source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 9034

Last change on this file since 9034 was 9034, checked in by stuerze, 21 months ago

minor changes

File size: 37.3 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& 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;
59
60 _ssrCorr = 0;
61 if (_ssrFormat == "IGS-SSR") {
62 _ssrCorr = new SsrCorrIgs();
63 }
64 else if (_ssrFormat == "RTCM-SSR") {
65 _ssrCorr = new SsrCorrRtcm();
66 }
67
68 _CoM = CoM;
69 _PID = PID;
70 _SID = SID;
71 _IOD = IOD;
72
73 // Member that receives the ephemeris
74 // ----------------------------------
75 _ephUser = new bncEphUser(true);
76
77 bncSettings settings;
78 QString intr = settings.value("uploadIntr").toString();
79 QStringList hlp = settings.value("cmbStreams").toStringList();
80 _samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toDouble();
81 if (hlp.size() > 1) { // combination stream upload
82 _samplRtcmClkCorr = settings.value("cmbSampl").toInt();
83 }
84 else { // single stream upload or sp3 file generation
85 _samplRtcmClkCorr = 5; // default
86 }
87 int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
88 int samplSp3 = settings.value("uploadSamplSp3").toInt() * 60;
89
90 if (_samplRtcmEphCorr == 0.0) {
91 _usedEph = 0;
92 }
93 else {
94 _usedEph = new QMap<QString, const t_eph*>;
95 }
96
97 // RINEX writer
98 // ------------
99 if (!rnxFileName.isEmpty()) {
100 _rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
101 }
102 else {
103 _rnx = 0;
104 }
105
106 // SP3 writer
107 // ----------
108 if (!sp3FileName.isEmpty()) {
109 _sp3 = new bncSP3(sp3FileName, intr, samplSp3);
110 }
111 else {
112 _sp3 = 0;
113 }
114
115 // Set Transformation Parameters
116 // -----------------------------
117 // Transformation Parameters from ITRF2014 to ETRF2000
118 // EUREF Technical Note 1 Relationship and Transformation between the ITRF and ETRF
119 // Zuheir Altamimi, June 28, 2018
120 if (_crdTrafo == "ETRF2000") {
121 _dx = 0.0547;
122 _dy = 0.0522;
123 _dz = -0.0741;
124
125 _dxr = 0.0001;
126 _dyr = 0.0001;
127 _dzr = -0.0019;
128
129 _ox = 0.001701;
130 _oy = 0.010290;
131 _oz = -0.016632;
132
133 _oxr = 0.000081;
134 _oyr = 0.000490;
135 _ozr = -0.000729;
136
137 _sc = 2.12;
138 _scr = 0.11;
139
140 _t0 = 2010.0;
141 }
142 // Transformation Parameters from ITRF2014 to GDA2020 (Ryan Ruddick, GA)
143 else if (_crdTrafo == "GDA2020") {
144 _dx = 0.0;
145 _dy = 0.0;
146 _dz = 0.0;
147
148 _dxr = 0.0;
149 _dyr = 0.0;
150 _dzr = 0.0;
151
152 _ox = 0.0;
153 _oy = 0.0;
154 _oz = 0.0;
155
156 _oxr = 0.00150379;
157 _oyr = 0.00118346;
158 _ozr = 0.00120716;
159
160 _sc = 0.0;
161 _scr = 0.0;
162
163 _t0 = 2020.0;
164 }
165 // Transformation Parameters from IGb14 to SIRGAS2000 (Thanks to Sonia Costa, BRA)
166 // June 29 2020: TX:-0.0027 m TY:-0.0025 m TZ:-0.0042 m SCL:1.20 (ppb) no rotations and no rates.*/
167 else if (_crdTrafo == "SIRGAS2000") {
168 _dx = -0.0027;
169 _dy = -0.0025;
