0) {
1117	return 6;
1118	}
1119	else if (samplingRate == 120.0) {
1120	return 7;
1121	}
1122	else if (samplingRate == 240.0) {
1123	return 8;
1124	}
1125	else if (samplingRate == 300.0) {
1126	return 9;
1127	}
1128	else if (samplingRate == 600.0) {
1129	return 10;
1130	}
1131	else if (samplingRate == 900.0) {
1132	return 11;
1133	}
1134	else if (samplingRate == 1800.0) {
1135	return 12;
1136	}
1137	else if (samplingRate == 3600.0) {
1138	return 13;
1139	}
1140	else if (samplingRate == 7200.0) {
1141	return 14;
1142	}
1143	else if (samplingRate == 10800.0) {
1144	return 15;
1145	}
1146	return 2; // default
1147	}

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