170 _dz = -0.0042;
171
172 _dxr = 0.0000;
173 _dyr = 0.0000;
174 _dzr = 0.0000;
175
176 _ox = 0.000000;
177 _oy = 0.000000;
178 _oz = 0.000000;
179
180 _oxr = 0.000000;
181 _oyr = 0.000000;
182 _ozr = 0.000000;
183
184 _sc = 1.20000;
185 _scr = 0.00000;
186 _t0 = 2000.0;
187 }
188 // Transformation Parameters from ITRF2014 to DREF91
189 else if (_crdTrafo == "DREF91") {
190 _dx = 0.0547;
191 _dy = 0.0522;
192 _dz = -0.0741;
193
194 _dxr = 0.0001;
195 _dyr = 0.0001;
196 _dzr = -0.0019;
197 // ERTF200 + rotation parameters (ETRF200 => DREF91)
198 _ox = 0.001701 + 0.000658;
199 _oy = 0.010290 - 0.000208;
200 _oz = -0.016632 + 0.000755;
201
202 _oxr = 0.000081;
203 _oyr = 0.000490;
204 _ozr = -0.000729;
205
206 _sc = 2.12;
207 _scr = 0.11;
208
209 _t0 = 2010.0;
210 }
211 else if (_crdTrafo == "Custom") {
212 _dx = settings.value("trafo_dx").toDouble();
213 _dy = settings.value("trafo_dy").toDouble();
214 _dz = settings.value("trafo_dz").toDouble();
215 _dxr = settings.value("trafo_dxr").toDouble();
216 _dyr = settings.value("trafo_dyr").toDouble();
217 _dzr = settings.value("trafo_dzr").toDouble();
218 _ox = settings.value("trafo_ox").toDouble();
219 _oy = settings.value("trafo_oy").toDouble();
220 _oz = settings.value("trafo_oz").toDouble();
221 _oxr = settings.value("trafo_oxr").toDouble();
222 _oyr = settings.value("trafo_oyr").toDouble();
223 _ozr = settings.value("trafo_ozr").toDouble();
224 _sc = settings.value("trafo_sc").toDouble();
225 _scr = settings.value("trafo_scr").toDouble();
226 _t0 = settings.value("trafo_t0").toDouble();
227 }
228}
229
230// Destructor
231////////////////////////////////////////////////////////////////////////////
232bncRtnetUploadCaster::~bncRtnetUploadCaster() {
233 if (isRunning()) {
234 wait();
235 }
236 delete _rnx;
237 delete _sp3;
238 delete _ephUser;
239 delete _usedEph;
240 delete _ssrCorr;
241}
242
243//
244////////////////////////////////////////////////////////////////////////////
245void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
246
247 QMutexLocker locker(&_mutex);
248
249 // Append to internal buffer
250 // -------------------------
251 _rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
252
253 // Select buffer part that contains last epoch
254 // -------------------------------------------
255 QStringList lines;
256 int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
257 if (iEpoBeg == -1) {
258 _rtnetStreamBuffer.clear();
259 return;
260 }
261 int iEpoBegEarlier = _rtnetStreamBuffer.indexOf('*');
262 if (iEpoBegEarlier != -1 && iEpoBegEarlier < iEpoBeg) { // are there two epoch lines in buffer?
263 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBegEarlier);
264 }
265 else {
266 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
267 }
268 int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
269 if (iEpoEnd == -1) {
270 return;
271 }
272
273 while (_rtnetStreamBuffer.count('*') > 1) { // is there more than 1 epoch line in buffer?
274 QString rtnetStreamBuffer = _rtnetStreamBuffer.mid(1);
275 int nextEpoch = rtnetStreamBuffer.indexOf('*');
276 if (nextEpoch != -1 && nextEpoch < iEpoEnd) {
277 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(nextEpoch);
278 }
279 else if (nextEpoch != -1 && nextEpoch >= iEpoEnd) {
280 break;
281 }
282 }
283
284 lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n',
285 QString::SkipEmptyParts);
286 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
287
288 if (lines.size() < 2) {
289 return;
290 }
291
292 // Read first line (with epoch time)
293 // ---------------------------------
294 QTextStream in(lines[0].toLatin1());
295 QString hlp;
296 int year, month, day, hour, min;
297 double sec;
298 in >> hlp >> year >> month >> day >> hour >> min >> sec;
299 bncTime epoTime;
300 epoTime.set(year, month, day, hour, min, sec);
301
302 emit(newMessage(
303 "bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
304 + " " + QByteArray(epoTime.timestr().c_str()) + " "
305 + _casterID.toLatin1(), false));
306
307 struct SsrCorr::ClockOrbit co;
308 memset(&co, 0, sizeof(co));
309 co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
310 if (_ssrFormat == "RTCM-SSR") {
311 double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
312 co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
313 }
314 else if (_ssrFormat == "IGS-SSR") {
315 co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(epoTime.gpssec());
316 }
317 co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
318 co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
319 co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
320 if (_ssrFormat == "RTCM-SSR") {
321 co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
322 }
323 else if (_ssrFormat == "IGS-SSR") {
324 co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
325 }
326 co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
327 co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
328 co.SatRefDatum = _ssrCorr->DATUM_ITRF; // ToDo: to decode from RTNET format
329 co.SSRIOD = _IOD;
330 co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
331 co.SSRSolutionID = _SID;
332
333 struct SsrCorr::CodeBias bias;
334 memset(&bias, 0, sizeof(bias));
335 bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
336 bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
337 bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
338 bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
339 bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
340 bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
341 bias.SSRIOD = _IOD;
342 bias.SSRProviderID = _PID;
343 bias.SSRSolutionID = _SID;
344
345 struct SsrCorr::PhaseBias phasebias;
346 memset(&phasebias, 0, sizeof(phasebias));
347 unsigned int dispersiveBiasConsistenyIndicator = 0;
348 unsigned int mwConsistencyIndicator = 0;
349 phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
350 phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
351 phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
352 phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
353 phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
354 phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
355 phasebias.SSRIOD = _IOD;
356 phasebias.SSRProviderID = _PID;
357 phasebias.SSRSolutionID = _SID;
358
359 struct SsrCorr::VTEC vtec;
360 memset(&vtec, 0, sizeof(vtec));
361 vtec.EpochTime = static_cast<int>(epoTime.gpssec());
362 vtec.SSRIOD = _IOD;
363 vtec.SSRProviderID = _PID;
364 vtec.SSRSolutionID = _SID;
365
366 // Default Update Interval
367 // -----------------------
368 int clkUpdInd = 2; // 5 sec
369 int ephUpdInd = clkUpdInd; // default
370
371 if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
372 ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
373 }
374 if (_samplRtcmClkCorr > 5.0) {
375 clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
376 }
377 if (_samplRtcmEphCorr > 5.0) {
378 ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
379 }
380
381 co.UpdateInterval = clkUpdInd;
382 bias.UpdateInterval = clkUpdInd;
383 phasebias.UpdateInterval = clkUpdInd;
384
385 for (int ii = 1; ii < lines.size(); ii++) {
386 QString key; // prn or key VTEC, IND (phase bias indicators)
387 double rtnUra = 0.0; // [m]
388 ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
389 ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
390 ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
391 ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
392 ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
393 t_prn prn;
394
395 QTextStream in(lines[ii].toLatin1());
396
397 in >> key;
398
399 // non-satellite specific parameters
400 if (key.contains("IND", Qt::CaseSensitive)) {
401 in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
402 continue;
403 }
404 // non-satellite specific parameters
405 if (key.contains("VTEC", Qt::CaseSensitive)) {
406 double ui;
407 in >> ui >> vtec.NumLayers;
408 vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
409 for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
410 int dummy;
411 in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
412 >> vtec.Layers[ll].Height;
413 for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
414 for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
415 in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
416 }
417 }
418 for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
419 for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
420 in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
421 }
422 }
423 }
424 continue;
425 }
426 // satellite specific parameters
427 char sys = key.mid(0, 1).at(0).toLatin1();
428 int number = key.mid(1, 2).toInt();
429 int flags = 0;
430 if (sys == 'E') { // I/NAV
431 flags = 1;
432 }
433 prn.set(sys, number, flags);
434 QString prnInternalStr = QString::fromStdString(prn.toInternalString());
435 QString prnStr = QString::fromStdString(prn.toString());
436
437 const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
438 const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
439 const t_eph* eph = ephLast;
440 if (eph) {
441
442 // Use previous ephemeris if the last one is too recent
443 // ----------------------------------------------------
444 const int MINAGE = 60; // seconds
445 if (ephPrev && eph->receptDateTime().isValid()
446 && eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
447 eph = ephPrev;
448 }
449
450 // Make sure the clock messages refer to same IOD as orbit messages
451 // ----------------------------------------------------------------
452 if (_usedEph) {
453 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
454 (*_usedEph)[prnInternalStr] = eph;
455 }
456 else {
457 eph = 0;
458 if (_usedEph->contains(prnInternalStr)) {
459 const t_eph* usedEph = _usedEph->value(prnInternalStr);
460 if (usedEph == ephLast) {
461 eph = ephLast;
462 }
463 else if (usedEph == ephPrev) {
464 eph = ephPrev;
465 }
466 }
467 }
468 }
469 }
470
471 if (eph &&
472 eph->checkState() != t_eph::bad &&
473 eph->checkState() != t_eph::unhealthy &&
474 eph->checkState() != t_eph::outdated) {
475 QMap<QString, double> codeBiases;
476 QList<phaseBiasSignal> phaseBiasList;
477 phaseBiasesSat pbSat;
478
479 while (true) {
480 QString key;
481 int numVal = 0;
482 in >> key;
483 if (in.status() != QTextStream::Ok) {
484 break;
485 }
486 if (key == "APC") {
487 in >> numVal;
488 rtnAPC.ReSize(3); rtnAPC = 0.0;
489 for (int ii = 0; ii < numVal; ii++) {
490 in >> rtnAPC[ii];
491 }
492 }
493 else if (key == "Ura") {
494 in >> numVal;
495 if (numVal == 1)
496 in >> rtnUra;
497 }
498 else if (key == "Clk") {
499 in >> numVal;
500 rtnClk.ReSize(3); rtnClk = 0.0;
501 for (int ii = 0; ii < numVal; ii++) {
502 in >> rtnClk[ii];
503 }
504 }
505 else if (key == "ClkSig") {
506 in >> numVal;
507 rtnClkSig.ReSize(3); rtnClkSig = 0.0;
508 for (int ii = 0; ii < numVal; ii++) {
509 in >> rtnClkSig[ii];
510 }
511 }
512 else if (key == "Vel") {
513 in >> numVal;
514 rtnVel.ReSize(3); rtnVel = 0.0;
515 for (int ii = 0; ii < numVal; ii++) {
516 in >> rtnVel[ii];
517 }
518 }
519 else if (key == "CoM") {
520 in >> numVal;
521 rtnCoM.ReSize(3); rtnCoM = 0.0;
522 for (int ii = 0; ii < numVal; ii++) {
523 in >> rtnCoM[ii];
524 }
525 }
526 else if (key == "CodeBias") {
527 in >> numVal;
528 for (int ii = 0; ii < numVal; ii++) {
529 QString type;
530 double value;
531 in >> type >> value;
532 codeBiases[type] = value;
533 }
534 }
535 else if (key == "YawAngle") {
536 in >> numVal >> pbSat.yawAngle;
537 if (pbSat.yawAngle < 0.0) {
538 pbSat.yawAngle += (2*M_PI);
539 }
540 else if (pbSat.yawAngle > 2*M_PI) {
541 pbSat.yawAngle -= (2*M_PI);
542 }
543 }
544 else if (key == "YawRate") {
545 in >> numVal >> pbSat.yawRate;
546 }
547 else if (key == "PhaseBias") {
548 in >> numVal;
549 for (int ii = 0; ii < numVal; ii++) {
550 phaseBiasSignal pb;
551 in >> pb.type >> pb.bias >> pb.integerIndicator
552 >> pb.wlIndicator >> pb.discontinuityCounter;
553 phaseBiasList.append(pb);
554 }
555 }
556 else {
557 in >> numVal;
558 for (int ii = 0; ii < numVal; ii++) {
559 double dummy;
560 in >> dummy;
561 }
562 emit(newMessage(" RTNET format error: "
563 + lines[ii].toLatin1(), false));
564 }
565 }
566
567 struct SsrCorr::ClockOrbit::SatData* sd = 0;
568 if (prn.system() == 'G') {
569 sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
570 ++co.NumberOfSat[CLOCKORBIT_SATGPS];
571 }
572 else if (prn.system() == 'R') {
573 sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
574 ++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
575 }
576 else if (prn.system() == 'E') {
577 sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
578 + co.NumberOfSat[CLOCKORBIT_SATGALILEO];
579 ++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
580 }
581 else if (prn.system() == 'J') {
582 sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
583 + CLOCKORBIT_NUMGALILEO
584 + co.NumberOfSat[CLOCKORBIT_SATQZSS];
585 ++co.NumberOfSat[CLOCKORBIT_SATQZSS];
586 }
587 else if (prn.system() == 'S') {
588 sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
589 + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
590 + co.NumberOfSat[CLOCKORBIT_SATSBAS];
591 ++co.NumberOfSat[CLOCKORBIT_SATSBAS];
592 }
593 else if (prn.system() == 'C') {
594 sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
595 + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
596 + CLOCKORBIT_NUMSBAS
597 + co.NumberOfSat[CLOCKORBIT_SATBDS];
598 ++co.NumberOfSat[CLOCKORBIT_SATBDS];
599 }
600 if (sd) {
601 QString outLine;
602 t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
603 rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
604 if (irc != success) {
605 // very few cases: check states bad and unhealthy are excluded earlier
606 sd->ID = prnStr.mid(1).toInt(); // to prevent G00, R00 entries
607 sd->IOD = eph->IOD();
608 }
609 }
610
611 // Code Biases
612 // -----------
613 struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
614 if (!codeBiases.isEmpty()) {
615 if (prn.system() == 'G') {
616 biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
617 ++bias.NumberOfSat[CLOCKORBIT_SATGPS];
618 }
619 else if (prn.system() == 'R') {
620 biasSat = bias.Sat + CLOCKORBIT_NUMGPS
621 + bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
622 ++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
623 }
624 else if (prn.system() == 'E') {
625 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
626 + bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
627 ++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
628 }
629 else if (prn.system() == 'J') {
630 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
631 + CLOCKORBIT_NUMGALILEO
632 + bias.NumberOfSat[CLOCKORBIT_SATQZSS];
633 ++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
634 }
635 else if (prn.system() == 'S') {
636 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
637 + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
638 + bias.NumberOfSat[CLOCKORBIT_SATSBAS];
639 ++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
640 }
641 else if (prn.system() == 'C') {
642 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
643 + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
644 + CLOCKORBIT_NUMSBAS
645 + bias.NumberOfSat[CLOCKORBIT_SATBDS];
646 ++bias.NumberOfSat[CLOCKORBIT_SATBDS];
647 }
648 }
649
650 if (biasSat) {
651 biasSat->ID = prn.number();
652 biasSat->NumberOfCodeBiases = 0;
653 QMapIterator<QString, double> it(codeBiases);
654 while (it.hasNext()) {
655 it.next();
656 int ii = biasSat->NumberOfCodeBiases;
657 if (ii >= CLOCKORBIT_NUMBIAS)
658 break;
659 SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
660 if (type != _ssrCorr->RESERVED) {
661 biasSat->NumberOfCodeBiases += 1;
662 biasSat->Biases[ii].Type = type;
663 biasSat->Biases[ii].Bias = it.value();
664 }
665 }
666 }
667
668 // Phase Biases
669 // ------------
670 struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
671 if (prn.system() == 'G') {
672 phasebiasSat = phasebias.Sat
673 + phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
674 ++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
675 }
676 else if (prn.system() == 'R') {
677 phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
678 + phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
679 ++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
680 }
681 else if (prn.system() == 'E') {
682 phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
683 + phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
684 ++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
685 }
686 else if (prn.system() == 'J') {
687 phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
688 + CLOCKORBIT_NUMGALILEO
689 + phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
690 ++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
691 }
692 else if (prn.system() == 'S') {
693 phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
694 + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
695 + phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
696 ++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
697 }
698 else if (prn.system() == 'C') {
699 phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
700 + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
701 + CLOCKORBIT_NUMSBAS
702 + phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
703 ++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
704 }
705
706 if (phasebiasSat) {
707 phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
708 phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
709 phasebiasSat->ID = prn.number();
710 phasebiasSat->NumberOfPhaseBiases = 0;
711 phasebiasSat->YawAngle = pbSat.yawAngle;
712 phasebiasSat->YawRate = pbSat.yawRate;
713 QListIterator<phaseBiasSignal> it(phaseBiasList);
714 while (it.hasNext()) {
715 const phaseBiasSignal &pbSig = it.next();
716 int ii = phasebiasSat->NumberOfPhaseBiases;
717 if (ii >= CLOCKORBIT_NUMBIAS)
718 break;
719 SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
720 if (type != _ssrCorr->RESERVED) {
721 phasebiasSat->NumberOfPhaseBiases += 1;
722 phasebiasSat->Biases[ii].Type = type;
723 phasebiasSat->Biases[ii].Bias = pbSig.bias;
724 phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
725 phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
726 phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
727 }
728 }
729 }
730 }
731 }
732
733 QByteArray hlpBufferCo;
734
735 // Orbit and Clock Corrections together
736 // ------------------------------------
737 if (_samplRtcmEphCorr == 0.0) {
738 if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
739 || co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
740 || co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
741 || co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
742 || co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
743 || co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
744 char obuffer[CLOCKORBIT_BUFFERSIZE];
745 int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
746 if (len > 0) {
747 hlpBufferCo = QByteArray(obuffer, len);
748 }
749 }
750 }
751
752 // Orbit and Clock Corrections separately
753 // --------------------------------------
754 else {
755 if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
756 char obuffer[CLOCKORBIT_BUFFERSIZE];
757 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
758 co.UpdateInterval = ephUpdInd;
759 int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer,
760 sizeof(obuffer));
761 co.UpdateInterval = clkUpdInd;
762 if (len1 > 0) {
763 hlpBufferCo += QByteArray(obuffer, len1);
764 }
765 }
766 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 ||
767 co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 ||
768 co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 ||
769 co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
770 co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
771 int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer,
772 sizeof(obuffer));
773 if (len2 > 0) {
774 hlpBufferCo += QByteArray(obuffer, len2);
775 }
776 }
777 if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
778 char obuffer[CLOCKORBIT_BUFFERSIZE];
779 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
780 co.UpdateInterval = ephUpdInd;
781 int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer,
782 sizeof(obuffer));
783 co.UpdateInterval = clkUpdInd;
784 if (len1 > 0) {
785 hlpBufferCo += QByteArray(obuffer, len1);
786 }
787 }
788 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 ||
789 co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 ||
790 co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
791 co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
792 int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer,
793 sizeof(obuffer));
794 if (len2 > 0) {
795 hlpBufferCo += QByteArray(obuffer, len2);
796 }
797 }
798 if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
799 char obuffer[CLOCKORBIT_BUFFERSIZE];
800 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
801 co.UpdateInterval = ephUpdInd;
802 int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer,
803 sizeof(obuffer));
804 co.UpdateInterval = clkUpdInd;
805 if (len1 > 0) {
806 hlpBufferCo += QByteArray(obuffer, len1);
807 }
808 }
809 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 ||
810 co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
811 co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
812 int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer,
813 sizeof(obuffer));
814 if (len2 > 0) {
815 hlpBufferCo += QByteArray(obuffer, len2);
816 }
817 }
818 if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
819 char obuffer[CLOCKORBIT_BUFFERSIZE];
820 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
821 co.UpdateInterval = ephUpdInd;
822 int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer,
823 sizeof(obuffer));
824 co.UpdateInterval = clkUpdInd;
825 if (len1 > 0) {
826 hlpBufferCo += QByteArray(obuffer, len1);
827 }
828 }
829 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 ||
830 co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
831 int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer,
832 sizeof(obuffer));
833 if (len2 > 0) {
834 hlpBufferCo += QByteArray(obuffer, len2);
835 }
836 }
837 if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
838 char obuffer[CLOCKORBIT_BUFFERSIZE];
839 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
840 co.UpdateInterval = ephUpdInd;
841 int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer,
842 sizeof(obuffer));
843 co.UpdateInterval = clkUpdInd;
844 if (len1 > 0) {
845 hlpBufferCo += QByteArray(obuffer, len1);
846 }
847 }
848 int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
849 int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
850 sizeof(obuffer));
851 if (len2 > 0) {
852 hlpBufferCo += QByteArray(obuffer, len2);
853 }
854 }
855 if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
856 char obuffer[CLOCKORBIT_BUFFERSIZE];
857 if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
858 co.UpdateInterval = ephUpdInd;
859 int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer,
860 sizeof(obuffer));
861 co.UpdateInterval = clkUpdInd;
862 if (len1 > 0) {
863 hlpBufferCo += QByteArray(obuffer, len1);
864 }
865 }
866 int mmsg = 0;
867 int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer,
868 sizeof(obuffer));
869 if (len2 > 0) {
870 hlpBufferCo += QByteArray(obuffer, len2);
871 }
872 }
873 }
874
875 // Code Biases
876 // -----------
877 QByteArray hlpBufferBias;
878 if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
879 || bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
880 || bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
881 || bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
882 || bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
883 || bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
884 char obuffer[CLOCKORBIT_BUFFERSIZE];
885 int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
886 if (len > 0) {
887 hlpBufferBias = QByteArray(obuffer, len);
888 }
889 }
890
891 // Phase Biases
892 // ------------
893 QByteArray hlpBufferPhaseBias;
894 if (phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
895 || phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
896 || phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
897 || phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
898 || phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
899 || phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
900 char obuffer[CLOCKORBIT_BUFFERSIZE];
901 int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer,
902 sizeof(obuffer));
903 if (len > 0) {
904 hlpBufferPhaseBias = QByteArray(obuffer, len);
905 }
906 }
907
908 // VTEC
909 // ----
910 QByteArray hlpBufferVtec;
911 if (vtec.NumLayers > 0) {
912 char obuffer[CLOCKORBIT_BUFFERSIZE];
913 int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
914 if (len > 0) {
915 hlpBufferVtec = QByteArray(obuffer, len);
916 }
917 }
918
919 _outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias
920 + hlpBufferVtec;
921}
922
923//
924////////////////////////////////////////////////////////////////////////////
925t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
926 double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
927 double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
928 const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
929 struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
930
931 // Broadcast Position and Velocity
932 // -------------------------------
933 ColumnVector xB(6);
934 ColumnVector vB(3);
935 t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
936
937 if (irc != success) {
938 return irc;
939 }
940
941 // Precise Position
942 // ----------------
943 ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
944
945 if (xP.size() == 0) {
946 return failure;
947 }
948
949 double dc = 0.0;
950 if (_crdTrafo != "IGS14") {
951 crdTrafo(GPSweek, xP, dc);
952 }
953
954 // Difference in xyz
955 // -----------------
956 ColumnVector dx = xB.Rows(1, 3) - xP;
957 ColumnVector dv = vB - rtnVel;
958
959 // Difference in RSW
960 // -----------------
961 ColumnVector rsw(3);
962 XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
963
964 ColumnVector dotRsw(3);
965 XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
966
967 // Clock Correction
968 // ----------------
969 double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
970 double dClkA1 = 0.0;
971 if (rtnClk(2)) {
972 dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
973 }
974 double dClkA2 = 0.0;
975 if (rtnClk(3)) {
976 dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
977 }
978
979 if (sd) {
980 sd->ID = prn.mid(1).toInt();
981 sd->IOD = eph->IOD();
982 sd->Clock.DeltaA0 = dClkA0;
983 sd->Clock.DeltaA1 = dClkA1;
984 sd->Clock.DeltaA2 = dClkA2;
985 sd->UserRangeAccuracy = rtnUra;
986 sd->Orbit.DeltaRadial = rsw(1);
987 sd->Orbit.DeltaAlongTrack = rsw(2);
988 sd->Orbit.DeltaCrossTrack = rsw(3);
989 sd->Orbit.DotDeltaRadial = dotRsw(1);
990 sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
991 sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
992 }
993
994 outLine.sprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
995 GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
996 rsw(1), rsw(2), rsw(3));
997
998 // RTNET full clock for RINEX and SP3 file
999 // ---------------------------------------
1000 double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1001 double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1002 double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1003 double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² ) -/s]
1004
1005 if (_rnx) {
1006 double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1007 int s = rtnClkSig.size();
1008 switch (s) {
1009 case 1:
1010 clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1011 clkRnxRateSig = 0.0; // [s/s = -]
1012 clkRnxAccSig = 0.0; // [s/s² ) -/s]
1013 break;
1014 case 2:
1015 clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1016 clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1017 clkRnxAccSig = 0.0; // [s/s² ) -/s]
1018 break;
1019 case 3:
1020 clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1021 clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1022 clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1023 break;
1024 }
1025 _rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1026 clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1027 }
1028 if (_sp3) {
1029 _sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1030 }
1031 return success;
1032}
1033
1034// Transform Coordinates
1035////////////////////////////////////////////////////////////////////////////
1036void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1037 double& dc) {
1038
1039 // Current epoch minus 2000.0 in years
1040 // ------------------------------------
1041 double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1042
1043 ColumnVector dx(3);
1044
1045 dx(1) = _dx + dt * _dxr;
1046 dx(2) = _dy + dt * _dyr;
1047 dx(3) = _dz + dt * _dzr;
1048
1049 static const double arcSec = 180.0 * 3600.0 / M_PI;
1050
1051 double ox = (_ox + dt * _oxr) / arcSec;
1052 double oy = (_oy + dt * _oyr) / arcSec;
1053 double oz = (_oz + dt * _ozr) / arcSec;
1054
1055 double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1056
1057 // Specify approximate center of area
1058 // ----------------------------------
1059 ColumnVector meanSta(3);
1060
1061 if (_crdTrafo == "ETRF2000") {
1062 meanSta(1) = 3661090.0;
1063 meanSta(2) = 845230.0;
1064 meanSta(3) = 5136850.0;
1065 }
1066 else if (_crdTrafo == "GDA2020") {
1067 meanSta(1) = -4052050.0;
1068 meanSta(2) = 4212840.0;
1069 meanSta(3) = -2545110.0;
1070 }
1071 else if (_crdTrafo == "SIRGAS2000") {
1072 meanSta(1) = 3740860.0;
1073 meanSta(2) = -4964290.0;
1074 meanSta(3) = -1425420.0;
1075 }
1076 else if (_crdTrafo == "DREF91") {
1077 meanSta(1) = 3959579.0;
1078 meanSta(2) = 721719.0;
1079 meanSta(3) = 4931539.0;
1080 }
1081 else if (_crdTrafo == "Custom") {
1082 meanSta(1) = 0.0; // TODO
1083 meanSta(2) = 0.0; // TODO
1084 meanSta(3) = 0.0; // TODO
1085 }
1086
1087 // Clock correction proportional to topocentric distance to satellites
1088 // -------------------------------------------------------------------
1089 double rho = (xyz - meanSta).NormFrobenius();
1090 dc = rho * (sc - 1.0) / sc / t_CST::c;
1091
1092 Matrix rMat(3, 3);
1093 rMat(1, 1) = 1.0;
1094 rMat(1, 2) = -oz;
1095 rMat(1, 3) = oy;
1096 rMat(2, 1) = oz;
1097 rMat(2, 2) = 1.0;
1098 rMat(2, 3) = -ox;
1099 rMat(3, 1) = -oy;
1100 rMat(3, 2) = ox;
1101 rMat(3, 3) = 1.0;
1102
1103 xyz = sc * rMat * xyz + dx;
1104}
1105
1106int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1107
1108 if (samplingRate == 10.0) {
1109 return 3;
1110 }
1111 else if (samplingRate == 15.0) {
1112 return 4;
1113 }
1114 else if (samplingRate == 30.0) {
1115 return 5;
1116 }
1117 else if (samplingRate == 60.0) {
1118 return 6;
1119 }
1120 else if (samplingRate == 120.0) {
1121 return 7;
1122 }
1123 else if (samplingRate == 240.0) {
1124 return 8;
1125 }
1126 else if (samplingRate == 300.0) {
1127 return 9;
1128 }
1129 else if (samplingRate == 600.0) {
1130 return 10;
1131 }
1132 else if (samplingRate == 900.0) {
1133 return 11;
1134 }
1135 else if (samplingRate == 1800.0) {
1136 return 12;
1137 }
1138 else if (samplingRate == 3600.0) {
1139 return 13;
1140 }
1141 else if (samplingRate == 7200.0) {
1142 return 14;
1143 }
1144 else if (samplingRate == 10800.0) {
1145 return 15;
1146 }
1147 return 2; // default
1148}
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